# Align to Gripper

Align to Gripper: Alignment applications wherein the part is placed on a stationary platform waiting for being either picked up by gripper or a processing operation to be carried out. During alignment, the gripper mounted on a robot or the processing unit such as a dispensing head mounted on a gantry adjusts its own position after being directed by the vision system, so that the relationship of the motion device to the run-time part on the platform is the same as one established during a training step.

## Train Time

1. Vision train golden pose using features' current locations or other references such as camera centers.

2. Gripper's best position to pick up the part is manually trained and saved by engineer. This pose is also sent to vision for run-time pose computing.

## Run Time

1. Vision calculate the features differences between train time and run time and feedback to gripper the new position to pick the run time part.

2. Gripper adjust its pose to fit current part pose, and then pick it up.