A robot may include: a multi-tool module having redundancy, the multi-tool module including a plurality of tools, and a guide unit for guiding said plurality of tools, wherein said plurality of tools is configured to operate while interacting with the guide unit and wherein said plurality of tools extend from the guide unit at least during operation the robot further including a controller configured to generate a control signal regarding motion of the multi-tool module in a joint space based on motion instruction information regarding distal ends of the plurality of tools in a task space. The redundancy may reflect 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 may be generated using the redundancy.
