This paper presents a method for path planning of robotic fiber placement, where the initial path is
created with curvature continuous (G2) interpolation of data points on surface with specified tangent direction and curvature vector at every point. Making use of some conclusions deduced from the isomorphic relations between tangent spaces of both surface and its parametric domain at corresponding points, we convert the problem of curve interpolation on a parametric surface to a similar one on its parametric plane. The method enables us to express G2 interpolationcurve of an arbitrary sequence of points on a parametric surface explicitly in parametric form. For introducing several free parameters into the method, we can modify the curve爷s shape locally or globally. Moreover, the resulted place
ment path can reflect the curvature of the mould surface and change the fiber爷s direction locally so as to satisfy better the demand of both fiber placement and surface geometry. Experiments demonstrate the method is simple, feasible and also applicable to computer aided design and computer graphics, etc.