{"entities":{"Q4452418":{"pageid":6482017,"ns":120,"title":"Item:Q4452418","lastrevid":40760727,"modified":"2025-04-04T14:45:13Z","type":"item","id":"Q4452418","labels":{"en":{"language":"en","value":"Dynamic Feedback Control of XYn?? Planar Robots with n Rotational Passive Joints"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 2041411"}},"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":"Q4452418$D5F63154-0AD0-4719-91E2-56DC15639730","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"dd1aeef86eb0531f172f6ae930c00c2ab143c9ae","datavalue":{"value":{"text":"Dynamic Feedback Control of XYn?? Planar Robots with n Rotational Passive Joints","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q4452418$F009E42F-8977-42F7-B051-BF0F823DFB1C","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"97a1d8ddf25f702a244fd9593ddd687af7ab399a","datavalue":{"value":"1047.70029","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4452418$DAA68D62-4569-45E6-B76C-D959EDC645E7","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"64bf602818669de060bde964d58939b442e7208b","datavalue":{"value":{"entity-type":"item","numeric-id":4452417,"id":"Q4452417"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4452418$759837C9-BCAB-4EA6-A8A8-9F526AD7FD9E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"7b5fc9824472ecc885cb59dc64484d8449aea961","datavalue":{"value":{"entity-type":"item","numeric-id":306722,"id":"Q306722"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4452418$28E4A422-0309-4609-B8E4-671006B666C1","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"a6a06598e91dd6e8240862adb18d7b4a4e051e39","datavalue":{"value":{"entity-type":"item","numeric-id":2711919,"id":"Q2711919"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4452418$84A810A2-2B3B-4DF6-BA1D-B052FAE8E2C3","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"863c556dce19133542e9028bc8111bf0063219a9","datavalue":{"value":{"time":"+2004-02-12T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q4452418$CC39E70C-C787-46DF-BA6E-4027947C22E1","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4452418$1215E747-ABE4-4D7C-80B0-7A9512CB0311","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4452418$201188AE-CD2C-48C8-AF73-25DF3F24985E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0916e5de0ac6f52471290e56f7212aa9a67dd8fe","datavalue":{"value":"93B52","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4452418$0F05FF63-45E5-44B2-93E8-7115ED2B32BD","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"7a0ba3928629405ba141db2a051fd09621ac64b6","datavalue":{"value":"2041411","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4452418$3B4559DE-5C2B-4CD3-BC71-D26AE4080DD1","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"3c5b635032d83f9b3c902c614fd82977eb8f8f69","datavalue":{"value":"Q61927653","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4452418$6A6433BB-E0DA-4FEC-8590-FF0F2003DAC9","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":"Q4452418$91C6BA7A-C6C7-4256-B564-F66C12BC443E","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"db9e737557d7b024af7661c5ba116404ab40d80a","datavalue":{"value":"https://doi.org/10.1002/rob.10085","type":"string"},"datatype":"url"},"type":"statement","id":"Q4452418$A8137669-7DEF-45F1-90B3-3A6D4F1254E0","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"bed3709e9cb82bf1b4e0d08f6386d8a3704c97c8","datavalue":{"value":"W2008570296","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4452418$BB04A906-48CC-4A07-ABD2-155D215D7F21","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"ce372cbd027bc6b0380a7538268c930fa83e4432","datavalue":{"value":"10.1002/ROB.10085","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4452418$7DD0CAB4-B7F5-4348-826D-D98ABB526BCF","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"99108704c9568733424da8a7ada2b2044ce8488f","datavalue":{"value":{"entity-type":"item","numeric-id":1665413,"id":"Q1665413"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e58bd6aa7665c508b4a7f9fe62cc331e33a2ede2","datavalue":{"value":{"amount":"+0.86688465","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4452418$FB344578-FA5B-4DA2-821C-423A64781C82","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"763712f42cacb17e43f39a8b6df4652b67439e04","datavalue":{"value":{"entity-type":"item","numeric-id":3564044,"id":"Q3564044"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"889ac1e3d50d420f621e4718166b3fe4d53b7210","datavalue":{"value":{"amount":"+0.8628123","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4452418$B380B6FF-433C-4E7E-8518-827CF31AC0E4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"89157b81c845e87120adbed434cde087da77785d","datavalue":{"value":{"entity-type":"item","numeric-id":1797148,"id":"Q1797148"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ae628da69272dec2a1cde75e6ee30c0a60af497f","datavalue":{"value":{"amount":"+0.8625213","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4452418$04A4D808-E6E8-438B-80FC-629AB3553502","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c0618d2ad485175c5e39fd2b04181efd0d8ba1f9","datavalue":{"value":{"entity-type":"item","numeric-id":4269699,"id":"Q4269699"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f5fcbe11198cce307e9c60a8f6ba4cc7794d81c7","datavalue":{"value":{"amount":"+0.8624947","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4452418$120ECA5C-30B0-4FE1-AA7C-4555B4AF13BF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"861f396edd5fcd0e21bd8ee2e8e2bb566ac9b11c","datavalue":{"value":{"entity-type":"item","numeric-id":5901544,"id":"Q5901544"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ba90379c726689f0a81cbf9ddb916c4bbf88e262","datavalue":{"value":{"amount":"+0.86202365","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4452418$1B0B9297-5087-4731-B48C-2AD0367DE37C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ff27aa25723747bfba83690d8f72f5a87b48ddf7","datavalue":{"value":{"entity-type":"item","numeric-id":3133864,"id":"Q3133864"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"67be512b567a43f6672bf87d60e6d79f73ce4e3f","datavalue":{"value":{"amount":"+0.8614023","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4452418$90BBF533-A16B-4A08-AD4A-FEAE9DA37347","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"bd17a5b875d63fa06908396c8282a399da470652","datavalue":{"value":{"entity-type":"item","numeric-id":4218713,"id":"Q4218713"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d7ade65cd61fe5c39caa1ccbbd23259954ddb027","datavalue":{"value":{"amount":"+0.85959643","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4452418$E51DD866-AD2B-4F00-8287-1F34E078C779","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2de9b96a233242617e39c48860f6d533691f46b4","datavalue":{"value":{"entity-type":"item","numeric-id":3682327,"id":"Q3682327"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ff76216de3fa79e1335ba8428677df0aa09363af","datavalue":{"value":{"amount":"+0.85665935","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4452418$0F0D9C3D-41F8-4213-BC49-AE9CA8A6F9A0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d997fea96071fc8513b770b61cb27f5cc965a1a2","datavalue":{"value":{"entity-type":"item","numeric-id":1307612,"id":"Q1307612"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c8979697b73f777e199895879e9d138d62918e16","datavalue":{"value":{"amount":"+0.85637087","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4452418$18FC6F2D-78DC-4861-934F-B076AB9619CE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"02564ee3547b83fe723836c78161a284f5311949","datavalue":{"value":{"entity-type":"item","numeric-id":3975444,"id":"Q3975444"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c1db77412cce152b6ffb53f25220c2264831a9d5","datavalue":{"value":{"amount":"+0.8559456","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ba354e87a58191d58d132c60481c945a3234ce85","datavalue":{"value":{"entity-type":"item","numeric-id":6534273,"id":"Q6534273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4452418$73ED8593-15D9-4FA8-87E4-27F458813019","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:4452418","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:4452418"}}}}}