Text this: Generalized impedance control of a SCARA robot for assembly tasks

  _  _    _    _     ______     ___     _____    
 | \| || | || | ||  /_   _//   / _ \\  |  __ \\  
 |  ' || | || | ||  `-| |,-   | / \ || | |  \ || 
 | .  || | \\_/ ||    | ||    | \_/ || | |__/ || 
 |_|\_||  \____//     |_||     \___//  |_____//  
 `-` -`    `---`      `-`'     `---`    -----`