Abstract: A controller for a voice coil actuator includes sensors that are connected with the actuator probe to monitor both the linear and angular position of the probe, as well as the axial and rotational forces on the probe. Using predetermined instructions, the probe can be controlled in either an open loop mode or in a closed loop feedback mode, for either static or dynamic operations. For static operations, the axial and rotational forces on the probe can be controlled by referencing set values for the forces which are to be applied to/by the probe. For dynamic operations, in addition to the axial and rotational forces on the probe, the linear and angular movements of the probe can be controlled. In the closed loop mode, linear and angular positions, velocities, and accelerations can be used for control.