An automated manufacturing system includes two simultaneous and independently operating toolheads accessing any location within the same work volume, with the exception of locations in proximity to each other. The system includes a bed platform connected with X and Y linear axes. A θ rotational axis rotates the bed and its linear axes as a unit. A first toolhead has a fixed position relative to the θ axis, and a second toolhead is coupled with a linear R axis parallel to the bed. The bed X and Y axes move the bed relative to the first toolhead, enabling the first toolhead to reach any portion of the bed. The R linear axis and θ rotational axis allow the second toolhead to move almost anywhere in a circular area that is always centered near the first toolhead. The system's kinematics ensure that it is impossible for the toolheads to collide.

An automated manufacturing system includes two simultaneous and independently operating toolheads accessing any location within the same work volume, with the exception of locations in proximity to each other. The system includes a bed platform connected with X and Y linear axes. A rotational axis rotates the bed and its linear axes as a unit. A first toolhead has a fixed position relative to the axis, and a second toolhead is coupled with a linear R axis parallel to the bed. The bed X and Y axes move the bed relative to the first toolhead, enabling the first toolhead to reach any portion of the bed. The R linear axis and rotational axis allow the second toolhead to move almost anywhere in a circular area that is always centered near the first toolhead. The system's kinematics ensure that it is impossible for the toolheads to collide.

The gap control axis following speed calculating unit of a numerical controller controlling a laser processing machine calculates a gap control axis following speed based on a displacement amount obtained from a separation distance and a reference distance between a nozzle tip and a workpiece, and a gap control gain. A first determining unit determines that the nozzle tip has entered an approach side when the separation distance becomes smaller than the reference distance. A first changing unit changes the gap control gain continuously in accordance with the displacement amount.

An automated manufacturing system includes two simultaneous and independently operating toolheads accessing any location within the same work volume, with the exception of locations in proximity to each other. The system includes a bed platform connected with X and Y linear axes. A rotational axis rotates the bed and its linear axes as a unit. A first toolhead has a fixed position relative to the axis, and a second toolhead is coupled with a linear R axis parallel to the bed. The bed X and Y axes move the bed relative to the first toolhead, enabling the first toolhead to reach any portion of the bed. The R linear axis and rotational axis allow the second toolhead to move almost anywhere in a circular area that is always centered near the first toolhead. The system's kinematics ensure that it is impossible for the toolheads to collide.