Hooked to an Arduino, the motor made a workable encoder, later improved by sending each phase through a comparator and using digital inputs rather than using the Nano’s ADCs.

Commercial shaft encoders use magnets and Hall-effect sensors, or optical sensors and encoder discs. But these can be quite expensive, so [Hello1024] hacked together an alternative in an afternoon.

Rotary encoding is a common mechanism for the delivery of accurate speed, acceleration, and position of the motor rotor. Rotary encoders are commonly deployed in the closed-loop rotor systems used in ...

Torque motors produce high torque at stall and can have high dynamic stiffness. However, the motor alone does not determine dynamic stiffness or precision. To exploit the full benefits of direct-drive ...