{"entities":{"Q1776371":{"pageid":1787113,"ns":120,"title":"Item:Q1776371","lastrevid":48482572,"modified":"2026-01-04T23:15:22Z","type":"item","id":"Q1776371","labels":{"en":{"language":"en","value":"Path generation with singularity avoidance for five-bar slider-crank parallel manipulators"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 2167380"}},"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":"Q1776371$6BF9F82D-0D48-4789-97A9-0ABCDFD2144C","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"3b1320a435642c92986796af34511094e019a822","datavalue":{"value":{"text":"Path generation with singularity avoidance for five-bar slider-crank parallel manipulators","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1776371$D53BA64B-2DE5-4234-A747-90BE47407B7C","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"cb7aaec213b83ee498b22dd79ce8f233a3e5c266","datavalue":{"value":"1159.70343","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1776371$F2D7224F-C094-4466-AFA1-C94EC7AFCCE4","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"5b7402795b861886ce4b64b0ca7ef42355f0bfb7","datavalue":{"value":{"entity-type":"item","numeric-id":1773681,"id":"Q1773681"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1776371$9FCF8B93-FFCE-41AA-9B5C-FE839D0B9752","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"b54abea66bedd9716daf14bcb7a3f7fc0416c247","datavalue":{"value":{"entity-type":"item","numeric-id":129633,"id":"Q129633"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1776371$8341F658-85C0-49EF-9442-26CC8306A9DE","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"816fb6440c9cbb78f47d27fe48607ca1e7ad5f08","datavalue":{"value":{"time":"+2005-05-12T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1776371$9EE1F6CE-0E76-47F0-9427-4B64979D7144","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1776371$28C3A0DC-BB2E-4F81-B11D-114AD8E9277E","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"f9302e7e4bcc7b7f18f3836356ff94caa5fa523c","datavalue":{"value":"2167380","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1776371$5F92B304-C476-4978-B219-51C61F3177BB","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c3682c6ccc3af75c5772d6d333a795844abbf74e","datavalue":{"value":"Parallel manipulators","type":"string"},"datatype":"string"},"type":"statement","id":"Q1776371$BC0ADB72-E2DF-4A7A-94E3-0EDBB082E7B8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f1ceb8bb818ace670e28f71cdce8ff42f467ee4b","datavalue":{"value":"Path generation","type":"string"},"datatype":"string"},"type":"statement","id":"Q1776371$0934DD7E-F1ED-4ECC-9DED-96C6E32CAD26","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"a4a00dac5c64f71d2b7261b027637d009de05df6","datavalue":{"value":"Workspace","type":"string"},"datatype":"string"},"type":"statement","id":"Q1776371$4F8392DA-0E66-4D7E-8203-74B6DEC7979C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"34d6500fa5e978f4900397afae7453f823918b81","datavalue":{"value":"Singularity","type":"string"},"datatype":"string"},"type":"statement","id":"Q1776371$95B4D9DF-862F-4A1F-8AA0-55682A67172F","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":"Q1776371$4D10C7FE-9A41-42A0-8F45-BD71AAD5F3E2","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"78ee706ef23c32fb6d6f33828c27b050903f357a","datavalue":{"value":"https://doi.org/10.1016/j.mechmachtheory.2004.07.007","type":"string"},"datatype":"url"},"type":"statement","id":"Q1776371$00882D84-9609-4BEB-8CD3-FA594D4972E7","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"9142315ea0f1f33eb332d7422ea324346cecc506","datavalue":{"value":"W2090563303","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1776371$93536266-A8B9-4255-82B8-638F59406D6C","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"9121e8f05e57db040d45eb06b87d36bb2e911fdb","datavalue":{"value":"10.1016/J.MECHMACHTHEORY.2004.07.007","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1776371$5CFFD0F5-7448-42D7-9D22-62930BDF0293","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6ff191bbc405a966e35ff0ef595d44d3553f806d","datavalue":{"value":{"entity-type":"item","numeric-id":2486589,"id":"Q2486589"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"996cbbfb0b0d67440bc35f85b6b2f82ab279f0f9","datavalue":{"value":{"amount":"+0.7967318892478943","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":"Q1776371$6872F343-7EB9-4F53-961E-1F9873D7D4F9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"071bc721afab4526b988a3045c6aaca690bfc90e","datavalue":{"value":{"entity-type":"item","numeric-id":4359903,"id":"Q4359903"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3c4e2c6678428834d646de0eeaa9d16e7307df59","datavalue":{"value":{"amount":"+0.7958863973617554","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":"Q1776371$6E9A5CF8-A774-4CFA-8FD9-E11ACA46D208","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"9b663f54fc2c55eb5c6a874dccc596529690bcd0","datavalue":{"value":{"entity-type":"item","numeric-id":1301025,"id":"Q1301025"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d3bbfb44498a8394b6dc0326706448aeac241364","datavalue":{"value":{"amount":"+0.786052405834198","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":"Q1776371$6565D1CD-142D-4856-9664-FAD90F12D9A7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"8a46edaefe250a5356faf06f9d8f5bcf61262b73","datavalue":{"value":{"entity-type":"item","numeric-id":522734,"id":"Q522734"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"36e78793ca0c7ae1695029bfefbbb594595173f3","datavalue":{"value":{"amount":"+0.7680850028991699","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":"Q1776371$1825551E-2203-4AE9-A5D0-99CC7F3B8AD3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d7d49dcb0a79701d557769db3ad61bbf5d7451f5","datavalue":{"value":{"entity-type":"item","numeric-id":1301004,"id":"Q1301004"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c99ac3e6e1617c8ddcfef0d08b4a832f49fa64a8","datavalue":{"value":{"amount":"+0.7569875121116638","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":"Q1776371$01CA2DD0-E385-470D-86EC-E466C823D2B3","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:1776371","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:1776371"}}}}}