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AUBURN HILLS, Mich. (AP) _ Cliff Robinson scored 24 points, and Jerry Stackhouse returned to the lineup with 23 as the Detroit Pistons beat the Orlando Magic 110-102 Friday night.

Stackhouse had been expected to sit out his second straight game with a strained shoulder, but he decided he could play after participating in pregame warmups.

Corliss Williamson added 17 points for Detroit, which won for the 14th time in 17 games. The Pistons (33-23) are 10 games over .500 for the first time since the 1996-97 season.

Tracy McGrady led the Magic with 29 points, and Troy Hudson added 17 as Orlando lost for just the second time in seven games.

Orlando led 51-48 at the half, thanks to 17 points from McGrady, but the Pistons went ahead 63-62 midway through the third quarter on Stackhouse's three-point play.

Stackhouse finished with 13 points in the quarter, and Detroit led 76-73 after three. It could have been more, but Ben Wallace missed three straight free throws.

Chucky Atkins and Jon Barry hit back-to-back 3s to put the Pistons up nine with 9:12 left.

After McGrady's jumper, the Pistons scored seven straight points to extend the lead to 93-79.

Corliss Williamson scored the last five points, including the second 3-pointer of his seven-year NBA career.

The Magic, as most teams do, started to foul Wallace late in the game, and he made two of four from the line before coming out of the game.

Notes: Pistons coach Rick Carlisle was named NBA coach of the month for February. He's the first Detroit coach to win the award since Doug Collins in February 1997. ... The game was Orlando's fourth visit to the Palace at Auburn Hills since it acquired Grant Hill from Detroit before the 2000-2001 season, but Hill has missed all four games due to ankle problems. ... Williamson's only other 3-pointer came with Sacramento in 1998-99. It was his first 3-point attempt of the season. ... The Magic were the first team to start intentionally fouling Wallace late in games _ he played for Orlando before coming to the Pistons in the Hill trade.