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Common industrial automation approaches consist on heavy and fixed robotic manipulators working in separated and closed production lines. Recent advances in sensing and control are leading to flexible and versatile robotic manipulator platforms, which could work in barrier-free production areas and might be the next advance in industrial production. In our contribution, we present a sophisticated and completely autonomous software framework for handling complex pickand-place tasks usingdoi:10.1109/icarsc.2016.15 dblp:conf/icarsc/HildebrandtSWWR16 fatcat:boxw3nlj6vftvfx252ek7qij7m