The invention relates to a method for controlling the movements of articulated arms (21, 22, 23) of an industrial robot (2) using a movement setting means (3), wherein the movement setting means (3) is held by an operator in a predefined position relative to a reference mark (19, 19', 19") and the reference mark (19) is detected by the movement setting means and optionally read (16), and the distance (17) thereof to the reference mark is measured. The position and the alignment of the movement setting means (3) is detected by internal sensors (9), e.g. inertial/acceleration sensors, or by external sensors (30, 31, 32), e.g. 3D camera. Upon satisfying the coupling condition (25), the industrial robot or individual articulated arms thereof are coupled virtually to the movement setting meansand follow its movements, as if a fixed or rigid or flexible mechanical coupling had been established with respect to the industrial robot. In addition, a haptic feedback to the operator can be provided by a mechanical coupling of the movement setting means to an articulated arm of the industrial robot.