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Velocity Product Torque

Joint torques that cancel velocity-induced forces

  • Library:
  • 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.



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Robot configuration, specified as a vector of positions for all nonfixed joints in the robot model, as set by the Rigid body tree parameter. You can also generate this vector for a complex robot using the homeConfiguration or randomConfiguration functions inside a Constant or MATLAB Function block.

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.


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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.


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Robot model, specified as a RigidBodyTree object. You can also import a robot model from an URDF (Unified Robot Description Formation) file using importrobot.

The default robot model, twoJointRigidBodyTree, is a robot with revolute joints and two degrees of freedom.

Extended Capabilities

C/C++ Code Generation
Generate C and C++ code using Simulink® Coder™.

Introduced in R2018a