In removing the curling and burrs of wheel hub blank using robotic grinding,a SLERP (spherical linear interpolation) based method was proposed to overcome the problems of insufficient flexibility and poor stability of traditional tool posture planning methods.The discrete grinding path was fitted to a B-spline curve,and the key areas were identified according to curvature distribution of the spline path.At the key points in key areas,tool postures were specified in advance.Subsequently,the SLERP of adjacent key tool postures was used to plan tool postures with smooth changes at other path points.The tool positions were slightly adjusted by Z-floating operation to improve the grinding uniformity and reduce the tool wear.The results show that the proposed method reduces a tool angle fluctuation of 2228% and an angular velocity fluctuation of 40.43% compared with that before optimization,effectively improving the grinding stability.