Control of robotic devices over a wireless network

A trajectory modification entity configured to control a robotic device with a modified control command transmitted over a wireless network wherein the robotic device comprises a plurality of joints, wherein each joint represents one degree of freedom of a first number of degrees of freedom of the robotic device, the trajectory modification entity comprising a memory and at least one processing unit, the memory comprising instructions executable by said at least one processing unit, wherein the trajectory modification entity is operative to:

• determine a load of the wireless network,
• receive a plurality of control commands controlling a planned trajectory of the robotic device from a robotic control entity, each of the control commands configured to control one degree of freedom of the first number of degrees of freedom,
• determine a reduced number of degrees of freedom for the modified control commands smaller than the first number based on the determined load,
• determine the modified control commands based on the reduced number of degrees of freedom, wherein the modified control commands address a limited number of degrees of freedom not higher than the reduced number of degrees of freedom,
• transmit the modified control commands instead of the received plurality of control commands to the robotic device.