<p>In this paper, Modelica along with Optimica has been used to formulate and solve a minimum time optimiza- tion problem. The problem concerns traversing a given path with a robot in as short time possible under in- put constraints. Different problem reformulations are discussed that increase the chance of finding optimal solutions. This paper also discusses the use of these optimal solutions for control of industrial robots. A control structure, in which the optimal trajectories are essential, are used on an ABB IRB140B to ensure ro- bustness for model errors and disturbances.</p>