Can you believe it? The motor says it’s there—but the robot joint may not be. That’s why high-performance joints use dual encoders: one on the motor side for rotor feedback, precise commutation, and speed control; one on the output side to measure where the joint actually turned. It catches backlash, elastic deformation, and load errors, while an absolute output encoder keeps position after power-off—no re-homing needed. Motor-side = power accuracy. Output-side = result accuracy.

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