In order to assemble non-electric components onto a component-carrier, by which assembling the non-electric components is automated, it is proposed 1) to carry out -- - a pick & place operation (PPOP) picking a non-electric component (CP, CPA, CPB, CPC) and placing the picked component onto a component-carrier (CPC, BP, SC) and - a connect operation (COP) connecting the placed component with the component-carrier by implementing a connection technology (CT) -- on a
hybrid, at least reactive and deliberative
machine architecture based on a "
machine world model" as a digital twin to formulate correct
machine-behavioral sets being used during machine run-time as well as an "machine
workflow" - a piece of machine work to carry out the operations is passed in series of machine stages from
initiation to completion, 2) to execute by machine
motion generation including a collision-free motion or path planning of a machine (MA) within a machine
workspace (MAWS) - primary kinematic machine-movement-sequences (MAMSk1) enabling the pick & place operation and - secondary kinematic machine-movement-sequences (MAMSk2) enabling the connect operation, and 3) to enable or ensure the execution via the machine
motion generation by - initializing (ilz) the "machine world model" according to a configuration file (CFGF) configuring the machine and the machine
workspace and - instantiating (itt) the "machine
workflow" and updating (upd) the "machine world model" with a design of the component-carrier.