A method for braking an object, wherein the object is received in a receiving unit which is guided along a curved spatial curves trajectory by a machine, in particular a multi-axis or multi-link robot, wherein, with jerk limitation, reversing within the braking distance is carried out, wherein in a first time period the object which is initially moved at a speed is subjected to a negative jerk, the amount of which lies below a threshold value, in a second time period following on from the first time period the object is not subjected to any jerk, i.e. is subjected to a constant acceleration, wherein the speed of the object has a zero crossing and/or wherein the speed of the object vanishes and then reverses its direction, in a third time period following on from the second time period the object is subjected to a positive jerk, the amount of which lies below the threshold value, in a fourth time period following on from the third time period the object is subjected to a negative jerk, the amount of which lies below the threshold value, wherein the time characteristic of the jerk in the third and fourth time periods is selected such that the speed reaches zero at the end of the fourth time period, wherein in the third time period the acceleration is a strictly monotonically rising function of the time, i.e. grows linearly with time and in the third time period the acceleration has a single zero crossing, wherein the threshold value functions as a limit value for the amount of the jerk, i.e. the amount of jerk is always smaller than the threshold value, wherein in the fourth time period the acceleration is a strictly monotonically falling function of the time, i.e. is reduced linearly with time, and is greater than zero, until at the end of the fourth time period the acceleration is lowered to zero. the object is received in a receiving unit which is guided along a curved spatial curves trajectory by a machine, in particular a multi-axis or multi-link robot, wherein, with jerk limitation, reversing within the braking distance is carried out, wherein in a first time period the object which is initially moved at a speed is subjected to a negative jerk, the amount of which lies below a threshold value, in a second time period following on from the first time period the object is not subjected to any jerk, i.e. is subjected to a constant acceleration, wherein the speed of the object has a zero crossing and/or wherein the speed of the object vanishes and then reverses its direction, in a third time period following on from the second time period the object is subjected to a positive jerk, the amount of which lies below the threshold value, in a fourth time period following on from the third time period the object is subjected to a negative jerk, the amount of which lies below the threshold value, wherein the time characteristic of the jerk in the third and fourth time periods is selected such that the speed reaches zero at the end of the fourth time period, wherein in the third time period the acceleration is a strictly monotonically rising function of the time, i.e. grows linearly with time and in the third time period the acceleration has a single zero crossing, wherein the threshold value functions as a limit value for the amount of the jerk, i.e. the amount of jerk is always smaller than the threshold value, wherein in the fourth time period the acceleration is a strictly monotonically falling function of the time, i.e. is reduced linearly with time, and is greater than zero, until at the end of the fourth time period the acceleration is lowered to zero. <EOS>