One of my larger projects while working at Carrier was to program the camera and motion paths which enabled two robotic arms to powder coat parts. 

The robots use a Cognex camera for part recognition, for which I had to curate a list of 25 parts with parameters specified to differentiate between them. 

The robots are PLC controlled and use parabolic blending between trajectories. The most complicated part of this project was integrating the camera into the robot's control.