Parallel robots have proven to be the best alternative for dynamic high performance applications in which we need to manipulate powerful changes, apply controlled forces efficiently or move objects at high speed. For this, we require a correct mechanical design as well as an adequate controller that can be executed on real-time. Thus, the aim of the project is to develop specific control techniques for parallel robots in high dynamic performance applications.

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.

The main aim of this project is to obtain empirical modelling of wire electrical discharge machining (WEDM) by implementing a series of experimental tests for different cutting regimes and for different workpiece thicknesses. For this, we define an acquisition and dignosis system performed on an industrial WEDM. The aim of such a system is  to analyse a wide range of tests in order to detect a set of key variables that allow us to foresee the wire breakage and instability of the process.