{"entities":{"Q6484153":{"pageid":14062811,"ns":120,"title":"Item:Q6484153","lastrevid":57266619,"modified":"2026-03-27T17:23:08Z","type":"item","id":"Q6484153","labels":{"en":{"language":"en","value":"Analysis of open architecture 6R robot forward and inverse kinematics adaptive to structural variations"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7463187"}},"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":"Q6484153$1FA8C32B-80CB-4F23-8B31-804A58C031E7","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"b8ac0e1067522f914902a71bc9064cbdc58537b5","datavalue":{"value":{"text":"Analysis of open architecture 6R robot forward and inverse kinematics adaptive to structural variations","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q6484153$582E03BD-82AE-402F-AACE-2F6F29EF5749","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"d90f1126ca81b74337ccc495ede8701548386b90","datavalue":{"value":"1512.70005","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6484153$8E0828A4-C283-47E6-B55F-10CF3C3C1E8C","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"371aae21e940ff529477bd47f01ecc286b16a890","datavalue":{"value":"10.1155/2021/4516109","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6484153$A95FE3B5-EA54-4570-955E-565685533486","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"abbbb02f0945eb021d17a95188d3429b14c603d9","datavalue":{"value":{"entity-type":"item","numeric-id":3175220,"id":"Q3175220"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6484153$A3683EBA-E7FC-4129-88F0-D6112A681D2D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"e449d94a24da0a039094b7a0bd16b051c55ce2c9","datavalue":{"value":{"entity-type":"item","numeric-id":6484152,"id":"Q6484152"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6484153$327648FC-B443-42B0-932D-F87C21DF8C74","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"7a9bcdfd80eb1cad56e0828f326390fc58897784","datavalue":{"value":{"entity-type":"item","numeric-id":1661714,"id":"Q1661714"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6484153$5A319E8E-A4F6-477A-8B94-1E836CDD01FD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"12cd6fb2e53ab1aab2f4f44f1460f8998f99e9d4","datavalue":{"value":{"entity-type":"item","numeric-id":6063188,"id":"Q6063188"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6484153$BD61014A-03FA-4552-88CE-6F76C15E9251","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"3dc97bc0aff607b9c22ce37ffa18b6de85001d90","datavalue":{"value":{"entity-type":"item","numeric-id":86199,"id":"Q86199"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6484153$E5EE6CD6-CE48-41D2-B837-6D71BA2817DD","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"a35d979fa313ead6b4d0012113ddc90b39e5d883","datavalue":{"value":{"time":"+2022-01-24T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q6484153$1D58D3C6-C2FB-4729-880B-B01C045317EC","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6484153$E81EC0B1-E256-446D-A633-3C0E7ABEAEA8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6484153$5B266EB1-1CC0-4DC4-B602-9F0BB91D5EDC","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"bcf9b468f478546c31007995d42ede2da3244f4c","datavalue":{"value":"7463187","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6484153$70CE84BD-B9CA-42F4-A93D-627075DC7459","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":"Q6484153$02943FB6-4CD9-4D49-A3CD-179604C949BA","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c9b197e31efb1ec6907db32dd35603ae78abdce6","datavalue":{"value":{"entity-type":"item","numeric-id":5277171,"id":"Q5277171"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"cbcae605f3df8d895ea6d1a730cbbec3c63e3f31","datavalue":{"value":{"amount":"+0.7506188750267029","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":"Q6484153$9497D9ED-8A01-4CCF-871A-63F881703EC0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"64f3d88b61e18f3ba4b952bc5fa6ad5a4f08254b","datavalue":{"value":{"entity-type":"item","numeric-id":3493480,"id":"Q3493480"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"30e5ca45c8aee9dbe4c1acbfd60447668eee77a2","datavalue":{"value":{"amount":"+0.7308157086372375","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":"Q6484153$74E61329-A98E-438C-9072-8883945B5849","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"cd23c335a1ee9d3ddb6db6d2d181e60e0539c705","datavalue":{"value":{"entity-type":"item","numeric-id":612234,"id":"Q612234"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"dc26bd084cf92c975a84a17305a477ab055a801e","datavalue":{"value":{"amount":"+0.7303768396377563","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":"Q6484153$5A4BD713-BC0A-46F8-B4F3-0850131B1C1F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b01ed32b458c7b09643222bc744a062fdfd1ebae","datavalue":{"value":{"entity-type":"item","numeric-id":3358276,"id":"Q3358276"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a56c8037c01bf3beba0a2f1f64ae2288a184db52","datavalue":{"value":{"amount":"+0.7296898365020752","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":"Q6484153$17C9EF53-E986-4A15-9F89-5019E0179A08","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e8387af6a72759e9a3435ae96decc56ea5bb8cfa","datavalue":{"value":{"entity-type":"item","numeric-id":4702214,"id":"Q4702214"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"fe3b0c6e8d1715fb0d8dd5b97e1767a2193cdcc5","datavalue":{"value":{"amount":"+0.7296320199966431","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":"Q6484153$19B6FA05-82AB-426B-8322-EC64BCBA6E2E","rank":"normal"}],"P163":[{"mainsnak":{"snaktype":"value","property":"P163","hash":"45fcd4163b5f33e6e8c784f5522d7246c0a1a61e","datavalue":{"value":{"entity-type":"item","numeric-id":57056,"id":"Q57056"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6484153$081197D4-ED41-4FC2-B3AF-E50378667545","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:6484153","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:6484153"}}}}}