Arrangement and method for adjusting a robot arm

An arrangement comprising a machine tool with a chuck rotatable about a chuck axis, a measuring device with two sensor units, a robot arm with a gripping device and a control device,

• wherein the measuring device is configured to be attached to the chuck such that both the two sensor units are each assigned to different measurement locations along the chuck axis of the chuck, wherein each sensor unit of the two sensor units is configured to measure a distance of an outer surface of a workpiece from the chuck axis and to transmit a measurement signal corresponding to the distance to the control device,
• and wherein the control device is configured to carry out the following steps:
• a) control of the robot arm for gripping the workpiece,
• b) control of the robot arm for positioning the workpiece in a range of the different measurement locations of the sensor units adjacent to the chuck,
• c) control of the robot arm for positioning the workpiece based on the measurement signal such that a deviation between a workpiece axis of the workpiece and the chuck axis is within a predefined tolerance range, wherein the chuck and the measuring device attached thereon are in a first rotation position about the chuck axis,
• d) control of the machine tool for rotating the chuck and the measuring device arranged thereon about the chuck axis in a second rotation position different from the first rotation position, and
• e) checking of a position of the workpiece based on the measurement signal to determine whether the deviation between the workpiece axis and the chuck axis is within a predefined tolerance range and if not control of the robot arm for positioning the workpiece such that the deviation between the workpiece axis and the chuck axis is within the predefined tolerance range, wherein the chuck and the measuring device arranged thereon are in the second rotation position about the chuck axis.