Patent ID: 6282453
Filing Date: 2001-08-28
Classification: E02F

Abstract:
A method for controllably moving a work implement attached to a work machine, the work implement being controllably moved by a plurality of independently controlled, kinematically coupled hydraulic cylinders, including the steps of:inputting a velocity command in a work implement frame of reference;determining a plurality of desired cylinder positions as a function of the velocity command, the desired cylinder positions corresponding to a desired work implement position;comparing the plurality of desired cylinder positions to allowable cylinder positions, each allowable cylinder position being an independent function of a combination of the plurality of desired cylinder positions;controllably moving the work implement to the desired work implement position as a function of the desired cylinder positions; andcontrollably stopping the movement of the work implement in response to at least one desired cylinder position being at a limit defined by a corresponding at least one allowable cylinder position.