There are nine modal verbs: can, could, may, might, shall, should, will, would, and must. They differ from the other auxiliaries both in that they are defective verbs, and in that they can never function as main verbs. (There do exist main verbs can and will, but these are distinct.) They express the speaker's (or listener's) judgement or opinion at the moment of speaking. Some of the modal verbs have been seen as a conditional tense form in English.
Some schools of thought consider could to represent the past tense of can. However, according to Michael Lewis (The English Verb), this is not always true. "Could I get you something?" clearly is not expressing past time. Lewis instead suggests that could is a remote form of can. It is evident after re-examining the usage of could in this light that remoteness does describe the general meaning, e.g.
I couldn't do it. (remoteness of time)
It could happen. (remoteness of possibility)
Could you do me a favor? (remoteness of relationship)
The remaining modal auxiliaries can be viewed in this same manner. Lewis covers this area in detail in his book; see the References section.
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