Abstract: A method and associated apparatus within a storage library subsystem for simply adapting the motion of a robotic mechanism for moving media cartridges to allow for mechanical misalignments. When retracting a cartridge from a slot in the library subsystem, the present invention monitors a sensor in the gripper hand to verify that the cartridge is not being pulled from the gripper due to "snagging" caused by mechanical misalignment of the had with the slot. When a snag is sensed, the methods and apparatus of the present invention stop the motion, initiate robotic actions to regroup the cartridge securely, and retry the retraction with adjustments to the robotic movements and positions to avoid the snag. When inserting a cartridge into a slot in the library subsystem, the present invention monitors the progress of the servo motor controlling the robot to determine whether the motion is blocked due to mechanical misalignment of the robotic mechanism with the slot.

Abstract: A method of impregnating the surface of a metal substrate with wear resist particles to impart wear resisting characteristics to the surface. The substrate surface is subjected to a relatively moving high-powered laser beam to cause localized surface melting in passes thereacross, and hard wear resistant particles are forcibly velocity injected into the melt. The particles are captured upon solidification of the melt pool and retained therein by metallurgical bond. A wear resistant layer is formed which is an integral part of the underlying material.

Abstract: A method and apparatus for spraying a surface which comprises: introducing into a laser beam, a powder with a vapor pressure from 10.sup.-2 to 10.sup.-1 atm. in excess of the ambient pressure at a temperature up to about 500.degree. C. above the melting point thereof and with a heat-absorption coefficient from 0.2 to 1; and passing the laser beam over said surface. Since the method and apparatus can coat or alloy or dope a surface, a wide variety of protective coatings can be fabricated.