3-D CNC trajectory interpolation using Bresenham´s algorithm

This article describes a 3D extension of Bresenham´s algorithm and its implementation in the linear trajectory interpolation of CNC paths. The resulting algorithm has been successfully applied to a CNC milling machine that uses stepper motors as actuators, resulting in minimal contour errors for a given step motor resolution. A numerical control system that uses the algorithm implementation has been built as part of a wider effort which is to test the feasibility of building or retrofitting machine tools with CNC capabilities at an affordable price tag for a developing country