#robotic arm

I'm having some trouble getting my robotic arm to calibrate properly... I've tried adjusting the joint limits and recalibrating the sensors, but it's still not moving smoothly. Has anyone else run into this issue?? I've been following the instructions to the letter, but maybe I'm missing something. I've also noticed that the arm is being a bit jerky when it moves, which is weird because I've got the acceleration and deceleration values set pretty low. What am I doing wrong?? Should I be looking at the motor controllers or is it a software issue??