so-parametric trajectory generation and tool orientation determination for the 5-axis machining of an impeller are developed in this paper. Firstly, u direction of the surface is selected as the feed direction, and v direction is set as the step interval direction for the iso-parametric trajectory generation. Secondly, tool orientations are determined by the vector starting from the guide curve point and ending at the CL point. The guide curve is located between neighbor blades and fitted by the middle points with the least square method. Thirdly, a program is developed and the AIsopara Trajectory menu is added to the main menu bar by UG MenuScript. Finally, the generated trajectories and tool orientations are demonstrated with their tool swept volume.