In this paper we present a workflow to design and control robot manipulation behavior. To remain independent from particular robot hardware and an explicit area of application, an embedded domain specific language (eDSL) is used to describe the particular robot and a controller network that drives the robot. We make use of a) a component-based software framework, b) model-based algorithms for motion- and sensor processing representations, c) an abstract model of the control system, and d) a plan management software, to describe a sequence of software component networks that generate the desired robot behavior. As first results, we present an eDSL for the description of a robotic system composed of mechatronic subsystems, and for the creation of a multi-stage control network.