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Method for speed planning

The invention discloses a method for carrying out speed planning on the processing path including a space curve. The space curve part of the processing path is output by a W axis, and the other parts of the processing path are output by one or more axes in a Cartesian coordinate system XYZ. The method comprises the following steps: (1) without considering the space curve in the path, carrying out speed planning on one or more axes in the Cartesian coordinate system XYZ by virtue of a splitting method; (2) carrying out speed planning on the space curve in the path by virtue of adopting unequal-length splitting method on the basis of the step (1), wherein the length of the microline at the speed-up section of the W axis is increased gradually, the length of the microline at the normal-speed section is constant, the length of the microline at the speed-down section, the time for the W axis to output one microline on one space curve is required to be equal to the time for one or more axes in the Cartesian coordinate system XYZ to output one microline. The method disclosed by the invention has the advantages that the problems for speed planning of the processing path including the space curve in the prior art are solved and both the processing efficiency and the processing quality are considered.