Abstract: A method (30) of actuating a variable boom loading arrangement (1) that includes a variable length boom (2) that can be extended and retracted using a length actuator (3). A first end of the variable length boom (2) is pivotally attached to a frame, and the variable length boom (2) can be pivoted relative to the frame by means of a pivot actuator (5). A second end of the variable length boom (2) is used for handling loads. An input command that is given by an operator is modified if the variable boom loading arrangement (1) reaches a predefined tipping moment, resulting in a modified output command to the actuators (3, 5), so as to avoid a tipping of the variable boom loading arrangement (1).

Abstract: The invention relates to a method (19) of operating a hydraulic arrangement (1) including a mounting base (5), a boom (3) that is pivotably arranged on the mounting base (5), and a Z-kinematics (2) that is arranged on the boom (3). The Z-kinematics (2) tilts a tool attachment device (10), that is pivotably arranged on the boom (3). The boom (3) is moved by a lifting hydraulic piston (7) that is connected to the boom (3) and to the mounting base (5). The Z-kinematics (2) is moved by at least a tilting hydraulic piston (11) that is connected to a lever of the Z-kinematics (2) and to the mounting base (5). On application of an input control command for changing the position of the lifting hydraulic piston (7), a compensation command is automatically generated and applied to the tilting hydraulic piston (11), to essentially maintain the attitude of the tool attachment device (10).

Abstract: The invention relates to a method (100) of operating an actuator arrangement including at least two types of actuators (6, 7, 11, 12, 30, 34) effectuating different types of movement of a connected device (10, 32) to be actuated, where a change of attitude of the connected device (10, 32) has an influence on the position of at least a defined part (13, 14) of the connected device (10, 32). Different types of actuators (6, 7, 11, 12, 30, 34) are actuated in an automated way to at least partly compensate for the change of position of the defined part (13, 14) of the connected device (10, 32) when changing the attitude of the connected device (10, 32), at least for a certain range of movements.

Abstract: The invention relates to a method (50) of operating an actuated arrangement (1) including a lifting boom (3), an associated lifting actuator (4), a tool attachment device (5) for attachment of a tool (7, 23), and an associated tilting actuator (6). The torque that is exerted onto the tool attachment device (5) is calculated using the attitude of the tool attachment device (5), a mass information, representing the mass that is connected to the tool attachment device (5), and a tool type information, representing the characteristics of the tool (7, 23) that is to be attached to the tool attachment device (5).

Abstract: The invention relates to a method (100) of operating an actuator arrangement including at least two types of actuators (6, 7, 11, 12, 30, 34) effectuating different types of movement of a connected device (10, 32) to be actuated, where a change of attitude of the connected device (10, 32) has an influence on the position of at least a defined part (13, 14) of the connected device (10, 32). Different types of actuators (6, 7, 11, 12, 30, 34) are actuated in an automated way to at least partly compensate for the change of position of the defined part (13, 14) of the connected device (10, 32) when changing the attitude of the connected device (10, 32), at least for a certain range of movements.

Abstract: The invention relates to a method (19) of operating a hydraulic arrangement (1) including a mounting base (5), a boom (3) that is pivotably arranged on the mounting base (5), and a Z-kinematics (2) that is arranged on the boom (3). The Z-kinematics (2) tilts a tool attachment device (10), that is pivotably arranged on the boom (3). The boom (3) is moved by a lifting hydraulic piston (7) that is connected to the boom (3) and to the mounting base (5). The Z-kinematics (2) is moved by at least a tilting hydraulic piston (11) that is connected to a lever of the Z-kinematics (2) and to the mounting base (5). On application of an input control command for changing the position of the lifting hydraulic piston (7), a compensation command is automatically generated and applied to the tilting hydraulic piston (11), to essentially maintain the attitude of the tool attachment device (10).