中文摘要：

提出基于旋转进给速度的数控插补原理和方法．基于五轴数控加工的运动的分析，提出了旋转插补及相关的概念，讨论了线性进给速度与旋转进给速度之间的关系，针对参数曲线，建立了沿曲线的角弧长导数与旋转进给速度之间的关系，基于泰勒级数展开构建了参数曲线的旋转插补方法及算法．

英文摘要：

In response to new challenges and difficulties in multi-axis CNC machining, the angular interpolation for parametric curves is proposed and the general principle is outlined. The angular interpolation generates the reference commands along the given position curve and orientation curve based on specified angular feedrate. Given the linear and angular feedrate, the position and orientation parameters are interpolated by second-order Taylor expansion. By taking the correspondence of the linear feedrate with the angular feedrate into account, the position parameters are generated. The angular interpolation is carried out based on the parametric interpolation.