{"entities":{"Q4269693":{"pageid":6299294,"ns":120,"title":"Item:Q4269693","lastrevid":96539273,"modified":"2026-06-05T11:32:50Z","type":"item","id":"Q4269693","labels":{"en":{"language":"en","value":"An improved trajectory planner for redundant manipulators in constrained workspace"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 1360053"}},"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":"Q4269693$FA691A64-FCC5-4B82-9F84-DDB840B6865A","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"bcf33708c492f413909fe644693c3136a9716b31","datavalue":{"value":"0966.70019","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4269693$69C3364A-9AAD-49EC-BD0A-79E61B4A8B7C","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"d14023a26b8b05469b02854fbfec384233fc03ab","datavalue":{"value":{"entity-type":"item","numeric-id":4269692,"id":"Q4269692"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4269693$E0E7C0E0-D82F-42EE-AD32-54D9EAA6C472","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"64dce9bf9132127639380be8b57bba2490cba343","datavalue":{"value":{"entity-type":"item","numeric-id":584164,"id":"Q584164"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4269693$B85AC18F-7F58-4CF2-A82B-BFED22E90D4D","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"569c6ae314bacef55b7f62c6c521a533e2713fe7","datavalue":{"value":{"time":"+2001-08-16T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q4269693$CC0A1A4B-327A-4EA6-B1EE-6B0D554F95DA","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4269693$2A51913A-0D90-49F5-9BEC-17D9B5808CC5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4269693$8AE2774A-9C8E-433E-9EC9-4CEA7D2C76BA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4269693$C4744EB4-B6DE-4DB4-80B9-51D40C2D8BFD","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"5e69084e7934e8f224d0c8d4212ab7c2343646b8","datavalue":{"value":"1360053","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4269693$03B2C58D-49D3-4B59-A8A6-90B8DE3AE20C","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"33f0f104dddb4afe895087102595595563a7fdba","datavalue":{"value":"improved null-space projection method","type":"string"},"datatype":"string"},"type":"statement","id":"Q4269693$E1CCD0D7-B3F3-4FFF-8303-28FFAD7D67FC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f22ba96b2ad41ec15c8168b1998afc12f0058ce3","datavalue":{"value":"collision-free trajectory planning","type":"string"},"datatype":"string"},"type":"statement","id":"Q4269693$84787391-1C67-491E-B0DD-A015CC5E9546","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"42486b66553498901850e24d04accf7089488a0b","datavalue":{"value":"redundant robots","type":"string"},"datatype":"string"},"type":"statement","id":"Q4269693$2E0ECF7C-98B4-4AE9-9661-C95AA3B132A8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"3414fefa33a96ba0dd9d9a58c69e7d6b41dda752","datavalue":{"value":"constrained workspace","type":"string"},"datatype":"string"},"type":"statement","id":"Q4269693$47F70030-1AA4-4227-9851-F6DEC459C7AE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"8507d1e4f6f93d1f14f48aef625963fff2afc7e0","datavalue":{"value":"key path points","type":"string"},"datatype":"string"},"type":"statement","id":"Q4269693$9DBACBBB-99AD-4CDC-A795-D4895FF90DE0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"474a2f3c325e294c0457c6ce7e17a404c8825bd9","datavalue":{"value":"potential field method","type":"string"},"datatype":"string"},"type":"statement","id":"Q4269693$565EF790-9B40-414A-BAAA-9ED0EC6F69B5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"39e2d0298b9f4f6a4a80336401b2483eb9c1f755","datavalue":{"value":"elastic model method","type":"string"},"datatype":"string"},"type":"statement","id":"Q4269693$8382138A-1824-456C-9CB4-D2B2A79998A9","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":"Q4269693$86D02800-D330-46C8-B58A-E47147C60BA9","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"4e63da96225e5f6cbf93e3992fa155410982d45a","datavalue":{"value":{"entity-type":"item","numeric-id":4348612,"id":"Q4348612"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4269693$BB3118F9-29AD-4CDE-8A30-4C5793443B7B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c926360cf917c2bcc42c625919822d941dec5c36","datavalue":{"value":{"entity-type":"item","numeric-id":4024367,"id":"Q4024367"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4269693$86BA05F4-931B-450E-BB7C-338346F71275","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d844710f1054a575a73ca849bdeb3802b0d934b1","datavalue":{"value":{"entity-type":"item","numeric-id":4398017,"id":"Q4398017"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4269693$5FD75C00-5C95-4ABB-9803-6211DA542258","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"f266f5bdef7db176309d1144a3309e94978e865f","datavalue":{"value":"W2148882470","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4269693$33360A0C-279F-401F-83E3-03FE7224CD81","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"317f8ae7dd6590da976be562bac37c602d60b7fe","datavalue":{"value":{"text":"An improved trajectory planner for redundant manipulators in constrained workspace","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q4269693$25363FA8-4772-4780-91E7-0545E69B1B32","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"e1a0014f20f11dfb5711e64690f0729b8c0b0aae","datavalue":{"value":"10.1002/(SICI)1097-4563(199906)16:6%3C339::AID-ROB3%3E3.0.CO;2-1","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4269693$A89417CE-59F9-4B34-843E-B611D25B82D7","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"7d3be554a3b40e461b3a0c11ebbd5219e8e3480d","datavalue":{"value":"https://doi.org/10.1002/(sici)1097-4563(199906)16:6%3C339::aid-rob3%3E3.0.co;2-1","type":"string"},"datatype":"url"},"type":"statement","id":"Q4269693$1461D43F-1017-4797-B866-DB4C87B0B055","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c21bf43821091308b5efd2993aae99b50145a8d2","datavalue":{"value":{"entity-type":"item","numeric-id":3972480,"id":"Q3972480"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5b41b5b9d249418fa44c04806e920f9e64e65f71","datavalue":{"value":{"amount":"+0.8041271567344666","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":"Q4269693$1DF40B9B-3C39-4C5F-A756-483473840BC8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e377308d4a9d39d88b67169c2c6fb93940b35eff","datavalue":{"value":{"entity-type":"item","numeric-id":902801,"id":"Q902801"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9a6699dea5b057c82307522dbc6e1f4635ca13f6","datavalue":{"value":{"amount":"+0.7863963842391968","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":"Q4269693$8785BAD3-0C9D-4895-87B7-564BE4C76DD0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c194836efd308968d830ee4585034b08c33fd2a5","datavalue":{"value":{"entity-type":"item","numeric-id":3482862,"id":"Q3482862"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"79bf91fb25a2a89e524946878327737661dd6798","datavalue":{"value":{"amount":"+0.7683309316635132","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4269693$BB8AEDF2-CF2F-42CB-AAF5-F22594D4A70E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"8e6c23773a2e0cae5cb9875e14ff5fb4dfc18a2c","datavalue":{"value":{"entity-type":"item","numeric-id":4904659,"id":"Q4904659"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"34a6210ddc9bd3b6768bb5e3a7d124e2a6385084","datavalue":{"value":{"amount":"+0.7681786417961121","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":"Q4269693$3E3DF6A3-BD56-40CC-A7BF-09AC27FCACC5","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"An improved trajectory planner for redundant manipulators in constrained workspace","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/An_improved_trajectory_planner_for_redundant_manipulators_in_constrained_workspace"}}}}}