The aim of this work is to analyse drilling process behaviour to evaluate the possibilities of designing a control system that allows us to increase productivity and to efficiently manage tools with a power supervision loop. In order to carry out this analysis we first propose a testing methodology to extract maximum knowledge about the process. This trial methodology involves trials in both a stable regime and degraded regimes caused by the wear or breakage of the tool. Second, it is necessary to define and...

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...