Abstract: A method is disclosed that adjusts motion path parameters of a programmable part transfer device having part engaging tooling; the device is used to transfer parts between workstations of one or more cyclical stroking devices dependent on a rotary drive clock. The method comprises: setting up a non-linear analytical regression math model of the motion path of the part engaging tooling coordinated with the motions of the cyclically stroking device, the math model having motion path parameters at least for path speed, angular duration of path segments as a function of the drive clock, part stability, and dynamic freedom for said tooling within the stroking machine; initializing the math model with a first selected set of motion parameters; iteratively solving the math model to determine an optimum combination of at least path speed and part stability when transferring parts during each rotation of the drive clock, such transfer being devoid of any physical interference with the cyclically stroking device.