What are action verbs, modal verbs, linking verbs, auxiliary verbs and copulars in English?

What are action verbs, modal verbs, linking verbs, auxiliary verbs and copulars in English?

Action verbs are concrete action words, usually used as predicates
The usage of modal verbs is basically found in grammar books
Connective verbs are those that can be followed by objects, including transitivity and intransitivity
The auxiliary verb is do did
The copulars are be verbs and some sensory verbs such as taste feel smile