Under CopyrightSchmucker, U.U.SchmuckerBerndt, D.D.BerndtHartung, G.G.Hartung2022-03-0904.10.19991995https://publica.fraunhofer.de/handle/publica/32431010.24406/publica-fhg-324310The paper deals with the development and implementation of a flexible handling system which is dedicated to pick up textile articles of various shapes, weights and colors, which are packed in polyethylene bags and which may have an arbitrary position and orientation within the box. The detection of a possible gripping point is done by a multiple triangulation system in connection with an image processing system. A force sensor checks the gripping result. A dedicated multiple pneumatic gripper, which allows a very careful handling, is used together with a robot system to pick up the parts from the box.enBildverarbeitungflexible articleflexible ArtikelGreifergripperhandlingimage processingrobotRoboter670conference paper