METHOD AND APPARATUS FOR MOVING A FREE-SWINGING LOAD FROM A STARTING POINT TO A TARGET POINT

摘要

The present invention relates to a method and an apparatus (31) for moving a free-swinging load (38). The apparatus (31) comprises a holding apparatus (37) for the free-swinging suspension of a load (38) relative to a suspension point (39), an input apparatus (46, 47) for entering the course of a first leg of trajectory (45) through which the load (38), fastened in a free-swinging manner to the holding apparatus (37), is intended to move from a starting point (43) to a target point (44), with a first speed dependent on the position, a device (32-36) for moving the holding apparatus (37) in at least three degrees of freedom, a control device (41) which activates the device (32-36) for moving the holding apparatus (37) such that the holding apparatus (37) moves through a second leg of trajectory (42) preset by the control device (41) at a second speed dependent on the position, and a calculating device (41) which calculates the course of the second leg of trajectory (42) based on the first leg of trajectory (45) such that the load (38) moves along the first leg of trajectory (45) from the starting point (43) to the target point (44).