A method and apparatus for controlling motion through consecutive linear spans
that define a corner in a desired motion path, such as a motion path in a machine
tool system for example, is disclosed. In one embodiment, a plurality of data points
that define a desired motion path is provided, and the plurality of data points
define a plurality of consecutive spans. It is determined whether two consecutive
linear spans define a corner having an angle within a predetermined range, and
if so, a non-linear path is determined which connects to the two consecutive linear
spans with continuity in curvature. An actuator is then controlled according to
the non-linear path.
