Dear Ali Kasiri,

I suggest you to see links and attached files on topic.

https://www.amazon.com/Cartesian-Impedance-Redundant-Flexible-Joint-Springer/dp/3642088732

http://www.gipsa-lab.grenoble-inp.fr/~carlos.canudas-de-wit/publications/Theory_of_robot_control.pdf

https://www.cambridge.org/core/journals/robotica/article/robust-positionbased-impedance-control-of-lightweight-singlelink-flexible-robots-interacting-with-the-unknown-environment-via-a-fractionalorder-sliding-mode-controller/E1B2C5F2774133479C6DD49153E51A33

https://newmanlab-dev.mit.edu/wp-content/uploads/2017/06/1984-impedance-control-of-industrial-robots.pdf

http://wiki.icub.org/wiki/Force_Control

Best regards

check this links may help you

Article A Unified Passivity Based Control Framework for Position, To...

http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.13.6809&rep=rep1&type=pdf

Hello Dear,

the following link contain the most powerful info. that u could use

https://www.researchgate.net/publication/308246185_Understanding_the_Implementation_of_Impedance_Control_in_Industrial_Robots

Kind regards

Article Learning variable impedance control

https://summerschool.stiff-project.org/fileadmin/pdf/Hog1985.pdf

https://summerschool.stiff-project.org/fileadmin/pdf/1804_C19.pdf