Firstly, the obvious stuff, is the needle blunt? This will caused skipped stitches; a needle is good for about 4-6 sewing hours or one project so needs to be changed regularly.
However, if you have already checked that; then it is possibly a case of the timing being slightly out on the needle bar vs rotary hook rotation.
If you look at this link, you'll see images relating to hook timing
http://www.sewusa.com/Sewing_Machine_Repair/Sewing%20Machine%20Hook%20Timing.htm
It is something that can be tackled yourself if you want to have a go. But if the machine hasn't been serviced for a while, then its probably worth taking it in for a professional service and timing as the tech can check all the settings and clean and lube internally.
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