Abstract: A robot manipulator having a vision system for viewing and identifying a known part. The vision system includes a computer and a camera with known viewing geometry and optics to view the part. The method of viewing and identifying the part comprises the following steps. First, a template of the known part is stored in the computer. Secondly, the relative position of the camera in relation to the part is determined and stored. Thirdly, the part is viewed through the camera and a distorted image of the part is captured. Fourthly, the stored relative position information of the camera in relation to the part and the known viewing geometry and optics of the camera are used to convert the distorted image into a true image of the part which removes any distortions from the distorted image. Fifthly, the true edges of the true image of the part are determined.