A joint encoder is a sensor mounted at a robot joint that measures angular or linear position, and often velocity, of that joint. It provides the proprioceptive feedback required for closed-loop position and motion control of articulated mechanisms. Encoders may be optical, magnetic or capacitive and are typically classed as incremental or absolute.
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- Incremental encoders report relative motion and require homing, whereas absolute encoders retain position through power cycles. The resolution and accuracy of joint encoders directly determine a robot’s repeatability and trajectory-tracking performance, making them essential components of every servo-controlled axis.