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A PC-based, CAD-driven, 5-axis rapid prototyping (RP) robotic system that uses subtractive technology is presented. ModelAngelo, as it is called, consists of six integrated hardware and software subsystems. The system utilizes a virtual 3D CAD model to produce a set of commands used to control a 5-axis robotic setup to move the cutting tool, the tip of which is a heated wire, into a workpiece block...