An optimization method for improving the reliability of a pickup and discharge of articles according to an order in a picking process with a robot, which robot comprises a robot head which has a gripping unit and is movable relative to a robot base, in which an article is picked up from or out of a first article carrier and is placed down or dropped in/into or on/onto a second article carrier by means of the gripping unit, and wherein, in an image processing step, a gripping surface size and a gripping surface pose are determined by means of an opto-sensory preparation and analysis system, and a gripping pose for the gripping unit is calculated therefrom, the gripping unit is moved to the calculated gripping pose and the article is picked up by the gripping unit, characterized in that, in the image processing step, • at least one dimension is determined when the gripping surface size is determined, wherein the at least one dimension is determined in that an image of the articles in or on the first article carrier is produced by an optical image capturing means connected to the opto-sensory preparation and analysis system, and • a range allocation is determined by comparing this dimension with dimension ranges, wherein the dimension ranges are stored in an article parameter field, and • for this range allocation, a dimension value is determined and allocated to the determined dimension, wherein the dimension value is selected depending on a confidence value of the dimension range, wherein as soon as the confidence value is above a determinable threshold value, a normalization value (17, 24) is selected as the dimension value while below said threshold, the dimension value is selected from the article reference data, wherein the normalization value (17, 24) and the confidence value of the dimension range are stored in the article parameter field, and that in a preparation step, • in each determination of dimension values, a mathematical scattering measure function is applied for the determined dimension and for the dimension ranges, and normalization values (17, 24) and confidence values of the dimension ranges are adapted therefrom. wherein, in an image processing step, a gripping surface size and a gripping surface pose are determined by means of an opto-sensory preparation and analysis system, and a gripping pose for the gripping unit is calculated therefrom, the gripping unit is moved to the calculated gripping pose and the article is picked up by the gripping unit, characterized in that, in the image processing step, • at least one dimension is determined when the gripping surface size is determined, wherein the at least one dimension is determined in that an image of the articles in or on the first article carrier is produced by an optical image capturing means connected to the opto-sensory preparation and analysis system, and • a range allocation is determined by comparing this dimension with dimension ranges, wherein the dimension ranges are stored in an article parameter field, and • for this range allocation, a dimension value is determined and allocated to the determined dimension, wherein the dimension value is selected depending on a confidence value of the dimension range, wherein as soon as the confidence value is above a determinable threshold value, a normalization value (17, 24) is selected as the dimension value while below said threshold, the dimension value is selected from the article reference data, wherein the normalization value (17, 24) and the confidence value of the dimension range are stored in the article parameter field, and that in a preparation step, • in each determination of dimension values, a mathematical scattering measure function is applied for the determined dimension and for the dimension ranges, and normalization values (17, 24) and confidence values of the dimension ranges are adapted therefrom. • at least one dimension is determined when the gripping surface size is determined, wherein the at least one dimension is determined in that an image of the articles in or on the first article carrier is produced by an optical image capturing means connected to the opto-sensory preparation and analysis system, and • a range allocation is determined by comparing this dimension with dimension ranges, wherein the dimension ranges are stored in an article parameter field, and • for this range allocation, a dimension value is determined and allocated to the determined dimension, wherein the dimension value is selected depending on a confidence value of the dimension range, wherein as soon as the confidence value is above a determinable threshold value, a normalization value (17, 24) is selected as the dimension value while below said threshold, the dimension value is selected from the article reference data, wherein the normalization value (17, 24) and the confidence value of the dimension range are stored in the article parameter field, and that in a preparation step, wherein the normalization value (17, 24) and the confidence value of the dimension range are stored in the article parameter field, and that in a preparation step, • in each determination of dimension values, a mathematical scattering measure function is applied for the determined dimension and for the dimension ranges, and normalization values (17, 24) and confidence values of the dimension ranges are adapted therefrom.