Velocity Product Torque Notation

4 visualizzazioni (ultimi 30 giorni)
Juraj Lieskovský
Juraj Lieskovský il 16 Lug 2021
Risposto: Yiping Liu il 20 Lug 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:
I'd be interested to know the reasoning behind this notation although it does not effect the use of the block.

Risposta accettata

Yiping Liu
Yiping Liu il 20 Lug 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.

Più risposte (1)

Karsh Tharyani
Karsh Tharyani il 16 Lug 2021
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

Prodotti


Release

R2021a

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Translated by