{"entities":{"Q1640433":{"pageid":1651174,"ns":120,"title":"Item:Q1640433","lastrevid":71037072,"modified":"2026-04-13T19:04:22Z","type":"item","id":"Q1640433","labels":{"en":{"language":"en","value":"Dynamics and control of a robotic arm having four links"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6888762"}},"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":"Q1640433$7193FC34-708D-40F6-912E-54AFF2BC1933","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"1aff280995285223d3b6373a7bfd040390051746","datavalue":{"value":{"text":"Dynamics and control of a robotic arm having four links","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1640433$91FC7C70-CDC2-4B4D-BF5C-4B202526C9CE","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"3d8f28070b54601655078e728f644b37f02f2783","datavalue":{"value":"1390.70013","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1640433$04150527-A5D0-4928-90CE-5737F48A026C","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"e53255bd22b5553843b3b4c1a51d83b6732157f4","datavalue":{"value":{"entity-type":"item","numeric-id":1621571,"id":"Q1621571"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1640433$E720E094-2173-424E-B4EC-7A55061C6348","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"0729a54bdc7346087a229f5e7a2cbeffdddce628","datavalue":{"value":{"entity-type":"item","numeric-id":371065,"id":"Q371065"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1640433$D784F38D-9B8F-476D-B784-8133642A00D4","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"8b559bb800700d5ba2a45f57085de6ba33131f78","datavalue":{"value":{"time":"+2018-06-14T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1640433$17D7F75E-4928-4BF3-9912-74DDCF58DAD8","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1640433$8F9B0697-E70A-4808-99B7-473046D9673F","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"88ec50681044ef526acf70d73d42354621aa218c","datavalue":{"value":"6888762","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1640433$2234F806-7A72-463A-9590-2037E1A4A118","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"960fc0c758470d5194eed1ddd4e08c3c6a3258cc","datavalue":{"value":"robot control","type":"string"},"datatype":"string"},"type":"statement","id":"Q1640433$D9517658-4ACE-44A9-966D-FF5619C0E8F8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e7d6c11108060a6a0662e1e983c3c0917dc7ef8a","datavalue":{"value":"PID","type":"string"},"datatype":"string"},"type":"statement","id":"Q1640433$BE351754-7D54-4BD6-A23B-9FC0FECB69D3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"68d1962f88797bf365d105b2d5201dab386aac0f","datavalue":{"value":"differential evolution","type":"string"},"datatype":"string"},"type":"statement","id":"Q1640433$7E81AB82-0B6E-4E2D-B712-98D84240C6F0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"15413d864f8f64cb13637a6836c3ddb30c90eeef","datavalue":{"value":"feedback linearization","type":"string"},"datatype":"string"},"type":"statement","id":"Q1640433$863C4FCD-0B03-435D-8A43-63C681A5676F","rank":"normal"}],"P1463":[{"mainsnak":{"snaktype":"value","property":"P1463","hash":"610b123f470adc1156a1401a3ca9fb5c324c73e9","datavalue":{"value":{"entity-type":"item","numeric-id":19415,"id":"Q19415"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1640433$CDFBD961-13E8-47AF-A291-B9A4B2827ED8","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":"Q1640433$2FCF237C-EC29-4BC2-9BD5-9B7D056E9CE4","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"28bb8d9b64db1c46b24052ef53763063e49f37ca","datavalue":{"value":"https://doi.org/10.1007/s13369-016-2324-y","type":"string"},"datatype":"url"},"type":"statement","id":"Q1640433$7F1429CB-6DCE-476A-8E21-0EDCC2B58C3E","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"cd9956ca269392d3cae4f7e8e07e3a4e197608f7","datavalue":{"value":"W2543004239","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1640433$42C0BA0C-F8D9-4B68-A9A4-8862140493ED","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"97d95d2293795ec016b929365905dd6b4945070d","datavalue":{"value":{"entity-type":"item","numeric-id":3653567,"id":"Q3653567"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1640433$A7DC005C-DC6E-4676-84B5-908C0DB74F6D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8fc5ae1e0e689c788eeb7ff8598cda3f2304740d","datavalue":{"value":{"entity-type":"item","numeric-id":1955254,"id":"Q1955254"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1640433$7FD8E0F7-3A7C-484D-9423-EC7091F6ABC9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9e40ef22e79764f37b4370e5d733de058da34fd3","datavalue":{"value":{"entity-type":"item","numeric-id":2933005,"id":"Q2933005"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1640433$CD77CA7A-3981-4E3D-9DF6-264A039D8285","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"043389a6926ee41590113572e9b1ab6533dfe3b0","datavalue":{"value":"10.1007/S13369-016-2324-Y","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1640433$1E40A5E9-9B6C-46AD-9EFD-6BCB543B2F7E","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c116bbcea13e9227e56a1f3f5b98ef398d63f822","datavalue":{"value":{"entity-type":"item","numeric-id":2287175,"id":"Q2287175"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"19dabc24e9cc56ee5cb2f93f5191d6a305fe9344","datavalue":{"value":{"amount":"+0.7312136292457581","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":"Q1640433$1AE358E0-4D63-47C7-9653-A8004AEF6125","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"75b2d1568e811d38ead61a88dfd9fe88251d15ab","datavalue":{"value":{"entity-type":"item","numeric-id":746419,"id":"Q746419"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"07369d9e9bc7eecb1d396106119f466459bfdf70","datavalue":{"value":{"amount":"+0.723404586315155","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":"Q1640433$8B0F8A6A-A388-4319-B11B-BB4FD3CA1951","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b52e36df726097cb260e12e536506a4eb139b756","datavalue":{"value":{"entity-type":"item","numeric-id":1583209,"id":"Q1583209"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"162d336c3b5eda9cec910e1ed28ea9da0509846b","datavalue":{"value":{"amount":"+0.7232539057731628","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":"Q1640433$15E0C598-8B04-473C-95EA-DC1146108D84","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"8eec9ee9b3a1187453bac91156b1a28c4bde2b09","datavalue":{"value":{"entity-type":"item","numeric-id":3743217,"id":"Q3743217"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"444e8c245c578963e92f214ffa3e7561ae6a2450","datavalue":{"value":{"amount":"+0.7105233073234558","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":"Q1640433$7DD587A4-CAAD-4AA3-9744-17F06261C700","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b84e2dfe6bffd3a7cff8db51554bc11828fcdd8c","datavalue":{"value":{"entity-type":"item","numeric-id":4658569,"id":"Q4658569"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"397c7d79f41ad740bbbba09e91e4d9509c4fceae","datavalue":{"value":{"amount":"+0.7101671099662781","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1640433$D520E39E-4919-4ACF-969E-75BA74423F4A","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Dynamics and control of a robotic arm having four links","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Dynamics_and_control_of_a_robotic_arm_having_four_links"}}}}}