Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot along a goal path. An initial Cartesian path is generated based on a goal path on a workpiece. Dynamic properties of the robot while the robot traverses an initial joint-space trajectory having an initial velocity profile are obtained. An adjusted velocity profile over the Cartesian path is generated based on the obtained dynamic properties. A trajectory is generated by combining the initial Cartesian path and the adjusted velocity profile.

Methods, systems, and apparatus, including computer programs encoded on computer storage media, for controlling a robot along a goal path. An initial Cartesian path is generated based on a goal path on a workpiece. Dynamic properties of the robot while the robot traverses an initial joint-space trajectory having an initial velocity profile are obtained. An adjusted velocity profile over the Cartesian path is generated based on the obtained dynamic properties. A trajectory is generated by combining the initial Cartesian path and the adjusted velocity profile.

The embodiments relate to a method for operating a medical robotic device with an end effector for performing a diagnostic and/or therapeutic measure, involving predetermining at least one position to be reached by the end effector, evaluating at least two movement sequences of the medical robotic device, by which the end effector reaches the respectively predetermined at least one position, using an optimization criterion to select the movement sequence with the best evaluation result as the optimum movement sequence and implementing the optimum movement sequence, so that the respective predetermined position is reached by the end effector, in order to improve the reaching of the predetermined position.