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You might be driving it to the extreme and that vibration is the gears turning all the way to the extreme
This means that the pot inside the servo is just too sensitive...It happens most of times...
Try different pulses to the servos in a close range...Soon you will find which produces the less noise or no noise!
Do you have any mechanical noise??? or only sound is produced...
Hi,Check for jitter on the servo pulse train, a clean signal shouldn't make the servos vibrate.If that's not the problem, perhaps a small capacitor over the potentiometers wiper to ground side might help - if the potentiometer is causing it. It should be possible to fit an SMD cap inside the unit. Start with a fairly low value like around 0.5 to 1 nF if you want to try this.
Have you considered statics and torques???
In your servo PWM, how much time do you have between pulses?