visualise it before you do it.
close your eyes and enjoy a bit of zen... imagine the run in, up the transition, lofting air, tweaking a grab and softly landing back on the ground.
then go. no speed checks, just straight line with as flat a base as possible. keep your legs bent and your weight centred and low. pop a small ollie at the lip and when grabbing, bring your legs up to your body, do not bend your body down to your legs.
indie or mute are nice grabs to start with.... keep an eye on the landing, let go of the grab in good time and extend you legs to abnsorb the landing.
then go do it again.
i try, (rather than staying roped into the confines of the park, or hiking up hill) to find a run of pistes that last as long as possible, so i can hit those little lumps, bumps, lips and jumps at the side of the piste.... you get a nice diversity of take offs and landings and is good practice for enhancing your overall balance.
and rub my belly!