METHOD FOR MONITORING AND/OR PERFORMING A MOVEMENT OF A WORK DEVICE, WORK DEVICE AND COMPUTER PROGRAM

The invention relates to a method for monitoring and/or performing a movement of a working device, in particular an excavator, the working device comprising: a movement device having a tool for receiving a material, the movement device comprising at least two parts which are each movable by at least one actuator; and a control device by means of which the actuator of the movement device can be controlled and/or adjusted. The method according to the invention comprises the steps of: (i) acquiring state information at least relating to the current position and/or speed and/or acceleration of at least two components of the moving device, (ii) calculating a torque acting on the components on the basis of a current working device configuration, the state information of the components and component information being taken into account for this purpose, and (iii) calculating a torque acting on the components on the basis of the current working device configuration. (iii) acquiring a torque actually acting at the com