Abstract: A method for generating a trajectory to control movement of a motion device, by: i) receiving a specification of the trajectory; ii) receiving at least one jerk constraint; and iii) generating a sequence of one or more trajectory segments based on the at least one jerk constraint. The generating includes applying a velocity transition algorithm including moving the magnitude of a velocity reference of the trajectory segments in a given time to a desired final velocity reference, the difference between the desired final velocity reference and the velocity reference defining a velocity delta. The velocity transition algorithm includes computing a peak acceleration having a magnitude being a function of the velocity delta.

Abstract: A method for generating a trajectory to control the movement of a motion device, by: i) receiving a specification of the trajectory; ii) receiving at least one jerk constraint; and iii) using the at least one jerk constraint to generate a sequence of one or more trajectory segments the trajectory segments are generated based on predicting a value of a parameter using a root finding algorithm to find a root of an objective function, the objective function being an amount of positional deviation from a commanded position when the velocity reference and the acceleration reference is substantially zero and the root corresponding to the value of the parameter is less than a predetermined threshold.

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.