J. Bobrow, S. Dubowsky, and J. Gibson, Time-Optimal Control of Robotic Manipulators Along Specified Paths, The International Journal of Robotics Research, vol.1, issue.3, 1985.
DOI : 10.1177/027836498500400301

[. Bestaoui, On-line Reference Trajectory Definition with Joint Torque and Velocity Constraints, The International Journal of Robotics Research, vol.11, issue.1, 1992.
DOI : 10.1177/027836499201100106

J. Betts, Survey of Numerical Methods for Trajectory Optimization, Journal of Guidance, Control, and Dynamics, vol.21, issue.2, 1997.
DOI : 10.2514/2.4231

J. Bonnans, J. Gilbert, C. Lemaréchal, and C. Sagastizabal, Numerical Optimization : Theoritical and Practical Aspects, 2003.
DOI : 10.1007/978-3-662-05078-1

A. Bryson and Y. Ho, Applied Optimal Control: Optimization, Estimation, and Control, IEEE Transactions on Systems, Man, and Cybernetics, vol.9, issue.6, 1975.
DOI : 10.1109/TSMC.1979.4310229

G. Biggs and B. Macdonald, A survey of robot programming systems, Proceedings of the Australasian Conference on Robotics and Automation in Brisbane, Australia, 2003. [cL89] Matsuhita Electric Ind. co Ltd. Controller for industrial robot. Japan Patent JP1020990, 1989.

K. [. Conn, P. L. Scheinberg, and . Toint, Recent progress in unconstrained nonlinear optimization without derivatives, Mathematical Programming, vol.12, issue.1, 1997.
DOI : 10.1007/BF02614326

A. Durrbaum, W. Klier, and H. Hahn, Comparison of automatic and symbolic differentiation in mathematical modeling and computer simulation of rigid-body systems, Multibody Systems Dynamics, 2002.

R. Fletcher, Practical Methods of Optimization, Second Edition, 1987.

J. Hollerbach, Dynamic Scaling of Manipulator Trajectories, Journal of Dynamic Systems, Measurement, and Control, vol.106, issue.1, 1984.
DOI : 10.1115/1.3149652

R. Horowitz, Learning Control of Robot Manipulators, Journal of Dynamic Systems, Measurement, and Control, vol.115, issue.2B, 1993.
DOI : 10.1115/1.2899080

[. Khalil and E. Dombre, Modélisation, identification et commande des robots, 1999.

C. Lin, P. Chang, and J. Y. Luh, Formulation and optimization of cubic polynomial joint trajectories for industrial robots, IEEE Transactions on Automatic Control, vol.28, issue.12, 1983.
DOI : 10.1109/TAC.1983.1103181

C. Lemaréchal and . Optimisation, Les techniques de l'ingénieur : Automatique, 1995.

A. De-luca, L. Lanari, and G. Oriolo, A sensitivity approach to optimal spline robot trajectories, Automatica, 1991.

R. W. Longman, Iterative learning control and repetitive control for engineering practice, International Journal of Control, vol.73, issue.10, pp.930-954, 2000.
DOI : 10.1080/002071700405905

[. Ltd, Method for foreseeing working limit of teaching playback type robot, 1988.

[. Ltd, Displaying method for duty of industrial robot, 1995.

C. Lawrence, J. Zhou, and A. Tits, User's guide for cfsqp version 2.5 : A c code for solving (large scale) constrained nonlinear (minimax) optimization problems, generating iterates satisfying all inequality constraints, 1997.

[. Pinch, Optimal Control and the calculus of Variations, 1993.

M. Powell, An efficient method for finding the minimum of a function of several variables without calculating derivatives, The Computer Journal, vol.7, issue.2, 1964.
DOI : 10.1093/comjnl/7.2.155

M. Powell, A method for nonlinear constraints in minimization problems, 1969.

M. Powell, Least Frobenius norm updating of quadratic models that satisfy interpolation conditions, Mathematical Programming, 2004.
DOI : 10.1007/s10107-003-0490-7

M. Powell, The NEWUOA software for unconstrained optimization without derivatives, 40th Workshop on Large Scale Nonlinear Optimization, 2004.
DOI : 10.1007/0-387-30065-1_16

S. Thompson and R. Patel, Formulation of Joint Trajectories for Industrial Robots Using B-Splines, IEEE Transactions on Industrial Electronics, vol.34, issue.2, 1987.
DOI : 10.1109/TIE.1987.350954

J. Taine and J. Petit, Transferts thermiques, Mécanique des fluides anisothermes. Dunod, 1998. [vS98] Oskar von Stryck. Optimal control of multibody systems in minimal coordinates, Zeitschrift fur Angewandte Mathematik und Mechanik 78, 1998.

]. D. Win73 and . Winfield, Function minimization by interpolation in a data table, Journal of the Institute of Mathematics and its applications, 1973.

T. Wonnacott and R. Wonnacott, Statistique : Economie, 1990.

[. Zlajpah, On time optimal path control of manipulators with bounded joint velocities and torques Unité de recherche INRIA Rhône-Alpes 655, avenue de l'Europe -38334 Montbonnot Saint-Ismier (France) Unité de recherche INRIA Futurs, Proceedings IEEE Int. Conf. on Robotics and Automation des Vignes 4, rue Jacques Monod -91893 ORSAY Cedex, 1996.

I. Unité-de-recherche and . Lorraine, Technopôle de Nancy-Brabois -Campus scientifique 615, rue du Jardin Botanique -BP 101 -54602 Villers-l` es-Nancy Cedex (France) Unité de recherche INRIA Rennes : IRISA, Campus universitaire de Beaulieu -35042 Rennes Cedex (France) Unité de recherche INRIA Rocquencourt : Domaine de Voluceau -Rocquencourt -BP 105 -78153 Le Chesnay Cedex (France) Unité de recherche, 2004.

I. Editeur and . De-voluceau-rocquencourt, BP 105 -78153 Le Chesnay Cedex (France) http://www.inria.fr ISSN, pp.249-6399