The invention relates to a method and device for controlling and regulating motors, MOTm, of a robot, with m=1, 2, . . . M, wherein the robot has robot components that are interconnected via a number, N, of articulated connections GELn, the joint angles of the articulated connections GELn can be adjusted by means of associated motors MOTm; Z(tk) is a state of the robot components in an interval, tk; and a first system of coupled motion equations BGG is predetermined and describes rigid-body dynamics or flexible-body dynamics of the connected robot components.