Systems and methods for dynamic adjustments based on load inputs for robotic systems

A method performed by a processor of a robotic system comprising a robotic arm, wherein the method comprises:

• determining a load applied to each of a plurality of joints of the robotic arm based on at least one of a gravity load or inertia load of the robotic arm, and
• setting a respective maximum external load threshold for each joint of the plurality of joints based on a maximum safe load capability of the respective joint and the at least one of the gravity load or the inertia load, such that a first joint of the plurality of joints has a first maximum external load threshold while a second joint of the plurality of joints has a second maximum external load threshold, the second maximum external load threshold being different from the first maximum external load threshold.