{"entities":{"Q4847419":{"pageid":6876999,"ns":120,"title":"Item:Q4847419","lastrevid":47355832,"modified":"2026-01-01T12:05:26Z","type":"item","id":"Q4847419","labels":{"en":{"language":"en","value":"Joint\u2010space orthogonalization and passivity for physical interpretations of dextrous robot motions under geometric constraints"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 798984"}},"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":"Q4847419$2E3A296E-60C2-4D34-8CBF-742113E0BBE5","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"d79cb1224137377a37a25a241bbc9cd61cff9820","datavalue":{"value":{"text":"Joint\u2010space orthogonalization and passivity for physical interpretations of dextrous robot motions under geometric constraints","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q4847419$1A021972-AB7C-45F8-B95F-7BFC5128A2BF","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"209dd87f03e50867cc8b1b0400e06c2e627a81ef","datavalue":{"value":"0869.93032","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4847419$215E5B38-1586-4AD3-AE54-DC3891BA674E","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"56cdc3eb673fad5057f333e61d4f40ac1bbe6afb","datavalue":{"value":{"entity-type":"item","numeric-id":1285556,"id":"Q1285556"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4847419$0ADC146F-AFA7-4EF1-ACAA-4D0D53E40703","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"50b8674a675fb6cb1ce5f58b071e4afdb153e2c6","datavalue":{"value":{"entity-type":"item","numeric-id":2710025,"id":"Q2710025"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4847419$E1777D55-64F6-492C-A02A-E9AFF317491D","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"7ab8dd87b0fe23baaccedfb0031a4cb9ff78b5b8","datavalue":{"value":{"time":"+1997-08-06T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q4847419$C61F91F7-A4D7-43BE-A83D-5D2BDED47D51","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4847419$EDAAE1C6-11B1-49F8-91BF-143AE351483D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"931f9bc6fe69aba6508703df7e266476edb87eb8","datavalue":{"value":"93B51","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4847419$B91242FD-3022-41DA-BC3C-96E1D2BF0DED","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"10e7ae4f3272e1b3be03ffc40fe137c122ddd99d","datavalue":{"value":"93B40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4847419$A8E80D6B-5DCB-42A9-88C2-898A2B50A5F8","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"64b766e2e05b4eb98e38e4290a113c91dcdb5c04","datavalue":{"value":"798984","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4847419$3281C3BA-EB43-40BD-9A96-B758DD1B32C3","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"6e118fcf22187f23fead7fbfdb9939d28fa358aa","datavalue":{"value":"hybrid control for robot manipulators","type":"string"},"datatype":"string"},"type":"statement","id":"Q4847419$7A4EA4A7-404E-4A68-8170-4789D121C471","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"34c9e66a3bd5d617ef373739bf45a2cc76cece9b","datavalue":{"value":"geometric constraints","type":"string"},"datatype":"string"},"type":"statement","id":"Q4847419$E707D2D2-2950-4F85-BB42-E6C950D20EBD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"08de50a9ea81632ac168f4595de9de83674d39a8","datavalue":{"value":"joint-space orthogonalization","type":"string"},"datatype":"string"},"type":"statement","id":"Q4847419$97A75AEF-271F-4FF8-8885-A2C0F241FEEA","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4847419$A0C3743D-F9BC-41E4-9EA0-88B8F2D8396C","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"95e120b1561c9745ff2aeb8eaf753538eaa50179","datavalue":{"value":"https://doi.org/10.1002/rnc.4590050404","type":"string"},"datatype":"url"},"type":"statement","id":"Q4847419$07D654C7-51C1-4E99-9DE5-EA787B0365E1","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"305a1fda3185310d60bb4b858e0e9ad83250d650","datavalue":{"value":"W2077316207","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4847419$E6EE740F-F354-4CAA-9FA0-DA49A66D4EEA","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"95a70c49ff2c4a654173dd9beb9f8633b289f46b","datavalue":{"value":"10.1002/RNC.4590050404","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4847419$7D7F9321-EEC6-42CC-BE91-2DC66A225A70","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"93ae0e9d936352e0851240e269b1db0d52b0d9a6","datavalue":{"value":{"entity-type":"item","numeric-id":3204115,"id":"Q3204115"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a8a043cfa05eb3ab3ba5521bed8f694c43dc62e0","datavalue":{"value":{"amount":"+0.7956770658493042","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":"Q4847419$7B71CAE0-3D31-48C8-94B1-2C1FB0EC0064","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"83b409bdf5b103764d6647bb51b9f165cb988c95","datavalue":{"value":{"entity-type":"item","numeric-id":1286810,"id":"Q1286810"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"dc607ec58fa6b46370a0e1a5d674a318a6f3f849","datavalue":{"value":{"amount":"+0.7834262251853943","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4847419$AEFD4F70-B9F5-4A73-92E1-19B9A5596488","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"32aa544ca847d2152fddd2580a79a07403c6c0b5","datavalue":{"value":{"entity-type":"item","numeric-id":5706184,"id":"Q5706184"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"27a65ae91faaa643b17577adda663d89552130b8","datavalue":{"value":{"amount":"+0.7798417806625366","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":"Q4847419$2359BB19-17DA-4651-83C8-6DA1CAC9EF5D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"75ca425ca13d777126c854a2e9af2c0c73eebbbd","datavalue":{"value":{"entity-type":"item","numeric-id":1295146,"id":"Q1295146"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a85d6ac0b547e709897da2788c57a055786fda9b","datavalue":{"value":{"amount":"+0.7726544141769409","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4847419$D08D59C9-B9E4-48D7-A657-90DA107D237E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"65d729cb6690d3a35fef7087a6022be165be09b6","datavalue":{"value":{"entity-type":"item","numeric-id":5285337,"id":"Q5285337"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1f8d2cdb611d8da3312a075e73dff87a0e33ac80","datavalue":{"value":{"amount":"+0.770476222038269","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":"Q4847419$3F35D471-B018-459C-83ED-84A7D9B50356","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:4847419","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:4847419"}}}}}