A method for controlling a velocity of a conveyance path of a system including an industrial robot, a first conveyance path configured to transfer items within a working area (b2) of the robot with a velocity v1, and a second conveyance path configured to transfer empty places within the working area (b2) of the robot with a velocity v2. The method includes: obtaining position data for a plurality of items and for a plurality of empty places; creating one or more pairs including one of the empty places of the plurality of empty places and a respective item of the plurality of items; calculating, for one of the one or more pairs, a time tAs for the empty place of the one pair and a time tBk for the item of the one pair to reach a border of the working area (b2) based on position data for the one pair and the velocities v1 and v2; and controlling the velocity v2 of the second conveyance path based on a difference between the time tAs and a time (tBk+Δt), where Δt is a predetermined time difference.