FIRST: a petri net-based system for simulation of complex distributed manufacturing systems

Abstract FIRST (Flexible Industrial Robotics Simulation Tool) is a software system for the simulation of complex distributed production systems. A synthetic overview of dynamic simulation methodology is presented and the use of advanced tools for modelling (extended Petri nets) and software implementation (logic programming) is illustrated. A detailed examination of FIRST architecture is made and some possible future developments and improvements are suggested. The results of some practical experiences are illustrated as evidence of the most interesting and useful features of FIRST.