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Inverse Dynamics Control

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Encyclopedia of Robotics

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Abstract

This chapter presents an introduction to inverse dynamics control, a well-established model-based motion control approach for robotic manipulators. Inverse dynamics control in joint space is first introduced and then extended to operational space. Application examples and future directions for research are then discussed.

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Author information

Authors and Affiliations

  1. Scuola di Ingegneria, Università degli Studi della Basilicata, Via dell’Ateneo Lucano 10, Potenza, Italy

    Fabrizio Caccavale

Authors
  1. Fabrizio Caccavale
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Corresponding author

Correspondence to Fabrizio Caccavale .

Editor information

Editors and Affiliations

  1. Dept. of Mechanical Engineering Blk 1E Gillman Hts #17-43, National University of Singapore, Singapore, Singapore

    Marcelo H Ang

  2. Department of Computer Science, Stanford University, Stanford, CA, USA

    Oussama Khatib

  3. Dipto di Informatica e Sistemistca, Univ di Napoli Federico II, Napoli, Italy

    Bruno Siciliano

Section Editor information

  1. Dipartimento di Ingegneria, Università degli Studi della Campania Luigi Vanvitelli, Aversa, Italy

    Ciro Natale

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Caccavale, F. (2020). Inverse Dynamics 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_95-1

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  • DOI: https://doi.org/10.1007/978-3-642-41610-1_95-1

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-41610-1

  • Online ISBN: 978-3-642-41610-1

  • eBook Packages: Springer Reference EngineeringReference Module Computer Science and Engineering

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