{"entities":{"Q6047937":{"pageid":13182093,"ns":120,"title":"Item:Q6047937","lastrevid":47893540,"modified":"2026-01-03T00:25:54Z","type":"item","id":"Q6047937","labels":{"en":{"language":"en","value":"Inverse kinematics of a 5-DOF hybrid manipulator"}},"descriptions":{"en":{"language":"en","value":"scientific article; zbMATH DE number 7737048"}},"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":"Q6047937$07D03CC4-16B2-4FFF-97CE-521284FB05F1","rank":"normal"}],"P159":[{"mainsnak":{"snaktype":"value","property":"P159","hash":"138c48a66484de5a5167af0fc270c2309e22cb51","datavalue":{"value":{"text":"Inverse kinematics of a 5-DOF hybrid manipulator","language":"en"},"type":"monolingualtext"},"datatype":"monolingualtext"},"type":"statement","id":"Q6047937$B5A9371A-83D2-44DF-8CA1-489282F1F098","rank":"normal"}],"P225":[{"mainsnak":{"snaktype":"value","property":"P225","hash":"10b16b965a1407b722dcf33c1564fd06585ddfaa","datavalue":{"value":"1521.93116","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6047937$F789A3EE-8B1F-48D1-9255-AF0FE7C5C9F5","rank":"normal"}],"P16":[{"mainsnak":{"snaktype":"value","property":"P16","hash":"6067fa6bcb2bb3d3587ed2648450af3b9f5ce0a6","datavalue":{"value":{"entity-type":"item","numeric-id":1004952,"id":"Q1004952"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6047937$BA5847D7-8F3C-4F73-919C-62FEE50F1460","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P16","hash":"2eca0b239b2b77f4d24f6aa9644444f6359c3972","datavalue":{"value":{"entity-type":"item","numeric-id":1135582,"id":"Q1135582"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6047937$8AB95CBD-8471-4DD8-9631-A4718B9EC787","rank":"normal"}],"P200":[{"mainsnak":{"snaktype":"value","property":"P200","hash":"33359fd8a77e9cce0cfaf7c91dc047e11a0fed75","datavalue":{"value":{"entity-type":"item","numeric-id":109332,"id":"Q109332"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6047937$B40860C8-1B8A-471B-907C-1E595F910177","rank":"normal"}],"P28":[{"mainsnak":{"snaktype":"value","property":"P28","hash":"1d2f46e27145adb17ef6b934fe60e7af70f5d479","datavalue":{"value":{"time":"+2023-09-13T00:00:00Z","timezone":0,"before":0,"after":0,"precision":11,"calendarmodel":"http://www.wikidata.org/entity/Q1985727"},"type":"time"},"datatype":"time"},"type":"statement","id":"Q6047937$5851047B-3271-4D7D-8DD6-E9D606BA0F7D","rank":"normal"}],"P226":[{"mainsnak":{"snaktype":"value","property":"P226","hash":"a94d5bf6eab7bddc9c7abbdf41796f52c9b87335","datavalue":{"value":"93C85","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6047937$6D0B82E0-2CE3-4F80-A52B-8392A236ADC9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P226","hash":"3c9759ba1beabf7a5237e2e05cc9f021be9a23e5","datavalue":{"value":"70B15","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6047937$370015CE-0446-4E75-81E0-59757BBC0D3B","rank":"normal"}],"P1451":[{"mainsnak":{"snaktype":"value","property":"P1451","hash":"9b886c07d894a37e7f4bd711fe53174c1a9d8aa4","datavalue":{"value":"7737048","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6047937$BBAE6A7A-5005-4DAF-8A2A-2006CA8E5864","rank":"normal"}],"P1450":[{"mainsnak":{"snaktype":"value","property":"P1450","hash":"37ea6d8727e973f4868988eab6dc3d2a135b524c","datavalue":{"value":"manipulator","type":"string"},"datatype":"string"},"type":"statement","id":"Q6047937$42E9D0B4-F18B-4B1B-9F49-895BA73AEBD5","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"94b1f128011f3ff210882bb6e0ee8ca9988315ba","datavalue":{"value":"parallel-serial (hybrid) structure","type":"string"},"datatype":"string"},"type":"statement","id":"Q6047937$46878AE4-C4D9-4236-AEDA-66F0B0857793","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"e44f81aab1f3dc7b7487d06122f1918c7b690c72","datavalue":{"value":"kinematic analysis","type":"string"},"datatype":"string"},"type":"statement","id":"Q6047937$4D9F3C3C-322E-430A-80D9-9625347B0BDD","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"6e6742d5ef24735f8f53356589c374c57188723d","datavalue":{"value":"inverse kinematics","type":"string"},"datatype":"string"},"type":"statement","id":"Q6047937$8795F9C5-3018-4813-81F1-F615D5909F9C","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"1ee5ba8067ef21560c634eb1af4d42138d2b3936","datavalue":{"value":"twist","type":"string"},"datatype":"string"},"type":"statement","id":"Q6047937$A426B0BE-C7AB-4C49-96BE-1741F6E567FC","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1450","hash":"ce94355c7a82540daf933a79177b9454c005b0c3","datavalue":{"value":"PoE formula","type":"string"},"datatype":"string"},"type":"statement","id":"Q6047937$148E4235-B173-4A60-BB1A-622250CE275B","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":"Q6047937$53184FA0-EAEA-4A83-8B05-AB5293B7647E","rank":"normal"}],"P205":[{"mainsnak":{"snaktype":"value","property":"P205","hash":"536aa5a6809be4cc42a4b202ec7b05572d52d63c","datavalue":{"value":"https://doi.org/10.1134/s0005117923030037","type":"string"},"datatype":"url"},"type":"statement","id":"Q6047937$A7C8BE34-41DA-4005-9731-B5030B639252","rank":"normal"}],"P388":[{"mainsnak":{"snaktype":"value","property":"P388","hash":"daa644683712805f07eb7b04e1bbb97b31363515","datavalue":{"value":"W4385990668","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6047937$0F5982CC-4E51-44B0-9BD6-AA82C9823CA1","rank":"normal"}],"P223":[{"mainsnak":{"snaktype":"value","property":"P223","hash":"9c600cfb64b0589f4e8c4b32bee9bdf7542699d3","datavalue":{"value":{"entity-type":"item","numeric-id":4262728,"id":"Q4262728"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6047937$3751E6A7-8CB8-43E0-803A-EA6033C176B0","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P223","hash":"cb6fe985c1f558f6648a62b91f6786f145f6d9cd","datavalue":{"value":{"entity-type":"item","numeric-id":3564513,"id":"Q3564513"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","id":"Q6047937$5C8DA886-FF1E-4376-8CDC-FA2BE2FF9532","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":"Q6047937$8B97D139-BE0F-499B-AA1A-46527E816C5B","rank":"normal"}],"P27":[{"mainsnak":{"snaktype":"value","property":"P27","hash":"abf0735322304811ac1a5b9960ade348ba6d995f","datavalue":{"value":"10.1134/S0005117923030037","type":"string"},"datatype":"external-id"},"type":"statement","id":"Q6047937$0BF4F1CB-00F2-4935-B84A-D61CE898B7D7","rank":"normal"}],"P1643":[{"mainsnak":{"snaktype":"value","property":"P1643","hash":"cd23c335a1ee9d3ddb6db6d2d181e60e0539c705","datavalue":{"value":{"entity-type":"item","numeric-id":612234,"id":"Q612234"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"858855893a994c80d72922b21d6eaa15155487ff","datavalue":{"value":{"amount":"+0.8065289855003357","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":"Q6047937$2DBD4A61-B3FC-43A3-AD35-D8D8BE5D7FB9","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"b01ed32b458c7b09643222bc744a062fdfd1ebae","datavalue":{"value":{"entity-type":"item","numeric-id":3358276,"id":"Q3358276"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"5a69579713cd41e22ba9cfa23f82c7e47272cb2a","datavalue":{"value":{"amount":"+0.7955644726753235","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":"Q6047937$4C314B96-011D-44FF-A51A-A835722770E4","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"cec63a14867e5a2531ab7231917015ee7f6e9ab3","datavalue":{"value":{"entity-type":"item","numeric-id":3347737,"id":"Q3347737"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"24c210b83b1dcc98db39e924e71741270be02e8f","datavalue":{"value":{"amount":"+0.7949829697608948","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":"Q6047937$2D3E3334-17F9-492A-8506-9B63B68EFD26","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"5ad0623d24ba60e20231622fffb5b06c46042218","datavalue":{"value":{"entity-type":"item","numeric-id":6484498,"id":"Q6484498"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"46fbd56dfe9020a4bce89195a2b13b7372172ce6","datavalue":{"value":{"amount":"+0.7767295837402344","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":"Q6047937$9B9CC0B2-58BC-4126-914E-37B2C3F527CF","rank":"normal"},{"mainsnak":{"snaktype":"value","property":"P1643","hash":"292cd14b5fdc6a53ae7467dfe0e59cdae1b59ecf","datavalue":{"value":{"entity-type":"item","numeric-id":4733485,"id":"Q4733485"},"type":"wikibase-entityid"},"datatype":"wikibase-item"},"type":"statement","qualifiers":{"P1659":[{"snaktype":"value","property":"P1659","hash":"84586ec7da9a5e257e6ae3c8086afd9bb083a42b","datavalue":{"value":{"amount":"+0.7634808421134949","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":"Q6047937$746BD6C4-1E0A-4ECC-92E1-B6B830BB2228","rank":"normal"}]},"sitelinks":{"mardi":{"site":"mardi","title":"Publication:6047937","badges":[],"url":"https://portal.mardi4nfdi.de/wiki/Publication:6047937"}}}}}