Because it is difficult to take into account the machining flexibility and machining efficiency at the same time in improving the S-type acceleration and deceleration for the traditional NURBS curve interpolation

a speed planning algorithm that combines multiple S-type accelerations and decelerations is proposed. Two S-type acceleration and deceleration models which have been separately improved for machining flexibility and efficiency are selected. A novel and improved S-type acceleration and deceleration model with both flexibility and efficiency considered is designed. According to the simplified four acceleration and deceleration forms

the speed planning algorithm flexibly combines the three models

and the speed smoothing method that merges curve segments is adopted to reduce the velocity fluctuation between the curve segments. The simulation results show that the speed planning algorithm can improve the machining efficiency and satisfy the continuity of jerk

finally achieving both machining flexibility and machining efficiency.