An arrangement for a jointed arm robot, with - a jointed arm, with - joints (4.1,..., 4.6), each of which comprises a joint axis; - actuators, each of which is assigned to one of the joints (4.1,..., 4.6); - linking elements (5.1,..., 5.6), which connect the joints (4.1,..., 4.6) in a serial jointed arm arrangement; and - a holder for an end effector, which is arranged at one end of the jointed arm and is configured to receive an end effector; - a measuring arm, with - measuring arm joints (6.1,..., 6.6), each of which comprises a measuring arm joint axis, which extends coaxially to the joint axis of an assigned joint of the jointed arm; - rotary encoders, each of which is assigned to one of the measuring arm joints; and - measuring arm linking elements (7.1,..., 7.6), which connect the measuring arm joints (6.1,..., 6.6) in a serial measuring arm arrangement; wherein the jointed arm and the measuring arm form a parallel kinematics, in which the end of the jointed arm is connected to one end of the measuring arm and an opposite end of the jointed arm is connected to an opposite end of the measuring arm; - a control device, which is configured to control the actuators of the joints (4.1,..., 4.6) for moving the jointed arm; and - a measuring device, which is configured, taking into account measuring signals of the rotary encoders of the measuring arm joints (6.1,..., 6.6), to determine a position and/or orientation of the end of the measuring arm and thus to determine a position and/or orientation of the end of the jointed arm with the holder of the end effector; wherein a connection device is assigned to one or more of the non-end-side measuring arm links (7.1,..., 7.6) of the measuring arm and the non-end-side linking elements (5.2,..., 5.5) of the jointed arm, which is configured to form a pairwise detachable connection for the non-end-side measuring arm links (7.1,..., 7.6) and the non-end-side linking elements (5.2,..., 5.5), wherein this connection can be activated and deactivated by means of assigned control signals and / or manually, so that the connection is formed or released on activation/deactivation. - a jointed arm, with - joints (4.1,..., 4.6), each of which comprises a joint axis; - actuators, each of which is assigned to one of the joints (4.1,..., 4.6); - linking elements (5.1,..., 5.6), which connect the joints (4.1,..., 4.6) in a serial jointed arm arrangement; and - a holder for an end effector, which is arranged at one end of the jointed arm and is configured to receive an end effector; - joints (4.1,..., 4.6), each of which comprises a joint axis; - actuators, each of which is assigned to one of the joints (4.1,..., 4.6); - linking elements (5.1,..., 5.6), which connect the joints (4.1,..., 4.6) in a serial jointed arm arrangement; and - a holder for an end effector, which is arranged at one end of the jointed arm and is configured to receive an end effector; - a measuring arm, with - measuring arm joints (6.1,..., 6.6), each of which comprises a measuring arm joint axis, which extends coaxially to the joint axis of an assigned joint of the jointed arm; - rotary encoders, each of which is assigned to one of the measuring arm joints; and - measuring arm linking elements (7.1,..., 7.6), which connect the measuring arm joints (6.1,..., 6.6) in a serial measuring arm arrangement; - measuring arm joints (6.1,..., 6.6), each of which comprises a measuring arm joint axis, which extends coaxially to the joint axis of an assigned joint of the jointed arm; - rotary encoders, each of which is assigned to one of the measuring arm joints; and - measuring arm linking elements (7.1,..., 7.6), which connect the measuring arm joints (6.1,..., 6.6) in a serial measuring arm arrangement; - a control device, which is configured to control the actuators of the joints (4.1,..., 4.6) for moving the jointed arm; and - a measuring device, which is configured, taking into account measuring signals of the rotary encoders of the measuring arm joints (6.1,..., 6.6), to determine a position and/or orientation of the end of the measuring arm and thus to determine a position and/or orientation of the end of the jointed arm with the holder of the end effector;