Abstract—This paper deals with the concept of fully automatic processing of large scale detail or workpieces by help of multilink industrial manipulators. This concept is based on using different vision systems for determining position and orientation of details in working area. These systems are installed inside robotic cell or directly on the industrial robot. The higher the quality of the obtained models of details, the more efficiently the robot will be able to process them. That is why the main attention is paid to the method of gaps finding in the workpiece point clouds, because it can sufficiently rise the quality of technological operations in automatic mode.