Method and system for gripping and moving objects

A method for gripping and moving worked pieces obtained by at least one between cutting and punching at least one sheet metal and arranged on a work surface by means of a gripping and moving system provided with a detection apparatus, comprising:

• positioning a gripping assembly of said gripping and moving system on at least one piece to be picked up from said work surface (step 1) and at the same time
• positioning a sensor device of said detection apparatus by moving it along a first direction in a first position in which said sensor device is substantially aligned with a projection of a peripheral edge of said piece along a second direction, which is substantially orthogonal to said first direction (step 2);
• grasping and lifting said at least one piece at a defined height with respect to said work surface by means of said gripping assembly (step 3);
• activating said sensor device and moving it to a second position so as to scan a settled portion of said work surface below said lifted piece in order to detect a gap or a residual connection between said lifted piece and said sheet metal (step 4).