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The method controls dynamic interaction between a robot and its environment by changing the apparent mechanical impedance of the manipulator. Previous impedance control methods required force or torque sensors, which made the manipulator system most complex. In this paper a new method is proposed to control the impedance of a manipulator without using force or torque sensors. Angular velocity and acceleration of the manipulator joints are estimated, and by using the computer model of the manipulator necessary torque for each joint is caluculated and applied to the joint to attain the desired impedance. 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