A method for adaptive motion compensation of a load controlled by at least one first actuator on a moving vessel , comprising the steps of: (a) obtaining motion data of the moving vessel for a predefined first time interval in at least one first Degree of Freedom (DOF) relative to a first reference point from at least one first sensor; (b) providing at least one geometric characteristic of said at least one first actuator in relation to a second reference point on the moving vessel; (c) determining at least one performance parameter of said at least one first actuator for said predefined first time interval utilising at least one second sensor; (d) determining an initial position of said load in relation to said first reference point and/or said second reference point; (e) generating a predicted motion model of the moving vessel for a predefined second time interval, subsequent to said predefined first time interval, from said motion data; (f) generating a control algorithm adapted to control said at least one first actuator, so as to effect at least one predetermined response during said predefined second time interval, utilising said predicted motion model and at least one predicted performance parameter of said at least one first actuator; (g) determining a first correction factor from differences between said motion data and said predicted motion model, and a second correction factor from differences between said at least one performance parameter and said at least one predicted performance parameter, (h) repeating steps (a) to (g) for each subsequent time interval utilising said first correction factor and said second correction factor, characterised in that said at least one second sensor comprises any one or all of a load cell or load sensor, a torque sensor, a speed sensor, an accelerometer and an absolute or relative position sensor, and wherein said relative position sensor is any one of an encoder, slide-wire potentiometer, resolver, proximity sensor and a Linear Variable Differential Transformer (LVDT). (a) obtaining motion data of the moving vessel for a predefined first time interval in at least one first Degree of Freedom (DOF) relative to a first reference point from at least one first sensor; (b) providing at least one geometric characteristic of said at least one first actuator in relation to a second reference point on the moving vessel; (c) determining at least one performance parameter of said at least one first actuator for said predefined first time interval utilising at least one second sensor; (d) determining an initial position of said load in relation to said first reference point and/or said second reference point; (e) generating a predicted motion model of the moving vessel for a predefined second time interval, subsequent to said predefined first time interval, from said motion data; (f) generating a control algorithm adapted to control said at least one first actuator, so as to effect at least one predetermined response during said predefined second time interval, utilising said predicted motion model and at least one predicted performance parameter of said at least one first actuator; (g) determining a first correction factor from differences between said motion data and said predicted motion model, and a second correction factor from differences between said at least one performance parameter and said at least one predicted performance parameter, (h) repeating steps (a) to (g) for each subsequent time interval utilising said first correction factor and said second correction factor, <EOS>