Time-optimal trajectory generation for 5-axis on-the-fly laser drilling

This paper presents a new and time-optimal trajectory generation technique for 5-axis on-the-fly laser drilling. Trajectories for individual hole clusters are optimized by minimizing the integral square of the 4th time derivative, and by adjusting the velocity and acceleration conditions at the hole locations to enable the maximum time compression (i.e., highest laser pulsing frequency). Axis velocity, acceleration, jerk, and hole elongation constraints are also considered. Individually optimized clusters are stitched together using time-optimal segments with nonzero velocity boundary conditions. The practicality and effectiveness of the algorithm is demonstrated in implementation results for producing a gas turbine combustion chamber component.