Control system for a machine

A method of controlling operation of a first material engaging work implement comprising:

• providing a first machine including a first ground engaging drive mechanism to propel the first machine, a base mounted on the first ground engaging drive mechanism, the base including an implement system having a linkage assembly with a boom and the first material engaging work implement, the base being rotatable relative to the first ground engaging drive mechanism;
• providing a second machine including a second ground engaging drive mechanism to propel the second machine and a second material engaging work implement;
• storing a kinematic model and characteristics of the implement system of the first machine;
• determining a second machine operation zone, the second machine operation zone being defined by a material movement plan of the second machine and including a current location and planned locations of the second machine;
• determining a current pose of the first machine based upon first machine pose signals generated by a first machine pose sensor, the current pose of the first machine and the kinematic model and characteristics of the implement system of the first machine defining a range of operation of the first material engaging work implement of the first machine;
• while the second machine operation zone is within the range of operation of the first material engaging work implement of the first machine, determining a first machine operation zone of the first material engaging work implement based upon the current pose of the first machine, the kinematic model and characteristics of the implement system, and the second machine operation zone, the first machine operation zone being within the range of operation and spaced from the second machine operation zone;
• and
• generating a plurality of command signals to move the first material engaging work implement within the first machine operation zone between a first position and a second position while avoiding passing through the second machine operating zone.

A machine for use with a second machine, the second machine including a second ground engaging drive mechanism to propel the second machine, a second material engaging work implement, and a second machine operation zone defined by a material movement plan of the second machine and including a current location and planned locations of the second machine, the machine comprising:

• a first ground engaging drive mechanism to propel the first machine;
• a base mounted on the first ground engaging drive mechanism, the base including an implement system having a linkage assembly with a boom and a material engaging work implement, the base being rotatable relative to the first ground engaging drive mechanism;
• a machine pose sensor for generating machine pose signals indicative of a pose of the machine;
• and
• a controller configured to:
• store a kinematic model and characteristics of the implement system of the first machine;
• determine a current pose of the machine based upon the machine pose signals, the current pose of the first machine and the kinematic model and characteristics of the implement system of the first machine defining a range of operation of the first material engaging work implement of the first machine;
• while the second machine operation zone is within the range of operation of the first material engaging work implement of the first machine, determine a machine operation zone of the material engaging work implement based upon the current pose of the machine, the kinematic model and characteristics of the implement system, and the second machine operation zone, the machine operation zone being within the range of operation and spaced from the second machine operation zone;
• and
• generate a plurality of command signals to move the material engaging work implement within the machine operation zone between a dig location and a dump location while avoiding passing through the second machine operating zone.