1. A method for offline programming of an NC-controlled manipulator which follows at least one real trajectory, possibly in a sensor-supported manner, with tool center point thereof in a real working mode, comprising the steps of storing a kinematic manipulator model and, possibly an environmental model in an offline programming environment with user interface; defining at least one virtual trajectory of the manipulator and a virtual tolerance zone assigned to said trajectory using the offline programming environment in a definition routine; and using the offline programming environment to check, in a check routine, the tolerance zone which is previously defined at least in part in terms of kinematic singularities of the manipulator, an occurrence of which prompts a singularity routine to be executed.