{"entities":{"Q4805716":{"pageid":6835296,"ns":120,"title":"Item:Q4805716","lastrevid":74852934,"modified":"2026-04-15T00:40:05Z","type":"item","id":"Q4805716","labels":{"en":{"language":"en","value":"Structural Properties of Inertia Matrix and Gravity Vector of Dynamics of Rigid Manipulators"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 1907661"}},"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":"Q4805716$DCB6A14D-EF4D-4089-9CCA-0D4F7468853D","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"429d740d1d9e5ff6423bc4d1ad94c49139726d79","datavalue":{"value":{"text":"Structural Properties of Inertia Matrix and Gravity Vector of Dynamics of Rigid Manipulators","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q4805716$5EE520CE-021D-435A-82B6-032470E2B7A9","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"2841c0d43cd188b9245a4bba04440eeda4215a2c","datavalue":{"value":"1027.70009","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4805716$85B1B8F3-ACDE-4E73-9552-1F95A8716D5A","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"ea5f598542480fb71017200638e83ac21c16e6b5","datavalue":{"value":{"entity-type":"item","numeric-id":241161,"id":"Q241161"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4805716$F77E482F-8D65-42F6-8955-7E5A757E2A50","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":"Q4805716$E57969C0-DD14-47B8-A077-D9ED0D06C9DC","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"e83193cd6fbe6a4da7398d53b7276a86eb2fc712","datavalue":{"value":{"time":"+2003-05-08T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q4805716$99804F43-5420-49FB-B9C4-6D3D7B9CCCDA","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4805716$561EEBD2-5F5F-489E-9F0C-EC10C99B4966","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"7eedb2ac363f2ebd1b6bdcdb48aae400ef864b44","datavalue":{"value":"1907661","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4805716$97D101F9-1FAF-4CF2-BC42-27BB17DBC70C","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"1cb98daf3c80fce2c8777409dfc514a6e4526ce7","datavalue":{"value":"rigid manipulators","type":"string"},"datatype":"string"},"type":"statement","id":"Q4805716$F531A982-C519-49E3-BD37-D5308885B9D5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c234e1aba67a6638b011e4da9895104161cbc07a","datavalue":{"value":"Euler-Lagrange formalism","type":"string"},"datatype":"string"},"type":"statement","id":"Q4805716$B4A1FB2E-C121-4DDC-BE38-A8C701E5A4F4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"ad229de4f70574efe5636651ac7c6b78b6543ebe","datavalue":{"value":"joint variables","type":"string"},"datatype":"string"},"type":"statement","id":"Q4805716$9313355E-8074-4BD5-9C71-764C9A07A791","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"bac933fe1ce43b16b1f6e775582e030a870fd984","datavalue":{"value":"intertia matrix","type":"string"},"datatype":"string"},"type":"statement","id":"Q4805716$F40986A2-1E63-4CFA-B6CF-134EBBE2BCA6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"557649cce8fc91f29606b34a1744e81dec187dcb","datavalue":{"value":"gravity vector","type":"string"},"datatype":"string"},"type":"statement","id":"Q4805716$38A86D10-DFC2-4EFE-B591-683306FBEF1D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"aede9c2b99af46c1b0c3832309feda413c50a1e1","datavalue":{"value":"pseudoinertia matrix","type":"string"},"datatype":"string"},"type":"statement","id":"Q4805716$5D33A408-7CBF-4C68-AFF0-0A5738C68C1C","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":"Q4805716$7B10B113-A582-4848-A4DE-BCA63DA01971","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"abe1ea8c4cee5ed5124df78f496b21fcae1f29ed","datavalue":{"value":"https://doi.org/10.1002/rob.10060","type":"string"},"datatype":"url"},"type":"statement","id":"Q4805716$0C995811-64A6-4FD7-BB37-64F2A8ED3FC9","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"1f11c482c786e142bf6139a9aa9dd76fe8667964","datavalue":{"value":"W1562473309","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4805716$6E7AF1C1-7720-4AE3-AAD4-64315F2088C3","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"d7d7f826c971a4920e6c33470461259b200c1305","datavalue":{"value":{"entity-type":"item","numeric-id":3123422,"id":"Q3123422"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4805716$169135D1-C682-4AF6-B5A4-AF5A342A8C62","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"35332cb4aa7dbf548f586da47ec0aa2cdf48f516","datavalue":{"value":"10.1002/ROB.10060","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4805716$EE7AF279-8F41-47C2-8D46-9DFD827E96BF","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"dbb6d4ace64a798019eacd3da365e0fd90f12d31","datavalue":{"value":{"entity-type":"item","numeric-id":4952075,"id":"Q4952075"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e0a191ffe6c360ea3c2aa37ea32ec61c40a1ac66","datavalue":{"value":{"amount":"+0.7589759826660156","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":"Q4805716$5A8CCF05-0F0A-4264-A7BC-CD1156AD8111","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"72a301edab26ffa03e4a8d3b33377b11dd530067","datavalue":{"value":{"entity-type":"item","numeric-id":3204117,"id":"Q3204117"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"472f0dc2ebeb46aede7f482e0583a9c216f8590e","datavalue":{"value":{"amount":"+0.749101996421814","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":"Q4805716$337130E9-3550-44AB-9FF8-E0EE6F4669BA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6bb0a833852099a805d13c0e6a3db66ebd124cb7","datavalue":{"value":{"entity-type":"item","numeric-id":3780836,"id":"Q3780836"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e5a919e16d5c08ff01a809b409f1e2397d34e31f","datavalue":{"value":{"amount":"+0.7419100999832153","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":"Q4805716$9EDFE507-D9FA-4D36-8420-D362BB037797","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"9236c39e1fc541e9dc1571290fbaa14542bc55c9","datavalue":{"value":{"entity-type":"item","numeric-id":4348616,"id":"Q4348616"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9ea15eada093cee63d9f95202300dcd8852b0207","datavalue":{"value":{"amount":"+0.7370945811271667","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":"Q4805716$980BFF15-AADF-48FF-86E6-989189849E53","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e80017d87d4408e62189db1656f88cb3288c8620","datavalue":{"value":{"entity-type":"item","numeric-id":3034890,"id":"Q3034890"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"279ef19299a07baea13d719d9a780c665aac4612","datavalue":{"value":{"amount":"+0.7345257997512817","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":"Q4805716$88BF10FC-CB06-4DAA-96C7-75485D0D2885","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Structural Properties of Inertia Matrix and Gravity Vector of Dynamics of Rigid Manipulators","badges":[]}}}}}