Controlling robot makes a shaking movement - coordinates

Question

Im trying to control a robot by sending positions with 100hz. It's making a shaking movement when sending so much positions. When I send 1 position that is like 50 mm from his start position it moves smoothly. When I use my sensor to steer,(so it send every position from 0 to 50mm) it is shaking. I'm probably sending like X0-X1-X2-X1-X2-X3-X4-X5-X4-X5 and this is the reason why it might shake. How can I solve this making the robot move smoothly when I use my mouse to steer it?
Robot is asking 125hz
IR sensor is sending 100hz
Otherwise does the 25hz makes the diffrent?
Here is my code.
while(true)
// If sensor 1 is 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 the sensor gets further then the workspace, it will automaticly correct it to 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;
}
}
// This is the actually command send to a robot.
Gcode = String.format( "movej(p[0.%d,-0.%d, 0.%d, -0.5121, -3.08, 0.0005])"+ "\n", coX1, coY1, coY2);
//sends message to server
send(Gcode, out);
System.out.println(Gcode);
newdata = false;
}
}
private static void send(String movel, PrintWriter out) {
try {
out.println(movel); /*Writes to server*/
// System.out.println("Writing: "+ movel);
// Thread.sleep(250);
}
catch(Exception e) {
System.out.print("Error Connecting to Server\n");
}
}
}
# Edit
I discovered on wich way I can do this. It is via min and max. So basicly what I think I have to do is:
* put every individual coordinate in a array( 12 coordinates)
* Get the min and max out of this array
* Output the average of the min and max

Answer 1

Without knowing more about your robot characteristics and how you could control it, here are some general considerations:
To have a smooth motion of your robot, you should control it in speed with a well designed PID controller algorithm.
If you can only control it in position, the best you can do is monitoring the position & waiting for it to be "near enough" from the targetted position before sending the next position.
If you want a more detailed answer, please give more information on the command you send to the robot (movej), I suspect that you can do much more than just sending [x,y] coordinates.