Using Augmented Jacobian method, the Second-order model could be easily constructed. When the external force is applied to the end-effector, the end-effector will deviate from the desired target point, making robotic arm more compliant to the environment. Conventionally, the construction of dynamic model is quite necessary for Inverse dynamic Impedance control. However, using Second-order model simplify the dynamic model and get a better performance in position control.