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:
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.
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Yiping Liu
2021-7-20
1 个投票
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.
, the whole term (not just the C part) represents the centrifual and coriolis forces.更多回答（1 个）
Karsh Tharyani
2021-7-16
0 个投票
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
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