<p>The feedrate control directly affects the cutting force and drive response in complex surface machining, which is crucial for achieving high-quality and efficient machining. Conventional feedrate planning methods are time-consuming to calculate or require accurate arc length, which could not effectively support the implementation of the cutting force adaptive control in surface direct interpolation. This paper proposes a real-time dynamic looking-ahead method for adjusting the feedrate of the NURBS tool path interpolation. Firstly, the maximum allowable uniform velocities under the drive constraints are calculated to form critical velocity curves, which reflect changes in curvature and limitations along the tool path. During surface machining, the minimum value of the critical velocities in the following specific interval is looked ahead and used to adjust the current feedrate target dynamically. Then, a relationship model between velocity and acceleration based on the hyperbolic tangent function is proposed to generate a smooth acceleration instruction. The feasible feedrate instruction can be derived by considering the local feasible domain of drive acceleration and jerk constraints. Finally, an integrated method of curve direct interpolation and cutting force adaptive control algorithm is proposed. The simulations and experiments demonstrate the effectiveness of the proposed method which provides a real-time dynamic response to changes in feed velocity command and the effective application of an adaptive control algorithm in curve interpolation.</p>