This master thesis introduces the concept of machine vision, a branch of computer vision that enables machines to interpret and understand visual information from the real world based on the processing of data obtained from images. The basic components of the machine vision system are then listed and explained. The main topic of this work is the application of the HALCON program package for robotic item sorting. The HALCON methods that were used in the solution of master thesis task were presented and explained in detail, namely: image segmentation, shape matching, dimensional analysis, and deep learning module was explained. Solving the task of this thesis is presented through three examples. The first example shows palletization of tiles with letter segments from an unordered state. The goal of this example was to develop a machine vision algorithm in HALCON, by means of which a certain segment of letters is recognized, that is, matched with a reference segment on each of the eighteen tiles. Each tile is then measured to determine its origin and orientation. The obtained information about the position and orientation is sent to the robotic arm so that it can pick a specific tile with a vacuum gripper and place it in the designated place. The second example consists of sorting flat plastic by color. The idea was to develop an algorithm for recognizing the color of waste plastic and sorting it with a robotic arm using a vacuum gripper. The third example presented in this thesis consists of sorting plastic of irregular shape according to color. The goal of this example is the same as the previous one, to develop an algorithm for recognizing the color of waste plastic, but in this case, a universal gripper was used to pick the plastic. The process of making a universal gripper is presented in the last chapter of this thesis. All the examples presented in this thesis were realized in the production plant of the company ASEMO d.o.o. which also provided all the necessary equipment to successfully solve the task. The plastic that was used in the development of color recognition algorithms was provided for use by the company Pos-Plast d.o.o.