Standardization proposal on Implement guidance for ISO 11783 compatible tractor-implement systems

Implement Skeleton representing the virtual structure of an implement CP Connection Point (of the tractor and the implement) DOF Degree of Freedom (mechanical) Essential DOF 1) Side offset and 2) Heading offset of Implement Tool GCP Guidance Control Point, the point that needs to follow path in position and orientation GUIDANCE Combined Guidance Controller; a navigation system that is connected to ISO 11783 network, capable of guiding both a tractor and an implement of the same mobile system. IGPP Implement Guidance Parameter Pool; a set of static parameters describing scale and dynamics of the Abstract Implement Implement The complete machine connected to tractor; e.g. trailed mower Implement Tool A mechanical part of implement that does the operation, e.g. coulters TRP True Rotation Point VJP Virtual Joint Position; describes implement mechanical structure Side offset (∆S) Describes how CP moves sideways/horizontally relative to TRP Heading offset (∆θ) Describes how Implement Tool rotates relative to vertical axis