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Abstract This paper presents the work that has gone into optimizing drilling performances on a laboratory-scale drilling rig, capable of drilling through rock samples in possible shortest time with preventing damages to devices for the sake of drilling costs and safety. The rig is fully functional, and we conducted successful experiments in both manual and autonomous modes. In this study, we focus on testings on drilling optimizations, failures, advancements of understanding of operational limits, and implementations of these boundaries to create a well-designed and controlled drilling rig. Case studies show that good results have been achieved in terms of optimizing drilling parameters and receiving the possible highest drilling speed when drilling different formations.