Fine implement control system using relative positioning

A method for autonomously controlling an additive construction implement associated with a machine, the method comprising:

• determining, by a relative positioning system, relative positioning signals based on input of one or more perception sensors of the relative positioning system, the one or more perception sensors being operatively affixed to the implement and configured for determining positioning of the implement relative to a past operation of the machine, the relative positioning signals representative of a position of the implement relative to a worksite;
• receiving a three-dimensional structure design file from a memory that is operatively associated with the controller;
• receiving, by a controller, the relative positioning signals from the relative positioning system;
• execute, by the controller, an implement control plan, the implement control plan based on, at least, the relative positioning signals and including coarse control signals and fine control signals;
• receiving, by a coarse control system, the coarse control signals, the coarse control system including one or more coarse actuators;
• receiving, by a fine control system, the fine control signals, the fine control signals including one or more fine actuators;
• controlling coarse movements of the implement based on the coarse control signals by positioning the implement using the one or more coarse actuators, the coarse movements having a coarse range of motion;
• controlling fine movements of the implement based on the fine control signals by positioning the implement using the one or more fine actuators, the fine movements having a fine range of motion, the fine range of motion being less than the coarse range of motion;
• and
• guiding, by the coarse and fine movements, the implement to lay down successive layers of material to construct a structure according to the design plan.

A fine control system for an implement of a machine, the fine control system controlling fine movements of the implement based on an implement control plan, the fine control system comprising:

• a relative positioning system including one or more perception sensors operatively affixed to the implement and configured for determining positioning of the implement relative to a past operation of the machine, the relative positioning system utilizing input from the perception sensors to determine relative positioning signals, the relative positioning signals representative of a position of the implement relative to a worksite;
• a controller for determining the implement control plan, the implement control plan based on, at least, the relative positioning signals and including control signals;
• one or more fine actuators for positioning the implement using fine movements based on the fine control signals;
• and
• a fine control structure, the fine control structure including one or more fine control components operatively associated with the implement, the one or more fine control components moved by the one or more fine control actuators to position the implement based on the fine control signals.