{"entities":{"Q2271559":{"pageid":2282302,"ns":120,"title":"Item:Q2271559","lastrevid":50737505,"modified":"2026-01-14T23:58:19Z","type":"item","id":"Q2271559","labels":{"en":{"language":"en","value":"Velocity field control of robot manipulators by using only position measurements"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 5591587"}},"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":"Q2271559$1AD38AFB-F8AE-444E-89C3-DC19DEEFA86C","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"91dc463eaac7bb476ed17298febdfb3ecd761fcb","datavalue":{"value":{"text":"Velocity field control of robot manipulators by using only position measurements","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2271559$6713EC33-CB31-45A0-A67E-955512148DAD","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"62d89fd372161aa7a032e83dca1897b05a021550","datavalue":{"value":"1167.93386","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2271559$1155AAC7-F790-449D-9A8C-8A73306B2DEE","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"2a3642887ac1f024c446f9f6d72e78b1ba2ff0ed","datavalue":{"value":{"entity-type":"item","numeric-id":366605,"id":"Q366605"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2271559$590247DB-9A84-4FAD-9185-5D440256989A","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"a51b97a52c84c260f189b05761c3359b0f8838c1","datavalue":{"value":{"entity-type":"item","numeric-id":164292,"id":"Q164292"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2271559$381ED947-96FD-45F5-8DBD-D942CEAB690C","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"a6851601b2d1be8728306a97e6c2cdae40722615","datavalue":{"value":{"time":"+2009-08-07T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2271559$C00E7443-FC40-40C5-9CD3-9473E31BF280","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2271559$097F5372-5E4A-4DF4-96C7-5D065608C466","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"b2650696ed3935a49b70cc972e8bc0c67a8cd2c3","datavalue":{"value":"93D05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2271559$895C10FA-1FB3-4A85-B107-CB19DC1FDD2B","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"178127a28d863bc756e91ff2c1e2a51c1383d998","datavalue":{"value":"5591587","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2271559$4B695214-A82B-4C1E-A8A9-CC250E3EAFC0","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f61d0ac525515da65cf8e4b499c594b9e00ba98d","datavalue":{"value":"velocity field control","type":"string"},"datatype":"string"},"type":"statement","id":"Q2271559$6D7ED220-553D-4F41-BA1D-5A73F9307816","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"8135d88fb197e9834fccb043dd4ed434a9ad9c82","datavalue":{"value":"operational space","type":"string"},"datatype":"string"},"type":"statement","id":"Q2271559$EB044875-87D8-42EC-A9D3-849A7412CDB8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"7fca201c5d655c88d19146ea2d90ec85bf8a5356","datavalue":{"value":"position measurements","type":"string"},"datatype":"string"},"type":"statement","id":"Q2271559$05B22FA8-F65C-46BE-B04B-3792888D05C1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"31ceb3175a370558e55f38632d56fc7a42999866","datavalue":{"value":"Lyapunov function","type":"string"},"datatype":"string"},"type":"statement","id":"Q2271559$C222835B-632B-4A33-9B0F-7424E5DC1B96","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"34b44e7b40021effdee26093512bde7058814281","datavalue":{"value":"stability","type":"string"},"datatype":"string"},"type":"statement","id":"Q2271559$9BB36A34-E5B7-49FF-AB2D-CAF0456EEB49","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":"Q2271559$785E6BEE-BA78-4C0F-9306-6CE37C4B26A0","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"48ae320387790b0dc600a81ab759382c7d29fc45","datavalue":{"value":"https://doi.org/10.1016/j.jfranklin.2007.05.006","type":"string"},"datatype":"url"},"type":"statement","id":"Q2271559$9C38E59F-3304-4F03-8A47-D59A5B426642","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"827fbfb5871e1aad916993689ef8f4a20372254e","datavalue":{"value":"W2008889363","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2271559$E71C1AFA-9D68-4F27-81D7-940687D4A134","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"d252add2f551404e7ff00c80935d5ba478631cde","datavalue":{"value":{"entity-type":"item","numeric-id":4540479,"id":"Q4540479"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2271559$E5D9495B-BC77-42B0-96C5-5FA21E14DDF2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6fcb61cd1a948f95439ee55b4599fe16ca59aed2","datavalue":{"value":{"entity-type":"item","numeric-id":4857368,"id":"Q4857368"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2271559$98C35400-59E3-403B-B000-AD8AFD782DEE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e62b611f873f11bce43b8114be4b42ee5ba42999","datavalue":{"value":{"entity-type":"item","numeric-id":2576141,"id":"Q2576141"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2271559$A111FB03-E9B5-4A84-A84B-05B2BA5F01B3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f7841e52b54ca740570f19292d5a4d2638b35931","datavalue":{"value":{"entity-type":"item","numeric-id":4847331,"id":"Q4847331"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2271559$2C5B28B0-3249-455E-A582-9132E67D4815","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4a551e73da3c7acda49657271740627753c61c20","datavalue":{"value":{"entity-type":"item","numeric-id":1972234,"id":"Q1972234"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2271559$4B901789-7B8C-422C-96F7-873B5071D02B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5da5502f9e8f70317e188e4aa3425261e5f28aa8","datavalue":{"value":{"entity-type":"item","numeric-id":1917976,"id":"Q1917976"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2271559$A514805D-B245-4439-AC53-FC2ACC08E584","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c22b6a3e2313afc0fa66ea92ed41666235cc0e0f","datavalue":{"value":{"entity-type":"item","numeric-id":1128544,"id":"Q1128544"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2271559$C687BA19-A21F-4F83-AB84-8C88C876F32A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ba7453047677d9a93234b46989a851b48f2bb49d","datavalue":{"value":{"entity-type":"item","numeric-id":5930070,"id":"Q5930070"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2271559$AAE758F0-A5EA-4D18-931F-8DC3CD921B3B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9c6368166978cf2778da7d34f514dcf4892b2821","datavalue":{"value":{"entity-type":"item","numeric-id":3795568,"id":"Q3795568"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2271559$06F07076-3EE6-4F21-A00B-B313A9D1B9B9","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"afba91d70545e0c6e1b259fc84efc9c9e273c160","datavalue":{"value":"10.1016/J.JFRANKLIN.2007.05.006","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2271559$47304298-A7EC-475E-BC86-97F29C205E7A","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a9afc91f5a5167428c0851878be87bf63423a986","datavalue":{"value":{"entity-type":"item","numeric-id":5172555,"id":"Q5172555"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f21ac7f1ff1a9f9923e52b927eb44692f68c006f","datavalue":{"value":{"amount":"+0.8113945722579956","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2271559$BDFA793A-1B01-40AF-A58E-CFCB424A3853","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ebdf7a7d7ca4a86efcbfd4de79786ee6c1383447","datavalue":{"value":{"entity-type":"item","numeric-id":3631400,"id":"Q3631400"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ddc06357ef052860b1363795c1a40987a68fb902","datavalue":{"value":{"amount":"+0.7869794368743896","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":"Q2271559$4300E7D8-A02A-4FED-889E-8E950F6FA38C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2e633883c5f8d95bc768e21e9e91b4e1bf662873","datavalue":{"value":{"entity-type":"item","numeric-id":5202593,"id":"Q5202593"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3a6321d96a58a9152a98f5efa34af4136c765c2e","datavalue":{"value":{"amount":"+0.7505557537078857","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2271559$A9C891DB-C41B-421C-85AC-116ADD428921","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"08d0cf12a8a05b7383ea19d70eaf93be8df759b9","datavalue":{"value":{"entity-type":"item","numeric-id":985981,"id":"Q985981"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ea978b6583929189e0c6e0b87e2e6994d576f9d7","datavalue":{"value":{"amount":"+0.736829936504364","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":"Q2271559$291DAA4B-682A-412A-A64B-3C9F77A68A79","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"eeb6159945db7b0ed8d58eacbd7a7ae62cd0749a","datavalue":{"value":{"entity-type":"item","numeric-id":2576141,"id":"Q2576141"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e629130fc8264edbfaf8c1b0fd139693ecbb5e7e","datavalue":{"value":{"amount":"+0.7357165217399597","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":"Q2271559$1D3A21FD-19FF-4A1A-B628-6BA6C982B447","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2271559","badges":[]}}}}}