{"entities":{"Q1717696":{"pageid":1728437,"ns":120,"title":"Item:Q1717696","lastrevid":72843531,"modified":"2026-04-14T08:12:54Z","type":"item","id":"Q1717696","labels":{"en":{"language":"en","value":"Analysis of load-carrying capacity for redundant free-floating space manipulators in trajectory tracking task"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7015736"}},"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":"Q1717696$9E08A4A1-02DB-4953-988F-9D22C01FE459","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"b4515b4d8eb59337532026ade0345dcd7bff76c0","datavalue":{"value":{"text":"Analysis of load-carrying capacity for redundant free-floating space manipulators in trajectory tracking task","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1717696$C1D83E5F-0648-4B57-AB1C-00DD5BD56AF4","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"59412b4fae816229bdf46cf5f5037afe20573863","datavalue":{"value":"1407.93259","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1717696$86B40037-28C4-4521-BBCB-B7523D552AAF","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"f1b11ef227ce0c4bc4f9e0765ceeef229598f16d","datavalue":{"value":"10.1155/2014/125940","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1717696$3E1E28F3-EF6E-477C-9E25-55934074CD93","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"ca9715dc7d6e42bf9670774eff8bf64243684b24","datavalue":{"value":{"entity-type":"item","numeric-id":1667005,"id":"Q1667005"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1717696$97C16673-2E3A-430E-8F2A-1C2DE44E5B4A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"3cd19d7e17cd5342abb0ab9c75ee18a65f9a2a60","datavalue":{"value":{"entity-type":"item","numeric-id":325897,"id":"Q325897"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1717696$E64E1A2F-23F5-4BCF-BF95-9AE8BEA0040B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"a04b7ffbbf9ab5e337a666c06b668d180e369475","datavalue":{"value":{"entity-type":"item","numeric-id":270349,"id":"Q270349"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1717696$21866852-9A93-423D-80DE-E09AF1CE8430","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"c328fbecc1123471baf4a91ed1c029db21dc0554","datavalue":{"value":{"entity-type":"item","numeric-id":1667006,"id":"Q1667006"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1717696$502B4FF9-B59C-4FF0-A94C-BD93F9608726","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"1eaec489e1e50ca4c89ed7b517ca72dd501431fc","datavalue":{"value":{"entity-type":"item","numeric-id":1717695,"id":"Q1717695"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1717696$1B68F7E2-C31A-4D69-9597-020C1AF078E4","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"3dc97bc0aff607b9c22ce37ffa18b6de85001d90","datavalue":{"value":{"entity-type":"item","numeric-id":86199,"id":"Q86199"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1717696$7D533F53-8BF8-4093-93F7-BEFF36E0D0C3","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"32a6dc046c0aa99508538df457dbadf7aa620337","datavalue":{"value":{"time":"+2019-02-08T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1717696$92466183-1CA2-41A5-B1EC-FA004411634E","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"fd1b74fb73989e56bffe4da05b0c81b12ef5c25d","datavalue":{"value":"Summary: The aim of this paper is to analyze load-carrying capacity of redundant free-floating space manipulators (FFSM) in trajectory tracking task. Combined with the analysis of influential factors in load-carrying process, evaluation of maximum load-carrying capacity (MLCC) is described as multiconstrained nonlinear programming problem. An efficient algorithm based on repeated line search within discontinuous feasible region is presented to determine MLCC for a given trajectory of the end-effector and corresponding joint path. Then, considering the influence of MLCC caused by different initial configurations for the starting point of given trajectory, a kind of maximum payload initial configuration planning method is proposed by using PSO algorithm. Simulations are performed for a particular trajectory tracking task of the 7-DOF space manipulator, of which MLCC is evaluated quantitatively. By in-depth research of the simulation results, significant gap between the values of MLCC when using different initial configurations is analyzed, and the discontinuity of allowable load-carrying capacity is illustrated. The proposed analytical method can be taken as theoretical foundation of feasibility analysis, trajectory optimization, and optimal control of trajectory tracking task in on-orbit load-carrying operations.","type":"string"},"datatype":"string"},"type":"statement","id":"Q1717696$C218E269-1AF6-4631-B48D-4844351BE6B0","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1717696$7756BFB7-E186-4318-A067-7B884259917E","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"b09c46b28fd0a3f91c96f1fad44d9cb8e7c4bbdd","datavalue":{"value":"7015736","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1717696$E498DD34-DDAF-4D41-8B26-7C083BA36D79","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"02cd35822faa992632319e1db8aed057c593af59","datavalue":{"value":"Q59062960","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1717696$5AE35D16-F568-40A2-8F7E-B6FD296AE5E4","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":"Q1717696$7BDDCBFF-882D-4675-8B52-2BF9082E814D","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"03fe8be58db6b5044043f11220c59742dd587162","datavalue":{"value":"https://doi.org/10.1155/2014/125940","type":"string"},"datatype":"url"},"type":"statement","id":"Q1717696$450A4AD6-F85F-4A90-BAF4-1E2C7F216823","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"4082d01452ab2fc4b7c0d6d6607d4065533bebbf","datavalue":{"value":"W2145584403","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1717696$E52A64F3-4C61-46B3-BE16-574F3D8C7028","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"037743362663cdcd4dbedddbe874ef88ce6ff6de","datavalue":{"value":{"entity-type":"item","numeric-id":4452424,"id":"Q4452424"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1717696$A77B86D5-0815-41B1-87B3-6AB469F01534","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"56a0dbc52e445c485c6792523e85789799e0351d","datavalue":{"value":{"entity-type":"item","numeric-id":1719039,"id":"Q1719039"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1717696$9A6D0FEC-5FEF-441A-8294-AA6A10C5A8C7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"cba5e1a129aa69f57a9cd67696888809859f5c6a","datavalue":{"value":{"entity-type":"item","numeric-id":976059,"id":"Q976059"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1717696$CAAF0153-FB1F-47C5-B49C-4F8D42700F9E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f6685b00d7ab5a4f2a60711a80c8e763219d2208","datavalue":{"value":{"entity-type":"item","numeric-id":4318981,"id":"Q4318981"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1717696$CDB6C062-F32E-4C9F-80AA-CA9A5C2989CF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ba015cb8188bb2ebf1ee5a1a86496bbad5a46d86","datavalue":{"value":{"entity-type":"item","numeric-id":5318726,"id":"Q5318726"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1717696$25D04B10-8479-4BEF-86EF-BFA7F062FD25","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"56ad576102f4b50835b06b99234ef3dc81a3dd51","datavalue":{"value":{"entity-type":"item","numeric-id":310526,"id":"Q310526"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"179adeb1ce9ce8424bea1fb2eeed6c8e59695e8b","datavalue":{"value":{"amount":"+0.7444506883621216","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":"Q1717696$7E9DB9FC-021B-465E-A690-4461C2B4CD49","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"560f62a98a722b7ca5bdabd140942561cbf63a4f","datavalue":{"value":{"entity-type":"item","numeric-id":4391607,"id":"Q4391607"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8a7dc9f9295c1d519fc02a86b93f2ced774a2246","datavalue":{"value":{"amount":"+0.7354687452316284","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1717696$E4847984-4C2C-4B3D-B463-7684FF6F7B5A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"50839272c667a7dd3ac6734fe02ca4e7c103e7bc","datavalue":{"value":{"entity-type":"item","numeric-id":532298,"id":"Q532298"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"05e68726a0630cc85f9d17e983b33c62ce2279ea","datavalue":{"value":{"amount":"+0.7265521883964539","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":"Q1717696$FBC735D3-4D27-4C5F-9E21-F931FCC8F44E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4e9e5cb151dfbd0a9946f226ab9a10c688ea0188","datavalue":{"value":{"entity-type":"item","numeric-id":315350,"id":"Q315350"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f2e7bd5b0fd5c7006f8171bbf54b07e999c63283","datavalue":{"value":{"amount":"+0.7246327996253967","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":"Q1717696$5F77EB60-7216-4125-BC92-92146E0EEA6A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d5d6bf4f807cf282f3081ec59862dfcf242405ca","datavalue":{"value":{"entity-type":"item","numeric-id":846192,"id":"Q846192"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"fbba69e59d5ec7f40ecd0ca8ba71a36dd864b859","datavalue":{"value":{"amount":"+0.7243599891662598","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":"Q1717696$98BF87F8-C57C-49B2-AD2E-F719D244774E","rank":"normal"}],"P163":[{"mainsnak":{"snaktype":"value","property":"P163","hash":"daf5f856a5d861312ad309ab567540337a5f61d6","datavalue":{"value":{"entity-type":"item","numeric-id":57050,"id":"Q57050"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1717696$B763B521-57CC-4BBE-9E0A-9DA22F94BAFE","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Analysis of load-carrying capacity for redundant free-floating space manipulators in trajectory tracking task","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Analysis_of_load-carrying_capacity_for_redundant_free-floating_space_manipulators_in_trajectory_tracking_task"}}}}}