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Dabei wird die Ber\u00fccksichtigung ger\u00e4tetechnischer Beschr\u00e4nkungen wie Gelenkanschl\u00e4ge, Drehzahl und Kollisionsvermeidung durch Ausnutzung von in gro\u00dfem Rahmen frei w\u00e4hlbaren Zusatzbedingungen erzwungen. Bei Bewegungsvorgabe des Endeffektors k\u00f6nnen diese beispielsweise eine gleichm\u00e4\u00dfige Bewegungsverteilung auf die Achsen, eine Vermeidung allzugro\u00dfer Abweichungen von einer Referenzbahn und eine geringstm\u00f6gliche Belastung der Antriebebeinhalten. Zur Kollisionsvermeidung wird eine Abstandsfunktion verwendet, die auf einer Punktgitterdarstellung der Arbeitsraumhindernisse und einer Darstellung des Robotors selbst durch Ellipsoide beruht. Durch den Vergleich einer Sollvorgabe mit der momentanenen Ausgangslage des Endeffektors (translatorisch und rotatorisch) wird eine zul\u00e4ssige Steuerung durch Einf\u00fchrung eines Parameters \\(p\\) (\\(0 \\leq p \\leq 1\\)) eingef\u00fchrt, f\u00fcr \\(p=1\\) die volle Manipulierbarkeit gew\u00e4hrleistet ist (die Zielvorgabe ist hindernisfrei), und f\u00fcr \\(p < 1\\) entweder eine Beschr\u00e4nkung vorliegt oder der Roboter sich in der N\u00e4he einer singul\u00e4ren Stelle befindet. Diese ``affine Manipulierbarkeit'' wird als Optimierungsproblem in der R\u00fcckw\u00e4rtskinematik formuliert. Die Zielvorgabe des Endeffektors mit maximal sechs Freiheitsgraden erzeugt auf diese Weise eine direkte und im obigen Sinne optimale Steuerung aller Gelenkmotoren, wobei automatisch nur technisch zul\u00e4ssige Signale erzeugt werden. Das gilt auch f\u00fcr sequentielle Vorgaben des Endeffektors, beispielsweise \u00fcber eine ``Spacemouse'. Der Kern des Verfahrens besteht in einer iterativen Echtzeitoptimierung konvexer G\u00fctekriterien durch Aufl\u00f6sung kinematischer Redundanzen. Das Verfahren wird an einem Leichtbauroboter mit zehn Freiheitsgraden experimentell 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