Method and apparatus for locating 3-D objects and executing desired operation, such as playing CAROM, by robot

A method for locating a three dimensional object and to execute a predetermined operation on said located object said method comprising:

• providing a robot (200) having an end effector (202) mounted on a gantry frame, wherein said effector (202), includes an actuator (306) carrying counter-balanced inertial masses for striking the located object with a striking force (306 a) achieved by a rotary motion of said actuator (306);
• installing a plurality of imaging sensors at predetermined locations to capture at least one image of said object;
• calibrating each of said plurality of image sensors;
• providing a data processing system (214) to receive information from said imaging sensors and to execute a predetermined operation;
• and
• connecting a controller (216) to regulate functions of said robot (200);
• wherein said end effector (202) comprises t least two degrees of freedom;
• wherein said two degrees of freedom are rotational (302) and force transmitting (306 a);
• wherein said transmitting force passes through and intersects said rotational axis for any angular position of said rotational axis between 0-360 degrees;
• and
• wherein said controller (216) regulates functions of said data processing system (214).