What is the purpose of 'path smoothing' in robot trajectory planning?

The purpose of 'path smoothing' in robot trajectory planning is primarily to reduce wear on mechanical components and ensure efficient movement. When a robot follows a trajectory that includes abrupt changes in direction or speed, it can lead to increased mechanical stress on its joints and motors. This stress can cause premature wear and may also lead to diminished performance over time. By implementing path smoothing techniques, the trajectory becomes more continuous and gradual, providing smoother transitions in motion. This not only extends the lifespan of the robot's mechanical components but also enhances overall performance and energy efficiency, leading to more reliable and effective operation.

In the context of trajectory planning, while aspects such as speed, visualization, and aesthetic appeal may be important, they are secondary to the primary goal of optimizing the robot's operational efficiency and mechanical longevity through smooth movement.