But why didn’t you use movej?
Maybe you can say, that one should use movej normally, and if the results are not satisfactory, then try servoj? Because you have more control over the “smoothness” (whatever this means) when using dense trajectories(=many coordinates)?
This would mean you replace the built-in interpolation and control-loop offered with movej by some kind of own interpolation (many coordinates) and control-loop(by setting t and lookahead)!?
To me this seems very “special”. Or is the UR built-in interpolation and control loop so unusable?