Impedance matching for evaluation of dexterity in execution of robot tasks

This paper aims to generalize the concept of impedance matching to cope with nonlinear dynamics that govern robotic systems with or without constraints. In the case of single degree of freedom dynamics the impedance matching is first introduced by the concept of balancing between load impedance and internal impedance. Generalization of this concept to the case of multiple degrees of freedom robots can be fulfilled implicitly via a coordinates transformation by constructing a negative feedback connection of two hyper-stable blocks (one is a parameter estimator and positioning and the other is a position and force regulator)