Dual encoder robot joints are becoming increasingly important in high-performance robotics. But adding a second encoder is not simply a matter of installing another sensor. The real purpose is to answer two different questions: How much has the motor moved? and How much has the robot joint actually moved? In a robot joint module consisting of a frameless torque motor, precision reducer, encoder and output flange, the motor-side encoder can accurately measure motor position and speed. However, the actual joint output can still be affected by transmission error, torsional deformation, friction, thermal drift, assembly tolerances and changes in external load. This is why a dual encoder robot joint can provide a more complete feedback architecture. One encoder monitors the motor side, while the other measures the joint output side. Together, they allow the controller to observe both the motor dynamics and the actual joint position.

This article highlights seven leading global robot joint actuator providers, including Harmonic Drive Systems, Kollmorgen, Maxon, Midea Industrial Technology (Welling), HONPINE, Laifual Drive, and CubeMars.

This article provides a comprehensive overview of the HONPINE HAG harmonic drive robotic actuator unit with torque sensor, including its functions, advantages, disadvantages, and application value.

The newly launched HONPINE HAG harmonic drive robot joint actuator has attracted widespread attention since its release in March 2026 due to its outstanding performance parameters. This article will explain how to select the HONPINE HAG harmonic drive robot joint actuator.