BLDC PD impedance control 

This system uses Spectral Micro BLDC drivers paired with a cheap Gimbal BLDC motor.
You can learn more here: github.com/PCr...
Impedance control is like controlling how "stiff" or "flexible" the robot feels when it interacts with the environment. It defines how the robot resists motion in response to external forces.
Impedance control regulates the force output of a system based on the position/speed error.
Imagine the robot's end effector is connected to the environment by a virtual spring-damper system. The robot adjusts the force it applies to mimic a specific stiffness, damping, and inertia.
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GitHub repo of the project: github.com/PCr...