Original name record: Itrec B.V.

The invention relates to a pile gripper positioning system for a pile gripper that is configured to be provided on a vessel to engage with a monopile during a monopile installation method, wherein the pile gripper positioning system comprises: —an actuator system for applying forces to the pile gripper to position the pile gripper relative to the vessel, —a measurement system for determining a position of the monopile in the pile gripper relative to the vessel, and—a pile gripper control unit for driving the actuator system in dependency of a desired position and an actual position of the monopile as measured by the measurement system, wherein the pile gripper control unit is configured to receive a signal representative for a position of the vessel, wherein, during at least a portion of the monopile installation method, the pile gripper control unit is configured to determine a drive signal for the actuator system to compensate at most a portion of a deviation of the position of the vessel from a desired position of the vessel, and wherein, during said at least a portion of the monopile installation method, the pile gripper control unit for driving the actuator system is configured to drive the actuator system in dependency of a desired position and an actual position of the monopile as measured by the measurement system, and the drive signal to compensate at most a portion of a deviation of the position of the vessel from a desired position of the vessel.