{"entities":{"Q2627906":{"pageid":2638649,"ns":120,"title":"Item:Q2627906","lastrevid":56659827,"modified":"2026-03-18T11:43:35Z","type":"item","id":"Q2627906","labels":{"en":{"language":"en","value":"Modeling of static friction in closed-loop kinematic chains -- uniqueness and parametric sensitivity problems"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6725104"}},"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":"Q2627906$81370F0A-2C10-4FE8-BFAF-F0C9AD105A3D","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"9cdca2886de71c62f0282fd4bee97dc159df4b33","datavalue":{"value":{"text":"Modeling of static friction in closed-loop kinematic chains -- uniqueness and parametric sensitivity problems","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2627906$9B57A89A-6339-4D3E-9B41-A66D689C1CAC","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"9472a7d5f738f7e0a69d08dc52e4c4d46c11c834","datavalue":{"value":"1377.70028","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2627906$B4188814-E2C6-48FE-8110-35DF2C12E0EA","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"9aec0c6626c11c945bff8acfd271c0057e22de86","datavalue":{"value":{"entity-type":"item","numeric-id":551561,"id":"Q551561"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2627906$B3785F02-7418-4FDB-9263-BF41CD10497B","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"adaede4d30d80731f86904b0d235817d0564cc04","datavalue":{"value":{"entity-type":"item","numeric-id":174757,"id":"Q174757"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2627906$1F13690B-DCF5-4310-8422-931C8AD37E9B","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"f05e55fe774ba785804e371d0af378710b362012","datavalue":{"value":{"time":"+2017-06-01T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2627906$56F39755-8E4A-4666-A0F0-1B0386185E10","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"53b71bd65d6a4dd0dba5dae1fe54746b9bdd1051","datavalue":{"value":"70E55","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2627906$AA59A258-6D52-467F-A705-F8CC91776DDF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0a1ae2a26101b30402c553f4ce4420f4fe7ca1ef","datavalue":{"value":"70F40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2627906$2D839504-4D61-4312-A45F-D905968C4E9E","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"08011ec766576518516270837d5da02c1d38f577","datavalue":{"value":"6725104","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2627906$756E588A-6D4E-4783-9F74-3C97D712FEBF","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"4b52e0b6d36a11adcb1f22fc5c68d40d577355ff","datavalue":{"value":"joint friction","type":"string"},"datatype":"string"},"type":"statement","id":"Q2627906$3AE5D77F-974B-48F2-BBE5-249B6C822D26","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"a31872ef98c90f589c44d4ca292417a609a6980b","datavalue":{"value":"Coulomb model","type":"string"},"datatype":"string"},"type":"statement","id":"Q2627906$C73931A8-AF1B-4A98-A2DE-062853BEFB3D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"42c0ebb1571ce63d9bd578d6e416ecbdef9ccf58","datavalue":{"value":"LuGre model","type":"string"},"datatype":"string"},"type":"statement","id":"Q2627906$DEF37A44-4ACA-44D4-A531-5486EAA24F83","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"b81d87153f78b0691a7f8000c77997ba29d72461","datavalue":{"value":"solution uniqueness","type":"string"},"datatype":"string"},"type":"statement","id":"Q2627906$343A245E-A6BD-4CCD-9135-02EC73C63802","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"4865a473dc7464d5885df7a41bce92ce8bc4b71b","datavalue":{"value":"Q59608983","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2627906$7D19FD2E-EF92-4A14-8C8C-8577745B5019","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":"Q2627906$40DCB5F6-E848-493D-B197-BC3AD6F8FD57","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"617c7520d81cd74a65b9216837ca6848a50fadde","datavalue":{"value":"https://doi.org/10.1007/s11044-016-9535-6","type":"string"},"datatype":"url"},"type":"statement","id":"Q2627906$D346894F-973D-4ABE-ACB8-89F2393B3991","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"0cff5cd17ae2f090cf52dbbc3d0e5668d1b79bcb","datavalue":{"value":"W2520650078","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2627906$D96E6254-E665-4715-A08B-60786110CDE3","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"e1bc310394da3496af9e3502ba60335e31459b42","datavalue":{"value":{"entity-type":"item","numeric-id":551562,"id":"Q551562"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2627906$C291A5A4-B1A8-4174-BED4-A0C68E563C6E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7c3f47e75a4a2392f704450f16b804a89dbdf161","datavalue":{"value":{"entity-type":"item","numeric-id":3443533,"id":"Q3443533"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2627906$A067F6AB-FCBA-472B-863D-0A23DAD5BEF8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3df9b937e3c4825ad57a7979c4aabb5b512505b1","datavalue":{"value":{"entity-type":"item","numeric-id":2433212,"id":"Q2433212"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2627906$D71CAB61-9429-42FD-AB9E-E8204E320547","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"be31a4918e165ab3435f598312f10459906068ad","datavalue":{"value":{"entity-type":"item","numeric-id":4837467,"id":"Q4837467"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2627906$EC218595-D329-4F72-944A-21DA18FC309A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1a1d45bd5cd22cf275f0eb6575e62406043f2c6e","datavalue":{"value":{"entity-type":"item","numeric-id":1334589,"id":"Q1334589"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2627906$1FFEB513-88AA-42FA-89B3-3382F8BE946A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2fa912cc0d1c0981c2638adf722d3e108f9bad68","datavalue":{"value":{"entity-type":"item","numeric-id":4253108,"id":"Q4253108"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2627906$B107F702-500A-4D0A-8C0A-DC3409007561","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"20853730e38d19d09011b578447dcf59bc97b3d3","datavalue":{"value":{"entity-type":"item","numeric-id":4507133,"id":"Q4507133"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2627906$DD836917-C337-4BBA-9750-674867C615BE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8b15a2ad01f5d5b65fc66985c4e656b07602ae36","datavalue":{"value":{"entity-type":"item","numeric-id":5267216,"id":"Q5267216"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2627906$C0EEF609-D3EE-44BE-8F9D-D886F8DCF3AE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"37985407c63f236ba4474fa9aa36d5c6b47e0b16","datavalue":{"value":{"entity-type":"item","numeric-id":880998,"id":"Q880998"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2627906$FFE5782F-FA75-495A-A2DD-69CD208EA236","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"587db7f00505e89b206f09310ce1c932bee6d2b6","datavalue":{"value":{"entity-type":"item","numeric-id":653700,"id":"Q653700"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2627906$D015E253-39AC-4DBB-8B7D-3E418C2800A1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"23021570765b175f4b4d2b690a7ecf40c6bd2b54","datavalue":{"value":{"entity-type":"item","numeric-id":1405346,"id":"Q1405346"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2627906$C50E992A-7EA6-4591-9D82-1AEC6526A908","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2e40de52b1e3569034b563ec2150bf52c85eaa12","datavalue":{"value":{"entity-type":"item","numeric-id":4262428,"id":"Q4262428"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2627906$61B2E20F-58B5-4A3E-B61D-CF90F84D880D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4fdb43c1c53325eb494e1e67a0300b1bd5e761a7","datavalue":{"value":{"entity-type":"item","numeric-id":1019412,"id":"Q1019412"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2627906$F58618C2-68D3-466E-B942-7F5CBB33BBF4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a42cd68c0064145a2dbc9580647c6a7dc61ea172","datavalue":{"value":{"entity-type":"item","numeric-id":1048923,"id":"Q1048923"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2627906$E2F48DBE-0EA2-4BA0-8447-2C3F982CAE0B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3a0e7764b3d98134bf315f2a274f2045f60e1df3","datavalue":{"value":{"entity-type":"item","numeric-id":862925,"id":"Q862925"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2627906$147325A2-47E1-4C8B-9FDF-0F3179EB467C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d9a6f7417ad72aefc5a9ca830ca614d5703047ba","datavalue":{"value":{"entity-type":"item","numeric-id":4716827,"id":"Q4716827"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2627906$FEFDCD1B-F1E8-4347-9752-90DD90F7506D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d149332473aa59f7cc391c8487bc5cea930ff344","datavalue":{"value":{"entity-type":"item","numeric-id":375154,"id":"Q375154"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2627906$3D605B90-0964-410D-B7A0-CBD1D68718F5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"60206df8b9c96a7daa8ae83bfa1c617b99736cc9","datavalue":{"value":{"entity-type":"item","numeric-id":2495861,"id":"Q2495861"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2627906$F2A7EB54-3480-4E20-B721-CEC85B8CB7E6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"59eff3a879576815fe94dac86a8bd017c78e9538","datavalue":{"value":{"entity-type":"item","numeric-id":556663,"id":"Q556663"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2627906$C0AB9852-50DF-4274-B3D2-7C6E843A0F88","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6edd11d8a3296173718c78ba42f44b73957ccdf1","datavalue":{"value":{"entity-type":"item","numeric-id":335680,"id":"Q335680"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2627906$1844F707-709F-43BE-9008-83EF2C0BE9BF","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"ae5f034bb87b0a76f6b99b6dda5c432b0bbcde54","datavalue":{"value":"10.1007/S11044-016-9535-6","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2627906$D123ACEE-A3D4-4FEB-B1F8-E801C9037C3F","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a3c0e5fdaa0e7ca0bbf67e1bf9b249c7c3b92ee4","datavalue":{"value":{"entity-type":"item","numeric-id":551562,"id":"Q551562"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ee8cf8186ef54a596f474822e44a84aeed847089","datavalue":{"value":{"amount":"+0.7622617483139038","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":"Q2627906$CC09B654-D410-49FC-A662-AC32E65AF814","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"fff0b71510c38130438b906fc7fb3072ac6d87a9","datavalue":{"value":{"entity-type":"item","numeric-id":2459192,"id":"Q2459192"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e00e4607bb9a9fe621846ad88d5b17465f8581e4","datavalue":{"value":{"amount":"+0.7575032114982605","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2627906$BA8EF007-C9C5-4B89-8B58-674DF2CE57BA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e141a1f10cd00b7594b2d3257b42f659df3f1b11","datavalue":{"value":{"entity-type":"item","numeric-id":1905422,"id":"Q1905422"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c652a36826d3731f8500d61b9c48005127435ce9","datavalue":{"value":{"amount":"+0.7491359114646912","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":"Q2627906$AA3747D6-99A5-45E5-8D05-58CBD275EB3C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7b60d26866cabb086b6900c684b8b3384e1995ae","datavalue":{"value":{"entity-type":"item","numeric-id":5385224,"id":"Q5385224"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d8235209dffb640d9838eb7701769e5f1bf4ba65","datavalue":{"value":{"amount":"+0.7355770468711853","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2627906$E1966B82-E439-47EE-8872-8D8BF8ED3E59","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"12c3d367d63211a959849faa8b34b26e0de4dfac","datavalue":{"value":{"entity-type":"item","numeric-id":2224605,"id":"Q2224605"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"779e8ba956364925955a6d587187380c2368ce0d","datavalue":{"value":{"amount":"+0.7348960638046265","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":"Q2627906$2E0108BF-E2FF-4D0F-AB19-8493FE0C7B03","rank":"normal"}],"P163":[{"mainsnak":{"snaktype":"value","property":"P163","hash":"45fcd4163b5f33e6e8c784f5522d7246c0a1a61e","datavalue":{"value":{"entity-type":"item","numeric-id":57056,"id":"Q57056"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2627906$BF2A3F50-0B9B-4699-A473-E31A39D4EFEF","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2627906","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2627906"}}}}}