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In this article, a theoretical justification of one type of skew-symmetricoptimal translational motion (moving in the minimal acceptable time) of aflexible object carried by a robot from its initial to its final position ofabsolute quiescence with the exception of the oscillations at the end of themotion is presented. The Hamilton-Ostrogradsky principle is used as a criterionfor searching an optimal control. The data of experimental verification of thecontrol are presented using the Orthoglide robot for translational motions andseveral masses were attached to a flexible beam.

Optimal Motion of Flexible Objects with Oscillations Elimination at the Final Point