Paper describes the robot equipped with turning tools holder mounted to robots head. Was used head rotation to the tool changing. Robot collaborated with lathe which positioned in plane of robot’s arm moving. Coordinates x and z of robot are used to control of turning. Controlled by PC machining of the workpiece was made with G-code using. Presented system was used to wood turning.
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Tadeusz Mikołajczyk (2012) studied this question.
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