Excavator bucket control

A work machine comprising:

• a main frame;
• a work implement including a first end movably coupled to the main frame and a second end distal with respect to the main frame;
• a joint assembly coupled to the second end of the work implement;
• a working tool including a cutting edge, the working tool associated with the joint assembly, the joint assembly configured to actuate the working tool such that the working tool is operable to move between a first working tool position and a second working tool position, wherein, the joint assembly comprises:
• a curl joint configured to enable the working tool to pivot about a curl axis;
• a tilt joint configured to enable the working tool to pivot about a tilt axis;
• a swivel structure configured to enable the working tool to rotate about a swivel axis;
• and
• one or more processors configured to:
• determine the first position of the cutting edge relative to at least one of the main frame or the work implement;
• determine an active operating trajectory to move the working tool between the first working tool position and the second working tool position, the active operating trajectory based on a vector normal to the first position of the cutting edge;
• calculate a curl velocity of the working tool pivoting about the curl axis and calculate a tilt velocity of the working tool pivoting around the tilt axis such that the two velocities combine to move the working tool along the active operating trajectory;
• and
• control the joint assembly to move the working tool according to the calculated curl and tilt velocities.