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Velocity Product Torque Notation

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Velocity Product Torque in the Robotics System Toolbox is notated as whereas in general terms it is not linearly dependent on and figures throughout literature in EoMs accordingly:
I'd be interested to know the reasoning behind this notation although it does not effect the use of the block.

Accepted Answer

Yiping Liu
Yiping Liu on 20 Jul 2021
If you compare the EOM with the detailed Lagrange formulation, you will find both notations are correct.
If you use the split notation, i.e. , the whole term (not just the C part) represents the centrifual and coriolis forces.

More Answers (1)

Karsh Tharyani
Karsh Tharyani on 16 Jul 2021
Hi Juraj,
Given the equation of motion
are the Coriolis terms, which when multiplied by results in the velocity product calculated by velocityProduct.
Hope this helps,




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