Planning and control architecture of a flexible microrobot-based microassembly station

The assembly of complex microsystems consisting of several single components (i.e, hybrid microsystems) is a task which has to be solved to make mass production of microsystems possible. The microassembly has its specifics caused by the tiny dimensions of the parts, high accuracy and complicated vision and control systems required. Therefore, flexible, highly precise and fast microassembly stations are necessary. In this paper, the planning and control architecture of a flexible microrobot-based microassembly station that is being developed at the University of Karlsruhe is presented. The information flow and separate parts of the planning and control system are described and some implementation aspects of the assembly planning and execution level are discussed.