Velocity Product Torque Notation

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.

Answer 1

[Yiping Liu]

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.

Answer 2

[Karsh Tharyani]

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,

Karsh