coordinates - Controlling robot makes a shaking movement -

im trying control robot sending positions 100hz. it's making shaking movement when sending positions. when send 1 position 50 mm start position moves smoothly. when use sensor steer,(so send every position 0 50mm) shaking. i'm sending x0-x1-x2-x1-x2-x3-x4-x5-x4-x5 , reason why might shake. how can solve making robot move smoothly when use mouse steer it?

• robot asking 125hz
• ir sensor sending 100hz
• otherwise 25hz makes diffrent?

here code.

        while(true)         // if sensor 1 recording ir light.         if (listen1.newdata = true)         {              cox1 = (int) listen1.get1x();           //              coy1 = (int) listen1.get1y();                    newdata = true;         } else {             cox1 = 450;             coy1 = 300;         }          if (listen2.newdata = true)         {                    cox2 = (int) listen2.get1x();             coy2 = (int) listen2.get1y();             newdata = true;          } else {             coy2 = 150;         }         // if sensor gets further workspace, automaticly correct these          // coordinates.          if (newdata = true)         {             if (cox1< 200 || cox1> 680)             {                 cox1 = 450;             }             if (coy1<200 || coy1> 680)             {                 coy1 = 300;             }             if (coy2<80 || coy2> 300)             {                 coy2 = 150;             }         }         // command send robot.         gcode = string.format( "movej(p[0.%d,-0.%d, 0.%d, -0.5121, -3.08, 0.0005])"+ "\n", cox1, coy1, coy2);          //sends message server         send(gcode, out);                  system.out.println(gcode);             newdata = false;          }   }   private static void send(string movel, printwriter out) {      try {            out.println(movel); /*writes server*/         // system.out.println("writing: "+ movel);         // thread.sleep(250);          }           catch(exception e) {          system.out.print("error connecting server\n");          }          } } 

@ edit

i discovered on wich way can this. via min , max. basicly think have is: * put every individual coordinate in array( 12 coordinates) * min , max out of array * output average of min , max

without knowing more robot characteristics , how control it, here general considerations:

to have smooth motion of robot, should control in speed designed pid controller algorithm.

if can control in position, best can monitoring position & waiting "near enough" targetted position before sending next position.

if want more detailed answer, please give more information on command send robot (movej), suspect can more sending [x,y] coordinates.