Computer control of a robot arm's motion requires kinematic algorithms for relating the state of a particular arm's joints to the position and orientation of its tool in three-dimensional space. To design such algorithms requires mathematical formulation of the kinematics of the arm. The resulting long, tedious algebraic manipulations suggest...
A high-swing, high-linearity Class-AB CMOS
operational amplifier suitable for high speed
application is presented. It does not exhibit large-signal
slewing effects as do others; its output current
is limited by MOSFET aspect ratios and the total power
supply voltage. A rail-to-rail common-mode input range
is achieved by a topology which...