**4. Project description**

The equipment to be intervened is a robotic industrial welding arm of reference MR-2000 manufactured in 1995 by the MILLER company, and it has six degrees of freedom and weighs approximately 160 kg. Said arm provided its services last century and for different factors such as deterioration of its connections, the lack of maintenance, the obsolescence of its control system based on old processors, and the outdated electronics, were out of service.
