We describe and analyze a new algorithm for rounding standard G-code tool paths. The joints of circular/linear elements are replaced by small segments of Pythagorean hodograph (PH) curves so that the final curve is globally continuous. The PH segments are produced via a second order Hermite interpolation. We discuss some implementation details and investigate the error introduced by replacing a part of G-code by a PH curve segment. We also report results of tests within an industrial environment that demonstrate an increase in path velocity while decreasing peak acceleration.
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