{"entities":{"Q4609874":{"pageid":6639457,"ns":120,"title":"Item:Q4609874","lastrevid":53049176,"modified":"2026-01-24T03:08:52Z","type":"item","id":"Q4609874","labels":{"en":{"language":"en","value":"A path planning method for robot end effector motion using the curvature theory of the ruled surfaces"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6852876"}},"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":"Q4609874$A88C8E49-3E65-4232-88CE-77F199208B32","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"8bbdcbd519ad8297fc68509e899b47c8c941c594","datavalue":{"value":{"text":"A path planning method for robot end effector motion using the curvature theory of the ruled surfaces","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q4609874$EDD68C99-5EF1-4E6D-8286-46CD9381281F","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"8cd7931729d7369cd14fb92ebd8a19d8b1ea5b13","datavalue":{"value":"1416.70007","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4609874$0861F3E8-A126-4F65-AAC4-5E4D73928C27","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"80e2bad95ed718f8d7934cbfc5aae7cb068111be","datavalue":{"value":"10.1142/S0219887818500482","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4609874$797BDED7-13AB-4CBE-819C-8950344AEC2C","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"6f88ca8e48c78ccc2c58e5a684e9bcd1821d5bc0","datavalue":{"value":{"entity-type":"item","numeric-id":2158490,"id":"Q2158490"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4609874$2F36777E-1CC5-4D9A-8C8A-6749E0506A06","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"817198093a4ec9f0c7069b5e6d67973a5d6ef5fa","datavalue":{"value":{"entity-type":"item","numeric-id":327259,"id":"Q327259"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4609874$3F3E27BB-8738-4232-AE6A-FD93EFCCDF3D","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"2cca15291ee5dba878afec323eb402c72ff5b8a7","datavalue":{"value":{"entity-type":"item","numeric-id":2795351,"id":"Q2795351"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4609874$7D68C60D-5483-4844-93BB-069A5FAC4DD7","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"8a82fdf4a918c0f6ebce8b814fffa2efa1f2ae62","datavalue":{"value":{"time":"+2018-03-26T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q4609874$615C11D5-21FE-4C25-85E5-B41B9C01773F","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4609874$B81B5DAC-F106-4BCF-ACD7-8FEED2917691","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4609874$D4302406-1F03-4234-A309-FA7927B58E0C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"92748ab81ad2a4e49256cb5f57aa60dae31ca924","datavalue":{"value":"53A04","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4609874$68F7B46D-2FB8-48AB-A768-1160948E6D40","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"ebd1c6ac62ff7db6799ec37c9d1dd185617713f7","datavalue":{"value":"6852876","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4609874$A9686D40-ED47-417F-97C4-7820C0109382","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9fb09fbfa0f3e37dd7dc67b7c4ab9884396de1f2","datavalue":{"value":"ruled surface","type":"string"},"datatype":"string"},"type":"statement","id":"Q4609874$4495F1E5-05D7-4004-B147-022387E47295","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"faff933bca3b2c48dbd04cbdd2f591d563aef5bf","datavalue":{"value":"striction curve","type":"string"},"datatype":"string"},"type":"statement","id":"Q4609874$DA96B82E-7D2F-4108-92FA-5ABED4B510AE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"01907d3dd36bb591b42da58ee3c4b41242bce52c","datavalue":{"value":"Darboux vector","type":"string"},"datatype":"string"},"type":"statement","id":"Q4609874$C136EC26-A97C-4A10-90F8-89C575CC2C49","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"784a9a8a4e2aeb35c03d855de774da81cfb3cd04","datavalue":{"value":"robot end effector motion","type":"string"},"datatype":"string"},"type":"statement","id":"Q4609874$62F7143B-ED5F-41C6-8855-B3C2C1FECCF8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"4543fed485e922fc5f984ece833c31bbce4bdeb9","datavalue":{"value":"robot trajectory planning","type":"string"},"datatype":"string"},"type":"statement","id":"Q4609874$45E6A15A-0FCD-4C03-8BFD-7F9748D77428","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":"Q4609874$1398497C-E951-47C3-9989-3763E747D7F2","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"f1865f6c6206f60c16062ec61785084b629a5ff0","datavalue":{"value":{"entity-type":"item","numeric-id":1023178,"id":"Q1023178"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4609874$D8D141E2-5077-45BC-92DD-5458E6A3F463","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"eb8546f73aa8786df6a23cb4d1d8d83cb1934fa3","datavalue":{"value":{"entity-type":"item","numeric-id":875547,"id":"Q875547"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4609874$A8C2B4F1-65CC-4943-A609-2D9FAD88C0AB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7e469b3c65f267c1c7088b7e8cac6270177192b0","datavalue":{"value":{"entity-type":"item","numeric-id":4130033,"id":"Q4130033"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4609874$13174291-745C-426F-A96C-7ABCE4995891","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"05d7dd7b5be151c12494bfc42bc9b2671857b3fe","datavalue":{"value":{"entity-type":"item","numeric-id":1603909,"id":"Q1603909"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4609874$B5BCE1B4-52F7-44B0-B5CF-37E8846604B8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"62f492ab3d38fdd5a8daecbc609aaccdc2b277a5","datavalue":{"value":{"entity-type":"item","numeric-id":3861223,"id":"Q3861223"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4609874$F70DC8BD-150D-4D27-858A-05D738B6D655","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d7282dde5e6dd35d3ca2c8139fb9d1d662eefea6","datavalue":{"value":{"entity-type":"item","numeric-id":5299295,"id":"Q5299295"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4609874$CF0464B1-95EE-438A-B967-B323E4B2EC51","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a01dc67fe3380d5e9debbef3ebf06900589c34b1","datavalue":{"value":{"entity-type":"item","numeric-id":4748733,"id":"Q4748733"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4609874$18457CB1-C630-48C0-BEE9-23131E1CF551","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"3e7283627b507afaada78491ced0e577d33bb4d2","datavalue":{"value":"https://doi.org/10.1142/s0219887818500482","type":"string"},"datatype":"url"},"type":"statement","id":"Q4609874$C8F123D1-F5FB-4844-BF21-E9E2B0BD2F96","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"89866bff129b91ea08197b6c525c8f632e216b0a","datavalue":{"value":"W2770006261","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4609874$23116CE3-5A27-4933-8D26-62DE15BC5855","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6ce5ae85c3217a055ec5554e22f9243148d77512","datavalue":{"value":{"entity-type":"item","numeric-id":1023178,"id":"Q1023178"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"fa7862cde508bfd3300623d184692e8736187634","datavalue":{"value":{"amount":"+0.8561594486236572","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":"Q4609874$9521557A-5F62-4925-92C2-A4DF9AF9CFB6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"08e660ff3df6a81f5ccdc8355264ecab0abf3f0a","datavalue":{"value":{"entity-type":"item","numeric-id":945476,"id":"Q945476"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ff99cf3c025fc18895a5b82977fb5b87ea730770","datavalue":{"value":{"amount":"+0.7530955672264099","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4609874$E81FAEFE-4646-4B88-9C27-0B54A77D14CA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"798cd15f254fb991c03e3a50af64f5c051fdd373","datavalue":{"value":{"entity-type":"item","numeric-id":3417383,"id":"Q3417383"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"fb53edd0a1f2deec177812988b7eb140c3904602","datavalue":{"value":{"amount":"+0.7351945042610168","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":"Q4609874$5923EC84-96A8-4E19-A670-F02D81231237","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ae929ab3cb7195e2b3478c243a28efb531de4eaf","datavalue":{"value":{"entity-type":"item","numeric-id":3986199,"id":"Q3986199"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5f686304232e840f82be54713080db312a51fff1","datavalue":{"value":{"amount":"+0.7348092198371887","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4609874$C06B18C1-600E-49A4-98C1-9F93ECABC0EE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0c8d3a75965212dae2079684672fb97f226bbba3","datavalue":{"value":{"entity-type":"item","numeric-id":1850273,"id":"Q1850273"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5f686304232e840f82be54713080db312a51fff1","datavalue":{"value":{"amount":"+0.7348092198371887","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":"Q4609874$EA0EBB89-BF46-4D2E-ABDD-4BEE9DB731E0","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:4609874","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:4609874"}}}}}