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.

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...