The aim of this project is to develop control strategies specifically for closed chain robots, where, given their complex kinematics and dynamics and the high fitting between the different kinematic chains, the control systems used until now have been decoupled and taken from serial robots. For this, we sensors are incorporated into the passive articulations or not actuated (partially or wholly) so this additional information will be used in the control strategies.

Based on results from previous projects (Empirical modelling of Wire electrical discharge machining to optimise the discharge quality, and Analysis and Diagnosis of discharge quality in wire electrical discharge machining), which show that, although the basic features of the degraded behaviours are the same in both thicknesses analysed, the thresholds met by virtual measures differ. Thus, we propose the definition of one structure that can automatically adapt parameters in a given range of thicknesses, with the aim of...

The main aim of this project is to determine the quality of discharge in wire electrical discharge machining from a database created with a comprehensive set of experiences in both stable and degraded regimes. The project focuses on the study and description of the quality of discharge so that in the future, the control system of the machine is capable of detecting the tendency of the process early and can correct the malfunctioning in advance. Thus, based on previous results (Project “Empirical modelling...