{"entities":{"Q1390546":{"pageid":1401286,"ns":120,"title":"Item:Q1390546","lastrevid":70315038,"modified":"2026-04-13T13:56:42Z","type":"item","id":"Q1390546","labels":{"en":{"language":"en","value":"The role of environment dynamics in the position/force control of manipulation robots"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 1175245"}},"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":"Q1390546$95A2E55B-AEB1-46CB-AC7D-5BBB04DBE114","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"2c089ba3c204380c07c3f30630de52739c4f9807","datavalue":{"value":{"text":"The role of environment dynamics in the position/force control of manipulation robots","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1390546$91BAEAB6-CD6E-4728-AFFA-7B19385974CC","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"7685a0ada0f39ded66243f1763312f1016ae0218","datavalue":{"value":"0914.93039","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1390546$99F8E9AD-C881-4D48-82BB-8802541FEB87","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"3e8ca735896d8fd1610d4d740dab3fd7cadda6d4","datavalue":{"value":{"entity-type":"item","numeric-id":1380459,"id":"Q1380459"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1390546$7DBFA0F4-E0D8-4298-8DCB-EFD4900B5780","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"cf25ce818b85bb8b10c5d233e02ea9e0a830581b","datavalue":{"value":{"entity-type":"item","numeric-id":295575,"id":"Q295575"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1390546$EB9DDB31-3EFE-4105-82AF-07BCFEDF952A","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"f7312e02756a8b67a336100b5aced82e1cd783a7","datavalue":{"value":{"time":"+1998-10-18T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1390546$19451BB2-A6EE-41E6-9904-C759CE363A18","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"681ea41b0842f916fee7c21e49d3940c66081092","datavalue":{"value":"The paper pays attention to the significance of environment dynamics in the design of control laws for manipulator robots, i.e. to the problem of position/force control of robots interacting with a dynamic environment. The motivation for writing this paper has been the stability aspect of contact task. The environment is considered as an isolated mechanical system, or, more exactly, as a system without restrictive assumptions.","type":"string"},"datatype":"string"},"type":"statement","id":"Q1390546$679142A2-5B5F-4CC9-8650-326E39D2B2C6","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1390546$E335DAA1-FE05-4F74-987C-9A66A0277C71","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"7ae0a986d607d9b0c7df46eb597d9aa7ca19fc1f","datavalue":{"value":"93D20","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1390546$30187D47-427C-480F-B5FB-AADA04BA5548","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"37b6de398faf734a81f85965fe2129dc993966e1","datavalue":{"value":"1175245","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1390546$FF0E7CBB-6F90-4FE8-BEB9-832F6FBDC328","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9405e3734f8ac581ea7a3175dde61c24bdca28c5","datavalue":{"value":"environment dynamics","type":"string"},"datatype":"string"},"type":"statement","id":"Q1390546$9151D2E0-9904-4533-BC49-1484E27040B2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"ca6636fd7e50e6681e4a64dbd043cf24e1f0d795","datavalue":{"value":"manipulator robots","type":"string"},"datatype":"string"},"type":"statement","id":"Q1390546$DC97B7EE-5B9B-4FDF-B713-55C2A06EADD1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"d6eb21bf1330ee5adbfcfd5f733540fdb5be8bc4","datavalue":{"value":"position/force control","type":"string"},"datatype":"string"},"type":"statement","id":"Q1390546$99BF0F0B-5C5C-413A-B920-A1F2B322114E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"34b44e7b40021effdee26093512bde7058814281","datavalue":{"value":"stability","type":"string"},"datatype":"string"},"type":"statement","id":"Q1390546$7805F247-F957-4367-980B-06D7A5A5BDE7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"12c69c52f31335dd692a1ebf87785fb18c021006","datavalue":{"value":"contact task","type":"string"},"datatype":"string"},"type":"statement","id":"Q1390546$FE44DF7F-F1DB-4662-B118-854E274EC99F","rank":"normal"}],"P1447":[{"mainsnak":{"snaktype":"value","property":"P1447","hash":"e8a520ed9b0c8edcc29a510c4fc9a81006da7b43","datavalue":{"value":{"entity-type":"item","numeric-id":254868,"id":"Q254868"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1390546$3ACECAA4-D9ED-4035-A8E5-D8F4925AE7D4","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1390546$AF95799E-8663-402D-9A42-3F2EE5CAF71D","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a95becddd7742a7db03853e232fcce12bb9ce84d","datavalue":{"value":{"entity-type":"item","numeric-id":4361158,"id":"Q4361158"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0a54c271b9e0d53bf2df8746d13bc44ea0bcdf5c","datavalue":{"value":{"amount":"+0.9082445502281188","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":"Q1390546$CF9F7725-F415-4F50-8FE1-58C3E7C6F0DC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7080d570f1f67c1d9e436d03705336742fbe0f6b","datavalue":{"value":{"entity-type":"item","numeric-id":1298285,"id":"Q1298285"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"7229d6d949c2b83e0ef3202ea6dc0913864b5fa3","datavalue":{"value":{"amount":"+0.8548674583435059","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1390546$A41D8319-4DD3-485B-A36E-1C2A2F73BA72","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5e4f9502d48d522e4642c942aed22c8e3966da9e","datavalue":{"value":{"entity-type":"item","numeric-id":4884773,"id":"Q4884773"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3104ede5d9d43fd2ba737fd3860c672686d5e972","datavalue":{"value":{"amount":"+0.8416336178779602","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":"Q1390546$72E4E57A-A577-4452-A136-23A5CE71A49E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"1fb3a6bb5ed0f327b3dd19aa43a31248d3555392","datavalue":{"value":{"entity-type":"item","numeric-id":4879373,"id":"Q4879373"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c81024283354be2bb1befee9a60a83b826b62dd7","datavalue":{"value":{"amount":"+0.8175501227378845","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":"Q1390546$52B0AE32-AE02-4F61-97D3-AD0A0CCED6A0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ee8806191789804a621a7471fe15792fefe2b3aa","datavalue":{"value":{"entity-type":"item","numeric-id":4493011,"id":"Q4493011"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d7c295971c9c82fc45fe89c4107cd9649d1c81a5","datavalue":{"value":{"amount":"+0.81441330909729","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":"Q1390546$0D7E625C-034F-4331-B163-672A63BDB99A","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"The role of environment dynamics in the position/force control of manipulation robots","badges":[]}}}}}