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Corners among linear segments are normally smoothed in order to improve the CNC machining efficiency. The interpolation of the corner smoothing trajectories is important to guarantee high geometric accuracy and good dynamics performance. This paper proposes a two-stage interpolation algorithm for corner smoothing trajectories, which includes the off-line pre-processing stage and the on-line interpolation stage. The off-line pre-processing stage calculates the path lengths, and approximates thedoi:10.1016/j.procir.2016.10.022 fatcat:oossrmlhk5bmtp22ofmp2by5l4