{"entities":{"Q901204":{"pageid":903052,"ns":120,"title":"Item:Q901204","lastrevid":65242146,"modified":"2026-04-12T01:16:10Z","type":"item","id":"Q901204","labels":{"en":{"language":"en","value":"Guaranteeing stable tracking of hybrid position-force trajectories for a robot manipulator interacting with a stiff environment"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 6524068"}},"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":"Q901204$1AF773D3-D7C9-4294-9C98-EA88E78B6037","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"e9525fb9e40dde615942e874f5f39a4d596aaa15","datavalue":{"value":{"text":"Guaranteeing stable tracking of hybrid position-force trajectories for a robot manipulator interacting with a stiff environment","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q901204$7B3F3691-998A-42BE-8ABE-17490592AA40","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"c25bb79ee77492ae40cfff0fe07a2392b7bbfe9e","datavalue":{"value":"1329.93099","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q901204$348ABC3C-703B-4C3B-81D4-D3519B96811E","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"a29f83fff93a927929350d895d38c6a4ac0d259a","datavalue":{"value":{"entity-type":"item","numeric-id":901203,"id":"Q901203"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q901204$F640C4DF-3F7A-472E-9A57-8861926C5DED","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"6c5a5798c005c7ec19793983871f52d41dfb515e","datavalue":{"value":{"entity-type":"item","numeric-id":462334,"id":"Q462334"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q901204$06726FB5-7E1F-48C0-9F00-EF1F3B6D5CF9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"d3c31940dafb675ae4d35b40e7bb39dc72f5027c","datavalue":{"value":{"entity-type":"item","numeric-id":522849,"id":"Q522849"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q901204$EDCBD150-AAB6-4355-A686-F7BE8AF72B7A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"83409954d0a3b9d932df8a865fa7173254144670","datavalue":{"value":{"entity-type":"item","numeric-id":218297,"id":"Q218297"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q901204$E1389211-ABCC-4D43-BBFD-0950F5644769","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"69a11602bb4f474f716dc259849d1837f4cd9e2e","datavalue":{"value":{"entity-type":"item","numeric-id":161901,"id":"Q161901"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q901204$04F73283-6973-4CBA-9AB7-5E18702BC2D1","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"23dcd3c508c09af71c382d96b2dc580debab337e","datavalue":{"value":{"time":"+2015-12-23T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q901204$8332E404-8187-4391-8BF4-BA4F76B014C1","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q901204$626702B0-01E5-48F1-967A-619B15CE4F2B","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"46ffee837b0dbcd63fffc2834ebe2705f88e57be","datavalue":{"value":"68T40","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q901204$DB80A0A2-25ED-4E88-B287-22EC525E21A1","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"38d2487ee4b6d9d6363a0214eff40b18ba208076","datavalue":{"value":"93D25","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q901204$4A06B89F-7D5B-4620-A1C0-33BBB71BC345","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"9bebb2f5015fb82845b748c674a6a24fd89efb27","datavalue":{"value":"93B11","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q901204$19256644-E3E4-461C-B7C2-D5ACB534D094","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"e439e75222d222a4d7c0ae8c0c79d60caf4d7a3d","datavalue":{"value":"6524068","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q901204$B09818C9-F363-47BA-B955-FFD7BF340298","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"3561040fcf2ea4a404a8ff1856a3ec7d9ae8aa07","datavalue":{"value":"manipulator control","type":"string"},"datatype":"string"},"type":"statement","id":"Q901204$DDD08D39-0DC1-481E-A25C-C95FAD5B8C36","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"76d62a904149fe6e37bbcd50487a068a58002e5d","datavalue":{"value":"motion tracking","type":"string"},"datatype":"string"},"type":"statement","id":"Q901204$13E7F10A-3153-44C9-B04A-5EA09A05D9A4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"4d7f53e8c859f873d18ac63621d2c423f0642aed","datavalue":{"value":"force tracking","type":"string"},"datatype":"string"},"type":"statement","id":"Q901204$C115D50A-E7EF-4B43-A35C-5B1847DC3DA6","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"ada14f50f992bfeedc06ab15fc2f435850c43acc","datavalue":{"value":"switched system","type":"string"},"datatype":"string"},"type":"statement","id":"Q901204$41C6CE98-1DEA-404B-8EF3-D2D0019F682A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"00136e647e328aafc8cc9233d4b1b1691904b2a2","datavalue":{"value":"model reduction","type":"string"},"datatype":"string"},"type":"statement","id":"Q901204$44E7E2DD-24E9-44DF-970A-D1C63615F8F3","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q901204$EBEA8AF8-CC9B-4A7B-A386-B99A5E994D05","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"05615cc06f154528b29575d78295d82fe60343f1","datavalue":{"value":"https://doi.org/10.1016/j.automatica.2015.10.029","type":"string"},"datatype":"url"},"type":"statement","id":"Q901204$695E472C-31B5-4CA2-BB92-01ED527CFE54","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"02b74f94dee90f71e9818f930166bd33b495b2f3","datavalue":{"value":"W2191193810","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q901204$ABAC7341-62BE-4E48-B3F7-BA9B65F8495E","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"6e5897eca6504f5bd8327e07ff3b0ed7c1784898","datavalue":{"value":{"entity-type":"item","numeric-id":3564044,"id":"Q3564044"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q901204$FFDD85D6-AD56-4979-B438-EA58597B1ED8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"7c1908c0e242ef8a3807a2300bc5cad3f986c0e1","datavalue":{"value":{"entity-type":"item","numeric-id":708099,"id":"Q708099"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q901204$87BC4754-0B27-4C31-A365-5FE659CF043A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"6dffc153341285a049e2f3bb12ccf6c64e494658","datavalue":{"value":{"entity-type":"item","numeric-id":5474267,"id":"Q5474267"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q901204$798D4A88-CE8E-462F-9D1D-099D7E77C72D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c7424416c245159d1cba65fef0f643e7c101909e","datavalue":{"value":{"entity-type":"item","numeric-id":4336340,"id":"Q4336340"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q901204$41DD50A0-BA61-4851-A55C-395DB776BEC2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"be8157f22439e669e536bc8804bf0b4b9fdc5446","datavalue":{"value":{"entity-type":"item","numeric-id":1361319,"id":"Q1361319"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q901204$28BF5B42-22FA-4759-8514-FEAA8DDF7FD8","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9fd2e90e0b018f56389aac17d22368a59db7421c","datavalue":{"value":{"entity-type":"item","numeric-id":5265674,"id":"Q5265674"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q901204$02126593-FF23-43D4-8A99-0AA9E58E900A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"52b76e379d67a63dcfbf1966cb6f73851d58c1a4","datavalue":{"value":{"entity-type":"item","numeric-id":2771497,"id":"Q2771497"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q901204$078E0385-2AF0-4459-8110-AB14891F54A7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0035afaf0744be7cbd053a93367d1af97e7e2152","datavalue":{"value":{"entity-type":"item","numeric-id":705681,"id":"Q705681"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q901204$52333052-8FEC-42DE-89E2-9B9A873D2F65","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"a9152ec8b399022b15260ff563b3059a7dd4b6d7","datavalue":{"value":{"entity-type":"item","numeric-id":2473791,"id":"Q2473791"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q901204$1DD3BCA7-E49B-40B7-928C-61F0F4107D28","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"c090fe1b38ffcd772b08ec2baa6aeb6b3f749693","datavalue":{"value":{"entity-type":"item","numeric-id":1407764,"id":"Q1407764"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q901204$3BE02D29-D4B1-4FC7-8213-07AD794F756C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"0663c2c177962a6affec6fe0be97f6a7bfcb5b00","datavalue":{"value":{"entity-type":"item","numeric-id":858936,"id":"Q858936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q901204$82259D52-DF4E-494E-B0F3-AC1F09968D00","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"521320ef96e59ccdff703af24c225724a26a72da","datavalue":{"value":{"entity-type":"item","numeric-id":4978833,"id":"Q4978833"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q901204$A298AB3A-F1B2-4096-BA74-CB9472800678","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"3f81b35f12d4d1e7d3d2e9308b059afa6491f26b","datavalue":{"value":{"entity-type":"item","numeric-id":4540217,"id":"Q4540217"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q901204$F5BB1E3A-0AC3-4058-859D-4EBD70D6186C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ec97ec6e80084c36a0de76b0e574f7058d02c135","datavalue":{"value":{"entity-type":"item","numeric-id":3394881,"id":"Q3394881"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q901204$B8978B1A-0BCE-4B0A-BB63-8AEF5F81B9A0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"4a2fff1af50b11d13d16a56377a6e1ac5f0ef1df","datavalue":{"value":{"entity-type":"item","numeric-id":1764035,"id":"Q1764035"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q901204$463D1F7C-318A-4CE1-BE70-75D15490E63D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"5a7cdbe6ee3a468b6d33532f61944a1fc9b4bc8a","datavalue":{"value":{"entity-type":"item","numeric-id":3346570,"id":"Q3346570"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q901204$E6AEE27B-6F0C-4161-8A15-EE90B23FC8F5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"9e6eb6097fe0b48d3a499ead26700094ec23a08c","datavalue":{"value":{"entity-type":"item","numeric-id":2436912,"id":"Q2436912"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q901204$5BEDA5A3-AD2D-4EF6-9B31-C20F66BE1656","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"930832058453e5b0c40c8df06ff50e88f1a05313","datavalue":{"value":{"entity-type":"item","numeric-id":1596487,"id":"Q1596487"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q901204$34132CD0-1A6C-4888-B7BE-FFD035BCD874","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"aa54afc3314ff19f522e13bc0d27d6629ec12c43","datavalue":{"value":"10.1016/J.AUTOMATICA.2015.10.029","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q901204$1D8E783C-EA40-458E-92D2-877F1E521C40","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7080d570f1f67c1d9e436d03705336742fbe0f6b","datavalue":{"value":{"entity-type":"item","numeric-id":1298285,"id":"Q1298285"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"38aac29f048fc930172b2542c3464f7cbafa33e2","datavalue":{"value":{"amount":"+0.7820121049880981","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":"Q901204$808DB855-9238-42FA-BCA6-38730AADBEBB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"86b087e0aba6e4fc421f33430f11d1bd7249833c","datavalue":{"value":{"entity-type":"item","numeric-id":4506759,"id":"Q4506759"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"bf51c5c09d93e7e6dde8250dfc9d4a3d04638b56","datavalue":{"value":{"amount":"+0.7799986004829407","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":"Q901204$3E839AB2-9164-4238-AE4D-3A3A0DD14983","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c035b8eb8148fb8d6c618731c6ad123db101347e","datavalue":{"value":{"entity-type":"item","numeric-id":4731102,"id":"Q4731102"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"05d62ed5a1f3147382134a74385230dc7e51eeb6","datavalue":{"value":{"amount":"+0.7725040912628174","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":"Q901204$5E0799C2-308C-4DA9-A748-7886200BCA45","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0a52438ff7c18f093cbb1c2ad7f82a9ec5d37317","datavalue":{"value":{"entity-type":"item","numeric-id":4485361,"id":"Q4485361"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"712d67d8ca7469747857e1ff6121ad4e85260f58","datavalue":{"value":{"amount":"+0.7723089456558228","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"a327a09ea0305e98d5cf33bd4036320e19f2aed0","datavalue":{"value":{"entity-type":"item","numeric-id":6821328,"id":"Q6821328"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q901204$A03A02D4-755C-45CB-AC87-AFDE84B0182A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"e4b41c398a9e6b711c25aa54f1b371bc5e9d9e60","datavalue":{"value":{"entity-type":"item","numeric-id":3983865,"id":"Q3983865"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d3484db445be9bfb09d02ac157100ec8f846c29b","datavalue":{"value":{"amount":"+0.7674179077148438","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":"Q901204$B8CF67C6-D0EC-46FA-BC4E-B41097628601","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Guaranteeing stable tracking of hybrid position-force trajectories for a robot manipulator interacting with a stiff environment","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Guaranteeing_stable_tracking_of_hybrid_position-force_trajectories_for_a_robot_manipulator_interacting_with_a_stiff_environment"}}}}}