I am currently working on a thesis project, investigating an IRB1600 robot (ABB). I am new in the field of robotics and I was wondering about the way power is managed in the robot-controller.
When one of the motors is generating electric power (because the joint is moving with gravity for instance), is this power then redirected to the other motors or does it get lost? And in case all the motors together produce more power than they consume, is power sent back to the net or dissipated somehow?
Any hints or references to relevant literature are very welcome...