What is the return value of this function when using the function: velocityProduct in the Robotics System Toolbox?

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Zhilin xu
Zhilin xu on 14 Mar 2023
We know the dynamics model of the robot arm as follows：
Notice that the official documentation has this description of this function：
This makes me very confused. Is the return value of velocityProduct or -?
Why is the addition of a negative sign emphasized?

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