A method for moving workpieces (50, 51, 52) to be machined and / or machined pieces (60, 61, 62) in a robotized work island (300), comprising an operating
machine (250) for working sheet metals and a
robot (100) for moving the workpieces (50, 51, 52) and machined pieces (60, 61, 62) and having an operating end (101) provided with gripping means (110) and an
artificial vision apparatus (1), comprises the steps of positioning the operating end (101) above a first supporting plane (261) to acquire by means of a camera (2) of the vision apparatus (1) a first three-dimensional image of the first supporting plane (261) and of workpieces (50, 51, 52) and / or stacks of workpieces (55);
processing the first three-dimensional image to determine position and orientation of the first supporting plane (261), number, geometry, position and orientation of each workpiece (50, 51, 52) and / or of each stack of workpieces (55, 56); identifying one or more workpieces (50, 51, 52) to be picked up and comparing its geometry with respective reference geometry to ascertain whether the workpieces (50, 51, 52) are compliant; picking up the workpiece (50, 51, 52) if compliant and moving it towards and a worktable (260) of the operating
machine; releasing the workpiece (50, 51, 52) onto the worktable (260) so as to be machined and obtaining a corresponding machined piece (60, 61, 62); picking up the machined piece (60, 61, 62) from the worktable (260); arranging the operating end (101) with the vision apparatus (1) on the second supporting plane (262) to acquire a second three-dimensional image of the second supporting plane (261) and any machined pieces (60, 61, 62) and / or stacks of machined pieces (65, 66);
processing the second image so as to determine position and orientation of the second supporting plane (262), number, position and orientation of any machined pieces (60, 61, 62) and / or stacks of machined pieces (65, 66); positioning and releasing the machined piece (60, 61, 62) on the second supporting plane (262).