Extended Kohonen networks for the pose control of microrobots in a nanohandling station

A microrobot-based nanohandling station, which is able to handle objects in the micrometer range and below, is introduced. A functional description of the microrobot's mobile platform is given as well as an overview over the control system architecture and the low-level control part. The application of an extended Kohonen network for the adaptive open-loop pose control of the mobile platform is presented with theoretical background and implementation details. Its performance is analysed by means of simulation results.