to block 1308 where the robot moves the grasped part 41 in a manner so that it is removed from bin 40 the process then proceeds to decision block 1310 where it is asked if a force limit has been reached during the removal of the grasped part 41 from bin 40 if the answer to that question is no the removed part 41 is placed at a location where it can be used in another operation the process then returns to block 1302 to find another part 41 to pick from bin 40 if the answer to the question in decision block 1310 is yes that is a force limit has been reached in the removal of the grasped part 41 from bin 40 the process proceeds to decision block 1314 where it asks if a search limit has been reached if the answer to this question is yes the process proceeds to block 1320 and the grasped part is released and remains in the bin 41 if the answer to the question in decision block 1314 is no the process proceeds to block 1316 where a search is made for a removal direction with a low resistance force this search is necessary because to reach.