A compensating device, which can be placed between a robot, e.g., used to grip and position workpieces, and a gripper moved by the robot to compensate position tolerances, includes respective interfaces for a manipulator and an end effector, with the compensating device positioned between the manipulator and the end effector and including a joint device aligned with a first axis Z between the interface segments, a first joint partner connected to the first interface segment, and a second joint partner connected to the second interface segment, one of the joint partners including a ball segment and the other including, for the ball segment, a receptacle segment that includes at least one ramp region so that the joint device forms a pivot or ball joint, the ball segment being capable of being displaced from a normal position in a transverse direction X-Y to the first axis Z into a compensating position.