NURBS (Non-Uniform Rational B-Spline) curve velocity interpolation method based on parameter encryption

The invention discloses an NURBS (Non-Uniform Rational B-Spline) curve velocity interpolation method based on parameter encryption, and belongs to the technical field of robot motion control. The NURBS curve velocity interpolation method comprises the steps of: calculating a node vector in an accumulated chord length parameterization manner, inversely calculating a control vertex through a type value point, positively calculating a parameter track through a control vertex, establishing a relation between a curve track parameter and an arc length parameter through a least square method, and performing track point selection in combination with a parameterization model and a T-shaped velocity interpolation model to realize T-shaped acceleration and deceleration variable motion control. The NURBS curve velocity interpolation method is scientific and reasonable. The parameterization model is used in parameter encryption of the NURBS curve, direct second-order derivation operation on the NURBS spline function is av