With a background in software engineering, [Kris Temmerman] decided to make a physical demonstration of his knowledge in the form of a six axis robotic ... parts with a CNC mill which he picked ...
Figure 2-6: Simulation of a dual rotary mechanism fastened to the table of a standard 3-axis CNC milling machine. Tool length offsets work the same way here as with any conventional 3-axis machine.
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