Main Content
derivative
Time derivative of manipulator model states
Syntax
Description
computes the time derivative of the task-space motion model based on the current state and
desired end-effector pose and velocities.stateDot
= derivative(taskMotionModel
,state
,refPose
,refVel
)
computes the time derivative of the joint-space motion model based on the current state
and motion commands.stateDot
= derivative(jointMotionModel
,state
,cmds
)
computes the time derivative of the joint-space motion model with external forces on the
manipulator using a joint-space model.stateDot
= derivative(jointMotionModel
,state
,cmds
,fExt
)
Examples
Input Arguments
Output Arguments
Extended Capabilities
Version History
Introduced in R2019b