The lack of ability to determine and implement accurately quantum optimal control is a strong limitation to the development of quantum technologies. We propose a digital procedure based on a series of pulses where their amplitudes and (static) phases are designed from an optimal continuous-time protocol for given type and degree of robustness, determined from a geometric analysis. This digitalization combines the ease of implementation of composite pulses with the potential to achieve global optimality, i.e., to operate at the ultimate speed limit, even for a moderate number of control parameters. We demonstrate the protocol on IBM's quantum computers for a single qubit, obtaining a robust transfer with a series of Gaussian or square pulses in a time T=382 ns for a moderate amplitude. We find that the digital solution is practically as fast as the continuous one for square subpulses with the same peak amplitudes.