---
publication_id: "OT-2026-000001713"
title: "Direct drive actuation and control in a robotic pharmaceutical preparation system"
published_at: "2026-09-15T19:07:52.361636Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001713"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1664"
  - "b25j9/1664"
  - "b65b43/42"
  - "b65b43/42"
  - "b25j11/00"
  - "b25j11/009"
---

# Direct drive actuation and control in a robotic pharmaceutical preparation system

## Abstract

A robotic pharmaceutical preparation system comprising at least one container-receiving module configured to hold at least one container; a motor coupled to the container-receiving module for directly driving movement of the container-receiving module along a movement path; circuitry configured to detect electrical current consumption of the at least one motor; and a controller configured for: receiving an indication from the circuitry regarding the electrical current consumption; determining that an interference exists based on the indication; and upon determining that an interference exists, modifying operation of the system.