{"entities":{"Q1634823":{"pageid":1645564,"ns":120,"title":"Item:Q1634823","lastrevid":68030277,"modified":"2026-04-12T20:58:07Z","type":"item","id":"Q1634823","labels":{"en":{"language":"en","value":"Closed form inverse kinematics solution for a redundant anthropomorphic robot arm"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6994920"}},"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":"Q1634823$641E4D42-03EA-4DF7-A305-5F390D7C3E01","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"7f2590e70280f966563f25f286e3525e0eb9a7dc","datavalue":{"value":{"text":"Closed form inverse kinematics solution for a redundant anthropomorphic robot arm","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1634823$6C26E073-1B47-4CB7-8314-058BD50AEF9C","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"e3c8c28e8b9cc2920e1c3cb0b9f6b0cd0da778a0","datavalue":{"value":"1418.70006","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1634823$27ECCDF0-E8C2-44C7-809A-4122719816E3","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"04037676c950d539712212fa6f197fa2f3140f4d","datavalue":{"value":{"entity-type":"item","numeric-id":857236,"id":"Q857236"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1634823$EFBD86A6-E849-45F2-9271-18305D014EB4","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"74517436dc4e272360411c2669c6089f3555dc3d","datavalue":{"value":{"entity-type":"item","numeric-id":181312,"id":"Q181312"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1634823$5F199BCB-2649-42DD-A219-CBF4AF2E0EB7","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"a0f227618f212e1aabdb733def27a9d54ea538c8","datavalue":{"value":{"time":"+2018-12-18T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1634823$D547ED50-AC06-4522-8BC6-FCB09E069126","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1634823$9D65A664-4B74-4A95-833B-5D2161BD83D8","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"369d0d938a938c8de7e77e0ce7be03362c68819b","datavalue":{"value":"6994920","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1634823$BA13C897-C24B-4F9E-9CB5-4F20077CC487","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"3b23c28c6b12028ad1b74142b6a64e4f9207a543","datavalue":{"value":"redundant manipulator","type":"string"},"datatype":"string"},"type":"statement","id":"Q1634823$E833F5D6-06EE-4A30-9136-5443443C1BDE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"fb5500c91235e794eaa45e452d455d9a66629b00","datavalue":{"value":"anthropomorphic robot arm","type":"string"},"datatype":"string"},"type":"statement","id":"Q1634823$57E0339D-9022-4122-B583-F310F52099EB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"fdb7277f4bd65d9f39d19d0e9eb3ab4dadea1cf0","datavalue":{"value":"closed form solution","type":"string"},"datatype":"string"},"type":"statement","id":"Q1634823$2245B4D0-B443-4A20-983F-E2170638B93F","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":"Q1634823$0AD15FE2-80E0-4C18-9F3E-BE39CF1A9B4C","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"09b126cc8518cadde5dc6b8e4d6ab7f858f397b5","datavalue":{"value":"https://doi.org/10.1016/j.cagd.2016.05.008","type":"string"},"datatype":"url"},"type":"statement","id":"Q1634823$F03EF46C-96B7-499C-A63D-989486E1DDE9","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"a09c423bb6f231d0f6f9e30c268fb7271dfb9e9f","datavalue":{"value":"W2406254431","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1634823$ADC08EE5-3396-452F-BCD7-DB30111F8149","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"d7d7f826c971a4920e6c33470461259b200c1305","datavalue":{"value":{"entity-type":"item","numeric-id":3123422,"id":"Q3123422"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1634823$62CC7FED-B8CC-4F8F-BCEF-2AD11A656876","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d5d0a5ab4f73ede1c06f5216d078cc266c1a346e","datavalue":{"value":{"entity-type":"item","numeric-id":5847680,"id":"Q5847680"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1634823$0EBCA9DF-07F2-4E9A-AF43-B56200D6136E","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"a1b55c710df8803f3461bd053759ef64df8dfcdc","datavalue":{"value":"10.1016/J.CAGD.2016.05.008","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1634823$0BE882B2-FA8C-4138-B6F7-DEFCA9BF5688","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a769c3cd06338e6370fce1abb7a297b9a3e27e68","datavalue":{"value":{"entity-type":"item","numeric-id":2934447,"id":"Q2934447"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"7f0f4f3b9e16110b317f348f53e0fafa5ed6dfca","datavalue":{"value":{"amount":"+0.8973937","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":"Q1634823$2941CB0B-B957-4C42-AEF4-580CDD1DCFC6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b7d90f1bd6756c76569b6bb9bd37dd74d6580820","datavalue":{"value":{"entity-type":"item","numeric-id":4335250,"id":"Q4335250"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1f0c186e6240458793d2e40f4e793f6bcb7ff4a2","datavalue":{"value":{"amount":"+0.8943364","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1634823$AF9368FC-EA20-4ABA-9D51-0ACB53DCF78F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"cec63a14867e5a2531ab7231917015ee7f6e9ab3","datavalue":{"value":{"entity-type":"item","numeric-id":3347737,"id":"Q3347737"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8b4e90654bea438bc001449cbdf9d0b161ffef36","datavalue":{"value":{"amount":"+0.8914633","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":"Q1634823$A53F404E-AD31-4A1F-AA31-0EEF709B31C7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"292cd14b5fdc6a53ae7467dfe0e59cdae1b59ecf","datavalue":{"value":{"entity-type":"item","numeric-id":4733485,"id":"Q4733485"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4732dbdcddfe0d07e80f9d9bb3abc0e29a416fb4","datavalue":{"value":{"amount":"+0.8892764","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1634823$BD837CD4-B6D3-4D93-8FE5-693A8180BF05","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c34f4f0c305c406911321927f8b1e594bc9c796b","datavalue":{"value":{"entity-type":"item","numeric-id":3204091,"id":"Q3204091"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"debe5d55f848f059fe089ee03857ffd39df449bd","datavalue":{"value":{"amount":"+0.88784754","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":"Q1634823$1C8068B2-7118-4A9E-98E8-90BFBA8A1B42","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d8e04eb6b7ea362a5b413f4ff8485ce3685ecd80","datavalue":{"value":{"entity-type":"item","numeric-id":1426618,"id":"Q1426618"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"7263fe2511a36dd8446f1ecee9f8c8e5d82f1d0a","datavalue":{"value":{"amount":"+0.8782957","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":"Q1634823$9E054717-6B09-44A0-B53D-D9987FDBDB5F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2cfed584ed5b88655bfe2401429ddf202b1e5c51","datavalue":{"value":{"entity-type":"item","numeric-id":5931112,"id":"Q5931112"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"44fcba976cdcbeae4b17234744c9cc3ce9af281c","datavalue":{"value":{"amount":"+0.8766943","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1634823$C66532C3-B82E-4B94-B606-CB5A2385E122","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"40810e15d36bf74d29507ca326136b151a98d8d1","datavalue":{"value":{"entity-type":"item","numeric-id":4269694,"id":"Q4269694"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2d6dfac3b7c9c9af49794f14078090625e17434b","datavalue":{"value":{"amount":"+0.8749216","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":"Q1634823$7D9901D8-EE6F-453B-AFAC-B8B6A7D420AA","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Closed form inverse kinematics solution for a redundant anthropomorphic robot arm","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Closed_form_inverse_kinematics_solution_for_a_redundant_anthropomorphic_robot_arm"}}}}}