A motion control system comprises a motion unit having a motor connected to an encoder and an amplifier. The preliminary toner image forming unit causes an inactive image forming unit to form a preliminary toner image and causes the preliminary toner image to be transferred onto a transfer body. The robot includes a universal balancing controller with an output feedback control module providing control signals to selectively drive the actuators to balance the robot on a support element which may be configured to provide a dynamic, unstable environment or to provide a static, stable environment. Tool retaining bolts are threaded into threaded holes in one side of the U-shaped slot to tightly engage the hoe blade within the slot.