Cool!  It will take me awhile to read and digest this.  When I was 
thinking about this I was looking at the osculating circle (or higher 
order osculant) and surface fairing where one of the dimensions is time. 
I did not take it to the point where I was able to prove, in a 
mathematical sense, that the higher order smoothing was indeed 
equivalent to minimizing jerk.  I would love to see this done, but I 
doubt that I will ever have the time/inclination to pick that one up...

   EBo --

On Mon, 30 Apr 2012 22:21:00 +0200, Joachim Franek wrote:
> 
> http://hal.archives-ouvertes.fr/docs/00/67/91/18/PDF/2012_beudaert_lavernhe_tournier_Feedrate_interpolation_with_axis_jerk_constraints_on_5_axis_NURBS_and_G1_tool_path.pdf
>
> Joachim
>

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