Patent ID: 7729832

Claim:
A large manipulator with an articulated mast ( 22 ), which is linked to a mast base ( 21 ) rotatable about a vertical axis ( 13 ) on a chassis ( 11 ), the articulated mast having one end connected to the mast base with the other end being a free end ( 27 ) ending in a mast tip ( 33 ), the large manipulator comprising at least three mast arms ( 23 to 27 ) limitedly pivotable about respectively parallel horizontal articulation axis ( 28 to 32 ) relative to the mast base ( 21 ) or an adjacent mast arm ( 23 to 27 ) via a respective drive unit ( 34 to 38 ), a control unit ( 70 ) configured to actuate the drive units ( 34 to 38 ) for mast movement, the control unit including a coordinate transformer ( 74 , 76 ) that responds to guiding parameters (r, h) for the mast tip ( 33 ) or for an end hose ( 43 ) located thereon, and to measured angular values that are determined by means of angle sensors ( 44 to 48 ) on the mast arms ( 23 to 27 ) for translation into articulation axis referenced movement signals (Δα v ) for the drive units ( 34 to 38 ) in accordance with predefined path/slew characteristics, wherein geodetic angle sensors ( 44 to 48 ) which determine earth referenced angular values (ε v ) of the individual mast arms ( 23 to 27 ) are disposed in a rigid manner on the mast arms ( 23 to 27 ) away from the articulation axis, and wherein the coordinate transformer is fed with the measured angular values (ε v ) of the geodetic angle sensors ( 44 to 48 ).