I replaced upper and lower ball joints and along the way broke and replaced a speed sensor. ABS light now comes on during breaking when the speed goes below 15 mph, feel a shutter in the pedal as if the ABS is trying to work. Replaced the pads and rotors also, still no luck. No error code comes up with my hand held analyzer although the ABS warning light stays on.

 

Welcome to the forum. Most OBD scanners won't read ABS trouble codes. There're several sub-$200 scanners that can nowadays. Also, some ABS-only scanners are now on the market.