Abstract: For improved control and planning of a movement of the object in relation to a transport unit of a transport system, the transport unit is moved along a predefined transport trajectory with respect to a reference coordinate system. Embodiments provide a synchronous phase, in which a movement of an object point of the object along an object path with respect to a transport unit coordinate system, different from the reference coordinate system, is predefined during the synchronous phase. The transport unit coordinate system containing the transport unit is moved along the transport trajectory. At least one path point of the object path is converted from the transport unit coordinate system to a base coordinate system in order to control the movement of the object point along the object path with respect to the base coordinate system.