Abstract: A large manipulator for concrete pumps a distributor boom that includes an articulated boom mounted on the boom pedestal and formed by multiple articulating boom arms with multiple joints for pivoting the boom arms with respect to the boom pedestal or an adjacent boom arm. A control device controls the movement of the articulated boom with the aid of drive unit actuating elements associated with the articulated joints. A device determines the vertical speed v? and/or horizontal speed v? of a location on at least one boom arm in a coordinate system referenced to the frame. A device is also provided for determining the articulating angles of the joints.

Abstract: A large manipulator for concrete pumps a distributor boom that includes an articulated boom mounted on the boom pedestal and formed by multiple articulating boom arms with multiple joints for pivoting the boom arms with respect to the boom pedestal or an adjacent boom arm. A control device controls the movement of the articulated boom with the aid of drive unit actuating elements associated with the articulated joints. A device determines the vertical speed v? and/or horizontal speed v? of a location on at least one boom arm in a coordinate system referenced to the frame. A device is also provided for determining the articulating angles of the joints.