Method for controlling an articulated arm with a mobile remote control unit located spatially distant therefrom, and suction excavator

A method for controlling an articulated arm with a mobile remote control unit spatially remote therefrom, comprising the following steps:

• defining a machine coordinate system (MW) which is linked to the articulated arm so that the position of at least one end piece at the free end of the articulated arm can be determined in this machine coordinate system;
• defining an input coordinate system (MI) which is linked to the remote control unit;
• determining a three-dimensional deviation between the 3D spatial orientation of the input coordinate system and the 3D spatial orientation of the machine coordinate system;
• detecting a target movement direction and target movement speed of the end piece of the articulated arm in the input coordinate system input via operating elements of the remote control unit;
• transforming the target movement direction into a transformed movement direction using the determined 3D deviation between the input coordinate system (MI) and the machine coordinate system (MM);
• transmitting the transformed movement direction and the movement speed to an articulated arm control unit, and controlling at least one drive unit of the articulated arm to move the end piece to the specified target position.