The advance in the development of industrial robots has accelerated significantly in recent years. One of the driving forces behind this is collaboration between humans and robots in shared working areas, resulting in increased productivity and thus reduced cost. Unfortunately, the development of software for collaborating robots is a complex, time-intensive, and demanding task. This is because robotic technology changes fast and knowledge is hard to make available for reuse. Hence, a model-driven approach is necessary to facilitate the development of software for collaborating robots. This work will introduce such a model-driven approach based on hybrid Petri nets, as a formal technique for modeling the various aspects of robotic software. Therefore, specific challenges of employing Petri net based models are discussed, focusing on the management, usage and adaptation of the different models required for applications of collaborating robots. Building on that, a model-driven architecture is proposed, which solves the identified challenges of application development for collaborating robots.