Crane with articulated arm, the articulated arm comprising: - a plurality of bodies consecutively connected in order to form an open kinematic chain with an end-effector , having a plurality of translative and/or rotative degrees of freedom and a plurality of actuators for moving said bodies; - one or more first sensors associated to said bodies, adapted to supply signals indicative of linear or angular positions of the bodies of the kinematic chain in order to enable to determine a theoretical height of the end-effector ; - at least one second absolute angular sensor adapted to measure an absolute angle of the body of the kinematic chain where the end-effector is located, and to provide a signal indicative of the same; - a control unit operatively connected to said actuators, to said one or more first sensors, and to said at least one second absolute angular sensor, configured to: - determine said theoretical height of the end-effector based on the signals from the one or more first sensors; - estimate a height variation of the end-effector between the theoretical height and an effective height determined by loads applied to the arm based on signals from the one or more first sensors and from the at least one second absolute angular sensor; - commanding the actuators to reduce the estimated height variation of the end-effector , said articulated crane comprises a column rotatable around its axis, said plurality of bodies comprises a main arm rotatable with respect to the column , a secondary arm (103") rotatable with respect to the main arm and comprising at least one extension translatingly extendable with respect to the secondary arm itself, and said one or more first sensors comprise one angular sensor for measuring the rotation of the main arm , one angular sensor for measuring the rotation of the secondary arm (103"), one linear sensor for measuring the translation of the at least one extension with respect to the secondary arm (103"), and said at least one second absolute angular sensor is disposed on the at least one extension of the secondary arm in proximity of or at the end-effector . - a plurality of bodies consecutively connected in order to form an open kinematic chain with an end-effector , having a plurality of translative and/or rotative degrees of freedom and a plurality of actuators for moving said bodies; - one or more first sensors associated to said bodies, adapted to supply signals indicative of linear or angular positions of the bodies of the kinematic chain in order to enable to determine a theoretical height of the end-effector ; - at least one second absolute angular sensor adapted to measure an absolute angle of the body of the kinematic chain where the end-effector is located, and to provide a signal indicative of the same; - a control unit operatively connected to said actuators, to said one or more first sensors, and to said at least one second absolute angular sensor, configured to: - determine said theoretical height of the end-effector based on the signals from the one or more first sensors; - estimate a height variation of the end-effector between the theoretical height and an effective height determined by loads applied to the arm based on signals from the one or more first sensors and from the at least one second absolute angular sensor; - commanding the actuators to reduce the estimated height variation of the end-effector , said articulated crane comprises a column rotatable around its axis, said plurality of bodies comprises <EOS>