Which positional inaccuracy arises when a robotic arm’s quadrature encoder misinterprets rapid rotational direction changes?

💡 Explanation

Overshoot during rapid braking occurs because the quadrature decoder’s state transition errors cause miscounting: *positional drift during deceleration*. The controller overestimates how far the arm has moved, therefore commanding insufficient counter-torque, rather than velocity errors under constant motion.

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