[en] This thesis presents a method to develop a system that allows the full automation of the core laser manufacturing steps. This system includes a exible CAD/CAM software developed using a FOSS approach and support hardware, based in OSHW whenever is possible, that allow to control a wide range of laser processes. The system is designed to be less prone to operator errors, monitor and save the relevant sensor data obtained from different optical sensors, improve the quality of the final results using a control system and short long lead times related to time consuming tasks that not add value. Different algorithms that allow to follow a 3D path across user-selected geometry at constant velocity with high precision are discussed. A method to modify the support hardware elements to be exible enough to work alone like active nodes of an ethernet network regardless of the kind of laser process is proposed and tested. An optical method is used to obtain geometrical data of the surface that is processed and turned into an easy editable 3D model through inverse engineering. A method to use both raw geometrical data and a preprocessed or edited 3D model to simplify the generation of the user desired paths and modify the above-mentioned surface is described. These paths are calculated using different patterns and laser tool orientations to fulfill the particular requirements of different tasks. Overall methods are validated mainly by mean of different laser cladding tests carried out with an industrial 6DoF robot. In part of these tests the laser power is controlled by the PID controller using a photodiode sensor signal like control input. Support hardware systems needed for the cladding process are monitorized and controlled by the CAD/CAM software during the tests. DMD building tests are carried out to evaluate the combination of the different parts of the system working together.

[gl] Esta tese presenta un conxunto de metodos que permiten o desenvolvemento dun sistema para acadar a automatizacion das etapas basicas dun proceso de fabricacion laser. O sistema inclue software CAD/CAM, desenvolvido empregando un enfoque baseado no FOSS, e hardware auxiliar, baseado en OSHW na medida do posible, que permite controlar un grande numero de procesos laser. O sistema esta dese~nado para reducir os erros do usuario, monitorizar e almacenar os datos relevantes obtidos a partir de distintos sensores opticos, mellorar a calidade da peza resultante empregando un sistema de control e recortar tempos mediante a reduccion de tareas repetitivas manuais que non aportan valor. Analizaronse distintos algoritmos que fan posible recorrer un trazado descrito polo usuario sobor dunha xeometria determinada a velocidade constante con elevada precision. Propuxose e probouse un metodo para facer cambios nos elementos hardware auxiliares co fin de convertelos en nodos activos dunha rede ethernet que poidan funcionar de modo independente e sen restriccions en relacion á tipologia do proceso. Propuxose un metodo optico para obter datos xeometricos da superficie que estea sendo procesada e convertelos mediante enxe~neria inversa nun modelo 3D sinxelo de editar. Describiuse un metodo para empregar os datos xeometricos orixinais e o modelo 3D para facilitar la xeracion de trazados a levar a cabo. Os trazados calcularanse empregando diversos patrons e orientacions da ferramenta que permitan cumprir os requisitos do procesado. Os metodos previamente descritos validaronse mediante experimentos realizados empregando a tecnica de laser cladding e un robot industrial de 6 graos de liberdade. Parte dos experimentos levaronse acabo empregando un controlador PID retroalimentado mediante sinais procedentes dun fotodiodo. Os sistemas hardware auxiliares foron monitorizados e controlados mediante o software CAD/CAM mentras se levaban a cabo os experimentos. Levaronse a cabo experimentos de fabricacion mediante DMD para validar o funcionamento global do sistema.