There are two key problems in the manufacture process of impeller with HSM(High Speed Machining). One is the collision between tool and blade, the other is gnawed-cutting arisen by non-uniform change of the cutter axis. The control algorithm of collision-free cutter-axis was described and applied in this paper. The cutter-axis vector was optimized by quaternary linear interpolation method to make normal vector of blade changing continuous, so. These methods were synthetically used in the manufacture experiment. And the qualified impeller was produced. It indicated that the tool vector control method was feasible.