Trajectory control and lookahead seems to come up as a feature-request
periodically..
I just found this recent paper which after a quick read-through looks
at least half-decent:
http://www.springerlink.com/content/k8613l2812153p65/
If you don't have access drop me an email and I can send the PDF.

To make progress on this one probably needs to restrict to 3-axis
trivkins, and maybe max feed-override <=100%.
In the near or not-so-near future I'd like to buy or setup a small
cnc-mill for various CAM experiments. If it can be built with high
feeds and accelerations (maybe 20m/min and 1g) then it might make
sense to work on improved trajectory control.

Anders

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