diff --git a/src/Mod/Robot/App/kdl_cp/chainiksolvervel_pinv_nso.hpp b/src/Mod/Robot/App/kdl_cp/chainiksolvervel_pinv_nso.hpp
index 6308880342..d545944abd 100644
--- a/src/Mod/Robot/App/kdl_cp/chainiksolvervel_pinv_nso.hpp
+++ b/src/Mod/Robot/App/kdl_cp/chainiksolvervel_pinv_nso.hpp
@@ -94,7 +94,7 @@ namespace KDL
         virtual int setOptPos(const JntArray &opt_pos);
 
         /**
-         *Set null psace velocity gain
+         *Set null space velocity gain
          *
          *@param alpha NUllspace velocity cgain
          *
diff --git a/src/Mod/Robot/App/kdl_cp/chainjnttojacsolver.hpp b/src/Mod/Robot/App/kdl_cp/chainjnttojacsolver.hpp
index 56d254a47e..e6aa7a0b3b 100644
--- a/src/Mod/Robot/App/kdl_cp/chainjnttojacsolver.hpp
+++ b/src/Mod/Robot/App/kdl_cp/chainjnttojacsolver.hpp
@@ -48,7 +48,7 @@ namespace KDL
         /**
          * Calculate the jacobian expressed in the base frame of the
          * chain, with reference point at the end effector of the
-         * *chain. The alghoritm is similar to the one used in
+         * *chain. The algorithm is similar to the one used in
          * KDL::ChainFkSolverVel_recursive
          *
          * @param q_in input joint positions
diff --git a/src/Mod/Robot/App/kdl_cp/velocityprofile_spline.hpp b/src/Mod/Robot/App/kdl_cp/velocityprofile_spline.hpp
index 0ce9ea896a..cf83ebfcd6 100644
--- a/src/Mod/Robot/App/kdl_cp/velocityprofile_spline.hpp
+++ b/src/Mod/Robot/App/kdl_cp/velocityprofile_spline.hpp
@@ -19,7 +19,7 @@ public:
 	
     virtual void SetProfile(double pos1, double pos2);
     /**
-     * Generate linear interpolation coeffcients.
+     * Generate linear interpolation coefficients.
      *
      * @param pos1 begin position.
      * @param pos2 end position.
@@ -29,7 +29,7 @@ public:
       double pos1, double pos2, double duration);
 
     /**
-     * Generate cubic spline interpolation coeffcients.
+     * Generate cubic spline interpolation coefficients.
      *
      * @param pos1 begin position.
      * @param vel1 begin velocity.
@@ -41,7 +41,7 @@ public:
       double pos1, double vel1, double pos2, double vel2, double duration);
 
     /**
-     * Generate quintic spline interpolation coeffcients.
+     * Generate quintic spline interpolation coefficients.
      *
      * @param pos1 begin position.
      * @param vel1 begin velocity.