“The Five-Axis Robotic Motion Controller aims to bring physical input and output closer together through the design purpose-built tools for fabrication, which hopefully leads to many new creative opportunities for designers. Working from observations about the way architects design, this project explores the development of a novel 3D drawing tool or customized 5-axis digitizing arm that takes real-time input and translates movement patterns directly into machine code for robotic fabrication. An improved workflow for robotic simulation was also developed as part of this project; using design tools that are already familiar to architects and designers, such as Rhino and Grasshopper. The existing design-to-fabrication workflow for industrial robots (left) has traditionally been a slow and cumber-some process, especially for designers. Machine tooling, kinematic simulations, and robotic movement programming often require intimate knowledge of scripting and manufacturing processes, all of which limit the utilization of such tools by the ‘typical’ architect/designer. “