# Flex Picker work on inclined plane **URL:** \ **Category:** Robot Controller\ **Created:** [April 6, 2015, 2:11pm UTC](https://tech-community.robotics.abb.com/t/flex-picker-work-on-inclined-plane/6570 "2015-04-06T14:11:09Z")\ **Posts on this page:** 6\ **Page:** 1
**Author:** ![pacijent](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/pacijent/32/512_2.png) [@pacijent](https://tech-community.robotics.abb.com/u/pacijent)\ **Post date:** [April 6, 2015, 2:11pm UTC](https://tech-community.robotics.abb.com/t/flex-picker-work-on-inclined-plane/6570/1 "2015-04-06T14:11:09Z")
Hello to all, is it possible to use flex picker robot to pick objects that are on inclined plane using vision system, elevation angle is not too steep, maybe 10 degrees. Thanks in advance. ---
**Author:** ![suganthyadav](https://avatars.discourse-cdn.com/v4/letter/s/f6c823/32.png) [@suganthyadav](https://tech-community.robotics.abb.com/u/suganthyadav)\ **Post date:** [April 7, 2015, 3:43am UTC](https://tech-community.robotics.abb.com/t/flex-picker-work-on-inclined-plane/6570/2 "2015-04-07T03:43:50Z")
Hi, Even i have the same application. I checked with local ABB team, they told Flex-picker shouldn’t mount on inclined plane,if we did it may affect its performance. So i dropped my plan. If you get any positive reply pls post in this forum. ---
**Author:** ![pacijent](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/pacijent/32/512_2.png) [@pacijent](https://tech-community.robotics.abb.com/u/pacijent)\ **Post date:** [April 7, 2015, 6:46am UTC](https://tech-community.robotics.abb.com/t/flex-picker-work-on-inclined-plane/6570/3 "2015-04-07T06:46:35Z")
Well, flex picker would be mounted on flat zero degrees surface as usual, actually conveyor with objects that should be followed by camera picked has inclination. ---
**Author:** ![suganthyadav](https://avatars.discourse-cdn.com/v4/letter/s/f6c823/32.png) [@suganthyadav](https://tech-community.robotics.abb.com/u/suganthyadav)\ **Post date:** [April 7, 2015, 9:55am UTC](https://tech-community.robotics.abb.com/t/flex-picker-work-on-inclined-plane/6570/4 "2015-04-07T09:55:30Z")
Following points are my personal opinion mr.Pacijent. 1. If u used inclined conveyor z-will be vary. we don’t have wrist movement in flex-picker.To avoid collision towards z-axis u wanna use compliance end-tool mechanism ( tis will increase payload ) . Flex-picker have very low payload so this kind of idea wont work. Tip: If you managed to design compliance device within robot payload, u can identify z-axis variation using pick-master software and objects can be easily picked from inclined conveyor. Sorry for my bad English. English is not my first language ☹ . ---
**Author:** ![pacijent](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/pacijent/32/512_2.png) [@pacijent](https://tech-community.robotics.abb.com/u/pacijent)\ **Post date:** [April 8, 2015, 8:59am UTC](https://tech-community.robotics.abb.com/t/flex-picker-work-on-inclined-plane/6570/5 "2015-04-08T08:59:22Z")
Thanks for your suggestion Mr. Suganthyadav. Your English is perfect, no reason to apologize. Right now we have 8kg. flex picker, so weight shouldn’t be a problem, although I’m not really clear about your suggestion of special tool mechanism and z variation definition in pick master 3. ---
**Author:** ![suganthyadav](https://avatars.discourse-cdn.com/v4/letter/s/f6c823/32.png) [@suganthyadav](https://tech-community.robotics.abb.com/u/suganthyadav)\ **Post date:** [April 8, 2015, 9:24am UTC](https://tech-community.robotics.abb.com/t/flex-picker-work-on-inclined-plane/6570/6 "2015-04-08T09:24:08Z")
can u explain about your process?? If it possible attach your entire project layout. It will help me to suggest some ideas.