Thanks Jon, it was fun to see that the reference for the article was a Sams book from 1977. Back then one of the toughest design issues was how expensive, or difficult it was to obtain precision capacitor values. We use the same circuits today and don't think twice about buying 5% capacitors.
Unlike industrial robots, which suffered a slight overall slump in 2012, service robots continue to be increasingly in demand. The majority are used for defense, such as unmanned aerial vehicles (UAVs); and agriculture, such as milking robots.
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