Method for programming motion sequences of a redundant industrial robot by manually guided adjustment of the pose of a manipulator arm of the industrial robot , which has a plurality of successive links (5-12) connected by adjustable joints comprising at least one redundant joint , which adjustable joints are adjustable under the control of at least one robot controller of the industrial robot , comprising the steps of: - displacing that link (5-12) of the manipulator arm to which a tool reference point is assigned, manually guided, from a first position and first orientation in space into a second position and/or second orientation in space, - back-calculating the joint position values of all joints of the manipulator arm from the second position and second orientation of the tool reference point of the manipulator arm while resolving the redundancy by determining an optimized joint position value of the at least one redundant joint , - automatically adjusting all joints of the manipulator arm controlled by the robot controller on the basis of the back-calculated, optimized joint position values during the manually guided adjustment, wherein the robot controller is designed and/or configured to allow a manual adjustment of the at least one redundant joint of the manipulator arm with force feedback, after an automatic adjustment or during an automatic adjustment of all joints of the manipulator arm controlled by the robot controller on the basis of the back-calculated, optimized joint position values during the manually guided adjustment, wherein an optimization of the joint position value of the at least one redundant joint is performed according to static and/or kinematic properties of the manipulator arm , characterized in that the property to be optimized is a process force, a stiffness of the manipulator arm and/or a sensitivity in force feedback of the manipulator arm . - displacing that link (5-12) of the manipulator arm to which a tool reference point is assigned, manually guided, from a first position and first orientation in space into a second position and/or second orientation in space, - back-calculating the joint position values of all joints of the manipulator arm from the second position and second orientation of the tool reference point of the manipulator arm while resolving the redundancy by determining an optimized joint position value of the at least one redundant joint , - automatically adjusting all joints of the manipulator arm controlled by the robot controller on the basis of the back-calculated, optimized joint position values during the manually guided adjustment, wherein the robot controller is designed and/or configured to allow a manual adjustment of the at least one redundant joint of the manipulator arm with force feedback, after an automatic adjustment or during an automatic adjustment of all joints of the manipulator arm controlled by the robot controller on the basis of the back-calculated, optimized joint position values during the manually guided adjustment, wherein an optimization of the joint position value of the at least one redundant joint is performed according to static and/or kinematic properties of the manipulator arm , characterized in that the property to be optimized is a process force, a stiffness of the manipulator arm and/or a sensitivity in force feedback of the manipulator arm . <EOS>