Patent ID: 7765025

Claim:
A method, for moving one or more loads using a plurality of load actuators coupled to a processor programmable with actuator commands to manipulate said plurality of load actuators so as to result in said plurality of load actuators actuating a behavior of said one or more loads, said method comprising the steps of: receiving commands specifying a desired behavior of the one or more loads, the commands based on a received input of a desired velocity to move the one or more loads; determining that the desired velocity is not obtainable; in response to determining that the desired velocity is not obtainable, determining, using stored and/or entered capabilities information of said system and/or said plurality of load actuators, actuator commands that result in an obtainable behavior of the one or more loads based on a capability of the plurality of load actuators, and an acceleration limit associated with the one or more loads, wherein a velocity of the obtainable behavior is different than a velocity of the desired behavior; and moving the one or more loads at the velocity associated with the obtainable behavior.