Method for transferring an end effector of a robot between one end effector pose and one further end effector pose, wherein, in particular in accordance with an activation of a control operation mode, - for at least one axis (qi) of the robot, in particular in advance, for - the transfer between the one end effector pose and the one further end effector pose, and - transfers between the one end effector pose and a group of other further end effector poses, the same uniform profile (q 1 (s)) of the position of this axis is predefined (S30) and - for at least one further axis of the robot, in particular during the transfer, - for the transfer between the one end effector pose and the one further end effector pose and - the transfer between the one end effector pose and at least one of the other further end effector poses, different profiles of the position of this further axis are commanded (S50), characterized in that an admissible range for the uniform profile of the position of the at least one axis is determined (S20), in particular on the basis of a predefined restriction, and the uniform profile is predefined within this admissible range, and in that - the admissible range is determined on the basis of extremes (E1-E4) for the further end effector pose - in particular of a convex envelope (U) of a predefined region (A) of further end effector poses; - virtual transfers (B1-B4) between the one end effector pose and the extremes; and/or - on the basis of an intersection of admissible individual ranges for in each case one further end effector pose. - for at least one axis (qi) of the robot, in particular in advance, for - the transfer between the one end effector pose and the one further end effector pose, and - transfers between the one end effector pose and a group of other further end effector poses, the same uniform profile (q 1 (s)) of the position of this axis is predefined (S30) and - the transfer between the one end effector pose and the one further end effector pose, and - transfers between the one end effector pose and a group of other further end effector poses, - for at least one further axis of the robot, in particular during the transfer, - for the transfer between the one end effector pose and the one further end effector pose and - the transfer between the one end effector pose and at least one of the other further end effector poses, different profiles of the position of this further axis are commanded (S50), characterized in that an admissible range for the uniform profile of the position of the at least one axis is determined (S20), in particular on the basis of a predefined restriction, and the uniform profile is predefined within this admissible range, and in that - for the transfer between the one end effector pose and the one further end effector pose and - the transfer between the one end effector pose and at least one of the other further end effector poses, - the admissible range is determined on the basis of extremes (E1-E4) for the further end effector pose - in particular of a convex envelope (U) of a predefined region (A) of further end effector poses; - virtual transfers (B1-B4) between the one end effector pose and the extremes; and/or - on the basis of an intersection of admissible individual ranges for in each case one further end effector pose. - in particular of a convex envelope (U) of a predefined region (A) of further end effector poses; - virtual transfers (B1-B4) between the one end effector pose and the extremes; and/or - on the basis of an intersection of admissible individual ranges for in each case one further end effector pose. <EOS>