Stable positioning of product for robotic picking off roller table

A roller conveyor system comprising:

• a track comprising a roller rotation segment and a roller non-rotation segment;
• two rollers configured to move along the track in a movement direction and in sufficient proximity to each other to directly support an item between them;
• a sensor device having a data capture area comprising at least some of the path that the two rollers cover as they move along a segment of the track;
• an item manipulation device configured to manipulate the item in an area that is, according to the movement direction, after the roller rotation segment;
• and
• a processing module;
• wherein:
• the sensor device is configured to capture both (i) at least two rotating images (“rotating images”) of the item in the roller-rotation segment of the track and (ii) a second image (“second captured image”) of the item after the roller rotation segment of the track;
• the processing module is configured to determine, based on the rotating images, the second captured image, and on movement of the two rollers along the track:
• (i) an item manipulation location in or after (according to the movement direction) the roller non-rotation segment and (ii) an item manipulation time;
• and
• the processing module is further configured to direct the item manipulation device to manipulate the item at the item manipulation location at the item manipulation time.