Energy and energy exchange govern interactions in the physical
world. By explicitly considering the energy and power in a robotic
system, many control and design problems become easier or more
insightful than in a purely signal-based view. Energy in Robotics
presents a holistic, energy-based view of robotic systems. It
examines the relevance of such energy considerations to robotics;
starting from the fundamental aspects and proceeding to look at
their practical application to robotic systems. Using the theory of
Port-Hamiltonian Systems as a fundamental basis, it provides
examples pertaining to energy measurement, passivity and safety.
Control by interconnection covers the shaping and directing of
energy inside controller algorithms, to achieve desired behaviour
in a power- consistent manner. This idea of control over the energy
flow is extended to the physical domain. In their mathematical
description and analysis, the boundary between controller and robot
disappears and everything is an interconnected system, driven by
energy exchange between its parts.
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