{"entities":{"Q845579":{"pageid":847427,"ns":120,"title":"Item:Q845579","lastrevid":64833390,"modified":"2026-04-11T22:31:56Z","type":"item","id":"Q845579","labels":{"en":{"language":"en","value":"Energy-optimal control of unconstrained planar RR robot manipulators"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 5664393"}},"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":"Q845579$D80DCD05-9E4F-493B-B17F-E338CF541029","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"ed3ed63780f860a7eecab6412f8efc58979bd2cc","datavalue":{"value":{"text":"Energy-optimal control of unconstrained planar RR robot manipulators","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q845579$1EDEABDF-A290-434B-9BFB-9AF7788D4DE0","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"4ab4c2b44344210b9974473ed09d202dc2fc3ab9","datavalue":{"value":"1179.49030","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q845579$51307C23-FC52-4E9D-96AC-EE3CE36F4587","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"c5832f8876614de1887b6fff71a1066143db327e","datavalue":{"value":{"entity-type":"item","numeric-id":786129,"id":"Q786129"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q845579$9F091EEC-4AF8-47D8-B1E7-A2B3507074EA","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"68e4ab59be9179948818023f7eadfb9adece9a5d","datavalue":{"value":{"entity-type":"item","numeric-id":188728,"id":"Q188728"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q845579$0FD56566-A0D1-4937-8363-473728786A38","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"f401d416e6e46815e09909774a39b16cd83f71c6","datavalue":{"value":{"time":"+2010-01-29T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q845579$2405ACD2-D973-494A-A14A-7930ABB6E442","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"825824b72358cea3f4c538ac811267e114a8e2b4","datavalue":{"value":"49M25","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q845579$C442B54A-87E0-45B3-84C1-846EEDB8277F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"85ffdf6add2661e7fe58e124fb3769692822d9d8","datavalue":{"value":"49M15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q845579$5B5E0CA6-CE0F-422C-8AC2-312533BB9D00","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"012e86f9177c24e37dcdc94857f238df2620f196","datavalue":{"value":"49M37","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q845579$A129F2E3-8F91-41BE-BA6E-4324C2AC805E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"46ffee837b0dbcd63fffc2834ebe2705f88e57be","datavalue":{"value":"68T40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q845579$714AB5AB-BFA0-4B10-B63E-D6BB00C42C1F","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"e1303170aa978f7c7f235a75af461a48c7eec158","datavalue":{"value":"5664393","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q845579$F462F0D8-AD00-49D3-9C8C-4DAD887C7BC2","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"f47fee90c5592664decba5aa2e51ae852ecd7730","datavalue":{"value":"optimal control","type":"string"},"datatype":"string"},"type":"statement","id":"Q845579$D10DF80D-D2F6-4BA2-A5C9-98C9793B253F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"acd8a1b407c9409ea36f73fd5e8609b735b6d755","datavalue":{"value":"variational calculus","type":"string"},"datatype":"string"},"type":"statement","id":"Q845579$A4A3EDE3-5F54-400D-B1CF-0C11BCBDA85C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"baa401a90f7be40837e492046fd0146ae8e354d2","datavalue":{"value":"robotics","type":"string"},"datatype":"string"},"type":"statement","id":"Q845579$705B4351-9161-43A8-9AEB-511CAFB0C4E2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e6a5b03ef62ae0ae2363dcdac79f870aea9f58b4","datavalue":{"value":"Euler-Lagrange necessary conditions","type":"string"},"datatype":"string"},"type":"statement","id":"Q845579$C5328209-8CFA-462B-928E-A21E9C8E874A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"41b1c4ec5216795830ca8d9dea08a7a18fc00fd1","datavalue":{"value":"damped Newton methodology","type":"string"},"datatype":"string"},"type":"statement","id":"Q845579$D6C0F699-B223-4DB8-92E7-4C27C1A4F2F1","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":"Q845579$5A7562D4-386C-41B2-9AC3-00554D62571B","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"f87bd4ba8d5f811a0a02eb7b31866c62db987ad5","datavalue":{"value":"https://doi.org/10.1007/s11750-009-0109-0","type":"string"},"datatype":"url"},"type":"statement","id":"Q845579$045E8916-59AE-43D4-B419-5D35F7EF5692","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"7daa36c65947db42d8d186d5bdf1ff3f3652b859","datavalue":{"value":"W2005921225","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q845579$FA99AA99-96F7-4E3F-AD2A-338CDE057C94","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"76909b849ce6253c3ab279ddbb55120562192062","datavalue":{"value":{"entity-type":"item","numeric-id":796813,"id":"Q796813"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q845579$1E273FDB-9D9C-4DA5-9096-D3FB46821FA8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c6fa8d1a3360ebd0688ab399507fba6c8284b996","datavalue":{"value":{"entity-type":"item","numeric-id":1851113,"id":"Q1851113"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q845579$94F5C7DF-A4CC-444F-9560-941A66609DA3","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":"Q845579$49A85A23-453C-417A-80FB-55CF2E0FC9AE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"81b98779cf0a53e8960151b91af8fa51b08e31d7","datavalue":{"value":{"entity-type":"item","numeric-id":2718895,"id":"Q2718895"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q845579$1B51DC5B-561E-4C09-B18E-FF47E213A89A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"f07105f7ef08b1f1e90f9cdb0b7f6ae74ddb0685","datavalue":{"value":{"entity-type":"item","numeric-id":4842225,"id":"Q4842225"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q845579$43452B2E-2AAD-4EF2-A4D5-404844281DDD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1ea1419f8b98032db918afb6b62391bb6c323a6a","datavalue":{"value":{"entity-type":"item","numeric-id":3984594,"id":"Q3984594"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q845579$CF417E39-5630-4ACA-A508-D7045205653F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"bbd286cb61fe8337408a4dbdaabf44d4375d0208","datavalue":{"value":{"entity-type":"item","numeric-id":3359317,"id":"Q3359317"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q845579$4FCB74E9-D813-4016-BEC4-1F9C23E74443","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"b4a0eddf677d085de24b992acedfddb375f2b47f","datavalue":{"value":{"entity-type":"item","numeric-id":5713497,"id":"Q5713497"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q845579$4CD1ED69-FCF6-425E-9D88-79D41274796E","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"09955730bc22a517d4522ee23aa42b6f96497bed","datavalue":{"value":{"entity-type":"item","numeric-id":4014591,"id":"Q4014591"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q845579$AB2BC455-A011-4F98-AC99-9AA42D0E6694","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"47dfe4913f54a02b656d4080720f784a20f739f3","datavalue":{"value":{"entity-type":"item","numeric-id":3734246,"id":"Q3734246"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q845579$C83B9E43-310F-442C-9DDC-2080F0E33CDC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"e1f498f88c874c310d21148c1fbb1e9500c01c3c","datavalue":{"value":{"entity-type":"item","numeric-id":999462,"id":"Q999462"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q845579$86D7C4A7-2B6C-4D15-A57C-1A5847820B2F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1d761b9e9cc89b28e0909136aecefe78ec0ca085","datavalue":{"value":{"entity-type":"item","numeric-id":864651,"id":"Q864651"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q845579$0DE48FE0-DE59-47D8-9016-36AC051FACFC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"07dfc47715a6e9683d353cf5090cf5a768640435","datavalue":{"value":{"entity-type":"item","numeric-id":819530,"id":"Q819530"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q845579$2FF21455-7800-49BA-B633-BDF9129622FC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"85039c270aca996fe85a0e87e1887754ca5e8fad","datavalue":{"value":{"entity-type":"item","numeric-id":3481176,"id":"Q3481176"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q845579$B904032C-464D-4379-9E6C-9D92889A1573","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":"Q845579$6E3DF2AF-8FDD-47E9-AFD4-7EA18574FF14","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"1d09af7521e48b2c83a4b151b48386222f83b12c","datavalue":{"value":{"entity-type":"item","numeric-id":3479568,"id":"Q3479568"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q845579$745739E9-D4D9-451F-A96B-D9B94D305059","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"fee9238cf2cdf952e2361283631cf3aecd0b85cc","datavalue":{"value":{"entity-type":"item","numeric-id":4371705,"id":"Q4371705"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q845579$901EDFF6-825B-4AB5-9245-B0A735E7D139","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6fcb61cd1a948f95439ee55b4599fe16ca59aed2","datavalue":{"value":{"entity-type":"item","numeric-id":4857368,"id":"Q4857368"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q845579$DE97B50C-C1D2-40B7-A446-9EE257A05DF0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"17aaba65fa92ed1173948d864a3eee098cc411dd","datavalue":{"value":{"entity-type":"item","numeric-id":4295590,"id":"Q4295590"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q845579$E396B216-7474-4AF6-8F96-F04AC1E91EEF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ec97ec6e80084c36a0de76b0e574f7058d02c135","datavalue":{"value":{"entity-type":"item","numeric-id":3394881,"id":"Q3394881"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q845579$5C3CD595-A6A9-4034-85F9-69FC62B675BE","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"51ee334fdbb5048f96ae5d7ccf73d6d1250bfd00","datavalue":{"value":{"entity-type":"item","numeric-id":4295604,"id":"Q4295604"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q845579$9DB33244-1059-4963-B153-65A78AFE7799","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"2ecb7ef2e91ad1889b86857f59963edbb27bc709","datavalue":{"value":{"entity-type":"item","numeric-id":3685571,"id":"Q3685571"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q845579$0F10A063-1865-4F57-B2D9-F3C417A672E8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"84ab8eb212852a6ca46f5994bb3bc25c6f0dbdb4","datavalue":{"value":{"entity-type":"item","numeric-id":3479570,"id":"Q3479570"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q845579$F6795F5D-5313-4205-A529-469A8FD57A05","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"79a1afa2ac7e3ba65e4aedc8b3a2dff7c7fa1fe9","datavalue":{"value":"10.1007/S11750-009-0109-0","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q845579$4209464C-F10D-42E7-9670-2BF5FF9C094C","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b20aecc925d886db892c7fd9c73ac32dc4ff43a8","datavalue":{"value":{"entity-type":"item","numeric-id":369968,"id":"Q369968"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"3580b37fded97890562a2b78ed93802a60598985","datavalue":{"value":{"amount":"+0.8955621719360352","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q845579$F44DBE4D-0522-4F78-AE63-E519E7E0BB33","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"39a19eb480f20885094f03931ebbb6256188d936","datavalue":{"value":{"entity-type":"item","numeric-id":414554,"id":"Q414554"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"ad23e47838defd9e63c7e49ac92b4dba0fddd50a","datavalue":{"value":{"amount":"+0.8604307174682617","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":"Q845579$7D8CB10F-C9FD-4172-8634-AC189A314F1F","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"9c509b0214448171524da9a1badcf340b5c8851c","datavalue":{"value":{"entity-type":"item","numeric-id":2847231,"id":"Q2847231"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d22960f71f4482f3461c6b6ea503cc4739389b79","datavalue":{"value":{"amount":"+0.8335660696029663","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q845579$E5830EC0-29D5-4C0A-B487-6BCE16196A4A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4941163f94f965ba1426b896dd1b9a74ea2a712a","datavalue":{"value":{"entity-type":"item","numeric-id":467470,"id":"Q467470"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d8472b99b6d803868475b6c698b07e65b2502012","datavalue":{"value":{"amount":"+0.8009973764419556","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":"Q845579$20838F52-3B37-4F3D-81B3-62D2B3E39527","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"1e7ef0f63ddec9f727ae8217968ebb00d17086b6","datavalue":{"value":{"entity-type":"item","numeric-id":3986456,"id":"Q3986456"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"b7a1889722062fa0722e53867de474cdba39a606","datavalue":{"value":{"amount":"+0.8005824685096741","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q845579$C3E0D465-840E-4D78-A2C7-750E24094001","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Energy-optimal control of unconstrained planar RR robot manipulators","badges":[]}}}}}