The invention relates to a method (30) of actuating a variable boom loading arrangement (1) that comprises 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). The input command is used to calculate an unmodified commanded direction of the second end of the variable length boom (2) in an external reference frame, in particular in an external Cartesian coordinate reference frame, wherein the modification scheme that is applied to the input command and that results in an modified output command to the actuators depends on the calculated unmodified commanded direction in the external reference frame.


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    Title :

    IMPROVED TELESCOPIC LOADER


    Additional title:

    VERBESSERTER TELESKOPLADER
    CHARGEUSE TÉLESCOPIQUE AMÉLIORÉE


    Contributors:

    Publication date :

    2024-06-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / E02F Baggern , DREDGING



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