{"entities":{"Q5502901":{"pageid":7532461,"ns":120,"title":"Item:Q5502901","lastrevid":101388704,"modified":"2026-06-06T01:08:27Z","type":"item","id":"Q5502901","labels":{"en":{"language":"en","value":"Feed-forward torques and reference trajectory for an arm with flexible joints"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 5488825"}},"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":"Q5502901$233CF85E-24E9-4141-BE99-34D5B0230B41","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"96b78daf728873268e3d8935f9ecacc9d1b42367","datavalue":{"value":"1151.93390","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5502901$588AD04B-0AA6-4C97-B80C-76D6786766C1","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"666d231f1a9cf0d140133266706d4d78aa472bad","datavalue":{"value":{"entity-type":"item","numeric-id":617335,"id":"Q617335"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5502901$38AFE9E9-52F2-4AF3-91CD-AC0BF55C538C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"da7d5888afe7462e6e297db2a343e93eed2943b4","datavalue":{"value":{"entity-type":"item","numeric-id":495520,"id":"Q495520"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5502901$F577E3E0-20BC-444E-9136-BE93B4424D82","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"25e9b2ea2f5fac4fdcf72f8a96bafac3f8d82001","datavalue":{"value":{"time":"+2009-01-12T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q5502901$C1A2BF8F-6C96-454A-9BCF-91E681645891","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5502901$7CEE01CB-A0B8-4EB2-8433-BF29DA3F1EFC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0916e5de0ac6f52471290e56f7212aa9a67dd8fe","datavalue":{"value":"93B52","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5502901$FFBF74C0-94A6-4F93-9CDD-90A9A6771BC3","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"b00a0aa735dce1c90782792562e22f28cd94dcc9","datavalue":{"value":"5488825","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q5502901$F8D565A5-C50F-4959-BA64-DBA0D65DCCE7","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"c7f2297858301ed6c86622647cebf72280301a7d","datavalue":{"value":"one-two-link arm","type":"string"},"datatype":"string"},"type":"statement","id":"Q5502901$9B0D9ACA-8FB2-463B-A6F6-30E0CFDEEE56","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e6c5947b3b7d484222398e250a690a25ba5cc438","datavalue":{"value":"flexible joint","type":"string"},"datatype":"string"},"type":"statement","id":"Q5502901$324A3D54-BAA2-4D69-BC73-2419F357A50C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"5bc50e77a849557973335731d21876f3803db4ff","datavalue":{"value":"control torque","type":"string"},"datatype":"string"},"type":"statement","id":"Q5502901$CF87A09C-D1E6-44D1-87C0-BB7A81943C25","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"94d817ca34000055fbbc478e76f0d96e1a2460cd","datavalue":{"value":"torque bound","type":"string"},"datatype":"string"},"type":"statement","id":"Q5502901$EB6A84B7-C574-4C8E-904F-0B3D631211B4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"fc6bc1acf7fb42fffd7ddc4e6b12c66c40585be9","datavalue":{"value":"reference trajectory","type":"string"},"datatype":"string"},"type":"statement","id":"Q5502901$579FB7CB-5E7D-4A24-B2E8-2BC504F0A2E8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"16398391b51b8041d81776309281df26a96eb350","datavalue":{"value":"feed-forward and feedback control","type":"string"},"datatype":"string"},"type":"statement","id":"Q5502901$87DCA574-5441-42BC-9822-5B8FA580F0A4","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q5502901$B200BAB2-C052-413E-9005-3F205F4652D2","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"49e4f98267d1a2a235fa6e385c7b8d3dd55ccb99","datavalue":{"value":{"entity-type":"item","numeric-id":1975651,"id":"Q1975651"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"83c547cc2ad425a44aa64b225150b2b8b04af49b","datavalue":{"value":{"amount":"+0.860230565071106","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":"Q5502901$2354A659-1D00-4A84-8510-83E8E6AEE1BB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d5df720a8b83ce89843bfdac3937f365850919dd","datavalue":{"value":{"entity-type":"item","numeric-id":3827574,"id":"Q3827574"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c57a1a6b77253cb5081ea8968259cb738e64a2b7","datavalue":{"value":{"amount":"+0.7940315008163452","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":"Q5502901$4D1C839A-A577-4C5C-99C7-97E2E128BE8A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"15d9f8ccd8073f3a2a5e4081199b110e70dd3416","datavalue":{"value":{"entity-type":"item","numeric-id":3110986,"id":"Q3110986"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3b7d99658c9e5c25e336434ffb724876c16dcac4","datavalue":{"value":{"amount":"+0.7790064215660095","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":"Q5502901$91891766-3C29-4C45-B0CD-F5A884A8FDFE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e61b980000b382f15d90530942194709fa2c5b0a","datavalue":{"value":{"entity-type":"item","numeric-id":4207841,"id":"Q4207841"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"c89c2858099bc235ecf78e0e15f32f73fb84b188","datavalue":{"value":{"amount":"+0.7758617997169495","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":"Q5502901$2BBFF3DF-CB52-4F59-96D6-E58DBCFE995A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b7ad759526a039826020ea2d0bbe4499723d29d5","datavalue":{"value":{"entity-type":"item","numeric-id":1898886,"id":"Q1898886"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"9edbf2c8307cddfe1778cd9b3c68c87ffb7b1de5","datavalue":{"value":{"amount":"+0.7565473914146423","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":"Q5502901$3157F0CC-9120-405A-AD63-997B09B05FB6","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Feed-forward torques and reference trajectory for an arm with flexible joints","badges":[]}}}}}