MX-64 Cartesian Trajectory Planning

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    I am using Labview, Dyanmxiel SDK, protocol 2.0 Labview block.

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    I am using position mode for three MX-64

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    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!!