I am playing around with a set up (large motor with AS5047 in ABI mode) with a goal of responding to dynamic loads. From this context I am interested in precise and low delay acquisition of acceleration, jerk and impedance. What options do I have? Would I need an accelerometer with wireless data link or just a really good encoder (23bit Tamagawa absolute) with fancy observers/estimators? Had anyone attempted this before?
@Jorge did you get to play with the load observer you proposed in Does Odrive have a load observer + feedforward for compensation of changing loads? ?