Abstract
This study is concerned with how to describe a cooperative robot motion with conveyor system. To describe the cooperative states of the system, the Petri net is introduced. Furthermore, three types of motion are taken with respect to the cooperation. The probabilistic behavior of the system is analysed in terms of Markov renewal process. With numerical examples, the behavior of the system caused by the irregular robot motion is shown by comparing the two cases : the mean motion time intervals of two robots are specified and not specified.
