LARGE MOBILE MANIPULATOR

The invention relates to a large mobile manipulator (10), in particular an automatic concrete pump, comprising a chassis (12); a work boom (13) which is rotatably arranged on the chassis (12) about a vertical axis and which can be folded out and/or extended; four support booms (14, 15, 16, 17), each of which is arranged on the chassis (12) and can be completely or partly extended horizontally into a support position from a travel position; and vertically extensible support legs (18, 19, 20, 21) which are arranged on the outer ends of the support booms (14, 15, 16, 17) and which support the large mobile manipulator (10), thereby forming a respective support force of the support legs (18, 19, 20, 21). The invention is characterized by detection means (30, 31, 32, 33, 38, 39) for detecting one or more measurement variables (), which are based on the pretension state of the chassis (12), and a program-controlled support aid (μC) which is designed to generate a torsional movement in the chassis (12) of the large manipulator (10) in the supported state on the basis of the measurement variables () by actuating the vertically extensible support legs (18, 19, 20, 21). The invention additionally relates to a method for supporting the support process of a large mobile manipulator (10) in a program-controlled manner, in particular an automatic concrete pump, having the steps of: - detecting one or more measurement variables (), which are based on the pretension state of the chassis (12) (S11), and - generating a torsional movement in the chassis (12) of the large manipulator (10) in the supported state on the basis of the measurement variables () by actuating the vertically extensible support legs (18, 19, 20, 21).