The inventive method consists in supplying motion instructions (300) at least including information about the path geometry (320) and load instructions (310) to a path generator (400), calculating an allied load signal (800), transmitting said applied load signal (800) to the path generator (400), calculating motion instructions (500) along the path in such a way that the deviation between the projection of the applied load on a tangent to said path and the projection of the instruction on said tangent is minimized and in transmitting said motion instructions (500) to means for actuating a robot (600). A device comprising means (200, 400, 700) for carrying out said control is also disclosed.