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Help sought with actuator jitter on 6-DOF motion-control camera

A freelance filmmaker's DIY 6-DOF motion-control camera uses Robstride actuators running in MIT mode on an STM32, and now shows noticeable vibration and jitter when the J2/J3 joints move together under load. The author has tried implementing a cogging-torque compensation table and a gravity model but has not resolved the jitter; the arm is usable for stop-motion scenarios, but motion smoothness still falls short of requirements, and the author is asking the community for suggestions.

Part of the event: Help Needed: Jitter Issue in DIY 6-DOF Motion Control Camera

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