# Impedance control simulation

**URL:** <https://forum.universal-robots.com/t/impedance-control-simulation/36982>\
**Category:** Technical Questions\
**Created:** [November 14, 2024, 5:55am UTC](https://forum.universal-robots.com/t/impedance-control-simulation/36982 "2024-11-14T05:55:03Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![yuhanghao1998](https://avatars.discourse-cdn.com/v4/letter/y/eb9ed0/32.png) [@yuhanghao1998](https://forum.universal-robots.com/u/yuhanghao1998)\
**Post date:** [November 14, 2024, 5:55am UTC](https://forum.universal-robots.com/t/impedance-control-simulation/36982/1 "2024-11-14T05:55:03Z")

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Hi everyone!  
I am trying to do a simulation which implement impedance controller on ur10e in gazebo, are there have some open source about it? My system is ubuntu 20.04 and ros 1

Thanks in advance!