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Unified Robotics I: Actuation

Operational Amplifier

What exactly is an op-amp?

  • Answer
    • A very good voltage amplifier

How much current flows into the inverting input?

  • Answer
    • 0. Current flowing into either of the inputs of an ideal op-amp approaches zero.

Why can we start the KVL loop at non-inverting input?

  • Answer
    • The non-inverting input to the op-amp is also effectively grounded.

What would happen if there was positive feedback instead of negative?

  • Answer
    • With positive feedback an increase in the output would generate an even larger input which in turn would generate a larger output and so on… The output of the op-amp would therefore ‘run away’ so to speak.