  The control problem of the working tool movement along a predefined
trajectory is considered. The integral of kinetic energy and weighted inertia
forces for the whole period of motion is considered as a cost functional. The
trajectory is assumed to be planar and defined in advance. The problem is
reduced to a system of ordinary differential equations of the fourth order.
Numerical examples of solving the problem for movement along straight, circular
and elliptical trajectories are given.
