{"entities":{"Q2277221":{"pageid":2287964,"ns":120,"title":"Item:Q2277221","lastrevid":43806090,"modified":"2025-11-14T15:50:44Z","type":"item","id":"Q2277221","labels":{"en":{"language":"en","value":"Coordinated motion control of multi-arm robot systems with optimal load distribution"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 4195843"}},"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":"Q2277221$7DF880F7-8E1C-4AA5-A9E9-3E0E76BD7242","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"31ceed3aeddcb3c8382ec07d1f8351ba676ddf49","datavalue":{"value":{"text":"Coordinated motion control of multi-arm robot systems with optimal load distribution","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2277221$6D87AE66-DAD2-41DD-BA51-ACDB2B485AD4","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"cf195aea84a69f2463026f5c4fac1751a4410a91","datavalue":{"value":"0724.93054","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2277221$42582BF8-0008-4BC5-830D-D08FD75C4BBF","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"b9bd6ff865318a618fd43ef5ebf13db53a954f01","datavalue":{"value":"10.1016/0167-6911(90)90117-D","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2277221$FF9481E9-30C9-4FC1-929F-CA0F830BA97C","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"59444acf9d43a407f8ad15f76e9cc37f45235041","datavalue":{"value":{"entity-type":"item","numeric-id":2277220,"id":"Q2277220"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2277221$28268182-37B6-4CE0-92D7-214D8CA5CBDA","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"b1ed7a090d8f1d0a3795177bace50e8f939f7c97","datavalue":{"value":{"entity-type":"item","numeric-id":196914,"id":"Q196914"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2277221$61AD87B2-A95D-45C0-91C0-742A5AA6EF28","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"70d2fbf8bcd48a5ca1ac752985098b379d0dbb65","datavalue":{"value":{"time":"+1990-00-00T00:00:00Z","timezone":0,"before":0,"after":0,"precision":9,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2277221$82EAC63E-38F9-43F4-8244-85FD644123CC","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2277221$F3AFCF01-9363-4F1A-897F-C341854CE5DD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2277221$C7400566-1FB4-49D0-8940-1A1E6D15B068","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2277221$CCD35B67-88F6-4D67-8261-AF9A5B01B489","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"5f7d7667143c4f78ba4d2741fb9cb77c68f7b859","datavalue":{"value":"4195843","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2277221$70D77DF2-E333-43DA-8140-E22B3362D2AC","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"612b1fb72ca533cce5e56b4f2e0be6c84121c474","datavalue":{"value":"optimal load distribution","type":"string"},"datatype":"string"},"type":"statement","id":"Q2277221$03118B34-5DB5-4ED3-81D9-0157FBB535EB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"34e13f543df9adb37304a8a94effd5c783a0ec05","datavalue":{"value":"multi-arm robot systems","type":"string"},"datatype":"string"},"type":"statement","id":"Q2277221$D70BBDF0-04B7-46EC-A05C-23C05E762876","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":"Q2277221$28EBD64B-66BF-4E1F-98B2-E8168939A4B9","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"1114aca8ba9fa9b1dd85fb71c5c17f23d13f559d","datavalue":{"value":{"entity-type":"item","numeric-id":3998946,"id":"Q3998946"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2277221$494797DF-9F0A-4295-B02F-B5EF5C11FA05","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"49657514e43e097c4696bbe5a55dfe8858557b54","datavalue":{"value":{"entity-type":"item","numeric-id":3797052,"id":"Q3797052"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2277221$2903A700-A2ED-41F3-95B0-D529F0D23918","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"1e585a1d54801bfb92492430b3b72fead8b76223","datavalue":{"value":{"entity-type":"item","numeric-id":885667,"id":"Q885667"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"fcd8e05beb02ee7ce8c4e0bacdd2e7827d56e733","datavalue":{"value":{"amount":"+0.91236305","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":"Q2277221$93BF9A65-3B39-4E4C-B5DA-3A28BDAB5CFF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"fceaead6571f7fc789950ab7cdd71dfd325e17b3","datavalue":{"value":{"entity-type":"item","numeric-id":1874263,"id":"Q1874263"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"15ac937dc48ab066144f4574355fadbab99db7e0","datavalue":{"value":{"amount":"+0.9109364","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":"Q2277221$927FD72B-D279-41EA-96CE-4C1D8DDA886D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"40a54443458305079979b5cdbb51e71614e6cc40","datavalue":{"value":{"entity-type":"item","numeric-id":4223711,"id":"Q4223711"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9958f4ef6af3c5ef98d8e9f1a6b9af6e3b594133","datavalue":{"value":{"amount":"+0.9067162","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":"Q2277221$66E589BC-4462-48C7-809F-4ED6F23BFCF2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d0e300425202eb0aed1f1683901d992819aeda16","datavalue":{"value":{"entity-type":"item","numeric-id":3813345,"id":"Q3813345"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8b9efdd1a642cea1d600fd6689ebe3e716feda71","datavalue":{"value":{"amount":"+0.90671325","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":"Q2277221$8DF61897-F6E2-4EEB-87BD-48909152337E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"06bfae936b3c9bfb1d6598ce98adbed63854869a","datavalue":{"value":{"entity-type":"item","numeric-id":1194940,"id":"Q1194940"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"80c6aef04b9c88c73835712eb77e50b4b16adc2a","datavalue":{"value":{"amount":"+0.90275025","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":"Q2277221$97470FD2-EA1A-4382-B812-6C48FF14E885","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f5cf0fdd99a7f682bfd15e6d630ece41d5eb398b","datavalue":{"value":{"entity-type":"item","numeric-id":1301087,"id":"Q1301087"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a537c6aa086977224073b667abbb033e2638719e","datavalue":{"value":{"amount":"+0.9027071","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2277221$BFBC6A30-ABD5-402D-A062-BF9C1415D92A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ea7f4c61c6f6b8cf798d00d29ebd827ed10699d1","datavalue":{"value":{"entity-type":"item","numeric-id":3486918,"id":"Q3486918"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"fc295a942b53f073c28dc31d8a9526f11f262d8a","datavalue":{"value":{"amount":"+0.8992181","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":"Q2277221$8ACA0681-6A7D-49AF-83BA-B19B4BF9A403","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2277221","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2277221"}}}}}