{"entities":{"Q6140586":{"pageid":13274893,"ns":120,"title":"Item:Q6140586","lastrevid":102620306,"modified":"2026-06-06T04:56:21Z","type":"item","id":"Q6140586","labels":{"en":{"language":"en","value":"Singularity Analysis for Redundant Manipulators of Arbitrary Kinematic Structure"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7782280"}},"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":"Q6140586$6CC32A87-A111-4225-8E11-711E10DCB65F","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"8b634d16dd5c63182955d62775e4b1034bace5ed","datavalue":{"value":{"text":"Singularity Analysis for Redundant Manipulators of Arbitrary Kinematic Structure","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q6140586$E99C3C27-F123-45D0-94A1-DB51A941BCB7","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"0164a935c473504c3d88f16094dde6d4f9763ec8","datavalue":{"value":"10.5220/0007833100420049","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6140586$1745FB4A-067D-4ABE-B336-474041DE46A4","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"237be00d9450b768e449562f13795bccee98a8e9","datavalue":{"value":{"entity-type":"item","numeric-id":2101848,"id":"Q2101848"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6140586$A845D976-FF9A-4DBB-9D56-6888A13CE751","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"6cd2c1fa8b302a0d32c264e16fa4750af4e52268","datavalue":{"value":{"entity-type":"item","numeric-id":239209,"id":"Q239209"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6140586$6C464C12-C27D-4DEA-A884-D0386E42A163","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"017d5db7d9c33ec42cb53f23ff8d44b28e06179b","datavalue":{"value":{"entity-type":"item","numeric-id":6140498,"id":"Q6140498"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6140586$615E444B-FFFC-47BD-857B-B7691792056C","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"7dbce25b8d1882e8b51894ac817f5ec3044e7cff","datavalue":{"value":{"time":"+2024-01-02T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q6140586$0AB5CF77-7AFE-44C0-885C-DF946AAE303C","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6140586$934B90F5-C6AF-41CF-A9AD-4137B32A38F3","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"e7efd4d4df979e755439f1cecab490b70cb784e5","datavalue":{"value":"7782280","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6140586$792DB0C8-ED84-48A8-A80C-251A8DE639F5","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"42486b66553498901850e24d04accf7089488a0b","datavalue":{"value":"redundant robots","type":"string"},"datatype":"string"},"type":"statement","id":"Q6140586$E162CD99-0AF0-44C9-99C1-90674747CAD0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"42615547ea2cb63c0a7a26f2a0371dd474ea2e7e","datavalue":{"value":"singularities","type":"string"},"datatype":"string"},"type":"statement","id":"Q6140586$C47DEFFC-3DD4-4B03-B0DB-0E740EC9751F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"9d94357a39c8e2405c4a08050748d657c3a301a8","datavalue":{"value":"kinematics","type":"string"},"datatype":"string"},"type":"statement","id":"Q6140586$EA0413ED-2EF3-4C9F-BCB1-1C2F9039D6AF","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":"Q6140586$47730D0E-D820-4A42-89F5-2C9E2A26176E","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"b848b073647f8ffd5692faebbfd95cd776c7938e","datavalue":{"value":"https://doi.org/10.5220/0007833100420049","type":"string"},"datatype":"url"},"type":"statement","id":"Q6140586$CFB14EB8-DE5B-4280-BDA1-CCA8345E521D","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"251c9ac6ed4a1c7487e6da056a7052ad3caf6be9","datavalue":{"value":"W2967051588","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6140586$E0435992-B3C7-452D-8FF5-E1355D1D6E51","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"303f17ab9b21a1c7d9c69d1813522c1b64e7790a","datavalue":{"value":{"entity-type":"item","numeric-id":2101849,"id":"Q2101849"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"facc580480a287f16c47db6450d77aa91654a39c","datavalue":{"value":{"amount":"+0.8827953338623047","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6140586$BAFDF41F-3A03-45E3-96EF-BE72A4A79344","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"d06a475be0f66deaf5c04ec471509483d0fa2e75","datavalue":{"value":{"entity-type":"item","numeric-id":4861102,"id":"Q4861102"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"db6361dc705b1b85d482dd4ac80d39664d3d619c","datavalue":{"value":{"amount":"+0.8032811880111694","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":"Q6140586$88506EBE-18C6-4AD7-9E2A-0EDB91F5C1BA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"45180402ae9c36e17eb8f7584d2cee9aa81fd55d","datavalue":{"value":{"entity-type":"item","numeric-id":1810615,"id":"Q1810615"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"522e66a2d5d61f3e8a43e8423a8779e41b8a89a1","datavalue":{"value":{"amount":"+0.7914091944694519","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":"Q6140586$4CFF2F32-9234-4B99-8799-930160891575","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2c9de37eb1d36a16b0283fb4ec75cc62a3352452","datavalue":{"value":{"entity-type":"item","numeric-id":1719039,"id":"Q1719039"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"01477d719a1583858ca5d766f77234fec2908601","datavalue":{"value":{"amount":"+0.7889769673347473","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":"Q6140586$7E4C3161-DCEA-4CFD-8DED-634CE12A49A1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"ac4aa08d2cea74cd27ea404e8d8bf01831003a08","datavalue":{"value":{"entity-type":"item","numeric-id":1851115,"id":"Q1851115"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a4611206b55bbcf17aa57b444f8a16511c9abbba","datavalue":{"value":{"amount":"+0.7741958498954773","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q6140586$C7180A15-5947-46AE-81E9-95ACB317AF73","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Singularity Analysis for Redundant Manipulators of Arbitrary Kinematic Structure","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Singularity_Analysis_for_Redundant_Manipulators_of_Arbitrary_Kinematic_Structure"}}}}}