Issue Section:
Technical Briefs
Keywords:
manipulators, telerobotics, Nyquist criterion, closed loop systems, multivariable control systems
Topics:
Closed loop systems, Control systems, Manipulators, Stability

Contributed by the Dynamic Systems and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division, February 2002; final revision, July 2002. Editor: G. Ulsoy.

Appendix A in 1 describes a condition for stability of a telerobotic system using the multivariable Nyquist criteria derived in 2. In order to guarantee the stability of the closed loop system, Eq. (A1) in Appendix A of Ref. 1 must be guaranteed as written below:
(1)

The condition ∀ε∈[0,1] is missing in Appendix A of Ref. 1 and is added here. This condition states that as...

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