Abstract: The present invention relates to a method (M1) performed by a control device (100) for controlling driving operation of an articulated tracked vehicle (V). Said articulated tracked vehicle (V) comprises a drive arrangement (120) for operating the vehicle. The articulated tracked vehicle (V) comprises a first vehicle unit (V1) and a second vehicle unit (V2) steerably connected to the first vehicle unit (V1) by means of a steering device (D) for mutually pivoting said vehicle units (V1, V2). The mutual pivoting comprises roll movement about a roll axis (X). The steering device (D) comprises a roll arrangement (A2) for said roll movement. The method comprises the step of controlling (S1) the roll arrangement (A2) of the steering device (D) so as to control mutual roll movement of said vehicle units (V1, V2). The present invention also relates to a control device for controlling driving operation of an articulated tracked vehicle.

Abstract: The present disclosure provides a crane machine having a rotatable arm, including: a main body, the rotatable arm, a rotation drive assembly, an elevation drive assembly, and a gripper. The main body defines a holding cavity and a conveying channel; wherein the conveying channel includes an opening that is in communication with the holding cavity. The rotatable arm is arranged in the holding cavity. The rotation drive assembly includes a first driving member configured to drive the rotatable arm to rotate around the centerline. The elevation drive assembly is arranged in the rotatable arm and includes a second driving member and a rotation wheel. The gripper is connected to the rotation wheel through a connection rope; the opening is disposed on a rotational radius of the gripper.