[{"data":1,"prerenderedAt":89},["ShallowReactive",2],{"\u002Fglossary\u002Fdual-absolute-encoder":3},{"id":4,"title":5,"alternateName":6,"body":7,"description":79,"extension":80,"keywords":81,"meta":82,"navigation":83,"path":84,"seo":85,"stem":86,"updated":87,"__hash__":88},"glossary\u002Fglossary\u002Fzh\u002Fdual-absolute-encoder.md","双绝对值编码器","Dual Absolute Encoder",{"type":8,"value":9,"toc":73},"minimark",[10,15,28,33,40,62,65],[11,12,14],"h1",{"id":13},"双绝对值编码器是什么","双绝对值编码器是什么？",[16,17,18,21,22,27],"p",{},[19,20,5],"strong",{},"是高端",[23,24,26],"a",{"href":25},"\u002Fglossary\u002Fjoint-motor","关节电机","的编码器配置：在电机转子（输入端、减速前）与关节输出法兰（输出端、减速后）各布置一颗绝对值编码器，两端同时直接测量角度。",[29,30,32],"h2",{"id":31},"为什么需要两颗","为什么需要两颗？",[16,34,35,36,39],{},"只在电机端装编码器时，输出角度要靠\"电机角度 ÷ 减速比\"推算，而减速器的背隙、弹性形变与装配误差都会让推算值偏离真实关节角度。输出端编码器则",[19,37,38],{},"直接测量减速后的真实角度","，闭环控制建立在真值之上：",[41,42,43,50,56],"ul",{},[44,45,46,49],"li",{},[19,47,48],{},"控制精度更高","：消除背隙与形变造成的角度误差；",[44,51,52,55],{},[19,53,54],{},"上电免归零","：绝对值编码器断电后仍保留绝对位置，开机即知关节姿态，无需回零标定流程；",[44,57,58,61],{},[19,59,60],{},"双端冗余","：输入\u002F输出角度互相校验，可检测减速器打滑等异常。",[29,63,64],{"id":64},"实现方式",[16,66,67,68,72],{},"BXI ",[23,69,71],{"href":70},"\u002Fmotors\u002Fadvanced-motors","85\u002F70\u002F50 系列关节电机","全系采用磁式编码器测输入端、电感式编码器测输出端的组合，两种感测原理互不干扰，在紧凑结构内实现真双编码闭环。",{"title":74,"searchDepth":75,"depth":75,"links":76},"",2,[77,78],{"id":31,"depth":75,"text":32},{"id":64,"depth":75,"text":64},"双绝对值编码器指在关节电机的输入端与输出端各布置一颗绝对值编码器，直接测量减速后的真实关节角度，实现高精度闭环与上电免归零。","md","双绝对值编码器, 绝对值编码器, 关节角度测量, 上电免归零",{},true,"\u002Fglossary\u002Fzh\u002Fdual-absolute-encoder",{"title":5,"description":79},"glossary\u002Fzh\u002Fdual-absolute-encoder",null,"LDCsQI5TuEPT7CID_XS9ZkS-ZoP4Tt49KBE0JFD9jDs",1783425866754]