Abstract: A medical navigation system is provided including a surgical positioning system for positioning a payload during a medical procedure. The medical navigation system has a robotic arm having a plurality of joints, the robotic arm forming part of the surgical positioning system and having an end effector for holding the payload, an input device for providing input, and a controller electrically coupled to the robotic arm and the input device.

Abstract: A method and system for determining at least one property associated with a selected axis of a manipulator (2). The elasticity of the links (4, 6, 9, 10, 13, 14) and joints (3, 5, 7, 8, 11, 12) of a manipulator (2) can be modeled and the resulting compliance can be determined. A certain method is used to control the manipulator (2) such that certain quantities related to actuator torque and/or joint position can be determined for a certain kinematic configuration of the manipulator (2). Depending on the complexity of the manipulator (2) and the number of properties that are of interest, the manipulator (2) is controlled to a plurality of different kinematic configurations in which configurations the quantities are determined. Thereafter, a stiffness matrix (K) for each component of the manipulator (2) can be determined, and a global stiffness matrix (MSM) for the total manipulator (2) can be determined in order to determine at least one property of the selected axis.

Abstract: An inventive programming means for programming a movement of a robot axis arrangement and a movement of at least one further robot axis arrangement is adapted to synchronize the pair of positions of the movement of the robot axis arrangement and the pairs of positions of the movement of at least one more robot axis arrangement, and while maintaining this synchronization, to specify at least another position between either one of these pairs of positions, which is not synchronized with another position of the hereby synchronized pair of positions.

Abstract: A numerical control device comprising an acceleration/deceleration characteristic acquisition part which acquires predetermined acceleration/deceleration characteristic information showing a correspondence between a command speed and a maximum acceleration of a spindle, a rotation amount acquisition part which acquires predetermined rotation amount information showing the rotation amount of the spindle for a period from when feed operation of the spindle is started to when a tapping tool reaches a bottom of the hole of a workpiece, a machining time calculation part which calculates a correspondence between the command speed and a machining time required to reach the rotation amount, based on the acceleration/deceleration characteristic information and the rotation amount information, and a speed determination part which determines an optimum value of the command speed for minimizing the machining time, based on the correspondence calculated by the machining time calculation part.

Abstract: In a molder, at least one rotatably driven tool (7, 8, 10, 11) is used to produce the structure (27) or contour on the workpiece (1) by workpiece removal. The workpiece positions along the workpiece (1) for producing the structure or contour are set depending on the data of the workpiece (1) and of the tool (7, 8, 10, 11). The data are transmitted to the machine controller which processes the CNC program based on the data during the passage of the workpiece (1) through the molder and moves the tool (7, 8, 10, 11) into the required positions via CNC drives depending on the workpiece position. The workpiece position is sensed during the passage of the workpiece (1) through the molder. In order to sense the workpiece position in the molder, at least one measuring element (18) is provided upstream and downstream of the tool (1), said measuring element (18) being connected to the machine controller and supplying signals that describe the advancing travel of the workpiece (1) to the machine controller.

Abstract: A robot includes a body that is movable relative to a surface one or more measurement devices within the body to output information based on an orientation of the body at an initial location on the surface, and a controller within the body to determine an orientation of the body based on the information and to restrict movement of the body to an area by preventing movement of the body beyond a barrier that is based on the orientation of the body and the initial location.

Abstract: By providing a configuration for calculating motor control constants to be set in a motor control apparatus automatically on the basis of a target response time constant obtained from a target response time constant input unit, waveform parameters obtained from a waveform parameter input unit, a normalized time constant obtained from a normalized time constant calculation unit, and a motor load inertia obtained from a motor load inertia input unit, it is possible to obtain a motor control constant calculation device that can determine appropriate motor control constants for obtaining a desired response characteristic by automatic calculation while avoiding variation and an increase in the number of steps due to differences in the abilities of users.

Abstract: A system includes one or more retro-reflective markers positioned within a ride system and a tracking system that may detect the one or more retro-reflective markers to track a position of a rider. The tracking system includes an emitter that may emit light toward the one or more retro-reflective markers, a detector that may detect reflected light from the one or more retro-reflective markers, and a controller that may determine the position of the rider relative to the one or more retro-reflective markers based on detection of the reflected light and that may provide an indication of the position of the rider.

Abstract: A collision avoidance method according to the present invention avoids collision of a robot arm 120 including an upper arm part 122 and a forearm part 124 connected to each other via an elbow part 134 with an obstacle. Movable areas of the upper arm part 122 and the forearm part 124 in a state in which positions of both ends of the robot arm 120 have been fixed are calculated. Intersections of the movable areas with a first line on a boundary surface of an obstacle area including the obstacle are calculated. A collision avoidance range in which the robot arm 120 does not collide against the obstacle area in the movable areas is determined based on the intersections that have been calculated.

Abstract: A motor controller configured to be coupled to a motor and to a system controller is described. The motor controller includes a proportional-integral (PI) regulator coupled to a timer controller. The motor controller is configured to generate, by the PI regulator, a pulsed signal representing a reported speed of the motor. Additionally, the motor controller is configured to transmit the pulsed signal to the system controller, measure a time period that elapses for the motor to make a predefined number of revolutions, measure a number of pulses transmitted in the pulsed signal, and determine a measured speed of the motor from the time period. Further, the motor controller is configured to determine, by the PI regulator, a difference between the reported speed and the measured speed, and adjust, by the PI regulator, the pulsed signal based on the difference between the reported speed and the measured speed.

Abstract: A facility for automated modelling of the cutting process for a particular material to be cut by a beam cutting tool, such as a waterjet cutting system, from empirical data to predict aspects of the waterjet's effect on the workpiece across a range of material thicknesses, across a range of cutting geometries, and across a range of cutting quality levels, all of which may be broader than, and independent of the actual requirements for a target workpiece, is described.

Abstract: A controller and a method for a machine tool, capable of discriminating the factors in overheating, and taking appropriate measures depending on each factor. A first amplifier of the controller has an acceleration/deceleration judging part which judges as to whether the spindle motor is accelerated or decelerated; a first temperature estimating part which estimates a first amount of change in temperature of the spindle motor when the spindle motor is in the acceleration/deceleration state; a second temperature estimating part which estimates a second amount of change in temperature of the spindle motor when the spindle motor is in the steady state; a comparing part which compares the first and second estimated values. A numerical controlling part of the controller transmits an operation command for changing the operation of at least one of the spindle motor and a feed shaft motor, when the spindle motor is overheated.

Abstract: Techniques for navigating semi-autonomous mobile robots are described. A semi-autonomous mobile robot moves within an environment to complete a task. A navigation server communicates with the robot and provides the robot information. The robot includes a navigation map of the environment, interaction information, and a security level. To complete the task, the robot transmits a route reservation request to the navigation server, the route reservation request including a priority for the task, a timeslot, and a route. The navigation server grants the route reservation if the task priority is higher than the task priorities of conflicting route reservation requests from other robots. As the robot moves within the environment, the robot detects an object and attempts to classify the detected object as belonging to an object category. The robot retrieves an interaction profile for the object, and interacts with the object according to the retrieved interaction profile.

Abstract: A numerical controller with a multi-core processor estimates moving instruction creation processing time required for creation of a moving instruction that is to be executed in a predetermined cycle on the basis of a machining instruction obtained from a machining program and divides a process for creating the moving instruction with respect to cores of the multi-core processor on the basis of the estimated processing time. Consequently, processing performance for the moving instruction creation process is improved.

Abstract: Three different systems are disclosed for producing data bases that are used to drive virtual reality display apparatus. The systems employ 3-D stereo camera pairs, airborne microphones, conduction microphones, physical and chemical sensors, CPU's and supporting electronics. The data bases can be used by virtual reality audiences in real time as the data bases are created or they can be stored and used at a later time. The systems are dedicated to eliminating artifacts that would otherwise tend to interfere with the enjoyment of the virtual reality experience for virtual reality viewing audiences. The systems cover multidimensional video content, multidimensional audio content, multidimensional physical content and multidimensional chemical content. The systems are intended to be set up inside a venue for capturing VR content.

Abstract: A transfer system includes a first station at which a workpiece is placed, a second station which receives the workpiece from the first station, a robot including a holder for holding the workpiece and for transferring the workpiece from the first station to the second station, an image capturing unit for capturing an image of the workpiece that reflects a position of the workpiece in the first station, a first memory unit that stores intended placement position information indicating an intended placement position of the workpiece in the first station, and a deviation calculator that calculates a deviation of the position of the workpiece in the first station relative to the intended placement position. The deviation calculator calculates the deviation based on the image of the workpiece and the intended placement position information.

Abstract: A method includes maneuvering a robot in (i) a following mode in which the robot is controlled to travel along a path segment adjacent an obstacle, while recording data indicative of the path segment, and (ii) in a coverage mode in which the robot is controlled to traverse an area. The method includes generating data indicative of a layout of the area, updating data indicative of a calculated robot pose based at least on odometry, and calculating a pose confidence level. The method includes, in response to the confidence level being below a confidence limit, maneuvering the robot to a suspected location of the path segment, based on the calculated robot pose and the data indicative of the layout and, in response to detecting the path segment within a distance from the suspected location, updating the data indicative of the calculated pose and/or the layout.

Abstract: A robotic gaming system is provided that includes at least one sensor placed on a playing surface. At least one robot is controlled by a player to navigate on the playing surface and manipulate at least one target towards a gate. The sensor is operative for identifying when the target is moved to a scoring region of the playing surface.

Abstract: Methods and apparatuses are disclosed to estimate temperature at one or more critical points in a data processing system comprising modeling a steady state temperature portion of a thermal model at the one or more critical points using regression analysis; modeling the transient temperature portion of the thermal model at the one or more critical points using a filtering algorithm; and generating a thermal model at the one or more critical points by combining the steady state temperature portion of the thermal model with the transient temperature portion of the thermal model. The thermal model may then be used to estimate an instantaneous temperature at the one or more critical points or to predict a future temperature at the one or more critical points.

Abstract: An optical scanning device includes: a projector configured to radiate laser light incident thereon while causing the laser light to make angular movement around a projection center, and a reflector with a parabolic surface, the reflector being configured to reflect the laser light from the projector. The projection center is positioned at a focal point of the parabolic surface. The projector radiates the laser light such that the greater a difference between a rotation angle of the laser light and a reference angle, the lower an angular speed of the laser light, the reference angle being the rotation angle of the laser light when the laser light reflects on a vertex of the parabolic surface. A laser machining device includes the optical scanning device, and is configured to cause the laser light from the reflector to fall on a workpiece to form a machining line.

Abstract: A control device includes a main actuator configured to drive a plant through a torque transfer device disposed on a driving side, a load side sub-actuator configured to drive the plant that is disposed on a plant side, and a processor configured to: generate a torque reference input value driving the main actuator and the load side sub-actuator, and cancel out resonance by multiplying the generated torque reference input value by: a first gain including an inertia coefficient, a viscosity coefficient, and a reduction ratio of the torque transfer device on the driving side and on the plant side, and a second gain including: the inertia coefficient, the viscosity coefficient, and the reduction ratio of the torque transfer device on the driving side and on the plant side, and thereby adjusting a ratio of the torque reference input value of the main actuator and the load side sub-actuator.

Abstract: A suitable waypoint is selected using a goal score, a section from a start point to a goal point through the waypoint is divided into a plurality of sections based on the waypoint with a solution of inverse kinematics, and trees are simultaneously expanded in the sections using a Best First Search & Rapidly Random Tree (BF-RRT) algorithm so as to generate a path. By this configuration, a probability of local minima occurring is decreased compared with the case where the waypoint is randomly selected. In addition, since the trees are simultaneously expanded in the sections each having the waypoint with a solution of inverse kinematics, the solution may be rapidly obtained. A time consumed to search for an optimal motion path may be shortened and path plan performance may be improved.

Abstract: Described are techniques for storing and retrieving items using a robotic manipulator. Images depicting a human interacting with an item, sensor data from sensors instrumenting the human or item, data regarding physical characteristics of the item, and constraint data relating to the robotic manipulator may be used to generate one or more configurations for the robotic manipulator. Points of contact and force vectors of the configurations may correspond to the points of contact and force vectors determined from the images and sensor data.

Abstract: A control system for mirror in a vehicle as well as a method for controlling the side mirrors of a vehicle are disclosed. The control system may include a processor module and a memory module as well as a control console. The control console may include a mirror toggle switch, a mirror control switch, and two sets of memory recall switches. The first set of memory recall switches may be associated with set side mirror positions in a first operation state of the vehicle, which could for instance occur when the vehicle is operating in a drive gear. The second set of memory recall switches may be associated with set side mirror positions in a second operation state of the vehicle, which could for instance occur when the vehicle is operating in a reverse gear.

Abstract: Described is a system for controlling motion and constraint forces in a robotic system, the system infers constraints, at each time step, from a sensed state of robot/environment interactions. The inferred constraints are appended to known internal robot constraints to generate constrained dynamics. Properties associated with the constrained dynamics are determined provided to a controller. Inequality conditions associated with maintaining desired robot/environment interactions are also determined. A set of equality conditions based on the inequality conditions are then specified. The set of equality conditions are aggregated with any internal robot constraints to generate aggregated conditions that are provided to the controller. Joint torque commands are then generated for the robot based on the aggregated conditions and a specified task and null space motion command. Finally, the robot is actuated based on the joint torque commands.

Abstract: A system and method for adjusting the position and orientation of a feed arm associated with a wafer handling robot. In one embodiment, the system includes a positioning plate detachably carried by the feed arm and insertable therewith into a wafer carrier. The positioning plate includes graphic alignment indicia. An alignment apparatus is provided configured for insertion into wafer-holding slots in the wafer carrier. The apparatus includes at least one digital image sensor. With the positioning plate and alignment apparatus located in the wafer carrier, an image of the alignment indicia is displayed on a video monitor by the image sensor for comparison to a reference mark superimposed on the monitor for determining the relative position and orientation of the feed arm with respect to the wafer carrier. Some embodiments of the apparatus further include a distance detection device to measure the distance to the plate.

Abstract: Methods and systems for the touch auto-calibration for robot placement of substrate in process modules are provided. Touch auto-calibration allows for the automatic calibration of robot end effector positioning with respect to an aligning base in a process module. Touch auto-calibration also allows for calibration of process modules at temperatures and pressures similar to the temperatures and pressures experienced during production. The end effector has one or more aligning surfaces configured to align it with the aligning base upon contact with the aligning base. After contact, the position of the end effector and the calibrated position of the end effector during a pick or place move can then be determined. In some implementations, the positioning of the end effector as it transfers a substrate during production is based on a placement coordinate with the placement correction applied.

Abstract: An alignment tool assembly (200) is provided. The alignment tool assembly (200) includes a base (201) and a mounting plate (202) coupled to the base (201). The alignment tool assembly (200) further includes one or more alignment blocks (204, 205, 205?) movable with respect to the mounting plate (202). One or more gauge apertures (250) are formed in the mounting plate (202) proximate an alignment block (204, 205, 205?) of the one or more alignment blocks (204, 205, 205?) sized and positioned to receive a portion of an alignment gauge (300).

Abstract: A robot control device includes: an internal force estimating unit; a storage unit in which, in each small region of a rotational operation region of a plurality of joints of a robot arm, an internal force estimated by the internal force estimating unit is subtracted from an output of the force sensor in a state in which the robot arm is not in contact with an external environment, thereby storing a force correction amount; a force correction amount determining unit in which a force correction amount corresponding to each of the current angles of the plurality of joints of the robot arm is determined; and a contact force calculating unit in which a contact force when the robot arm is in contact with an external environment is calculated by subtracting an internal force and the force correction amount from a current output of the force sensor.

Abstract: A multi-driver control method and an apparatus thereof are disclosed in the present invention. The multi-axis control method comprises the following steps: providing a set of control curves, each curve of the set of control curves controls a driver respectively; dividing the curves by a set time period; sending the divided curves in the same time period to the corresponding drivers in one time period, and sending a unified beat signal to all the drivers in order to synchronize execution time of all the drivers; fitting and restoring a programmed motion curve of each driver according to all received divided control curves; taking points at each driver's own programmed motion curve, which is restored locally, of each driver to control the rotation of each driver's own motor.

Abstract: A rotating mechanism which returning a rotating body to an original position. The first detecting mechanism for detecting that the rotating body is in the original position is provided with a first section-to-be-detected affixed to the rotating body and the first detecting section affixed to a supporting body. A second detecting mechanism is provided with a swing member attached to the supporting body, an engaging member that lets the swing member swing, a second section-to-be-detected affixed to the swing member, and a second detecting section affixed to the supporting body. The first detecting section detects the first section-to-be-detected at one or two positions, and the second detecting section switches between ON and OFF at one position. The rotating body is first rotated to the position at which the second detecting section switches between ON and OFF, in order to return the rotating body to its original position.

Abstract: A medical insertion device which may be used with or installed within an imaging system, such as magnetic resonance imaging (MRI). The medical insertion device can generally be used to retain, position and effect insertion of a medical instrument, for example a biopsy device or an ablation treatment device. The device can generally provide linear and/or angular degrees of freedom for positioning of the medical instrument prior to an insertion of the medical instrument. The medical insertion device includes a mounting arm, an interface connected to the mounting arm for interfacing with a medical instrument, a mechanism for movement of the medical instrument or a part of the medical instrument in an insertion direction, a carriage connected to a distal end of the mounting arm, and a pivot connection between the carriage and the distal end of the mounting arm to permit pitch or yaw of the mounting arm.

Abstract: The invention pertains to a method of calibrating robots without the use of external measurement equipment. The invention furthermore pertains to a method of copying working programs between un-calibrated robots. Both methods utilize the properties of a closed chain and the relative position of the links in the chain in order to update the kinematic models of the robots.

Abstract: A system and method for determining the load present in a material handling system is disclosed. A commissioning routine executing on a motor drive controls operation of a hoisting motor with a known load present. The commissioning routine stores values of current provided to the motor or torque generated by the motor at various operating speeds in memory on the motor drive. During subsequent runs of the motor drive, the value of the current/torque is monitored as a function of the speed of the motor and compared to the stored values. The resulting value of the load may be monitored and action taken if the value of the load exceeds the rated capacity of the material handling system. Optionally, the measured load may be displayed to an operator.

Abstract: A haptic device for human/computer interface includes a user interface tool coupled via cables to first, second, third, and fourth cable control units, each positioned at a vertex of a tetrahedron. Each of the cable control units includes a spool and an encoder configured to provide a signal corresponding to rotation of the respective spool. The cables are wound onto the spool of a respective one of the cable control units. The encoders provide signals corresponding to rotation of the respective spools to track the length of each cable. As the cables wind onto the spools, variations in spool diameter are compensated for. The absolute length of each cable is determined during initialization by retracting each cable In turn to a zero length position. A sensor array coupled to the tool detects rotation around one or more axes.

Abstract: A motion platform system comprising a motion platform which is supported above a base by displacement units. Displacement units comprise a drive unit which drives a crank. A connecting arm is connected between the crank and the motion platform, so that translational and tilting movement of the motion platform is achieved by appropriate operation of the drive units. Each connecting arm has a curved profile which enables a full range of movement of the motion platform to be achieved using connecting arms of relatively short length. The connection between the connecting arm and the crank arm can be brought close to, or within, the crank arm. The height of the motion platform above the base, and bearing loads within the drive units, can thus be reduced.

Abstract: A device and associated system for threading, cutting, and reaming pipe ends are described. The device and system utilizes a brushless DC electric motor. The devices also include on-board electronics and operator interface(s) to provide sophisticated control and information as to the various operations. Also described are methods of operating the devices and several different modes for performing various operations.

Abstract: A surgical system performs a surgical procedure on a patient with manipulators and an endoscope. The surgical system has a display unit for simultaneously displaying a plurality of items of information including an endoscopic image captured by the endoscope, and a wireless image processor for transmitting information to the display unit and processing the plurality of items of information to be displayed by the display unit. The information about the endoscopic image is transmitted from the endoscope to the wireless image processor through a link including at least a portion based on wireless communications.

Abstract: In accordance with various embodiments, a user interface embedded into a robot facilitates robot training via direct and intuitive physical interactions.

Abstract: In an apparatus for controlling an unmanned autonomous operating vehicle having an electric motor supplied with power from a battery for operating an operating machine, and magnetic sensors for detecting intensity of a magnetic field of an area wire and controlled to run about in an operating area defined by the area wire through wheels driven by the prime movers to perform an operation using the operating machine and to return to a charging device installed on the area wire so as to charge the battery, there is provided with a turn-back portion formed by bending the area wire at an appropriate position and again bending the area wire to return in a same direction with a predetermined space so as to divide the operating area into a plurality of parts and vehicle running is controlled to be prohibited from going across the turn-back portion.

Abstract: A robot arm apparatus includes an arm mechanism including a base member and a link pivotally connected to the base member for pivotal motion in a horizontal plane through a rotational shaft. The link holds a regular circular transport object at its distal end. The apparatus also includes an edge detector, provided on the base member, that detects two edges of the regular circular transport object as the link pivotally rotates with respect to the base member, a pivotal angle detector that detects a pivotal angle of the link with respect to the base member, and a center position calculator that calculates a center position of the regular circular transport object with respect to the link. The calculation is based on two pivotal angles detected by the pivotal angle detector when the edge detector detects the two edges of the regular circular transport object.

Abstract: A portable external device for a mechanical circulation support system includes first and second power sources, e.g. batteries and control electronics for redundant uninterrupted operation of an implantable blood pump. The control and power source module may be configured to accommodate a variety of wearable configurations for patient convenience and comfort.

Abstract: In a servo apparatus which comprises a motor, a shaft angle detecting unit and a controlling unit, and performs standard control of an angle position by a torque controlling method, it enables to perform driving control corresponding to a fraction multiple of a predetermined angular unit.

Abstract: There are provided a signal duty detecting apparatus detecting a duty of a pulse width modulation (PWM) signal by counting a signal, among signals present in a preset period of the PWM signal, having a predetermined level or higher and a motor driving apparatus having the same. The signal duty detecting apparatus includes: a level detector detecting levels of an input signal; a counter counting the levels detected by the level detector; and a duty calculator calculating a duty of the input signal based on the levels counted by the counter.

Abstract: A latch mechanism selectively retains a first assembly to a second assembly. The first and second assemblies are configured for sliding engagement along an engagement axis. The latch mechanism includes a latch shaft mounted to the first assembly to rotate about a latch shaft axis, a torsion spring to bias the latch shaft relative to the first assembly, and a transverse latch member coupled with the second assembly. The latch mechanism is configured to automatically latch in response to the first assembly being pushed toward the second assembly. The transverse latch member interacts with the latch shaft to rotate the latch shaft in a first direction in response to movement of the first assembly toward the second assembly. Further motion of the first assembly toward the second assembly results in rotation of the latch shaft opposite to the first direction into a retention configuration that retains the transverse latch member.

Abstract: A synchronous control apparatus capable of switching cam curves with ease and without delay is provided. A cam curve storing unit stores a representation of a first cam curve and a representation of a second cam curve. Before switch-over of the cam curves, a control unit finds a position command value to a driven-side member, after the switch-over of the cam curves, the control unit finds the position command value, and in a switch-over period of the cam curves, the control unit finds the position command value to the driven-side member based on a value obtained by utilizing first data based on the first cam curve or a position of the driven shaft and second data based on the second cam curve to provide a weighted average at each control timing.

Abstract: A servo controller, capable of controlling the motion of a movable body with high accuracy, without depending on the position of the movable body which is moved on a ball screw. The servo controller has a position command generating part which generates a position command value; a velocity command generating part which generates a velocity command value based on the position command value and a position detection value; a torque command generating part which generates a torque command value based on the velocity command value and a velocity detection value; and a position compensation calculating part which calculates an amount of expansion/contraction of the ball screw based on a distance from the servomotor to a nut threadably engaged with the ball screw and the torque command value, and calculates a position compensation based on the amount of expansion/contraction.

Abstract: Systems and methods for controlling motors are provided. In this regard, a representative system, among others, includes memory, a motor controller, and a motor. The memory is configured to store sequence information and the motor controller is configured to: receive instructions from a processing device of the system, receive the stored sequence information based on the received instructions, generate at least one drive signal based on the received sequence information, and transmit the at least one drive signal. The motor is configured to be operated based on the transmitted drive signal.

Abstract: A system including a mobile telepresence robot, a telepresence computing device in wireless communication with the robot, and a host computing device in wireless communication with the robot and the telepresence computing device. The host computing device relays User Datagram Protocol traffic between the robot and the telepresence computing device through a firewall.

Abstract: Systems and methods are described for providing selective biasing of a platform in context of one or more modules. While moving in the Z-direction with respect to the modules, the platform travels in an unbiased manner. For example, one or more alignment features on the platform are engaged with one or more alignment features on the modules to allow the platform to substantially float within an X-Y region defined by the alignment features. When the platform reaches its desired Z-location, magnetic features bias the platform into a substantially locked and repeatable X-Y position (e.g., using permanent magnets and/or electromagnets). In some embodiments, the platform is locked into an accurate position to allow a robotic mechanism of a storage library to move around efficiently within the modules while still being able to perform operations that involve accurate positioning (e.g., pick and place operations on media cartridges).