Abstract: A drilling machine, including a drill and a boom, are used for drilling boreholes in the face of a mine. A sensor may scan the mine and create a virtual environment representing the mine based on that scan. The drilling machine may include a computer for moving the drill and the boom from a first position to a second position based at least partially on evaluation of the kinematic redundancy of the drill and boom. This may be used to avoid a collision in moving the drill and boom from the first position to the second position.