Abstract: A control system for controlling operation of a cutter motor and a cutter boom movement mechanism of a machine includes a sensor that measures an amount of load associated with the cutter motor. A controller determines whether the load on the cutter motor is different from a cutter motor load limit. If so, the controller is configured to adjust a velocity of the cutter boom movement mechanism relative to a tip velocity of a rotary cutting tool associated with the machine based on the difference between the measured cutter motor load and the cutter motor load limit until a torque error of the cutter motor reaches a particular value, for instance, zero. Moreover, the controller may also adjust a current speed of the cutter motor in driving the rotary cutting tool based on the adjusted velocity of the cutter boom movement mechanism.

Abstract: A milling depth compensation system for milling rock determines a target position of a machine, an initial position of the work surface, and a target pose of the machine based on the target position of the machine and the initial position of the work surface. An actual pose of the machine is determined and differences between the actual pose and the target pose are used to determine a dynamic milling path of a milling tool. The dynamic milling path includes movement of the milling tool along a first path, a second path, and a third path. Command signals are generated to move the milling tool along the dynamic milling path.

Abstract: A machine includes a gathering head and a cutting implement, with the gathering head and cutting implement having overlapping ranges of motion such that adjusting of the gathering head and cutting implement is coordinated to avoid collision. A positioning system of the machine includes a control device configured to prevent miscoordination of the gathering head and cutting implement by controlling a position of the gathering head based upon a state of progress of the cutting implement in a cutting cycle.

Abstract: A site positioning system for an underground machine includes a first prism coupled with the underground machine, a second prism operatively coupled with the underground machine, a primary total station, and a reference prism may be in communication with the primary total station. A positioning controller is configured to control, responsive to receiving a High Accuracy Machine Position mode, the primary total station to monitor the first prism and the second prism and transmit a first prism position and a second prism position, respectively, to the positioning controller; control, responsive to receiving a Low Accuracy Machine Position mode, the primary total station to monitor the first prism and transmit the first prism position to the positioning controller; determine, responsive to receiving a Reference Prism Measurement mode, whether a reference prism measurement has been completed, and present positioning information for the machine based on one or more of the prism positions.

Abstract: A control method and system for avoiding collisions between components of a machine includes a controller that receives position signals from sensors associated with movable components of the machine. The controller determines the positional coordinate representations of the components within a coordinate system based upon the position signals and the outer dimensions of the respective components. If any of the components are within preset collision slowdown or shutdown zones within the coordinate system, then the speed of those components is restricted or the components are shutdown, respectively, in the direction of collision.

Abstract: A control system may be provided for a machine having a swivel chair, a positioning member attached to the swivel chair, a wrist attached to the positioning member, and a cutting head. The control system may include at least one actuator capable of extending and swinging the swivel chair. The control system may also include a lift actuator capable of pivoting the positioning member, a gear mechanism capable of rotating the wrist, and a controller in communication with the swivel chair actuator, the lift actuator, and the wrist actuator. The controller may be capable of determining an excavation pass having a trajectory made from sequential vector paths, and directing the swivel chair actuator, the lift actuator, and the wrist actuator to selectively move the cutting head such that a rotation axis of the cutting head follows the trajectory through each vector path of the excavation pass to form a structure.

Abstract: A control system may be provided for operating a machine having a rotary cutting head. The control system may include a wrist capable of rotating about a wrist axis, a gear mechanism capable of driving rotation of the wrist. A cutting head may be attached to the wrist and capable of rotating about a cutter axis that is substantially perpendicular to the wrist axis. The control system may also include primary and redundant angular sensors capable of generating signals indicative of angular orientations of the wrist. The control system may additionally include a controller, capable of controlling operation of the wrist and the cutting head, comparing an actual angular orientation of the wrist to a target angular orientation, as indicated by the primary and secondary signals, and selectively inhibiting the cutting head from operating when the actual angular orientation differs from the target angular orientation by an operation threshold.

Abstract: A machine includes an undercarriage having propulsions devices such as continuous tracks and a cutter head disposed on a cutter boom that is slidably supported over the undercarriage. During operation, the cutter head is positioned proximate to the cutting surface and may be maneuvered through a predetermined set of operations to make a plurality of horizontal or vertical cuts while feeding the cutter head into the surface. Once the cutter boom is fully extended, the machine must be trammed to a new position using the continuous tracks to conduct the next predetermined set of operations. The machine may be configured to retract the cutter boom prior to tramming the machine to avoid damage to the cutter boom and/or cutting surface.

Abstract: A milling depth compensation system for milling rock determines a target position of a machine, an initial position of the work surface, and a target pose of the machine based on the target position of the machine and the initial position of the work surface. An actual pose of the machine is determined and differences between the actual pose and the target pose are used to determine a dynamic milling path of a milling tool. The dynamic milling path includes movement of the milling tool along a first path, a second path, and a third path. Command signals are generated to move the milling tool along the dynamic milling path.