As new products are developed and technology of both software's and equipment's evolves over time, robot cells will eventually need to be improved and updated to fulfil new requirements. This thesis work tackles an old S4 robot cell with the task of washing and hanging water valves to a conveyor. The robot cell needs an upgrade to be able to process a new product group. This is a common work task for a robot engineer and this thesis work will guide the reader through the process of breaking down a rapid program code in pieces to find where and how to implement the changes. Machine vision are a common tool for pick and place tasks to enable picking and placing at correct orientation and positions. This thesis work presents an introduction to machine vision and how to use an industrial standard software to build vision programs that cooperates with the robot. Illumination techniques and how to use lighting to enable machine vision are also investigated.

Since this thesis work is performed at a factory the main objective is to help them improve their process, a case specific implementation proposal is proposed together with an upgraded work flow of the process and updated robot program that fulfils the requirements of the new robot cell. Even though the thesis work is applied on a specific case, the approach taken to complete the task and the fundaments of the implementation proposal are general and may be applicated for similar problems.