Patent ID: 8364289

Claim:
A method to move a free-swinging load, comprising the steps of: suspending a load at a first end of a suspension element so as to freely swing from a movable suspension point at a second, opposite end of said suspension element, said suspension element having a fixed length between said suspension point and said load; establishing a first path along which the load is to be moved from a starting point to a destination with a first location-dependent velocity; in a processor supplied with a designation of said first path, automatically determining, for said fixed length of said suspension element, a second path along which the suspension point should be moved with a second-location dependent velocity to intentionally tilt said load on said suspension element relative to said suspension point so as to cause the load, suspended from said suspension point, to move along the first path from the starting point to the destination with said first location-dependent velocity and to arrive at said destination with substantially no oscillation at said destination; and automatically, non-manually controlling movement of the suspension point to move the suspension point along the determined second path with the second location-dependent velocity to move the load from said starting point to said destination.