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  "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.",
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    "JORGE TIAGO MIGUENS RIJO BRANCO"
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  "title": "Motion control of a robotic load handling device",
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