A method for adjusting a program including program instructions for controlling an industrial robot to carry out work at a plurality of target points on a work object. The robot includes a tool having two arms adapted to clamp the work object and at least one of the arms is arranged movable relative the other arm in an opening and a closing direction, a manipulator adapted to hold the tool or the work object, and a controller controlling the movements of the manipulator and the tool arm and configured to switch between a normal control mode and a compliant control mode in which the manipulator has a reduced stiffness in at least one direction. The method includes moving the manipulator and the tool according to the program instructions until one of the target points is reached.