A method for operating a robot manipulator , having the following steps: - ascertaining (S1) a wrench or joint torque vector on the basis of a weight force of a mass and/or on the basis of a force induced by the inertia of the mass of a load on an end effector of the robot manipulator , - ascertaining (S2) a maximum permissible workspace and a maximum permissible kinematic variable of the end effector or optionally the load , in each case on the basis of the wrench or joint torque vector, wherein the maximum permissible workspace specifies a range for permissible positions of the end effector or optionally the load , such that the wrench or the joint torque vector does not exceed a predetermined metric within the workspace, and - controlling (S5) the robot manipulator by way of a control unit for executing a predetermined task in consideration of the maximum permissible kinematic variable and such that the end effector or optionally the load on the end effector remains within the maximum permissible workspace if, at the beginning of the execution of the task, the end effector or optionally the load on the end effector is located within the maximum permissible workspace. - ascertaining (S1) a wrench or joint torque vector on the basis of a weight force of a mass and/or on the basis of a force induced by the inertia of the mass of a load on an end effector of the robot manipulator , - ascertaining (S2) a maximum permissible workspace and a maximum permissible kinematic variable of the end effector or optionally the load , in each case on the basis of the wrench or joint torque vector, wherein the maximum permissible workspace specifies a range for permissible positions of the end effector or optionally the load , such that the wrench or the joint torque vector does not exceed a predetermined metric within the workspace, and - controlling (S5) the robot manipulator by way of a control unit for executing a predetermined task in consideration of the maximum permissible kinematic variable and such that the end effector or optionally the load on the end effector remains within the maximum permissible workspace if, at the beginning of the execution of the task, the end effector or optionally the load on the end effector is located within the maximum permissible workspace. - ascertaining (S2) a maximum permissible workspace and a maximum permissible kinematic variable of the end effector or optionally the load , in each case on the basis of the wrench or joint torque vector, wherein the maximum permissible workspace specifies a range for permissible positions of the end effector or optionally the load , such that the wrench or the joint torque vector does not exceed a predetermined metric within the workspace, and - controlling (S5) the robot manipulator by way of a control unit for executing a predetermined task in consideration of the maximum permissible kinematic variable and such that the end effector or optionally the load on the end effector remains within the maximum permissible workspace if, at the beginning of the execution of the task, the end effector or optionally the load on the end effector is located within the maximum permissible workspace. <EOS>