DVD burner-drive error reported

Everytime I burn something, it burns halfway and a message appears stating that: the drive reported an error, sense key=hardware error, sense=0X09, 0X01, tracking servo failure
Do I need to take it in to a Mac store? I purchased the AppleCare...HELP!
PowerBook G4   Mac OS X (10.3.9)  

I HAVE HAD THE EXACT PROBLEM BURNING DVD'S, on and off for over a year now. It doesn't appear to be a "media" issue because it won't burn in ANY application regardless if it is a DV Stream, MPEG4, Quicktime, etc. I have tried it in TOAST 7, iDVD and I get this message:
THE DRIVE REPORTED AN ERROR SENSE KEY=MEDIUM ERROR SENSE CODE= 0x73,0x03
In all cases the application will "process" and encode the media, then when it gets to the recording part on the DVD, it consistently spits out the DVD and displays the message above.
NOT SURE what I can do. Have worked 10 years as an editor from AVID to Final Cut and this error seems to be inherent in the hardware. Maybe Apple can investigate this and provide us with an alternate writer for the G4.
I'm using Read/Write MATSHITA DVD-R UJ-815: Any thoughts, anyone?
POWERBOOK G4 17"   Mac OS X (10.3.9)  

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