Method and system for compensating motion of a suspended object

The system according to any one of claims 3-5, wherein the monopile (26) protrudes sideways across the vessel deck (12) with the pile opening (27) beyond a side of the vessel, wherein the tool (24) defines a frontal plane (Sf) extending through its centre of mass, downwards along a direction corresponding to the gravitational force (Fg) and sideways parallel to the side of the vessel (10), and wherein the pile opening (27) and the winches (38) are located in a half-space on a side of the frontal plane (Sf) that faces towards the vessel (10), whereas a distal end ({Cc}) of the hoisting arrangement (16) is repositionable to either side of the frontal plane (Sf) to allow reversing a lateral direction of the offset (55) for the tool (24) 7. The system according to any one of claims 1-6, wherein the winches include three winches (138) with three corresponding taglines (139), at least two (139a, 139b) of the taglines being connected at connection portions (143a, 143b) positioned at lower and laterally opposite distal ends of the upending tool (124), and another (139c) of the taglines being connected at a lateral edge (143c) of the upending tool (124).

A method for compensating motion of an object (24) suspended from a hoisting arrangement (16) that is moveably mounted in/on a vessel (10) associated with a target reference frame ({Ct}) and moving relative to an external reference frame ({Ce}), the vessel comprising winches (38) with taglines (39) that interconnect a respective winch (38) with a corresponding attachment portion (43) on the object (24), wherein the method comprises:

• measuring (80) a pose (82) of the object relative to the target reference frame;
• independently actuating (75) the winches (38) to adjust lengths (Lt) of the corresponding taglines (39) to change tensional forces (Ft) exerted (77) between respective winches and the object;
• calculating (66) a target pose (67) for the object relative to the target reference frame ({Ct}), the target pose including a non-zero offset (55) relative to a pose for the object suspended from the hoisting arrangement in absence of the taglines, and dynamically actuating (75) the winches to adjust lengths (Lt) of the respective taglines to let the object assume the target pose while the vessel moves, based on an error (69) determined between the target pose and the momentary pose of the object.