Method for controlling a multi-axis robot comprising means for grasping at least one moulded part in a mould of an injection moulding machine, said grasping means being mounted at the end of a mobile arm, according to a programmed step sequence, comprising the subsequent steps: - Creation of said programmed sequence, comprising: - input operations by an operator, comprising the sub-steps of: ∘ introduction of characteristics relating to said mould and/or said parts; ∘ learning of a set of main points of movement of said grasping means; - automatic command generation processing of said robot, comprising the sub-steps: ∘ optimisation of the setting of the part(s) in the mould as a function of said characteristics; ∘ automatic determination of movement commands, as a function of said main points, such that for at least one of said steps, called the current step, from an anticipated start time of a subsequent step, before the end of said current step such that, when said current step and said subsequent step correspond to movements of said grasping means in substantially perpendicular directions, the anticipated start time is programmable in the form of a ratio, predetermined or provided by the operator, of the movement of the current step; - implementation of moulding cycles, each comprising a step of extraction of said moulded part(s), said multi-axis robot being controlled according to said programmed sequence, such that at least two steps are carried out at least in part over the same period of time. - Creation of said programmed sequence, comprising: - input operations by an operator, comprising the sub-steps of: ∘ introduction of characteristics relating to said mould and/or said parts; ∘ learning of a set of main points of movement of said grasping means; - automatic command generation processing of said robot, comprising the sub-steps: ∘ optimisation of the setting of the part(s) in the mould as a function of said characteristics; ∘ automatic determination of movement commands, as a function of said main points, such that for at least one of said steps, called the current step, from an anticipated start time of a subsequent step, before the end of said current step such that, when said current step and said subsequent step correspond to movements of said grasping means in substantially perpendicular directions, the anticipated start time is programmable in the form of a ratio, predetermined or provided by the operator, of the movement of the current step; - input operations by an operator, comprising the sub-steps of: ∘ introduction of characteristics relating to said mould and/or said parts; ∘ learning of a set of main points of movement of said grasping means; ∘ introduction of characteristics relating to said mould and/or said parts; ∘ learning of a set of main points of movement of said grasping means; - automatic command generation processing of said robot, comprising the sub-steps: ∘ optimisation of the setting of the part(s) in the mould as a function of said characteristics; ∘ automatic determination of movement commands, as a function of said main points, such that for at least one of said steps, called the current step, from an anticipated start time of a subsequent step, before the end of said current step such that, when said current step and said subsequent step correspond to movements of said grasping means in substantially perpendicular directions, the anticipated start time is programmable in the form of a ratio, predetermined or provided by the operator, of the movement of the current step; ∘ optimisation of the setting of the part(s) in the mould as a function of said characteristics; ∘ automatic determination of movement commands, as a function of said main points, such that for at least one of said steps, called the current step, from an anticipated start time of a subsequent step, before the end of said current step such that, when said current step and said subsequent step correspond to movements of said grasping means in substantially perpendicular directions, the anticipated start time is programmable in the form of a ratio, predetermined or provided by the operator, of the movement of the current step; - implementation of moulding cycles, each comprising a step of extraction of said moulded part(s), said multi-axis robot being controlled according to said programmed sequence, such that at least two steps are carried out at least in part over the same period of time.