Hi, Eclipze.
You are the only one who keep on this project.
I thought of small PnP machine for my home projects, but I have begun with the software and electronics.
I made some steps:
1. I have thought up and have tested the data exchange between the computer and the controling electronics (1 channel of 5). I have used RS232.
2. I wrote and have tested the program for microcontroller to control axis. There will be 4 microcontrollers to control axises and 1 to control the valves.
3. I wrote and have tested the software to correct the position (angle) errors. I have used the USB webcam 640*480 pics.

I develop the scheme and PCB for the control electronics now.
The project moves very slowly but it is very interesting.