Gottlieb, S.S.Gottlieb2022-03-082022-03-081992https://publica.fraunhofer.de/handle/publica/302748The description refers to a device for the performance of handling tasks, said device consisting of at least one arm which is rotatable in at least one axis in relation to a basic part of the device, and carrying a tool for performing the particular handling task in question. The invention is characterized by the fact that at least one appliance generating a torque is present in the basic part of the device, said torque being in the opposite direction to the torque generated by the movement of the arm. Moreover, a process for the control of this type of device is described.de608patent1990-4041167