Hardware

Encoder Resolution

Encoder Resolution is the smallest position increment an encoder can distinguish, specified in counts or pulses per revolution for rotary devices, with quadrature decoding quadrupling the base line count. Resolution at the motor is multiplied through the gear ratio at the joint but so is the effect of backlash, and interpolated optical or magnetic encoders reach millions of counts per revolution. Resolution bounds velocity-estimation quality at low speeds.

Why it matters for physical AI

Fine manipulation and smooth force estimation from motor current both hinge on high-resolution joint sensing, and resolution limits show up directly as noise in the proprioceptive streams robot learning datasets record.