Method for transferring a mass of a pourable medium, with which filling is to be carried out, from a first vessel into a second vessel by means of a robotic arm, wherein the second vessel is positioned on a balance, wherein movement of the robotic arm is controlled by at least one movement parameter, comprising the following method steps: a) positioning the first vessel on the robotic arm such that a mass flow rate of the medium from the first vessel is changeable by a rotating movement of the robotic arm around an axis of rotation, b) positioning the second vessel such that medium poured out of the first vessel gets into the second vessel essentially by the effect of gravity, c) defining the mass of the medium that is to be filled into the second vessel as the target filling mass, d) determining the mass of the medium that has been filled into the second vessel as the actual filling mass, and also the change in the actual filling mass of the medium in the second vessel over time as the actual mass flow rate, by means of the balance, e) calculating a manipulated mass flow rate (StMS) as the manipulated variable of a first control loop, taking into account the actual filling mass and the target filling mass, f) using the manipulated variable of the first control loop as the reference variable of a second control loop to the effect that the calculated manipulated mass flow rate (StMS) is used as the target mass flow rate, g) calculating the at least one movement parameter of the robotic arm as the manipulated variable of the second control loop, taking into account the target mass flow rate and the actual mass flow rate, wherein the at least one movement parameter characterizes the rotating movement around an axis, and h) executing the movement of the robotic arm on the basis of the at least one movement parameter. a) positioning the first vessel on the robotic arm such that a mass flow rate of the medium from the first vessel is changeable by a rotating movement of the robotic arm around an axis of rotation, b) positioning the second vessel such that medium poured out of the first vessel gets into the second vessel essentially by the effect of gravity, c) defining the mass of the medium that is to be filled into the second vessel as the target filling mass, d) determining the mass of the medium that has been filled into the second vessel as the actual filling mass, and also the change in the actual filling mass of the medium in the second vessel over time as the actual mass flow rate, by means of the balance, e) calculating a manipulated mass flow rate (StMS) as the manipulated variable of a first control loop, taking into account the actual filling mass and the target filling mass, f) using the manipulated variable of the first control loop as the reference variable of a second control loop to the effect that the calculated manipulated mass flow rate (StMS) is used as the target mass flow rate, g) calculating the at least one movement parameter of the robotic arm as the manipulated variable of the second control loop, taking into account the target mass flow rate and the actual mass flow rate, wherein the at least one movement parameter characterizes the rotating movement around an axis, and h) executing the movement of the robotic arm on the basis of the at least one movement parameter.