Modal verbs are used to express ideas like ability, permission, obligation, possibility, and necessity. There are three main categories of modal verbs: single concept modals like "will" which have one meaning, double concept modals like "may" which can have two meanings depending on context, and modals used in the past like "could have" or "should have". Modal verbs are followed by an infinitive verb without "to" and do not conjugate or take tense changes in the same way as regular verbs. They provide additional meaning about actions, states, and likelihoods.