| abstract |
(57) An object of the present invention is to provide a method for moving a carriage assembly from an initial position to a target position with respect to a storage medium rotating at a peripheral speed. A first radial distance between the initial position and the center of the storage device is determined, a second radial distance between the target position and the center of the storage device medium is determined, and a circle between the initial position and the target position is determined. A circumferential distance is determined, and a velocity trajectory corresponding to the first radial distance, the second radial distance, the circumferential distance, and the initial peripheral velocity is calculated, and the carriage assembly is moved from the initial position to the target position with the substantially velocity trajectory. The velocity trajectory is It is calculated substantially simultaneously to reach the target location in a radius and on a circumference. Further, a target peripheral speed is determined, the rotation of the storage medium is changed from the initial peripheral speed to the target peripheral speed, and the speed trajectory is further related to the target peripheral speed. |