Method of performing additive lookahead for adaptive cutting feedrate control

A method of computing velocity limitations of motion segments having corresponding motion commands used by a motion controller for movement of a body along a trajectory, the motion segments including a first point having a first velocity and a target point having a target velocity, including the step of

• using a computing device to determine a virtual point beyond the target point having an end velocity, the virtual point being determined such that the trajectory includes the first point with the first velocity, the target point with the target velocity, and the virtual point with the end velocity, wherein the target velocity is greater than the end velocity and the first velocity is greater than the target velocity.

A method of computing velocity limitations for movement of a body along a contour having a plurality of segments, including the steps of

• sequentially storing in a queue a stop distance and a length associated with each segment, the stop distance being a distance between a target point and a virtual point beyond the target point;
• and
• if a current stop distance associated with a current segment is greater than a sum of a subsequent stop distance and a subsequent length associated with a subsequent segment, then using a computing device to set the current stop distance equal to the sum and to verify that a prior stop distance associated with a prior segment is less than or equal to the current stop distance plus a current length associated with the current segment.