A method of improving a preplanned movement sequence for the control of a robot operated as part of a human-robot collaboration, wherein the preplanned movement sequence comprises a defined movement path along which the robot is to move in order to perform a specific task, and a defined speed development according to which each point of the movement path is associated with a speed (v) at which the robot is to move at the respective point, wherein the method comprises: - the robot being controlled to repeatedly run through the preplanned movement sequence; and - during the repeated run-through of the preplanned movement sequence, an environment of the robot being monitored and, in so doing, disturbances being detected that emanate from objects which are located in the environment or which enter into the environment so that an endangerment of the respective object by the robot results therefrom, characterized in that the method further comprises: - on the repeated run-through of the preplanned movement sequence, for a plurality of different sections (s 1 -s n) of the movement path, the frequency (k) of disturbances detected in the respective section (s 1 -s n) being determined; - after the repeated run-through of the preplanned movement sequence, a modified speed development (31 or 33) being determined in that, for the different sections (s 1 -s n), the speeds (v) associated with the points of the respective section (s 1 -s n) are modified in dependence on the frequency (k) determined for the respective section (s 1 -s n); and - an improved movement sequence that comprises the modified speed development (31 or 33) being provided for the further control of the robot. wherein the preplanned movement sequence comprises a defined movement path along which the robot is to move in order to perform a specific task, and a defined speed development according to which each point of the movement path is associated with a speed (v) at which the robot is to move at the respective point, wherein the method comprises: - the robot being controlled to repeatedly run through the preplanned movement sequence; and - during the repeated run-through of the preplanned movement sequence, an environment of the robot being monitored and, in so doing, disturbances being detected that emanate from objects which are located in the environment or which enter into the environment so that an endangerment of the respective object by the robot results therefrom, - the robot being controlled to repeatedly run through the preplanned movement sequence; and - during the repeated run-through of the preplanned movement sequence, an environment of the robot being monitored and, in so doing, disturbances being detected that emanate from objects which are located in the environment or which enter into the environment so that an endangerment of the respective object by the robot results therefrom, characterized in that the method further comprises: - on the repeated run-through of the preplanned movement sequence, for a plurality of different sections (s 1 -s n) of the movement path, the frequency (k) of disturbances detected in the respective section (s 1 -s n) being determined; - after the repeated run-through of the preplanned movement sequence, a modified speed development (31 or 33) being determined in that, for the different sections (s 1 -s n), the speeds (v) associated with the points of the respective section (s 1 -s n) are modified in dependence on the frequency (k) determined for the respective section (s 1 -s n); and - an improved movement sequence that comprises the modified speed development (31 or 33) being provided for the further control of the robot. - on the repeated run-through of the preplanned movement sequence, for a plurality of different sections (s 1 -s n) of the movement path, the frequency (k) of disturbances detected in the respective section (s 1 -s n) being determined; - after the repeated run-through of the preplanned movement sequence, a modified speed development (31 or 33) being determined in that, for the different sections (s 1 -s n), the speeds (v) associated with the points of the respective section (s 1 -s n) are modified in dependence on the frequency (k) determined for the respective section (s 1 -s n); and - an improved movement sequence that comprises the modified speed development (31 or 33) being provided for the further control of the robot.