Systems, actuator apparatuses, and methods for automated machine control

A system for enabling automated or remote control of a machine, the system comprising:

• one or more actuator apparatuses connectable to one or more machine control components of the machine;
• a control system operatively connected to the one or more actuator apparatuses, the control system generating control signalling to operate the one or more actuator apparatuses during the automated or remote control mode of operation, wherein the one or more actuator apparatuses comprise a rotary actuator apparatus and the one or more machine control components comprises a rotary control component, the rotary actuator apparatus connectable to the rotary control component, the rotary actuator apparatus comprising:
• a motor controllable by the control system;
• a first wheel driven by the motor;
• a first rotary encoder comprising a first encoder disc coupled to the first wheel and a first sensor configured to generate first sensor output modulated by a pattern encoded on the first encoder disc;
• a second wheel coupled to the first wheel for transmission of rotational motion therebetween, the second wheel being rotationally fixed with steering wheel such that rotation of the second wheel rotates the steering wheel;
• a second rotary encoder comprising a second encoder disc coupled to the second wheel and a second sensor configured to generate second sensor output modulated by a pattern encoded on the second encoder disc, wherein
• the first wheel has a different size than the second wheel, such that the combination of first and second sensor outputs is readable to provide an angular position of the first wheel over a rotational range exceeding one revolution of the second wheel.

A controller for a machine having an automated or remote mode of operation and a manual mode of operation, the machine comprising a cable actuator apparatus operable connected to a machine control component, the cable actuator apparatus being operable to extend and retract a cable to thereby actuate the machine control component, the controller comprising:

• one or more processors;
• and
• memory having stored thereon processor-executable instructions that, when executed, cause the one or more processors to implement a method comprising:
• detecting a trigger to stop the automated or remote control mode of operation;
• and
• responsive to detecting the trigger, controlling the cable actuator apparatus to extend the cable.