Abstract: A novel segment interpolation algorithm based on feedrate sensitive corner's sharp points is proposed to address problems in the popular non-uniform rational B-spline (NURBS) acceleration-deceleration method (Acc/Dec). In this new algorithm, NURBS curve is divided into small segments by sensitive corner's sharp points according to geometric characteristics, and a feedrate scheduling method based on S-shape Acc/Dec is proposed constrained by confined chord error and the machine's capability. In a designated NURBS curve and parameters environment, the simulation results show the effectiveness and feasibility of the new algorithm, in which maximum chord error and maximum Acc/Dec are reduced by 76.7%, maximum jerk is reduced by 94.0% compared with the adaptive feed speed interpolation algorithm.