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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:
![](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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采纳的回答
Yiping Liu
2021-7-20
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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更多回答(1 个)
Karsh Tharyani
2021-7-16
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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