Patent ID: 7647983

Claim:
A linkage positioning system, comprising: a lock pin; a linkage member having a plurality of holes configured to receive the lock pin; an actuator configured to selectively extend and retract the lock pin; and a control module in communication with the actuator, the control module including a memory having at least one map stored in the memory, the at least one map including information relating to a position of one or more elements of the positioning system, the control module being configured to: receive a request for lock pin engagement with the linkage member; and based in part on the at least one map, control the actuator to: retract the lock pin from a first of the plurality of holes in the linkage member; move the linkage member to align a second of the plurality of holes with the lock pin; and extend the lock pin into the second of the plurality of holes; wherein the control module is further configured to implement a backup positioning procedure in the event of failure to achieve the operator requested lock pin engagement, the backup positioning procedure including extending the lock pin into the one of the plurality of holes that is nearest the one of the plurality of holes associated with the operator requested lock pin engagement.