Robot control method comprising the following steps: - Presetting of target values of a working point (P A) predetermined in position and orientation by a robot program, in which programmed dependence a tool reference point (P T) of a manipulator is set by automatic movement of axes of the manipulator by a robot controller connected to the manipulator, characterized by - on the basis of position values of a robot base which can be adjusted by an auxiliary axis (11, 14) and which are predetermined by the robot program and which correspond to a planned position and orientation to be reached, whereby the position values being related to a zero point of the auxiliary axis (11, 14), automatically changing the zero point of the auxiliary axis (11, 14) in such a way that a position of the robot base which is actually to be reached is approximated to the working point (P A), - automatically moving the auxiliary axis (11, 14) in such a way that the robot base adopts the position and orientation corresponding to the predetermined position values and the changed zero point, - wherein the zero point of the auxiliary axis is automatically changed in such a way that the actual position to be reached by the robot base is approximated to a working point (P A) by maintaining the predetermined position values of a planned position and orientation of the robot base to be reached, which is adjustable by the auxiliary axis (11, 14), whereby the working point (P A) is a modified working point (P A) compared to the operating point predetermined by the robot program, which can no longer be reached by the manipulator based on the position values predetermined by the robot program, - based on the position values of the position and orientation of the robot base and based on the target values of the specified working point (P A) predetermined by the robot program, automatically back-calculating of axis values of the axes of the manipulator corresponding to the position values of the robot base and to approach values of the tool reference point (P T) programmed as a function of the reference point, and - moving the links of the manipulator by adjusting the axes of the manipulator to the back-calculated axis values by means of the control device connected to the manipulator. - Presetting of target values of a working point (P A) predetermined in position and orientation by a robot program, in which programmed dependence a tool reference point (P T) of a manipulator is set by automatic movement of axes of the manipulator by a robot controller connected to the manipulator, characterized by - on the basis of position values of a robot base which can be adjusted by an auxiliary axis (11, 14) and which are predetermined by the robot program and which correspond to a planned position and orientation to be reached, whereby the position values being related to a zero point of the auxiliary axis (11, 14), automatically changing the zero point of the auxiliary axis (11, 14) in such a way that a position of the robot base which is actually to be reached is approximated to the working point (P A), - automatically moving the auxiliary axis (11, 14) in such a way that the robot base adopts the position and orientation corresponding to the predetermined position values and the changed zero point, - wherein the zero point of the auxiliary axis is automatically changed in such a way that the actual position to be reached by the robot base is approximated to a working point (P A) by maintaining the predetermined position values of a planned position and orientation of the robot base to be reached, which is adjustable by the auxiliary axis (11, 14), whereby the working point (P A) is a modified working point (P A) compared to the operating point predetermined by the robot program, which can no longer be reached by the manipulator based on the position values predetermined by the robot program, - based on the position values of the position and orientation of the robot base and based on the target values of the specified working point (P A) predetermined by the robot program, automatically back-calculating of axis values of the axes of the manipulator corresponding to the position values of the robot base and to approach values of the tool reference point (P T) programmed as a function of the reference point, and - moving the links of the manipulator by adjusting the axes of the manipulator to the back-calculated axis values by means of the control device connected to the manipulator.