{"entities":{"Q1306139":{"pageid":1316889,"ns":120,"title":"Item:Q1306139","lastrevid":70108974,"modified":"2026-04-13T12:30:14Z","type":"item","id":"Q1306139","labels":{"en":{"language":"en","value":"Position and force control of two constrained robotic manipulators"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 1343467"}},"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":"Q1306139$DEDF792C-CF6C-4E8B-A035-8D2B1EE8FE1E","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"cc40d0541c4c17e5ed8a1f99f4bf9f69522e6883","datavalue":{"value":{"text":"Position and force control of two constrained robotic manipulators","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1306139$0DA311E6-435A-4F5D-A8CD-F2758A6EBA9A","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"1485dfc6b47d4802d59e52490391aa343757872c","datavalue":{"value":"0963.93064","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1306139$AF3E11E9-A1B1-47E2-AF2A-AB52C2862226","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"b37cee44446b2c6eb7dfdca8cc7a98a82eee0751","datavalue":{"value":"10.1023/A:1008067612611","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1306139$697CB0C2-7344-497F-8EBE-C7F873800B64","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"ddcbfe69dd3e445e85fbc21db48e0298b3d631dc","datavalue":{"value":{"entity-type":"item","numeric-id":275024,"id":"Q275024"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1306139$7CE84477-D9CD-4514-B594-75B63D5C0FBE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"8a4138554092086d1b2632b0fcc75c25bf0d4229","datavalue":{"value":{"entity-type":"item","numeric-id":1306137,"id":"Q1306137"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1306139$C984CB13-347B-4413-A7A0-6E63D5618CB1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"942d891b01d4c89148a8837d918f9442fafdd2ed","datavalue":{"value":{"entity-type":"item","numeric-id":1306138,"id":"Q1306138"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1306139$D095E21A-1751-4855-BBF5-00279E6B71E2","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"8b52df0cb93c7806667d725dbe9cfd2eb5e433b6","datavalue":{"value":{"entity-type":"item","numeric-id":185894,"id":"Q185894"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1306139$E118C86B-5047-4405-8E69-FD4AF773457E","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"cb40d11281955feb9c83549c13a27c60db3daa79","datavalue":{"value":{"time":"+2001-06-28T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1306139$AE2250BB-F6F8-41C8-8BA3-9466083E3997","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"fd25e2d1a76dd6a354f7295637563a384a88e768","datavalue":{"value":"The problem of controlling two robotic manipulators handling a constrained object is addressed. Under a few assumptions, certain kinematics and force relations exist in the system. These relations are derived and expressed systematically. The kinematic and dynamic models of the constrained multi-robot system are generally very complicated. However, because of the existence of constraints in the system, the order of the dynamic model of the system can be reduced. The motion of the whole system can be described by a set of chosen joint coordinates. Several properties of the reduced model are derived. Using this model, a controller that guarantees the asymptotic convergence of the position, the inertial force, and the constrained force to their desired value is proposed. Simulation results for two three-link planar manipulators moving a constrained object illustrate the effectiveness of the proposed controller.","type":"string"},"datatype":"string"},"type":"statement","id":"Q1306139$5B7194AC-7284-4C88-954A-F11B697EAA44","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1306139$11C79391-23BC-4FFF-99CD-ABE6734FE841","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"f2c4729948643dbd40768e44d7479efac9b4dfd3","datavalue":{"value":"1343467","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1306139$80C3961C-1BEE-463D-B846-C7016F77E914","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"d6eb21bf1330ee5adbfcfd5f733540fdb5be8bc4","datavalue":{"value":"position/force control","type":"string"},"datatype":"string"},"type":"statement","id":"Q1306139$BCF6CA00-A2A8-4C39-8E59-F248BCDBC646","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"a5adf22ea3a13abd3ced3ed4885babc1dae8ead2","datavalue":{"value":"robotic manipulators","type":"string"},"datatype":"string"},"type":"statement","id":"Q1306139$1B563373-4379-4F2C-BCB3-DD34565A1D7D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"ed05a3ae9f925ad828747181187081bd36511995","datavalue":{"value":"constrained object","type":"string"},"datatype":"string"},"type":"statement","id":"Q1306139$DAD9D66E-F86A-48CD-A8F5-755FDA380AC3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f0b88b636af9d1408a60fc517cc2c270a893bc2d","datavalue":{"value":"joint coordinates","type":"string"},"datatype":"string"},"type":"statement","id":"Q1306139$5B90D48B-B240-4B12-85A6-1F55CBF3B284","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"d2f556000915d756d52c4de3dc388d153cf0f462","datavalue":{"value":"reduced model","type":"string"},"datatype":"string"},"type":"statement","id":"Q1306139$27922843-6D78-4636-902F-28A0ACBC0F5E","rank":"normal"}],"P1447":[{"mainsnak":{"snaktype":"value","property":"P1447","hash":"a3f36c6e1d43ba97fc5d9513cca11e3238c43330","datavalue":{"value":{"entity-type":"item","numeric-id":650000,"id":"Q650000"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1306139$C26A9676-2CD8-4184-874E-A3DD396A1D47","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":"Q1306139$9FCC50B1-85E3-4631-848C-0430C8DA94E8","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"483f1ea21c64c6d7b5e30c7d242d367f4836a1c1","datavalue":{"value":"https://doi.org/10.1023/a:1008067612611","type":"string"},"datatype":"url"},"type":"statement","id":"Q1306139$DA5841C2-5806-435A-9D07-CC09B29DD130","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"5294e319c72ab7a6281d3d2d4afe852642b92587","datavalue":{"value":"W136100727","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1306139$F1FD5433-FF59-4D60-8A5E-70820E4098DF","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2ae2f7258f04f6c67ab9f309fcdb1a52ef0ad19d","datavalue":{"value":{"entity-type":"item","numeric-id":4212534,"id":"Q4212534"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ed0ef2990abcfe0bdc18c041b6e6534553ccb492","datavalue":{"value":{"amount":"+0.91378266","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1306139$D6799019-257B-4423-B18E-A5D9742BA551","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"365ab93d8f6172398b3f66b4a1338f9cae05a92a","datavalue":{"value":{"entity-type":"item","numeric-id":4269712,"id":"Q4269712"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"be318c451fe8a31115130d6b30ddb2152e89f025","datavalue":{"value":{"amount":"+0.9112384","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1306139$4C4518A1-E125-4C25-9635-974E1D415ED0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"06bfae936b3c9bfb1d6598ce98adbed63854869a","datavalue":{"value":{"entity-type":"item","numeric-id":1194940,"id":"Q1194940"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"7893047eac8840e7d11e60489645cc075c5d5911","datavalue":{"value":{"amount":"+0.91083395","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1306139$D1027001-2CA6-4C99-9E2E-6902C037A674","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6a1f127599e0e96008e4dfd490f6ad9945b053aa","datavalue":{"value":{"entity-type":"item","numeric-id":1604002,"id":"Q1604002"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1e485d61cbbf4b80bf0c86f8cf3ab3664302d0a8","datavalue":{"value":{"amount":"+0.9097141","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1306139$D1CB7027-AE62-4575-A040-9DA5FD808314","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"800461a87fd67f4e3e4848318b34151374200504","datavalue":{"value":{"entity-type":"item","numeric-id":3002246,"id":"Q3002246"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"94b59c2fc66ede0244428ad62494b6e88bb4ce6d","datavalue":{"value":{"amount":"+0.90572256","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1306139$78EECFD0-6279-4758-9D55-1BC53306747E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e4b41c398a9e6b711c25aa54f1b371bc5e9d9e60","datavalue":{"value":{"entity-type":"item","numeric-id":3983865,"id":"Q3983865"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5ec2a6d8b9460e2b84905bd42d6e2eb5a0747ebb","datavalue":{"value":{"amount":"+0.90360945","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1306139$7CFC4D77-E579-457F-A41F-E7F58AC84692","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"23e00d3f314ad12fabdcd40ab9f0cb5a947d2c3e","datavalue":{"value":{"entity-type":"item","numeric-id":4348634,"id":"Q4348634"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f8a74d9d4c47429afb771cbea0739e5df6c5cfe1","datavalue":{"value":{"amount":"+0.8965178","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1306139$DB05194A-40D9-42E1-914D-1D8A057AEFF6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a1e6695f8d9c2b36f93df02ce4cebc9c3a563d07","datavalue":{"value":{"entity-type":"item","numeric-id":3136218,"id":"Q3136218"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ad2213c3c6e204bb2a0af0e14550a46dccbf2a06","datavalue":{"value":{"amount":"+0.89585495","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1306139$F5E7761B-3B73-4ACD-A16C-BD885F294533","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2067d8be5690b5465fd753aaf8763c48bec1dc19","datavalue":{"value":{"entity-type":"item","numeric-id":1189263,"id":"Q1189263"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3b6fc6feb0e7188afec0df6bb1552a1f7ea0fdee","datavalue":{"value":{"amount":"+0.8929077","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1306139$4A7A3138-3529-41C0-A436-7C47FF104393","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"94ab5551919b02eb33cb01aae02e00864df3fcbf","datavalue":{"value":{"entity-type":"item","numeric-id":4885786,"id":"Q4885786"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b6fdd8b21b90d74c398d13321b794ce1f24cbd6e","datavalue":{"value":{"amount":"+0.8923505","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1306139$9C647AFC-A22B-4B91-9364-4EEFEA213D89","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Position and force control of two constrained robotic manipulators","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Position_and_force_control_of_two_constrained_robotic_manipulators"}}}}}