The invention relates to a large manipulator, which has a boom arm (10), which can be folded out and which has a turntable (12) that is rotatable about a vertical axis and a plurality of boom segments (14, 16, 18), wherein each boom segment (14, 16, 18) can be pivoted to a limited extent by a drive unit (26, 28, 30) with respect to an adjacent boom segment (14, 16, 18) or the turntable (12) about a horizontal axis of articulation at an articulation joint (20, 22, 24). The problem addressed by the invention is that of developing such a large manipulator in such a way that the dynamics of the system can be sensed metrologically and can be used in respect of control. Overall, a large manipulator for which vertical motion of the boom tip (32) can be reduced should be provided. The problem is solved in that the large manipulator has at least one inertial sensor (34, 36, 38, 40) for measuring the tilt and / or the acceleration of at least one boom segment (14, 16, 18). The invention further relates to a truck-mounted concrete pump.