{"id":78,"date":"2024-04-04T08:01:28","date_gmt":"2024-04-04T05:01:28","guid":{"rendered":"https:\/\/sisu.ut.ee\/rosak\/kinemaatika\/"},"modified":"2024-04-05T11:56:24","modified_gmt":"2024-04-05T08:56:24","slug":"kinemaatika","status":"publish","type":"page","link":"https:\/\/sisu.ut.ee\/rosak\/kinemaatika\/","title":{"rendered":"1. L\u00fclid, liigendid ja kinemaatiline ahel"},"content":{"rendered":"<blockquote>\r\n\t<p>\r\n\t\t<strong>J\u00e4rgnevalt \u00f5pime, kuidas paljusid roboteid lihtsasti kirjeldada ja mis on kinemaatiline ahel.<\/strong>\r\n\t<\/p>\r\n\r\n\t<p>\r\n\t\t<em>\u00d5ppematerjali vaatamiseks klikka vahepealkirjadele.<\/em>\r\n\t<\/p>\r\n<\/blockquote>\r\n\r\n<p>\r\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69f29cde06001-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69f29cde06001-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69f29cde06001-collapse\"><strong>1. Robotite lihtsustamine<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69f29cde06001-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69f29cde06001-heading\">\n            <div class=\"accordion-body\">Maailmas leidub v\u00e4ga palju erinevaid roboteid. Paljusid neist on v\u00f5imalik kirjeldada \u00fcsna lihtsalt ja primitiivselt.\r\n\r\n\r\n<p>\r\n\t<strong><span id=\"docs-internal-guid-8e715bdf-7fff-fd31-4358-c7bb3571968a\">Robot koosneb portsust l\u00fclidest (ingl <\/span><span>link<\/span><span>), mis on \u00fchendatud liigendite (<\/span><span>joint<\/span><span>) abil.<\/span><\/strong>\r\n<\/p>\r\n\r\n<p>\r\n\t<span id=\"docs-internal-guid-0bd5950b-7fff-ab29-60af-0c8189549f5e\">L\u00fclid on defineeritud kui paindumatud osad, mis moodustavad roboti. Neil on inerts, visuaalne omap\u00e4ra, ja need v\u00f5ivad muude asjadega kokku p\u00f5rgata.<\/span>\r\n<\/p>\r\n\r\n<p>\r\n\t<img loading=\"lazy\" decoding=\"async\" width=\"2560\" height=\"1707\" class=\"alignnone wp-image-166\" style=\"width: 800px;height: 533px\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/kinematics_joined_franka_diagram_b7928ba7479e9e411cfbe7ae8529fd0e-scaled.jpg\" title=\"kinematics_joined_franka_diagram_b7928ba7479e9e411cfbe7ae8529fd0e.jpg\" alt=\".\" srcset=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/kinematics_joined_franka_diagram_b7928ba7479e9e411cfbe7ae8529fd0e-scaled.jpg 2560w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/kinematics_joined_franka_diagram_b7928ba7479e9e411cfbe7ae8529fd0e-300x200.jpg 300w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/kinematics_joined_franka_diagram_b7928ba7479e9e411cfbe7ae8529fd0e-1024x683.jpg 1024w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/kinematics_joined_franka_diagram_b7928ba7479e9e411cfbe7ae8529fd0e-768x512.jpg 768w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/kinematics_joined_franka_diagram_b7928ba7479e9e411cfbe7ae8529fd0e-1536x1024.jpg 1536w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/kinematics_joined_franka_diagram_b7928ba7479e9e411cfbe7ae8529fd0e-2048x1365.jpg 2048w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/kinematics_joined_franka_diagram_b7928ba7479e9e411cfbe7ae8529fd0e-1920x1280.jpg 1920w\" sizes=\"auto, (max-width: 2560px) 100vw, 2560px\">\r\n<\/p>\r\n\r\n<p>\r\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\r\n\r\n\r\n<p>\r\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69f29cde06009-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69f29cde06009-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69f29cde06009-collapse\"><strong>2. Liigendid<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69f29cde06009-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69f29cde06009-heading\">\n            <div class=\"accordion-body\">Liigendid \u00fchendavad l\u00fclisid. V\u00f5i abstraktsemalt: liigend m\u00e4\u00e4rab, kuidas on l\u00fcli\u00a0liikumine referentsiks oleva koordinaats\u00fcsteemi suhtes piiratud. Seega m\u00e4\u00e4ravad liigendid l\u00f5puks, kuidas robot saab liikuda.\r\n\r\n\r\n<p>\r\n\t<span id=\"docs-internal-guid-82fa536a-7fff-9539-1a25-c0794a8ca3c8\">Liigendite klassifitseerimiseks on mitmeid eri viise. J\u00e4rgnevalt tutvume erinevate \u00fche v\u00f5i mitme vabadusastmega (<\/span><span><em>degrees of freedom<\/em>) liigenditega.<\/span>\r\n<\/p>\r\n\r\n<p>\r\n\t<img loading=\"lazy\" decoding=\"async\" width=\"4293\" height=\"3725\" class=\"alignnone wp-image-167\" style=\"width: 800px;height: 694px\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/kinetics_joints_on_abstract_franka_5166161ad43c6c265c5e34e097377db3.png\" title=\"kinetics_joints_on_abstract_franka_5166161ad43c6c265c5e34e097377db3.png\" alt=\".\" srcset=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/kinetics_joints_on_abstract_franka_5166161ad43c6c265c5e34e097377db3.png 4293w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/kinetics_joints_on_abstract_franka_5166161ad43c6c265c5e34e097377db3-300x260.png 300w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/kinetics_joints_on_abstract_franka_5166161ad43c6c265c5e34e097377db3-1024x889.png 1024w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/kinetics_joints_on_abstract_franka_5166161ad43c6c265c5e34e097377db3-768x666.png 768w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/kinetics_joints_on_abstract_franka_5166161ad43c6c265c5e34e097377db3-1536x1333.png 1536w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/kinetics_joints_on_abstract_franka_5166161ad43c6c265c5e34e097377db3-2048x1777.png 2048w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/kinetics_joints_on_abstract_franka_5166161ad43c6c265c5e34e097377db3-1920x1666.png 1920w\" sizes=\"auto, (max-width: 4293px) 100vw, 4293px\">\r\n<\/p>\r\n\r\n<p>\r\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\r\n\r\n\r\n<p>\r\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69f29cde0600d-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69f29cde0600d-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69f29cde0600d-collapse\"><strong>3. \u00dche vabadusastmega liigendid<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69f29cde0600d-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69f29cde0600d-heading\">\n            <div class=\"accordion-body\">Siin n\u00e4ed erinevaid liigendeid, millel on <strong>\u00fcks vabadusaste<\/strong>: nad saavad liikuda ainult \u00fchel viisil v\u00f5i \u00fches suunas. Nendes n\u00e4idetes \u00fchendab liigend sinist l\u00fcli ja rohelist l\u00fcli.\r\n\r\n\r\n<p>\r\n\t<em>Klikka video peale, et vaadata, kuidas liigend liigub.<\/em>\r\n<\/p>\r\n\r\n<p>\r\n\t<span id=\"docs-internal-guid-d6b9eedd-7fff-41f5-bd5d-547bc5d8784a\"><strong>P\u00f6\u00f6rdliigend<\/strong> saab p\u00f6\u00f6relda \u00fcmber \u00fche telje.<\/span><br><\/p><div class=\"h5p-iframe-wrapper\"><div class=\"video-placeholder-wrapper video-placeholder-wrapper--fixed\" style=\"height: 366px;\">\n\t\t\t    <div class=\"video-placeholder d-flex justify-content-center align-items-center\">\n\t\t\t        <div class=\"overlay text-white p-2 w-100 text-center d-block justify-content-center align-items-center\">\n\t\t\t            <div>Kolmandate osapoolte sisu n\u00e4gemiseks palun n\u00f5ustu k\u00fcpsistega.<\/div>\n\t\t\t            <button class=\"btn btn-secondary btn-sm mt-1 consent-change\">Muuda n\u00f5usolekut<\/button>\n\t\t\t        <\/div>\n\t\t\t    <\/div>\n\t\t\t<\/div>\n<\/div>\r\n\r\n\r\n<p>\r\n\t<span id=\"docs-internal-guid-05870435-7fff-937c-b646-bc719829153e\"><strong>Translatsioonipaari<\/strong> korral on \u00fcks detail fikseeritud ning teine saab libiseda \u00fches teljes.<\/span><br><\/p><div class=\"h5p-iframe-wrapper\"><div class=\"video-placeholder-wrapper video-placeholder-wrapper--fixed\" style=\"height: 366px;\">\n\t\t\t    <div class=\"video-placeholder d-flex justify-content-center align-items-center\">\n\t\t\t        <div class=\"overlay text-white p-2 w-100 text-center d-block justify-content-center align-items-center\">\n\t\t\t            <div>Kolmandate osapoolte sisu n\u00e4gemiseks palun n\u00f5ustu k\u00fcpsistega.<\/div>\n\t\t\t            <button class=\"btn btn-secondary btn-sm mt-1 consent-change\">Muuda n\u00f5usolekut<\/button>\n\t\t\t        <\/div>\n\t\t\t    <\/div>\n\t\t\t<\/div>\n<\/div>\r\n\r\n\r\n<p>\r\n\t<span id=\"docs-internal-guid-cc14eada-7fff-e651-7c46-3d628d912cf5\"><strong>Kruviliigend<\/strong> koosneb keermelatist, mis liigub edasi-tagasi \u00fches teljes.<\/span><br><\/p><div class=\"h5p-iframe-wrapper\"><div class=\"video-placeholder-wrapper video-placeholder-wrapper--fixed\" style=\"height: 366px;\">\n\t\t\t    <div class=\"video-placeholder d-flex justify-content-center align-items-center\">\n\t\t\t        <div class=\"overlay text-white p-2 w-100 text-center d-block justify-content-center align-items-center\">\n\t\t\t            <div>Kolmandate osapoolte sisu n\u00e4gemiseks palun n\u00f5ustu k\u00fcpsistega.<\/div>\n\t\t\t            <button class=\"btn btn-secondary btn-sm mt-1 consent-change\">Muuda n\u00f5usolekut<\/button>\n\t\t\t        <\/div>\n\t\t\t    <\/div>\n\t\t\t<\/div>\n<\/div>\r\n\r\n\r\n<p>\r\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\r\n\r\n\r\n<p>\r\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69f29cde06011-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69f29cde06011-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69f29cde06011-collapse\"><strong>4. Mitme vabadusastmega liigendid<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69f29cde06011-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69f29cde06011-heading\">\n            <div class=\"accordion-body\">MItme vabadusastmega liigendid saavad liikuda s\u00f5ltumatult v\u00e4hemalt kahes teljes v\u00f5i telje \u00fcmber. Allpool n\u00e4ed n\u00e4iteid neist.\r\n\r\n\r\n<p>\r\n\t<em>Klikka video peale, et vaadata, kuidas liigend liigub.<\/em>\r\n<\/p>\r\n\r\n<p>\r\n\t<span id=\"docs-internal-guid-4ead0d02-7fff-75ac-fddc-2e7557b3c0f4\"><strong>Silindriline liigend <\/strong>on kombinatsioon p\u00f6\u00f6rd- ja translatsiooni liigenditest. See v\u00f5imaldab \u00fches teljes nii p\u00f6\u00f6rlemist kui ka libisemist. Kokku on sellisel liigendil kaks vabadusastet.<\/span><br><\/p><div class=\"h5p-iframe-wrapper\"><div class=\"video-placeholder-wrapper video-placeholder-wrapper--fixed\" style=\"height: 366px;\">\n\t\t\t    <div class=\"video-placeholder d-flex justify-content-center align-items-center\">\n\t\t\t        <div class=\"overlay text-white p-2 w-100 text-center d-block justify-content-center align-items-center\">\n\t\t\t            <div>Kolmandate osapoolte sisu n\u00e4gemiseks palun n\u00f5ustu k\u00fcpsistega.<\/div>\n\t\t\t            <button class=\"btn btn-secondary btn-sm mt-1 consent-change\">Muuda n\u00f5usolekut<\/button>\n\t\t\t        <\/div>\n\t\t\t    <\/div>\n\t\t\t<\/div>\n<\/div>\r\n\r\n\r\n<p>\r\n\t<span id=\"docs-internal-guid-e3d87492-7fff-e9f1-f47f-c6768d488e05\"><strong>Kuuli ja sokli liigend<\/strong> koosnebki kuulist, mis saab sokli sees p\u00f6\u00f6relda. See annab kolm vabadusastet.<\/span><br><\/p><div class=\"h5p-iframe-wrapper\"><div class=\"video-placeholder-wrapper video-placeholder-wrapper--fixed\" style=\"height: 366px;\">\n\t\t\t    <div class=\"video-placeholder d-flex justify-content-center align-items-center\">\n\t\t\t        <div class=\"overlay text-white p-2 w-100 text-center d-block justify-content-center align-items-center\">\n\t\t\t            <div>Kolmandate osapoolte sisu n\u00e4gemiseks palun n\u00f5ustu k\u00fcpsistega.<\/div>\n\t\t\t            <button class=\"btn btn-secondary btn-sm mt-1 consent-change\">Muuda n\u00f5usolekut<\/button>\n\t\t\t        <\/div>\n\t\t\t    <\/div>\n\t\t\t<\/div>\n<\/div>\r\n\r\n\r\n<p>\r\n\t<span id=\"docs-internal-guid-e5a5743c-7fff-7b5e-f006-29cf519cd885\"><strong>Tasapinnaline liigend<\/strong> v\u00f5imaldab liikumist \u00fchel tasandil, aga mitte v\u00e4ljaspool seda tasandit. Sellisel liigendil on kolm vabadusastet.<\/span><br><\/p><div class=\"h5p-iframe-wrapper\"><div class=\"video-placeholder-wrapper video-placeholder-wrapper--fixed\" style=\"height: 366px;\">\n\t\t\t    <div class=\"video-placeholder d-flex justify-content-center align-items-center\">\n\t\t\t        <div class=\"overlay text-white p-2 w-100 text-center d-block justify-content-center align-items-center\">\n\t\t\t            <div>Kolmandate osapoolte sisu n\u00e4gemiseks palun n\u00f5ustu k\u00fcpsistega.<\/div>\n\t\t\t            <button class=\"btn btn-secondary btn-sm mt-1 consent-change\">Muuda n\u00f5usolekut<\/button>\n\t\t\t        <\/div>\n\t\t\t    <\/div>\n\t\t\t<\/div>\n<\/div>\r\n\r\n\r\n<p>\r\n\t<span id=\"docs-internal-guid-a8c52ba9-7fff-b845-c530-6df9239cbe5d\"><strong>H\u00f5ljuv liigend<\/strong> ei ole f\u00fc\u00fcsiline liigend, aga tuleb kasuks, kui on tarvis kirjeldada kahte l\u00fcli, mis ei ole f\u00fc\u00fcsiliselt \u00fcksteisega \u00fchendatud. N\u00e4iteks on see kasulik, et kirjeldada lendava roboti paiknemist teatud punkti suhtes. Sellisel liigendil on liikumisvabadus igas suunas ehk kuus vabadusastet.<\/span><br><\/p><div class=\"h5p-iframe-wrapper\"><div class=\"video-placeholder-wrapper video-placeholder-wrapper--fixed\" style=\"height: 366px;\">\n\t\t\t    <div class=\"video-placeholder d-flex justify-content-center align-items-center\">\n\t\t\t        <div class=\"overlay text-white p-2 w-100 text-center d-block justify-content-center align-items-center\">\n\t\t\t            <div>Kolmandate osapoolte sisu n\u00e4gemiseks palun n\u00f5ustu k\u00fcpsistega.<\/div>\n\t\t\t            <button class=\"btn btn-secondary btn-sm mt-1 consent-change\">Muuda n\u00f5usolekut<\/button>\n\t\t\t        <\/div>\n\t\t\t    <\/div>\n\t\t\t<\/div>\n<\/div>\r\n\r\n\r\n<p>\r\n\t<\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\r\n\r\n\r\n<p>\r\n\t<\/p><div class=\"accordion mb-3\">\n        <div class=\"accordion-item accordion-item--white\">\n        <h2 class=\"accordion-header\" id=\"accordion-69f29cde06016-heading\">\n            <button class=\"accordion-button collapsed\" type=\"button\" data-bs-toggle=\"collapse\" data-bs-target=\"#accordion-69f29cde06016-collapse\" aria-expanded=\"true\" aria-controls=\"accordion-69f29cde06016-collapse\"><strong>5. Jadamanipulaatorid<\/strong><\/button>\n        <\/h2>\n        <div id=\"accordion-69f29cde06016-collapse\" class=\"accordion-collapse collapse\" aria-labelledby=\"accordion-69f29cde06016-heading\">\n            <div class=\"accordion-body\">J\u00e4rjestikused \u00fcksteisega \u00fchendatud l\u00fclid\u00a0ja liigendid moodustavad <strong>kinemaatilise ahela<\/strong> (ingl k. <em>kinematic chain<\/em>). \u00dcks kinemaatilise ahela vormidest on <strong>jadamanipulaator<\/strong> (ingl k. <em>serial manipulator<\/em>): l\u00fclid, mis on omavahel \u00fchendatud p\u00f6\u00f6rdliigenditega. N\u00e4ideteks on robotk\u00e4ed, t\u00f6\u00f6stusrobotid ja koost\u00f6\u00f6robotid.\r\n\r\n\r\n<p>\r\n\tSelle l\u00fcliahela algus on tavaliselt kuhugi fikseeritud. Ahela l\u00f5pp on roboti m\u00f5jur (ingl k. <em>end effector<\/em>). See peab tihti asjadest kinni v\u00f5tma nagu haarats.\r\n<\/p>\r\n\r\n<p>\r\n\t\u00dcks p\u00f6\u00f6rdliigend annab \u00fche vabadusastme, seega kuue strateegiliselt paigutatud p\u00f6\u00f6rdliigendi abil saavutame k\u00f5igi kuue vabadusastmega roboti.\r\n<\/p>\r\n\r\n<p>\r\n\t<img loading=\"lazy\" decoding=\"async\" width=\"2560\" height=\"1707\" class=\"alignnone wp-image-168\" style=\"width: 800px;height: 533px\" src=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/franka_emika_from_wikimedia_fca5a3a5627c5e8581ca3a6070f37501-scaled.jpg\" title=\"franka_emika_from_wikimedia_fca5a3a5627c5e8581ca3a6070f37501.jpg\" alt=\".\" srcset=\"https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/franka_emika_from_wikimedia_fca5a3a5627c5e8581ca3a6070f37501-scaled.jpg 2560w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/franka_emika_from_wikimedia_fca5a3a5627c5e8581ca3a6070f37501-300x200.jpg 300w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/franka_emika_from_wikimedia_fca5a3a5627c5e8581ca3a6070f37501-1024x683.jpg 1024w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/franka_emika_from_wikimedia_fca5a3a5627c5e8581ca3a6070f37501-768x512.jpg 768w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/franka_emika_from_wikimedia_fca5a3a5627c5e8581ca3a6070f37501-1536x1024.jpg 1536w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/franka_emika_from_wikimedia_fca5a3a5627c5e8581ca3a6070f37501-2048x1365.jpg 2048w, https:\/\/sisu.ut.ee\/wp-content\/uploads\/sites\/560\/franka_emika_from_wikimedia_fca5a3a5627c5e8581ca3a6070f37501-1920x1280.jpg 1920w\" sizes=\"auto, (max-width: 2560px) 100vw, 2560px\"><br><\/p><\/div>\n        <\/div>\n        <\/div>\n    <\/div>\r\n\r\n","protected":false},"excerpt":{"rendered":"<p>J\u00e4rgnevalt \u00f5pime, kuidas paljusid roboteid lihtsasti kirjeldada ja mis on kinemaatiline ahel. \u00d5ppematerjali vaatamiseks klikka vahepealkirjadele. 1. Robotite lihtsustamine Maailmas leidub v\u00e4ga palju erinevaid roboteid. Paljusid neist on v\u00f5imalik kirjeldada \u00fcsna lihtsalt ja primitiivselt. Robot koosneb portsust l\u00fclidest (ingl link), &#8230;<\/p>\n","protected":false},"author":98,"featured_media":0,"parent":0,"menu_order":0,"comment_status":"closed","ping_status":"closed","template":"","meta":{"_acf_changed":false,"inline_featured_image":false,"footnotes":""},"class_list":["post-78","page","type-page","status-publish","hentry"],"acf":[],"_links":{"self":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/78","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages"}],"about":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/types\/page"}],"author":[{"embeddable":true,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/users\/98"}],"replies":[{"embeddable":true,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/comments?post=78"}],"version-history":[{"count":9,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/78\/revisions"}],"predecessor-version":[{"id":439,"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/pages\/78\/revisions\/439"}],"wp:attachment":[{"href":"https:\/\/sisu.ut.ee\/rosak\/wp-json\/wp\/v2\/media?parent=78"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}