The present invention relates to a control algorithm constructing device
that constructs a control algorithm controlling the motion of a robot,
and a controller that controls the motion of the robot in accordance with
the constructed control algorithm, with the purpose of reducing the cost
and time taken to create the control algorithm as compared with the
conventional method such as an MZP method to solve a mechanical equation,
in which the control algorithm is constructed by a recurrent neural
network (RNN) including a neuron generating an output with an analogue
lag with respect to an input, the coefficients of the RNN are determined
in succession from the term of lower degree to the term of higher degree.
