A method of gripping objects in a search zone by means of a robot calibrated in a world coordinate system (W), wherein the robot comprises a kinematic unit , wherein a gripping apparatus for gripping an object and a camera for capturing two-dimensional images at least of a part zone of the search zone are arranged at the kinematic unit , wherein the search zone has a plurality of markings which define a search zone coordinate system (S) and which are provided to determine perspective distortions in an image of the search zone , wherein, in a preceding first calibration step, a first transformation function (T1) is determined on the basis of a reference image of the search zone , said first transformation function (T1) transforming the search zone coordinate system (S) into the world coordinate system (W), wherein the method comprises: aligning the camera with the search zone ; recording a two-dimensional image of the search zone; equalizing the image on the basis of markings recorded in the image; determining the position and location of an image of an identified object , which is present in the equalized image, in an image coordinate system (B1, B2); determining the position and location of the object in the search zone coordinate system (S) on the basis of the position and location of the image of the object in the image coordinate system (B1, B2) and on the basis of images of the markings ; determining the position and location of the object in the world coordinate system (W) on the basis of the position and location of the object in the search zone coordinate system (S) and on the basis of the first transformation function (T1); and activating the kinematic unit to move the gripping apparatus into a gripping position, in which a gripping of the identified object by the gripping apparatus takes place, on the basis of the position and location of the object in the world coordinate system (W), wherein, during a movement of the kinematic unit , at least one of the steps is performed that comprise recording the image, equalizing the image and determining the position and location in the image coordinate system, search zone coordinate system and/or world coordinate system (B1, B2, S, W), wherein a plurality of iterations are performed during the movement of the gripping apparatus , with a respective iteration at least comprising the recording of an image. aligning the camera with the search zone ; recording a two-dimensional image of the search zone; equalizing the image on the basis of markings recorded in the image; determining the position and location of an image of an identified object , which is present in the equalized image, in an image coordinate system (B1, B2); determining the position and location of the object in the search zone coordinate system (S) on the basis of the position and location of the image of the object in the image coordinate system (B1, B2) and on the basis of images of the markings ; determining the position and location of the object in the world coordinate system (W) on the basis of the position and location of the object in the search zone coordinate system (S) and on the basis of the first transformation function (T1); and activating the kinematic unit to move the gripping apparatus into a gripping position, in which a gripping of the identified object by the gripping apparatus takes place, on the basis of the position and location of the object in the world coordinate system (W), wherein, during a movement of the kinematic unit , at least one of the steps is performed that comprise recording the image, equalizing the image and determining the position and location in the image coordinate system, search zone coordinate system and/or world coordinate system (B1, B2, S, W), wherein a plurality of iterations are performed during the movement of the gripping apparatus , with a respective iteration at least comprising the recording of an image. <EOS>