Energy/Power consumption

[costashatz]

Right now we are computing the energy consumption by "integrating" the torque (force) over each joint and summing them up. Look here and here.

Maybe this is incorrect or there is a better way.

[dogoepp]

If I'm not wrong, the energy consumption is computed by integrating the torque over the change of angle:

         _                           
        /                            
E  =    |    T dθ
       _/                            

Where E is the energy, T is the torque and dθ the variation of angle.

[dogoepp]

Actually, I see two measures of energy or power and they don't seem to match in the value:

• electrical power: P=U.I (U is the voltage, I the current)
• mechanical power: P=T.Ω (T is the torque, Ω the angular velocity in rad/s)