Daz
I have shaky hands too, (PITA!) but have bought a mega modelling thingy with crocodile clips which has improved my soldering massively. Below is a link to it on amazon, though I got mine for £5 in a local hardware store. (Silverline tools version) I don't use the magnifying glass very often, but the croc clips are ace for holding stuff exactly where you want it.
I only use the basic Core RC soldering Iron and Schumacher solder and have soldered ESC's, motors, connectors etc no problem. Keep a wet/damp sponge (kitchen scourer will do) nearby and whenever the iron gets dirty/too loaded with solder, just wipe it over the sponge. (it'll burn the sponge a bit but don't worry, keeps iron clean a treat)
Have a look...you'll have spare hands! HTH
http://www.amazon.co.uk/Accmart-Heav...ing+Bench+Tool