Apple patents backup path for robot arms if main controller fails

1. A method, comprising: at a physical output component controller of an electronic device: detecting a set of one or more inputs corresponding to a request to move a movement component along a first movement trajectory; in response to detecting the set of one or more inputs, causing movement of the movement component; while causing movement of the movement component, detecting an error condition; and in conjunction with detecting the error condition: in accordance with a determination that communication between the physical output component controller and a coordinated trajectory planning component satisfies a set of one or more criteria, causing movement of the movement component along a second movement trajectory received from the coordinated trajectory planning component; and in accordance with a determination that communication between the physical output component controller and the coordinated trajectory planning component does not satisfy the set of one or more criteria, causing movement of the movement component along a third movement trajectory that is not received from the coordinated trajectory planning component, wherein the third movement trajectory is different from the second movement trajectory.