Method and system for automated software control of waterjet orientation parameters

• US 6,766,216 B2
• Filed: 08/27/2001
• Issued: 07/20/2004
• Est. Priority Date: 08/27/2001
• Status: Expired due to Term

• Current Assignee: Flow International Corporation (Shape Technologies Group Incorporated)
• Original Assignee: Flow International Corporation (Shape Technologies Group Incorporated)
• Inventors: Erichsen, Glenn A., Sahney, Mira K., Zhou, Jiannan, Knaupp, Michael
• Primary Examiner(s): Picard, Leo
• Assistant Examiner(s): KOSOWSKI, ALEXANDER J
• Application Number:
  US09/940,687
• Publication Number:
  US 20030065424A1
• Time in Patent Office: 1,058 Days
• Field of Search: 700/182, 700/34, 700/159, 700/160, 700/180, 700/281, 700/186, 700/188, 83/72, 831/77
• US Class Current: 700/160
• CPC Class Codes: B24C 1/045 for cutting energy dissipating devices therefor B26F3/008
• CPC Class Codes: B26D 5/00 Arrangements for operating and controlling machines or devices for cutting, cutting-out, stamping-out, punching, perforating, or severing by means other than cutting
• CPC Class Codes: B26F 3/004 by means of a fluid jet methods for use of abrasive blasting for cutting B24C1/045; guns for abrasive fluid jets B24C5/02; perforating by non-mechanical means, e.g. by fluid jet B26F1/26
• CPC Class Codes: G05B 19/4099 Surface or curve machining, making 3D objects, e.g. desktop manufacturing
• CPC Class Codes: G05B 2219/45036 Waterjet cutting
• CPC Class Codes: G05B 2219/49012 Remove material by laser beam, air, water jet to form 3-D object
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
• CPC Class Codes: Y10T 83/141 With means to monitor and control operation [e.g., self-regulating means]
• CPC Class Codes: Y10T 83/364 By fluid blast and/or suction

Abstract

Methods and systems for automating the control of fluid jet orientation parameters are provided. Example embodiments provide a Dynamic Waterjet Control System (a “DWCS”) to dynamically control the orientation of the jet relative to the material being cut as a function of speed and other process parameters. Orientation parameters include, for example, the x-y position of the jet along the cutting path, as well as three dimensional orientation parameters of the jet, such as standoff compensation values and taper and lead angles of the cutting head. In one embodiment, the DWCS uses a set of predictive models to determine these orientation parameters. The DWCS preferably comprises a motion program generator/kernel, a user interface, one or more replaceable orientation and process models, and a communications interface to a fluid jet apparatus controller. Optionally the DWCS also includes a CAD module for designing the target piece. In operation, the motion program generator receives input from the CAD design module and the user interface to build a motion program that can be forwarded to and executed by the controller to control the cutting process. The replaceable models provide the motion program generator with access to sets of mathematical models that are used to determine appropriate jet orientation and process parameters. For example, in some environments, these equations are used to generate the x-position, y-position, standoff compensation value, lead angle, and taper angle of each command. The DWCS also provides two way communication between itself and the controller. The controller functions are used, for example, to display the cutting path in progress while the target piece is being cut out of the workpiece. They are also used to obtain current values of the cutting apparatus, such as the current state of attached mechanical and electrical devices.

Claims

1. A method in a computer system for automatically and dynamically controlling orientation of a cutting head of a fluid jet apparatus relative to a material being cut, to produce a target piece having a geometry with a plurality of geometric entities, the fluid jet apparatus having a plurality of process parameters, comprising:

receiving an indication of a speed for each of the plurality of geometric entities of the geometry, wherein at least two geometric entities are associated with different speeds;

automatically and dynamically determining an orientation parameter for each geometric entity in accordance with the indicated speed and the plurality of process parameters; and

automatically controlling the motion of the cutting head in accordance with the automatically determined orientation parameter to cut the material to produce the target piece.

2. The method of claim 1 wherein the at least two entities associated with different speeds are ordered successively such that the two different speeds indicate one of an acceleration and a deceleration.

3. The method of claim 2 wherein the orientation parameters for each of the two successive entities are different.

4. The method of claim 2 wherein the orientation parameters for each of the two successive entities are the same.

5. The method of claim 1 wherein the orientation parameter comprises a taper angle.

6. The method of claim 1 wherein the orientation parameter comprises a lead angle.

7. The method of claim 1 further comprising:

automatically determining a second orientation parameter for each determined speed in accordance with the determined speed and the plurality of process parameters; and

controlling the motion of the cutting head in accordance with both automatically determined orientation parameters.

8. The method of claim 7 wherein the determined first and second orientation parameters comprise a lead angle and a taper angle.

9. The method of claim 1 wherein the automatically controlling the motion of the cutting head further comprises:

generating a motion program that indicates the automatically determined orientation parameter for each geometric entity; and

forwarding the motion program to a controller of the cutting head; and

causing the controller to execute the motion program.

10. The method of claim 9 wherein the motion program is tailored to the cutting head controller.

11. The method of claim 9 wherein the motion program comprises a plurality of command sequences with an x-y location and at least one of a taper angle compensation value and a lead angle compensation value, so that corrections to the target cut are made transparent to an operator of the jet apparatus.

12. The method of claim 9 wherein the motion program comprises a plurality of command sequences that indicate inverse kinematics to control the cutting head according to an x-y location and at least one of a taper angle and a lead angle, in a manner that is transparent to an operator of the jet apparatus.

13. The method of claim 1 wherein a predictive model of a cut based upon changing one of a lead angle and a taper angle is used by the computer system to automatically determine the orientation parameter for each determined speed.

14. The method of claim 13 wherein the predictive model indicates values for at least one of lead angles and taper angles as a function of values of speed.

15. The method of claim 14 wherein the function of speed is further defined as a function of one of the process parameters.

16. The method of claim 15 wherein the process parameter is at least one of abrasive flow rate, nozzle orifice diameter, mixing tube characteristics, fluid pressure, material thickness, and material type.

17. The method of claim 13 wherein the predictive model indicates values for at least one of lead angles and taper angles as a function of values of acceleration.

18. The method of claim 13 wherein the predictive model indicates values for at least one of lead angles and taper angles as a function of values of deceleration.

19. The method of claim 13 wherein the predictive model indicates values for lead angles and taper angles as a function of values of speed.

20. The method of claim 13 wherein the predictive model data is stored in a dynamically modifiable library of code.

21. The method of claim 13 wherein the predictive model is represented as a polynomial equation.

22. The method of claim 13 wherein the predictive model is based upon a lookup table of discrete values.

23. The method of claim 1 wherein the cutting head is controlled by motion around at least 4 axes.

24. The method of claim 23 wherein the axes provide tilt and swivel movement of the cutting head relative to the target piece.

25. The method of claim 1 wherein the cutting head is controlled by motion around at least 5 axes.

26. The method of claim 25 wherein the axes provide tilt and swivel movement of the cutting head relative to the target piece.

27. The method of claim 1 wherein the fluid jet apparatus is an abrasive water jet.

28. The method of claim 1 wherein the fluid jet apparatus is a high pressure fluid jet.

29. The method of claim 1 wherein the forwarding the motion program to the controller of the cutting head further comprises:

communicating the motion program to the controller of the cutting head.

30. A computer-readable memory medium containing instructions that control a computer processor to control orientation of a cutting head of a fluid jet apparatus relative to a material being cut, to produce a target piece having a geometry with a plurality of geometric entities, the fluid jet apparatus having a plurality of process parameters, by:

receiving an indication of speed for each of the plurality of geometric entities of the geometry, wherein at least two geometric entities are associated with different speeds;

automatically and dynamically determining an orientation parameter for each geometric entity in accordance with the indicated speed and the plurality of process parameters; and

automatically controlling the motion of the cutting head in accordance with the automatically determined orientation parameter to cut the material to produce the target piece.

31. The computer-readable memory medium of claim 30 wherein the at least two entities associated with different speeds are ordered successively such that the two different speeds indicate one of an acceleration and a deceleration.

32. The computer-readable memory medium of claim 31 wherein the orientation parameters for each of the two successive entities are different.

33. The computer-readable memory medium of claim 31 wherein the orientation parameters for each of the two successive entities are the same.

34. The computer-readable memory medium of claim 30 wherein the orientation parameter comprises a taper angle.

35. The computer-readable memory medium of claim 30 wherein the orientation parameter comprises a lead angle.

36. The computer-readable memory medium of claim 30, further comprising instructions that control the computer processor by:

automatically determining a second orientation parameter for each determined speed in accordance with the determined speed and the plurality of process parameters; and

controlling the motion of the cutting head in accordance with both automatically determined orientation parameters.

37. The computer-readable memory medium of claim 36 wherein the determined first and second orientation parameters comprise a lead angle and a taper angle.

38. The computer-readable memory medium of claim 30 wherein the automatically controlling the motion of the cutting head further comprises:

generating a motion program that indicates the automatically determined orientation parameter for each geometric entity; and

forwarding the motion program to a controller of the cutting head; and

causing the controller to execute the motion program.

39. The computer-readable memory medium of claim 38 wherein the motion program is tailored to the cutting head controller.

40. The computer-readable memory medium of claim 38 wherein the motion program comprises a plurality of command sequences with an x-y location and at least one of a taper angle compensation value and a lead angle compensation value, so that corrections to the target cut are made transparent to an operator of the jet apparatus.

41. The computer-readable memory medium of claim 38 wherein the motion program comprises a plurality of command sequences that indicate inverse kinematics to control the cutting head according to an x-y location and at least one of a taper angle and a lead angle, in a manner that is transparent to an operator of the jet apparatus.

42. The computer-readable memory medium of claim 30 wherein a predictive model of a cut based upon changing one of a lead angle and a taper angle is used by the computer system to automatically determine the orientation parameter for each determined speed.

43. The computer-readable memory medium of claim 42 wherein the predictive model indicates values for one of lead angles and taper angles as a function of values of speed.

44. The computer-readable memory medium of claim 43 wherein the function of speed is further defined as a function of one of the process parameters.

45. The computer-readable memory medium of claim 44 wherein the process parameter is at least one of abrasive flow rate, nozzle orifice diameter, mixing tube characteristics, fluid pressure, material thickness, and material type.

46. The computer-readable memory medium of claim 42 wherein the predictive model indicates values for at least one of lead angles and taper angles as a function of values of acceleration.

47. The computer-readable memory medium of claim 42 wherein the predictive model indicates values for at least one of lead angles and taper angles as a function of values of deceleration.

48. The computer-readable memory medium of claim 42 wherein the predictive model indicates values for lead angles and taper angles as a function of values of speed.

49. The computer-readable memory medium of claim 42 wherein the predictive model data is stored in a dynamically modifiable library of code.

50. The computer-readable memory medium of claim 42 wherein the predictive model is represented as a polynomial equation.

51. The computer-readable memory medium of claim 42 wherein the predictive model is based upon a lookup table of discrete values.

52. The computer-readable memory medium of claim 30 wherein the cutting head is controlled by motion around at least 4 axes.

53. The computer-readable memory medium of claim 52 wherein the axes provide tilt and swivel movement of the cutting head relative to the target piece.

54. The computer-readable memory medium of claim 30 wherein the cutting head is controlled by motion around at least 5 axes.

55. The computer-readable memory medium of claim 54 wherein the axes provide tilt and swivel movement of the cutting head relative to the target piece.

56. The computer-readable memory medium of claim 30 wherein the fluid jet apparatus is an abrasive water jet.

57. The computer-readable memory medium of claim 30 wherein the fluid jet apparatus is a high pressure fluid jet.

58. The computer-readable memory medium of claim 30 wherein the forwarding the motion program to the controller of the cutting head further comprises:

communicating the motion program to the controller of the cutting head.

59. A dynamic fluid jet control system that controls a fluid jet apparatus to produce from a material a target piece with a geometry having a plurality of geometric segments, the fluid jet apparatus having a cutting head that rotates on a plurality of axes, comprising:

cutting head control interface that communicates a plurality of orientation values to the cutting head of the fluid jet apparatus to orient the cutting head with respect to the plurality of axes to cut the target piece; and

lead and taper modeling component that

automatically and dynamically determines a plurality of orientation values for each of a plurality of segments of the geometry in accordance with a determined cutting head speed associated with that segment, at least two segments having associated speeds that are different; and

forwards the determined plurality of orientation values for each segment to the cutting head control interface to control the orientation of the cutting head.

60. The system of claim 59 wherein the at least two segments associated with different speeds are ordered successively such that the two different speeds indicate one of an acceleration and a deceleration.

61. The system of claim 60 wherein the determined orientation values for each of the two successive entities are different.

62. The system of claim 60 wherein the determined orientation values for each of the two successive entities are the same.

63. The system of claim 59 wherein the cutting head control interface and the lead and taper modeling component are embedded in a computer numeric controller of a fluid jet apparatus.

64. The system of claim 59 wherein the automatically determined plurality of orientation values includes lead angle values.

65. The system of claim 64 wherein the automatically determined plurality of orientation values includes taper angle values.

66. The system of claim 64 wherein the automatically determined plurality of orientation values includes standoff compensation values.

67. The system of claim 59 wherein the automatically determined plurality of orientation values includes taper angle values.

68. The system of claim 67 wherein the automatically determined plurality of orientation values includes standoff compensation values.

69. The system of claim 59 wherein the jet fluid apparatus is a greater than three axis system.

70. The system of claim 59 wherein the lead and taper modeling component comprises a data structure having a function that determines lead angles and taper angles based upon process parameters.

71. The system of claim 70 wherein the function determines lead angles and taper angles based upon values representing at least one of speed, acceleration, and deceleration.

72. The system of claim 59 wherein the lead and taper modeling component comprises a data structure that represents a lookup table of discrete values that can be used to predict lead angles and taper angles based upon process parameters.

73. The system of claim 59 wherein the lead and taper modeling component automatically determines the plurality of orientation values for each of the plurality of segments of the geometry in accordance with a plurality of process parameters.

74. The system of claim 73 wherein the process parameters comprise at least one of abrasive flow rate, nozzle orifice diameter, mixing tube characteristics, fluid pressure, material thickness, and material type.

75. The system of claim 59 wherein the fluid jet apparatus is a water jet apparatus.

76. The system of claim 59 wherein the fluid jet apparatus is a high pressure apparatus.

77. The system of claim 59 wherein the fluid jet apparatus is a low pressure apparatus.

78. A method in a computer system for controlling a jet apparatus to cut along a designated cutting path of a material to produce a target piece having a geometric specification, the jet apparatus having a cutting head and a plurality of modifiable process parameters;

comprising;

retrieving a representation of a predictive data model that models the effects of values of at least one orientation characteristic of the cutting head on a cut produced using those values;

automatically and dynamically determining a plurality of values for the at least one orientation characteristic from the retrieved data model representation in accordance with values of the process parameters; and

using the determined plurality of values for the at least one orientation characteristic to control the jet apparatus to cut along the designated path to produce the target piece.

79. The method of claim 78, the geometric specification comprising a plurality of geometric entities, wherein the automatically determining the plurality of values further comprises, for each entity:

determining a speed that corresponds to a geometric entity; and

using the retrieved representation of the predictive data model to automatically determine a value for the orientation characteristic in accordance with the determined speed.

80. The method of claim 79, wherein the automatically determining of the value for the orientation characteristic in accordance with the determined speed also determines the value in accordance with the process parameter values.

81. The method of claim 79 wherein two of the geometric entities are ordered successively and have different corresponding speeds, thereby indicating one of an acceleration and a deceleration of the jet apparatus.

82. The method of claim 78 wherein the steps are performed by a controller of the jet apparatus.

83. The method of claim 78 wherein the using the determined values to control the jet apparatus further comprises:

generating a motion program to control the jet apparatus, the motion program indicating the determined plurality of values for the orientation characteristic; and

executing the motion program to cause the jet apparatus to cut along the desired path.

84. The method of claim 78 wherein the orientation characteristic is a lead angle of a jet stream of the cutting head relative to the material.

85. The method of claim 78 wherein the orientation characteristic is a taper angle of a jet stream of the cutting head relative to the material.

86. The method of claim 78 wherein the representation of the predictive data model is a programmed function that returns values based upon evaluation of a mathematical equation.

87. The method of claim 86 wherein the mathematical equation is an equation expressed as a function of speed.

88. The method of claim 87, the equation having coefficients, wherein the values of the coefficients are based upon values of the process parameters.

89. The method of claim 87, the equation having coefficients, wherein the values of the coefficients vary with thickness of the material.

90. The method of claim 87 wherein the equation is a polynomial equation.

91. The method of claim 78 wherein the representation of the predictive data model is a look-up table of discrete values and the automatically determining the plurality of values determines values that are derived from the discrete values.

92. A computer-readable memory medium containing instructions that control a computer processor to control a jet apparatus to cut along a designated cutting path of a material to produce a target piece having a geometric specification, the jet apparatus have a cutting head and a plurality of modifiable process parameters, by:

retrieving a representation of a predictive data model that models the effects of values of at least one orientation characteristic of the cutting head on a cut produced using those values;

automatically and dynamically determining a plurality of values for the at least one orientation characteristic from the retrieved data model representation in accordance with values of the process parameters; and

using the determined plurality of values for the at least one orientation characteristic to control the jet apparatus to cut along the designated path to produce the target piece.

93. The computer-readable memory medium of claim 92, the geometric specification comprising a plurality of geometric entities, wherein the automatically determining the plurality of values further comprises, for each entity:

determining a speed that corresponds to a geometric entity; and

using the retrieved representation of the predictive data model to automatically determine a value for the orientation characteristic in accordance with the determined speed.

94. The computer-readable memory medium of claim 93 wherein the automatically determining of the value for the orientation characteristic in accordance with the determined speed also determines the value in accordance with the process parameter values.

95. The computer-readable memory medium of claim 93 wherein two of the geometric entities are ordered successively and have different corresponding speeds, thereby indicating one of an acceleration and a deceleration of the jet apparatus.

96. The computer-readable memory medium of claim 92 wherein the steps are performed by a controller of the jet apparatus.

97. The computer-readable memory medium of claim 92 wherein the using the determined values to control the jet apparatus further comprises:

generating a motion program to control the jet apparatus, the motion program indicating the determined plurality of values for the orientation characteristic; and

executing the motion program to cause the jet apparatus to cut along the desired path.

98. The computer-readable memory medium of claim 92 wherein the orientation characteristic is a lead angle of a jet stream of the cutting head relative to the material.

99. The computer-readable memory medium of claim 92 wherein the orientation characteristic is a taper angle of a jet stream of the cutting head relative to the material.

100. The computer-readable memory medium of claim 92 wherein the representation of the predictive data model is a programmed function that returns values based upon evaluation of a mathematical equation.

101. The computer-readable memory medium of claim 100 wherein the mathematical equation is an equation expressed as a function of speed.

102. The computer-readable memory medium of claim 101, the equation having coefficients, wherein the values of the coefficients are based upon values of the process parameters.

103. The computer-readable memory medium of claim 101, the equation having coefficients, wherein the values of the coefficients vary with thickness of the material.

104. The computer-readable memory medium of claim 101 wherein the equation is a polynomial equation.

105. The computer-readable memory medium of claim 92 wherein the representation of the predictive data model is a look-up table of discrete values and the automatically determining the plurality of values determines values that are derived from the discrete values.

106. A fluid jet apparatus controller for controlling a cutting head of a fluid jet apparatus to cut along a designated cutting path to produce a target piece, comprising:

memory that contains a predictive data model of the effects of values of an orientation characteristic of the cutting head on a cut produced using those values; and

cutting head control portion that

retrieves the predictive data model from the memory;

automatically determines a plurality of values for the orientation characteristic from the retrieved data model in accordance with the designated cutting path; and

uses the determined plurality of values for the orientation characteristic to control the cutting head of the jet apparatus to cut along the designated path to produce the target piece.

107. The controller of claim 106 wherein the designated cutting path comprises segments, and wherein the cutting head control portion automatically determines the plurality of values for the orientation characteristic by:

for each segment,

determining a desired cutting speed that corresponds to the segment; and

using the retrieved data model to automatically determine a value for the orientation characteristic that corresponds to the desired cutting speed.

108. The controller of claim 106 wherein the cutting head control portion uses the determined plurality of values of the orientation characteristic to control the cutting by generating motion instructions that cause the cutting head to cut along the designated path.

109. The controller of claim 106 wherein the orientation characteristic is a lead angle of a jet stream of the cutting head.

110. The controller of claim 106 wherein the orientation characteristic is a taper angle of a jet stream of the cutting head.

111. The controller of claim 106 wherein the predictive data model is a data structure having a program code that returns orientation characteristic values.

112. The controller of claim 111 wherein the program code calculates values based upon an equation that indicates orientation values as a function of speed.

113. The controller of claim 112, the equation having a coefficient, wherein a value of the coefficient is based upon a value of a process parameter.

114. The controller of claim 112 wherein the equation is a polynomial equation.

115. The controller of claim 106 wherein the predictive data model is a data structure that represents a lookup table of discrete values.

116. A fluid jet apparatus control system for controlling a cutting head of a fluid jet apparatus to cut along a designated cutting path to produce a target piece, comprising:

memory that contains a predictive data model of the effects of values of an orientation characteristic of the cutting head on a cut produced using those values; and

cutting head control interface that

retrieves the predictive data model from the memory;

automatically determines a plurality of values for the orientation characteristic from the retrieved data model in accordance with the designated cutting path; and

uses the determined plurality of values for the orientation characteristic to control the cutting head of the jet apparatus to cut along the designated path to produce the target piece.

117. The control system of claim 116 wherein the designated cutting path comprises segments, and wherein the cutting head control interface automatically determines the plurality of values for the orientation characteristic by:

for each segment,

determining a desired cutting speed that corresponds to the segment; and

using the retrieved data model to automatically determine a value for the orientation characteristic that corresponds to the desired cutting speed.

118. The control system of claim 116 wherein the cutting head control interface uses the determined plurality of values of the orientation characteristic to control the cutting by generating motion instructions that cause the cutting head to cut along the designated path.

119. The control system of claim 116 wherein the orientation characteristic is a lead angle of a jet stream of the cutting head.

120. The control system of claim 116 wherein the orientation characteristic is a taper angle of a jet stream of the cutting head.

121. The control system of claim 116 wherein the predictive data model is a data structure having a program code that returns orientation characteristic values.

122. The control system of claim 121 wherein the program code calculates values based upon an equation that indicates orientation values as a function of speed.

123. The control system of claim 122, the equation having a coefficient, wherein a value of the coefficient is based upon a value of a process parameter.

124. The control system of claim 122 wherein the equation is a polynomial equation.

125. The control system of claim 116 wherein the predictive data model is a data structure that represents a lookup table of discrete values.

126. A computer-implemented method for automatically and dynamically controlling three dimensional orientation of a cutting head of a fluid jet apparatus relative to a material being cut, to produce a target piece having a geometry with a plurality of geometric entities, the fluid jet apparatus having a plurality of process parameters, comprising:

receiving an indication of a value of one of the process parameters for each of the plurality of geometric entities of the geometry, wherein at least two geometric entities are associated with different values of the one of the process parameters;

automatically and dynamically determining an orientation parameter for each geometric entity in accordance with the indicated process parameter value, the orientation parameter used to control at least one of tilt and swivel of the cutting head; and

automatically controlling the motion of the cutting head in accordance with the automatically determined orientation parameter to cut the material to produce the target piece.

127. The method of claim 126 wherein the receiving the indication of the value of one of the process parameter for each of the plurality of geometric entities further comprises:

receiving an indication of speed for each of the plurality of geometric entities, wherein at least two geometric entities are associated with different speeds.

128. The method of claim 127 wherein the at least two entities associated with different speeds are ordered successively such that the two different speeds indicate one of an acceleration and a deceleration.

129. The method of claim 128 wherein the automatically and dynamically determining the orientation parameter for each entity in accordance with the speed further comprises:

automatically and dynamically determining the orientation parameter for each entity in accordance with the speed such that speed of cutting the material is maximized.

130. The method of claim 126 wherein the automatically and dynamically determining the orientation parameter for each geometric entity further comprises:

automatically and dynamically determining a taper angle for cutting each geometric entity in accordance with the indicated process parameter value.

131. The method of claim 126 wherein the automatically and dynamically determining the orientation parameter for each geometric entity further comprises:

automatically and dynamically determining a lead angle for cutting each geometric entity in accordance with the indicated process parameter value.

132. The method of claim 126 wherein the automatically and dynamically determining the orientation parameter for each geometric entity further comprises:

automatically and dynamically determining a lead angle and a taper angle for cutting each geometric entity in accordance with the indicated process parameter value.

133. The method of claim 126 wherein the automatically controlling the motion of the cutting head in accordance with the automatically determined orientation parameter to cut the material to produce the target piece further comprises:

generating movement instructions that indicate the automatically determined orientation parameter for each geometric entity; and

causing the movement of the cutting head to be oriented according to the generated movement instructions.

134. The method of claim 133 wherein the automatically determined orientation parameter is at least one of a lead angle and a taper angle.

135. The method of claim 133 wherein the automatically and dynamically determining the orientation parameter for each geometric entity further comprises:

automatically and dynamically determining a lead angle and a taper angle for cutting each geometric entity in accordance with the indicated process parameter value.

136. The method of claim 133 wherein the generated movement instructions comprise a motion program that controls a controller of a cutting head.

137. The method of claim 136 where the controller is part of the apparatus that includes the cutting head.

138. The method of claim 126 wherein the automatically determining the orientation parameter for each geometric entity further comprises:

automatically and dynamically determining an orientation parameter by using a predictive model of a cut based upon changing one of a lead angle and a taper angle.

139. The method of claim 138 wherein the predictive model indicates values for the one of the lead angle and the taper angle as a function of values of speed.

140. The method of claim 138 wherein the predictive model is represented as at least one of a polynomial equation and a lookup data structure of discrete values.

141. The method of claim 126 wherein the cutting head is controlled by motion around at least 4 axes.

142. A computer-readable memory medium that contains instructions for controlling a computer processor to automatically and dynamically control three dimensional orientation of a cutting head of a fluid jet apparatus relative to a material being cut, to produce a target piece having a geometry with a plurality of geometric entities, the fluid jet apparatus having a plurality of process parameters, by:

receiving a value of one of the process parameters for each of the plurality of geometric entities of the geometry, wherein at least two geometric entities are associated with different values of the one of the process parameters;

automatically and dynamically determining an orientation parameter for each geometric entity in accordance with the indicated process parameter value, the orientation parameter used to control at least one of tilt and swivel of the cutting head; and

automatically controlling the motion of the cutting head in accordance with the automatically determined orientation parameter to cut the material to produce the target piece.

143. The memory medium of claim 142 wherein the instructions to receive the indication of the value of one of the process parameter for each of the plurality of geometric entities further control the computer processor by:

receiving an indication of speed for each of the plurality of geometric entities, wherein at least two geometric entities are associated with different speeds.

144. The memory medium of claim 143 wherein the at least two entities associated with different speeds are ordered successively such that the two different speeds indicate one of an acceleration and a deceleration.

145. The memory medium of claim 144 wherein the instructions to automatically and dynamically determine the orientation parameter for each entity in accordance with the speed further control the computer processor by:

automatically and dynamically determining the orientation parameter for each entity in accordance with the speed such that speed of cutting the material is maximized.

146. The memory medium of claim 142 wherein the automatically and dynamically determining the orientation parameter for each geometric entity further comprises:

automatically and dynamically determining a taper angle for each geometric entity in accordance with the indicated process parameter value.

147. The memory medium of claim 142 wherein the automatically and dynamically determining the orientation parameter for each geometric entity further comprises:

automatically and dynamically determining a lead angle for each geometric entity in accordance with the indicated process parameter value.

148. The memory medium of claim 142 wherein the automatically and dynamically determining the orientation parameter for each geometric entity further comprises:

automatically and dynamically determining a lead angle and a taper angle for each geometric entity in accordance with the indicated process parameter value.

149. The memory medium of claim 142 wherein the instructions to automatically control the motion of the cutting head in accordance with the automatically determined orientation parameter to cut the material to produce the target piece further control the computer processor by:

generating movement instructions that indicate the automatically determined orientation parameter for each geometric entity; and

causing the movement of the cutting head to be oriented according to the generated movement instructions.

150. The memory medium of claim 149 wherein the automatically determined orientation parameter is at least one of a lead angle and a taper angle.

151. The memory medium of claim 149 wherein the instructions to automatically and dynamically determine the orientation parameter for each geometric entity further control the computer processor by:

automatically and dynamically determining a lead angle and a taper angle for each geometric entity in accordance with the indicated process parameter value.

152. The memory medium of claim 149 wherein the generated movement instructions comprise a motion program that controls a controller of a cutting head.

153. The memory medium of claim 152 where the controller is part of the apparatus that includes the cutting head.

154. The memory medium of claim 142 wherein the instructions to automatically and dynamically determine the orientation parameter for each geometric entity further control the computer processor by:

automatically and dynamically determining an orientation parameter by using a predictive model of a cut based upon changing one of a lead angle and a taper angle.

155. The memory medium of claim 152 wherein the predictive model indicates values for the one of the lead angle and the taper angle as a function of values of speed.

156. The memory medium of claim 152 wherein the predictive model is represented as at least one of a polynomial equation and a lookup data structure of discrete values.

157. The memory medium of claim 142 wherein the cutting head is controlled by motion around at least 4 axes.

158. A dynamic fluid jet control system that controls a fluid jet apparatus to produce from a material a target piece with a geometry having a plurality of geometric segments, the fluid jet apparatus having a cutting head that rotates on a plurality of axes, comprising:

cutting head control interface that communicates a plurality of orientation values to the cutting head of the fluid jet apparatus to orient the cutting head in three dimensions with respect to the plurality of axes to cut the target piece; and

lead and taper modeling component that is structured to;

automatically and dynamically determines a plurality of orientation values for each of a plurality of segments of the geometry in accordance with a value of a process parameter associated with that segment, at least two segments having an associated value of the process parameter that are different; and

forwards the determined plurality of orientation values for each segment to the cutting head control interface to control the orientation of the cutting head.

159. The system of claim 158 wherein the process parameter for each of the plurality of geometric segments indicates a speed and wherein the at least two geometric segments are associated with different speeds.

160. The system of claim 159 wherein the at least two geometric segments associated with different speeds are ordered successively such that the two different speeds indicate one of an acceleration and a deceleration.

161. The system of claim 160 wherein the lead and taper modeling component is further structured to:

automatically and dynamically determine the orientation values associated with each segment in accordance with the speed such that speed of cutting the material is maximized.

162. The system of claim 158 wherein one of the automatically and dynamically determined orientation values for each geometric segment is a taper angle value for cutting each geometric segment in accordance with the process parameter value.

163. The system of claim 158 wherein one of the automatically and dynamically determined orientation values for each geometric segment is a lead angle value for cutting each geometric segment in accordance with the process parameter value.

164. The system of claim 158 wherein the lead and taper modeling component is further structured to:

automatically and dynamically determine a lead angle and a taper angle for cutting each geometric segment in accordance with the process parameter value.

165. The system of claim 158 wherein the orientation values for each segment are forwarded to the cutting head control interface as movement instructions that cause the movement of the cutting head to be oriented according to the orientation values.

166. The system of claim 165 wherein the automatically determined orientation values include at least one of a lead angle and a taper angle.

167. The system of claim 165 wherein the movement instructions comprise a motion program that controls a controller of a cutting head.

168. The system of claim 167 where the controller is part of the apparatus that includes the cutting head.

169. The system of claim 158 wherein the lead and taper modeling component is further structured to:

automatically and dynamically determine the plurality of orientation values using a predictive model of a cut based upon changing at least one of a lead angle and a taper angle.

170. The system of claim 169 wherein the predictive model indicates values for the at least one of the lead angle and the taper angle as a function of values of speed.

171. The system of claim 169 wherein the predictive model is represented as at least one of a polynomial equation and a lookup data structure of discrete values.

172. The system of claim 158 wherein the cutting head is controlled by motion around at least 4 axes.