{"entities":{"Q759701":{"pageid":761550,"ns":120,"title":"Item:Q759701","lastrevid":64121361,"modified":"2026-04-11T17:47:01Z","type":"item","id":"Q759701","labels":{"en":{"language":"en","value":"Computer-assisted generation of robot dynamic models in an analytic form"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 3882283"}},"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":"Q759701$CE03670B-8908-41D6-AD46-D164C521BC5A","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"d654b50b2a52336ed30c065d044f7fcc1df5d9e8","datavalue":{"value":{"text":"Computer-assisted generation of robot dynamic models in an analytic form","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q759701$A8C147A9-6614-4472-A979-81E27B99F774","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"1bde4abfada5eb79dfbd1de9b92cafd2432854a4","datavalue":{"value":"0553.93024","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q759701$A9113F89-A197-4A41-B04C-D5F91B532A0E","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"a3ee95775b320e8fedb8940742d0fed09c2d7e61","datavalue":{"value":"10.1007/BF01438266","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q759701$8ED6862B-64D1-41E7-BC9B-AB82DA1ECB3C","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"7c59a6c6dcbb785ab4cbc002c86a3ea3b360aeb3","datavalue":{"value":{"entity-type":"item","numeric-id":759700,"id":"Q759700"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q759701$351501B3-7E94-468F-8C87-AA2FB2AB1AC4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"8b4174a72f60c2157185cf9c227a844a43fd967d","datavalue":{"value":{"entity-type":"item","numeric-id":675286,"id":"Q675286"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q759701$8FE7CA8F-D51D-49A2-9B0B-BEAB725AE475","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"8d1231d86866fb01586b04e1f50e347c0a84f9cd","datavalue":{"value":{"entity-type":"item","numeric-id":190587,"id":"Q190587"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q759701$75BB298E-D831-4E2B-84C9-4AD6265118CA","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"3c94df5c9af0ede578c52141befd29044de13172","datavalue":{"value":{"time":"+1985-00-00T00:00:00Z","timezone":0,"before":0,"after":0,"precision":9,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q759701$6F74D388-4D82-4B8D-928A-DB77C773700E","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"7ef9bb67cda2910622601fe11b5bef335581f415","datavalue":{"value":"An algorithm for constructing dynamic models of single-arm robots is presented in this paper. Motion equations of robots in analytical form are derived applying a fully automated procedure. It is shown that the solution of a direct and/or inverse problem based on the analytical model requires considerably fewer floating-point multiplications/additions than is the case with previously-developed numerical methods. The developed method is therefore very suitable for real-time application of robot dynamic models. The developed program package is illustrated using the example of a Stanford manipulator.","type":"string"},"datatype":"string"},"type":"statement","id":"Q759701$09C59422-F2E2-4B34-99F9-16764E7B04DF","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"10e7ae4f3272e1b3be03ffc40fe137c122ddd99d","datavalue":{"value":"93B40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q759701$FDA66453-43B0-4489-86F0-AB3E56C8BF51","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"61f5e4db0e91212ef2106e3db512d71730a68751","datavalue":{"value":"68U99","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q759701$5B3734E4-7759-4AEC-A56D-0A9D94272183","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"15ea9b09fbfd690056ed7c63f44b6185fbeb792f","datavalue":{"value":"70Q05","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q759701$EB821796-4ED0-4440-8B88-3C6001D1B9B0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"0dc038cb1745bfe5e74a92e827c2cf5152f4ff15","datavalue":{"value":"70E99","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q759701$855F7511-9C76-48AC-8694-C851C12EF4C7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"18c9cdd43ca0b3dbdd726e9559b3bf3fb7b0093d","datavalue":{"value":"70J99","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q759701$CD076D63-BB29-41FE-9725-8663547F6D35","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"ef1dcc0b33599e1092b462fd190cf5343d5086bc","datavalue":{"value":"93C35","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q759701$B33F16AB-936D-4415-828E-3A51D500388D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"a3b56b9370e2a5b7f63132367f814c4ec6f1c3c7","datavalue":{"value":"65C20","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q759701$48A58C31-C88C-485B-AFBE-D0FFE0CC9887","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"3cf19f414d003b599cb8555b9227d1a95bcc55a3","datavalue":{"value":"93C15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q759701$1C2D15DB-2D30-49DF-A7CA-E815E0043544","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"4ac516a2267658d1c0d8710e29e445e7b3d54932","datavalue":{"value":"3882283","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q759701$09E8C465-5742-4958-AC0B-027D03F8D55A","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"48ddf43eca498c7e7087cd696beb82ea63925320","datavalue":{"value":"algorithm","type":"string"},"datatype":"string"},"type":"statement","id":"Q759701$BF511349-7620-4354-ACC8-0FAAC4E3D6DA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"204f2b1a755f1487c9140807f7820384c60998b5","datavalue":{"value":"dynamic models of single-arm robots","type":"string"},"datatype":"string"},"type":"statement","id":"Q759701$5A3FE842-C785-4D84-AE2C-092298EBE73A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"bb191250f5e7559aecf3d61ba06505f5bdcf51f5","datavalue":{"value":"analytical model","type":"string"},"datatype":"string"},"type":"statement","id":"Q759701$6DF6717E-C3DC-4573-B680-7372AB5BA451","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"acc267c0fb96b9a8d19beaa987db3afac39ceae0","datavalue":{"value":"program package","type":"string"},"datatype":"string"},"type":"statement","id":"Q759701$EFF8B07B-4F3C-4416-BFF3-401322E45AED","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"95f6df6a0a2ab78fe858938f55c38e078df3b974","datavalue":{"value":"Stanford manipulator","type":"string"},"datatype":"string"},"type":"statement","id":"Q759701$4BE768C6-7240-4CE7-AFAE-D0BCC07283C6","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":"Q759701$8089EEBA-8D93-46E5-BF57-CA5E1961A748","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"c969c4ea2ce3e14b35001ad1722334df184945f3","datavalue":{"value":{"entity-type":"item","numeric-id":2560192,"id":"Q2560192"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q759701$390FDFC6-D181-4561-9C5F-ACC826931D32","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f77675489e71f4fb1dcdc5d7f35bc593e79067c9","datavalue":{"value":{"entity-type":"item","numeric-id":4747614,"id":"Q4747614"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q759701$DBAAC2D8-1C6A-4F95-8B70-7A3E2D0C27D8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"d5d0a5ab4f73ede1c06f5216d078cc266c1a346e","datavalue":{"value":{"entity-type":"item","numeric-id":5847680,"id":"Q5847680"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q759701$623AE4ED-CFAE-4C5B-AF7B-3693E582C7DA","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"6efa9a520934c497c6e723127e3671dcd7530e08","datavalue":{"value":"https://doi.org/10.1007/bf01438266","type":"string"},"datatype":"url"},"type":"statement","id":"Q759701$C1AB818A-25AD-4044-BF03-A889FBD9B589","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"83c57ff2522384df569b589a20c18487e93fc552","datavalue":{"value":"W4251581303","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q759701$471ADBA5-C606-44B0-BE67-966FAEFFDD07","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b6238a67796b09c43cc8f48d3046b3622f8ebf26","datavalue":{"value":{"entity-type":"item","numeric-id":4316593,"id":"Q4316593"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"483d1577db698c7e8c1b3bc79fc194302b0ad03e","datavalue":{"value":{"amount":"+0.8978618","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q759701$455D8537-470E-49CE-A310-56E58AFFD377","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"8f3383b793ffca48c76440db744eb6bc6e8dd3bd","datavalue":{"value":{"entity-type":"item","numeric-id":1921508,"id":"Q1921508"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a38f30874c38679ec99ae67fc55690250cf32971","datavalue":{"value":{"amount":"+0.8925321","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q759701$6CEC9B4A-6845-4F86-82CD-7788829325DA","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e69d71bed9f61adebd12bce684fd1df8ca2f91e9","datavalue":{"value":{"entity-type":"item","numeric-id":3734252,"id":"Q3734252"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"a8f1b26f1a1330e234b9222c794c83c7f0c419fe","datavalue":{"value":{"amount":"+0.89196455","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q759701$3F95642B-0B67-4C57-87ED-37071FFEA586","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"414228c4c78d84c4acc021330c5c6d504b2d3a51","datavalue":{"value":{"entity-type":"item","numeric-id":3745358,"id":"Q3745358"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e93b15b4739e9a664d816be653f1040310a9ca59","datavalue":{"value":{"amount":"+0.8904071","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q759701$76A0A497-E300-48EF-BB8F-50853731EE4C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5dd8c49788e7bafc1ea928de453f04c158b5dc5e","datavalue":{"value":{"entity-type":"item","numeric-id":4877455,"id":"Q4877455"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"99626fc003c960c0531a54ff4058ce2c5290c6f8","datavalue":{"value":{"amount":"+0.8865676","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q759701$A9C93241-1608-495C-9CCE-C69DC0B1E377","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"34bb20144eb4ffa07b1e9aae10a6553cd2a0d123","datavalue":{"value":{"entity-type":"item","numeric-id":4698474,"id":"Q4698474"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e6eb10b91b0dfb86712a9a931596bb3cc4f95655","datavalue":{"value":{"amount":"+0.88371736","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q759701$661F2A84-69A0-472C-844A-49E590C3BF26","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"661918483c2eead4a87d8146a2f15845a4522d1d","datavalue":{"value":{"entity-type":"item","numeric-id":4493238,"id":"Q4493238"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"e3a88293ee00b4823d5d967bb05c698db428a8c0","datavalue":{"value":{"amount":"+0.88360715","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q759701$124A5632-E6A3-44A0-BC7B-CB6C635F9349","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"6d747d3701043748aded7701f1ec7ba5a703c6f9","datavalue":{"value":{"entity-type":"item","numeric-id":3486890,"id":"Q3486890"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"30ce14f39a7f2fd887fc6d0666858b49ac1b0e03","datavalue":{"value":{"amount":"+0.8833768","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q759701$A8D2A02E-0BCA-4466-A99E-E06F45D5AE1A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"bd93b378c6ed4637f2b91eeb598828725c0543a0","datavalue":{"value":{"entity-type":"item","numeric-id":4251340,"id":"Q4251340"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d59beef060c6ef367f1e9b6d1f98a99bb3e4787d","datavalue":{"value":{"amount":"+0.8832077","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q759701$0CB3AF5E-3B0B-472E-AB7D-A65964F5DAA3","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"3b41066f961b90c81277842cb3fd84f10adab586","datavalue":{"value":{"entity-type":"item","numeric-id":1909178,"id":"Q1909178"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5ce0a31bcd25105014331644bf2c485b41452110","datavalue":{"value":{"amount":"+0.88108563","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q759701$486A7A68-0E6F-4F31-94F4-5142E98D8738","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Computer-assisted generation of robot dynamic models in an analytic form","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Computer-assisted_generation_of_robot_dynamic_models_in_an_analytic_form"}}}}}