Abstract: This disclosure is drawn to a method of and an arrangement for controlling he rotational and translatory motions of a manipulator or industrial robot, which automatically for the entire motion and speed range, even when there is simultaneous movement of a plurality of motion actuators, permit uniform, selectible and disturbance-independent dynamic control properties for individual or all motion parameters. The invention is characterized in that for each rotational or translational motion parameter of the manipulator or industrial robot to be controlled the positioning signal of the associated motion actuator is in part generated by a control means with selectible dynamics. This controller output signal is amplified multiplicatively by the output signal of an arrangement which for a rotational motion reproduces the associated variable moment of inertia and for a translatory motion the associated mass, respectively, inclusive of the variable load mass.