Inverse method algorithm for invention mechatronic systems in vibrotechnics is used for robotic systems motion control synthesis. The main difference of this method against simple analysis method is that (before synthesis of real system) optimal control task for abstract initial subsystem is solved. After some calculation optimal control law is find that allows to synthesis series of structural schemes for real systems right initial subsystem. It is shown that optimal control action corresponds to the case of bound values of area limits. For realizing optimal control actions (in general case) system of one degree of freedom needs feedback system with two adapters: one for measure displacement and second for measure velocity. It is shown that exist simple case of control with only one adapter when motion exchange directions. It means that control action is like negative dry friction and switch points is along zero velocity line.