A method for computer-aided movement planning of a robot is provided, in which a trajectory for the movement of a spatial point assigned to the robot is planned in a fixed coordinates system. The spatial positions are translated from a plurality of spatial positions of the spatial point into respective configuration positions in a configuration room of the robot based on inverse kinematics. The respective configuration positions are described by axial positions of one or several rotatory or translational movement axes of the robot and are tested for collisions and a trajectory is formed along spatial positions of the spatial point, the respective configuration positions of which are collision-free. Planning the movement in a fixed coordinates system improves the efficiency of the planning method and the planned movement corresponds more to the expectations of the persons or the operating staff in the surroundings of the robot.