Abstract: The invention refers to a chuck pallet (1.3) with solid groove-sidewalls (2.3) for clamping chucks (1.1), whereby the x-y-references (2.5) of the chuck pallet (1.3) are allocated in the same plane (2.1) as the z-references (2.1) and the x-y-references (2.5) are also allocated at the solid groove-sidewalls (2.3). The solid groove-sidewalls (2.3) have thereby a tapered profile.

Abstract: The invention refers to a chuck pallet (1.3) with solid groove-sidewalls (2.3) for clamping chucks (1.1), whereby the x-y-references (2.5) of the chuck pallet (1.3) are allocated in the same plane (2.1) as the z-references (2.1) and the x-y-references (2.5) are also allocated at the solid groove-sidewalls (2.3). The solid groove-sidewalls (2.3) have thereby a tapered profile.

Abstract: A chucking fixture for a tool or a workpiece, comprising a chuck and a toolholder or workholder matching the chuck, wherein the chuck has posts having bearing surfaces for orienting the tool or workpiece in an X and Y direction and having end faces for establishing a plane perpendicular to the Z direction, wherein devices for measuring the distance between the chuck and the toolholder or workholder are formed in the bearing surfaces and in the end faces.

Abstract: A chucking fixture for a tool or a workpiece, comprising a chuck and a toolholder or workholder matching the chuck, wherein the chuck has posts having bearing surfaces for orienting the tool or workpiece in an X and Y direction and having end faces for establishing a plane perpendicular to the Z direction, wherein devices for measuring the distance between the chuck and the toolholder or workholder are formed in the bearing surfaces and in the end faces.

Abstract: A method for control of an industrial robot, which has a plurality of movement axes with a position sensor for each of said axes which is adapted to deliver an output signal which defines the current position of the axis, and a control system for control of the axes of the robot. Continuously during operation of the robot for at least one mechanically critical point (i) of the robot, the relevant load (&tgr;i) during a predetermined period of time (&Dgr;t) is calculated on the basis of the output signals (&phgr;1,&phgr;2 . . . &phgr;6) from the position sensors and a mathematical model of the robot.