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