Skilled movements require the determination of motor outflow which is appropriate for a certain intended motor pattern; this poses an intricate control problem because of the complex transformations on the way from neural activity to actual limb movements. Solutions are reached by combinations of feedforward and feedback processes. Feedforward processes start before the physical movement and embrace a representation which anticipates it. This anticipatory representation is involved in control and can be modeled in different ways, for example, as a generalized motor program or as a neural network. Sensory information is required both to adapt the anticipatory movement representation to the environment and for feedback‐based corrections, but it is not necessarily the same kind of information on which perceptual awareness is based. Many tasks require the coordinated action of different limbs. While the interactions between the limbs involved are largely tuned to the task requirements, there are constraints which are hard or even impossible to overcome. These constraints originate at different levels of motor control. Overall motor control reveals a remarkable degree of flexibility in adjusting to new visuo‐motor transformations and force fields.