update 1023

Author: Florin-Nae

ImpedanceControl.mlx

@@ -1,4 +1,4 @@
-# Impedance Control of a Robotic Manipulator  [![Open in MATLAB Online](https://www.mathworks.com/images/responsive/global/open-in-matlab-online.svg)](https://matlab.mathworks.com/open/github/v1?repo=mathworks/Robotic-Arm-Impedance-Control&file=https://github.com/mathworks/Robotic-Arm-Impedance-Control/blob/main/KinovaGen3_CartesianImpedanceCtrl.prj)
+# Impedance Control of a Robotic Manipulator [![Open in MATLAB Online](https://www.mathworks.com/images/responsive/global/open-in-matlab-online.svg)](https://matlab.mathworks.com/open/github/v1?repo=mathworks/Robotic-Arm-Impedance-Control&file=https://github.com/mathworks/Robotic-Arm-Impedance-Control/blob/main/KinovaGen3_CartesianImpedanceCtrl.prj)
 
 ロボットマニピュレータのインピーダンス制御
 
@@ -64,15 +64,15 @@ Follow these steps to download the project and explore the example.
 
 * Use the GitHub repository path above and clone it to a local PC directory to save the project files, or 
 
-* Get a local copy of the project directly from MATLAB<sup>®</sup>, by using Simulink<sup>®</sup> ➡ Project from Git
+* Get a local copy of the project directly from MATLAB<sup>®</sup>, by using Simulink<sup>®</sup> ➡ Project from Git, or
 
-* Open the MATLAB project in MATLAB Online  [![Open in MATLAB Online](https://www.mathworks.com/images/responsive/global/open-in-matlab-online.svg)](https://matlab.mathworks.com/open/github/v1?repo=mathworks/Robotic-Arm-Impedance-Control&file=https://github.com/mathworks/Robotic-Arm-Impedance-Control/blob/main/KinovaGen3_CartesianImpedanceCtrl.prj)
+* Open the project in MATLAB Online [![Open in MATLAB Online](https://www.mathworks.com/images/responsive/global/open-in-matlab-online.svg)](https://matlab.mathworks.com/open/github/v1?repo=mathworks/Robotic-Arm-Impedance-Control&file=https://github.com/mathworks/Robotic-Arm-Impedance-Control/blob/main/KinovaGen3_CartesianImpedanceCtrl.prj)
 
-Start the MATLAB<sup>®</sup> project by clicking on the file *KinovaGen3_CartesianImpedanceCtrl.prj*. This will load the necessary parameters and then open the simulation model. Click on the Simulink Run button to start the simulation. Before the first simulation starts, MATLAB will generate the files needed to run, and this may take 1 or 2 minutes.
+Start the MATLAB<sup>®</sup> project by clicking on the file *KinovaGen3_CartesianImpedanceCtrl.prj*. This will load the necessary parameters and then open the simulation model. Click on the Simulink Run button to start the simulation. Before the first simulation starts, MATLAB will generate the files needed to run, and **this may take 1 or 2 minutes**.
 
 ### Start exploring
 
-There is a MATLAB<sup>®</sup> Live Script (**ImpedanceControl.mlx**) that explains the basics of impedance control, guides how to go through each of the example files, and run simulations with the controller.
+There is a MATLAB<sup>®</sup> Live Script (**ImpedanceControl.mlx**) that explains the basics of impedance control, guides how to go through each of the example files, and run simulations with the controller. There is also a PDF version of the Live Script, **ImpedanceControl.pdf**.
 
 ## Dependencies