Grading control system using machine linkages

A grading control method for a machine, the method comprising:

• receiving at least one input indicative of a desired grade;
• generating a track plane associated with the machine;
• determining, using a controller, the desired grade relative to the track plane of the machine based on the at least one input;
• propelling the machine on a ground surface;
• determining, using the controller, an orientation of a work implement relative to the track plane required to maintain the desired grade as the machine is propelled on the ground surface;
• generating, using the controller, at least one control signal to actuate at least one of a lift actuator and a tilt actuator of the machine based on the determined orientation;
• and
• actuating at least one of the lift actuator and the tilt actuator based on the at least one control signal to orient the work implement.

A machine, comprising:

• a machine frame;
• a plurality of traveling devices configured to support the machine frame over a ground surface;
• a work implement;
• a lift arm pivotably connected to the machine frame and to the work implement;
• a lift actuator configured to selectively raise and lower the work implement relative to the machine frame;
• a tilt actuator configured to tilt the work implement relative to the lift arm;
• a first sensor configured to communicate a first signal indicative of a first position of the work implement relative to at least one of the lift arm, the machine frame, or a gravity vector;
• a second sensor configured to communicate a second signal indicative of a second position of the machine frame relative to the gravity vector;
• and
• a controller in communication with the first and second sensors and with the lift and tilt actuators, and configured to:
• determine a desired grade relative to a track plane associated with the travelling devices of the machine;
• determine an orientation of the work implement relative to the track plane to maintain the desired grade based on at least one of the first and second signals;
• generate at least one control signal to orient the work implement based on the determined orientation;
• and
• actuate at least one of the lift actuator and the tilt actuator based on the at least one control signal.