Patent ID: 8839967

Claim:
A crane for handling a load hanging on a load cable from a boom, comprising a slewing gear arranged for rotating the crane, a luffing gear arranged for luffing up the boom, a hoisting gear arranged for lowering or lifting the load hanging on the load cable, and a control unit arranged for calculating actuation commands of at least one of he stewing gear, luffing gear and hoisting gear, wherein the control unit is arranged to dampen pendulum load by calculating only the commands for actuating at least one of the stewing gear, luffing gear and hoisting gear based upon a desired movement of the load indicated in Cartesian coordinates, and inversion of a physical model of the load hanging on the load cable and the crane, the inverted physical model converting a given movement of the load hanging on the load cable in the Cartesian coordinates into actuation signals for at least one of the stewing gear, luffing gear and hoisting gear, whereas the actuation signals are calculated based on the quasi-static decoupling of the hoisting movement in the z-direction from the movement in the horizontal x- and y-direction.