{"entities":{"Q3989592":{"pageid":6019446,"ns":120,"title":"Item:Q3989592","lastrevid":46251241,"modified":"2025-12-24T09:56:50Z","type":"item","id":"Q3989592","labels":{"en":{"language":"en","value":"Adaptive control of robot manipulators with flexible joints"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 34858"}},"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":"Q3989592$4EF8A3C3-855C-4FED-B3A4-56E5E2F50FC0","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"33fb93024dc66f69e9cd1b874df9c1618f2ad265","datavalue":{"value":{"text":"Adaptive control of robot manipulators with flexible joints","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q3989592$9B15D1FC-5A6D-48C8-98A2-4D11C010E979","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"492d95667eb6cfe868322e1be768c28bda7be97d","datavalue":{"value":"0766.93038","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3989592$26B3F022-ED3B-49B0-8139-9A98EAFB8287","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"95794eaf5815479f1da342f6073674de7d3055d1","datavalue":{"value":"10.1109/9.121619","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3989592$E3329B52-D63C-43AA-9524-6985C9C847B9","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"8864d53eef9f199192fe078126e69a571edd40ba","datavalue":{"value":{"entity-type":"item","numeric-id":217861,"id":"Q217861"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3989592$ED2B40D3-C18D-4373-A735-6DC40B8D4A15","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"f08071ba0f5144764188d97f2fb8a31241f9e556","datavalue":{"value":{"entity-type":"item","numeric-id":193840,"id":"Q193840"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3989592$74E00CDA-AAE4-45D4-AE70-2C620B911C2F","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"231075b9dab1b13e4c64992ef81666085035687e","datavalue":{"value":{"entity-type":"item","numeric-id":123639,"id":"Q123639"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q3989592$BA550149-8FEE-4390-8BDF-EB9EA219CAB9","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"120787504bea9565def539fb4bfb19084956028b","datavalue":{"value":{"time":"+1992-06-28T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q3989592$5FC43A4F-6F15-406A-9FEC-214262865636","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3989592$B70947FD-2C6E-4802-BAC7-A29CBDF2607D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3989592$9B588591-A040-4829-A111-D27C8755BF03","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3989592$42E7D393-0692-4CB2-9680-3CA2475CE61B","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"0c75aba3b96741b034cce896a5b09a80c84cd89f","datavalue":{"value":"34858","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3989592$7AF45027-8271-4183-AFAF-D7611C7D6F34","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"3515232b7ef35d88dd06ec7680bf564fa9f9f0fc","datavalue":{"value":"adaptive control scheme","type":"string"},"datatype":"string"},"type":"statement","id":"Q3989592$B570F91B-3955-4517-BC6A-1C2DA8B8A1CB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"dd9a7a0bba66a11ff5ad89ae07aca55576306776","datavalue":{"value":"flexible joint manipulator","type":"string"},"datatype":"string"},"type":"statement","id":"Q3989592$08012BF8-7557-4704-9353-701C0FF64265","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"c998d929d2de2dd78a1e677c85cf30363f971496","datavalue":{"value":"Q56417988","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3989592$D5D482B4-1E5C-4077-9B05-C8A54A58B3E5","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":"Q3989592$F9A7B840-E041-425A-88B7-FBF682531EEB","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"010caab029ac4979e0aa2924e17eb25820cf323b","datavalue":{"value":"https://doi.org/10.1109/9.121619","type":"string"},"datatype":"url"},"type":"statement","id":"Q3989592$40EB648E-6DB9-4F62-B0C6-C65829DBEE74","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"65321272b3ea760b6bf989173a1e533afad02841","datavalue":{"value":"W2099699682","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q3989592$15D3E759-3599-40F4-A67B-6E5AC70F90D8","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e0715ab405dc450dd49182be543e218546e16245","datavalue":{"value":{"entity-type":"item","numeric-id":583163,"id":"Q583163"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"284245ce1332a1a9326b92c1c671a16e6b9c059f","datavalue":{"value":{"amount":"+0.89983069896698","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q3989592$E75DB30F-6C38-4E8B-9402-93DECE67E3E8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d774c7cadfd2d63379218ce2c12d9f8b94f8a1e0","datavalue":{"value":{"entity-type":"item","numeric-id":1911265,"id":"Q1911265"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3507fee853284fe696ca71bdd7715cfc9424b2e8","datavalue":{"value":{"amount":"+0.8580582737922668","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":"Q3989592$1D3C586C-E911-4755-B79F-4C6C07086478","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0dc01acd09a9f7410b4a5926ccf2afea997c9bd4","datavalue":{"value":{"entity-type":"item","numeric-id":1194904,"id":"Q1194904"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8482a68d8b521e9d39a6066f45e5753803fa233e","datavalue":{"value":{"amount":"+0.8538429141044617","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":"Q3989592$7AC16C7C-8445-4729-AD6F-191C4BDC86D5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7f17abf6e209020a624e0f95db722b11ed9e4a27","datavalue":{"value":{"entity-type":"item","numeric-id":4012577,"id":"Q4012577"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"40f3eee744d87df09dbe728dc072ae25803e3dfd","datavalue":{"value":{"amount":"+0.8427883386611938","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q3989592$B929DCF2-77F8-4398-97A6-B657A8C19C84","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"72faa5858e66e66ff30f89f44d050cd141a6ec22","datavalue":{"value":{"entity-type":"item","numeric-id":4006048,"id":"Q4006048"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"334261a5c40549855ef7f574d3db6ad5e003c69f","datavalue":{"value":{"amount":"+0.8306388854980469","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":"Q3989592$6FC4FBA0-5360-4B7B-B517-2194E1F0AE99","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:3989592","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:3989592"}}}}}