System and method for executing an assembly task by means of a robot

A system for executing an assembly task or production task in a verified way, the system comprising:

• a. an n-axis robot having a base and an articulated arm which is connected to the base and can be moved in n machine axes relative to the base and comprises a first articulated-arm portion and a second articulated-arm portion which are directly connected in a robot joint such that they can be moved rotationally about one of the machine axes and/or translationally and axially along said machine axis;
• b. a robot controller for controlling and/or regulating the movements of the articulated arm in the n machine axes;
• c. a tool for the assembly task, having a first functional element and a second functional element,
• wherein
• d. the first functional element is directly coupled to the first articulated-arm portion such that it participates in movements which can be performed by the first articulated-arm portion,
• e. the second functional element is directly coupled to the second articulated-arm portion such that it participates in movements which can be performed by the second articulated-arm portion relative to the first articulated-arm portion and first functional element in the robot joint, in order to execute the assembly task,
• f. and the robot controller is designed to control and/or regulate the position and/or speed of the movements which can be performed by the second articulated-arm portion relative to the first articulated-arm portion in the robot joint, so as to activate a movement and/or function of the second functional element in a verified way.