In this paper we present a method that has been developed for fast stopping in pick and place robotic applications with high inertia loads and self-blocking transmissions. The latter is the case of worm gears and power transmission screws. Hence a desired trajectory can be executed at maximum speed and near optimal time with a controlled overloading of the torque at the transmission output shaft. The method can also be applied in other high reduction gearing, which resemble closely the behavior of a self-blocking mechanism.