Method for moving a lifting device

A method for moving a lifting device, preferably a loading crane, wherein the lifting device has a controller and an arm system with arms with a geometry that can be changed by at least one actuator along at least one degree of freedom, the method comprising:

• in a presetting phase, presetting at least one target position for the lifting device, wherein the presetting occurs by specifying the geometry of the arm system in at least one target position on the basis of the at least one degree of freedom via a user interface of the controller and/or the lifting device is brought into at least one target position by controlling actuators and in the at least one target position, the instantaneous geometry of the arm system is detected on the basis of the at least one degree of freedom,
• in a measuring phase, detecting the instantaneous geometry of the arm system based on the at least one degree of freedom,
• in a selection phase, selecting at least one target position specified in the presetting phase,
• in a comparison phase, determining a geometrical deviation between the geometry of the at least one target position selected in the selection phase and the instantaneous geometry detected in the measuring phase by comparing the respective geometries of the arm system on the basis of the at least one degree of freedom,
• in a generation phase, generating on the basis of the geometry deviation, determined in the comparison phase, at least one control command, preferably in the form of at least one control pulse, for controlling at least one of the actuators of the lifting device for approaching or at least partially transferring the arm system of the lifting device from the geometry detected in the measuring phase to the geometry of the at least one target position selected in the selection phase, and
• in a control phase, at least partially moving the lifting device into the selected target position by controlling the actuators of the arm system with the at least one control command generated in the generation phase.