Rothwell, Figg, Ernst & Kurz
Numerical control device with rational B-spline interpolator
 A numerical control device for controlling a machine tool or a robot accepts a mixed program including both conventional G-codes and codes for nonuniform rational B-spline. The blocks of G-codes and rational B-spline codes are discriminated by a respective head code or symbol. Once a set of order, number of control points, and knot vector is input via code blocks of a program, the same setting for the B-spline basis functions is used for generation of the rational B-spline curves until a new set of order, etc., are input. 
Mitsubishi Denki Kabushiki Kaisha
G G
G05B G05B
additional inventional
Kiyotaka
Kato