Insole　blanking　production　technology　plays　a　vital　role　in　contemporary　machining　and　manufacturing　industries.　Existing　insole　blanking　production　models　have　limitations　because　most　robots　are　required　to　accurately　position　the　workpiece　to　a　predetermined　location,　and　special　auxiliary　equipment　is　usually　required　to　ensure　the　precise　positioning　of　the　robot.　In　this　paper,　we　present　an　adaptive　blanking　robotic　system　for　different　lighting　environments,　which　consists　of　an　industrial　robot　arm,　an　RGB-D　camera　configuration,　and　a　customized　insole　blanking　table　and　mold.　We　introduce　an　innovative　edge　detection　framework　that　utilizes　color　features　and　morphological　parameters　optimized　through　particle　swarm　optimization　(PSO)　techniques　to　Adaptive　recognition　of　insole　edge　contours.　A　path　planning　framework　based　on　FSPS-BIT*　is　also　introduced,　which　integrates　the　BIT*　algorithm　with　the　FSPS　algorithm　for　efficient　path　planning　of　the　robotic　arm.