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This is a record of a document published elsewhere, first published by the United States Patent and Trademark Office, as US-2026102907-A1, on 16 April 2026. OpenTechnical did not first disclose it. The identifier, hashes and timestamps below record what this library served and when, not when the material became public. View the original.

OT-2026-000000615

Systems and methods for controlling a robotic manipulator or associated tool

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Classification
Robotics & Automation › Robot Architectures
Original source
US-2026102907-A1, the United States Patent and Trademark Office, 16 April 2026
Document SHA-256
ebfa8421d6ed8ce4880a2dc1617dd0a3dd04e9bc079b7a68e67e47ae856bb98a

Abstract

A robotic system includes a robotic manipulator, which includes a first joint and a link connected to the first joint. A processing unit including one or more processors is configured to receive sensor measurement data of the link from a sensor system, and generate, based on the sensor measurement data, a first joint velocity estimate of the first joint. A first vibration cancellation state for the first joint is determined based on one or more cancellation conditions of one or more of joints of the robotic manipulator. In response to the first vibration cancellation state indicating enablement of vibration cancellation for the first joint, a first cancellation force is applied to the first joint, the first cancellation force based on a first joint velocity estimate of the first joint.

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Citation

OpenTechnical Publication OT-2026-000000615, “Systems and methods for controlling a robotic manipulator or associated tool,” published September 15, 2026 at 19:03:09 UTC, https://opentechnical.org/p/OT-2026-000000615.

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