A control system for moving an end effector of a work machine may includesensors fordetermining current orientations of components of a boom assembly connected tothework machine. A controller may be configured to receive, via an inputinterface, signalscorresponding to a velocity input command for a desired movement of the endeffector.The controller may determine, based upon the velocity input command andsignals fromthe sensors, at least one target velocity for one or more actuators for theboom assembly.Commanding the actuators to move with the at least one target velocity maycause theend effector to move with an aggregate velocity corresponding to the desiredmovement ofthe end effector, as indicated by the velocity input command.
