{"entities":{"Q1428205":{"pageid":1438945,"ns":120,"title":"Item:Q1428205","lastrevid":70380774,"modified":"2026-04-13T14:23:19Z","type":"item","id":"Q1428205","labels":{"en":{"language":"en","value":"Independent force and position control for cooperating manipulators."}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 2056351"}},"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":"Q1428205$F731DEAE-2400-40B2-B236-C9255F2642AA","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"a6b2ed8b34cbdb7b8e8be93b003b944e2a1347f3","datavalue":{"value":{"text":"Independent force and position control for cooperating manipulators.","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1428205$EF5D26BE-191E-49B2-9D3D-A9F0AF2283C8","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"4d84ae38c59c7e3ee814a54c6bcb084ae3970c25","datavalue":{"value":"1036.93049","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1428205$3C5B0251-02F8-4596-A12C-E16682D1EA23","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"4c4997d5f95a298ee297da40742472d84c61170a","datavalue":{"value":{"entity-type":"item","numeric-id":1389025,"id":"Q1389025"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1428205$175C0E0F-12B6-4BFD-8FD4-45C6E6FE3B61","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"f84a5c1b18ea9b4e8dfb80361ac360528fdf358a","datavalue":{"value":{"entity-type":"item","numeric-id":848219,"id":"Q848219"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1428205$AABE9348-2F07-4C74-AB20-AD8DFA820B46","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"a51b97a52c84c260f189b05761c3359b0f8838c1","datavalue":{"value":{"entity-type":"item","numeric-id":164292,"id":"Q164292"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1428205$A519B02E-59B5-4918-B062-21B5BBD75A39","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"947fc07e6e3c9508b7adeaf87fe542c1ae2d0058","datavalue":{"value":{"time":"+2004-03-14T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1428205$A5B3C2D3-48DF-4164-98A5-E93A22290835","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"467945d3b6244c25a85fb21ec30f958345305f86","datavalue":{"value":"The problem of independent coordinate force and position control for cooperative manipulators commonly gripping an object is addressed. This is treated using a linearized implicit model of the system, not involving the dynamic equations of motion of the load, thus providing a general purpose state feedback controller.","type":"string"},"datatype":"string"},"type":"statement","id":"Q1428205$F8C965F6-4C27-4194-AA03-06808D03D0A0","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1428205$A6269D63-AD1C-4A56-8226-6ADAA7ADC945","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1428205$66922138-D798-480D-9E73-BCBC142483B1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"e134fa16ab2f5a6350ceac50979452dda7b0aefa","datavalue":{"value":"93B18","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1428205$52C808AA-8863-4790-A339-6358ABF285C2","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"b0f613f9071cb44ed5fade716a7d9d9252101ee4","datavalue":{"value":"2056351","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1428205$9549B5BB-BB45-488A-994C-0F550DF6C758","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"001145b54dbcde176ffbae9ce56754158df5cd6a","datavalue":{"value":"robot dynamics and control","type":"string"},"datatype":"string"},"type":"statement","id":"Q1428205$BAB4E913-E692-4CD6-91C0-D1F1097276D5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"5ac408cd4e6cb1c7f5d42798f30055f34991c80b","datavalue":{"value":"force/position control","type":"string"},"datatype":"string"},"type":"statement","id":"Q1428205$18E09904-C5E9-4F2F-8898-57479767DFD7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"3efd6d36e3ee2cb35239087ce3e4a13e3dcac7de","datavalue":{"value":"decoupling","type":"string"},"datatype":"string"},"type":"statement","id":"Q1428205$212BF1BE-736E-44CE-A932-D17971C5FA8A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"081b79b4adfd295e5dab936c22cabd29ef04eede","datavalue":{"value":"linearization","type":"string"},"datatype":"string"},"type":"statement","id":"Q1428205$D2E52876-85F8-4156-8A9C-50B97E21DE8B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"3d931bbfbda015941f60aadadf9502f65c939783","datavalue":{"value":"cooperative manipulators","type":"string"},"datatype":"string"},"type":"statement","id":"Q1428205$955C7123-B4C1-472B-AF4F-3994CD835CE4","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":"Q1428205$81BE403E-AAE4-4BE6-9BB9-585368249FC9","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1428205$FA138E5C-CB6A-45B1-8235-ED2D126B3707","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"03410e4fb47c8945728e2933bd9e99551e1aa4c2","datavalue":{"value":"https://doi.org/10.1016/j.jfranklin.2003.10.002","type":"string"},"datatype":"url"},"type":"statement","id":"Q1428205$148E0BFC-C7F7-4845-AE86-400B8BDB5FC9","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"fbcd33a03bab51be0e1908c2fd7da47fc3c3beb2","datavalue":{"value":"W2088397729","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1428205$3246ADB5-5BF5-40D8-A07D-7BB74804657B","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"1ea1419f8b98032db918afb6b62391bb6c323a6a","datavalue":{"value":{"entity-type":"item","numeric-id":3984594,"id":"Q3984594"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1428205$064DCEF1-95DA-462D-BEA4-B47DB3D59B27","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"760f4a856a8a75854c22735b32ddf68b688f93e8","datavalue":{"value":{"entity-type":"item","numeric-id":3981741,"id":"Q3981741"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1428205$8F15DCE5-4253-4ECB-96C0-E634E6BC44EE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"011d62c412178099eed44accdd2091d7e7b728b5","datavalue":{"value":{"entity-type":"item","numeric-id":4031534,"id":"Q4031534"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1428205$C1BB9E4D-4077-4089-94D5-968AE21BA2E9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3ed4c859fd748ab2f2e64764dc36240931886e3a","datavalue":{"value":{"entity-type":"item","numeric-id":1194940,"id":"Q1194940"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1428205$B14D9028-5C0C-460C-9D59-4D29DDCA779F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a291461137257ed11139fe9896e1254d3046cb07","datavalue":{"value":{"entity-type":"item","numeric-id":4282253,"id":"Q4282253"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1428205$DAAE12C8-A66A-41B3-8894-8BEEA9BA365F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0f24f56a07f7944fa9a4a60fcd07e8bf0c5d4635","datavalue":{"value":{"entity-type":"item","numeric-id":1202105,"id":"Q1202105"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1428205$AA500799-32E7-4C49-92B2-A92C4C70B288","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"cb98f807dc91e3d9df8ae92693eb323dc20042e1","datavalue":{"value":{"entity-type":"item","numeric-id":4395812,"id":"Q4395812"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1428205$2A45BB0A-E5F0-4A0D-A095-F2875B20B3C3","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"a8d7cc52a4963d0e2023b24b5114e63d7788368c","datavalue":{"value":"10.1016/J.JFRANKLIN.2003.10.002","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1428205$1AD49F0A-2D32-45F0-9D68-1EF04953D527","rank":"normal"}],"P1643":[{"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":"96b1fcbbab9829deeea199a737554b2df415358d","datavalue":{"value":{"amount":"+0.8437628149986267","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":"Q1428205$9BE57669-2CDA-4DB4-BE0A-CB024A12199A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5aeebf71773f08a62912ef5c31c98c745c61aa5f","datavalue":{"value":{"entity-type":"item","numeric-id":4347318,"id":"Q4347318"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"cb2e661705a682ef3e821060d4cd9604fb6e2286","datavalue":{"value":{"amount":"+0.8159983158111572","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1428205$AD3A900B-951E-4D4F-9BDB-DB357A698311","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"174b09b6435ece5780b9a32a925b933d12850a8d","datavalue":{"value":{"entity-type":"item","numeric-id":4693332,"id":"Q4693332"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"dc99862897807de60bcfefe794715e7d3e90e7b7","datavalue":{"value":{"amount":"+0.8125462532043457","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":"Q1428205$224976D7-2080-4BAC-88A7-48B2124BB3CA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"83dafa58b10d28b2b44ad549f0883e54de7a4e33","datavalue":{"value":{"entity-type":"item","numeric-id":4506820,"id":"Q4506820"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"526a4ff8056b6fc803ddf9d2cd3d3de01846a84a","datavalue":{"value":{"amount":"+0.8037140965461731","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":"Q1428205$8C187DD3-E3F5-4CCF-BB35-E5DB655BA071","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d9c45590b1f3eef6b7cc92c5cf8fa666f7f40b3f","datavalue":{"value":{"entity-type":"item","numeric-id":1977046,"id":"Q1977046"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"490083617eb6fcd3c42d6660b5976ef2e69e2751","datavalue":{"value":{"amount":"+0.7988439202308655","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":"Q1428205$935D49A0-A869-4BA8-8A51-4659E19BBAD9","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Independent force and position control for cooperating manipulators.","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Independent_force_and_position_control_for_cooperating_manipulators."}}}}}