OPENTECHNICAL PUBLICATION
OT-2026-000001813

Motion control of a robotic load handling device

Published: 2026-09-15T19:08:49.595082Z
Permanent URL: https://opentechnical.org/p/OT-2026-000001813
Categories: Sensors, Controls & Machine Vision > Industrial Control

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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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OpenTechnical publication OT-2026-000001813
Published 2026-09-15T19:08:49.595082Z
https://opentechnical.org/p/OT-2026-000001813