Abstract: A method for moving a lifting device includes: in a presetting phase, presetting at least one target position for the lifting device; in a measuring phase, detecting an instantaneous geometry of the arm system; in a selection phase, selecting a target position specified in the presetting phase; in a comparison phase, determining a geometrical deviation between the geometry of the target position selected in the selection phase and the instantaneous geometry detected in the measuring phase; in a generation phase, generating at least one control command on the basis of the geometrical deviation determined in the comparison phase; and in a control phase, performing at least partial movement of the lifting device into the selected target position by actuating the actuators of the arm system with the at least one control command generated in the generation phase.

Abstract: Control circuitry (110) for a crane (120), comprising an input interface (102) configured to receive readings of sensors sensing operating parameters of the crane (120) and an output interface (104) to output control data to cause actuators of the crane (120) to cause a motion of at least one of a boom (130) of a boom system or a column (160) of the crane (120). A compute circuit (106) is configured to control the operation of a winch arrangement (140, 400) mounted to a boom (130) of the boom system, wherein a position of an attachment reference (150) of a cable (420) of the winch arrangement (140, 400) moves along a defined path during movement of the crane (120). FIG.

Abstract: A method for moving a lifting device includes: in a presetting phase, presetting at least one target position for the lifting device; in a measuring phase, detecting an instantaneous geometry of the arm system; in a selection phase, selecting a target position specified in the presetting phase; in a comparison phase, determining a geometrical deviation between the geometry of the target position selected in the selection phase and the instantaneous geometry detected in the measuring phase; in a generation phase, generating at least one control command on the basis of the geometrical deviation determined in the comparison phase; and in a control phase, performing at least partial movement of the lifting device into the selected target position by actuating the actuators of the arm system with the at least one control command generated in the generation phase.