Disclosed is an optical disk handling system, called an autochanger, having two control systems to provide the six motions necessary to move optical disk cartridges from storage holding cells to an optical drive. The system uses shaft encoders on the motors of the two control systems, and current or...http://www.google.fr/patents/US5040159?utm_source=gb-gplus-shareBrevet US5040159 - Mechanical sense of touch in a control system
