The most significant control problem to be solved in robotics is the use of sensor information. This article pre sents a new method of on-line motion generation. New joint reference trajectories are calculated to be more adapted to the situation detected by the position and velocity sensors. This motion generation method uses the resolution of a minimum time optimization problem. The constraints are first expressed in terms of joint velocity and torque bounds and are then transformed into joint velocity, acceleration, and jerk limitations. This reference trajectory definition takes into account the manipulator dynamics.
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