{"entities":{"Q4963109":{"pageid":6992690,"ns":120,"title":"Item:Q4963109","lastrevid":53267780,"modified":"2026-01-24T14:35:22Z","type":"item","id":"Q4963109","labels":{"en":{"language":"en","value":"Control of flexible joint robot manipulators by compensating flexibility"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6973771"}},"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":"Q4963109$B8103C98-F93C-4851-ACA2-A1D129D0B7B5","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"35b153908e0770e2d21d99f3e7a42b49551174ff","datavalue":{"value":"1400.93200","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4963109$B4EEB5EA-F4F6-410A-9D2B-A0CF7B864025","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"6f1346945aa0723689d8772864361d49513cd99f","datavalue":{"value":{"entity-type":"item","numeric-id":4963108,"id":"Q4963108"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4963109$573614D5-97AC-4369-883D-257B486144AC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"6d93af243b7a64e54d5869d54e69e2f6f565fc20","datavalue":{"value":{"entity-type":"item","numeric-id":437256,"id":"Q437256"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4963109$663E2388-AA7F-4BF7-8345-09FC58063369","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"c7f9ec5f57fe5a70ebcd816971bee5bc3157d605","datavalue":{"value":{"time":"+2018-11-06T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q4963109$FEA6C5B1-4538-4565-8094-59088F3B274A","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4963109$B327C561-2628-4DEB-BEF9-818AEF243FCE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"dd9a801a526fc4d8fad4b9db030b9cb0c67a3fce","datavalue":{"value":"93C40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4963109$E1DF3020-4C62-4F2B-9765-0F30391BA6DA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"6645294f329205d6c74039207697939030eead29","datavalue":{"value":"93C42","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4963109$73481ED5-5327-4421-A764-691182415C43","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"f4cfd05b4634dddd84c34c249bd6d4a42b92109b","datavalue":{"value":"6973771","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4963109$91209F85-B957-4185-AA95-1BF7FDAA3B26","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"3fb03295b62a20fe027a6d6a2d29df8f17c99d36","datavalue":{"value":"interior operator","type":"string"},"datatype":"string"},"type":"statement","id":"Q4963109$E8DC8FCB-0C60-407B-8309-A59AD608A2CE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"71607d7252fddd4d9ae2d34d46ee614ac45098be","datavalue":{"value":"interior system","type":"string"},"datatype":"string"},"type":"statement","id":"Q4963109$987CC5FB-767D-4B0C-A7EB-AE3E1FDD235B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f7c5f585079e3d7c3ae2f79c8e89a52b221b8118","datavalue":{"value":"fuzzy set","type":"string"},"datatype":"string"},"type":"statement","id":"Q4963109$EA10B581-DBBA-4907-9CC6-DD23E4737336","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"fd7f7273b8e7f89d50335f2519dbd31cec7b734e","datavalue":{"value":"fuzzy logic","type":"string"},"datatype":"string"},"type":"statement","id":"Q4963109$F6049DA5-B3F2-4155-9828-9F4802D7DB5E","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":"Q4963109$9174117A-824D-497D-94AC-A45720E9F3E3","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"013728f3639ead8ed9c7c9a0253e40d9fad65fca","datavalue":{"value":"https://ijfs.usb.ac.ir/article_4115_387ef7e8e3cb32a730bdf42717a5a0a7.pdf","type":"string"},"datatype":"url"},"type":"statement","id":"Q4963109$9E3EB093-6393-455E-8D80-33EBBEE2B73B","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"ca1035163db8b9654bfb9914052802c4d61643a8","datavalue":{"value":"W2891372789","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4963109$F1431D6C-71A3-4ABF-964F-9CE36AD44AC6","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"333d07586635cf095b8d7fed220672920a6e80a7","datavalue":{"value":{"text":"CONTROL OF FLEXIBLE JOINT ROBOT MANIPULATORS BY COMPENSATING FLEXIBILITY","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q4963109$330B103A-D5B6-461E-BFBB-755EABEE5C62","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"e7a5a3efbcd6b4fb873eda5984f54392206c3111","datavalue":{"value":{"entity-type":"item","numeric-id":1899575,"id":"Q1899575"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4963109$A0434DDA-EF6D-4D14-A13D-B4C436265578","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7252fcf837ebeb4220e1bbf5e71454fef9c63c91","datavalue":{"value":{"entity-type":"item","numeric-id":2573920,"id":"Q2573920"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4963109$36FE020E-82CC-45AD-AE06-ED0C4B113A74","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"eea85b56f6765410b106b30e1cd59042a3198f50","datavalue":{"value":{"entity-type":"item","numeric-id":880354,"id":"Q880354"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4963109$EB6C4885-ED60-4F2C-BE28-CC73A8551B0E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4009b3ab3e9676684b10a38fbb1531ca86a98042","datavalue":{"value":{"entity-type":"item","numeric-id":621595,"id":"Q621595"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4963109$2B690791-060E-4FBD-9375-4F3A36E47FBE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2c2393e97e64ee18f1cafb22397a643f4447eabc","datavalue":{"value":{"entity-type":"item","numeric-id":4003793,"id":"Q4003793"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4963109$BCC65B71-38ED-4FD1-9F4E-816F6182CCAB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9964af50333d47b96da052337318bcfc921ab620","datavalue":{"value":{"entity-type":"item","numeric-id":1893024,"id":"Q1893024"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4963109$D4CBA4E3-2A27-4181-9583-6FB5862046E6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"25f57b39a56ea1ac27ba24709c00d069bb3e31cd","datavalue":{"value":{"entity-type":"item","numeric-id":3804564,"id":"Q3804564"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4963109$8913DD9F-1ED3-4399-8031-5011CF1AEC83","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f2f477566213b218f0f739a84dedb7160f704b29","datavalue":{"value":{"entity-type":"item","numeric-id":703326,"id":"Q703326"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4963109$62F6653A-70BC-4AA3-BAAA-9CE8CBBDEEBD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9f7c394e1d837b1d8dafc38893455a861a6e9d34","datavalue":{"value":{"entity-type":"item","numeric-id":1899568,"id":"Q1899568"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q4963109$FD0FB8EF-6DDC-41B3-BF39-92724D352B30","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"a077e8eedd6dbdd1b5b2453b2694ed967f048dec","datavalue":{"value":"10.22111/IJFS.2018.4115","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q4963109$032DCF94-7125-4001-B328-48B4809045A1","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d72c5ab2cf8d6b137dd505a84db7adff191fd39a","datavalue":{"value":{"entity-type":"item","numeric-id":4879374,"id":"Q4879374"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"f1282f9f4fe22c2af71a975bbc2b8dc9b17e841e","datavalue":{"value":{"amount":"+0.8400850892066956","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4963109$D147BFAF-4827-4E29-A0E0-855F716C8076","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e0715ab405dc450dd49182be543e218546e16245","datavalue":{"value":{"entity-type":"item","numeric-id":583163,"id":"Q583163"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"657bb87cdb6b23ed87c4870d62bf8e42f93eb677","datavalue":{"value":{"amount":"+0.8209012150764465","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":"Q4963109$7D9C0DC9-A899-4D4B-B383-D98A933E8E01","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0dc01acd09a9f7410b4a5926ccf2afea997c9bd4","datavalue":{"value":{"entity-type":"item","numeric-id":1194904,"id":"Q1194904"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c3ad2b5d23e7ddfbbac7eb0323268a58cb2590f8","datavalue":{"value":{"amount":"+0.8179271221160889","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q4963109$BBD8C8AB-409D-49C1-8B6D-DAEB22829CAA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6260caf4bca6da7051604fc3a8cf720673aa6b89","datavalue":{"value":{"entity-type":"item","numeric-id":5700206,"id":"Q5700206"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"51cae826472c60587f20e0200ba50b62dd20c19e","datavalue":{"value":{"amount":"+0.8099606037139893","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":"Q4963109$AD54CEB2-BCBC-47C1-88A0-5D643DCC1BA2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"761c8911f5888c8cd2b2d809da13bb0211be5bbb","datavalue":{"value":{"entity-type":"item","numeric-id":437401,"id":"Q437401"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"6835f3c8005375667eae4555024d986261299a85","datavalue":{"value":{"amount":"+0.80528324842453","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":"Q4963109$3C10C8E0-9A33-4EFB-B897-93551464B92D","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:4963109","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:4963109"}}}}}