Abstract: A method for moving a multi-axis or multi-axle handling system, particularly for orienting a hand of an industrial robot, with a gripping tool connected to a hand is characterized in that the movement is performed in such a way that movement-dependent moments on an article held by the gripping tool are largely eliminated and that essentially only normal forces act between the article and the gripping tool. An apparatus according to the invention is used for performing the method. This permits a safe and speed-optimized movement of handling articles, particularly during palletizing and commissioning, which leads to corresponding economic cost advantages.

Abstract: A process for handling objects, such as packages, by means of a materials handling device, such as a multiaxial industrial robot, with a gripping means, is characterized in that coordinates of a position, dimension and/or orientation of a number of objects are first determined, and individual gripping elements of the gripping means are subsequently actuated on the basis of the coordinates for gripping the objects. A gripping means, in which gripping elements can be activated and deactivated individually, is used according to the present invention in the course of the above-mentioned process. Handling operations, for example, commissioning processes, can thus be optimized in terms of the duration of the process.

Abstract: For stabilizing a stack of goods, preferably heterogeneous goods, stacked on a pallet, the invention provides a device for securing stacked articles, particularly during further stacking, which has suction devices for retaining stacked articles.

Abstract: A method for moving a multi-axis or multi-axle handling system, particularly for orienting a hand of an industrial robot, with a gripping tool connected to a hand is characterized in that the movement is performed in such a way that movement-dependent moments on an article held by the gripping tool are largely eliminated and that essentially only normal forces act between the article and the gripping tool. An apparatus according to the invention is used for performing the method. This permits a safe and speed-optimized movement of handling articles, particularly during palletizing and commissioning, which leads to corresponding economic cost advantages.