# Raspberry Pi camera for pick and place **URL:** \ **Category:** Robot Communication\ **Created:** [August 3, 2024, 8:31am UTC](https://forum.universal-robots.com/t/raspberry-pi-camera-for-pick-and-place/35548 "2024-08-03T08:31:47Z")\ **Posts on this page:** 8\ **Page:** 1
**Author:** ![s.kirve](https://avatars.discourse-cdn.com/v4/letter/s/977dab/32.png) [@s.kirve](https://forum.universal-robots.com/u/s.kirve)\ **Post date:** [August 3, 2024, 8:31am UTC](https://forum.universal-robots.com/t/raspberry-pi-camera-for-pick-and-place/35548/1 "2024-08-03T08:31:48Z")
Hello, I am using a Raspberry Pi camera for 3D printer to take images of printed parts, and according to images, I want the robot to pick up the parts directly from the 3D printer. I don’t want to buy the expensive gripper from Robotiq, which comes with a camera. Any suggestions that I can send images from Raspberry Pi camera to UR3e? Regards Sumedh Kirve ---
**Author:** ![forbech](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/forbech/32/902_2.png) [@forbech](https://forum.universal-robots.com/u/forbech)\ **Post date:** [August 3, 2024, 9:52am UTC](https://forum.universal-robots.com/t/raspberry-pi-camera-for-pick-and-place/35548/2 "2024-08-03T09:52:02Z")
Hi Sumedh Let the Raspberry Pi analyze the images and calculate the pickup point. Send this information via WiFi to a “Connection PC” (Windows 10 pro). Send the info on to the UR controller via RTDE. I’m using in this setup here: [https://vimeo.com/908762499/798a04ae5b](https://vimeo.com/908762499/798a04ae5b) How to set up RTDE: > **[HowToRTDE-v1.pdf](https://www.toolchanger.eu/download/doc/HowToRTDE-v1.pdf)** > > 2028.63 KB Free tools for your project: > **[Kelvin Tool Changer - Open Source Tools](https://www.toolchanger.eu/tools.htm)** > > Free tools for collaborative robots by 4TECH Robotics ApS Enjoy Henning ---
**Author:** ![s.kirve](https://avatars.discourse-cdn.com/v4/letter/s/977dab/32.png) [@s.kirve](https://forum.universal-robots.com/u/s.kirve)\ **Post date:** [August 3, 2024, 12:50pm UTC](https://forum.universal-robots.com/t/raspberry-pi-camera-for-pick-and-place/35548/3 "2024-08-03T12:50:39Z")
Hello Mr. Henning, Thank you so much for your guidance. Did you use OpenCV for capturing images? I went through the website, and the tools are really great for cobots. I wanted to buy a gripper, which is sufficient to pick 3D printed parts directly from the print bed. Are the tools from 4TECH Robotics ApS can be delivered to Germany? Regards Sumedh ---
**Author:** ![forbech](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/forbech/32/902_2.png) [@forbech](https://forum.universal-robots.com/u/forbech)\ **Post date:** [August 3, 2024, 1:28pm UTC](https://forum.universal-robots.com/t/raspberry-pi-camera-for-pick-and-place/35548/4 "2024-08-03T13:28:15Z")
Hello Sumedh Yes, the program for the Selfie Aligner is based on OpenCV Images are captured from a video stream. 4TECH Robotics ApS only produce and sell the Kelvin Tool Changer. Delivery to Germany is no problem. The tools are Open Source Hardware, That is, you are free to copy and print your own tools from the files online. It is also possible to buy the 3D printed parts from Shapeways but you must source the hardware parts yourself. A gripper for your project could be the “Two Finger Gripper” It is based on a small pneumatic gripper from SMC CAD-files, BOM and video here: > **[Kelvin Tool Changer - Two Finger Gripper](https://www.toolchanger.eu/twofingertool.htm)** > > 3D-printed Two Finger Gripper for collaborative robots by 4TECH Robotics ApS Best regards Henning ---
**Author:** ![s.kirve](https://avatars.discourse-cdn.com/v4/letter/s/977dab/32.png) [@s.kirve](https://forum.universal-robots.com/u/s.kirve)\ **Post date:** [August 3, 2024, 5:06pm UTC](https://forum.universal-robots.com/t/raspberry-pi-camera-for-pick-and-place/35548/5 "2024-08-03T17:06:01Z")
Hello Mr. Henning, Thank you for your support. I will see how I can implement the gripper you offered. Regards Sumedh Kirve ---
**Author:** ![s.kirve](https://avatars.discourse-cdn.com/v4/letter/s/977dab/32.png) [@s.kirve](https://forum.universal-robots.com/u/s.kirve)\ **Post date:** [August 6, 2024, 10:29am UTC](https://forum.universal-robots.com/t/raspberry-pi-camera-for-pick-and-place/35548/6 "2024-08-06T10:29:12Z")
Hello Mr. Henning, Could you please tell me, how you connected a Windows computer to UR controller? Regards Sumedh Kirve ---
**Author:** ![forbech](https://sea2.discourse-cdn.com/flex020/user_avatar/forum.universal-robots.com/forbech/32/902_2.png) [@forbech](https://forum.universal-robots.com/u/forbech)\ **Post date:** [August 6, 2024, 4:34pm UTC](https://forum.universal-robots.com/t/raspberry-pi-camera-for-pick-and-place/35548/7 "2024-08-06T16:34:04Z")
Hello Sumedh I have set up a Real Time Data Exchange (RTDE) between the Windows PC and the UR controller. Here is a guide: > **[HowToRTDE-v1.pdf](https://www.toolchanger.eu/download/doc/HowToRTDE-v1.pdf)** > > 2028.63 KB Best regards Henning ---
**Author:** ![s.kirve](https://avatars.discourse-cdn.com/v4/letter/s/977dab/32.png) [@s.kirve](https://forum.universal-robots.com/u/s.kirve)\ **Post date:** [August 6, 2024, 7:05pm UTC](https://forum.universal-robots.com/t/raspberry-pi-camera-for-pick-and-place/35548/8 "2024-08-06T19:05:01Z")
Hello Mr. Henning, Okay. Understood. Regards Sumedh