Abstract: Aiming at the problem of the traditional interpolation methods such as the error and the velocity fluctuation are large, the interpolation principle, the velocity planning and the interpolation parameter calculation of NURBS curve were researched. That the large chord error, large normal acceleration, and large tangential acceleration were all considered. A new NURBS interpolation algorithm based on Hamming method was proposed. The parametric prediction formula based on Hamming method was instructed specifically and the parametric emendation mechanism based on Lagrange was elaborated in detail. Matlab was used to simulate. The results indicate that the proposed method can simplify the calculation of interpolation parameter to meet the real\|time requirement, improve the interpolation precision and restrain the great acceleration and the velocity fluctuation effectively.

Key words: NURBS curve; real\|time interpolation; velocity planning; Hamming method; prediction emendation