Abstract: A method of inserting an electronic components in through-hole technology, THT, into a printed circuit board, PCB by an industrial robot, based on reinforcement learning, includes grabbing, by means of a tool with universal fingers mounted to the end-effector of the industrial robot, the electronic component to be inserted into the PCB; moving the tool to a starting position being in close proximity to a final position of the electronic component; acquiring at least one image showing the tool, the electronic component and the PCB; calculating, on a basis of the at least one image, at least one movement instruction for the industrial robot; adjusting position of the tool on a basis of the at least one movement instruction, and repeating the steps until the electronic component is in the final position.