{"entities":{"Q1798847":{"pageid":1809589,"ns":120,"title":"Item:Q1798847","lastrevid":68985189,"modified":"2026-04-13T03:32:47Z","type":"item","id":"Q1798847","labels":{"en":{"language":"en","value":"The closed-form motion equation of redundant actuation parallel robot with joint friction: an application of the Udwadia-Kalaba approach"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6962981"}},"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":"Q1798847$B4CE0008-345D-41DC-B737-FF58A9CFFF97","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"05dc1f60568a63cda6357092760eb3ca076f7655","datavalue":{"value":{"text":"The closed-form motion equation of redundant actuation parallel robot with joint friction: an application of the Udwadia-Kalaba approach","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q1798847$526977A7-7551-462E-8B39-A45C4D1FFD6A","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"48abd55ad467e65baed3fec71df73d10665918f6","datavalue":{"value":"1398.70026","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1798847$0F0F39A0-B4C2-41FA-A0CC-371AE5CBB1B6","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"f27ee9da8d892c9341a193d5e025ef896ce9d929","datavalue":{"value":{"entity-type":"item","numeric-id":1798844,"id":"Q1798844"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1798847$AA64370A-5803-472B-BC68-5BA723F87FF4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"246193f893984c104563dc017d5ee5dacefe2059","datavalue":{"value":{"entity-type":"item","numeric-id":1798845,"id":"Q1798845"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1798847$72EFA0B6-0D07-4088-80CE-6A3AB782D8AB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"fae82a3437f7dd64fc45de0d4ddc352daedd2271","datavalue":{"value":{"entity-type":"item","numeric-id":1798846,"id":"Q1798846"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1798847$17628CEF-82B6-4375-BA7E-5D8BFE9988A1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"f5bd9e96c14219e5949901bd8227fc7d5775cff4","datavalue":{"value":{"entity-type":"item","numeric-id":342742,"id":"Q342742"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1798847$EFB3CEA3-63EB-431A-A6FB-DAF4364AEFE4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"c1e161dc24d4115d98676d201ffe842887d0d32d","datavalue":{"value":{"entity-type":"item","numeric-id":943134,"id":"Q943134"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1798847$6EC6217E-0ACC-4F75-96EC-DF2F624C0DEB","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"d3b6540a5cd6a7f15bca174716bb7f991ed59bfa","datavalue":{"value":{"entity-type":"item","numeric-id":65804,"id":"Q65804"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1798847$4E6B8443-E885-4F44-8229-DFC8A74FD320","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"d6bcb28ae86aeca9fbed36b824032693bb3a4a24","datavalue":{"value":{"time":"+2018-10-23T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q1798847$88279739-5EDC-4AF5-8F1C-7F6BE3C90C9A","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1798847$16459179-9DD3-4F69-BC5E-222EB1A163CB","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"907213df24c558bed9cc00d43c5a5a850352cd5f","datavalue":{"value":"6962981","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1798847$5BED75AC-CE48-476A-834C-1730B39970B0","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"ecc03b4e9265121fa77d81c186c0dec7ee1ca361","datavalue":{"value":"parallel robot","type":"string"},"datatype":"string"},"type":"statement","id":"Q1798847$53857572-6919-4C72-925B-576CEC5880A3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e49cab05056c943dd945dde7ea688f61ef71be9f","datavalue":{"value":"motion equation","type":"string"},"datatype":"string"},"type":"statement","id":"Q1798847$7DA5A720-A52B-440A-9A8E-F28281A780B5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c42598ea74ae0415c0fcd3e605152c480e649397","datavalue":{"value":"Udwadia-Kalaba equation","type":"string"},"datatype":"string"},"type":"statement","id":"Q1798847$388FAAC4-0102-4D12-A4C9-36F34CF4146F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"4b52e0b6d36a11adcb1f22fc5c68d40d577355ff","datavalue":{"value":"joint friction","type":"string"},"datatype":"string"},"type":"statement","id":"Q1798847$4E8EB524-636E-4236-8FBE-72AE54F722C6","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":"Q1798847$23C89DE2-5474-43C6-B017-9EB58451C2A5","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"c90772761ff9084ac73d0b3b12288c4d993d58e9","datavalue":{"value":"https://doi.org/10.1007/s11071-018-4218-x","type":"string"},"datatype":"url"},"type":"statement","id":"Q1798847$B1271485-DA6D-4647-BB3E-1DD9030ED916","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"3331cc61061609d57469882077c7b90e8aa4b3aa","datavalue":{"value":"W2792948244","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1798847$08D4758B-E961-4332-8B37-3CF2C6FECDCE","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"d66eb42996aadee78feb0c1d0655a337ad045bb4","datavalue":{"value":{"entity-type":"item","numeric-id":1676848,"id":"Q1676848"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1798847$6AD6D655-943A-466B-98A3-5DF2FC8EF1C8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"14a3aa54065927eaee2c883de9a410397ecf0dec","datavalue":{"value":{"entity-type":"item","numeric-id":2782589,"id":"Q2782589"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1798847$0D5465C7-F17A-4B3E-A1F7-5B5D15775C3E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ff8716b6280271084a591e13773e99d470807bde","datavalue":{"value":{"entity-type":"item","numeric-id":2576117,"id":"Q2576117"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1798847$67F9A2E9-B261-43D3-8684-519932BB9826","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"80300ade54eaecc157ce1140732ae0f77640126c","datavalue":{"value":{"entity-type":"item","numeric-id":2480961,"id":"Q2480961"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1798847$84FCD3C1-734E-4562-B3AA-CC69D4BB9FD1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d9a6f7417ad72aefc5a9ca830ca614d5703047ba","datavalue":{"value":{"entity-type":"item","numeric-id":4716827,"id":"Q4716827"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1798847$19F8515C-7195-4F48-95D4-6CB9968034B1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a0073451a86169ad926ba176900d02fa193dc6dc","datavalue":{"value":{"entity-type":"item","numeric-id":4345409,"id":"Q4345409"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1798847$EDDE424F-097F-417D-AD4C-DA6817831C71","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"91a5b4c09aff04db942dd65c040789e327d3d5e1","datavalue":{"value":{"entity-type":"item","numeric-id":3443721,"id":"Q3443721"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1798847$9E983557-7EF0-4AE8-9606-93A6561506B0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"63ed52417e17126b92980171c5780765a112745d","datavalue":{"value":{"entity-type":"item","numeric-id":3503368,"id":"Q3503368"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1798847$9B53FF7F-219E-4E0C-99F0-13A9FD5819C9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"10fb95580e0101eb1884fa1396062827a78a7a03","datavalue":{"value":{"entity-type":"item","numeric-id":1855000,"id":"Q1855000"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1798847$E67530E5-013E-4DD2-89FA-AF05E13AA459","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"38ed05a5128b6b2a6546128ac185471cd9e360cb","datavalue":{"value":{"entity-type":"item","numeric-id":3454651,"id":"Q3454651"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1798847$3A3E71AD-6DD2-4339-A9E4-CF21EB42CD43","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"01efa7eb73c5add7908177587dd57cd3cd52e124","datavalue":{"value":{"entity-type":"item","numeric-id":5619190,"id":"Q5619190"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1798847$6540AF90-F654-4851-860A-DB0497E30A98","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a5a809b576c3230c217e22548ae5b0ac64763cd7","datavalue":{"value":{"entity-type":"item","numeric-id":4856595,"id":"Q4856595"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1798847$0B4F17DE-B502-4C2D-9530-78FCC0516A6F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5f311f741cab588261e5b255ffca7dc1af17300b","datavalue":{"value":{"entity-type":"item","numeric-id":1286744,"id":"Q1286744"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q1798847$E37BFD9B-66B3-4D91-AEE9-28476AF30BD5","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"5f36db8a1d936f924efc7fe48978a05a0ed3e5f6","datavalue":{"value":"10.1007/S11071-018-4218-X","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q1798847$4B81232C-0FCE-4AE5-A86D-CDFED0CD60B6","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2cdc9cbce582802cb90fd90e543734fe52017ed3","datavalue":{"value":{"entity-type":"item","numeric-id":1420076,"id":"Q1420076"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5676871da104afdb597ba4e16c28c4832a906cd5","datavalue":{"value":{"amount":"+0.7038922309875488","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":"Q1798847$727D9C29-AD6B-4F4B-B629-49F8F152D170","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e4faef5668d9dfb870150a243ea9461e72592222","datavalue":{"value":{"entity-type":"item","numeric-id":596531,"id":"Q596531"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f2d6e6930c18b5376c821f57d0df67b6e3066e23","datavalue":{"value":{"amount":"+0.699699342250824","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q1798847$D24F0BB2-5969-4E23-BF91-7EADB7C072CD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ce903062994a145edd3447b73dc722241efd81c6","datavalue":{"value":{"entity-type":"item","numeric-id":2312434,"id":"Q2312434"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"57f1041fad4862125d25ff0f666138a54939cb30","datavalue":{"value":{"amount":"+0.6959672570228577","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":"Q1798847$07D1EF33-91B6-4B2F-A049-AF59FBDC3C52","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4406fdef18047e3571a610f18c8824a56613b015","datavalue":{"value":{"entity-type":"item","numeric-id":3161634,"id":"Q3161634"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6eb4b87e5cc8578f7b5c1171c094c484445854a9","datavalue":{"value":{"amount":"+0.6906411051750183","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":"Q1798847$2CA9E11B-1BC8-4E4A-A326-B7DFEA4370B1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"baa169a1e6c75a02fe49b2eacad4b3dcbbbfa2ac","datavalue":{"value":{"entity-type":"item","numeric-id":5070689,"id":"Q5070689"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"be75900e76adb044a94a86a68da688132816279f","datavalue":{"value":{"amount":"+0.6890475153923035","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":"Q1798847$07A757E7-C0C3-4BBD-8F95-E65708C8A744","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"The closed-form motion equation of redundant actuation parallel robot with joint friction: an application of the Udwadia-Kalaba approach","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/The_closed-form_motion_equation_of_redundant_actuation_parallel_robot_with_joint_friction:_an_application_of_the_Udwadia-Kalaba_approach"}}}}}