Always remember that by default the movement between keyframes is a smooth curve. That means that an object will begin moving at once and may go farther than you expect. The method I use (because of the software I learned on) is to place extra keyframes in place to shape the spline, so I add a keyframe maybe 2 frames earlier than the hand pick up , and the curve stays flat for that section , and the can stays in place. You can also change the interpolation mode .

You may also want Break spline , for use where movements change direction , to avoid overshoot.

This is all in the Poser manual pdf in the animation section, have a read  .