Handling machine comprising a lifting arm provided with an articulated tool and method for controlling such a handling machine

A method for controlling a handling machine (1) comprising a chassis (2), a lifting arm (5) mounted pivotingly on the chassis (2) about at least one axis X1 between a lowered position and a raised position, a lifting ram (6) arranged to pivot the lifting arm (5) about said axis X1 between the lowered position and the raised position, a first sensor (7) that is configured to deliver a measurement signal S1 representing a position of the lifting arm (5) between the lowered position and the raised position, a tool (8) intended to receive a load and mounted pivotingly on the lifting arm (5) about at least one axis X4 parallel to X1, a tilt ram (9) that has a travel Lincl and is arranged to pivot the tool (8) about said axis X4, a second sensor (10) that is configured to deliver a measurement signal S2 relating to the travel Lincl of the tilt ram (9), at least one actuator (16) that is configured to deliver requests Dlev to actuate the lifting ram (6) and requests Dincl to actuate the tilt ram (9), the method including the following steps:

• receiving a request Dincl to actuate the tilt ram (9),
• in response to receipt of a request Dincl to actuate the tilt ram (9), activating a manual actuation mode of the tilt ram (9), said manual actuation mode of the tilt ram (9) comprising generating a setpoint Lc relating to the travel of the tilt ram (9) as a function of said request Dincl to actuate the tilt ram (9) and providing closed-loop control of the travel Lincl of the tilt ram (9) as a function of said setpoint Lc relating to the travel of the tilt ram (9) and of the measurement signal S2 relating to the travel Lincl of the tilt ram (9),
• receiving a request Dlev to actuate the lifting ram (6), and
• in response to receipt of a request to actuate the lifting ram, activating a compensation mode, the compensation mode including the steps of generating a setpoint Lc relating to the travel of the tilt ram (9) as a function of a variation in the measurement signal S1 representing the position Plev of the lifting arm (5) over time and providing closed-loop control of the travel Lincl of the tilt ram as a function of said setpoint Lc relating to the travel of the tilt ram (9) and of the measurement signal S2 relating to the travel Lincl of the tilt ram (9).