{"entities":{"Q2109579":{"pageid":2120322,"ns":120,"title":"Item:Q2109579","lastrevid":43517120,"modified":"2025-07-30T12:19:43Z","type":"item","id":"Q2109579","labels":{"en":{"language":"en","value":"Applications of an improved Dixon elimination method for the inverse kinematics of 6R manipulators"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7635481"}},"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":"Q2109579$E4957D6F-1406-4B2A-9529-9438F192E71F","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"dfd152d65eb4d183ed4288b5b710af6b832995ed","datavalue":{"value":{"text":"Applications of an improved Dixon elimination method for the inverse kinematics of 6R manipulators","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2109579$1C5FDB56-B4C7-417A-8946-ADCBD98F5B25","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"323b0a3b053ac4a56b0d44e0cdef8f6dfe3b9cc7","datavalue":{"value":"1503.70002","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2109579$672ACAF0-8CD2-405F-9602-A41E14587750","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"3dc925caba0e686644b076b24f2cb2a7a679de92","datavalue":{"value":{"entity-type":"item","numeric-id":730433,"id":"Q730433"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109579$D802CA2B-DF87-4428-9F98-00F9507D25AC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"69dde66030110e783ad40137d96249deeecc3c59","datavalue":{"value":{"entity-type":"item","numeric-id":2109578,"id":"Q2109578"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109579$5B232716-CAC1-4E99-86C9-6CBC9D40EA73","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"99a6b810a5022d14b9483c33cfd72c675d929b11","datavalue":{"value":{"entity-type":"item","numeric-id":86150,"id":"Q86150"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109579$88311116-DA6E-46F1-BCA2-4E56A4374999","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"caee49dfebbb3581b11807976c7fed96dec8e1e7","datavalue":{"value":{"time":"+2022-12-21T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2109579$A9EA39A5-8740-4BC0-B043-63A98B145844","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2109579$C0212BB4-3641-42E9-8B04-9A541E2FA249","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"0ee6cc91c6ba654212529d8fdafba7429a990b25","datavalue":{"value":"7635481","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2109579$9D7A4535-6406-40DB-9495-FA9A32D8E1C6","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"6e6742d5ef24735f8f53356589c374c57188723d","datavalue":{"value":"inverse kinematics","type":"string"},"datatype":"string"},"type":"statement","id":"Q2109579$A76ED36F-B3D5-48C5-BE3B-33954E443918","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"0d797bd734d2fdd22b087edb6919ac58c3e5c92e","datavalue":{"value":"vector polynomial system","type":"string"},"datatype":"string"},"type":"statement","id":"Q2109579$1DE95479-D319-46BC-8CA1-BBBEF4358E14","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"872b0d399d975c89f8104764da44c03ea1770c54","datavalue":{"value":"elimination method","type":"string"},"datatype":"string"},"type":"statement","id":"Q2109579$617EE37E-1CAB-46D2-8935-18062658E124","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c4b70cb66692cce3834b520aea1ab3965de76865","datavalue":{"value":"Dixon resultant","type":"string"},"datatype":"string"},"type":"statement","id":"Q2109579$F7AE44D4-5FB0-4FBF-BBC3-A2E85D68F6A6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e07f7baef69f05dfd503c841e3218a97621681b5","datavalue":{"value":"general decoupling manipulator","type":"string"},"datatype":"string"},"type":"statement","id":"Q2109579$02A7A115-41F9-4EEB-8943-B3AFE7417BD2","rank":"normal"}],"P1463":[{"mainsnak":{"snaktype":"value","property":"P1463","hash":"15d7e77432270a71b9de2ce4eb74ce9c0b505e22","datavalue":{"value":{"entity-type":"item","numeric-id":38300,"id":"Q38300"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109579$3325DDDC-BF71-4EE3-A7A5-0FA39B332FED","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109579$DAC1CE96-5D13-4843-9712-5A816C9FEA87","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"ca802f2bccc3f7d66bbf71dd7b937b6c5dcd096f","datavalue":{"value":"https://doi.org/10.1016/j.apm.2022.03.006","type":"string"},"datatype":"url"},"type":"statement","id":"Q2109579$48C34936-B0A7-459B-874F-020FF7CE566A","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"465107a72398f4566c1096441cb08fb302aae72a","datavalue":{"value":"W4220938153","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2109579$EB9655CC-BBD2-4C44-90E3-08538803FB9D","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"45c2f6b2b7ca2fe705de74189d41f9e0e0509f72","datavalue":{"value":{"entity-type":"item","numeric-id":823415,"id":"Q823415"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109579$08BCD313-E647-4E96-9565-AFBCF2A226BA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"036812afdd49acca9488bfcecc3b5578c8a641cc","datavalue":{"value":{"entity-type":"item","numeric-id":1630121,"id":"Q1630121"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109579$6CBC3D6E-D65A-41B5-B8AC-28374CE2524F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"90cd31aa484186a663a7e26d8f3df57230b86d2c","datavalue":{"value":{"entity-type":"item","numeric-id":2510491,"id":"Q2510491"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109579$18A7E6FE-2539-4360-9797-5B1DEC1DC9DD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"79d64a629443a7b7bd7715f7ac21c1182fb3b5a4","datavalue":{"value":{"entity-type":"item","numeric-id":4663406,"id":"Q4663406"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109579$96D7B558-0298-44DB-9262-ED8EB341E411","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"364eceb8c22de37449137e0cc15d7103dea5df34","datavalue":{"value":{"entity-type":"item","numeric-id":2269105,"id":"Q2269105"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109579$2FD6FCE0-89F4-40CC-AE2A-C38E2A8EDA92","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5f317f5ea598a386a2e5f05ed626e406a55ed47e","datavalue":{"value":{"entity-type":"item","numeric-id":4002901,"id":"Q4002901"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109579$B93DC7D6-D8AF-4FDA-AD7B-4177299D1473","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"69b01d048783244b3264bdcbfc320186fcb67ce3","datavalue":{"value":{"entity-type":"item","numeric-id":2307225,"id":"Q2307225"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109579$E98A2504-6CB9-47E8-B2C3-06F026D05FE2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"256ba42ec934067ca6b3b59f0277c4be621b1d39","datavalue":{"value":{"entity-type":"item","numeric-id":4672512,"id":"Q4672512"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109579$6279EAC4-0F45-43F1-9D21-8C389E2E7981","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"322a9017aa840f546f25e07f3021d250f9dba4d8","datavalue":{"value":{"entity-type":"item","numeric-id":4781203,"id":"Q4781203"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109579$DA21597F-7B34-4359-90F7-4A5413F2240B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"390db5cf4ca3637c991613aebb82154e7d81ed07","datavalue":{"value":{"entity-type":"item","numeric-id":450301,"id":"Q450301"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109579$DADE07A3-F49D-46B7-BA7B-50855B76F646","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"370c159f28f26f3113b2949add3a4edd26238eca","datavalue":{"value":{"entity-type":"item","numeric-id":5955547,"id":"Q5955547"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109579$CB3DB2A3-B3B7-4576-AF9F-4C5F072EABC6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c0630a2b488f483815d0a3e24893749815826169","datavalue":{"value":{"entity-type":"item","numeric-id":974251,"id":"Q974251"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109579$67CD0F37-38D9-43F5-8584-D49A17231D59","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d960f4b03ebfa4d264914ee94255d012731e75bf","datavalue":{"value":{"entity-type":"item","numeric-id":4234291,"id":"Q4234291"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109579$A3093632-D258-4ED4-A961-BB8D9E213F06","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3af772efe50dd2140eb7b0417a30cef554c6c44a","datavalue":{"value":{"entity-type":"item","numeric-id":5453485,"id":"Q5453485"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109579$321934A0-2B45-4C64-882A-D547625672BF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"65aae40b058adbde52e7f3ecc31b1aa871e0ce51","datavalue":{"value":{"entity-type":"item","numeric-id":5479231,"id":"Q5479231"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109579$755E84CF-C9EB-4455-80A7-BEADE0EAF023","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fc7330fed02150bb96544617712596dbaed24104","datavalue":{"value":{"entity-type":"item","numeric-id":2117431,"id":"Q2117431"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109579$3E0EEB6E-2138-4DB7-BA1A-BB88F203EFEF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b8063d49366b3ee214840e86e4969c4b78eebe69","datavalue":{"value":{"entity-type":"item","numeric-id":1639973,"id":"Q1639973"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109579$10E68833-61F8-417E-8143-D0310621C2D7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c25bdb2f1d0b197a4c0dd712b92bfabfb9b91fc6","datavalue":{"value":{"entity-type":"item","numeric-id":2643539,"id":"Q2643539"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2109579$3651828F-F289-4370-8F6D-199D65F1614B","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"889480b1ea59b0a8c7ce1dddc22a46d3b2dcdfce","datavalue":{"value":"10.1016/J.APM.2022.03.006","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2109579$97D5CF81-D45B-4E95-8EE2-AE72951701B5","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2109579","badges":[]}}}}}