{"entities":{"Q3378154":{"pageid":3388858,"ns":120,"title":"Item:Q3378154","lastrevid":88059695,"modified":"2026-06-04T13:32:11Z","type":"item","id":"Q3378154","labels":{"en":{"language":"en","value":"The control of an elastic manipulator taking into account the useful load and the force of gravity"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 5016529"}},"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":"Q3378154$63B12E8E-CA18-45D5-886A-B741699EBC9F","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"3f6578fc5b952fe10f27534f74f994a19ca513fa","datavalue":{"value":{"text":"The control of an elastic manipulator taking into account the useful load and the force of gravity","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q3378154$81674639-99E8-4F71-B60C-787E46AEC863","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"4feaaf1a7bc016cbbb9406968f7efeed002ea20d","datavalue":{"value":"1122.70316","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3378154$A8B6407F-E355-4AEC-A82A-6B19A2DEB183","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"f29fa61b55d3a98a1373b8bfe79801d6688a5253","datavalue":{"value":{"entity-type":"item","numeric-id":295578,"id":"Q295578"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3378154$2E2FB148-A07E-4051-9FE5-B85695E75EE3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"f9a066dc2624a76354083955061a721dd25652e1","datavalue":{"value":{"entity-type":"item","numeric-id":2567663,"id":"Q2567663"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3378154$4EC36C6F-92B1-445C-A797-D5B52A9F53D9","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"5b2e78dd5a480aaecc22f89e21b9478edbb8193b","datavalue":{"value":{"entity-type":"item","numeric-id":323748,"id":"Q323748"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3378154$248B565E-56AA-4EF4-BDC7-9EBB8BB769EE","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"04578d86bd40a1d3e4bf1177aaf4c60cb647046e","datavalue":{"value":{"time":"+2006-03-30T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q3378154$ED65593E-9B6B-4D7E-9414-40175B640F55","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3378154$42417AA8-EC26-4B51-B8AD-8E34F6AA163F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"46ffee837b0dbcd63fffc2834ebe2705f88e57be","datavalue":{"value":"68T40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3378154$35417DE9-1880-4FEE-9800-2C8539191FE7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3378154$FC59F4C9-6322-4961-B2C5-5334834B2968","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"50dbac2399a587f350539c60c4c87d90ed242149","datavalue":{"value":"5016529","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3378154$9034CF2C-98C9-40A2-95C0-F4514780CEBD","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"aa6ab0838ca334e16c118b97935e4b0466dde58d","datavalue":{"value":"control in the form of a series","type":"string"},"datatype":"string"},"type":"statement","id":"Q3378154$5CF83665-C8E1-4A86-8313-3EE37CA5DE15","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"66f6b9b1901d5439cc32ea47fcab9047b4d779c8","datavalue":{"value":"recurrent formulas","type":"string"},"datatype":"string"},"type":"statement","id":"Q3378154$4F82C58E-5ED4-4C8A-8745-201BD371D715","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":"Q3378154$203EF805-D1A5-41C8-9B99-A962FBEB8EAF","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"5c8ccdf3a7892b1c1ce13c7af7c307806adfb0bc","datavalue":{"value":"https://doi.org/10.1016/j.jappmathmech.2004.09.008","type":"string"},"datatype":"url"},"type":"statement","id":"Q3378154$F5EC0E33-C88D-44B1-83EF-BB5FF1559C4C","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"be86c3edb5ab71007e38b9e059f24aeca6c96fac","datavalue":{"value":"W1971258256","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3378154$8416640D-65D0-4220-89E2-43B71343D32E","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"ef6c02a726670c3946804566e82dbe9358d2d4f4","datavalue":{"value":{"entity-type":"item","numeric-id":794497,"id":"Q794497"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3378154$2F8465BB-E77D-48DA-B216-89714F7564D8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9878e4b12e8d6e6a671514070b54182612e3fad0","datavalue":{"value":{"entity-type":"item","numeric-id":2568143,"id":"Q2568143"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3378154$041CB223-4601-4F39-A7BD-09342AA59EA7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5ca58ae5990f4a3d7570ede7ba9abff77f9bd79e","datavalue":{"value":{"entity-type":"item","numeric-id":1975651,"id":"Q1975651"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3378154$2C4F0560-0B82-4C9A-898A-890BCEDBE2A6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"259b139ac5996a00b673a4487923b8a1c1a37ca0","datavalue":{"value":{"entity-type":"item","numeric-id":3272983,"id":"Q3272983"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3378154$42C86822-25B3-47C9-A010-E9D7766653CF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e6c3cd5c201db8226127715b9402ffa5cdcc115c","datavalue":{"value":{"entity-type":"item","numeric-id":2761275,"id":"Q2761275"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3378154$6AB9EDD0-A728-41A8-A58F-3672A305029B","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"1bb43df743e78776d1d39a7f7ccd49a7c85d6bc4","datavalue":{"value":"10.1016/J.JAPPMATHMECH.2004.09.008","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3378154$4EDB2440-A096-4042-A401-F6FDA6EEBE68","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7b7e5078e4eee4520003dad647a2a5a152e99599","datavalue":{"value":{"entity-type":"item","numeric-id":2567664,"id":"Q2567664"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1461f18452d0c6d5c29ed27792e2b2126318fb59","datavalue":{"value":{"amount":"+0.8791084885597229","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":"Q3378154$074C2318-794A-4436-8AAF-E1C597337464","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"1e432a81e35d7707433bf5d20b46565c9847d9d4","datavalue":{"value":{"entity-type":"item","numeric-id":1390652,"id":"Q1390652"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d3c03e5cf6907fea4b9579f53c62f474fda1f4f1","datavalue":{"value":{"amount":"+0.826611340045929","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q3378154$DE220627-C67F-4190-B92F-4EC44A1274F3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"10c53ec0099e3305b41558cbd62b0c3be1c18932","datavalue":{"value":{"entity-type":"item","numeric-id":1339576,"id":"Q1339576"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8e528e6720f353301f60a2dd87e75fdba1dfabcb","datavalue":{"value":{"amount":"+0.8136995434761047","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":"Q3378154$935C5C72-94AA-478E-A49C-CF1B2266AECC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5883888f3e3fe8e4190777edc6cb26bd1572916d","datavalue":{"value":{"entity-type":"item","numeric-id":3425915,"id":"Q3425915"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8207faf8522827e88b79ce833f667b1c322fd094","datavalue":{"value":{"amount":"+0.8004690408706665","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":"Q3378154$27FC99D7-C967-46B6-9AB0-04CF06AEC980","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6e6e5f8c88ce4bb0c9b783121ccc54e7d3acd050","datavalue":{"value":{"entity-type":"item","numeric-id":3801432,"id":"Q3801432"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"756863395cc23ff122dbccde69c901852e080698","datavalue":{"value":{"amount":"+0.7969973087310791","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":"Q3378154$74F79611-DB71-413E-B6FA-215719803E04","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"The control of an elastic manipulator taking into account the useful load and the force of gravity","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/The_control_of_an_elastic_manipulator_taking_into_account_the_useful_load_and_the_force_of_gravity"}}}}}