Geometric error control in the parabola-blending linear interpolator

This paper considers geometric error control in the parabola-blending linear interpolation method (Zhang, et al., 2011). Classical model of chord error by approximation with contact circle on the parabolas leads to incorrect result. By computing the geometric error directly without accumulating the approximation error and chord error, the authors realize correct geometric error control by establishing inequality constraints on the accelerations of the motion.