Add to ORKGThe report summarizes the results of four partial projects: (i) integration of robot control in cim systems, (ii) overallstructure and interfaces of robot control systems, (iii) movement control of future robot systems, (iv) interaction interfaces, operation and programming. The cim robot control is provided with MAP 3.0 and comprises the information flow from the instruction up to the movement control including diagnosis. The interaction of computer and robot systems has been manifested by means of a demonstrator. Data transfer and communication technique in the direct robot environment was realized in the solution BITBUS. Improvements in the movement control was achieved by rapid processing of sensor data, enlargement of sensor control fu...