According to a method according to the invention for controlling a manipulator, in particular a robot (10), a planned path (z1(t)) of the manipulator is specified by a path generating device (1.1, 1.2, 1.3), a control path (z2(t)) is determined automatically on the basis of the planned path by a path conversion device (2), and the control path is traversed with the manipulator by a manipulator controller (3), with the path conversion device (2) determining curvature information (aij; t2(ti)) of the control path on the basis of curvature information (aij; t1(ti)) of the planned path.