Method of control of a robot (2) having a movable element for agitating a container (3) holding a pulverized drug and diluents to enable a reconstruction process where the pulverized drug is fully dissolved in the diluents. The method comprising the steps of: providing a user interface (22) for introducing data indicative of the drug to be subjected to reconstitution process； accessing to an internal data base DB for outputting, for a selected drug, a list of primitive movements P1, P2,..Pi,..Pn to be used in the reconstructing process； operating the robot (2) for executing sequentially the primitives and moving the container (3) according to the instructions of the primitives； measuring, during the movement of the container under robot action, physical positions in the space and dynamic parameters of the container (3) creating a list of registered data； comparing the measured positions in the space and the dynamic parameter with the corresponding ones of the primitive movements for selecting a list of eligible primitives if a sufficient approximation level is reached； elaborating selected eligible primitives together to generate instructions for the robot allowing a complex movement encompassing the simple movements； and using the robot (2) for shaking said container that is moved in the space according to the complex movement.
