Abstract: A robot controller for controlling a robot arm comprising: —a first space shaping module configured to provide a shaped first space target motion by convolving a first space target motion with an impulse train, where the first space target motion defines a target motion in a first reference space; —a second space shaping module configured to provide a shaped second space target motion by convolving a second target motion with the impulse train; where the second target motion defines the target motion in a second reference space; and —a motor controller module configured to generate motor control signals to the joint motors based on the shaped first space target motion and the shaped second space target motion. This makes it possible to dynamically adjust in which reference space the input shaping shall be performed whereby vibrations and deviation in one reference space caused by input shaping in another reference space can be reduced.