The Kawasaki robot RS030N places dummy paper between cardboard sheets to prevent stains and cargo collapse. Before palletizing, the robot places a thin dummy sheet of paper on the pallet. After palletizing a predetermined number of layers, the robot places another dummy paper before palletizing the next layer. Compared with the conventional paper feeding machine, this robot system shortened the cycletime by 3 seconds. In addition, vacuumm suction errors in the conventional system have also been eliminated.