MATLAB Source Code for Symbolic Hyper-State Computation of Higher-Order Motion Fields of the KUKA LBR iiwa 7 R800
Year: 2026
Type: software
Abstract: This archive contains MATLAB source code for symbolic computation of higher-order motion fields of a selected link of the KUKA LBR iiwa 7 R800 manipulator using a nilpotent hypercomplex automatic-differentiation formulation. The software is associated with the paper “Automatic Differentiation with Hypercomplex Numbers for Higher-Order Motion Analysis,” accepted for presentation at the 2026 12th International Conference on Control, Decision and Information Technologies (CoDIT), Bari, Italy, July 13–16, 2026. The included MATLAB script implements the symbolic case reported in the associated paper: selected link s = 2, multidual order n = 3, and symbolic joint variables q1 and q2 with derivatives up to third order. The script computes the velocity, acceleration, and jerk field coefficients by factorial-scaled coefficient extraction from the normalized hypercomplex homogeneous representation. The implementation is parametrized by the selected link and by the multidual order. Although the archived output reports the compact symbolic case s = 2 and n = 3, the script can be configured for other links of the KUKA LBR iiwa 7 R800 and for other finite derivative orders, subject to symbolic-complexity limitations. For the reported case, the computed fields are confirmed by an independent direct symbolic differentiation of the standard forward-kinematics map, with residuals simplifying identically to zero for j = 1, 2, 3. The archive also includes an example command-window output generated by the script. The output reports the symbolic field coefficients and confirms the structural consistency checks and the independent direct forward-kinematics check for derivative orders j = 1, 2, 3. When using or citing this software, please also cite the associated paper.
Authors: Condurache, Daniel, Cojocari, Mihail
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W7162548738