Method for the production of a joint region on a work piece, in particular on an autobody work piece, which joint region is positioned under positional precision with respect to a reference region on the work piece, - in which method for forming out the joint region a robot-guided machining tool (9, 109) is utilized, which, with a sensor system (13, 113) comprising at least one sensor (14, 14', 14", 114) and permanently fixed with the tool (9, 109), forms a tool/sensor arrangement (16, 116), - wherein, starting from an approximation position that is independent of the position of the work piece in the working space of the robot, the tool/sensor arrangement (16, 116) within the scope of a positioning phase is first moved into a holding position in which the tool/sensor arrangement (16, 116) is oriented positionally precisely with respect to the reference region of the work piece, - wherein for approaching the holding position an iterative regulation process is passed through, in the course of which - an (actual) measured value of the at least one sensor (14, 14', 14", 114) is generated, - this (actual) measured value is compared with a (nominal) measured value generated in the course of a setup phase, - by utilizing a Jacobi matrix calculated in the course of the setup phase a displacement vector of the tool/sensor arrangement (16, 116) is calculated from the difference of the (actual) measured value and the (nominal) measured value, - the tool/sensor arrangement (16, 116) is displaced by this displacement vector, - and wherein, starting from this holding position, the tool/sensor arrangement (16, 116) in a machining phase is subsequently guided under robot control along a machining path, in the course of which the joint region is formed on the work piece, characterized in that - in the positioning phase errors of form in the reference regions of the work piece are registered and/or compensated with the aid of the sensors (14, 14', 14", 114). - in which method for forming out the joint region a robot-guided machining tool (9, 109) is utilized, which, with a sensor system (13, 113) comprising at least one sensor (14, 14', 14", 114) and permanently fixed with the tool (9, 109), forms a tool/sensor arrangement (16, 116), - wherein, starting from an approximation position that is independent of the position of the work piece in the working space of the robot, the tool/sensor arrangement (16, 116) within the scope of a positioning phase is first moved into a holding position in which the tool/sensor arrangement (16, 116) is oriented positionally precisely with respect to the reference region of the work piece, - wherein for approaching the holding position an iterative regulation process is passed through, in the course of which - an (actual) measured value of the at least one sensor (14, 14', 14", 114) is generated, - this (actual) measured value is compared with a (nominal) measured value generated in the course of a setup phase, - by utilizing a Jacobi matrix calculated in the course of the setup phase a displacement vector of the tool/sensor arrangement (16, 116) is calculated from the difference of the (actual) measured value and the (nominal) measured value, - the tool/sensor arrangement (16, 116) is displaced by this displacement vector, - an (actual) measured value of the at least one sensor (14, 14', 14", 114) is generated, - this (actual) measured value is compared with a (nominal) measured value generated in the course of a setup phase, - by utilizing a Jacobi matrix calculated in the course of the setup phase a displacement vector of the tool/sensor arrangement (16, 116) is calculated from the difference of the (actual) measured value and the (nominal) measured value, - the tool/sensor arrangement (16, 116) is displaced by this displacement vector, - and wherein, starting from this holding position, the tool/sensor arrangement (16, 116) in a machining phase is subsequently guided under robot control along a machining path, in the course of which the joint region is formed on the work piece, - in the positioning phase errors of form in the reference regions of the work piece are registered and/or compensated with the aid of the sensors (14, 14', 14", 114).