Abstract: A robotic system includes a robotic arm having an end effector to move a plurality of articles from a first location to a second location, a first sensor attached to the end effector, and a processor communicably coupled to the first sensor. The processor is provided to actuate the end effector to lift an article from the first location, receive a first input from the first sensor in response to the end effector lifting the article from the first location, calculate a mass of the article based at least on the first input, and control a speed and acceleration of movement of the robotic arm towards the second location, based on the calculated mass of the article. Methods of controlling the robotic system are also disclosed.