The methods of modeling and control of discrete event robotic manufacturing cells using Petri nets are considered, and a methodology of decomposition and coordination is presented for hierarchical and distributed control. Based on task specification, a conceptual Petri net model is transformed into the detailed Petri net model, and then decomposed into constituent local Petri net based controller tasks. The local controllers are coordinated by the coordinator through communication between the coordinator and the controllers. Simulation and implementation of the control system for a robotic workcell are described. By the proposed method, modeling, simulation, and control of large and complex manufacturing systems can be performed consistently using Petri nets.