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In order to optimize the performance of the palletizing robot, one circle trajectory planning algorithm is introduced in this paper. Firstly, to reduce the sudden discontinuous change of the robot, which induces vibrating, overshoot and settling time of the working, speed, acceleration and deceleration are considered. Secondly, one cubic polynomial function is applied, based on that, one smooth (what kind of) trajectory is obtained. Lastly, the cycle performance exhibits the continuous motion curves by the simulation results. The maximum speed of the palletizing task is also increased by the proposed algorithm. In addition, the results of the simulation show the effectiveness and the applicable of the methods for the industrial applications.