<p>In the global smoothing of micro-line toolpaths, multiple iterations are typically required to constrain chord errors, reducing both the computational efficiency and the smoothness of the fitted curve. CNC machines with redundant kinematics can bypass these constraints, further enhancing the smoothness and improving both machining quality and efficiency. In this paper, a trajectory generation method for a machine tool comprising two stages is presented. For the slow stage, the micro-line toolpath is fitted to a main curve and interpolated to generate reference commands. In this process, chord errors are not directly constrained; instead, only the axis errors between the main curve and the path points are constrained. For the fast stage, reference commands are obtained by smoothing the deviations between the original toolpath and the main curve, and this process can be implemented in real time using a moving window technique. Simulation and experiment results reveal that, under the same geometric and kinematic constraints, the cycle time has reduced by 14.32 to 21.27% compared to the conventional method. Experimental results illustrate that the proposed method achieves concurrent improvements in machining quality and efficiency, with a measurable 4.69% reduction in contour error compared to the conventional method.</p>