METHOD AND APPARATUS FOR CONTROLLING A WORK IMPLEMENT HAVING MULTIPLE DEGREES OF FREEDOM

A method and apparatus for controlling a plurality of hydraulic cylinders to control the movement of a work implement having multiple degrees of freedom. The method includes inputting a velocity command in a work implement frame of reference, determining a plurality of desired cylinder positions as a function of the velocity command, controllably moving at least one cylinder to move the work implement in at least one degree of freedom to a desired work implement position, and controllably moving at least one other cylinder to maintain the position of the work implement in at least one other degree of freedom.