{"entities":{"Q4336362":{"pageid":6365962,"ns":120,"title":"Item:Q4336362","lastrevid":46734774,"modified":"2025-12-25T12:03:43Z","type":"item","id":"Q4336362","labels":{"en":{"language":"en","value":"Direct and Inverse Kinematics for Coordinated Motion Tasks of a Two-Manipulator System"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 1008608"}},"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":"Q4336362$8FC18BA3-9901-4907-B8D7-9641D277F56F","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"fd61c935664434f1accd90ee9f1df5459edec363","datavalue":{"value":{"text":"Direct and Inverse Kinematics for Coordinated Motion Tasks of a Two-Manipulator System","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q4336362$97F184C0-50B2-4A1B-B270-995CC3E5FF70","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"6a762c30cb1521256164d63093f2f94864f0a8e2","datavalue":{"value":"0879.70005","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4336362$19B7020C-A2A3-4145-9199-392C47C54647","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"2f389b4c9ec5c65cbddc3251883815cb2b95ba97","datavalue":{"value":"10.1115/1.2802344","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4336362$B86C641B-7D8C-4593-A12D-7565B057EDB3","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"b1b4ff029b2fe04b7e44018868042dd213323a24","datavalue":{"value":{"entity-type":"item","numeric-id":838994,"id":"Q838994"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4336362$E090B912-AB6C-400E-82C3-D643EA981C42","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"6a5b78482ebf93ea38e4d22731ce06dd6335c7b9","datavalue":{"value":{"entity-type":"item","numeric-id":1614430,"id":"Q1614430"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4336362$23ED73C9-9648-4E23-8BA7-F74562C845E9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"4869e0fc66aadb222451ab8960f63331c4a69f18","datavalue":{"value":{"entity-type":"item","numeric-id":1915014,"id":"Q1915014"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4336362$681324EB-FB99-4EBB-8F91-8D49A648647D","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"b33595a0f534d1080c23af710577ac779415182f","datavalue":{"value":{"entity-type":"item","numeric-id":3025776,"id":"Q3025776"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4336362$46D0689E-3B02-46E5-8668-F4E6C2C4E2E7","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"1794b8c016f47095478b978795ce328c3c19cb2b","datavalue":{"value":{"time":"+1997-06-02T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q4336362$F9553B2F-ACDB-4A7F-A7B9-ED067BFA1383","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4336362$6BFADB5F-04BF-4CD8-A104-5D4B120F3C9A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"5666730139cd54a76def570b360d5dca402099e8","datavalue":{"value":"70-08","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4336362$30AE717B-070C-4F40-BBCC-DD6421785B55","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"9eeff624a0914a1026ca43e871a338c1e098a534","datavalue":{"value":"1008608","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4336362$280E9C99-B995-4810-BE3F-639E9F9BF24D","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"d3097ecc2c80a0d1c609af3a79261e99e1e8bbd2","datavalue":{"value":"task space variables","type":"string"},"datatype":"string"},"type":"statement","id":"Q4336362$6A762F9A-2C4E-4AC1-A522-25AED20D8F92","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"7a94bbec196f69b17d3d3b6b193b741407407baf","datavalue":{"value":"task formulation","type":"string"},"datatype":"string"},"type":"statement","id":"Q4336362$32F26A69-25B8-4411-806B-7FE9A77924E6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c92d7e95994d97558b6eeeb5474261bd2bfbc472","datavalue":{"value":"position","type":"string"},"datatype":"string"},"type":"statement","id":"Q4336362$552628F1-EC47-4B56-AB15-A07AF3683ADF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"458f12def83c1367a32fd7e7e1dd4b0d57985296","datavalue":{"value":"orientation","type":"string"},"datatype":"string"},"type":"statement","id":"Q4336362$68F4FA4B-1354-441A-BDB6-ADCCE337A614","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"537728fa069e3b3ecb6415d787ef591deaac0575","datavalue":{"value":"redundant degrees of freedom","type":"string"},"datatype":"string"},"type":"statement","id":"Q4336362$C2872028-40C2-436B-B6C8-CC7ADD78FEE4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"7fa5dfad918fa3dc549ac0fd5eb766f7a1573c3a","datavalue":{"value":"system of two PUMA manipulators","type":"string"},"datatype":"string"},"type":"statement","id":"Q4336362$656601D9-0045-4B3D-9664-F1CF3803BC24","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"94bdf96c43bbad06635d9357e790db60d7587803","datavalue":{"value":"control schemes","type":"string"},"datatype":"string"},"type":"statement","id":"Q4336362$9C732E17-5E73-4896-B5A8-3CA966CA0706","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4336362$FEFD8F8C-16FE-4FEC-8678-F8AD8F17B456","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"dc908a66fb83f929e09b40e65a7a030b9d0b3920","datavalue":{"value":"https://doi.org/10.1115/1.2802344","type":"string"},"datatype":"url"},"type":"statement","id":"Q4336362$2AB9D6DB-B1A7-4A42-85CA-ECA481E49BD1","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"f27b926e424f499e7f8e28752a4c46c291b35f3c","datavalue":{"value":"W2004409499","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4336362$3300622C-DA98-47AE-93EF-F8BED18526B5","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b6e934a5bede48948149c40957a9724099b7573e","datavalue":{"value":{"entity-type":"item","numeric-id":3318633,"id":"Q3318633"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f320b6dd43317b0e06d834e4aeca4c739f43d72f","datavalue":{"value":{"amount":"+0.7813037037849426","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4336362$CF747A2C-E877-48EB-B09D-8B6DFC6AFD8A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ea7f4c61c6f6b8cf798d00d29ebd827ed10699d1","datavalue":{"value":{"entity-type":"item","numeric-id":3486918,"id":"Q3486918"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c071db57d9e0e1c4ce56ec0483e913b05cc6ac73","datavalue":{"value":{"amount":"+0.7493671774864197","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":"Q4336362$98D9DE07-C1EC-4C8C-A514-F8BBC6368672","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6ab3ee781ae22090f1b3b020307e3e9ad76ef2ff","datavalue":{"value":{"entity-type":"item","numeric-id":4251339,"id":"Q4251339"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0e422c586666ee9649c6fd50892dde0083cfe9f6","datavalue":{"value":{"amount":"+0.7454913854598999","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":"Q4336362$2E035788-D3C7-4635-AB8E-8AB2FD05A58A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"cec63a14867e5a2531ab7231917015ee7f6e9ab3","datavalue":{"value":{"entity-type":"item","numeric-id":3347737,"id":"Q3347737"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"886028c26e066d03d9ec1a9e7e043dd705371239","datavalue":{"value":{"amount":"+0.7416746020317078","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":"Q4336362$3F15F086-8A0E-4A9D-9C0D-079A73664DB7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"fceaead6571f7fc789950ab7cdd71dfd325e17b3","datavalue":{"value":{"entity-type":"item","numeric-id":1874263,"id":"Q1874263"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f26dc9a3e4034847cd2d201c16831c69e2229404","datavalue":{"value":{"amount":"+0.7410179376602173","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":"Q4336362$032E8F3A-EFEF-4195-A9FC-337C3B6E3E01","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:4336362","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:4336362"}}}}}