Method for controlling a manipulator system , wherein the manipulator system comprises at least one manipulator and a control device , which control device is configured to control the manipulator by means of a manipulator program , wherein the method comprises the following method steps: providing a first manipulator program which is implemented in a first programming language; providing at least a second manipulator program , wherein the second manipulator program describes a second part of a movement path of the manipulator and is not implemented in the first programming language, and wherein the second manipulator program comprises at least one path attribute which can be changed by means of the first manipulator program ; integrating the second manipulator program into the first manipulator program in order to define an overall manipulator program , and controlling the manipulator system by means of the control device and the overall manipulator program , wherein the second manipulator program is implemented in a second programming language, characterized in that the first manipulator program describes a first part of the movement path of the manipulator and in that the first and second programming language each contain at least one manipulator program command the function of which is not contained in the respective other programming language and wherein the first manipulator program is configured to optimize, in particular to smooth, the second part of the movement path , which is described by means of the second manipulator program , and/or a transition from the first part of the movement path to the second part of the movement path , wherein at least one path attribute of the second manipulator program can be changed by means of the first manipulator program in order to optimize, in particular to smooth, the second part of the movement path and/or a transition from the first part of the movement path to the second part of the movement path . providing a first manipulator program which is implemented in a first programming language; providing at least a second manipulator program , wherein the second manipulator program describes a second part of a movement path of the manipulator and is not implemented in the first programming language, and wherein the second manipulator program comprises at least one path attribute which can be changed by means of the first manipulator program ; integrating the second manipulator program into the first manipulator program in order to define an overall manipulator program , and controlling the manipulator system by means of the control device and the overall manipulator program , wherein the second manipulator program is implemented in a second programming language, characterized in that the first manipulator program describes a first part of the movement path of the manipulator and in that the first and second programming language each contain at least one manipulator program command the function of which is not contained in the respective other programming language and wherein the first manipulator program is configured to optimize, in particular to smooth, the second part of the movement path , which is described by means of the second manipulator program , and/or a transition from the first part of the movement path to the second part of the movement path , wherein at least one path attribute of the second manipulator program can be changed by means of the first manipulator program in order to optimize, in particular to smooth, the second part of the movement path and/or a transition from the first part of the movement path to the second part of the movement path . <EOS>