1. A method for planning a movement of a robot in a fixed coordinate system of a spatial point assigned to the robot, comprising: calculating a geometry of the robot from a plurality of predetermined spatial positions of the spatial point based on a forward kinematics using a computing processor; translating the plurality of predetermined spatial positions of the spatial point into respective configuration positions in a configuration room of the robot using a translating processor based on an inverse kinematics, wherein each respective configuration position is described by at least one rotary and/or translational movement axis of the robot; checking the geometry of the robot with the respective configuration positions for a collision using a testing processor; and calculating a trajectory along the predetermined spatial positions based on a result of the checking using the computing processor so that the respective configuration positions of the trajectory are collision-free.