A method of configuring and / or controlling a robot assembly, the robot assembly comprising at least one robot, the method comprising the step of: - determining at least one possible target pose of the robot for at least one specified initial position (X a) and at least one task of the robot on the basis of a selection set ({ i}) of possible initial poses (P a, ij) which have been specified for said at least one task and said at least one initial position (X a, i), in particular on the basis of a selection set ({ i}) of possible initial poses (P a, ij), which selection set ({ i}) of possible initial poses (P a, ij) has been determined before an operation of the robot, which possible initial poses (P a, ij) have been specified for said at least one task and said at least one initial position (X a, i); wherein specifying a selection set ({ i}) of possible initial poses (P a, ij) which have been specified for at least one task and at least one initial position (X a, i) comprises the steps of: - determining a start set of initial poses (P a, ij) of the robot for the at least one initial position (X a, i) of the robot on the basis of a specified redundancy parameter value range, wherein the initial poses (P a, ij) have values of a redundancy parameter which serves to resolve the ambiguity of axis positions to reach a position; - determining at least one intermediate pose or final pose of the robot on the basis of the task; - simulating the carrying out of the task by the robot and determining a specified selection criterion (G ij), in particular a selection criterion (G ij) which has been specified as a function of a user input; - selecting at least one initial pose (P a, ij) from the start set on the basis of the at least one task of the robot and the selection criterion (G ij); and - adding this initial pose to the selection set as a possible initial pose specified for this initial position and for this task. - determining at least one possible target pose of the robot for at least one specified initial position (X a) and at least one task of the robot on the basis of a selection set ({ i}) of possible initial poses (P a, ij) which have been specified for said at least one task and said at least one initial position (X a, i), in particular on the basis of a selection set ({ i}) of possible initial poses (P a, ij), which selection set ({ i}) of possible initial poses (P a, ij) has been determined before an operation of the robot, which possible initial poses (P a, ij) have been specified for said at least one task and said at least one initial position (X a, i); - determining a start set of initial poses (P a, ij) of the robot for the at least one initial position (X a, i) of the robot on the basis of a specified redundancy parameter value range, wherein the initial poses (P a, ij) have values of a redundancy parameter which serves to resolve the ambiguity of axis positions to reach a position; - determining at least one intermediate pose or final pose of the robot on the basis of the task; - simulating the carrying out of the task by the robot and determining a specified selection criterion (G ij), in particular a selection criterion (G ij) which has been specified as a function of a user input; - selecting at least one initial pose (P a, ij) from the start set on the basis of the at least one task of the robot and the selection criterion (G ij); and - adding this initial pose to the selection set as a possible initial pose specified for this initial position and for this task.