The present invention comprises a jointing head 1, a robot with this jointing head 1, and a fastening method for affixing fastening elements 9 to a component surface B. The method may include receiving a set of sequence diagrams describing interactions between pairs of components in a composite application. The first pressure passes through a first pressure pipe and acts on a first measuring surface, the second pressure passes through a second pressure pipe and acts on a second pressure surface opposite to the first surface of the adjusting valve, the first pressure being higher than the second pressure.