{"entities":{"Q966258":{"pageid":968106,"ns":120,"title":"Item:Q966258","lastrevid":65754318,"modified":"2026-04-12T05:09:04Z","type":"item","id":"Q966258","labels":{"en":{"language":"en","value":"The determination of the velocities after impact for the constrained bar problem"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 5700444"}},"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":"Q966258$D124AD9C-F412-4D0C-A5F1-B311FCE17CF1","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"e4ee9a9c2e99189b82e6e6bccee18a1bfcfe488a","datavalue":{"value":{"text":"The determination of the velocities after impact for the constrained bar problem","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q966258$1B48E719-BDC7-4BED-8BA4-5A26BDFF6282","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"e5203e78e8b67b2e724f3c42a26888edd1744ccf","datavalue":{"value":"1185.70007","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q966258$F83CC533-E22A-446D-B0E5-3F207DBA47BE","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"6145b9807d00391acf584f3b337358f3640da441","datavalue":{"value":"10.1155/2009/384071","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q966258$74DBE4A4-9095-4AB5-A6C2-4717D19921EA","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"aa48c5199dadd9bd7a211d2f797c0544393b6695","datavalue":{"value":{"entity-type":"item","numeric-id":966257,"id":"Q966257"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q966258$2E23D759-82A8-43E0-A84A-9037B395A85D","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"104659ee8840d67c2d33ba42a83cae1001207e54","datavalue":{"value":{"entity-type":"item","numeric-id":954549,"id":"Q954549"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q966258$A8DD8061-CA2A-4280-A47F-7B09D61280CF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"2d05c640bd14f2c3bf4ed60008c2d22a9b712a39","datavalue":{"value":{"entity-type":"item","numeric-id":460361,"id":"Q460361"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q966258$A297A1B8-1ABD-46F7-A4C1-175EFD8B3565","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":"Q966258$9A1EA907-A7D3-43F2-875E-B2F87C08CC5D","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"61499de60b4472161f22a83fc07a7ebb72c37d7a","datavalue":{"value":{"time":"+2010-04-23T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q966258$533698F8-AAB8-45C9-95F5-1946C8AA3416","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"ac1a2b393e16a396ab81eb52e2f3a75c8450fe02","datavalue":{"value":"https://eudml.org/doc/225907","type":"string"},"datatype":"url"},"type":"statement","id":"Q966258$3182945D-5217-45DC-A480-13500041CBAB","rank":"normal"}],"P1448":[{"mainsnak":{"snaktype":"value","property":"P1448","hash":"c91a68300c47f0a681cbdf38cf4faec1d18362a6","datavalue":{"value":"Summary: A simple mathematical model for a constrained robotic manipulator is investigated. Besides the fact that this model is relatively simple, all the features present in more complex problems are similar to the ones analyzed here. The fully plastic impact is considered in this paper. Expressions for the velocities of the colliding bodies after impact are developed. These expressions are important in the numerical integration of the governing equations of motion when one must exchange the set of unconstrained equations for the set of constrained equation. The theory presented in this work can be applied to problems in which robots have to follow some prescribed patterns or trajectories when in contact with the environment. It can also de applied to problems in which robotic manipulators must handle payloads.","type":"string"},"datatype":"string"},"type":"statement","id":"Q966258$C334EBCF-4C16-454A-B897-02BEFB471C94","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"c5408ffa34731028dac8aa7abec8a3b9626903f0","datavalue":{"value":"70E60","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q966258$E93D297B-F539-4298-A475-36D6552FB587","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"780f9d295fc937d96c3d320f684df0f79ac1d810","datavalue":{"value":"5700444","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q966258$C75ABC9A-D319-47F9-B6C8-BF9988A932B3","rank":"normal"}],"P12":[{"mainsnak":{"snaktype":"value","property":"P12","hash":"4ac66bc09a820b200761c5207adc904837f5e527","datavalue":{"value":"Q58648980","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q966258$8434DD23-6ECD-4295-813A-3083C1714ADF","rank":"normal"}],"P1460":[{"mainsnak":{"snaktype":"value","property":"P1460","hash":"57f7fea50d2ce1b39b695c4a1313582eed405e38","datavalue":{"value":{"entity-type":"item","numeric-id":5976449,"id":"Q5976449"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q966258$E44C931A-D000-4F2F-B4E6-6C0BB9EE9BBD","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"53b8cc36a13f85b63c27a016267582dd79da7c32","datavalue":{"value":"W2016085726","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q966258$245CA0C1-1F35-499F-9E40-FD1239609DCD","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"5d490033db3aa8e75302fa6d1d3e79f27b079802","datavalue":{"value":{"entity-type":"item","numeric-id":4229077,"id":"Q4229077"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q966258$26BE2BCA-434E-4AAD-973C-13536CF746BD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"ca6b9480034cd631c6efe0470f1cd8e401f5fe1f","datavalue":{"value":{"entity-type":"item","numeric-id":5657709,"id":"Q5657709"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q966258$59124CF5-F281-4038-8CCD-FB07C2B3F904","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"a0cba406212622827ca483d6b2e857be46a8583a","datavalue":{"value":{"entity-type":"item","numeric-id":2384368,"id":"Q2384368"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"729e746e4a9dad20ac7507a7d6d6c8a1e197c589","datavalue":{"value":{"amount":"+0.8465645","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q966258$D66C0BBF-9A88-4071-9D1E-5DA7863BD7E5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"7ab3a37e063a718924ff5544d4d06602addd1c7e","datavalue":{"value":{"entity-type":"item","numeric-id":3445801,"id":"Q3445801"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"7ce2ec2c4b7dc5211e99c5b134b883b738b45c99","datavalue":{"value":{"amount":"+0.84201014","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":"Q966258$305C50B2-699E-49C2-B653-49CF1C894095","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"12e6a99be01e5dc045e25ded3fe4cdbd2d688353","datavalue":{"value":{"entity-type":"item","numeric-id":4383521,"id":"Q4383521"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"0433abd74789ec648d8d6e6b1dfa72a38a18f7f4","datavalue":{"value":{"amount":"+0.8377613","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q966258$BE9113BF-F28A-44B1-8125-893FDF5889D7","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"10dce5a34940003aec122e79a87956c156a3e7c4","datavalue":{"value":{"entity-type":"item","numeric-id":2481057,"id":"Q2481057"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"8e80e6c92825e0270f482099df5cd6aa4f6030e4","datavalue":{"value":{"amount":"+0.8326707","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":"Q966258$2CA201DB-85E9-4C49-8CE6-0EB4768D69DB","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"2bf0cbcae6a2fe3403fa6e2e5e9b1ee53e130bee","datavalue":{"value":{"entity-type":"item","numeric-id":1639983,"id":"Q1639983"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"4d584cc6ad4995539f5d428c0459c3f087e4c680","datavalue":{"value":{"amount":"+0.8261007","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":"Q966258$381ED3EF-7FE8-40B3-A47D-BF621DC38485","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"4f846ef27214fa58c19b2924f5e4eee551ee1578","datavalue":{"value":{"entity-type":"item","numeric-id":4231740,"id":"Q4231740"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"d66c92ee82135474eb19618a748ea56dca648d6a","datavalue":{"value":{"amount":"+0.8244164","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":"Q966258$1C67AFCE-A6AA-490E-96D7-C6B489EC0D38","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"0d921eadf0d7eba1bfa0d4edd7a42e20bf954268","datavalue":{"value":{"entity-type":"item","numeric-id":2499487,"id":"Q2499487"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"fac932a8f105227c616fd880bcaf2663af935a39","datavalue":{"value":{"amount":"+0.8236913","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q966258$DE2802A6-7E0A-48EB-925E-B9E8C2B2874A","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"c68a11b94591ed6c1a333a1c6dac7a7edb352752","datavalue":{"value":{"entity-type":"item","numeric-id":1302549,"id":"Q1302549"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"55ae2c6c32ebc058430f223304ee2c2d9a0b8d04","datavalue":{"value":{"amount":"+0.8231158","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":"Q966258$CBFB27C9-076D-4211-84E5-8CD11DDCA9F2","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"af25e0acdd5373993aed2be8a7be99dd644ab12b","datavalue":{"value":{"entity-type":"item","numeric-id":369201,"id":"Q369201"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"545921547e7fc5ed5ddb197ae27e4cb27680fd0d","datavalue":{"value":{"amount":"+0.8159085","unit":"1"},"type":"quantity"},"datatype":"quantity"}],"P1660":[{"snaktype":"value","property":"P1660","hash":"ac3c626774dcd0d16f89557f66586245841a01db","datavalue":{"value":{"entity-type":"item","numeric-id":6767936,"id":"Q6767936"},"type":"wikibase-entityid"},"datatype":"wikibase-item"}]},"qualifiers-order":["P1659","P1660"],"id":"Q966258$F9AE341D-4C41-4357-9231-662ADACDA1F4","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"The determination of the velocities after impact for the constrained bar problem","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/The_determination_of_the_velocities_after_impact_for_the_constrained_bar_problem"}}}}}