In this article the modeling of robot motion for the case of transferring a robot to a given point in the phase space and for transferring it to a program trajectory is under study. The equations of motion of the robot in the form of Lagrange's equations of the 2nd kind were derived. The positional control in the form of feedbacks is constructed. The graphs of changes in the components of the deviation vector and the components of the control vector for its translation onto the program trajectory are given.