Robot History of Donald Paul Martin

Back in the 1970s Martin Research developed furniture manufacturing robots for Thermwood
corporation.  We mostly delt with Ken Susnjara, the president of Thermwood.

Thermwood 3D router being used to create large animal models:

I have always been interested in developing a small router which I called a Cubic Foot Robot.

Here is a modern implementation of a similar device:
Here is his forum:

Someone who worked for Qwint editing manuals on the teleprinters:

Patent on the motor feedback: