Verfahren zur Beurteilung der Positionierungsgenauigkeit eines medizinischen Roboterarms mit mindestens einem Gelenk, wobei die Steifigkeit des Roboterarms in einer Gelenkstellung anhand eines Steifigkeitsmodells berechnet und beurteilt wird.The method involves computing and assessing the rigidity of a robot arm (1) corresponding to a rigidity model. The rigidity model of the mechanical rigidity, particularly the rigidity of the joints (3 to 9) and the arm sections (11 to 14) is considered. The rigidity model considers the regulation rigidity. Independent claims are included for the following: (1) a software program for loading in a computer and (2) a control unit for a medical robot arm.
