jerky motion when use velocity control

[liaoyeguo]

I try to control the joint velocity by sending message to /iiwa/command/JointVelocity. However, when the velocity is small, the motion is jerky. There are camera an force sensor on the end-effector and I have already use the LoadData command in the smartPad. Is there anything I can try to get a smoother motion when use velocity control ?

[leitoxve]

I have the same problem to control the robot by Joint velocity, the motion is very jerky. when I post at 1Hz the robot comes and goes back. and at different frequencies sometimes it works well, other times the speed is not constant, for example when I publish pub JointVelocity {a1: 0.0, a2: 0.0, a3: 0.0, a4: 0.0, a5: 0.0, a6: 0.0, a7: 0.1} at 100 Hz initially maintains a good speed but after 5 seconds it continues to move but slows down and then returns to increase the speed