Systems and methods for controlling an implement of a machine utilizing an orientation leveling system

An effector for controlling an additive construction implement during an additive construction operation on a work surface, the work surface lying in a surface plane, the effector comprising:

• a base plate for attachment to a machine, the base plate establishing a plate plane and orientation of the plate plane alters with changes in orientation of the base plate;
• an orientation sensor configured to determine initial orientation information for the base plate, the initial orientation information being relative to the work surface;
• one or more plate actuators for altering orientation of the base plate;
• an electronic controller configured to receive the initial orientation information from the orientation sensor, determine if the plate plane is substantially parallel with the surface plane, and actuate the one or more plate actuators to alter orientation of the base plate to position the base plate such that the plate plane is substantially parallel with the surface plane, if, based on the initial orientation information, the plate plane is not substantially parallel with the surface plane;
• a plurality of axis actuators, each of the plurality of axis actuators configured to position the additive construction implement along an axis relative to the plate plane.

A method for controlling an implement associated with a machine during an operation, utilizing an effector which connects the implement to the machine, the effector including a base plate that establishes a plate plane, orientation of the plate plane altering with changes in orientation of the base plate, one or more plate actuators, and a plurality of axis actuators, the machine operating on a work surface, the work surface lying in a surface plane, the method comprising:

• determining, using an orientation sensor operatively associated with the base plate, initial orientation information for the base plate;
• determining, using one or more electronic controllers, if the plate plane is substantially parallel with the surface plane based on the initial orientation information;
• controlling, using the one or more electronic controllers, the one or more plate actuators to alter the orientation of the base plate such that the plate plane is substantially parallel with the surface plane, if the plate plane is not substantially parallel with the surface plane;
• and
• controlling, using the one or more electronic controllers, the plurality of axis actuators to position the implement, each of the plurality of axis actuators positioning the implement along an axis relative to the plate plane.