It is interesting to know that we are still able to have power even without physical batteries. There needs to be more of such solutions implemented especially now that storage technologies come in various forms to serve different requirements. All we need is to ensure that we have enough capacity to serve our individual setups which usually need different power each.
Most of us probably have never used the hyperbolic tangent function tanh(x) or the sin(arctan(x)) reference function since our university days. But these functions enable a kinematic controller. Kinematics determines the position and orientation movement of an end-effector on a robotic arm as a function of the joint coordinates.