Wire　and　arc　additive　manufacturing　(WAAM)　has　attracted　more　and　more　research　interest　nowadays.　In　WAAM,　the　travel　speed　should　keep　as　high　as　possible　for　a　high　deposition　rate,　and　as　constant　as　possible　for　a　uniform　deposition　morphology　along　the　tool-path.　Nevertheless,　the　two　goals　are　always　violated　in　practice　because　the　welding　robot,　controlled　by　CNC　(Computer　Numerical　Control),　has　to　slow　down　when　sharp　corners　with　high　curvatures　are　encountered　so　as　to　respect　the　dynamic　constraint.　To　cope　with　this　problem,　a　new　CNC　framework　is　proposed　with　the　objective　of　guaranteeing　a　uniform　deposition　morphology　along　the　tool-path　while　still　respecting　the　dynamic　constraint.　The　idea　is　to　split　the　tool-path　into　several　segments　depending　on　whether　they　contain　sharp　corners　and　then　determine　the　allowable　travel　speed　of　each　segment　separately　subjected　to　the　dynamic　constraint.　In　addition,　the　wire-feed　rate　is　adaptively　controlled　to　match　the　corresponding　travel　speed　for　a　uniform　deposition　morphology.　Experimental　results　demonstrate　that　the　new　CNC　framework　greatly　improves　the　uniformity　of　the　deposition　morphology　compared　to　the　conventional　one.　©　2017　IEEE.