Abstract: The invention relates to a method for automatically connecting a charging connector (12) to a charging connector socket (21) of a vehicle (2), preferably a land vehicle (2), comprising at least the following steps: first optical capturing (100) of the charging connector socket (21) and/or the vehicle (2) as a first image by means of at least one first image capturing unit (13) which is arranged to be movable with the charging connector (12), determining (200) the position of the charging connector socket (21) and/or of the vehicle (2) based on the first image, reducing (300) the distance between the charging connector (12) and the charging connector socket (21) and/or the vehicle (2) by means of a positioning unit (10), and second optical capturing (400) of the charging connector socket (21) and/or of the vehicle (2) as a second image by means of the first image capturing unit (13).

Abstract: The invention relates to a method for positioning an effector (12) in relation to a surface (14), said effector (12) comprising at least one tool for performing an assembly step such as drilling or riveting, and being attached to the end of an articulated arm (10) which is able to apply an effort against the surface (14) by means of the effector (12), the effector (12) comprising a front wall (22) facing the surface (14). The inventive method is characterized in that it involves measuring a relative movement between the front wall (22) and a support plate (30) comprising at least one part which can be supported directly or indirectly against the surface (14) and can be immobile in relation to the surface and connected to the front plate (22) in such a way as to be able to be displaced in at least one direction and to control the articulated arm (10) such that it performs a movement for compensating the measured relative movement.