A control method of a robot (2) having a movable member for supporting a container (3) preferably elongated along an axis (H), said container (3) a powdered medicament (4) and diluents (5 )； said robot (2) being designed to shake the container to allow a reconstitution process where the powdered medicament is completely dissolved in diluents, the method characterized by including the following steps: - providing a user interface (22) for inputting data indicative of the drug to undergo reconstitution process； - access an internal database (DB) based on said input data to send to a selected drug, a list of primitive movements (P1, P2, ... Pi, ... Pn) to be used in said process reconstitution； each primitive including movement (P1, P2, ... Pi, ... Pn) computerized instructions for the robot in order to move the container (3) along a predetermined path, in three-dimensional space, defines a simple movement predefined imitating a movement performed under manual reconstitution； - operate the robot (2) to sequentially execute the primitive movements that have been issued and move the container (3) according to the movements of said primitive； - measure, during the movement of the container under the action of the robot, physical positions in space and dynamic parameters of the vessel (3) creating a list of recorded data； - comparing the measured positions in space and dynamic parameters with corresponding movements of primitive movements that have been defined in an establishment phase under manual reconstitution by a qualified operator to select a list of eligible primitive movements if a level is reached sufficient approximation； - develop selected eligible primitive movements together to generate an instruction to the robot allowing a complex movement that encompasses such simple movements； and - using said robot (2) for agitating said container (3) which is moved in space as said complex movement.Un método de control de un robot (2) que tiene un elemento móvil para so
