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Which issue arises when stepper motor encoders fail?

A)Position estimate becomes less accurate
B)Motor speed increases substantially
C)Decreased current and overheating risk
D)Communication bus system completely freezes

💡 Explanation

Failed encoders disrupt closed-loop control via Kalman filtering because an accurate feedback signal containing rotor position is lost, therefore the robotic joint drifts from its programming, rather than maintaining the specified trajectory.

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