{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,20]],"date-time":"2026-06-20T19:20:57Z","timestamp":1781983257751,"version":"3.54.5"},"reference-count":25,"publisher":"MDPI AG","issue":"1","license":[{"start":{"date-parts":[[2025,1,18]],"date-time":"2025-01-18T00:00:00Z","timestamp":1737158400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Algorithms"],"abstract":"<jats:p>Trajectory planning is essential for robotic polishing tasks, as the effectiveness of this planning directly influences the quality of the work and the energy efficiency of the operation. This study introduces an innovative trajectory planning method for robotic polishing tasks, focusing on the development and application of quintic B-spline interpolation. Recognizing the critical impact of trajectory planning on the quality and energy efficiency of robotic operations, we analyze the structure and parameters of the ABB-IRB120 robot within a laboratory setting. Using the Denavit\u2013Hartenberg parameter method, a kinematic model is established, and the robot\u2019s motion equations are derived through matrix transformation. We then propose a novel approach by implementing both fifth-degree polynomial and quintic B-spline interpolation algorithms for planning the robot\u2019s spatial spiral arc trajectory, which is a key contribution of this work. The effectiveness of these methodologies is validated through simulation in MATLAB\u2019s robotics toolbox. Our findings demonstrate that the quintic B-spline interpolation not only significantly improves task precision but also optimizes energy consumption, making it a superior method for trajectory planning in robotic grinding applications. By integrating advanced interpolation techniques, this study provides substantial technological and environmental benefits, offering a groundbreaking reference for enhancing the precision and efficiency of robotic control systems.<\/jats:p>","DOI":"10.3390\/a18010053","type":"journal-article","created":{"date-parts":[[2025,1,20]],"date-time":"2025-01-20T10:32:15Z","timestamp":1737369135000},"page":"53","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Analysis and Simulation of Polishing Robot Operation Trajectory Planning"],"prefix":"10.3390","volume":"18","author":[{"given":"Xinhong","family":"Zeng","sequence":"first","affiliation":[{"name":"School of Low-Altitude Equipment and Intelligent Control, Guangzhou Maritime University, Guangzhou 510725, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yongxiang","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Low-Altitude Equipment and Intelligent Control, Guangzhou Maritime University, Guangzhou 510725, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2025,1,18]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"154331","DOI":"10.1109\/ACCESS.2019.2949271","article-title":"A New trajectory-planning beetle swarm optimization algorithm for trajectory planning of robot manipulators","volume":"7","author":"Wang","year":"2019","journal-title":"IEEE Access"},{"key":"ref_2","unstructured":"Zhou, W. (2022). Research on Trajectory Planning of Robotic Arm Based on Particle Swarm Optimization. [Master\u2019s Thesis, Nanjing University of Posts and Telecommunications]."},{"key":"ref_3","unstructured":"Chen, Y. (2022). Research on Trajectory Planning and Optimization of 6-DOF Manipulator. [Master\u2019s Thesis, Changchun University of Technology]."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"311","DOI":"10.1016\/j.actaastro.2020.11.001","article-title":"Collision-free optimal trajectory generation for a space robot using genetic algorithm","volume":"179","author":"Seddaoui","year":"2021","journal-title":"Acta Astronaut."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"1555","DOI":"10.1007\/s00521-019-04172-2","article-title":"Research on path planning of mobile robots based on improved ant colony algorithm","volume":"32","author":"Luo","year":"2020","journal-title":"Neural Comput. Appl."},{"key":"ref_6","first-page":"5","article-title":"Robotic trajectory planning based on improved butterfly optimization algorithm","volume":"5","author":"Guo","year":"2024","journal-title":"Mech. Eng."},{"key":"ref_7","doi-asserted-by":"crossref","first-page":"114418","DOI":"10.1016\/j.eswa.2020.114418","article-title":"Monarch butterfly optimization: A comprehensive review","volume":"168","author":"Feng","year":"2021","journal-title":"Expert Syst. Appl."},{"key":"ref_8","first-page":"1","article-title":"Research on the Trajectory Optimization of Welding Robot Based on Improved B-Spline Interpolation Method","volume":"10","author":"Fang","year":"2021","journal-title":"Mach. Des. Manuf."},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"062050","DOI":"10.1088\/1742-6596\/1748\/6\/062050","article-title":"Kinematics Analysis and Simulation Research of Fruit and Vegetable Picking Arm Based on MATLAB","volume":"1748","author":"Pang","year":"2021","journal-title":"J. Phys. Conf. Ser."},{"key":"ref_10","first-page":"61","article-title":"Trajectory planning and motion simulation of welding robot","volume":"11","author":"Feng","year":"2020","journal-title":"Manuf. Technol. Mach. Tool"},{"key":"ref_11","doi-asserted-by":"crossref","unstructured":"Jia, L., Liu, S., Cao, C., Kang, Y., Zhu, Y., Wang, L., Xu, D., and Cheng, R. (2024). Kinematics analysis and simulation of six-axis robot based on DH parameters. Sci. Rep., 14.","DOI":"10.1038\/s41598-024-64439-0"},{"key":"ref_12","doi-asserted-by":"crossref","unstructured":"Saadah, A., Al Kadi, M., and G\u00e9za, H. (2023, January 20\u201323). KUKA arc KR5 industrial manipulator\u2019s trajectory planning modeling using MATLAB based on kinematics study. Proceedings of the 2023 Advances in Science and Engineering Technology International Conferences (ASET), Dubai, United Arab Emirates.","DOI":"10.1109\/ASET56582.2023.10180693"},{"key":"ref_13","doi-asserted-by":"crossref","first-page":"5502","DOI":"10.1109\/TIE.2017.2677331","article-title":"Time-optimal trajectory planning based on dynamics for differential-wheeled mobile robots with a geometric corridor","volume":"64","author":"Kim","year":"2017","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_14","doi-asserted-by":"crossref","first-page":"216","DOI":"10.1109\/TIV.2021.3077702","article-title":"Computation of solution spaces for optimization-based trajectory planning","volume":"8","author":"Schafer","year":"2021","journal-title":"IEEE Trans. Intell. Veh."},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"4926","DOI":"10.1109\/TIE.2021.3078390","article-title":"A generalized Voronoi diagram-based efficient heuristic path planning method for RRTs in mobile robots","volume":"69","author":"Chi","year":"2021","journal-title":"IEEE Trans. Ind. Electron."},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"7375","DOI":"10.1109\/LRA.2022.3183536","article-title":"An online time-optimal trajectory planning method for constrained multi-axis trajectory with guaranteed feasibility","volume":"7","author":"He","year":"2022","journal-title":"IEEE Robot. Autom. Lett."},{"key":"ref_17","first-page":"246","article-title":"Kinematics analysis and simulation of 6DOF welding robot","volume":"4","author":"Ning","year":"2022","journal-title":"Mach. Des. Manuf."},{"key":"ref_18","first-page":"39","article-title":"Smooth trajectory planning based on five degrees B-spline for manipulators in joint space","volume":"8","author":"Li","year":"2012","journal-title":"Modul. Mach. Tool Autom. Manuf. Tech."},{"key":"ref_19","unstructured":"Zhu, Q. (2021). Research on the Motion Planning of Six-Axis Industrial Robots. [Master\u2019s Thesis, Nanjing University of Information Science and Technology]."},{"key":"ref_20","first-page":"65","article-title":"Trajectory planning of manipulator based on NSGA-II under multi-objectives","volume":"5","author":"Zhang","year":"2024","journal-title":"Modul. Mach. Tool Autom. Manuf. Tech."},{"key":"ref_21","doi-asserted-by":"crossref","first-page":"102679","DOI":"10.1016\/j.rcim.2023.102679","article-title":"Near-time optimal federate planning for the NURBS curve considering interpolation error constraints","volume":"86","author":"Guo","year":"2024","journal-title":"Robot. Comput.-Integr. Manuf."},{"key":"ref_22","doi-asserted-by":"crossref","first-page":"32350","DOI":"10.1109\/ACCESS.2022.3160731","article-title":"A novel inverse P-M diffusion enhanced code spraying robot for express security inspection","volume":"10","author":"He","year":"2022","journal-title":"IEEE Access"},{"key":"ref_23","first-page":"7","article-title":"Improved Pure Pursuit Agricultural Machinery Navigation Curve Path Tracking Method Based on B-spline Optimization","volume":"55","author":"Zhang","year":"2024","journal-title":"Trans. Chin. Soc. Agric. Mach."},{"key":"ref_24","doi-asserted-by":"crossref","first-page":"23","DOI":"10.1007\/s10846-014-0172-0","article-title":"Continuous path smoothing for car-like robots using B-spline curves","volume":"80","author":"Mohamed","year":"2015","journal-title":"J. Intell. Robot. Syst."},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Fang, S., Ma, X., Zhao, Y., Zhang, Q., and Li, Y. (2019, January 24\u201325). Trajectory planning for seven-DOF robotic arm based on quintic polynormial. Proceedings of the 2019 11th International Conference on Intelligent Human-Machine Systems and Cybernetics (IHMSC), Hangzhou, China.","DOI":"10.1109\/IHMSC.2019.10142"}],"container-title":["Algorithms"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1999-4893\/18\/1\/53\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,8]],"date-time":"2025-10-08T10:31:31Z","timestamp":1759919491000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1999-4893\/18\/1\/53"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,1,18]]},"references-count":25,"journal-issue":{"issue":"1","published-online":{"date-parts":[[2025,1]]}},"alternative-id":["a18010053"],"URL":"https:\/\/doi.org\/10.3390\/a18010053","relation":{},"ISSN":["1999-4893"],"issn-type":[{"value":"1999-4893","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,1,18]]}}}