AutoCAD Inventor :: 6-axis Robot Animation

I'm trying to animate a 6-axis robot in Inventor 2012 Pro, which moves to about 10 different locations.  I'm using parameters to drive the constraints to position the wrist, and I have several different positional representations with unsuppressed / modified constraints.  When I try to animate between the positional reps in IV Studio, the parts just snap into place instead of interpolating between each location.  Also, I have to manually enter the timing for each step, instead of just entering the max angular velocity of each joint.

Would it be easier to create the animation in dynamic simulation using a spatial joint at the wrist?  I'd like for the positions to still be modifiable through the parameters.