A method for controlling a robotic device with modified control commands transmitted over a wireless network, wherein the robotic device comprises a plurality of joints, wherein each joint represents one degree of freedom of the robotic device, the method comprising at a trajectory modification entity: - determining a load of the wireless network, - receiving 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 a first number of degrees of freedom addressed by the plurality of control commands, - determining a reduced number of degrees of freedom for the modified control commands smaller than the first number based on the determined load, - determining 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, - transmitting the modified control commands instead of the received plurality of control commands to the robotic device, wherein determining the modified control commands comprises: - determining a plurality of different approximated trajectories of the robotic device, each approximated trajectory being based on a sub-combination of the first number of degrees of freedom, each sub-combination having at most the reduced number of degrees of freedom, - determining, based on the received control commands, the planned trajectory of the robotic device taking into account the first number of degrees of freedom, - determining differences between each of the different approximated trajectories and the planned trajectory, - selecting the approximated trajectory having the smallest difference to the planned trajectory among the plurality of the approximated trajectories, - selecting the degrees of freedom of the approximated trajectory having the smallest difference, as the limited number of degrees of freedom, - selecting the control commands resulting in the approximated trajectory having the smallest difference as the modified control commands. - determining a load of the wireless network, - receiving 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 a first number of degrees of freedom addressed by the plurality of control commands, - determining a reduced number of degrees of freedom for the modified control commands smaller than the first number based on the determined load, - determining 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, - transmitting the modified control commands instead of the received plurality of control commands to the robotic device, - determining a plurality of different approximated trajectories of the robotic device, each approximated trajectory being based on a sub-combination of the first number of degrees of freedom, each sub-combination having at most the reduced number of degrees of freedom, - determining, based on the received control commands, the planned trajectory of the robotic device taking into account the first number of degrees of freedom, - determining differences between each of the different approximated trajectories and the planned trajectory, - selecting the approximated trajectory having the smallest difference to the planned trajectory among the plurality of the approximated trajectories, - selecting the degrees of freedom of the approximated trajectory having the smallest difference, as the limited number of degrees of freedom, - selecting the control commands resulting in the approximated trajectory having the smallest difference as the modified control commands.