OPENTECHNICAL PUBLICATION
OT-2026-000001713

Direct drive actuation and control in a robotic pharmaceutical preparation system

Published: 2026-09-15T19:07:52.361636Z
Permanent URL: https://opentechnical.org/p/OT-2026-000001713
Categories: Robotics & Automation > Robot Architectures

------------------------------------------------------------------------

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.

------------------------------------------------------------------------

OpenTechnical publication OT-2026-000001713
Published 2026-09-15T19:07:52.361636Z
https://opentechnical.org/p/OT-2026-000001713