{"entities":{"Q328266":{"pageid":330033,"ns":120,"title":"Item:Q328266","lastrevid":61000461,"modified":"2026-04-10T20:31:37Z","type":"item","id":"Q328266","labels":{"en":{"language":"en","value":"Trajectory planning with pose feedback for a dual-arm space robot"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6641344"}},"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":"Q328266$F08164CC-9816-4696-AB25-A5941BE6565D","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"f8e0a7b91d02d7835c5cbebdb7e9b2ee852323a5","datavalue":{"value":{"text":"Trajectory planning with pose feedback for a dual-arm space robot","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q328266$93D64D0C-938D-42DB-AF50-37FB9B57D714","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"933342783e2a797d7ac211f12046dcc741eae3eb","datavalue":{"value":"1346.93273","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q328266$FF2D4FA6-72C2-403F-9A52-9074E3BBDB30","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"8a6ad9ff1bc184554476e59720ee32c7898084bc","datavalue":{"value":"10.1155/2016/7021696","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q328266$5CDD9EE8-7F89-40D7-8B82-DFADA716E84F","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"a03aeadf0815a5a2a7f7c33a59472e3aac592cd9","datavalue":{"value":{"entity-type":"item","numeric-id":249794,"id":"Q249794"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q328266$FB3FC657-F3FF-48AB-83FA-3FC3B3EA6388","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"5702c77775a0294f70ce79fb40b36e4014bf6c55","datavalue":{"value":{"time":"+2016-10-20T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q328266$1D1D05C2-09FF-4D79-B53E-C3BE55AB54FF","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"0ed994bf4cdbb1cb547d3388f62881c90edd35ca","datavalue":{"value":"Summary: In order to obtain high precision path tracking for a dual-arm space robot, a trajectory planning method with pose feedback is proposed to be introduced into the design process in this paper. Firstly, pose error kinematic models are derived from the related kinematics and desired pose command for the end-effector and the base, respectively. On this basis, trajectory planning with pose feedback is proposed from a control perspective. Theoretical analyses show that the proposed trajectory planning algorithm can guarantee that pose error converges to zero exponentially for both the end-effector and the base when the robot is out of singular configuration. Compared with the existing algorithms, the proposed algorithm can lead to higher precision path tracking for the end-effector. Furthermore, the algorithm renders the system good anti-interference property for the base. Simulation results demonstrate the effectiveness of the proposed trajectory planning algorithm.","type":"string"},"datatype":"string"},"type":"statement","id":"Q328266$BB6244BC-C1FA-4C7F-A88A-5EC0E12274D6","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q328266$79A8530C-6775-4B09-AB1F-154E5A58E93C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"6594fb8580241c64ce14f9f29fc602ba2f0f06fe","datavalue":{"value":"93A30","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q328266$1A775141-B798-4739-A6CF-1022020B4048","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"3cf19f414d003b599cb8555b9227d1a95bcc55a3","datavalue":{"value":"93C15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q328266$0EFA6B06-8E9C-4F4F-B6DA-0C1357904C99","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"f6578dbb3956bd84841e8e92ccdac38797347df2","datavalue":{"value":"6641344","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q328266$EA0F223D-B124-4623-BA7D-5EBB6453F4AF","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"a654b5bbf795c72511c5a89208aceaf0f6df0b2d","datavalue":{"value":"trajectory planning","type":"string"},"datatype":"string"},"type":"statement","id":"Q328266$0C38E751-E1D2-40BF-8CE7-BCFA40D26600","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e17ecdf908f6a86e134c3fad667f3033bb6d6cf7","datavalue":{"value":"pose feedback","type":"string"},"datatype":"string"},"type":"statement","id":"Q328266$B86A117A-D234-4443-95D4-D573B7B039C0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"ba8401cc7c6ae40ec8068ff8950667d37cfb66f6","datavalue":{"value":"dual-arm space robot","type":"string"},"datatype":"string"},"type":"statement","id":"Q328266$D9180BE5-9B78-4B7F-B328-F7BE96E2D9FF","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"72fe129a8df01e345d8c14b1f01c8259fdc936a5","datavalue":{"value":"Q59126104","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q328266$56C3C932-4812-4F64-9C6E-AC7FF1A651D9","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":"Q328266$37DB3617-AAF7-462F-A00F-3B2FDEDB522D","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"09a8a75b883d8136742d6469973c8a7f03c41032","datavalue":{"value":"https://doi.org/10.1155/2016/7021696","type":"string"},"datatype":"url"},"type":"statement","id":"Q328266$AB677F8B-13AF-4405-8D76-9F87F81F561D","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"55935c6ee7f275a3b4d5e2d7d10d71a5cf8fc006","datavalue":{"value":"W2333720576","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q328266$322229BE-5634-4860-A1E5-BBDB627D68BE","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"67230d9dfd29fec720a096af6ba0aa18b7955616","datavalue":{"value":{"entity-type":"item","numeric-id":2251338,"id":"Q2251338"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q328266$BF9589D1-58B5-452A-B99E-FC867642EAD3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a5506d9038582e8807ccbde4aed3005a5b9da0bf","datavalue":{"value":{"entity-type":"item","numeric-id":3709951,"id":"Q3709951"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q328266$C0058E44-6F19-403B-BD9B-BB4D01CA1504","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"cb55d48093b872cf3780d8f69ce4a56c36ef2036","datavalue":{"value":{"entity-type":"item","numeric-id":444782,"id":"Q444782"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q328266$67DDC61F-C16A-4E3D-B01A-83C3D9FE9C0C","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"89dfbd186c1e0dad924089ff1ea9f15bfcda7b56","datavalue":{"value":{"entity-type":"item","numeric-id":1629471,"id":"Q1629471"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q328266$DFB540C6-C300-4D85-A55C-24C8110EE861","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"2eb94af267b145cc2b4353c1aecfc8a88c80e9c0","datavalue":{"value":{"entity-type":"item","numeric-id":2097719,"id":"Q2097719"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q328266$A69E5073-BD18-4A82-9E0B-786595C974F9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"2be580997ff3033c4e81df82d1d297498e2377d0","datavalue":{"value":{"entity-type":"item","numeric-id":6205983,"id":"Q6205983"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q328266$555275B4-3BF9-41D2-8226-A45C22FB971E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"a11f02928f08cada9680e0c4ddbd9f84fb4b9bf5","datavalue":{"value":{"entity-type":"item","numeric-id":833564,"id":"Q833564"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q328266$DCE622E4-2D96-450B-BBB9-E5C8D75FC675","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e2a33d4dbfc7c7193bace9aefdf84c7f19127adb","datavalue":{"value":{"entity-type":"item","numeric-id":1785179,"id":"Q1785179"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6e5396b02b351939a4d77b4e66a96e444a3db58c","datavalue":{"value":{"amount":"+0.7265111207962036","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":"Q328266$B45B97D1-61C9-4221-90D1-CDB5063337BB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"533e03028007b10ec4c7892607fd6f83497a28fb","datavalue":{"value":{"entity-type":"item","numeric-id":5318726,"id":"Q5318726"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5d7c0e26619bd4af6583826bce84b3a5178c3e82","datavalue":{"value":{"amount":"+0.7204506397247314","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":"Q328266$8F958ECF-1339-456C-BBFE-4238B372729E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"63e0bb20d28438c6970b6c5ce5dfccde52d2dcd5","datavalue":{"value":{"entity-type":"item","numeric-id":2283889,"id":"Q2283889"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"90f2aa7cc07363e8e5f55acca4bfb1b0d5c1df07","datavalue":{"value":{"amount":"+0.7173662185668945","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":"Q328266$34B6A81B-EB62-4871-8A0E-3EF1BB9EA0D1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b3c2c73752cab0c1ee5b04c908865b7cc82c7cb6","datavalue":{"value":{"entity-type":"item","numeric-id":2205199,"id":"Q2205199"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1a982c54cee8b31806ed7cc8702ed025ba4f1b0b","datavalue":{"value":{"amount":"+0.7165289521217346","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q328266$B1BA67FA-D507-46AE-A2C6-A84DE5D257FF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"36d1a736606035541a632d3dcff4a1a3ca24053c","datavalue":{"value":{"entity-type":"item","numeric-id":318043,"id":"Q318043"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"52742a0c3cc425f585f339add36696a4b3787eaa","datavalue":{"value":{"amount":"+0.709568440914154","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":"Q328266$8008150A-A539-417B-98CA-9AB116AD605C","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":"Q328266$17F669DF-AC36-4CA1-BC8F-22FE50415EE0","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Trajectory planning with pose feedback for a dual-arm space robot","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Trajectory_planning_with_pose_feedback_for_a_dual-arm_space_robot"}}}}}