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The position_controllers are too simple and in my opinion only good for initial testing. My experience with position_controllers is that they ramp all the joint velocities down to 0 at each waypoint. This causes the stuttering movement you see.

If your arm supports either the velocity_controllers or effort_contollers AND your JointTrajectory message specifies a joint velocity for each waypoint AND you set reasonable PID values for the control loop, the overall movement should be much smoother.