Abstract: The present invention relates to a method for determining the locations of the two hydraulic jacks for controlling an assembly of two pivoted arms, the first arm, called boom or jib, pivoted on the frame of a public works machine, such as a loader or a hydraulic shovel, and the second arm, called balance beam, pivoted on the first arm, while a bucket, adapted to rest on the ground during loading, is coupled to said balance beam, each of said two jacks is coupled between the frame and the balance beam, at least one of the axes of coupling of one of the jacks being separate from the axis of coupling of the other jack on the same element--frame or balance beam--and the instantaneous centers of rotation of the bucket, corresponding respectively to the functioning of each of the control jacks when the bucket is near the ground, are chosen to be on the longitudinal axis of the boom, wherein the first instantaneous center of rotation is chosen to be near the ground, the second instantaneous center of rotation is cho