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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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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