Feedrate interpolation with axis jerk constraints on 5-axis NURBS and G1 tool path

Time-Optimal Control of Robotic Manipulators Along Specified Paths

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Minimum-time control of robotic manipulators with geometric path constraints

Kang G. Shin, Neil David McKay · IEEE Transactions on Automatic Control · 1985 · 993 citations

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High speed CNC system design. Part I: jerk limited trajectory generation and quintic spline interpolation

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Feed optimization for five-axis CNC machine tools with drive constraints

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Development of a dynamics-based NURBS interpolator with real-time look-ahead algorithm

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