Patent ID: 7426423

Claim:
Crane or excavator for the transaction of a load, which comprises: a) a load cable for carrying the load, b) a turning mechanism for the rotation of the crane or excavator, c) a seesaw mechanism for the erection or incline of an extension arm and d) a hoisting gear for the lifting or lowering of the load which is carried by a cable with an actuation system, said crane or excavator being further characterized by e) a track control system ( 31 ), including a control system ( 41 ) for optimized movement and guidance of the load, the control system ( 41 ) comprising an optimized control function based on an optimization of control parameters for providing an optimal control trajectory, wherein said control function dynamically calculates time functions for control voltages for moving the load with minimized oscillation amplitudes, and wherein said control parameters include: i) a plurality of set points as input values for describing a pre-determined position and orientation of the load at one or more load positions along said calculated trajectory from an initial starting point to an end point, and ii) feedback from at least one status variable.