Robots comprising multi-tool modules having redundancy and methods of controlling the same

A method of controlling a robot including a multi-tool module having redundancy, the multi-tool module including a guide tube and a plurality of tools, the guide tube including a plurality of first links and a plurality of first joints, and the plurality of tools configured to operate while interacting with the guide tube and extend from the guide tube, the method comprising:

• generating motion instruction information regarding distal ends of the plurality of tools in a task space;
• generating a control signal regarding motion of the multi-tool module in a joint space based on the generated motion instruction information in the task space;
• and
• controlling the robot according to the control signal;
• wherein
• the redundancy indicates that a number of degrees of freedom of the multi-tool module in the joint space is greater than a number of degrees of freedom of the task space,
• the control signal is generated using the redundancy, and
• the generating of the control signal includes calculating an objective function of the robot, the objective function is a base in quantitative evaluation of at least one of optimization and an achievement of an objective, and
• the objective function represents a weighted sum of a plurality of individual objective functions, the plurality of individual objective functions includes (i) a joint torque square sum, (ii) a reciprocal number of a distance between each of the plurality of tools and a joint limit, and (iii) a reciprocal number of a distance between each of the plurality of tools and a singular pose.