Modern Robotics, Chapter 11.4: Motion Control with Torque or Force Inputs (Part 3 of 3)

This is a video supplement to the book "Modern Robotics: Mechanics, Planning, and Control," by Kevin Lynch and Frank Park, Cambridge University Press 2017. See modernrobotics.org for information on the book, free software, and other materials.
This video introduces the computed-torque motion control method for robots, where the control inputs are torques or forces. The controller is defined both in joint space as well as task space.
This video is a brief summary of material from the book, and it is not meant to stand alone. For more details, such as an explanation of the notation, please consult the book and the other videos.
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Wiki for the book, including software and other supplements: modernrobotics.org
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[@MrSyrian123]

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[@savarkars1403]

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