The invention relates to a method for controlling an automated work cell (2) including at least one robot arm (4) with at least three degrees of freedom (A1-A6), a programmable logic controller (6) suitable for developing a trajectory order (Om) based on an instruction to perform a trajectory of an application programmed in the programmable logic controller, a robot controller (10), suitable for steering the movement of the robot arm (4), and a communication bus (5) between the programmable logic controller (6) and the robot controller (10). The method comprises steps consisting of a) developing, in the programmable logic controller (6), a trajectory order (Om) including parameters for executing a trajectory defined at least between a departure point and an arrival point; b) transmitting the trajectory order (Om) developed in step a) to a computing unit (11) of the robot (10); c) developing, in the computing unit (11) of the robot controller (10) and based on the trajectory order (Om) transmitted in step b), elementary movement instructions for steering the robot arm (4) on the trajectory defined by the trajectory order (Om).