Abstract: An autoadaptive working center for programmable automation comprises at least a pair of independently programmable autoadaptive devices adapted to recognize a set of different situations of the working process for addressing a corresponding subroutine of the program. Each device comprises at least a force transducer adapted to sense a wall of the workpiece under the control of a wall search instruction. The working center is also adapted to correlate the movement of the two devices under the control of correlation instructions and anti-collision setting instructions defining the dimensions of the two devices.

Abstract: An autoadaptive working center for programmable automation comprises sensing means adapted to recognize a set of different situations of the working process, and program means for storing a program constituted by a set of subroutines corresponding to the said situations. The said sensing means are adapted to address, in response to the recognition of a given situation of the working process, the corresponding subroutine of the program. The working center comprises at least a pair of autoadaptive operating devices programmable separately and controllable by separate control units, under coordination made by a central unit as a function of the duration of the respective operations, the working positions of the various tools and the overall dimensions of the said heads. Each operating head is movable along at least two coordinates by numerical control units, each unit commanding a corresponding stepping motor.