{"entities":{"Q1121218":{"pageid":1131967,"ns":120,"title":"Item:Q1121218","lastrevid":49280620,"modified":"2026-01-06T21:46:21Z","type":"item","id":"Q1121218","labels":{"en":{"language":"en","value":"Analysis of an adaptive controller for manipulators: Robustness versus flexibility"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 4102926"}},"aliases":{},"claims":{"P31":[{"mainsnak":{"snaktype":"value","property":"P31","hash":"fd5912e4dab4b881a8eb0eb27e7893fef55176ad","datavalue":{"value":{"entity-type":"item","numeric-id":56887,"id":"Q56887"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1121218$7B7D3665-E000-4584-B2D7-AAF8326E5C94","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"5f10a68a9550a2ca2238dbb2b5890eeec732f67c","datavalue":{"value":{"text":"Analysis of an adaptive controller for manipulators: Robustness versus flexibility","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1121218$C25E55B5-A5BB-483F-96EE-08D3453398D8","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"f545be03bf7fd7ae5626741ffedc44c23536dd6a","datavalue":{"value":"0673.93046","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1121218$757C6923-501D-4CCF-9BDD-EF2765176B9E","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"05cbcb762cba32cd51b69f561245f587004f8863","datavalue":{"value":"10.1016/0167-6911(89)90057-1","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1121218$56034E80-D8B0-4262-827B-AF06AB6B9E1B","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"b1ed7a090d8f1d0a3795177bace50e8f939f7c97","datavalue":{"value":{"entity-type":"item","numeric-id":196914,"id":"Q196914"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1121218$343EC63F-C7B7-45A9-BA12-90C68E717849","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"7211ad5ca16eb0d22cd0051fff3d0f3af254ceb6","datavalue":{"value":{"time":"+1989-00-00T00:00:00Z","timezone":0,"before":0,"after":0,"precision":9,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1121218$085622CB-7A59-4775-B0A9-7427B46C7722","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1121218$129E9645-B847-47AF-8C90-8E80812851F9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1121218$043763F2-0BFF-4F40-854D-D2C7BF4AFFA4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c9727d9ee90ef6c0f1bdf0ba5bb711e9a6b7cd05","datavalue":{"value":"93C95","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1121218$FD28D473-259F-4E29-8AA3-6B79DDECE4B9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"3cf19f414d003b599cb8555b9227d1a95bcc55a3","datavalue":{"value":"93C15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1121218$5DD97526-9B08-47B2-9D55-6A35115AEE54","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"22996fc5422f0a546b67c190f43e1042309974f8","datavalue":{"value":"4102926","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1121218$E15ABC36-BC32-4813-9097-C74334161DFB","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f762bc1a389b4540cd169b666dbaf1a8451c7cb2","datavalue":{"value":"robustness","type":"string"},"datatype":"string"},"type":"statement","id":"Q1121218$BDF16636-A283-4EA7-BA99-9FA1527D8F8D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"726ec5476ef776457454db6774e2b1a121ecbe66","datavalue":{"value":"adaptive computed torque control","type":"string"},"datatype":"string"},"type":"statement","id":"Q1121218$2138EE04-99B6-47DD-A32E-A3748FA6055C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"a5adf22ea3a13abd3ced3ed4885babc1dae8ead2","datavalue":{"value":"robotic manipulators","type":"string"},"datatype":"string"},"type":"statement","id":"Q1121218$08663DCC-5099-4C60-9D44-C7D1E54A3E04","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"a93eb8f2f152df8379a1ad5faf343beb124c7ba7","datavalue":{"value":{"entity-type":"item","numeric-id":1372758,"id":"Q1372758"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1121218$64000F31-4EAB-4ED8-A0F6-C40D7EC9EA1E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"e3f8d764d9ed56825ea8fd867a885e56c548574b","datavalue":{"value":{"entity-type":"item","numeric-id":267824,"id":"Q267824"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1121218$039FA338-5F41-4FD3-A2F7-93435155D880","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1121218$788A33DF-E225-4139-9685-B7B378E5DF83","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"f77663f9a02db60c58a2b41a30e7b44b31a2fba5","datavalue":{"value":"https://doi.org/10.1016/0167-6911(89)90057-1","type":"string"},"datatype":"url"},"type":"statement","id":"Q1121218$F05D8B7C-C34D-448C-AB76-24962B7FCFCF","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"16b6e967a5be0133b4c16cb4d8c599f2576481ee","datavalue":{"value":"W2066849825","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1121218$ED631F6C-A29C-42AB-B157-CD15C3873D01","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"0e154b569d96a77103f09fd27d2d10497196d18c","datavalue":{"value":{"entity-type":"item","numeric-id":3682327,"id":"Q3682327"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1121218$50F6465C-40DF-4433-9FE9-D23B5D0577E8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f529c5fe31e5ac57564b4448cb25dfc02d86fab2","datavalue":{"value":{"entity-type":"item","numeric-id":799567,"id":"Q799567"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1121218$7FDD2A23-FC36-4DA0-8D47-FE7C36118BCC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0da9c3f033e33f242ad4677bd7522064c4ee313e","datavalue":{"value":{"entity-type":"item","numeric-id":3791007,"id":"Q3791007"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1121218$0E2CE88A-3060-4C6D-9C25-B959F90D988B","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d774c7cadfd2d63379218ce2c12d9f8b94f8a1e0","datavalue":{"value":{"entity-type":"item","numeric-id":1911265,"id":"Q1911265"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d51d29aa127eea41e57af2a59a1352f665c093c6","datavalue":{"value":{"amount":"+0.8382812142372131","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1121218$0EC07B4D-EB2F-41AA-82E4-BD813FAB7864","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e0715ab405dc450dd49182be543e218546e16245","datavalue":{"value":{"entity-type":"item","numeric-id":583163,"id":"Q583163"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"7652e02b4a6fef743c45a8ff02be41ca97777f1f","datavalue":{"value":{"amount":"+0.8290272355079651","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1121218$3C986F0B-F3A5-4011-BD92-ED54DD3DE188","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"cd64158f100e19d60f54009704e189146f51ba69","datavalue":{"value":{"entity-type":"item","numeric-id":1298266,"id":"Q1298266"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0d0466ef1ea99d14a4664247e501cdf0255b935c","datavalue":{"value":{"amount":"+0.8243343234062195","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1121218$FDC7CD66-4CDC-4F1E-B18C-779DB63EA470","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b046f668bd5893daccd5ee356d238a85a6aaef93","datavalue":{"value":{"entity-type":"item","numeric-id":3823845,"id":"Q3823845"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"53dfaec01c61ba1dcf339b36450be8f2f2273bad","datavalue":{"value":{"amount":"+0.8232921957969666","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1121218$27321288-ED40-4F84-9DBF-1986CCC8960B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"86ac1a7ddcf8919304b6447cd37fa346c5111d79","datavalue":{"value":{"entity-type":"item","numeric-id":1194951,"id":"Q1194951"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4240e5d5e5b8b84a5b0f35ae6765f875a25aaea0","datavalue":{"value":{"amount":"+0.8232735991477966","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1121218$F5A091CE-51EF-411D-ACEB-DB6B49D1C073","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:1121218","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:1121218"}}}}}