Self-propelled agricultural machine whose balance can be controlled and adjusted

A self-propelled agricultural machine, operated autonomously or controlled by an operator, having a usual direction of advance, which determines the front and rear, and a longitudinal axis for the machine, said agricultural machine comprising:

• a carrier frame configured to carry at least one tool at the front and/or at the rear;
• and
• a rolling assembly comprising, as rolling means, either at least one undercarriage with tracks, and possibly at least one additional undercarriage with an axle with wheels, or at least two undercarriages with axles with wheels, the carrier frame being mounted on and assembled with the rolling assembly and carrying the at least one tool,
• wherein the connecting link between the carrier frame and the rolling assembly is configured to allow displacement between this frame and this assembly along the longitudinal axis, and
• wherein the agricultural machine comprises means for determining and possibly adjusting, if necessary, automatically by an evaluation and control means or upon a command from an operator informed by this means, the relative positioning between the carrier frame and the rolling assembly, in such a way that the center of gravity of the carrier frame with its tool(s) and a central point of the rolling assembly are close to each other, advantageously located in a same plane perpendicular to the longitudinal axis, and preferably coincident.