How to make graphics move fluidly around screen?

hi,
I'm making a simple space invaders game using JPanel and have so far made the ship and aliens move around the screen (the aliens move automatically, the ship requires key presses).
The ship and aliens are currently simple java 2D shapes and I've used AffineTransform to move them. The problem is the movements aren't fluid. Can someone give me some pointers (possibly some simple code) to make the various objects move fluidly.
Thanks

Don't transform them just move them

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How to make graphics move fluidly around screen?

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