Arrangement and method for adjusting a robot arm

The invention refers to an arrangement comprising a machine tool (16) with a chuck 17, a measuring device (36), a robot arm (31) as well as a control device (30). Chuck (17) is rotatable about a chuck axis (S). The robot arm (31) carries at its free end a gripping device (32) for reception of a workpiece (18). The measuring device (36) has two sensor units (41). The measuring device (36) has two sensor units (41). By means of the control device (30) an automatic adjustment method can be carried out. First the robot arm (31) is controlled for gripping a workpiece (18) and subsequently the workpiece (18) is positioned in the range of the measurement locations (M1, M2) of the sensor units (41) depending on measurement signals (S1, S2) such that the deviation in the inclination and the offset between the workpiece axis (W) and the chuck axis (S) is within a predefined tolerance range. This procedure is at least carried out in two different rotation positions (A, B) and is iteratively repeated if necessary.