1.2.6.2.5 Encoder accuracy
When mounted properly, the encoder allows for high accuracy which guarantees not only the precise
positioning of the actuator but also reduces encoder-based distortions in the control loop and leads to
vibration-free motion.
A precise encoder allows to achieve:
faster reaction time,
sharper position and velocity loops tuning,
better tracking of the dynamic trajectories.
In this section the main encoder error types will be considered:
Wide angle error
Narrow angle error
The following figure shows a typical behavior before Wide angle calibration:
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