|The palletising system PS was designed for packaging products, stacking them on pallets or removing boxes from pallets. It is a time-consuming and monotonous process which can be tiring for employees. The robots used in our system can imitate this activities and perfectly work instead of them. In the production process of the described systems, we use only selected vision systems based on 2D cameras or 3D sensors. Thanks to this, it is possible to identify and grade products transported on the conveyor based on their colour, shape or other identification marks.