From your picture, you seem to have what is called 'camera shake', which is caused when you move the camera whilst it is taking a photograph.
You may not notice it, but the camera may move a little when you press the shutter release button - and this appears to be reflected in the image.
I'd suggest that you make sure that the tripod is placed on a firm surface, and that the camera is securely attached. I would also try and use the self-timer so you can simply just hit the shutter release to 'arm' and a few seconds later once you have moved away from the camera, it should take your picture without the shakes.