Method for automatically controlling the movement of at least one joint (L1-L6) of a robotic arm , wherein the robotic arm has multiple members (G1-G7), which can be adjusted relative to one another by the movements of the joints (L1-L6) of the robotic arm , and the at least one joint (L1-L6) comprises a transmission which is designed to adjust the at least one joint (L1-L6), specifically by automatically controlling an electric motor (M1-M6) of the robotic arm connected to the transmission, comprising the steps of: - detecting the motor positions (q), the motor speeds (q') and/or the motor accelerations (q") of the electric motor (M1-M6) at specific points in time (t) over the course of time, - measuring the respective joint moment (τ) at the specific points in time (t) over the course of time, - calculating the respective model-based joint moments (τ ref ) at the specific points in time (t) over the course of time by means of the inverse dynamics of a dynamic model of the robotic arm from the detected motor positions (q), motor speeds (q') and/or motor accelerations (q"), - determining estimated moment ripples (τ ripple ) in the form of a periodic function with the amplitude (A) and the phase (φ) in dependence on the motor positions (q), wherein - the amplitude (A) and the phase (φ) of the periodic function are adapted by means of an optimizing procedure, in that - the deviation between the respectively measured joint moments (τ) and the respectively calculated model-based joint moments (τ ref ) is used as a remainder (r) for the optimization, and - adapting the setpoint values (q set , q' set , q" set ) to be commanded for the motor positions (q), the motor speeds (q') and/or the motor accelerations (q"), in that the motor position deviations (q ref ) occurring on account of the moment ripple (τ ripple ) are determined from the estimated moment ripples (τ ripple ) and a joint torsional stiffness (k) of the at least one joint and are used for the adaptation of the setpoint values (q set , q' set , q" set ) to be commanded. - detecting the motor positions (q), the motor speeds (q') and/or the motor accelerations (q") of the electric motor (M1-M6) at specific points in time (t) over the course of time, - measuring the respective joint moment (τ) at the specific points in time (t) over the course of time, - calculating the respective model-based joint moments (τ ref ) at the specific points in time (t) over the course of time by means of the inverse dynamics of a dynamic model of the robotic arm from the detected motor positions (q), motor speeds (q') and/or motor accelerations (q"), - determining estimated moment ripples (τ ripple ) in the form of a periodic function with the amplitude (A) and the phase (φ) in dependence on the motor positions (q), wherein - the amplitude (A) and the phase (φ) of the periodic function are adapted by means of an optimizing procedure, in that - the deviation between the respectively measured joint moments (τ) and the respectively calculated model-based joint moments (τ ref ) is used as a remainder (r) for the optimization, and - adapting the setpoint values (q set , q' set , q" set ) to be commanded for the motor positions (q), the motor speeds (q') and/or the motor accelerations (q"), in that the motor position deviations (q ref ) occurring on account of the moment ripple (τ ripple ) are determined from the estimated moment ripples (τ ripple ) and a joint torsional stiffness (k) of the at least one joint and are used for the adaptation of the setpoint values (q set , q' set , q" set ) to be commanded. <EOS>