The movement of a machine element of a machine that can be driven via a shaft with the aid of a motor can be guided by specifying a setpoint guidance variable describing a desired movement process of the machine element for the actuation of the motor and determining an actual pilot variable and/or an actual guidance variable from the setpoint guidance variable by subjecting the setpoint guidance variable to a digital path model which simulates the dynamic behavior of the machine element and the motor. The digital path model is parameterized by the total moment of inertia and the poles and zeros of the transfer function of the mechanical system consisting of motor, shaft and machine element.

A method for controlling a robot includes: obtaining current motion state information of the robot and desired motion trajectory information corresponding to a target task; determining task execution coefficient matrices corresponding to the robot performing the target task according to the desired motion trajectory information and the motion state information; constructing matching dynamic constraints for task-driven parameters of the robot according to the desired motion trajectory information and the motion state information; constructing matching parameter distribution constraints for the task-driven parameters according to the motion state information and body action safety constraints corresponding to the target task; solving a pre-stored task execution loss function by using the task execution coefficient matrices to obtain the target-driven parameters satisfying the dynamic constraints and the parameter distribution constraints; and controlling operation state of each joint end effector of the robot according to the target-driven parameters.