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🤖 Robotics · Sequence

Robot Pick-and-Place Sequence

How a robot arm picks items from a bin with vision guidance: detection, grasp planning, motion, placement and error handling.

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Drawing diagram…

What this diagram shows

  • Vision detects items and their positions in the bin
  • Grasp planner chooses a collision-free grasp
  • Failed grasps are retried with the next best option

Prompt used

Pick-and-place sequence: the cell controller requests a pick, the 3D vision system captures the bin and detects items with 6D poses, the grasp planner chooses the best grasp and the motion planner plans a collision-free path, the robot arm moves, the vacuum gripper picks and confirms vacuum; if the grasp fails the next candidate is tried. The arm places the item in the tote, the controller logs cycle time and requests the next pick.

Mermaid code
sequenceDiagram
  participant CC as Cell Controller
  participant V as 3D Vision
  participant GP as Grasp Planner
  participant MP as Motion Planner
  participant R as Robot Arm
  participant G as Vacuum Gripper
  CC->>V: Capture bin
  V-->>CC: 7 items with 6D poses
  CC->>GP: Best grasp
  GP-->>CC: Item 3, top face
  CC->>MP: Plan collision-free path
  MP-->>R: Trajectory
  R->>G: Pick
  alt Vacuum confirmed
    G-->>CC: Holding item
    R->>R: Move and place in tote
    CC->>CC: Log cycle time 4.2 s
  else Grasp failed
    G-->>CC: No vacuum
    CC->>GP: Next grasp candidate
  end

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