Joint torques that cancel velocity-induced forces
Robotics System Toolbox / Manipulator Algorithms
The Velocity Product Torque block returns the torques that cancel the velocity-induced forces for the given robot configuration (joint positions) and joint velocities for the Rigid body tree robot model.
Config— Robot configuration
JointVel— Joint velocities
Joint velocities, specified as a vector. The number of joint velocities is equal to the degrees of freedom (number of nonfixed joints) of the robot.
JointTorq— Joint torques
Joint torques, specified as a vector. Each element corresponds to a torque applied to a specific joint. The number of joint torques is equal to the degrees of freedom (number of nonfixed joints) of the robot.
Rigid body tree— Robot model