Method for setting more precisely a position and/or orientation of a device head , which is connected to a robot arm mounted on a working platform , in a measuring environment by means of a distance measuring device , which comprises a number of M, M ≥ 1 distance measuring sensors and which is connected to the device head , and a control device , which is connected in a communicating manner to the distance measuring device and at least two on-board sensor devices , wherein the position and/or orientation of the device head is determined by means of a first on-board sensor device and transmitted to the control device and a geometry model of the measuring environment is stored in the control device , characterized by a sequence of a first, second, third and fourth step, which is carried out N times, N ≥ 1, wherein: ▪ in the first step of the sequence, the device head is arranged in a measuring position (MP 1 , MP 2 , MP 3 ) in the measuring environment , and pose data are determined for the measuring position (MP 1 , MP 2 , MP 3 ), wherein the pose data for the measuring position (MP 1 ) of the first sequence are determined by means of the first on-board sensor device and the pose data for the measuring positions (MP 2 , MP 3 ) of further sequences are determined by means of the first on-board sensor device and a further on-board sensor device , ▪ in the second step of the sequence, the distance measuring sensors carry out a distance measurement in relation to surfaces of the measuring environment and transmit their measured distance values (d m_ j1, d m_ j2, d m_ j3) to the control device , ▪ in the third step of the sequence, the geometry model and the pose data for the measuring position (MP 1 , MP 2 , MP 3 ) are used to determine estimated distance values (d e_ j1, d e_ j2, d e_ j3) corresponding to the measured distance values (d m_ j1, d m_ j2, d m_ j3), and ▪ in the fourth step of the sequence, the deviations (Δ j1 , Δ j2 , Δ j3 ) between the measured distance values (d m_ j1, d m_ j2, d m_ j3) and the corresponding estimated distance values (d e_ j1, d e_ j2, d e_ j3) are calculated and stored as error values (Δ j1 , Δ j2 , Δ j3 ), and after the Nth sequence of the first to fourth steps, the error values (Δ j1 , Δ j2 , Δ j3 ) are used to carry out an error minimization for the position and/or orientation of the device head and the position and/or orientation of the device head is set more precisely by the control device . ▪ in the first step of the sequence, the device head is arranged in a measuring position (MP 1 , MP 2 , MP 3 ) in the measuring environment , and pose data are determined for the measuring position (MP 1 , MP 2 , MP 3 ), wherein the pose data for the measuring position (MP 1 ) of the first sequence are determined by means of the first on-board sensor device and the pose data for the measuring positions (MP 2 , MP 3 ) of further sequences are determined by means of the first on-board sensor device and a further on-board sensor device , ▪ in the second step of the sequence, the distance measuring sensors carry out a distance measurement in relation to surfaces of the measuring environment and transmit their measured distance values (d m_ j1, d m_ j2, d m_ j3) to the control device , ▪ in the third step of the sequence, the geometry model and the pose data for the measuring position (MP 1 , MP 2 , MP 3 ) are used to determine estimated distance values (d e_ j1, d e_ j2, d e_ j3) corresponding to the measured distance values (d m_ j1, d m_ j2, d m_ j3), and ▪ in the fourth step of the sequence, the deviations (Δ j1 , Δ j2 , Δ j3 ) between the measured distance values (d m_ j1, d m_ j2, d m_ j3) and the corresponding estimated distance values (d e_ j1, d e_ j2, d e_ j3) are calculated and stored as error values (Δ j1 , Δ j2 , Δ j3 ), <EOS>