Abstract: This method of adjusting the operating parameters of a robot to move an effector tool along a given path in an optimum cycle time comprises a step (140) of modifying the operating parameter values to cause the cycle time to approach its optimum value. During this step, the values of the operating parameters are modified so as to approach an extremum of a compromise function, the compromise function comprising at least first and second terms, the first term being a function of the cycle time and the second term being a function of the temperature and/or the degree of wear.