A method for computing joint torques applied by actuators (2) to perform a control of a movement of a robot arm having several degrees of freedom, DoF, the method comprising the steps of providing (S1) by a trajectory generator trajectory vectors, x, specifying a desired trajectory of the robot arm for each degree of freedom, DoF; mapping (S2) the trajectory vectors, x, to corresponding latent representation vectors, a, which capture inherent properties of the robot arm using basis functions, A, with trained parameters; multiplying (S3) the latent representation vectors, a, with trained core tensors, G, to compute the joint torques, t, for each degree of freedom, DoF.
A METHOD AND APPARATUS FOR PERFORMING CONTROL OF A MOVEMENT OF A ROBOT ARM