Optimization of 3D laser cutting head orientation based on the minimum energy consumption

This paper presents a methodology and algorithm of optimizing and smoothing the laser head orientation control for 3D laser cutting. The frequent changes of laser head orientation in 3D laser cutting have a great impact on the cutting efficiency, operating safety and stability. Firstly, a kinematic model of 3D laser cutting machine is presented to obtain optional values of 5-axis motion coordinates at each cutter point when geometric information of cutter points on the cutting path is transformed to the motion coordinates of 5-axis. Considering the mass and inertia of two rotational axes as well as the friction between the moving parts, an energy consumption model of the 3D laser cutting between adjacent cutter points is established. With the objective of minimizing total energy consumption of B- and C-axis motion on the whole cutting path, the optimal cutting path can be found though the Dijkstra shortest path algorithm. The excessively big momentary swing of B and C rotation axes can therefore be avoided and the smoothness of the laser cutting is improved.