Computed torque control (CTC) is a model-based robot control strategy that uses the full inverse dynamics model of a manipulator to compute the joint torques required to follow a desired trajectory. By cancelling the nonlinear dynamics — including Coriolis, centripetal, and gravitational terms — CTC transforms the closed-loop system into a set of independent linear double-integrators, enabling simple PD outer-loop controllers to achieve high-accuracy tracking. Its effectiveness depends on the fidelity of the dynamic model and is sensitive to parameter uncertainty.