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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-12578738-B2, on 17 March 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-2026-000001813

Motion control of a robotic load handling device

Published
Permanent URL
Classification
Sensors, Controls & Machine Vision › Industrial Control
Inventors
JORGE TIAGO MIGUENS RIJO BRANCO
Assignee
OCADO INNOVATION LTD
Original source
US-12578738-B2, the United States Patent and Trademark Office, 17 March 2026
Document SHA-256
62c6bb7dc1969e8a77c4eb618e00319e618d6236f81a13308ef237f44b2616f4

Abstract

A load handling device for lifting and moving containers stacked in a storage system having a grid framework structure supporting a plurality of tracks arranged in a grid pattern, the load handling device including: a wheel assembly driven by a drive mechanism; a lifting device for lifting a storage container; a position detection detector; and a controller configured to control movement of the load handling device by: a) determining a feedforward torque demand on the wheel assembly at a given time from a predetermined motion control profile; and b) compensating the feedforward torque demand from a measured position of the load handling device on the grid structure at the given time to calculate a torque demand on the wheel assembly.

Publication information

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Citation

OpenTechnical Publication OT-2026-000001813, “Motion control of a robotic load handling device,” published September 15, 2026 at 19:08:49 UTC, https://opentechnical.org/p/OT-2026-000001813.

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