{"entities":{"Q1767875":{"pageid":1778617,"ns":120,"title":"Item:Q1767875","lastrevid":74150589,"modified":"2026-04-14T18:36:47Z","type":"item","id":"Q1767875","labels":{"en":{"language":"en","value":"Control of a three-link manipulator: collision avoidance of a moving obstacle"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 2142413"}},"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":"Q1767875$5BEACD21-CB46-4090-A132-49110FB1F6E7","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"e94a21261372a482a768a0c87600a6847408fe30","datavalue":{"value":{"text":"Control of a three-link manipulator: collision avoidance of a moving obstacle","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1767875$796F96CA-ED00-4810-A7C7-FC7E44839294","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"cef3e3aa30a7017f8f30835c2842cb445edfc4f6","datavalue":{"value":"1155.93395","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1767875$F2B5CDD8-939A-42A5-B491-869D707AB089","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"6dcf8b29f998e6586890411a08c34f70ea4883f1","datavalue":{"value":{"entity-type":"item","numeric-id":1717924,"id":"Q1717924"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1767875$19E9680B-8770-4DF3-8CA4-AA9072FE2C18","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"bd47d06c0da02a3275cef5e1a053a13d04438c27","datavalue":{"value":{"time":"+2005-03-08T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1767875$03754096-1880-442A-AB21-6AB24E66AB1A","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1767875$2DD6EE51-6902-4896-BA0E-EE4ECBF45CEE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1767875$DF186514-837B-4930-815D-E985651CF910","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1767875$A84A211D-0C03-4862-B706-396687D2A7C9","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"eaa0488809bd3ae4073c74840065c03a71a0a2ae","datavalue":{"value":"2142413","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1767875$CE9A50DC-D4E4-40DB-9F25-490290007BB8","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"7caf165040589fadf79fe929fa164b6f3d70725d","datavalue":{"value":"Three-link manipulator","type":"string"},"datatype":"string"},"type":"statement","id":"Q1767875$CDFA2C56-B38F-4435-985B-98C8D748E3E9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"6bfd074fa6d1efdc1e5e8ab998ad140327a14943","datavalue":{"value":"End-effector","type":"string"},"datatype":"string"},"type":"statement","id":"Q1767875$FF05286D-A0BA-4072-9433-FCBAD265567F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"8d93c4cdd85e71696a688069a3676c3bd6557b88","datavalue":{"value":"Moving obstacle","type":"string"},"datatype":"string"},"type":"statement","id":"Q1767875$1D0FF118-F347-468B-B3C9-22790BF63B10","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"bb6f239f9a5bc68087b2a34874189f7ed170c875","datavalue":{"value":"Obstacle avoidance","type":"string"},"datatype":"string"},"type":"statement","id":"Q1767875$52BFDAAE-D25E-45F4-BCC3-9D4C4EC79641","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1767875$B9352837-5932-48E4-A59E-01EE308FC58B","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"26fbf4c064e5fad1004c9e32eb3bdba5635891ec","datavalue":{"value":"https://doi.org/10.1016/j.camwa.2004.06.010","type":"string"},"datatype":"url"},"type":"statement","id":"Q1767875$6FDA59C9-C5E0-465A-B7D1-23900563DF5E","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"73db42b27899d3b770b57aeedc0df6ecb873e9bd","datavalue":{"value":"W1981796620","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1767875$7779B072-DF21-4102-BE1E-2EBD4C1023C8","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"761815cb01f73b5534316a2111ddc6fbf9de1280","datavalue":{"value":{"entity-type":"item","numeric-id":1371737,"id":"Q1371737"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1767875$FD3B30BE-6B22-40CB-99D5-2073D0FA1041","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8d9abc93c3e5d23a8692c38a1bda5306a885808a","datavalue":{"value":{"entity-type":"item","numeric-id":1808134,"id":"Q1808134"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1767875$2259BFD0-F063-42F8-97F1-F8BB0613117C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f37eb081576343f4a0572c0c888be3926fa88f0a","datavalue":{"value":{"entity-type":"item","numeric-id":1609472,"id":"Q1609472"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1767875$CF01A0D6-1275-4DE6-AEBB-61E8639EF60F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c87a75d66a34dec4079dce468dfb3edeb10fd181","datavalue":{"value":{"entity-type":"item","numeric-id":3146221,"id":"Q3146221"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1767875$D2D3AFB6-2776-4190-BBD4-BDC42723B84D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"80927d80e4283fa0f7cf0f804757308e447650e5","datavalue":{"value":{"entity-type":"item","numeric-id":1971338,"id":"Q1971338"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1767875$2528B9B8-5EB1-4036-852B-178F9B81853C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ba2902e522f5961f91c03bd41b37ea2290d2f924","datavalue":{"value":{"entity-type":"item","numeric-id":4487437,"id":"Q4487437"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1767875$BFDDEBDD-7B31-469F-A864-68C7CD879141","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7b25784fc868c834b17caf60650ac5d3dd15f103","datavalue":{"value":{"entity-type":"item","numeric-id":5950724,"id":"Q5950724"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1767875$ADAE1907-F0C1-4EB9-94C9-5312D731D39E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8204883322bdfc322beb3a1231f937cc76744299","datavalue":{"value":{"entity-type":"item","numeric-id":5838030,"id":"Q5838030"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1767875$A226DC28-7E16-4B3A-9507-AFFD9DDBF448","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fa7f0d1a328e94470bb1f7c479d61d646be489df","datavalue":{"value":{"entity-type":"item","numeric-id":1804231,"id":"Q1804231"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1767875$0083434A-898F-44E8-87D3-1E7624F984DC","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"b06b3cf0f45246183d2f60e0abb61d22fa00b9ed","datavalue":{"value":"10.1016/J.CAMWA.2004.06.010","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1767875$9F3FEDAE-ACBC-417D-89D8-D8F63868DAFD","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"293935db3834ff8b5d542ae1771b7c6cb66baa38","datavalue":{"value":{"entity-type":"item","numeric-id":85551,"id":"Q85551"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1767875$BE0360E1-AB5F-4B0C-ACEC-B8A3B3A43EF5","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f5e5e152aaac601ac768ed2cdb92321781a18104","datavalue":{"value":{"entity-type":"item","numeric-id":4392551,"id":"Q4392551"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"272d580e01fd761ae30bc07361abc3d0515de91a","datavalue":{"value":{"amount":"+0.9094906","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":"Q1767875$0AFF4C86-EFB5-4421-ABA3-A7319BCD1D9A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"278177d44c96ce841f1f06db2d87cbf4f60f4492","datavalue":{"value":{"entity-type":"item","numeric-id":3423838,"id":"Q3423838"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d8e7c9af54166bd9a825560e9b37a87af157b573","datavalue":{"value":{"amount":"+0.8969524","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":"Q1767875$6B937C61-4872-4213-A9D5-C642975B4DA0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"9afd15e01d2f30a77696c508a27d6a41a050c462","datavalue":{"value":{"entity-type":"item","numeric-id":3423866,"id":"Q3423866"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"2909e8e236115d1cdcf899bed98ea7db22096371","datavalue":{"value":{"amount":"+0.8830553","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":"Q1767875$23DBAD4C-8BAE-4883-B91D-411E7472F279","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"09f3e5ad8542cff5a269e496fdc338ecf01f4967","datavalue":{"value":{"entity-type":"item","numeric-id":1857324,"id":"Q1857324"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a2ae76372b7adcda6617533cd7d8c90db35e5572","datavalue":{"value":{"amount":"+0.87808377","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1767875$B64F8526-66AA-4D4A-8DDD-459AFEB60FA8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5a9772e78363e041629f08200a5c941123d01dc3","datavalue":{"value":{"entity-type":"item","numeric-id":3358294,"id":"Q3358294"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ddae10c404a2f5fd49cd578a6b9fcef7479edfda","datavalue":{"value":{"amount":"+0.87519276","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":"Q1767875$50DF6575-ADB8-40E7-9813-1B2E0C56E0B7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"410344ce2b92b33fc593d551e8eae804b398d322","datavalue":{"value":{"entity-type":"item","numeric-id":5948809,"id":"Q5948809"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"799c5d2cb2920df41582b167ac2caf8c22239999","datavalue":{"value":{"amount":"+0.8731364","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":"Q1767875$57B80012-1DD1-4FFB-8014-E98FC8CA7E29","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"33571bb347a4dd5afa2803cbdc18992791c8f6b1","datavalue":{"value":{"entity-type":"item","numeric-id":2017523,"id":"Q2017523"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0e944a89a88a5ac15c995f9272b09cbb98cfa1f8","datavalue":{"value":{"amount":"+0.87197125","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":"Q1767875$8E47BC47-6C69-4201-877A-42E79CEF4B73","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0c60d2d4f8861813c57b403de3ad061c61358fa6","datavalue":{"value":{"entity-type":"item","numeric-id":5003644,"id":"Q5003644"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"28255a1c8b7466de65d0d82ce0e7c30a910b4f3a","datavalue":{"value":{"amount":"+0.87058854","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":"Q1767875$600B79BC-CC85-498B-BC7B-F8969F746BAB","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Control of a three-link manipulator: collision avoidance of a moving obstacle","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Control_of_a_three-link_manipulator:_collision_avoidance_of_a_moving_obstacle"}}}}}