{"entities":{"Q4486858":{"pageid":6516457,"ns":120,"title":"Item:Q4486858","lastrevid":97328813,"modified":"2026-06-05T14:02:08Z","type":"item","id":"Q4486858","labels":{"en":{"language":"en","value":"A geometric method for determining joint rotations in the inverse kinematics of robotic manipulators"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 1462396"}},"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":"Q4486858$72CDF99B-0552-46CB-B76E-5E4A3A3934AE","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"0b4aa51daf3903f69d99b32b04059099a189ad78","datavalue":{"value":"0962.70008","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4486858$C32D8627-C9EB-43EB-A188-0F596203E689","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"ccdd5e1b0a6b1bea1b5dd2f1b7567dc93af4654f","datavalue":{"value":{"entity-type":"item","numeric-id":201141,"id":"Q201141"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4486858$91BFEF06-4DCF-40A5-8A9E-0F0A6ABF2328","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"68567801eb60024cc25d1c008b36558e7bee18c4","datavalue":{"value":{"time":"+2001-06-21T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q4486858$C6AA45F2-94DF-4F64-8EFC-3AED7F29062E","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4486858$5DF1D4F1-660A-4861-8FC9-0A1D0AC6DFB5","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"a1f842c2b48475161d576bfe1defd5ede339d03a","datavalue":{"value":"1462396","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4486858$F80E1374-06F7-4DAB-A490-B89E1207DAD6","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"7dd809d611abd317d17518dcc53452b12d318bd2","datavalue":{"value":"inverse-kinematics algorithm","type":"string"},"datatype":"string"},"type":"statement","id":"Q4486858$BE4F668C-C22E-4B5D-BF43-F075A2FE3105","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"df8a236522b990b9c5f0f7f0a509a46915c97c3f","datavalue":{"value":"joint rotations","type":"string"},"datatype":"string"},"type":"statement","id":"Q4486858$3ACA88B0-532E-4C9B-A25C-CF7BC175C624","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"749748fdc1cb9d4be90056975fbe75d4f4e619a9","datavalue":{"value":"robotic manipulator","type":"string"},"datatype":"string"},"type":"statement","id":"Q4486858$2A06EDF7-936B-4337-9C81-2D1A92371969","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":"Q4486858$8CF95D8D-61E8-46D5-AA76-0E4BA71F6B26","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"9b7d5302909a3065ac457c0d15b8dbcf168683dc","datavalue":{"value":{"entity-type":"item","numeric-id":3355333,"id":"Q3355333"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4486858$8B65B5F5-3EE8-4E6C-8457-BE2CC865489E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0a32287cb708c668da6d19903ebdd90448551db8","datavalue":{"value":{"entity-type":"item","numeric-id":4289245,"id":"Q4289245"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4486858$464D8D42-0745-4BBC-8653-1CE098287AA2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8595c359da3f72a3bd8adce1f4a05cc01bf53220","datavalue":{"value":{"entity-type":"item","numeric-id":4262709,"id":"Q4262709"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4486858$5E3FBCF5-7EE3-48DB-B311-22588CEFFC3B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9b41ce81a57bcc049bee28985795930e264a94e6","datavalue":{"value":{"entity-type":"item","numeric-id":4269700,"id":"Q4269700"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4486858$70608428-85A6-4504-AA5A-3FDF971977CE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"56772c463fb0b654e08a2479258be947fadd4f2c","datavalue":{"value":{"entity-type":"item","numeric-id":4202910,"id":"Q4202910"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4486858$48705CF1-595F-491C-9E8C-B8C617A9C9F7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"babe821b9325c4297e16b612122bf4e43e451709","datavalue":{"value":{"entity-type":"item","numeric-id":4269747,"id":"Q4269747"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4486858$56D189B6-37B5-45D6-9CC7-351352F503BD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"dc735be16161655a1e90bfc2653c025cf3b6317b","datavalue":{"value":{"entity-type":"item","numeric-id":1301084,"id":"Q1301084"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4486858$CD15ACED-98C1-4FAC-9D23-129F9FC1B1B4","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"cd529ea5c7ce580a6acca266e9237ae33f63ff91","datavalue":{"value":"W2072171165","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4486858$74FE5643-890F-4FEF-859E-5381A53DB230","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"e4f4da0fb95ffc6b93df9312159277ffd5a73065","datavalue":{"value":{"text":"A geometric method for determining joint rotations in the inverse kinematics of robotic manipulators","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q4486858$4FE10452-AF3C-4983-A91D-700A22ED66E6","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"a086c35392dada8b4d9b5469248f0eec14bd6d2f","datavalue":{"value":"10.1002/(SICI)1097-4563(200002)17:2%3C107::AID-ROB3%3E3.0.CO;2-Y","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4486858$DDF88F9C-5C60-4A3C-B757-A7E5D015C63E","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"645e292159dcb98768d5ff0ec0e690a80ef8823a","datavalue":{"value":"https://doi.org/10.1002/(sici)1097-4563(200002)17:2%3C107::aid-rob3%3E3.0.co;2-y","type":"string"},"datatype":"url"},"type":"statement","id":"Q4486858$5D907A44-99B1-4021-BF7B-3E16EE54AC4A","rank":"normal"}],"P1643":[{"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":"46e2dcf0daea555f346b33916c58baa7336b4acd","datavalue":{"value":{"amount":"+0.7841513752937317","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":"Q4486858$8FA7349B-1951-4CBE-BCA9-41D077C33E36","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ca6c735582e542deb5b9acaf7553e9c02cbf3da8","datavalue":{"value":{"entity-type":"item","numeric-id":4269700,"id":"Q4269700"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5d3dec96e8249810f6a9dd8c2fc528c8e0bbf79e","datavalue":{"value":{"amount":"+0.7755551338195801","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4486858$C7C5FFA6-3E07-46B3-B098-3C763A8E9486","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ae4acc6cf073c157e4f1cc8f4e538d5d4bc526ab","datavalue":{"value":{"entity-type":"item","numeric-id":1668614,"id":"Q1668614"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"019f0740d01f5f7ddb991b4862d9f4612e5d2a0e","datavalue":{"value":{"amount":"+0.7723957300186157","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":"Q4486858$E6CAB275-7C99-4569-8AD2-3B407AE64EE6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"059d5b6c0d6e7fa8686255453ae07aed3569f088","datavalue":{"value":{"entity-type":"item","numeric-id":4251361,"id":"Q4251361"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"253075c3e629bad792a8a0665ede900d91d593e1","datavalue":{"value":{"amount":"+0.7513566017150879","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4486858$CD4089E3-8E9D-4143-BB76-0B7D3A5AEC4B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d54c505575a916087ef522ac2fb521c39aa142f6","datavalue":{"value":{"entity-type":"item","numeric-id":1199135,"id":"Q1199135"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1dbdd6d461a1f953b50f6810eb0ba0a9642b6b80","datavalue":{"value":{"amount":"+0.7502564191818237","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":"Q4486858$5B3FAACF-838E-4E85-9016-D157048FA30A","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"A geometric method for determining joint rotations in the inverse kinematics of robotic manipulators","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/A_geometric_method_for_determining_joint_rotations_in_the_inverse_kinematics_of_robotic_manipulators"}}}}}