This contribution focuses on nonlinear control of optimal trajectories using modern servo controllers, Ethernet powerlink bus-systems and motion hardware, interfaced with an industrial robot. All suggested approaches are based on nonlinear mathematical model of the robot and are stepwise introduced. Advantages result from the fact that the cascaded joint controllers of the servo drives work in co-operation with exactly identified and computed feed forward set-values to reduce the occurring lag errors. Satisfying industrial needs for high performance operation, a numerical approach to time and/or energy optimal trajectory design is coupled with the proposed feed-forward approach. To evaluate the suggested ideas, all methods are implemented under laboratory conditions with real industrial hardware. Further, details of real measurements and recorded data are presented within this document.