Method for compensating for a deviation in an operating point

A method for compensating for a deviation in an operating point of a manipulator during the processing of a workpiece via an end effector on the manipulator;

• comprising:
• processing a command sequence for controlling the manipulator for the purpose of processing the workpiece,
• generating setpoint position information corresponding to a setpoint position based on the command sequence, and
• setting the operating point of the manipulator based on said piece of setpoint position information
• wherein the setpoint position information is processed for ascertaining a compensation value using a compensation parameter set which is related to the piccc of setpoint position information and the setpoint position information is adjusted according to the compensation value for compensating for a deviation between an actual position of the operating point and the setpoint position,
• wherein the actual position is measured during the processing of the workpiece,
• wherein based on a comparison between the measured actual position and the setpoint position a correction value is ascertained, and
• wherein based on the correction value the compensation parameter set is adjusted during the processing of the workpiece for reducing the deviation.