“…The PC gets capture image and get the ( , , , ) x y z δ with help of image processing technology, the position of forearm end actuator is at 0 P (which is equal to 6 P of last trajectory planning). For the band carrier is keep on moving at a constant speed, the PC estimated time and position 2 P of end actuator could arrival to pick the workpiece. Then the end actuator move to 1 P which is exactly above 2 P , and down to 2 P , pick the workpiece, move to 3 P , move to 4 P which is right above destination point 5 P , then down to 5 P and release the workpiece, and move the end actuator to 6 P .…”