在工业机器人（1）的端部执行器（9）的沿路径（KRE，KRS），其主要是由齿槽驱动器的扭矩可降低移动过程中，包括从一个编程的（理想的）轨迹的端部执行器（9）的偏差。 为了这个目的，建议： - 执行一个学习循环，其中从理想路径（KI）的真实路径的偏差（KRE，KRS）被确定， - 从 - 由工业机器人（1），以确定偏差致病环境转矩的逆模型的装置， 以确定工业用机器人（1）的轴线的干扰转矩修正角供给轴角度 - 来操作工业机器人考虑到修正角（1）。 本发明提供了这样的优点，即在工业机器人（1）中，编程的车道可以保持比传统的工业机器人更精确。

In an industrial robot (1) are to include deviations of the end effector (9) from a programmed (ideal) trajectory during the movement of the end effector (9) along a path (K _RE, K _RS), which are mainly caused by cogging torque of the drives, reduced become. It is proposed:
- carry out a learning travel, are determined during the deviations of the real path (K _RE, K _RS) from the ideal path (K _I),
- to determine by means of an inverse model of the industrial robot (1) for the deviations causative environmental torques,
to determine from the interference torques correction angle for the axes of the industrial robot (1) supplied axis angle, -
- to operate the industrial robot (1) taking into account the correction angle. The invention provides the advantage that programmed in the industrial robot (1) tracks can be observed much more accurate than conventional industrial robots.