Coordinated joint motion control system with position error correction

An articulated hydraulic machine supporting an end effector for performing useful work, the articulated hydraulic machine comprising a control system capable of controlling the end effector for automated movement along a preselected trajectory wherein the control system comprises the generation of reference positions for each of multiple controlled movable machine elements according to a software-defined differential kinematics configuration, and applies a position error correction system to correct discrepancies between the actual and the desired machine element trajectories and wherein the error correction module:

• a) compares the actual end effector position at a given point in time with a reference position appropriate for the desired end effector trajectory;
• b) generates a difference between the actual end effector position and the reference position;
• and
• c) applies a correction signal to the machine to reduce the difference.