| 摘要 |
A large manipulator with an articulated mast ( 22 ) is pivotally connected to a mast base ( 21 ) that is rotatable about a vertical axis. The mast ( 22 ) comprises at least three mast arms ( 23 to 27 ) which are pivotable to a limited extent about horizontal articulated axis ( 28 to 32 ) that are located parallel to each other, the pivoting movement being relative to the mast base ( 21 ) or an adjacent mast arm ( 23 to 27 ) and being performed by means of a respective drive unit ( 34 to 38 ). A control unit is provided with coordinate transformer ( 74, 76 ) which responds to a given guiding parameter (r) and measured angular values (epsilon<SUB>gamma</SUB>) that are determined by means of angle sensors ( 44 to 48 ) located on the mast arms ( 23 to 27 ). The coordinate transformer ( 74, 76 ) does a conversion into movement signals (Deltaalpha<SUB>v</SUB>) for the drive units ( 34 to 38 ) in accordance with predefined path/slew characteristics, the movement signals being related to the articulation axis. In order to make the inventive device lighter and easier to build, geodetic angle sensors ( 44 to 48 ) which determine geostationary measured angular values (epsilon<SUB>gamma</SUB>) that are assigned to the individual mast arms ( 23 to 27 ) are disposed in a rigid manner on the mast arms ( 23 to 27 ).
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