In most racking and packaging operations it is necessary to locate a part on a conveyor or in a flexible fixture so that the robot can correctly pick it up. The vision system may check for machined holes, screws, bolts, gaskets, flanges, edges, fiducials, etc. in order to establish part orientation. The robot will then offset to correctly pick the part and place it in its appropriate rack or package. The system could have single or multiple cameras mounted in a fixed location or have a single camera mounted on a robot in a flexible inspection application. The flexibility created with the vision systems allows multiple parts to enter on a single conveyor.