A method for controlling movement of a robot having a plurality of links connected by rotatably driven joints includes the steps of: a) defining a target speed vector of a reference point of the robot in Cartesian space; b) determining rotation speeds ({dot over (q)}ref) of the joints which minimize a weighted sum, the weighted sum having for summands i) a discrepancy (∥{dot over (x)}refk−J{dot over (q)}refk∥Wx) between the target speed vector ({dot over (x)}ref) and an actual speed vector ({dot over (x)}act) calculated from actual rotation speeds of the joints; and ii) a rate of change




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of the target rotation speeds; and c) setting the rotation speeds ({dot over (q)}ref) determined in step (b) as target rotation speeds of the joints.