The present invention provides an apparatus (100) for controllably moving a vehicle's work implement (102). The work implement (102) includes a first appendage (104) pivotally connected to the vehicle, and a second appendage (106) pivotally connected to the first appendage (104). The apparatus (100) senses the geometry of the work implement (102) and responsibly producing a plurality of position signals and produces one of a manual control mode signal and an automatic control mode signal. An operator interface (128) produces first and second lever command signals indicative of desired movement of the work implement (102). The apparatus (100) receives the one control mode signal and the first and second lever control signals and responsively produces linear motion of the end point of the second appendage (106) along first and second work axes if the one control mode signal is equal to the automatic control mode signal.
