---
publication_id: "OT-2026-000000615"
title: "Systems and methods for controlling a robotic manipulator or associated tool"
published_at: "2026-09-15T19:03:09.776453Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000000615"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1628"
  - "a61b34/30"
  - "a61b34/77"
  - "g05b19/4155"
  - "g05b2219/40269"
---

# Systems and methods for controlling a robotic manipulator or associated tool

## 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.