Symbol in context

$\tau_{ff}$

This entry links every published equation using this exact notation. Its meaning may change between equations.

Meanings in context

Article-grounded definition

a feedforward term — gravity compensation, or a reaction-force term handed down from a higher-level controller — added on top.

\tau = K_p (q_d - q) + K_d (\dot{q}_d - \dot{q}) + \tau_{ff}

This equation states an equality: the expressions on both sides have the same value under the article’s assumptions.

\tau_{ff}

a feedforward term — gravity compensation, or a reaction-force term handed down from a higher-level controller — added on top.