If you have the iso images for Mandrake 10, you can do a hard drive install. I fought with a problem similar to your own, and found installing from the images the only way around it. It seems as though the community MDK10 has trouble with some CD drives.
You will need to make a Linux partition for at least MDK disk one, then make a boot floppy from the CD1 of MDK10. When it asks where you want to install from, point the install to the partition that contains you MDK10 iso.
Honestly, I finally gave up on it after trying it out for a while, and now use Fedora 1 and apt-get. The full scoop on that can be found here:
I know it is kind of a cop out, but MD10 really seems more trouble than it is worth at this point.
I hope this helps some...