A very common operation in industry is that of pick and place. This would be typified by a packing operation, such as that shown in the figure, where items are taken from a conveyor and placed into a pallet. The position of the item on the conveyor and the pallet position provide constraints on the endpoints of the trajectory of the item, but it does not matter from a functional point of view what path is taken by the robot. In practice, the path which gives the shortest time to perform the task will be the best. Note, however, that it will be desirable to constrain the robot to avoid collisions. Thus, once it has gripped the object it should move upwards from the conveyor, then move across to a position over the pallet, and then move downwards before releasing the object.
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