Recently, with the development of artificial intelligence technology, robots have been utilized not only in manufacturing but also in many industrial fields. The needs of customers have been diversified and the trend of future manufacturing has been changing from the conventional mass production to the multiproduct small volume production system. In a smart factory environment for custom manufacturing, the robot must be manually programmed for each work instruction every time, especially when a production product is changed. Robot programming takes a lot of time and effort of people. In this paper, we propose a method to automatically measure the product information(color, size) automatically which are 3D printed out based on HSV (hue, saturation, value) Color Space and to control the auto grasping of robots. Also, we applied this control system to the FaaS(Factory As a Service) testbed for functional verification.