Motion planning for articulated robots has traditionally been governed by algorithms that operate within manufacturer-defined payload limits. Our empirical analysis of the Franka Emika Panda robot demonstrates that this approach unnecessarily restricts the robot's dynamically-reachable task space. These results establish an expanded operational envelope for such robots, showing that they can handle payloads of more than twice their rated capacity. Additionally, our preliminary findings indicate that integrating non-prehensile motion primitives with grasping-based manipulation has the potential to further increase the success rates of manipulation tasks involving payloads exceeding nominal limits.

翻译：传统上，关节式机器人的运动规划一直受限于在制造商定义的载荷范围内运行的算法。我们对Franka Emika Panda机器人进行的实证分析表明，这种方法不必要地限制了机器人动态可达的任务空间。这些结果为此类机器人建立了扩展的操作范围，表明它们能够处理超过其额定容量两倍以上的载荷。此外，我们的初步研究结果表明，将非抓取式运动基元与基于抓取的操控相结合，有望进一步提高涉及超额定载荷的操控任务的成功率。