METHOD FOR ALIGNING ROBOT ARM

The invention relates to a method for orienting a robot arm (100) into a superordinate reference position (Pr). The robot arm has a plurality of robot joints (J1 to J7) each of which comprises a drive (1) enabling a rotation about an associated axis of rotation (A1 to A7), and an associated eccentric lever element (200) is formed from one or more further sub-elements of the robot arm for at least two selected robot joints (J2, J3, J5, Ga, Gb, Gc). The method comprises i) automatically orienting a drive of a selected first robot joint (Gb) to a first target position ([theta] b1), the associated first eccentric lever element (200b) being in a reversal orientation, ii) automatically orienting the drive of the selected second robot joint (Ga) to a second target position ([theta] a2) in which a second eccentric lever element (200a) is associated in a reversal orientation, the sub-steps i) and ii) being repeated in succession in an iterative loop until the angular change caused in each sub-step falls below a predet