A method of detecting head touchdown in a storage device includes monitoring storage device head contact sensor signals, and processing the monitored storage device head contact sensor signals in a digital domain. Desirably, the tow hook is inserted and rotated to a locking position for retention in place during towing of a vehicle without requiring fasteners or any retaining pins to retain the tow hook in place. The motion profiles are converted into joint motion profiles for each of the joint actuators of the robotic manipulator for implementing the movement of the end-effector to predetermined location with the specified orientation.