Robotic picking of parts from a bin

A robot for use with a bin having one or more parts randomly distributed in said bin comprising:

• a moveable arm;
• a computing device connected to said robot for controlling motion of said moveable arm;
• one or more sensors for providing input to said computing device of about how many of said randomly distributed parts are in said bin and where said parts are located in said bin;
• and
• a tool connected to said moveable arm for stirring one or more of said one or more parts randomly distributed in said bin;
• said computing device using said input from said one or more sensors to select a path to be followed by said tool to stir said one or more parts randomly distributed in said bin when said computing device determines that a predetermined event requiring stirring of said parts has occurred.

A robot for use with a bin having one or more parts randomly distributed in said bin comprising:

• a moveable arm;
• a tool connected to said moveable arm for stirring one or more of said one or more parts randomly distributed in said bin;
• a computing device connected to said robot for controlling motion of said moveable arm;
• and
• one or more sensors, wherein at least one or said one or more sensors is a vision system for providing as an input to said computing device one or more views of said one or more parts randomly distributed in said bin just before said tool stirs one or more if said one or more parts randomly distributed in said bin and just after said tool has stirred said one or more parts,
• said computing device comparing said one or more views provided by said vision system of said one or more randomly distributed parts in said bin that is just before said stirring by said tool to said one or more views that is just after said stirring to determine if said stirring has made a change in orientation of some of said one or more parts in said bin.