{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,18]],"date-time":"2026-08-18T00:07:16Z","timestamp":1787011636048,"version":"build-2736575974"},"reference-count":16,"publisher":"Emerald","issue":"1","license":[{"start":{"date-parts":[[2024,8,27]],"date-time":"2024-08-27T00:00:00Z","timestamp":1724716800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["IR"],"published-print":{"date-parts":[[2025,1,27]]},"abstract":"<jats:sec>\n                    <jats:title content-type=\"abstract-subheading\">Purpose<\/jats:title>\n                    <jats:p>This paper aims to present a new trajectory scheduling method to generate a smooth and continuous trajectory for a hybrid machining robot.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title content-type=\"abstract-subheading\">Design\/methodology\/approach<\/jats:title>\n                    <jats:p>The trajectory scheduling method includes two steps. First, a G3 continuity local smoothing approach is proposed to smooth the toolpath. Then, considering the tool\/joint motion and geometric error constraints, a jerk-continuous feedrate scheduling method is proposed to generate the trajectory.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title content-type=\"abstract-subheading\">Findings<\/jats:title>\n                    <jats:p>The simulations and experiments are conducted on the hybrid robot TriMule-800. The simulation results demonstrate that this method is effectively applicable to machining trajectory scheduling for various parts and is computationally friendly. Moreover, it improves the robot machining speed and ensures smooth operation under constraints. The results of the S-shaped part machining experiment show that the resulting surface profile error is below 0.12\u2009mm specified in the ISO standard, confirming that the proposed method can ensure the machining accuracy of the hybrid robot.<\/jats:p>\n                  <\/jats:sec>\n                  <jats:sec>\n                    <jats:title content-type=\"abstract-subheading\">Originality\/value<\/jats:title>\n                    <jats:p>This paper implements an analytical local toolpath smoothing approach to address the non-high-order continuity problem of the toolpath expressed in G code. Meanwhile, the feedrate scheduling method addresses the segmented paths after local smoothing, achieving smooth and continuous trajectory generation to balance machining accuracy and machining efficiency.<\/jats:p>\n                  <\/jats:sec>","DOI":"10.1108\/ir-04-2024-0151","type":"journal-article","created":{"date-parts":[[2024,8,24]],"date-time":"2024-08-24T00:36:04Z","timestamp":1724459764000},"page":"36-45","source":"Crossref","is-referenced-by-count":2,"title":["An effective trajectory scheduling method for a 5-DOF hybrid machining robot"],"prefix":"10.1108","volume":"52","author":[{"given":"Haitao","family":"Liu","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Junfu","family":"Zhou","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Guangxi","family":"Li","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Juliang","family":"Xiao","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xucang","family":"Zheng","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"140","published-online":{"date-parts":[[2024,8,27]]},"reference":[{"issue":"2","key":"key2025012405291082500_ref001","doi-asserted-by":"crossref","first-page":"321","DOI":"10.1007\/s11431-018-9374-6","article-title":"A general, fast and robust b-spline fitting scheme for micro-line tool path under chord error constraint","volume":"62","year":"2019","journal-title":"Science China Technological Sciences"},{"key":"key2025012405291082500_ref002","doi-asserted-by":"crossref","first-page":"103408","DOI":"10.1016\/j.cad.2022.103408","article-title":"An analytical method for corner smoothing of five-axis linear paths using the conformal geometric algebra","volume":"153","year":"2022","journal-title":"Computer-Aided Design"},{"issue":"3","key":"key2025012405291082500_ref003","doi-asserted-by":"publisher","DOI":"10.1115\/1.4043047","article-title":"A screw theory-based semi-analytical approach for elastodynamics of the tricept robot","volume":"11","year":"2019","journal-title":"Journal of Mechanisms and Robotics"},{"issue":"5\/8","key":"key2025012405291082500_ref004","first-page":"719","article-title":"Interpolation of parametric CNC machining path under confined jounce","volume":"62","year":"2012","journal-title":"The International Journal of Advanced Manufacturing Technology"},{"key":"key2025012405291082500_ref005","doi-asserted-by":"crossref","first-page":"67","DOI":"10.1016\/j.ijmachtools.2017.10.001","article-title":"Real-time local smoothing for five-axis linear toolpath considering smoothing error constraints","volume":"124","year":"2018","journal-title":"International Journal of Machine Tools and Manufacture"},{"key":"key2025012405291082500_ref006","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1016\/j.ijmachtools.2016.12.007","article-title":"A NURBS interpolator with constant speed at feedrate-sensitive regions under drive and contour-error constraints","volume":"116","year":"2017","journal-title":"International Journal of Machine Tools and Manufacture"},{"key":"key2025012405291082500_ref007","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2021.104640","article-title":"A general C2 continuous toolpath corner smoothing method for a 5-DOF hybrid robot","volume":"169","year":"2022","journal-title":"Mechanism and Machine Theory"},{"key":"key2025012405291082500_ref008","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2021.102308","article-title":"Global time-optimal B-spline feedrate scheduling for a two-turret multi-axis NC machine tool based on optimization with genetic algorithm","volume":"75","year":"2022","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"key":"key2025012405291082500_ref009","doi-asserted-by":"crossref","first-page":"1072","DOI":"10.1016\/j.jmapro.2021.12.057","article-title":"A C3 continuous toolpath corner smoothing method for a hybrid machining robot","volume":"75","year":"2022","journal-title":"Journal of Manufacturing Processes"},{"issue":"3","key":"key2025012405291082500_ref010","doi-asserted-by":"crossref","first-page":"721","DOI":"10.1007\/s11431-022-2315-7","article-title":"A local toolpath smoothing method for a five-axis hybrid machining robot","volume":"66","year":"2023","journal-title":"Science China Technological Sciences"},{"issue":"3","key":"key2025012405291082500_ref011","doi-asserted-by":"crossref","first-page":"449","DOI":"10.1115\/1.1578670","article-title":"A real-time predictor-corrector interpolator for CNC machining","volume":"125","year":"2003","journal-title":"Journal of Manufacturing Science and Engineering"},{"key":"key2025012405291082500_ref012","doi-asserted-by":"crossref","first-page":"15","DOI":"10.1016\/j.ijmachtools.2015.04.014","article-title":"Local toolpath smoothing for five-axis machine tools","volume":"96","year":"2015","journal-title":"International Journal of Machine Tools and Manufacture"},{"key":"key2025012405291082500_ref013","doi-asserted-by":"crossref","first-page":"122","DOI":"10.1016\/j.ijmachtools.2014.06.001","article-title":"A real-time look-ahead interpolation algorithm based on akima curve fitting","volume":"85","year":"2014","journal-title":"International Journal of Machine Tools and Manufacture"},{"key":"key2025012405291082500_ref014","doi-asserted-by":"publisher","DOI":"10.1016\/j.rcim.2022.102396","article-title":"A jerk-limited heuristic feedrate scheduling method based on particle swarm optimization for a 5-DOF hybrid robot","volume":"78","year":"2022","journal-title":"Robotics and Computer-Integrated Manufacturing"},{"key":"key2025012405291082500_ref015","doi-asserted-by":"crossref","first-page":"22","DOI":"10.1016\/j.ijmachtools.2017.07.007","article-title":"An analytical local corner smoothing algorithm for five-axis CNC machining","volume":"123","year":"2017","journal-title":"International Journal of Machine Tools and Manufacture"},{"issue":"11\/12","key":"key2025012405291082500_ref016","first-page":"7171","article-title":"Incomplete smooth S-curve acceleration and deceleration feedrate planning modeling and analysis","volume":"120","year":"2022","journal-title":"The International Journal of Advanced Manufacturing Technology"}],"container-title":["Industrial Robot: the international journal of robotics research and application"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-04-2024-0151\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/IR-04-2024-0151\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T21:38:57Z","timestamp":1753393137000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/52\/1\/36-45\/1242307"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,8,27]]},"references-count":16,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2024,8,27]]},"published-print":{"date-parts":[[2025,1,27]]}},"alternative-id":["10.1108\/IR-04-2024-0151"],"URL":"https:\/\/doi.org\/10.1108\/ir-04-2024-0151","relation":{},"ISSN":["0143-991X","1758-5791"],"issn-type":[{"value":"0143-991X","type":"print"},{"value":"1758-5791","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,8,27]]}}}