{"entities":{"Q704356":{"pageid":706205,"ns":120,"title":"Item:Q704356","lastrevid":63751746,"modified":"2026-04-11T15:18:06Z","type":"item","id":"Q704356","labels":{"en":{"language":"en","value":"Minimum cost trajectory planning for industrial robots"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 2127198"}},"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":"Q704356$D7271B2A-A4F3-4926-A689-64386E065014","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"3739bf505a80a11badf776e9296d7f8eb582089f","datavalue":{"value":{"text":"Minimum cost trajectory planning for industrial robots","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q704356$4B2AC786-CE93-4F03-A1A6-D6BCAC45958F","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"c8f58f19d336b4d0c5f38348887f6918e37d7723","datavalue":{"value":"1060.70016","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q704356$E450135F-DBE6-44A9-9B91-8D1E2E5566DE","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"547a70f32038f5698afdc474eeef7f9e925fba61","datavalue":{"value":{"entity-type":"item","numeric-id":699184,"id":"Q699184"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q704356$84AB7639-092D-42B9-9792-0552DF8E5928","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"ad0a01c0c7cd378d4d431b61d1387ab1a706e9be","datavalue":{"value":{"entity-type":"item","numeric-id":162283,"id":"Q162283"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q704356$42DF11AC-71F2-4C20-9EEE-CCFDDB8FA6E1","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"915677ea13ebe6cf8033f41f837baa84af2ec8a3","datavalue":{"value":{"time":"+2005-01-13T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q704356$1DB38AFB-5C09-4B80-9B80-015093B6BF02","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q704356$482D8969-48B8-436F-A058-11E384D1675A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q704356$CF820B3D-604E-4955-B322-AFD3A5DF4454","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"7a66a575eaf35fe741e4883353f233c9b9389b20","datavalue":{"value":"2127198","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q704356$52092F25-BEA2-4CD9-818E-53A0524DFDEF","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"b473187e8e66c7d881309677443f47994b31e986","datavalue":{"value":"optimal control problem","type":"string"},"datatype":"string"},"type":"statement","id":"Q704356$AE00032C-F9D2-4DE8-8F35-A8861F3877EE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"4d6ae067cb8542d87e37450d6230d316fb663eb5","datavalue":{"value":"cubic spline","type":"string"},"datatype":"string"},"type":"statement","id":"Q704356$93689032-68FB-49A3-9393-307F2F72A867","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"077680c58a8d5b1fea220725c7b40e1433da62bb","datavalue":{"value":"sequential quadratic programming method","type":"string"},"datatype":"string"},"type":"statement","id":"Q704356$C84A3F31-B6D5-42E4-9047-B0CFC7F8042A","rank":"normal"}],"P1463":[{"mainsnak":{"snaktype":"value","property":"P1463","hash":"a4b8aae9723ea2aa68f0474747e09ba5584834c5","datavalue":{"value":{"entity-type":"item","numeric-id":20466,"id":"Q20466"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q704356$2BE42357-2714-4256-B675-86EB98963901","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q704356$C092A33F-D4BF-4FD1-8FE4-1A8D60DFA01E","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"ea731e5ae540a61be499f0336a80d79c3e27e135","datavalue":{"value":"https://doi.org/10.1016/j.euromechsol.2004.02.006","type":"string"},"datatype":"url"},"type":"statement","id":"Q704356$A0735887-94A2-4582-9876-9A0EBC8325C4","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"547ab70f36ec102088b2fa22f85660558e7a0f55","datavalue":{"value":"W2068190491","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q704356$4504DA1C-0522-4F9B-9CF8-7D0157723A7F","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"d7d7f826c971a4920e6c33470461259b200c1305","datavalue":{"value":{"entity-type":"item","numeric-id":3123422,"id":"Q3123422"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q704356$0F3EB915-F2C7-4381-BB76-66BDDB90C5B3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"101d9516cc392809ad52f59038c807a466b2f671","datavalue":{"value":{"entity-type":"item","numeric-id":4249816,"id":"Q4249816"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q704356$EC9EAF83-4939-490B-8BCA-D6543539E9F4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ddb9a0277a1138b4d176f1924e73e57e58736104","datavalue":{"value":{"entity-type":"item","numeric-id":3623391,"id":"Q3623391"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q704356$C4ED8150-6982-4622-8219-590818A8474A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f6d129c80d0abf8712c0bb591b6ac60248b775b5","datavalue":{"value":{"entity-type":"item","numeric-id":4331402,"id":"Q4331402"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q704356$DE7FBF6C-5076-4396-A06C-39957137A63C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c2f404cb9f0100fed25618f4417580e91373b61a","datavalue":{"value":{"entity-type":"item","numeric-id":875571,"id":"Q875571"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q704356$C6DC6CBE-FEAF-41AF-8FA9-A264F6879A68","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"94abc8705ebb37f31d87bcf9eca153668a350887","datavalue":{"value":{"entity-type":"item","numeric-id":4226179,"id":"Q4226179"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q704356$039011E2-A3AA-4B35-8372-819D4C51B64C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d6ec780a67f683a910131c8a3c0f0c323ae4940c","datavalue":{"value":{"entity-type":"item","numeric-id":3129333,"id":"Q3129333"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q704356$7ADA7DE0-46F2-45DE-A49B-32C1223B20B7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9fe003938522f20f11b3c9c29b0f5b539d33f032","datavalue":{"value":{"entity-type":"item","numeric-id":3765658,"id":"Q3765658"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q704356$4ED05F11-F53B-454C-B87B-864EEB46B5F5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"06694ca2dca4253d901c3eb3adeaf251151e88bc","datavalue":{"value":{"entity-type":"item","numeric-id":4955081,"id":"Q4955081"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q704356$5BA2FAEC-4CA5-4C85-A5DE-89FE69E3E9F1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0031e9d77049895dc03b9ca052592e981bd0fbda","datavalue":{"value":{"entity-type":"item","numeric-id":4162980,"id":"Q4162980"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q704356$199EB411-8F1B-4AF1-B2ED-B9BE214C1BFC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"480b8267726f703350eb00ff86bd848c7f46b5d8","datavalue":{"value":{"entity-type":"item","numeric-id":3716924,"id":"Q3716924"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q704356$1364E140-5B71-4FF8-AD11-27F7790D11EA","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"6b33fd9957da094c95e8126d26f8ee4250a020f4","datavalue":{"value":"10.1016/J.EUROMECHSOL.2004.02.006","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q704356$7FC9C3E0-3FBD-4A6E-AD0B-5FACAA08DDC9","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"1f181e13a878543e7ec2a299f1c558f62f44c873","datavalue":{"value":{"entity-type":"item","numeric-id":2379577,"id":"Q2379577"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"fe34d6078089e89f87d029067dba3c094ac4b61a","datavalue":{"value":{"amount":"+0.849990725517273","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":"Q704356$3FD46175-5DC2-46DD-908D-92716DE6D027","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6f4e8f5eb894ce210a75f2c8c9ec9071eda15134","datavalue":{"value":{"entity-type":"item","numeric-id":1301479,"id":"Q1301479"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"95b7a0c023f7ff9aff7668891f531e5574d2105e","datavalue":{"value":{"amount":"+0.8356565833091736","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":"Q704356$0B9723EE-C28C-488A-9F0F-8C698790C6BA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b1923e3d33831a2ac6654f66770cbfd69c490c1e","datavalue":{"value":{"entity-type":"item","numeric-id":4804435,"id":"Q4804435"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b7a324e6d9a877fc1a64b3039e13322ecd644c41","datavalue":{"value":{"amount":"+0.8319941163063049","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":"Q704356$3137B889-8F70-4D19-BBF6-63BA928F154E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"f1f4a38d334b8eb7bd23f3b699011254678a2536","datavalue":{"value":{"entity-type":"item","numeric-id":3468984,"id":"Q3468984"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a78b4e16c5d10a1bb9f8a09c495763a45f24ffe0","datavalue":{"value":{"amount":"+0.8253612518310547","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":"Q704356$116588DF-F680-460A-81A3-A4A78C86EE96","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"026ad63854943ce2f08b1287b644fa95446c91f7","datavalue":{"value":{"entity-type":"item","numeric-id":3753898,"id":"Q3753898"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"1f99b154693e0d58722a9d6d1edca855a509f1aa","datavalue":{"value":{"amount":"+0.8195790648460388","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q704356$A50068B2-03A0-41FD-8055-A5410DED0C39","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Minimum cost trajectory planning for industrial robots","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Minimum_cost_trajectory_planning_for_industrial_robots"}}}}}