I am studying The Modern Robotics: Mechanisms, Planning, and Control (by Kevin Lynch, Frank Park and Evan Suma). I am trying to implement Chapter 11.7.1 Impedance-Control Algorithm of the book with ROS simulation, but I am confused and I am asking for help.
he impedance control algorithm in the book has a dynamics formula for task space, but I am confused as to whether the theta used here is the desired theta or the current theta. In addition, jacobian and twist are also used to create Lambda and Eta, and I am not sure whether they are also desired jacobian, desired twist, current jacobian, or desired twist. Could you please help?