{"entities":{"Q4731102":{"pageid":6760679,"ns":120,"title":"Item:Q4731102","lastrevid":41584342,"modified":"2025-05-06T02:44:17Z","type":"item","id":"Q4731102","labels":{"en":{"language":"en","value":"Compliant motion control for robot manipulators"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 4116424"}},"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":"Q4731102$0FC9B896-362C-44A4-B8B7-B873A2CB8DEB","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"cba3e006683874c77d96468f8ee5b2e1c170e361","datavalue":{"value":{"text":"Compliant motion control for robot manipulators","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q4731102$7C88AD8E-D2D3-4C25-9274-B6C10F783C62","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"488c332c3c4c5b989a82bd650fe564cc08b1fb2f","datavalue":{"value":"0681.93045","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4731102$BB3AA6AC-C1FF-486E-96E2-0A5A7062B386","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"ae076f9870742d729e68a6211d74240843818412","datavalue":{"value":"10.1080/00207178908559664","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4731102$61C08882-FD92-4311-AB99-DDEEF034840F","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"75e7de40ffa5a4be4e9615ec12dc03196742d434","datavalue":{"value":{"entity-type":"item","numeric-id":3197434,"id":"Q3197434"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4731102$F6B691ED-213A-4794-A657-FFB85BFE88F9","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"8fd1f09f03b2151af9bae64b3990df459d820d19","datavalue":{"value":{"entity-type":"item","numeric-id":159993,"id":"Q159993"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4731102$8691A591-8802-4039-AAF0-94B9F056548D","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"7211ad5ca16eb0d22cd0051fff3d0f3af254ceb6","datavalue":{"value":{"time":"+1989-00-00T00:00:00Z","timezone":0,"before":0,"after":0,"precision":9,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q4731102$A8D3B868-61AF-4EE0-B259-F6D31D4E4EB3","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c9727d9ee90ef6c0f1bdf0ba5bb711e9a6b7cd05","datavalue":{"value":"93C95","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4731102$1E1BFA42-1772-45EF-A4DF-20F3A6AAB896","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4731102$097DF212-4167-44DE-B1A4-ACB2542A4350","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"e052619db9950a61d537f825adf09714bc083ed4","datavalue":{"value":"4116424","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4731102$68A8E0D3-A6C3-4D12-B9BF-3F6EB8FB6CE5","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"124e1b418c579840dfba3ca09e0351ab8a0c6cac","datavalue":{"value":"non-linear controller design","type":"string"},"datatype":"string"},"type":"statement","id":"Q4731102$E32AD0F4-C48A-4EC2-BA30-614F4129BB51","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"4e686e032edbabb3eb71adb9bccd68c92d5e37f4","datavalue":{"value":"robot manipulators","type":"string"},"datatype":"string"},"type":"statement","id":"Q4731102$D6409FEB-E8F8-4EF6-B84D-410DF639A67A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"cba80ac5a88d75f7031baea723ccd34fcd57bb1c","datavalue":{"value":"bounded uncertainties","type":"string"},"datatype":"string"},"type":"statement","id":"Q4731102$E44E615E-69B2-4EC3-B415-B58579D83D5A","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":"Q4731102$5B88C7D6-F122-4039-928B-0D6A204FB7F2","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"386872c5a4f91ff36eac15c512c7f1299055c5f3","datavalue":{"value":"https://doi.org/10.1080/00207178908559664","type":"string"},"datatype":"url"},"type":"statement","id":"Q4731102$C6897D81-4668-4771-A8DB-E711BB5B34EA","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"fdc043b8a915ade2be680070dbac47de454db459","datavalue":{"value":"W2051130021","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4731102$F9E125EA-A871-4AC5-B6E8-1FE7745AA63C","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"cf372e1e7e456f2b14760fc169512aaf75449985","datavalue":{"value":{"entity-type":"item","numeric-id":3682323,"id":"Q3682323"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4731102$3D327D9E-C6C3-47DA-B40E-DA1D5F21E8D0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"8b61f64a6829547c7dcf345bc42a0ab9f76e24f2","datavalue":{"value":{"entity-type":"item","numeric-id":3707848,"id":"Q3707848"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4731102$FCF7CC95-F753-46AA-84D2-F7E63DEFC8FD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"60239457d699a7c6bafa2723e0644f952afb018b","datavalue":{"value":{"entity-type":"item","numeric-id":3910381,"id":"Q3910381"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4731102$605A6BBB-3C82-4F44-9AC3-6E09275FCD9E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f1221e5ee93c25a6d102d4989a0ee4f2d68043dd","datavalue":{"value":{"entity-type":"item","numeric-id":4194833,"id":"Q4194833"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4731102$C356E165-98EB-45F0-ACC2-C8790F7E7CE8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c20fa3e5235547f6197f4d59c700b03a2bc3da01","datavalue":{"value":{"entity-type":"item","numeric-id":4093255,"id":"Q4093255"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4731102$A6808CD8-9B14-4026-A89E-58FB1ADC2E73","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0a52438ff7c18f093cbb1c2ad7f82a9ec5d37317","datavalue":{"value":{"entity-type":"item","numeric-id":4485361,"id":"Q4485361"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"281140faea3e32a6129edd7d29816ba4e98937e6","datavalue":{"value":{"amount":"+0.9691492","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4731102$D18CAC38-5B16-46F3-AD00-8A234BB48FA4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"cbb30ea51fc5099e3f572597eb1bf6c8316bcc87","datavalue":{"value":{"entity-type":"item","numeric-id":3470352,"id":"Q3470352"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"cd19ac92f1d7d14e196d47f2d2452447a6252e4a","datavalue":{"value":{"amount":"+0.96088696","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4731102$5CF528F5-FB59-4E46-879D-33E5797ABD66","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0437c8c52a9d4ac6f9e6ebcb5e0af29ac97cd479","datavalue":{"value":{"entity-type":"item","numeric-id":4963109,"id":"Q4963109"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d733e95966a31a9f6382de769d0c0488b42cdd5a","datavalue":{"value":{"amount":"+0.9119365","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4731102$28BCD7FF-D14C-47C3-B07A-702397ED0C66","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"8b9cc46752cee865f99d1e7c2c4a5d522b1390e6","datavalue":{"value":{"entity-type":"item","numeric-id":911527,"id":"Q911527"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a59d054f5ab9e722ee269b3eff8dd3a8b27c7e62","datavalue":{"value":{"amount":"+0.91181695","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4731102$08839A75-9E99-4808-9BD4-9728DC007919","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f8f9c0f6def514881c546b8d08544d24368f4624","datavalue":{"value":{"entity-type":"item","numeric-id":749245,"id":"Q749245"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"01e488cd63f83bab9daf5e370d1cb51de59af50c","datavalue":{"value":{"amount":"+0.9058486","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4731102$4F5D0D66-B173-4487-A29F-CEDCF80CD034","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"60c56ed62b26a7499470427a343e57372e522f5f","datavalue":{"value":{"entity-type":"item","numeric-id":2568144,"id":"Q2568144"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e33ef452fe7345bd90b855d617057f63ea5089e5","datavalue":{"value":{"amount":"+0.902365","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4731102$481000CD-8B7D-470E-8239-6DC370B674E7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"82b25e7391bef0f595100e865969b82f06f8394b","datavalue":{"value":{"entity-type":"item","numeric-id":3315375,"id":"Q3315375"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f8a61c907b44ffc87aacaff7afcb0ea29c4062c6","datavalue":{"value":{"amount":"+0.90175915","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4731102$32906E82-F75F-49C9-BDAB-436432FE978B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"94ab5551919b02eb33cb01aae02e00864df3fcbf","datavalue":{"value":{"entity-type":"item","numeric-id":4885786,"id":"Q4885786"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"604d25525ba71554230407ce4d56b6413247d604","datavalue":{"value":{"amount":"+0.89805627","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4731102$3936AC82-CD55-4DA7-8387-DB0E7DF5F500","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:4731102","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:4731102"}}}}}