A robotic truck unloader (10) for unloading/unpacking product, such as boxes or cases, from trailers and containers is disclosed. In one embodiment, a mobile base (50) structure provides a support framework for a drive subassembly (52), a conveyance subassembly (54), an industrial robot (40), a pivoting front conveyor (42), a distance measurement subassembly, and a control subassembly (62). The control subassembly (62) coordinates the selective articulated movement of the industrial robot (40) and the pivoting front conveyor (42) as well as the activation of the drive subassembly (52) based upon a perception-based robotic manipulation system. The robotic truck unloader (10) executes pick-and-scoop operations utilizing the industrial robot (40) and the pivoting front conveyor (42). Automated error handling is also provided.