Milling depth compensation system and method

A method of milling rock along a work surface, comprising:

• providing a rock milling tool mounted on a machine for removing material along the work surface, the rock milling tool being rotatable about an axis and movable relative to the machine along a first path, a second path, and a third path, the first path being orthogonal to the second path and the third path;
• storing a desired machine path of the machine;
• determining a target position of the machine based upon the desired machine path;
• determining an initial position of the work surface;
• determining a target pose of the machine based on the target position of the machine and the initial position of the work surface;
• determining an actual pose of the machine based upon position signals from a position sensor associated with the machine;
• determining differences between the actual pose of the machine and the target pose of the machine;
• determining a dynamic milling path of the rock milling tool based upon the differences between the actual pose and the desired pose, the dynamic milling path including movement of the rock milling tool along the first path, the second path, and the third path;
• and
• generating command signals to move the rock milling tool along the dynamic milling path.

A machine comprising:

• a ground engaging drive mechanism for propelling the machine;
• a rock milling tool mounted on the machine for removing material along a work surface, the rock milling tool being rotatable about an axis and movable relative to the machine along a first path, a second path, and a third path, the first path being orthogonal to the second path and the third path;
• a position sensor associated with the machine for generating position signals indicative of a pose of the machine;
• and
• a controller configured to:
• store a desired machine path of the machine;
• determine a target position of the machine based upon the desired machine path;
• determine an initial position of the work surface;
• determine a target pose of the machine based on the target position of the machine and the initial position of the work surface;
• determine an actual pose of the machine based upon position signals from the position sensor;
• determine differences between the actual pose of the machine and the target pose of the machine;
• determine a dynamic milling path of the rock milling tool based upon the differences between the actual pose and the desired pose, the dynamic milling path including movement of the rock milling tool along the first path, the second path, and the third path;
• and
• generate command signals to move the rock milling tool along the dynamic milling path.