Yes. Keep adding 1-kg weights until the balance tips to the side with the weights. If it balances perfectly, with Robert standing on the other side, stop. Otherwise, remove one of the 1-kg weights, and add 0.1-kg weights one at a time. If it balances after adding some of these, stop. Otherwise if it tips to the weights, remove the last 0.1-kg weight. Start adding 0.01-kg weights. If it balances, stop. If it tips to the side with the weights, remove the last 0.01-kg weight that was added. Continue in this way for the 0.001-kg weights, and so on. After a finite number of steps, one has a finite series of the form A+∑n=1Nsn/10n where A is the number of full kg weights and dn is the number of 1/10n-kg weights that were added. If at some state this series is Robert’s exact weight, the process will stop. Otherwise it represents the Nth partial sum of an infinite series that gives Robert’s exact weight, and the error of this sum is at most 1/10N.