If there is {HEAD ~ no inverse matrix} in {TAIL ~ step S8} , then the controller 14 transfers to step S24 and confirms whether or not there are three restraint condition equations  
in
If there is { HEAD ~ no inverse matrix } in { TAIL ~ step S8 } , then the controller 14 transfers to step S24 and confirms whether or not there are three restraint condition equations
OTH OTH OTH HEAD HEAD HEAD HEAD HEAD HEAD HEAD REL TAIL TAIL TAIL TAIL TAIL TAIL OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH OTH