where q {\displaystyle {\boldsymbol {q}}} denotes joint angular position, x {\displaystyle {\boldsymbol {x}}} task-space position, Λ {\displaystyle {\boldsymbol {\Lambda }}} the symmetric and positive-definite task-space inertia matrix. The terms μ {\displaystyle {\boldsymbol {\mu }}} , γ {\displaystyle {\boldsymbol {\gamma }}} , η {\displaystyle {\boldsymbol {\eta }}} , and F e x t {\displaystyle {\boldsymbol {\mathcal {F}}}_{\mathrm {ext} }} are the generalized force of the Coriolis and centrifugal term, the gravitation, further nonlinear terms, and environmental contacts. Note that this representation only applies to robots with redundant kinematics.