---
publication_id: "OT-2026-000001813"
title: "Motion control of a robotic load handling device"
published_at: "2026-09-15T19:08:49.595082Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001813"
categories:
  - "sensors-controls-machine-vision/industrial-control"
keywords:
  - "g05d1/02"
  - "g05d1/0212"
  - "g05d1/0223"
  - "g05d1/65"
  - "g05d1/65"
  - "b65g1/04"
---

# Motion control of a robotic load handling device

## 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.