Cartesian control of a boom tip of a large manipulator, in particular a concrete pump

A large manipulator comprising:

• an extendable folding boom including:
• a turntable that is rotatable about a vertical axis,
• boom segments pivotable at folding joints about folding axes in relation to an adjacent boom segment or the turntable via respective drive assemblies,
• rotary angle sensors configured to detect folding angles between adjacent boom segments or between one of the boom segments and the adjacent turntable,
• an inclination sensor arranged at a last of the boom segments, the last boom segment forming a boom tip, and
• a computing unit configured to establish elastic deformation of the extendable folding boom based on the detected folding angles from the rotary sensors and the inclination of the last boom segment from the inclination sensor.

A truck-mounted concrete pump comprising:

• a vehicle chassis;
• a thick matter pump arranged at the vehicle chassis;
• and
• a large manipulator including:
• an extendable folding boom having:
• a turntable that is rotatable about a vertical axis,
• boom segments pivotable at folding joints about folding axes in relation to an adjacent boom segment or the turntable via respective drive assemblies,
• rotary angle sensors configured to detect folding angles between adjacent boom segments or between one of the boom segments and the adjacent turntable,
• an inclination sensor arranged at a last of the boom segments, the last boom segment forming a boom tip, and
• a computing unit configured to establish elastic deformation of the extendable folding boom based on the detected folding angles from the rotary sensors and the inclination of the last boom segment from the inclination sensor.

A method for controlling a large manipulator, the large manipulator including a turntable, boom segments pivotable with respect to each other or the turntable, rotary angles sensors, and an inclination sensor, the method comprising:

• detecting, via the rotary angle sensors, folding angles between adjacent boom segments and between a first of the boom segments and the adjacent turntable;
• detecting, via the inclination sensor, inclination of a last segment of the boom segments;
• and
• calculating, via a computing unit, sag of individual boom segments based on the detected folding angles and the detected inclination.