when using I and locrot to change a position, all the previously inserted keyframe are changed ; I want only the change on the current selected keyframe : what should I do ?
(I'am always obliged to modify all the keyframes !)

Are you moving the time line slider to a new frame each time? If not you are overwriting existing keyframes for that frame.

you gotta insert a keyframe for the 1st frame to store the initial positions and rotations!

then insert keyframes where ever you want, they are only inserted at the current frame
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I'm sitting, waiting, wishing, building Blender in superstition...

I found a way to avoid this pb : I initialize all the keyframes to a first position and I change them all successivly according to my animation wishes.
Thanks for the replies.