Active Impedance Control of Bioinspired Motion Robotic Manipulators: An Overview

Figure 4

System dynamics in contact with the external environment [62]. The coordinate represents the position of the environment, and the coordinate represents the reference equilibrium trajectory that should slightly be making inside the contact environment to maintain contact. The position error is equal to the difference between the actual position () and the reference (); this error should guarantee a compliant contact with the environment.