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Jerky Servo Motion

I started working with a JD robot a couple of days ago. I am looking to create fluid motion from pose to pose.

I am programming the motion via the Script Collection (Python). This is resulting in a relatively smooth motion at a constant speed, but I would like to create acceleration or motion profiles to make the motion look more lifelike. Below is my python code to wave

Code:

shoulder = 3
bicep = 4
elbow = 5
grip = 6

def moveServo(port, pos, speed=0):
Servo.SetSpeed(port, speed)
Servo.SetPosition(port, pos)


def wave(iter=0):
moveServo(elbow, 50, 1)
moveServo(grip, 70, 1)
moveServo(bicep, 70 if iter == 0 else 110, 3)
sleep(400)
moveServo(elbow, 0, 1)
moveServo(grip, 90, 1)
moveServo(bicep, 90, 3)
sleep(400)

def armhome():
moveServo(elbow, 90, 2)
moveServo(bicep, 20, 2)
moveServo(grip, 90, 2)
moveServo(shoulder, 90, 2)

moveServo(shoulder, 0)
moveServo(elbow, 0)
moveServo(grip, 90)
moveServo(bicep, 90)
sleep(1000)

wave()
wave(1)
sleep(1000)
armhome()
sleep(3000)


I have also messed around with creating motion in a "Robot Skill" via a c# workflow. I've noticed the motion from servos in this is very jerk though. Below is a snippet of my code from that:

Code:

private void button1_Click(object sender, EventArgs e)
{
ARC.LogManager.Log("clicked the button!");
ARC.EZBManager.EZBs[0].Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D0, 10);
Thread.Sleep(1000);
ARC.EZBManager.EZBs[0].Servo.SetServoPosition(EZ_B.Servo.ServoPortEnum.D0, 170);
}

My questions are:
1. Can you adjust the speed of the servos with numbers with decimals in either python or c#? i.e. 1.5 speed instead of 1 or 2?
2. Is there a better way to control servos in C# such that the motion will be more smooth?
3. Are there some other ways to control the servos which may result in more fluid, life-like motion that I haven't thought of?

Thank you in advance.


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