Large manipulator with articulated mast that can be quickly folded and unfolded

A method for controlling movement of an articulated mast of a large manipulator, the method comprising:

• detecting, by sensor means, pivot angles of at least one articulated joint of the articulated mast or position of at least one point of the articulated mast;
• limiting the speed of the articulated mast based on signals of the sensor means;
• and
• reducing speed presets of the individual drives in relation to a movement command as soon as the movement command would lead to an exceedance of the speed of a tip of the articulated mast beyond a predefined limit value and/or exceeds the limit value.

A large manipulator having a mast pedestal which is rotatable about a vertical axis by way of a rotary drive and which is arranged on a chassis, having an articulated mast which comprises two or more mast arms, wherein the mast arms are connected, so as to be pivotable by way of in each case one pivoting drive, to the respectively adjacent mast pedestal or mast arm, having a control device, which actuates the pivoting drives, for the mast movement, and having a mast sensor arrangement for detecting the position of at least one point of the articulated mast or a pivot angle of at least one articulated joint, characterized in that:

• the control device is configured to:
• limit the speed of the mast based on an output signal from the mast sensor arrangement;
• and
• regulate the speed of a tip of the articulated mast by actuation of the pivoting drives to a value lower than or equal to a predefined limit value.