[Harshizzle]

Our robot has two different articulated arms moving up and down, and a majority of the weight on them is far from the live axles. We are using a PID loop to keep the arms in a stable position, but we are looking for ways to make the actual movement more smooth. Right now they jerk around.

They are both powered by encoded motors.

I wanted to ask how other teams get such smooth movement with their manipulators