Patent Document ID: 9556006
Application ID: 14728845
Patent Flag: 1

Claim One:
1. A method for controlling an orientation of a crane load via a crane system with a manipulator for manipulating the load connected by a rotator unit to a hook suspended on ropes, comprising: controlling a skew angle of the load by a control unit of a crane, wherein the control unit is an adaptive control unit wherein an estimated system state of the crane system is determined with a nonlinear model describing skew dynamics during operation; wherein nonlinearity of the model describing the skew dynamics includes a nonlinear relation between a load deflection angle and a resulting reactive torque, wherein the nonlinear model is independent of load mass or a moment of inertia of the load mass, and wherein the estimated system state includes an estimated skew angle and/or a velocity of the skew angle and/or one or more parasitic oscillations of a skew system.