Systems and methods for a stud plate connector end effector

A system comprising:

• a first clamping gripper and a second clamping gripper, wherein the first and second clamping grippers are configured to secure a first piece of lumber in place during a lumber joining process;
• an abutting gripper located perpendicular to the first and second clamping grippers, the abutting gripper configured to secure a second piece of lumber during the lumber joining process, wherein one end of the second piece of lumber is positioned in contact with the first piece of lumber;
• a fastening tool located on an opposite end from the abutting gripper, wherein the fastening tool is configured to attach the first piece of lumber to the second piece of lumber as part of the lumber joining process;
• and
• a vision system configured to align the second piece of lumber to the first piece of lumber, wherein the first, second and abutting grippers align the first and second pieces of lumber together based on an alignment data provided by the vision system.