# derivative

Time derivative of manipulator model states

## Syntax

## Description

computes the time derivative of the motion model based on the current state and motion
commands using a task-space model.`stateDot`

= derivative(`taskMotionModel`

,`state`

,`refPose`

,`refVel`

)

computes the time derivative of the motion model based on the current state and motion
commands using a joint-space model.`stateDot`

= derivative(`jointMotionModel`

,`state`

,`cmds`

)

computes the time derivative based on the current state, motion commands, and any 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**