{"entities":{"Q1301153":{"pageid":1311903,"ns":120,"title":"Item:Q1301153","lastrevid":67111461,"modified":"2026-04-12T15:23:39Z","type":"item","id":"Q1301153","labels":{"en":{"language":"en","value":"Singularities in mechanisms. II: Trajectory tracking in the 3-axis wrist."}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 1331585"}},"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":"Q1301153$15FCEE8E-211B-45C5-9DAF-E769FB44A485","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"898434cb694b85cad241ed1d2292f83a9344d488","datavalue":{"value":{"text":"Singularities in mechanisms. II: Trajectory tracking in the 3-axis wrist.","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1301153$7CA5BC26-73BC-4167-ADB9-49161C9752D1","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"5775c8a619df62edf89d698b2bc4f985cb6b6071","datavalue":{"value":"1049.70559","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1301153$F63EB191-F966-46FD-856F-C69B9100583A","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"37bb945a30044e1ecd8ff26349124f6429f77a4d","datavalue":{"value":"10.1016/S0094-114X(98)00036-6","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1301153$D749F115-F5F6-4A70-A1B9-C23920FBA95D","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"85aad8301ff00edd454270ee51939d39cb55f36e","datavalue":{"value":{"entity-type":"item","numeric-id":989045,"id":"Q989045"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1301153$61246219-0ACD-4158-AF38-4FD5AC7EACEE","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"b54abea66bedd9716daf14bcb7a3f7fc0416c247","datavalue":{"value":{"entity-type":"item","numeric-id":129633,"id":"Q129633"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1301153$EB875A66-E9CD-474F-923A-8C087295CCC2","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"841fe5311f2c240dc5e1c4c4e1cd6d6c518533ed","datavalue":{"value":{"time":"+1999-09-15T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1301153$F0BADF9F-C709-462A-B0E6-A9F88D423566","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1301153$554ED107-7F49-494B-ABF6-28CE9A3808B6","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"8a76f3936bcc2058b2494ec7f3c0576ce50ac051","datavalue":{"value":"1331585","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1301153$61CDDD0F-D857-4946-B79E-A945309DC987","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":"Q1301153$41E28E76-76D4-4D9C-9390-C7C02064223D","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"1befde8e8e1107469bd428f4eb7e4029d66a3162","datavalue":{"value":"https://doi.org/10.1016/s0094-114x(98)00036-6","type":"string"},"datatype":"url"},"type":"statement","id":"Q1301153$9EFA4D62-F949-4DF0-9F34-BDB8690A9644","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"64314ff3a7534f8416b98076f8ccdb4b8568bbd5","datavalue":{"value":"W2077688691","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1301153$B62C06CA-9AD9-4E62-A963-CFACB0ADE5B2","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"adbd65a050eeed92b04b21007fabccb29cb2af88","datavalue":{"value":{"entity-type":"item","numeric-id":1300994,"id":"Q1300994"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"06db83dec3cfad622bb83c4845d193655b246ce8","datavalue":{"value":{"amount":"+0.8383464","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1301153$6E285112-D418-4766-8474-A4F2DECE3CB8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d1112354eff7648c0ed2a9211625348e37d67314","datavalue":{"value":{"entity-type":"item","numeric-id":5092761,"id":"Q5092761"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"595715c7aabbb186bfcf1784746a0de73d971632","datavalue":{"value":{"amount":"+0.8287008","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1301153$F837B653-F0E6-4F5B-8947-F98182DC9927","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e7e3fddf663436b4f231ba555b331bf21745ddc5","datavalue":{"value":{"entity-type":"item","numeric-id":4847329,"id":"Q4847329"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2c210f8483b4ee555399483ee92d27914d747279","datavalue":{"value":{"amount":"+0.82737994","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1301153$44175226-43BE-4180-AE8F-C36E5E8C88EB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3c2bdda5235a7958118663495d342ad12daf0c58","datavalue":{"value":{"entity-type":"item","numeric-id":886355,"id":"Q886355"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4c6efbb04741d58864b52447479ca181850c2977","datavalue":{"value":{"amount":"+0.8245789","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1301153$A9829786-3D09-4F0C-9029-A2AF9E99AB05","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"999b034d6e7f8ee7e9495e62c9f4d436d1414d3e","datavalue":{"value":{"entity-type":"item","numeric-id":1870122,"id":"Q1870122"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ea989380fd04c4607dbc1f600d4842a54a4d5fd5","datavalue":{"value":{"amount":"+0.8220853","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1301153$8FC5BEBA-7277-4DC0-8147-746ED1CF41C1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"12fb957cf4d1c1a0d50d51d477ad741a15821b5a","datavalue":{"value":{"entity-type":"item","numeric-id":2722677,"id":"Q2722677"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"875d3cb21d443692ab20c7851835158360a1275c","datavalue":{"value":{"amount":"+0.8217597","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1301153$73F60449-06EE-4DC2-BADD-CE62B481CEC6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6a4ea85a255fc441ba5fe6fc1eaa580ae57411fb","datavalue":{"value":{"entity-type":"item","numeric-id":4335262,"id":"Q4335262"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e4e3fcec34e8e8d0222d47b9835b50439424b355","datavalue":{"value":{"amount":"+0.81942165","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1301153$94CA7E2F-B3C5-4FD1-8F5C-2C3575287928","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"37db98fe3d29ed1c9ecd9ea21f77c12332c0be28","datavalue":{"value":{"entity-type":"item","numeric-id":4251343,"id":"Q4251343"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c338d10526599bd9626047ae716ee8a0046e4647","datavalue":{"value":{"amount":"+0.819228","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1301153$9D31A4CF-463F-4128-B374-0CFB58A9632C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"aa406dd89d8e8aa71021e6d93de6c832f298cef3","datavalue":{"value":{"entity-type":"item","numeric-id":1091986,"id":"Q1091986"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1b5d4b17dbb04aa9e1e5540fc548765240137574","datavalue":{"value":{"amount":"+0.81194234","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1301153$09761781-0CB0-4749-9F79-F1BA974DAF2E","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Singularities in mechanisms. II: Trajectory tracking in the 3-axis wrist.","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Singularities_in_mechanisms._II:_Trajectory_tracking_in_the_3-axis_wrist."}}}}}