Working system for an application of force onto a workpiece, with a pneumatic actuator having an actuator housing designed to be fixed to a manipulator and a moveable element designed to couple an end effector and movably received on the actuator housing, and with a controller having a valve arrangement for a compressed air supply to the pneumatic actuator, has a position sensor system for determining a spatial position of the pneumatic actuator and for providing position-dependent electrical position sensor signals, and a processing system for processing the position sensor signals and for providing control signals to the valve arrangement, the processing system being designed for controlling a pneumatic supply to the pneumatic actuator as a function of the position sensor signals.

Working system for an application of force onto a workpiece, with a pneumatic actuator having an actuator housing designed to be fixed to a manipulator and a moveable element designed to couple an end effector and movably received on the actuator housing, and with a controller having a valve arrangement for a compressed air supply to the pneumatic actuator, has a position sensor system for determining a spatial position of the pneumatic actuator and for providing position-dependent electrical position sensor signals, and a processing system for processing the position sensor signals and for providing control signals to the valve arrangement, the processing system being designed for controlling a pneumatic supply to the pneumatic actuator as a function of the position sensor signals.