Patent ID: 7706920

Claim:
A method for controlling movement of a movable object having a plurality of movable subcomponents, the method comprising: receiving at a system including at least one processor an instruction configured to generate a defined movement of a selected subcomponent of the movable object from an initial state, through a first set of intermediary states, to a target state; determining whether one or more states comprising the first set of intermediary states are outside a motion space associated with the selected subcomponent; determining a rejoinder acceleration that, when applied to a selected state in the first set of intermediary states, causes states subsequent to the selected state to remain within the motion space; producing a modified instruction configured to generate a modified movement of the selected subcomponent from the initial state, through a second group of intermediary states, to the target state, when at least a portion the first set of intermediate states is projected to lie outside the motion space, wherein the modified instruction is produced by applying the rejoinder acceleration to at least one of the states comprising the first set of intermediary states, and wherein the second group of intermediate states are within the motion space providing the modified instruction to the selected subcomponent of the movable object.