MX-64 Cartesian Trajectory Planning

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  1. State the model of servo you are using.
    3*MX_64

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  3. Describe your control environment. This includes the controller or interface, computer and OS, and any power source you are using
    I am using Labview, Dyanmxiel SDK, protocol 2.0 Labview block.

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baud rate is 57600

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  1. Specify the operating mode you are using, for applicable models.
    I am using position mode for three MX-64

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  3. Include pictures if possible. This can help our members see how wires are connected, how hardware is installed, or to identify other possible issues.
    9125d011bc3c51b0a51ed605e8bc064
    My target is make a endpoint of my robot move following straight line, not arbitrary movement.
    I designed a Cartesian space trajectory planning and
    step1: create the points(array) with inverse algorithm-> joint Pos (array)
    step2: release joint pos every 50ms to Mx-64
    But in the real experiment, when robot move, there are very big joggle in each motor.
    On the another hand, without Cartesian trajectory planning,
    I just control each joint by position mode,
    there are smooth.

so what is the potential problem with this, I believe you have some application which is operating in Cartesian space, could you give me some advice.
thanks a lot!!

9125d011bc3c51b0a51ed605e8bc064