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根据时间分割法原理，针对RPM系统中加工轨迹的特殊性，提出自适应轨迹特征的插补算法，给出插补算法的实现流程，插补算法已应用于HRP—Ⅲ系统。
According to the principle of time division method, an interpolation algorithm of adaptive trajectory feature is proposed for the particularity of machining trajectory in RPM system. The implementation process of interpolation algorithm is given. The interpolation algorithm has been applied to HRP-Ⅲ system.