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Most of the motors has this curve, let's map the axis as an example:
map in x's axis, 8.7 -> 5kgf (1.67kgf at 3cm radius) -> 1.5kgf would be 90%.
map in y's axis 100rpm -> 150rpm (take 100 as percentage)
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Supposing increasing 1% in torque is a decreasing of 1% in velocity (with axis as percentages of the maximum)
Then you would have 10% of the 150rpm maximum, it is 15rpm, with 3cm would be 15*2$\pi$*0.03/60= 0.04712m/s upward.
With your motor capacities of 3kgf you would be using 100% of the torque, then 0% of velocity.
This is a linear approximation, the motors have a dead zone so be sure that your percentage velocity isn't inside that dead zone (in which the motor wouldn't move on because of static friction), I had a pololu motor with 1.8kgf it was 20% dead zone as reference specially if it has weight on it.
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