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A system includes a rack with rows for storing drill pipe, and a moveable structure having a control support coupled to an upper portion and a lifting device coupled to a lower portion. The moveable structure travels along a guide for positioning adjacent any of the rows. The control support include

A system includes a rack with rows for storing drill pipe, and a moveable structure having a control support coupled to an upper portion and a lifting device coupled to a lower portion. The moveable structure travels along a guide for positioning adjacent any of the rows. The control support includes a pivoting actuator, a rotating actuator, an extension arm having a drill pipe capture actuator, and an extension actuator. The lifting device includes a lifting actuator that raises a stack of drill pipe. The system further includes a controller that interprets a control support state including actuator positions and a position index value, and records a position description including the control support state corresponding to the position index value. The controller interprets a position request signal and provides actuator control signals in response to the position request signal and the position description.

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1. An apparatus, comprising: a rack having a plurality of storage rows suitable for storing drill pipe therein;a moveable structure adjacent a first end of the rack, wherein the moveable structure travels along a guide to be positioned adjacent the first end of any of the storage rows;a control supp

1. An apparatus, comprising: a rack having a plurality of storage rows suitable for storing drill pipe therein;a moveable structure adjacent a first end of the rack, wherein the moveable structure travels along a guide to be positioned adjacent the first end of any of the storage rows;a control support pivotally and rotationally coupled to an upper portion of the moveable structure, the control support comprising an extension arm comprising a drill pipe capture device, and an extension actuator structured to extend the extension arm;a lifting device coupled to a bottom portion of the moveable structure, the lifting device comprising a lifting actuator structured to raise a stack of drill pipe positioned in one of the storage rows;wherein the extension actuator and the lifting actuator comprise hydraulic actuators engaging scissor bars; anda controller, comprising: a position determination module structured to interpret a control support state comprising positions of the control support;a position recording module structured to record a position description comprising a first position of the control support and a second position of the control support;a position request module structured to interpret a position request signal; anda position control module structured to command actuators to return the control support to one of the first position and the second position in response to the position request signal. 2. The apparatus of claim 1, wherein the moveable structure is structured for positioning at a selected row from the storage rows. 3. The apparatus of claim 1, wherein the first position comprises a preliminary position and wherein the second position comprises an on-hole position. 4. The apparatus of claim 1, wherein the rack further comprises a second end moveable such that a distance between the first end and the second end is adjustable. 5. The apparatus of claim 1, further comprising a vertical trim actuator coupled to the moveable structure, wherein the vertical trim actuator engages the control support when the control support is pivoted to a vertical position. 6. A system, comprising: a rack having a plurality of storage rows suitable for storing drill pipe therein;a moveable structure adjacent a first end of the rack, wherein the moveable structure travels along a guide to be positioned adjacent the first end of any of the storage rows;a control support coupled to an upper portion of the moveable structure, the control support comprising a pivoting actuator, a rotating actuator, an extension arm comprising a drill pipe capture actuator, and an extension actuator structured to extend the extension arm;a lifting device coupled to a bottom portion of the moveable structure, the lifting device comprising a lifting actuator structured to raise a stack of drill pipe positioned in one of the storage rows;a controller, comprising: a position determination module structured to interpret a control support state comprising positions of the pivoting actuator, the rotating actuator, and the extension actuator;a position indicator module structured to interpret a position index value;a position recording module structured to record a position description comprising the control support state corresponding to the position index value;a position request module structured to interpret a position request signal; anda position control module structured to provide a plurality of actuator control signals in response to the position request signal and the position description. 7. The system of claim 6, further comprising a plurality of position index values, each position index value corresponding to a specified operational stage of a drilling operation. 8. The system of claim 6, wherein the plurality of position index values comprise at least two index values selected from the list consisting of a preliminary stage position, an on-hole position, an intermediate position, a home position, and a return to rack position. 9. The system of claim 6, further comprising a user interface structured to receive a user input and to provide at least one of the position index value and the position request signal in response to the user input. 10. The system of claim 6, wherein the position description further comprises a trajectory of actuator positions through at least one of space and time. 11. The system of claim 10, wherein the position recording module records the position description in response to a teach and learn operation. 12. The system of claim 6, further comprising a pipe ordering module structured to interpret a pipe ordering description, and wherein the position control module is further configured to provide a row positioning actuator control signal in response to the pipe ordering description. 13. The system of claim 12, wherein the position request module is further structured to adjust the position description in response to the row positioning actuator control signal. 14. The system of claim 12, wherein the position control module is further structured to adjust the actuator control signals in response to the row positioning actuator control signal.