In order to improve the motion smoothness while maintaining the machining efficiency of the non-uniform rational B-spline (NURBS) interpolation, a novel jerk-continuous acceleration/deceleration (ACC/DEC) algorithm and the corresponding feedrate scheduling method are proposed in this paper. The polynomial and trigonometric functions are combined to construct the jerk-continuous ACC/DEC profile. Meanwhile, to reduce the computational load of feedrate scheduling, a proportional control method is proposed to determin…