{"entities":{"Q2823645":{"pageid":2834383,"ns":120,"title":"Item:Q2823645","lastrevid":52637699,"modified":"2026-01-23T04:08:19Z","type":"item","id":"Q2823645","labels":{"en":{"language":"en","value":"Solution for inverse kinematics and research for the singularity of the 6R robot"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6634410"}},"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":"Q2823645$3E1F5278-5070-48AC-AFCB-2243B12C6C92","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"0cf4294bb49b45f211591616da057e4d69fa25b8","datavalue":{"value":"1363.70005","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2823645$F5CEA4A9-75C2-4EF5-BF5A-841F0B87BFDB","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"cf3644b2ac50e8afe5f213ddb4e5dfa602852149","datavalue":{"value":{"entity-type":"item","numeric-id":307240,"id":"Q307240"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2823645$49E373F1-0402-49D0-882B-CBA37B951047","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"36227046a6540fa37e5bf10b58ab95529cecb662","datavalue":{"value":{"entity-type":"item","numeric-id":2220797,"id":"Q2220797"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2823645$52D2C423-E2D8-4157-AC1E-6C0F128F5672","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"48117a7553237fc497dc6d344fde06777fe41000","datavalue":{"value":{"entity-type":"item","numeric-id":288919,"id":"Q288919"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2823645$623F5C29-7057-42CE-BFDB-2155F25802B4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"e046809a92c5d8dbcec6bc7140ea0b41261d3311","datavalue":{"value":{"entity-type":"item","numeric-id":1286653,"id":"Q1286653"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2823645$44221511-8F46-4C0B-A5AC-251B42972F9E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"13b14e4a04c234648364b761719eb41351c51624","datavalue":{"value":{"entity-type":"item","numeric-id":6068966,"id":"Q6068966"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2823645$064505C4-C69A-4580-904E-46B4F8AED6EF","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"87bcaa8e189a8753515af6bdca71491f1f3b70a3","datavalue":{"value":{"time":"+2016-10-06T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q2823645$3B1E11C9-AC6B-47BA-B7FC-35114130810C","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2823645$CEEC593B-EFD7-4851-8484-6684C69A7387","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"2fe46e136ce97a53d01bb027c7816f0440db743d","datavalue":{"value":"6634410","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2823645$C192C6D3-88AA-4247-B11A-1EB7A0CCB904","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"26700c33b9a38dd6af19d8552acc302830b2391f","datavalue":{"value":"industry robot","type":"string"},"datatype":"string"},"type":"statement","id":"Q2823645$BE316E70-9951-4399-A904-72F4E74AF216","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"6e6742d5ef24735f8f53356589c374c57188723d","datavalue":{"value":"inverse kinematics","type":"string"},"datatype":"string"},"type":"statement","id":"Q2823645$6CD12FE1-8EAA-476E-8C1D-14AD2E24A2D9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"cedf81a07cfdf6939b8836a242f01bde0b1eb3b8","datavalue":{"value":"singularity","type":"string"},"datatype":"string"},"type":"statement","id":"Q2823645$958DC6E9-E837-43A0-9A1F-F141D06ABB7C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f19ea6eba44bd11ef97ecdc58685663191cd1775","datavalue":{"value":"consecutive interpolation","type":"string"},"datatype":"string"},"type":"statement","id":"Q2823645$FDF47631-0536-4B87-A159-015769FEBD48","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":"Q2823645$AB8A8FD0-D0B9-4736-B4A8-3D2002581A02","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"389920e397163e765d6fce802c07e91755fc7ff3","datavalue":{"value":"10.14182/J.CNKI.1001-2443.2016.02.007","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q2823645$8988A463-6289-4239-B060-1DB61BB9D3B8","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"004a994890413116f4fa72533120e4e074017936","datavalue":{"value":{"text":"Solution for inverse kinematics and research for the singularity of the 6R robot","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q2823645$B1E901FE-F73E-4955-A689-FB6AF7141837","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"28bdee07c959bf33765f5de77bad2f5f99120eca","datavalue":{"value":{"entity-type":"item","numeric-id":6769221,"id":"Q6769221"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q2823645$201BEDC5-0748-495F-886A-596D281EF297","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b92dec41fb09367bc045cef525981173191ea82f","datavalue":{"value":{"entity-type":"item","numeric-id":3403319,"id":"Q3403319"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6b4fe299b9b8c16bd556337cba57fd6e949287e4","datavalue":{"value":{"amount":"+0.7949792146682739","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":"Q2823645$07DDD43E-904B-41AC-9203-C746DA512881","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0ad77f9a2724fdbea3c6c1100173ae5f8cc0c4cf","datavalue":{"value":{"entity-type":"item","numeric-id":5234692,"id":"Q5234692"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"abb53b835266552fbddeede38438efa1b64bc503","datavalue":{"value":{"amount":"+0.794634997844696","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":"Q2823645$6CF67ADB-F86F-41BC-91AC-C2F40B3FD0C1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"147e549afed9b7cbf0539598b15d19c709cbf89d","datavalue":{"value":{"entity-type":"item","numeric-id":4251363,"id":"Q4251363"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"91df1b43d22a55b217a9806ce7aceab1552ea9f1","datavalue":{"value":{"amount":"+0.784064769744873","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q2823645$D31EB630-2C6A-4276-9802-65CF471B79AD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4e137170eb767e19e95340ba0ce8cfd62e3a815e","datavalue":{"value":{"entity-type":"item","numeric-id":857237,"id":"Q857237"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"7626515935ca4e57ad1783930d3f4c6d2523e0fc","datavalue":{"value":{"amount":"+0.7831871509552002","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":"Q2823645$45575E11-6BF8-43A0-BEE0-CE6EF7054D6B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"fea11f9dee13454f5bc84d44d00867b89f890991","datavalue":{"value":{"entity-type":"item","numeric-id":3751475,"id":"Q3751475"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"df0f75bcf2bf84bd825a6fb5b7bfda2e87e2fc12","datavalue":{"value":{"amount":"+0.762633740901947","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":"Q2823645$81B1BEA1-8477-4225-BBD0-6A69F5B76532","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:2823645","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:2823645"}}}}}