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Time derivative of manipulator model states

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`

)