[MarcGondran]

Actually, I answered my question by myself. I solved it this way :

Code:

target_name = 'Target %i' % (i + 1)
robot.MoveJ(robot.SolveIK(KUKA_2_Pose(Pose_2_KUKA(htm[i+1])), tool=RDK.Item('Tool 1', ITEM_TYPE_TOOL).PoseTool()))
target = RDK.AddTarget(target_name, reference, robot)
program.setSpeed(speed[i])
program.MoveL(target)
RDK.Update()

Thank you

Marc