Something about the movement does not seem right. How to I make the movement more robotic?
You are right, it’s unrealistically smooth. One thing to try: in Graph editor, select the rotation f-curves and move the handles closer to the key frame points. That way you get a quicker acceleration. Also you might put some more intermediate key frames in to introduce some more “jerkiness” - is that a word? Anyway I think you might also stagger rotation start and end points for each axis also, so the turret starts to turn either before or after the barrel has started to move. Just a few ideas to look at.