{"entities":{"Q2568165":{"pageid":2578908,"ns":120,"title":"Item:Q2568165","lastrevid":48565786,"modified":"2026-01-05T05:53:54Z","type":"item","id":"Q2568165","labels":{"en":{"language":"en","value":"Optimization of the motion of multilink robots on a horizontal plane"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 2212877"}},"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":"Q2568165$961EA62B-397F-41AC-B657-F6EAC04E7C54","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"df603281c701b4d66126961f8036501e7ed7c0e6","datavalue":{"value":{"text":"Optimization of the motion of multilink robots on a horizontal plane","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2568165$A9CE058C-33E2-421C-8AC5-3ED8302AD80B","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"105901a0d98a455ecee4aadf3a2303c6e62abeea","datavalue":{"value":"1083.70511","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2568165$3C67DE6F-6208-4475-A62F-18BDA47B4554","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"802cc8fff2450055a7059c558ba1e8b6b5f86026","datavalue":{"value":{"entity-type":"item","numeric-id":2566454,"id":"Q2566454"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2568165$61F8CC9A-77EE-48AE-97B6-9C40B3B81984","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"4b8f80080689931fc41128f031f9b96b606a612d","datavalue":{"value":{"entity-type":"item","numeric-id":174763,"id":"Q174763"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2568165$A3DA5356-54EC-4F2F-B8C7-993CC1E582C1","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"cf25ce818b85bb8b10c5d233e02ea9e0a830581b","datavalue":{"value":{"entity-type":"item","numeric-id":295575,"id":"Q295575"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2568165$DF95637D-00F0-481B-B904-B1CE33BDEC52","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"32ad81c392fb16ee79fdc0f71bc6ecae74b0738e","datavalue":{"value":{"time":"+2005-10-10T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2568165$7A6D0A24-91C3-4474-A9CA-D442799A431F","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2568165$55346A49-1115-4516-BFFF-E1E4582F4963","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2568165$09504057-17FF-42CA-A5C6-A941E6752CD3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0a1ae2a26101b30402c553f4ce4420f4fe7ca1ef","datavalue":{"value":"70F40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2568165$3C82D8A0-A823-4719-A224-C92B60B9988E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2568165$52140E40-CFDE-4526-B451-C097E95EF0D1","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"396ba89f3fa73ac5bb7d39b27a19d27d5e4cb080","datavalue":{"value":"2212877","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2568165$FFE3F379-9D70-4626-B211-E78907908DA4","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"7716c67da3ddf9c6b07fffb1b36cc325f830cae8","datavalue":{"value":"dry friction","type":"string"},"datatype":"string"},"type":"statement","id":"Q2568165$D5066BDB-D93C-4688-877D-BE607DC43E61","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c9a70a247e12b471a5e9e2be68419e62445acd49","datavalue":{"value":"maximal speed of motion","type":"string"},"datatype":"string"},"type":"statement","id":"Q2568165$51DAD61F-DCAE-4825-8843-FA029CDDD904","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2568165$E9588B8E-6E94-4096-A070-437A6FC5537D","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"34d82502804c533b8ed505a6008a5ca5cdc9916e","datavalue":{"value":{"entity-type":"item","numeric-id":5700898,"id":"Q5700898"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f0e44d8fc073fe77334f6b1af06dee732ae29202","datavalue":{"value":{"amount":"+0.8431583046913147","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":"Q2568165$B32085FA-CE81-4D16-B03C-460931B934BD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"497fd2fd7ee2fe5d6279171481317621bc9a9235","datavalue":{"value":{"entity-type":"item","numeric-id":5754053,"id":"Q5754053"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"dc946415a1192fa518021faf6f6740eef6d5aa40","datavalue":{"value":{"amount":"+0.8357271552085876","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2568165$DCB96F87-38DD-48B3-BE9E-F3F7EC187F75","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5fc11a34f5171bba42f1a22bba20e5c455b4ab2f","datavalue":{"value":{"entity-type":"item","numeric-id":370458,"id":"Q370458"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"82f26cb6324e41c171fe9eba0c390a56f0a1eb1f","datavalue":{"value":{"amount":"+0.8212491273880005","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":"Q2568165$5C018758-64D9-404C-8B61-02627C64E8F5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"33571bb347a4dd5afa2803cbdc18992791c8f6b1","datavalue":{"value":{"entity-type":"item","numeric-id":2017523,"id":"Q2017523"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"731229bc9674568cdc63d82dfbfcd34f2ad652ca","datavalue":{"value":{"amount":"+0.8193228244781494","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":"Q2568165$7E4F3BB0-4077-445C-AED4-6893C50D7C35","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"cc873a7f690e7bfd6ec1dde24734500d75e23c3c","datavalue":{"value":{"entity-type":"item","numeric-id":2761251,"id":"Q2761251"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e3f58b564d82bb7857d2feb64135564219f95761","datavalue":{"value":{"amount":"+0.8021743893623352","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":"Q2568165$3E0EF41B-AE6A-4940-9FAF-063F9F43FF87","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2568165","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2568165"}}}}}