A method of control of a robot having a movable element for carrying a container preferably elongated along one axis, said container holding a pulverized drug and diluents; said robot being designed to agitate said container for enabling a reconstruction process wherein the pulverized drug is fully dissolved in the diluents, the method being characterized by comprising the following steps: - providing a user interface for introducing data indicative of the drug to be subjected to reconstitution process; - accessing to an internal data base based on said introduced data for outputting, for a selected drug, a list of primitive movements (P1, P2,..Pi,..Pn) to be used in said reconstructing process; each primitive movement (P1, P2,..Pi,..Pn) including computerized instructions for the robot in order to move the container according to a pre-determined trajectory that, in the three dimensional space, defines a predefined simple movement that mimics a movement made under manual reconstitution; - operating the robot for executing sequentially the primitive movements that have been outputted and moving the container according to the instructions of said primitives movements; - measuring, during the movement of the container under robot action, physical positions in the space and dynamic parameters of the container creating a list of registered data; - comparing the measured positions in the space and the dynamic parameters with the corresponding ones of primitive movements that have been defined in a setting phase under manual reconstitution done by a trained operator for selecting a list of eligible primitive movements if a sufficient approximation level is reached; - elaborating selected eligible primitive movements together to generate instruction for the robot allowing a complex movement encompassing said simple movements; and - using said robot for shaking said container that is moved in the space according to said complex movement. - providing a user interface for introducing data indicative of the drug to be subjected to reconstitution process; - accessing to an internal data base based on said introduced data for outputting, for a selected drug, a list of primitive movements (P1, P2,..Pi,..Pn) to be used in said reconstructing process; each primitive movement (P1, P2,..Pi,..Pn) including computerized instructions for the robot in order to move the container according to a pre-determined trajectory that, in the three dimensional space, defines a predefined simple movement that mimics a movement made under manual reconstitution; - operating the robot for executing sequentially the primitive movements that have been outputted and moving the container according to the instructions of said primitives movements; - measuring, during the movement of the container under robot action, physical positions in the space and dynamic parameters of the container creating a list of registered data; - comparing the measured positions in the space and the dynamic parameters with the corresponding ones of primitive movements that have been defined in a setting phase under manual reconstitution done by a trained operator for selecting a list of eligible primitive movements if a sufficient approximation level is reached; - elaborating selected eligible primitive movements together to generate instruction for the robot allowing a complex movement encompassing said simple movements; and - using said robot for shaking said container that is moved in the space according to said complex movement.