{"entities":{"Q2379577":{"pageid":2390320,"ns":120,"title":"Item:Q2379577","lastrevid":50935529,"modified":"2026-01-15T20:04:50Z","type":"item","id":"Q2379577","labels":{"en":{"language":"en","value":"Optimal trajectory planning for industrial robots"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 5685155"}},"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":"Q2379577$7554C4FC-BC21-4290-96FB-CB6256A5D04A","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"ba88eb156363c8c86f91a544d94329c7eb6f724a","datavalue":{"value":{"text":"Optimal trajectory planning for industrial robots","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2379577$BC3362DF-3F14-4C42-B40D-ECE8BC4DFC14","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"1799ceeeb8f068e0f32b28334fd00d56b6667b36","datavalue":{"value":"1379.70012","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2379577$9B836EDC-6AA5-449A-BA81-84F5C50B7AD9","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"5a64fc42d1acf03a4e5b747fd62fb05c72aa8639","datavalue":{"value":{"entity-type":"item","numeric-id":85683,"id":"Q85683"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2379577$513FDCA1-D789-4A61-9C0B-8CED78E3594B","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"7454ea8feab2c87c3930ea708b0afa2e8fe4880a","datavalue":{"value":{"time":"+2010-03-19T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2379577$C0AE0D15-E6A7-44DE-8196-626EE76DF9EE","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2379577$7C171C96-B7F7-406C-B4C5-5EAE11D3F365","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2379577$ABD52632-1C31-4036-A1B7-7943339E0FB4","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"4707376a3b5a574b31072fa4f64f4312fb81c978","datavalue":{"value":"5685155","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2379577$262FD7BF-00BC-4199-8FD9-54F53740F755","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"a654b5bbf795c72511c5a89208aceaf0f6df0b2d","datavalue":{"value":"trajectory planning","type":"string"},"datatype":"string"},"type":"statement","id":"Q2379577$EB2D287D-3EDD-4E6A-8BBC-FD0F9AE26972","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"bf90e63ed3b2976d960620d5685c61cb1d40b586","datavalue":{"value":"jerk","type":"string"},"datatype":"string"},"type":"statement","id":"Q2379577$17920579-370B-47AB-BAC5-FD6669BC7602","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"4e686e032edbabb3eb71adb9bccd68c92d5e37f4","datavalue":{"value":"robot manipulators","type":"string"},"datatype":"string"},"type":"statement","id":"Q2379577$DCB99858-639F-4DFD-9CA3-7CD73C7E84DD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c27024bc3112e6fbf1cca0a9a4aacb8e7e4a77e0","datavalue":{"value":"optimization","type":"string"},"datatype":"string"},"type":"statement","id":"Q2379577$93FCD48A-E7A0-4AB6-96E5-3959E541DFD7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c74ff6b2567d491f6832b3cd44f295dcf30f0c43","datavalue":{"value":"B-splines","type":"string"},"datatype":"string"},"type":"statement","id":"Q2379577$B92FDA6B-F594-45C1-B302-6702B5BDAE56","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"ae63bceb04ef3eb27e6db6c28036d85e93c2613f","datavalue":{"value":"cubic splines","type":"string"},"datatype":"string"},"type":"statement","id":"Q2379577$6A5DA58A-142E-42BF-9274-6A37C1949666","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"dab1164067033ae1afed7d22199479b2e51a6445","datavalue":{"value":{"entity-type":"item","numeric-id":363721,"id":"Q363721"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2379577$C8894777-816F-4449-9A16-DEFBA2DBD223","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"ba643be0f948815954f611d8c11145e677248d2d","datavalue":{"value":{"entity-type":"item","numeric-id":363722,"id":"Q363722"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2379577$8E534A73-68AF-4167-ABDF-355654BC385B","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2379577$CFE1A924-A462-438E-8A2E-1CF4FE6FA35F","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"fa9e7cdd3174d1e79738c56df0a36dd46f15b2f4","datavalue":{"value":"https://doi.org/10.1016/j.advengsoft.2009.11.001","type":"string"},"datatype":"url"},"type":"statement","id":"Q2379577$86908386-BC4F-43C4-BCF0-D300820C723A","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"9d7808c0b5def315681fff281c23b5fc0e0dffae","datavalue":{"value":"W2029349757","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2379577$45D7A6DD-7570-46F5-B18D-0E25C4D4F157","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"002774d79ae7c5f98d42b31f38ad4c46c0145637","datavalue":{"value":{"entity-type":"item","numeric-id":4487001,"id":"Q4487001"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2379577$8867CBC6-2676-4566-82B1-0E85A02FBF9D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"77bb1fe50d2fa102a7b8348136b46de5bbb95d9d","datavalue":{"value":{"entity-type":"item","numeric-id":3041032,"id":"Q3041032"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2379577$F17DD8C5-841B-47FC-B384-9056BDCD9C77","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"06694ca2dca4253d901c3eb3adeaf251151e88bc","datavalue":{"value":{"entity-type":"item","numeric-id":4955081,"id":"Q4955081"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2379577$52E8ECBC-44A7-4C1B-8DC1-F6F1917D0A84","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"51ee334fdbb5048f96ae5d7ccf73d6d1250bfd00","datavalue":{"value":{"entity-type":"item","numeric-id":4295604,"id":"Q4295604"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2379577$01A2236D-D37B-403B-BBCC-1736B8C7A916","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c35fa386d2a897d303fa1d574cacac03efc932ec","datavalue":{"value":{"entity-type":"item","numeric-id":1301479,"id":"Q1301479"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2379577$79780293-C0D3-4737-9020-F9E31394C3C0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c5e86e50c3f0b19618d5ad123418b2e9583d682b","datavalue":{"value":{"entity-type":"item","numeric-id":1602127,"id":"Q1602127"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2379577$A902CEAF-D503-4577-A554-925CE4F3E713","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"350711c8636f2373b1131cdc64c729836dbb25ea","datavalue":{"value":{"entity-type":"item","numeric-id":4036067,"id":"Q4036067"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2379577$3BE4FE12-00FF-463F-BAC9-203177F4181E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"eb8546f73aa8786df6a23cb4d1d8d83cb1934fa3","datavalue":{"value":{"entity-type":"item","numeric-id":875547,"id":"Q875547"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2379577$DDEAB4B1-76E0-463F-96FB-B765E0411C28","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b7322c6ce3f8c389078db53983686aa1395fd3c2","datavalue":{"value":{"entity-type":"item","numeric-id":1257622,"id":"Q1257622"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2379577$DC2B4461-FABE-4D05-B1A6-BAE129E1E878","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"f2eecc5e8aab83d2e5667d17f366fb311ab32472","datavalue":{"value":"10.1016/J.ADVENGSOFT.2009.11.001","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2379577$A881C9FB-7B26-4BD7-A8DD-58D09136D95F","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4e0fd7ecff9d592dec4d0f9a6f6370b4a9c7b7cf","datavalue":{"value":{"entity-type":"item","numeric-id":875547,"id":"Q875547"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"cdffb834ae17a0175eadd1b6dd3fd1dfc5e009b3","datavalue":{"value":{"amount":"+0.8537087440490723","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":"Q2379577$4633EE97-3572-4334-A21B-F61D3CCFD4A5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"238ede0d31bdcf8a7f2952ce300f40acc697065b","datavalue":{"value":{"entity-type":"item","numeric-id":704356,"id":"Q704356"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"fe34d6078089e89f87d029067dba3c094ac4b61a","datavalue":{"value":{"amount":"+0.849990725517273","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":"Q2379577$577337C5-2EF7-4261-835F-E3CBB131F13B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c3d2fad28fc2ef0749eeac1fd5e44ed70b512eb0","datavalue":{"value":{"entity-type":"item","numeric-id":4458179,"id":"Q4458179"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9c6a60ab989d05498ef43cf4f2b8c38568459ea4","datavalue":{"value":{"amount":"+0.8315064311027527","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":"Q2379577$3ADC6A91-A6F1-451D-B013-EF0A312ED95F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f78d6ebd2ab95bd14654ddd1b1bc124890ad600b","datavalue":{"value":{"entity-type":"item","numeric-id":2776657,"id":"Q2776657"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8e7fc8400a297e42fc91da3e1d72368d2b199bd2","datavalue":{"value":{"amount":"+0.8283101916313171","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2379577$CFF4757C-6E16-4415-99A1-F8C37802BA32","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"026ad63854943ce2f08b1287b644fa95446c91f7","datavalue":{"value":{"entity-type":"item","numeric-id":3753898,"id":"Q3753898"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"88dfc4e3fa004c060b9eabc09bffe2f6d4ed4630","datavalue":{"value":{"amount":"+0.8259580135345459","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":"Q2379577$74F8EB6B-CE7C-474A-A46D-A654E0412F9A","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2379577","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2379577"}}}}}