Coordinated control for a work implement

An apparatus for controllably moving a vehicle's work implement having a first appendage pivotally connected to the vehicle, and a second appendage having first and second end points and being pivotally connected to the first appendage at the first end point, comprising:

• means for sensing the geometry of the work implement and responsively producing a plurality of position signals;
• means for producing one of a manual control mode signal and an automatic control mode signal;
• operator interface means for producing first and second lever command signals indicative of desired movement of the work implement;
• logic means for receiving said one control mode signal and said first and second lever control signals, responsively producing linear motion of the second end point of the second appendage along first and second work axes in response to said one control mode signal being equal to said automatic control mode signal, and responsively producing angular motion of said first and second appendages in proportion to said first and second lever command signals, respectively, in response to said one control signal being equal to said manual control mode signal, said logic means including:
• means for receiving said position signals;
• responsively calculating a plurality of mode value signals, wherein said mode value signals are in terms of angular velocities of the work implement in response to said one control mode signal being equal to the automatic control mode signal;
• means for responsively calculating a plurality of angular-to-linear value signal, wherein said angular-to-linear value signals are in terms of linear velocity over angular velocity in response to said one control mode signal being equal to the automatic control mode signal;
• and
• means for calculating a plurality of transformation signals as a function of said angular-to-linear value and mode value signals;
• and for calculating a plurality of cylinder velocity command signals as a function of said mode value signals and said angular-to-linear value signals;
• and,
• actuating means for receiving said cylinder velocity command signals and responsively actuating the work implement.