Positioniervorrichtung mit Kraftsensor

The description refers to a device for positioning a tool attached to a single- or multi-axis arm for handling and/or machining a workpiece, comprising drive devices for each of the axes on the arm, a control unit for the drive devices and, if necessary, for the tool. The device is characterized by the fact that at least one force sensor is provided; if an output signal is applied to the control units, the control unit controls the movement of the arm in such a way that the force excerted by the tool on the workpiece is a function of the position of the tool.