Method and computer program product for controlling a robot

A method for controlling a kinematically redundant robot in order to fulfill multiple tasks,

• comprising the steps of using at least one passivity-based first controller module,
• computing at least one task target description and at least one associated task mapping for the at least one first controller module,
• computing at least one task weighting in the form of a task-specific symmetrical matrix Wk=ΨkMk−1, wherein the matrix Wk is composed of the inverse of the task inertia matrix Mk, where Mk=(JkM−1JkT)−1, Jk is the task Jacobian and M is the inertia matrix of the dynamic model of the robot, and a weighting scalar Ψk for independently weighting different tasks with respect to each other, and
• integrating the at least one first controller module into an overall controller, using the at least one task weighting matrix Wk which is combined in the form of sub-matrices into a symmetrical and block-diagonal overall weighting matrix W.