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

Y. 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

A. D. Luca, L. Lanari, and G. Oriolo, A sensitivity approach to optimal spline robot trajectories, Automatica, 1991.

J. E. 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

Y. Zhang and H. Munch, Optimal motion planning for industrial robots, p.25, 1994.

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

M. Powell, Direct search algorithms for optimization calculations, Acta Numerica, vol.8, 1998.
DOI : 10.1007/BF00933295

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

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

D. Winfield, Function Minimization by Interpolation in a Data Table, IMA Journal of Applied Mathematics, vol.12, issue.3, 1973.
DOI : 10.1093/imamat/12.3.339

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

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

M. Powell, A method for nonlinear constraints in minimization problems Optimization (Symposium, pp.283-298, 1969.