Velocity Product Torque Notation

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Juraj Lieskovský
Juraj Lieskovský 2021-7-16
回答： Yiping Liu 2021-7-20
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.

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Yiping Liu
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.

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Karsh Tharyani
Karsh Tharyani 2021-7-16
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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