| 摘要 |
<p>The method involves determining torque variables required for moving a gripper (15) around an axis (27e) of one of adjusting drives. The gripper is moved in a preset measuring position, and position values are measured in a coordination system of a grip arm (11). Deviation values are determined between the position values and actual position values. A linear deviation function that describes change of a position of the gripper depending on load capacity is determined between the torque variables and the deviation values. An independent claim is also included for a method for accommodating and/or storing a workpiece or a pallet blank in an operating position.</p> |
