Sometimes, solving one problem seems to create a dozen more, and getting the robot firmly anchored to a surface is such an instance. It is necessary to bolt the thing down as we have already discovered, but then the stresses and strains on the whole assembly increase by an order of magnitude, as we have taken away all the ‘give’.
Now the robot is well anchored, the explosive movements are more exaggerated, and seem to have the potential to pull the arm apart (at least, to rip the turntable off the base). So you start to use the software more carefully, making sure to start the robot off in a known position, and from there to make movements which happen in a reasonable amount of time, i.e. slowly! But then you find that the motors don’t actually work so well when running slow.