Operator assist system, working machine and method for annihilation or amplifying oscillation

A method for annihilation or amplifying oscillation of a freely suspended tool of a working machine having a boom and/or an arm and a fast-reacting swing drive, the method comprising:

• measuring angle, velocity and/or acceleration using at least four sensors, wherein a first sensor is arranged at the freely suspended tool, a second sensor is arranged at the arm, a third sensor is arranged at the boom and a fourth sensor is arranged at a machine body and wherein the sensors are able to measure angle, velocity and/or acceleration;
• calculating a needed counter or amplifier movement according to at least one of three orthogonal movement directions, based on measured angle, velocity and/or acceleration;
• and
• carrying out the counter or amplifier movement using fast reacting drives for boom and/or arm and/or the swing drive accordingly or initiate a deceleration of the working machine according to the calculated needed counter movement if the working machine is moving along.