Graphically supported adaptation of robot control programs

A method of ascertaining one or more parameters of a control program and/or of a control system for a robot manipulator by a control unit, the control unit comprising an interactive operating unit and a computing unit, the method comprising:

• displaying a first adjustment element, a second adjustment element, and a specified region for the first adjustment element and the second adjustment element, via an interactive operating unit, wherein the first adjustment element and the second adjustment element are moveable within the specified region via an input of a user on the interactive operating unit;
• detecting a user-specified position of the first adjustment element and the second adjustment element within the specified region via the interactive operating unit and transmitting the user-specified position of the first adjustment element, wherein the first adjustment element and the second adjustment element are moveable on a common linear scale;
• receiving via a computing unit the user-specified position of the first adjustment element and the second adjustment element transmitted from the interactive operating unit;
• ascertaining at least three weightings for a specified cost function via the computing unit as a function of the user-specified position of the first adjustment element relative to the second adjustment element and as a function of a relative position of a respective adjustment element relative to the specified region, wherein a sum of the weightings is constant for all positions of the first adjustment element and the second adjustment element;
• and
• ascertaining via the computing unit the one or more parameters of the control program and/or of the control system for the robot manipulator based on the cost function with the ascertained weightings.