{"entities":{"Q1390106":{"pageid":1400846,"ns":120,"title":"Item:Q1390106","lastrevid":67708194,"modified":"2026-04-12T19:27:38Z","type":"item","id":"Q1390106","labels":{"en":{"language":"en","value":"Position control of an underactuated manipulator using joint friction"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 1174796"}},"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":"Q1390106$9CC6C988-9C43-46BE-835D-0CD1F53E6AE4","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"54e9472aef55e72766624fb05bb868169c887a51","datavalue":{"value":{"text":"Position control of an underactuated manipulator using joint friction","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1390106$02A87516-2547-43B4-A40A-70B766D8FE8C","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"2c0591fb264429720b3c5b173cf0b02a80d1f9b0","datavalue":{"value":"0909.70025","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1390106$A40A1DE5-0F42-42A6-8A89-047F3154DC5A","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"93489c29750af0ab2d6efa1e01d6179acbd8908f","datavalue":{"value":"10.1016/S0020-7462(97)00035-8","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1390106$CB48E234-3A4E-4E4C-A687-C74ECB1C065E","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"3d4cf64b0c6fa193c2da0523546bda3d9c1cbc33","datavalue":{"value":{"entity-type":"item","numeric-id":1390103,"id":"Q1390103"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1390106$6E33854A-777C-46EE-99AC-EAAFB0210C82","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"d558197b55e23195aeb588a7a3fa037c40a436a1","datavalue":{"value":{"entity-type":"item","numeric-id":1390104,"id":"Q1390104"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1390106$197F97D9-4964-40C0-8648-394F125871D4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"67fe47830a6a21a9c41a2008976758f6f340e5da","datavalue":{"value":{"entity-type":"item","numeric-id":1390105,"id":"Q1390105"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1390106$B864D1F1-836F-48CE-BB49-893B86F1AB61","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"0ad0bff924e690cb347a6f4c1e2453aa72f15d34","datavalue":{"value":{"entity-type":"item","numeric-id":579055,"id":"Q579055"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1390106$A7F3EEF4-2AD4-4BF0-BE73-246E2D7C9C79","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"eeb380f564c5a8f0fcd332fa7514de56929165f6","datavalue":{"value":{"time":"+1999-03-09T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1390106$C5BFF9DD-DA7A-4720-85F2-5297362CD401","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1390106$56F6A5D1-D908-4194-A0B3-BFB7B2DB4C3C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1390106$9974180A-9C9B-424C-84C1-FE7FADEB3688","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1390106$870D511C-8C47-4FB9-9D49-9D8A7D204BCF","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"506547e7c007f367ecabd31c6597b1c92813bc81","datavalue":{"value":"1174796","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1390106$870A3F79-0665-4134-894C-EDAD5F687194","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"8c60bf0643911de38b96c03fed489481e7425828","datavalue":{"value":"free joint","type":"string"},"datatype":"string"},"type":"statement","id":"Q1390106$C70640BC-1088-4CCF-A384-2B02FC44F648","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"2175652013ce255c1b38503b30739ccf9f9e0a24","datavalue":{"value":"sequential control","type":"string"},"datatype":"string"},"type":"statement","id":"Q1390106$B943B4E6-51EA-444A-95B8-2E55356E7D5F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"79edd1084ff2f34a08afee90cfd2cc02d82a618a","datavalue":{"value":"simultaneous control","type":"string"},"datatype":"string"},"type":"statement","id":"Q1390106$2B1FABA4-321C-4652-A0B9-4C47F428E90A","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":"Q1390106$6D0A9695-861C-41B0-BB28-6EC49A8EB3BD","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"5029e18fc41e39f44fcf081144cc2fd65fa3addc","datavalue":{"value":"https://doi.org/10.1016/s0020-7462(97)00035-8","type":"string"},"datatype":"url"},"type":"statement","id":"Q1390106$AEFCBCE1-752E-466E-82CB-FF8321DA06C6","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"e0064da699a2c5d816e19f36e3f8fcb4829fe760","datavalue":{"value":"W2078293054","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1390106$231F90AF-2FFE-4752-9141-F9089B066144","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"928938217c044882a2757416963a0e6d33e69363","datavalue":{"value":{"entity-type":"item","numeric-id":2495869,"id":"Q2495869"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8cb30891400432aad18a03361fe8dbce41447f87","datavalue":{"value":{"amount":"+0.7822923064231873","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":"Q1390106$79A97FFA-EBD8-4947-9969-BB2C91537579","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d4b78837e49a938392866c4f186374d11275a467","datavalue":{"value":{"entity-type":"item","numeric-id":841754,"id":"Q841754"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"877bd0593b57b522bae0378bcfe8db8765b9b980","datavalue":{"value":{"amount":"+0.7651645541191101","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1390106$C92D9803-D2E6-4A78-889E-86C10E07F123","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"57b7610158b6b9ff8bad2cea0b2108d10781d5d5","datavalue":{"value":{"entity-type":"item","numeric-id":4269728,"id":"Q4269728"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"edc3df5e4fc74286d5bab3a9d6c82fc6586b214f","datavalue":{"value":{"amount":"+0.746372401714325","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":"Q1390106$105F694D-ECCF-4AA6-A11B-D89BC70301DF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"dca292eea8bc8b5b7c3e0fbceb418a0fbb5ccd02","datavalue":{"value":{"entity-type":"item","numeric-id":1805984,"id":"Q1805984"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e92f079aecd40fe5c31aebd5ec1bc6907ed2a795","datavalue":{"value":{"amount":"+0.7373753190040588","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":"Q1390106$680A83ED-2F60-4FF5-99A1-97B5861F3702","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"423d2165711d313ef7019cb50d9d04334a1e610a","datavalue":{"value":{"entity-type":"item","numeric-id":4652120,"id":"Q4652120"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ee0353d021ff100d7f38b2306bf1915ec2124e0a","datavalue":{"value":{"amount":"+0.7342157959938049","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":"Q1390106$6A4FD991-4F00-4484-8DDA-A5BD3A2C39AD","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Position control of an underactuated manipulator using joint friction","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Position_control_of_an_underactuated_manipulator_using_joint_friction"}}}}}