  This note briefly introduces the computed torque control method for
trajectory tracking. The method is applicable to fully actuated robots, i.e,
those whose inverse dynamics can be solved for any feasible acceleration. This
includes many systems, like robot arms or hands, or any tree-like mechanism
with all its joints actuated. Using simple explanations, we see how such a
controller can be obtained using feedback linearization, and how its gains can
be tuned to satisfy a desired settling time for the error signal. We end up
discussing the advantages and shortcomings of the controller. A companion
Matlab script can be downloaded from https://bit.ly/3QShxYi that implements and
tests the controller on a simple actuated pendulum.
