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Velocity Product Torque Notation
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Juraj Lieskovský
on 16 Jul 2021
Answered: Yiping Liu
on 20 Jul 2021
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:
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/686138/image.png)
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/686143/image.png)
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/686148/image.png)
I'd be interested to know the reasoning behind this notation although it does not effect the use of the block.
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Accepted Answer
Yiping Liu
on 20 Jul 2021
Juraj,
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.
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/690663/image.png)
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More Answers (1)
Karsh Tharyani
on 16 Jul 2021
Hi Juraj,
Given the equation of motion
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/686538/image.png)
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/686543/image.png)
![](https://www.mathworks.com/matlabcentral/answers/uploaded_files/686548/image.png)
Hope this helps,
Karsh
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