Auto-level and down-force control in a work machine having articulating arms

Abstract

A work machine, such as an excavator or a backhoe, has a linkage of articulating arms for maneuvering a changeable work tool. Position and motion sensors and force sensors within the linkage provide data for a controller to determine a location of the work tool and down force applied from the linkage onto the work tool during a job. Before performing a grading operation, an operator may request level control for the work tool at a benchmark orientation and down-force control at a target down force. After a controller applies the target down force with the work tool at the benchmark orientation, an operator may traverse the work tool along a path radial to the work machine. While maintaining the benchmark orientation for the work tool, the controller may adjust one or more forces on the linkage to also maintain the target down force during the traversal of the work tool, leading to simpler functionality for the operator and higher quality work product.