Abstract
This entry presents an introduction to computed-torque control, a well-established model-based motion control approach for robotic manipulators, which can be seen as a special case of inverse dynamics control. Extensions of computed-torque control (i.e., the so-called computed-torque like control schemes) are then briefly discussed. Application examples and future directions for research are discussed at the end of the entry.
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Caccavale, F. (2020). Computed-Torque Control. In: Ang, M., Khatib, O., Siciliano, B. (eds) Encyclopedia of Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-41610-1_91-1
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DOI: https://doi.org/10.1007/978-3-642-41610-1_91-1
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