Artificial Intelligence and Sensor Informatics: Exploring Smart City and Construction Business Implications

Function Analysis of Industrial Robot under Cubic

Polynomial Interpolation in Animation Simulation
Environment
You Li1, Juan Wang1, Yiming Ji2*
1
School of Arts Design, Wuchang University of Technology, Wuhan (China)
2
School of Journalism, Zhongnan University of Economics and Law, Wuhan (China)

Received 7 May 2020 | Accepted 28 October 2020 | Published 25 November 2020

Abstract Keywords
In order to study the effect of cubic polynomial interpolation in the trajectory planning of polishing robot Polishing Robot
manipulator, firstly, the articular robot operating arm is taken as the research object, and the overall system Operating Arm,
of polishing robot operating arm with 7 degrees of freedom is constructed. Then through the transformation Cubic Polynomial
of space motion and pose coordinate system, Denavit-Hartenberg (D-H) Matrix is introduced to describe the Interpolation, Trajectory
coordinate direction and parameters of the adjacent connecting rod of the polishing robot, and the kinematic Planning, Kinematic
model of the robot is built, and the coordinate direction and parameters of its adjacent link are described. A Model, Multi-body
multi-body Dynamic simulation software, Automatic Dynamic Analysis of Mechanical Systems (ADAMS), is Dynamics Simulation
used to analyze the kinematic simulation of the robot operating arm system. Finally, the trajectory of the robot Software.
manipulator is planned based on the cubic polynomial difference method, and the simulation is verified by
Matrix Laboratory (MATLAB). Through calculation, it is found that the kinematic model of polishing robot
operating arm constructed in this study is in line with the reality; ADAMS software is used to generate curves of
the rotation angles of different joint axes and the displacement of end parts of the polishing robot operating arm
changing with time. After obtaining relevant parameters, they are put into the kinematic equation constructed
in this study, and the calculated position coordinates are consistent with the detection results; moreover, the
polishing robot constructed in this study can realize the functions of deburring, polishing, trimming, and turning
table. MATLAB software is used to generate the simulation of the movement trajectory of the polishing robot
operating arm, which can show the change curve of angle and angular velocity. The difference between the
angle at which the polishing robot reaches the polishing position, the change curve of angular velocity, and the
time spent before and after the path optimization is compared. It is found that after path optimization based on
cubic polynomial, the change curve of the polishing robot's angle and angular velocity is smoother, and the time
is shortened by 17.21s. It indicates that the cubic polynomial interpolation method can realize the trajectory
planning of the polishing robot operating arm, moreover, the optimized polishing robot has a continuous and DOI: 10.9781/ijimai.2020.11.012
smooth trajectory, which can improve the working efficiency of the robot.

I. Introduction polishing technology and related equipment has become a big trend.
The appearance of flash and burr on the surface of the casting can

A T present, China's manufacturing industry is developing rapidly,

and customers have higher and higher requirements on the
surface quality of castings. Labor costs and environmental awareness
not only affect the appearance of the casting, but also affect the
performance of the casting and even the service life of the casting [3],
[4]. Therefore, polishing the surface of the casting is a very important
are also increasing, which greatly limits the development of China's step in the manufacturing industry.
foundry industry. In the process of different casting production, With the continuous progress of industrial technology, enterprises
sand treatment, molding, core making, and other processes have have been gradually moving towards the direction of intelligence and
gradually achieved the goal of automatic production and intelligent automation. The castings polished by the robot have the advantages
management, but the post-processing technology of casting is still of better quality, higher efficiency, strong flexibility, and strong
in the stage of manual operation [1], [2]. Facing the high demand of adaptability [5]. Therefore, robot polishing automatic production
enterprises on the surface quality of castings, the research on casting line and casting polishing have gradually become the best choice for
enterprises in the manufacturing field. Moreover, the polishing of
* Corresponding author. sports robot can reduce the risk of injury to human body, ensure the
E-mail address: [email protected] uniformity of polishing quality, improve the efficiency of operation,

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and reduce the cost [6], [7]. In recent years, experts at home and TABLE I. Performance Comparison of Operating Arms of Industrial
abroad have explored robot polishing equipment and its automatic Robots With Different Structures
polishing technology, but relatively few studies have been conducted Operational Workspace
on the polishing of large castings [8]. Polishing large castings requires Structures Flexibility Their size
complexity size
a high load on the robot, while for castings with complex surface Rectangular
shapes, manual polishing is still required [9]. The research prospect Easy Small Bad Big
coordinate
of polishing robot is broad, and the intelligent processing system of Cylindrical Relatively Relatively Relatively
Normal
robot is of great significance to improve the working efficiency of coordinate easy big big
polishing. Therefore, it is very important to shorten the running time Polar Relatively Relatively
complex Good
of the robot to improve the efficiency. Some studies have shown that coordinates small small
polynomial interpolation can carry out the optimal time trajectory Joint Relatively
Big Very good Very small
planning [10], [11]. Among them, cubic polynomial interpolation is coordinate complex
widely used. Zubko et al. calculated the accelerated light scattering
based on cubic polynomial functions and found that the interpolation B. The Overall Design of Polishing Robot Operating Arm System
method could accurately calculate the light scattering characteristics
There are two main methods for robot polishing and casting, which
[12]. Zhang et al. showed that cubic polynomial interpolation could
are respectively used for medium and large castings, medium and
present a better linear relation than quadratic polynomials [13].
small castings. The former is the polishing tool held by the robot arm
Moreover, a large number of studies have proved that the application
for polishing processing, while the latter is the casting held by the
of cubic polynomial interpolation in motion trajectory planning
robot arm close to the polishing tool for polishing processing [17]. The
under different conditions and constraints can effectively improve
automobile cylinder castings are taken as the polishing object, and the
the running speed [14]. Dincer et al.combined cubic polynomial
corresponding polishing robot structure is designed to improve the
interpolation with Bézier curves for the trajectory planning of 2-dof
polishing efficiency of automobile manufacturing industry and reduce
parallel structure, and found that using cubic polynomial interpolation
the cost in the production process [18]. Therefore, the robot structure
could obtain smoother trajectory curves [15].
with strong flexibility and simple structure should be selected. In the
However, at present, the research on the path planning of end, the way of polishing the casting with the polishing tool held by
seven-degree-of-freedom polishing robot by cubic polynomial the robot arm to polish the automobile cylinder block is chosen. The
interpolation is still relatively few. Therefore, firstly, the mechanism height of each stand in the car cylinder block convex table is different,
types of common industrial robot operating arms are discussed, and the position distribution is not uniform. Therefore, the polishing
and the polishing robot operating arm system is designed with robot arm designed in this study must have such characteristics as high
articular robot operating arms as the research object. Through the motion accuracy, low return clearance, low rotational inertia, and non-
transformation of the spatial coordinate system, the kinematic model variability. Finally, the specific performance indicators are determined
of the polishing robot manipulator is constructed. Then, virtual as follows: The grinding speed is 6000rpm/min. The grinding force is
simulation software is used to verify the kinematic model of the 110N. The quality roughness Ra of the cylinder surface after polishing
polishing robot operating arm. Finally, based on cubic polynomial should be equal to and less than 3.0. The arms of the polishing robot
interpolation, the trajectory of the polishing robot manipulator is extend between 600 and 1000mm.
planned. The results of this study are intended to lay a foundation
The operating arm of the polishing robot is mainly composed of
for optimizing the movement trajectory of the robot’s operating
the base, shoulder joint, big arm, elbow joint, forearm, and wrist joint.
arm and improving its polishing efficiency.
Moreover, the articular structure connected in series between the
operating arms can best imitate the motion mode of human arms. The
II. Methodology manipulator has 7 rotation axes, and the corresponding manipulator
has 7 degrees of freedom. In the process of different coaxial rotation
A. Mechanism Type of industrial Robot Manipulator motions, it will receive loads in both radial and axial directions.
Common industrial robot operating arm structures include Therefore, the connection mode of bearing between connecting
rectangular coordinate type, cylindrical coordinate type, polar rod and shaft adopts double-row angular contact ball. The specific
coordinate type, and joint coordinate type, etc. [16]. Among them, structure of each joint of the manipulator is as follows: the shoulder
the rectangular robot operating nose has the simplest structure, with joint is located at the top of the whole connecting rod drive chain
only three axes in the cartesian coordinate system: the X axis, the Y and has 3 degrees of freedom (namely 3 rotating axes). The angles of
axis (the horizontal motion axis), and the Z axis (the vertical motion different rotating axes are respectively 180°(-90°~+90°), 180°(-90°~+90°)
axis). Articular robots operate arms that are similar to human arms, and 210°(-60°~+150°); the elbow joint is located between the upper arm
with structures that mimic the human upper and lower arms, shoulder, and the lower arm of the robot arm, and has 2 degrees of freedom (i.e.
elbow, and wrist joints. These manipulators have 5 to 6 degrees of 2 joint axes). The angles of different joint axes are 240°(-180°~+60°) and
freedom and can touch all the points in the workspace, and their 180°(-90°~+90°) respectively; The wrist joint has 2 degrees of freedom
movement trajectory while working can form most of the spherical (i.e. 2 joint axes), and the angles of different joint axes are all 180°(-
motion. The operational performance of common structural industrial 90°~+90°). The structure of the polishing robot arm designed in this
robot operating arms is compared, and the results are shown in Table study is briefly shown in Fig. 1.
I. Among industrial robot operating arms with different structure In order to better meet the operating requirements of the polishing
types, articular robot operating arms are more compact in structure robot operating arm [19], AC servo motor is selected for this study. In
and manoeuvrable in working space. Therefore, it requires less joint addition, other joint modules include harmonic gear reducer, encoder,
torque, and its own energy consumption is low, and the joint sealing brake, transmission gear, and support frame. According to the actual
and dustproof effect is excellent. Therefore, joint coordinate robot arm volume of the cylinder block to be polished, the outer cylinder working
is finally selected as the object of this study. space size of 350*350*350 mm2 is finally selected in this study, and the
cylinder with the length and height of the bottom surface of 500 mm
and 350 mm are selected as the target working space.

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Big arm the coordinate system {j} to the coordinate system {i}.
D. Construction of the Kinematic Model of Polishing Robot
Elbow joint Operating Arm
Forearm
To construct the kinematic equation of the robot manipulator,
Shoulder
Wrist joints the corresponding coordinate system should be set on each revolute
joint joint. The corresponding homogeneous coordinate system equation
is obtained from the relative position of each coordinate system, and
then the kinematics equation of the robot manipulator is obtained [21].
Polishing head
Base In this study, D-H method is introduced to describe the coordinate
direction and parameters of the adjacent connecting rod of the robot
manipulator. The schematic diagram of connecting rod parameters of
robot operating arm is shown in Fig. 2. The dj, θj, aj, and αj in Fig. 2 are
Fig. 1. Schematic diagram o polishing robot arm.
four parameters of D-H.
C. The Transformation of the Spatial Coordinate System of the Axis i
Operating Arm of the Polishing Robot
Connecting
Robot time - space motion is mainly divided into: firstly, forward Axis i-1
Bar i
kinematics, which refers to the relationship and parameters among
the structure types and lengths of the robot’s connecting rod, base and Connecting
end-effector, etc, and finally, the pose problem of end-effector relative Bar i-1
to the base coordinates is solved; secondly, inverse kinematics, it is
necessary to use algebraic operation and other methods to obtain the
ai
relationship between each linkage structure, structural parameters,
end-effector pose, and other information, and finally solve the variable
values of each joint. In this study, the homogeneous transformation di
matrix method [20] is used to describe the spatial motion of the robot a i-1 θi
and the transformation relation of the linkage coordinate system, and
the matrix calculation is used to solve the kinematic analysis problem a i-1
of the robot manipulator.
In the spatial coordinate system, any point on the target object Fig. 2. Schematic diagram of parameters of adjacent connecting rod of robot
can be used to describe its pose. To determine the pose state of the operating arm.
target object on the relatively fixed coordinate system by using the 3*1
position matrix and 3*3 attitude matrix, the moving point coordinate Then in the d-h coordinate system, the pose matrix between
system is {H}, and the fixed coordinate system is {O}. Then the 3*1 adjacent links is as follows.
position matrix can be expressed as follows.
(5)
In Eq. (5), dj is linkage migration; zj-1 is the axis; θj is the joint
(1) angle; aj is the length of connecting rod; αj is the torsion Angle of the
connecting rod.
The cosine value of the included angle between {H} and {O}x, y, and According to the homogeneous coordinate transformation method,
z axes is used to describe the third-order attitude matrix. the pose of the end-effector of the manipulator arm is solved.
(6)

(2) D-H parameters are obtained according to the linkage coordinate

system, as shown in Table II.
And the initial coordinate system of any point P in space is {i}, and
the changed coordinate system is {j}. In the general transformation TABLE II. Robot Manipulator Connecting Rod D-H Parameter Table
of coordinate equation, Pij is the translation change matrix and Rij is θj (°) αj (°) aj(mm) dj(mm)
Connecting rod number j
the rotation transformation matrix. Then homogeneous coordinate
transformation is introduced to describe the transformation process 1 θ1 0 0 0
between coordinate systems, and finally the matrix Mij is obtained. 2 θ2 90 0 0
3 θ3 -90 0 0
4 θ4 0 a3 d4

(3) 5 θ5 -90 0 d5
6 θ6 90 0 0
(4) 7 θ7 90 0 0
Trans (Px, Py, Pz) is the homogeneous coordinate transformation a3=450mm, d4=400mm, d5=-350mm.
matrix after translation; Rot (k, θ) is the homogeneous coordinate
Then, the 7 degrees of freedom is used to polish the structure
transformation matrix after rotation; k is the rotation axis vector; θ is
characteristics of robot operating arm. Using joint variable collapse
the rotation angle; n, o, and a are the cosines of the 3 directions from
method, the 7-degree-of-freedom manipulator is transformed into a

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 International Journal of Interactive Multimedia and Artificial Intelligence, Vol. 6, Nº4

typical 6-degree-of-freedom manipulator. The inverse kinematics of 90d)+ STEP(time,12,0d,15,90d), and the type is set to Displacement.
manipulator is solved by algebraic method. The kinematic equation of The same method is used to apply the drive to the remaining joint
the robot manipulator is as follows. shafts.
F. Trajectory Planning of Polishing Robot Manipulator Based on
Cubic Polynomial Interpolation
Trajectory planning is mainly to translate the command input by
the operator of the robot arm into a process of describing the specific
(7)
movement trajectory. Its purpose is mainly to determine the movement
After a series of solutions, it is concluded that when θ5 is 0, the trajectory, movement time, speed, and other parameters of the target
robot manipulator is in a singular configuration, that is, the joint axis joint [24]. Trajectory planning of joint space mainly uses different
5 and 7 are in a straight line. Therefore, when calculating θ7, the value functions to describe trajectories, and the commonly used methods are
of θ5 can be referred to. polynomial interpolation and linear interpolation based on parabolic
transition [25]. In order to meet the accuracy of robot arm motion
E. Virtual Simulation Analysis of Polishing Robot Operating trajectory, the cubic polynomial interpolation is adopted to plan robot
Arm arm motion trajectory. Assuming that the smooth trajectory function
In this study, ADAMS is used to analyze the kinematic simulation of the joint angles at the starting and ending positions in joint space is
of the polishing robot operating arm system [22]. ADAMS is a q(t), then the trajectory function q(t) of different joints should meet the
popular virtual simulation software, and its simulation analysis steps constraints of position and velocity. In order to ensure the continuity
are similar to those of CAE software [23]. The specific simulation of joint motion speed, the starting and ending joint speeds are set to
process is shown in Fig. 3, which is mainly divided into 6 steps. Step 0. Then the trajectory function before and after can be expressed as
1: preparation before modeling. The main work is the choice of path, follows.
coordinate system, unit system, and the setting of gravity acceleration.
Step 2: construction of the model. The main purpose of this step is
to simplify the model. Under the premise of not affecting the visual
effect, only the motion-related components should be retained, which
can effectively reduce the difficulty of the model and improve the (8)
accuracy of model simulation. Step 3: constrains definition. Step 4:
drive application. The Time function, STEP function, and AKISPL In Eq. (8), q0 is the initial joint angle; qf is the joint angle of
function can be used to define the driver. Step 5: verification of the termination. tf is the termination time.
model. Before the simulation, the model needs to be tested, and The cubic polynomial of the constraint conditions of the boundary
the model is verified successfully if there is no under constraint or is determined through Eq. (8).
over constraint. Step 6: simulation running. The Kinematic type of (9)
interactive simulation is chosen. The simulation time is set to 25s and
the simulation times to 350. According to Eq. (9), the equations of joint velocity and acceleration
are obtained.
Prepare before building the model
Simulation run
Setting the Setting the
working grid coordinate system (10)
Set the unit system Set gravity Model checking
acceleration
According to Eq. (9) and Eq. (10), different linear equations
containing coefficients a0, a1, a2, and a3 are obtained.
Apply drive
Building the model
Simplification of virtual Time function STEP function
prototype model
AKISPL function
Simplified appearance

Reduced number of sports pairs

(11)
Defining constraints
By solving Eq. (11), Eq. (12) is obtained as follows.

Fig. 3. Simulation process of polishing robot operating arm based on ADAMS

software.

When the driver is applied, the AKISPL function needs to interpolate

(12)
the data using the Akima fitting method. When the manipulator is
conducting forward kinematic analysis, it is necessary to define the The boundary constraint condition is set as a unique cubic
pose of each joint and then obtain the pose of the terminal part. polynomial, and the corresponding constraint condition is substituted
Therefore, in the forward kinematics simulation of the robot operating into Eq. (8) to obtain the corresponding linear equation. In order to
arm, it is necessary to increase the driving force for all the 7 joint ensure the continuity and stability of the motion when the critical
axes, so that the connecting rod outside the terminal can carry out starting and ending velocities are 0, the cubic polynomial function can
known regular motion. Taking joint shaft 1 for example, the rotary be expressed as follows.
drive diagram is chosen in the software Motions, and the rotation
pair at the left and right turning joints of the shoulder is selected to (13)
create the rotation drive. Functions are input into Function(time):
STEP(time,0,0d,3,90d)+ STEP(time,3,0d,6,-90d)+ STEP(time,9,0d,12,- Then the calculation equations of joint angular velocity and angular

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 Artificial Intelligence and Sensor Informatics: Exploring Smart City and Construction Business Implications

acceleration are as follows. whether the equation is applicable. The coordinates of a target point
are randomly selected as (-150, 550, -450), and the attitude of the end
piece when the robot manipulates the arm to reach the target point
is . After the calculation of MATLAB software, the inverse
(14) solutions of each joint of the robot operating arm are obtained, and
the results are shown in Table III. The results of 8 inverse kinematic
According to Eq. (14), the function curve of joint angular velocity solutions with different joint angles show the trend of arcs, and the
is a parabola, while the function curve of angular acceleration is a forward kinematic equation is substituted to solve the problem.
straight line. If the angular acceleration follows the principle of
constant change, it will cause the vibration of the mechanical arm, TABLE III. Results of inverse Kinematic Solution of Robot
thus increasing the wear rate of the joint parts. The robot arm doesn’t Manipulator Under Target Pose
stay in motion at all path points, so the information of intermediate Grouping θ1(°) θ2(°) θ3(°) θ4(°) θ5(°) θ6(°) θ7(°)
points should be considered. The path is divided into several sections,
1 0.752 1.012 -0.230 1.021 -0.563 0.186 -1.689
and the adjacent path points are defined as the initial point and the
2 0.752 1.022 1.235 -1.021 -0.676 0.770 -1.689
termination point, then the cubic polynomial function can be used for
3 -1.221 1.233 1.089 1.021 0.913 0.182 0.105
interpolation processing, and various paths are connected smoothly.
4 -1.221 -1.233 -0.579 -1.021 0.587 0.771 0.105
Therefore, the joint velocity is not equal to 0 just for different
segments. Therefore, the constraint conditions in Eq. (8) are adjusted 5 3.879 -1.018 2.920 1.021 -0.563 0.182 -1.689
accordingly. 6 3.879 -1.018 4.379 -1.021 -0.676 0.770 -1.689
7 1.903 -1.231 4.241 1.021 0.913 0.186 0.105
8 1.903 1.231 2.560 -1.021 0.560 0.771 0.105
(15)
B. Polishing Robot Operating Arm Simulation Results
In this case, the cubic polynomial correlation equation is as follows.
Fig. 4 shows the animation simulation model of polishing robot with
different performance built by ADAMS software. It can be concluded
that the polishing robot needs to have the performance of deburring
work built on non-smooth surface, polishing work built on medium
and large scale, trimming work of complex components, and return to
(16) the working origin.
The coefficients in Eq. (16) are further solved, and the results are
shown in the following equation.

Deburring Sanding

(17)
Finally, Eq. (17) can be used to describe the trajectory of any
position and velocity in the initial and final points of the path. Trimming Slideway
Then, MATLAB software is used for the simulation analysis of the
motion trajectory planning of the polishing robot operating arm. The Fig. 4. The animation simulation model of polishing robot with different
whole running time is set as 5s. The starting path is X0, the middle performance.
point X1 is passed through at 2.5s, and then the end point X2 is reached
ADAMS software is used to process the curve graph of the output
after 2.5s. At the start and end of the manipulator, the joint velocities
processing data of the module, so as to generate the function curve
are 0. First, the inverse kinematics equation is used to calculate the
of the operating arm of the polishing robot with different coaxial
angles of each joint at different path points, and then interpolation is
changes over time to observe the specific situation of the changes of
performed every 20ms. Finally, using cubic polynomial interpolation
each parameter with time more intuitively. The curves of the angles
method to plan the motion trajectory, the curve of joint axis angle
of different joint axes and the displacement of end parts over time are
with time is obtained.
shown in Fig. 5. It can be concluded from Fig. 5A that the change trend
of the rotation Angle of axis 4 and axis 5 is basically the same, while
III. Results and Discussion the change trend of the rotation Angle of axis 6 and axis 7 is basically
the same. As can be concluded from Fig. 5B, the initial displacement of
A. Verification of Kinematic Solution of Operating Arm of the manipulator in the X-axis direction (End piece1) is about -450mm,
Polishing Robot and the position moves to the positive maximum at about 15s (about
600mm), and to the negative maximum at about 21s (about -500mm).
Since the forward kinematic solution method of the robot
The initial displacement on the Y-axis direction (End piece2) is about
manipulator is relatively simple, while the reverse kinematic solution
-350mm, and the position reaches the positive maximum at about
operation is complicated and there are many methods, the inverse
14s (about 810mm), and the position reaches the negative maximum
kinematic solution method proposed has been verified by an example
at about 21s (about -500mm). The initial displacement on the z-axis
[26]. MATLAB software is used for verification. The corresponding
direction (End piece3) is about 400mm, and the position reaches the
solver is written first, and then the inverse solution of the end of the
maximum forward direction (about 550mm) at around 16s, and the
operating arm of the robot is obtained. Finally, the different solutions
position reaches the maximum negative direction (about -810mm) at
obtained are put into the forward kinematic equation to determine

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about 12s. As shown in Fig. 5, the movement trajectory curves of each -100.00). The inverse kinematics equation is used to calculate the
joint axis and the end parts of the polishing robot constructed in this angles of each joint of the robot arm at the three path points, and the
study present a continuous and smooth change trend, without any results are shown in Table IV.
sudden change, which indicates that when the robot manipulators
move, the joints and connecting rods present a stable and non-violent TABLE IV. Joint Angles At Different Path Points
movement trend [27]. This also verifies the reliability of the mechanical Joints Starting point X1 Middle point X2 End point X3
structure of the polishing robot designed in this study. Finally, all can 1(°) -6.45 -10.73 -6.33
return to the starting position. The displacement of the end piece is 2(°) -5.76 -0.58 21.19
calculated as (550.8mm, 400.5mm, -80.1mm), and the joint angles are 3(°) -19.20 -13.41 2.73
θ1=0°, θ2=-90°, θ3=-180°, θ4=0°, θ5=0°, θ6=0°, θ7=-90°, respectively. It is 4(°) 29.33 13.85 -6.61
put into the kinematic equation constructed in this study, and the 5(°) -30.00 -50.00 -80.00
position coordinates obtained after calculation are consistent with the 6(°) -11.56 -0.75 21.50
detection results, which reflects that ADAMS software is used for the 7(°) 36.08 60.70 85.61
simulation analysis of the polishing robot operating arm, with high
accuracy and reliability [28]. After the command program is input into MARLAB software,
the angle curves and angular velocity curves of each joint axis are
300 calculated and obtained. The results are shown in Fig. 6. From the
Axis 1 Axis 2
Axis 3 Axis 4
simulation curve diagram, it can be intuitively observed of the changes
200 Axis 5 Axis 6 in the angle and angular velocity of each joint axis in the whole process
Axis 7
from the starting point of path planning to the middle point and finally
100 to the end point. It can be concluded from Fig. 6A that the rotation
Angel (deg)

angle of joint pumping 1 changes gently, while the rotation angle of

joint axis 2, 3, and 7 increases gradually, and the rotation angle of joint
0
axis 4, 5, and 6 decreases gradually. As shown in Fig. 6B, taking the
time to reach the intermediate point as the node (2.5s), the angular
-100 velocity of different joint axes at this point shows obvious changes,
but the angular velocity of both the starting and ending positions is 0.
-200
0 5 10 15 20 25 2.5
Time (s) Axis 1 Axis 2
2.0 Axis 3 Axis 4
(a) Axis 5 Axis 6
1.5 Axis 7

800 1.0
Corner (rad)

0.5
400 0.0
Length (mm)

0 -0.5
-1.0
-400 -1.5
End piece 1 0 1 2 3 4 5
-800 End piece 2 Time (s)
End piece 3
(a)
0 5 10 15 20 25 1.5
Time (s) Axis 1 Axis 2
1.2 Axis 3 Axis 4
(b) Axis 5 Axis 6
0.9
Angular velocity (rad/s)

Axis 7
Fig. 5. The curve diagram of the rotation angle of the joint axis of the robot 0.6
manipulator arm and the displacement of the terminal part with time based
on ADAMS software. Note: (a) is the curve diagram of the rotation angle of 0.3
joint axis changing with time; (b) is the curve graph of displacement of the
terminal piece changing with time.
0.0
-0.3
C. Simulation of Trajectory Planning of the Robot Operating Arm -0.6
MATLAB is the software often used for trajectory analysis -0.9
simulation, which can be directly generated through programming data
curve. The Robotic toolbox can be used to simulate track planning, and
0 1 2 3 4 5
Time (s)
then output the relevant data curve. And for some special difference
function, VC++ and other programming can be used to automatically (b)
generate the trajectory of the simulation program [29], [30]. MATLAB Fig. 6. The path planning simulation results of the polishing robot operating
software is used to generate the movement trajectory of the polishing arm. Note: A is the angle curve of each joint axis of the robot operating arm;
robot operating arm. The starting point X1 coordinate is set as (17.32, B is the angular velocity curve of each joint axis of the robot operating arm.
-100.00, 99.09), the intermediate point X2 coordinate is (92.17, -100.00,
79.37), and the termination point X3 coordinate is (54.88, -100.00, Taking joint axis 1 as an example, the change trends of angular

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displacement and angular velocity before and after optimization are TABLE V. Comparison of the Time to Reach the Polishing Position
compared, and the results are shown in Fig. 7. It can be concluded Before and After Optimization
from Fig. 7A and Fig. 7B that under the premise of satisfying each Time (s) t1 t2 t3 t4 t5 Total
constraint condition, the changes of angular displacement and angular Before optimization 7.41 2.38 15.17 4.99 15.19 45.14
velocity of the optimized joint axis 1 are continuous smooth curves. After optimization 4.22 3.19 7.29 3.95 9.28 27.93
Both the angular displacement and angular velocity curves of the joint
axis 1 before optimization show a certain degree of mutation, and the
IV. Conclusion
time to reach the maximum displacement and angular velocity of the
joint axis 1 before optimization is longer than that after optimization. In order to explore the effect of cubic polynomial interpolation in
Based on cubic polynomial interpolation, Walambe et al. realized the polishing robot path optimization, in the study, firstly, a 7-degree-
planning of vehicle prototype motion trajectory, and obtained the of-freedom articular polishing robot operating arm system is
continuous, smooth, and optimized path trajectory, which is basically constructed. The d-h method is introduced to construct the kinematic
consistent with the results of this study [31]. model of the manipulator system. The kinematic model of the
robot manipulator is simulated and analyzed by ADAMS software.
-0.10 It is found that the kinematic model of the robot operating arm is
Before optimization After optimization
accurate. Then, the trajectory of the robot is planned based on cubic
-0.12 polynomial interpolation. Finally, MATLAB software is used for
simulation and verification, and it is found that it could accurately
Axis1 corner (rad)

-0.14 show the displacement and angular velocity changes of the robot end
parts. Moreover, the path planning of polishing robot is carried out
using cubic polynomial interpolation method, which can effectively
-0.16 reduce the time to reach the polishing position compared with the
unoptimized method. However, only simulation software is analyzed
-0.18 to carry out simulation tests, and subsequent application analysis is
needed to verify the reliability of the polishing robot operating arm
-0.20 system proposed in this study. To sum up, the results of this study
0 1 2 3 4 5 can provide theoretical basis for improving the working efficiency of
Time (s) polishing robot.
(a)
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fine art. His research interests include digital media art,
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multistage centrifugal pumps, Periodica Polytechnica Mechanical
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