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.

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.

For example, a controller of a mobile robot may be configured to generate a plurality of control outputs to control a plurality of actuators of a plurality of wheels of the mobile robot. For example, the controller may configure the plurality of control outputs to control deceleration of the mobile robot while maintaining a controlled trajectory of the mobile robot during a controlled safety stop. For example, during the controlled safety stop the controller may monitor rotational velocities of the plurality of wheels; and configure a first control output of the plurality of control outputs to control an actuator of a first wheel of the plurality of wheels based on a rotational velocity of the first wheel, a rotational velocity of a second wheel of the plurality of wheels, and a radius of the controlled trajectory.

For example, a controller of a mobile robot may be configured to generate a plurality of control outputs to control a plurality of actuators of a plurality of wheels of the mobile robot. For example, the controller may configure the plurality of control outputs to control deceleration of the mobile robot while maintaining a controlled trajectory of the mobile robot during a controlled safety stop. For example, during the controlled safety stop the controller may monitor rotational velocities of the plurality of wheels; and configure a first control output of the plurality of control outputs to control an actuator of a first wheel of the plurality of wheels based on a rotational velocity of the first wheel, a rotational velocity of a second wheel of the plurality of wheels, and a radius of the controlled trajectory.