[{"data":1,"prerenderedAt":92},["ShallowReactive",2],{"\u002Fen\u002Fglossary\u002Fdual-absolute-encoder":3},{"id":4,"title":5,"alternateName":6,"body":7,"description":82,"extension":83,"keywords":84,"meta":85,"navigation":86,"path":87,"seo":88,"stem":89,"updated":90,"__hash__":91},"glossary\u002Fglossary\u002Fen\u002Fdual-absolute-encoder.md","Dual Absolute Encoder","双绝对值编码器",{"type":8,"value":9,"toc":76},"minimark",[10,15,30,35,42,64,68],[11,12,14],"h1",{"id":13},"what-is-a-dual-absolute-encoder","What Is a Dual Absolute Encoder?",[16,17,18,19,23,24,29],"p",{},"A ",[20,21,22],"strong",{},"dual absolute encoder"," configuration is the encoder architecture of high-end ",[25,26,28],"a",{"href":27},"\u002Fen\u002Fglossary\u002Fjoint-motor","joint motors",": one absolute encoder on the motor rotor (input side, before reduction) and one on the output flange (output side, after reduction), measuring angle directly at both ends.",[31,32,34],"h2",{"id":33},"why-two-encoders","Why Two Encoders?",[16,36,37,38,41],{},"With only a motor-side encoder, output angle must be inferred as \"motor angle ÷ reduction ratio\" — and gearbox backlash, elastic deformation, and assembly tolerance all pull that estimate away from the true joint angle. An output-side encoder ",[20,39,40],{},"measures the real post-reduction angle directly",", so the control loop closes on ground truth:",[43,44,45,52,58],"ul",{},[46,47,48,51],"li",{},[20,49,50],{},"Higher precision",": angle errors from backlash and deformation are eliminated.",[46,53,54,57],{},[20,55,56],{},"Zero-calibration startup",": absolute encoders retain position through power loss, so the robot knows every joint pose at power-on with no homing routine.",[46,59,60,63],{},[20,61,62],{},"Redundancy",": input and output angles cross-check each other, catching anomalies such as gearbox slip.",[31,65,67],{"id":66},"implementation","Implementation",[16,69,70,71,75],{},"The BXI ",[25,72,74],{"href":73},"\u002Fen\u002Fmotors\u002Fadvanced-motors","85\u002F70\u002F50-series joint motors"," pair a magnetic encoder on the input with an inductive encoder on the output — two sensing principles that don't interfere — achieving true dual-encoder closed loop in a compact package.",{"title":77,"searchDepth":78,"depth":78,"links":79},"",2,[80,81],{"id":33,"depth":78,"text":34},{"id":66,"depth":78,"text":67},"A dual absolute encoder setup places one absolute encoder at the joint motor input and another at the output, directly measuring true post-reduction joint angle for precise closed-loop control and zero-calibration startup.","md","dual absolute encoder, absolute encoder, joint angle sensing, zero calibration startup",{},true,"\u002Fglossary\u002Fen\u002Fdual-absolute-encoder",{"title":5,"description":82},"glossary\u002Fen\u002Fdual-absolute-encoder",null,"G9sod0p6BHMaU_XSx7PUCyIPIdnjXMM1pHPzOdRf-WM",1783425867238]