. Method drive control of a robotic arm and robotic arm using said method # drive control method of a robot arm comprising the following steps: a) moving the robotic arm by a programmed action in a controller; b) measuring the force that the robot arm performs at specific points of the movement of step a); c) comparing the force exerted on each of the points of step b) with profile data stored force in the controller; d) as a result of comparison of point c), generating an alarm signal if the force measured in step b) is outside the limits defined in the force profile and performing step a) if the force measured in step b) is within the limits defined in the force profile.