<p>Time-optimal feedrate scheduling under higher-order kinematic constraints is critical for improving machining efficiency and ensuring precision in multi-axis CNC machining. This paper proposes a feedrate scheduling method based on sequential linear programming (SLP) that generates time-optimal feedrate profiles while strictly satisfying tangential and axis kinematic constraints. A pseudo-jerk model based on piecewise linear functions is introduced, and the pseudo-states are reformulated to reduce the number of control variables while maintaining continuity. Nonlinear jerk constraints are linearized via a first-order Taylor expansion, and the resulting optimization problem is iteratively solved using the SLP algorithm to obtain time-optimal feedrate profiles. The proposed method is validated through simulations on two five-axis machining toolpaths involving end milling and flank milling operations. The results demonstrate that the method effectively exploits the kinematic characteristics of multi-axis toolpaths, generating time-optimal feedrate profiles while satisfying higher-order kinematic constraints. The study provides a practical approach for efficient and precise feedrate scheduling in complex multi-axis machining scenarios.</p>