---
publication_id: "OT-2026-000002099"
title: "Variable payload robot"
published_at: "2026-09-15T19:10:47.922198Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000002099"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1638"
  - "b25j9/1638"
  - "b25j9/1664"
  - "b25j9/16"
  - "b25j9/162"
  - "b25j9/162"
---

# Variable payload robot

## Abstract

A variable payload robot is disclosed. In various embodiments, a robot includes two or more joints, each actuated by an associated joint motor and each joint motor having a different capacity, the robot comprising an end effector configured to grasp an object. A processor coupled to the robot is configured to determine based at least in part on the respective capacities of at least a subset of the joint motors and a payload related attribute of the object a plan and trajectory to move the object from a source location to a destination location.