System for the automated grinding and/or polishing of workpieces using supporting additional means, which comprises: at least one handling device, in particular a robot or industrial robot, with at least one measuring arrangement for detecting at least one control variable, at least one regulating device which interacts with at least the measuring arrangement and, taking into account the at least one control variable, brings about an optimization of the respective grinding or polishing process, wherein forces and/or moments and/or force deviations and/or moment deviations relative to at least one predetermined reference value occurring along at least one axis and/or at least one predeterminable direction can be detected, and the optimization of the respective grinding or polishing process is effected by correction of a predetermined movement sequence and thus by a path and position correction of the handling device, and at least one control device for controlling the position and movement of the handling device, which interacts with the at least one regulating device in such a way that corresponding control correction values, in particular movement or position correction values, with respect to a predetermined movement sequence or path course are transmitted or can be transmitted to the control device for implementation of a respectively performed position or path optimization, and the at least one regulating device, in cooperation with the control device and the at least one measuring arrangement, regulates the force acting along at least one predeterminable direction or the torque acting along at least one direction to at least one predetermined reference value, wherein a respectively suitable reference value is selected from a predeterminable set of reference values, which are stored in a retrievable manner in particular in a data memory, by means of the regulating device as a function of predeterminable parameters which comprise the current position of the tool and of the workpiece, characterized in that a specific reference value of the control variable is assigned to each additional means. at least one handling device, in particular a robot or industrial robot, with at least one measuring arrangement for detecting at least one control variable, at least one regulating device which interacts with at least the measuring arrangement and, taking into account the at least one control variable, brings about an optimization of the respective grinding or polishing process, wherein forces and/or moments and/or force deviations and/or moment deviations relative to at least one predetermined reference value occurring along at least one axis and/or at least one predeterminable direction can be detected, and the optimization of the respective grinding or polishing process is effected by correction of a predetermined movement sequence and thus by a path and position correction of the handling device, and at least one control device for controlling the position and movement of the handling device, which interacts with the at least one regulating device in such a way that corresponding control correction values, in particular movement or position correction values, with respect to a predetermined movement sequence or path course are transmitted or can be transmitted to the control device for implementation of a respectively performed position or path optimization, and the at least one regulating device, in cooperation with the control device and the at least one measuring arrangement, regulates the force acting along at least one predeterminable direction or the torque acting along at least one direction to at least one predetermined reference value, wherein a respectively suitable reference value is selected from a predeterminable set of reference values, which are stored in a retrievable manner in particular in a data memory, by means of the regulating device as a function of predeterminable parameters which comprise the current position of the tool and of the workpiece, characterized in that a specific reference value of the control variable is assigned to each additional means.