OPENTECHNICAL PUBLICATION
OT-2026-000000615

Systems and methods for controlling a robotic manipulator or associated tool

Published: 2026-09-15T19:03:09.776453Z
Permanent URL: https://opentechnical.org/p/OT-2026-000000615
Categories: Robotics & Automation > Robot Architectures

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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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OpenTechnical publication OT-2026-000000615
Published 2026-09-15T19:03:09.776453Z
https://opentechnical.org/p/OT-2026-000000615