An intelligent automated robotic assembly system consists of several subsystems capable of providing dynamic interactions with the environment in order to accomplish a task properly. These subsystems perform various functions like data gathering, decision making, and task execution. Although a great deal of work has been done on individual subsystems, more attention must be given to the way how these subsystems are integrated so as to achieve the high efficiency of automated production. We propose a cooperative multi-agent model of a shop floor control system architecture of robotic assembly automation and extend this model to all automated production system. Based on this model, we develop a control kernel named TOFAK (task oriented flexible automation kernel) to support users to easily implement any shop floor control system. The by-product is to allow system designers to easily expand an existing system or to integrate several automation systems which are all controlled by TOFAK.