id	sid	tid	token	lemma	pos
ajst-14002	1	1	academic	academic	ADJ
ajst-14002	1	2	journal	journal	NOUN
ajst-14002	1	3	of	of	ADP
ajst-14002	1	4	science	science	NOUN
ajst-14002	1	5	and	and	CCONJ
ajst-14002	1	6	technology	technology	NOUN
ajst-14002	1	7	issn	issn	NOUN
ajst-14002	1	8	:	:	PUNCT
ajst-14002	1	9	2771	2771	NUM
ajst-14002	1	10	-	-	SYM
ajst-14002	1	11	3032	3032	NUM
ajst-14002	1	12	|	|	NOUN
ajst-14002	1	13	vol	vol	NOUN
ajst-14002	1	14	.	.	PROPN
ajst-14002	1	15	8	8	NUM
ajst-14002	1	16	,	,	PUNCT
ajst-14002	1	17	no	no	INTJ
ajst-14002	1	18	.	.	NOUN
ajst-14002	1	19	1	1	NUM
ajst-14002	1	20	,	,	PUNCT
ajst-14002	1	21	2023	2023	NUM
ajst-14002	1	22	91	91	NUM
ajst-14002	1	23	kinematic	kinematic	ADJ
ajst-14002	1	24	analysis	analysis	NOUN
ajst-14002	1	25	of	of	ADP
ajst-14002	1	26	manipulator	manipulator	NOUN
ajst-14002	1	27	for	for	ADP
ajst-14002	1	28	insulating	insulate	VERB
ajst-14002	1	29	glass	glass	NOUN
ajst-14002	1	30	production	production	NOUN
ajst-14002	1	31	line	line	NOUN
ajst-14002	1	32	liang	liang	PROPN
ajst-14002	1	33	zhang1	zhang1	PROPN
ajst-14002	1	34	,	,	PUNCT
ajst-14002	1	35	2	2	NUM
ajst-14002	1	36	,	,	PUNCT
ajst-14002	1	37	3	3	NUM
ajst-14002	1	38	,	,	PUNCT
ajst-14002	1	39	shuzhen	shuzhen	ADJ
ajst-14002	1	40	li1	li1	NOUN
ajst-14002	1	41	,	,	PUNCT
ajst-14002	1	42	2	2	NUM
ajst-14002	1	43	,	,	PUNCT
ajst-14002	1	44	3	3	NUM
ajst-14002	1	45	,	,	PUNCT
ajst-14002	1	46	lei	lei	PROPN
ajst-14002	1	47	shi1	shi1	PROPN
ajst-14002	1	48	,	,	PUNCT
ajst-14002	1	49	2	2	NUM
ajst-14002	1	50	,	,	PUNCT
ajst-14002	1	51	3	3	NUM
ajst-14002	1	52	,	,	PUNCT
ajst-14002	1	53	zhiyu	zhiyu	PROPN
ajst-14002	1	54	liu1	liu1	PROPN
ajst-14002	1	55	,	,	PUNCT
ajst-14002	1	56	jingjing	jingjing	PROPN
ajst-14002	1	57	yu1	yu1	PROPN
ajst-14002	2	1	1college	1college	NUM
ajst-14002	2	2	of	of	ADP
ajst-14002	2	3	mechanical	mechanical	ADJ
ajst-14002	2	4	and	and	CCONJ
ajst-14002	2	5	electronic	electronic	ADJ
ajst-14002	2	6	engineering	engineering	NOUN
ajst-14002	2	7	,	,	PUNCT
ajst-14002	2	8	hebei	hebei	PROPN
ajst-14002	2	9	normal	normal	ADJ
ajst-14002	2	10	university	university	PROPN
ajst-14002	2	11	of	of	ADP
ajst-14002	2	12	science	science	PROPN
ajst-14002	2	13	&	&	CCONJ
ajst-14002	2	14	technology	technology	PROPN
ajst-14002	2	15	,	,	PUNCT
ajst-14002	2	16	qinhuangdao	qinhuangdao	PROPN
ajst-14002	2	17	066004	066004	NUM
ajst-14002	2	18	,	,	PUNCT
ajst-14002	2	19	china	china	PROPN
ajst-14002	2	20	2hebei	2hebei	NUM
ajst-14002	2	21	technology	technology	NOUN
ajst-14002	2	22	innovation	innovation	NOUN
ajst-14002	2	23	center	center	NOUN
ajst-14002	2	24	of	of	ADP
ajst-14002	2	25	photovoltaic	photovoltaic	NOUN
ajst-14002	2	26	module	module	NOUN
ajst-14002	2	27	manufacturing	manufacturing	NOUN
ajst-14002	2	28	equipment	equipment	NOUN
ajst-14002	2	29	,	,	PUNCT
ajst-14002	2	30	qinhuangdao	qinhuangdao	PROPN
ajst-14002	2	31	066004	066004	NUM
ajst-14002	2	32	,	,	PUNCT
ajst-14002	2	33	china	china	PROPN
ajst-14002	2	34	3hebei	3hebei	NUM
ajst-14002	2	35	engineering	engineering	NOUN
ajst-14002	2	36	research	research	NOUN
ajst-14002	2	37	center	center	NOUN
ajst-14002	2	38	of	of	ADP
ajst-14002	2	39	pv	pv	NOUN
ajst-14002	2	40	module	module	NOUN
ajst-14002	2	41	encapsulating	encapsulate	VERB
ajst-14002	2	42	and	and	CCONJ
ajst-14002	2	43	measuring	measure	VERB
ajst-14002	2	44	equipment	equipment	NOUN
ajst-14002	2	45	,	,	PUNCT
ajst-14002	2	46	qinhuangdao	qinhuangdao	PROPN
ajst-14002	2	47	066004	066004	NUM
ajst-14002	2	48	,	,	PUNCT
ajst-14002	2	49	china	china	PROPN
ajst-14002	2	50	abstract	abstract	NOUN
ajst-14002	2	51	:	:	PUNCT
ajst-14002	2	52	aiming	aim	VERB
ajst-14002	2	53	at	at	ADP
ajst-14002	2	54	the	the	DET
ajst-14002	2	55	current	current	ADJ
ajst-14002	2	56	situation	situation	NOUN
ajst-14002	2	57	of	of	ADP
ajst-14002	2	58	loading	loading	NOUN
ajst-14002	2	59	and	and	CCONJ
ajst-14002	2	60	unloading	unload	VERB
ajst-14002	2	61	operation	operation	NOUN
ajst-14002	2	62	of	of	ADP
ajst-14002	2	63	insulating	insulate	VERB
ajst-14002	2	64	glass	glass	NOUN
ajst-14002	2	65	production	production	NOUN
ajst-14002	2	66	line	line	NOUN
ajst-14002	2	67	,	,	PUNCT
ajst-14002	2	68	and	and	CCONJ
ajst-14002	2	69	according	accord	VERB
ajst-14002	2	70	to	to	ADP
ajst-14002	2	71	the	the	DET
ajst-14002	2	72	workstation	workstation	NOUN
ajst-14002	2	73	and	and	CCONJ
ajst-14002	2	74	process	process	NOUN
ajst-14002	2	75	requirements	requirement	NOUN
ajst-14002	2	76	of	of	ADP
ajst-14002	2	77	the	the	DET
ajst-14002	2	78	manipulator	manipulator	NOUN
ajst-14002	2	79	in	in	ADP
ajst-14002	2	80	the	the	DET
ajst-14002	2	81	insulating	insulate	VERB
ajst-14002	2	82	glass	glass	NOUN
ajst-14002	2	83	production	production	NOUN
ajst-14002	2	84	line	line	NOUN
ajst-14002	2	85	,	,	PUNCT
ajst-14002	2	86	a	a	DET
ajst-14002	2	87	manipulator	manipulator	NOUN
ajst-14002	2	88	suitable	suitable	ADJ
ajst-14002	2	89	for	for	ADP
ajst-14002	2	90	vertical	vertical	ADJ
ajst-14002	2	91	insulating	insulate	VERB
ajst-14002	2	92	glass	glass	NOUN
ajst-14002	2	93	production	production	NOUN
ajst-14002	2	94	line	line	NOUN
ajst-14002	2	95	is	be	AUX
ajst-14002	2	96	designed	design	VERB
ajst-14002	2	97	.	.	PUNCT
ajst-14002	3	1	the	the	DET
ajst-14002	3	2	manipulator	manipulator	NOUN
ajst-14002	3	3	body	body	NOUN
ajst-14002	3	4	adopts	adopt	VERB
ajst-14002	3	5	a	a	DET
ajst-14002	3	6	series	series	NOUN
ajst-14002	3	7	structure	structure	NOUN
ajst-14002	3	8	with	with	ADP
ajst-14002	3	9	two	two	NUM
ajst-14002	3	10	moving	move	VERB
ajst-14002	3	11	pairs	pair	NOUN
ajst-14002	3	12	and	and	CCONJ
ajst-14002	3	13	one	one	NUM
ajst-14002	3	14	rotating	rotate	VERB
ajst-14002	3	15	pair	pair	NOUN
ajst-14002	3	16	.	.	PUNCT
ajst-14002	4	1	the	the	DET
ajst-14002	4	2	kinematics	kinematic	NOUN
ajst-14002	4	3	of	of	ADP
ajst-14002	4	4	manipulator	manipulator	NOUN
ajst-14002	4	5	is	be	AUX
ajst-14002	4	6	analyzed	analyze	VERB
ajst-14002	4	7	by	by	ADP
ajst-14002	4	8	d	d	PROPN
ajst-14002	4	9	-	-	ADJ
ajst-14002	4	10	h	h	NOUN
ajst-14002	4	11	method	method	NOUN
ajst-14002	4	12	.	.	PUNCT
ajst-14002	5	1	the	the	DET
ajst-14002	5	2	manipulator	manipulator	NOUN
ajst-14002	5	3	can	can	AUX
ajst-14002	5	4	meet	meet	VERB
ajst-14002	5	5	the	the	DET
ajst-14002	5	6	production	production	NOUN
ajst-14002	5	7	requirements	requirement	NOUN
ajst-14002	5	8	of	of	ADP
ajst-14002	5	9	insulating	insulate	VERB
ajst-14002	5	10	glass	glass	NOUN
ajst-14002	5	11	.	.	PUNCT
ajst-14002	6	1	keywords	keyword	NOUN
ajst-14002	6	2	:	:	PUNCT
ajst-14002	6	3	insulating	insulate	VERB
ajst-14002	6	4	glass	glass	NOUN
ajst-14002	6	5	,	,	PUNCT
ajst-14002	6	6	manipulator	manipulator	NOUN
ajst-14002	6	7	,	,	PUNCT
ajst-14002	6	8	kinematic	kinematic	ADJ
ajst-14002	6	9	.	.	PUNCT
ajst-14002	7	1	1	1	X
ajst-14002	7	2	.	.	X
ajst-14002	7	3	introduction	introduction	NOUN
ajst-14002	7	4	various	various	ADJ
ajst-14002	7	5	robots	robot	NOUN
ajst-14002	7	6	have	have	AUX
ajst-14002	7	7	been	be	AUX
ajst-14002	7	8	widely	widely	ADV
ajst-14002	7	9	used	use	VERB
ajst-14002	7	10	in	in	ADP
ajst-14002	7	11	the	the	DET
ajst-14002	7	12	manufacturing	manufacturing	NOUN
ajst-14002	7	13	industry	industry	NOUN
ajst-14002	7	14	,	,	PUNCT
ajst-14002	7	15	but	but	CCONJ
ajst-14002	7	16	some	some	DET
ajst-14002	7	17	insulating	insulate	VERB
ajst-14002	7	18	glass	glass	NOUN
ajst-14002	7	19	production	production	NOUN
ajst-14002	7	20	lines	line	NOUN
ajst-14002	7	21	are	be	AUX
ajst-14002	7	22	still	still	ADV
ajst-14002	7	23	manually	manually	ADV
ajst-14002	7	24	loading	loading	NOUN
ajst-14002	7	25	and	and	CCONJ
ajst-14002	7	26	unloading	unloading	NOUN
ajst-14002	7	27	,	,	PUNCT
ajst-14002	7	28	resulting	result	VERB
ajst-14002	7	29	in	in	ADP
ajst-14002	7	30	low	low	ADJ
ajst-14002	7	31	production	production	NOUN
ajst-14002	7	32	efficiency	efficiency	NOUN
ajst-14002	7	33	.	.	PUNCT
ajst-14002	8	1	according	accord	VERB
ajst-14002	8	2	to	to	ADP
ajst-14002	8	3	the	the	DET
ajst-14002	8	4	workstation	workstation	NOUN
ajst-14002	8	5	and	and	CCONJ
ajst-14002	8	6	process	process	NOUN
ajst-14002	8	7	requirements	requirement	NOUN
ajst-14002	8	8	of	of	ADP
ajst-14002	8	9	the	the	DET
ajst-14002	8	10	manipulator	manipulator	NOUN
ajst-14002	8	11	in	in	ADP
ajst-14002	8	12	the	the	DET
ajst-14002	8	13	insulating	insulate	VERB
ajst-14002	8	14	glass	glass	NOUN
ajst-14002	8	15	production	production	NOUN
ajst-14002	8	16	line	line	NOUN
ajst-14002	8	17	,	,	PUNCT
ajst-14002	8	18	a	a	DET
ajst-14002	8	19	manipulator	manipulator	NOUN
ajst-14002	8	20	suitable	suitable	ADJ
ajst-14002	8	21	for	for	ADP
ajst-14002	8	22	vertical	vertical	ADJ
ajst-14002	8	23	insulating	insulate	VERB
ajst-14002	8	24	glass	glass	NOUN
ajst-14002	8	25	production	production	NOUN
ajst-14002	8	26	lines	line	NOUN
ajst-14002	8	27	is	be	AUX
ajst-14002	8	28	designed	design	VERB
ajst-14002	8	29	to	to	PART
ajst-14002	8	30	improve	improve	VERB
ajst-14002	8	31	the	the	DET
ajst-14002	8	32	production	production	NOUN
ajst-14002	8	33	quality	quality	NOUN
ajst-14002	8	34	and	and	CCONJ
ajst-14002	8	35	productivity	productivity	NOUN
ajst-14002	8	36	of	of	ADP
ajst-14002	8	37	insulating	insulate	VERB
ajst-14002	8	38	glass	glass	NOUN
ajst-14002	8	39	.	.	PUNCT
ajst-14002	9	1	the	the	DET
ajst-14002	9	2	manipulator	manipulator	NOUN
ajst-14002	9	3	body	body	NOUN
ajst-14002	9	4	adopts	adopt	VERB
ajst-14002	9	5	a	a	DET
ajst-14002	9	6	series	series	NOUN
ajst-14002	9	7	structure	structure	NOUN
ajst-14002	9	8	,	,	PUNCT
ajst-14002	9	9	with	with	ADP
ajst-14002	9	10	two	two	NUM
ajst-14002	9	11	moving	move	VERB
ajst-14002	9	12	pairs	pair	NOUN
ajst-14002	9	13	and	and	CCONJ
ajst-14002	9	14	one	one	NUM
ajst-14002	9	15	rotating	rotate	VERB
ajst-14002	9	16	pair	pair	NOUN
ajst-14002	9	17	,	,	PUNCT
ajst-14002	9	18	which	which	PRON
ajst-14002	9	19	can	can	AUX
ajst-14002	9	20	reach	reach	VERB
ajst-14002	9	21	the	the	DET
ajst-14002	9	22	designated	designate	VERB
ajst-14002	9	23	position	position	NOUN
ajst-14002	9	24	to	to	PART
ajst-14002	9	25	suck	suck	VERB
ajst-14002	9	26	and	and	CCONJ
ajst-14002	9	27	release	release	VERB
ajst-14002	9	28	glass	glass	NOUN
ajst-14002	9	29	according	accord	VERB
ajst-14002	9	30	to	to	ADP
ajst-14002	9	31	instructions	instruction	NOUN
ajst-14002	9	32	.	.	PUNCT
ajst-14002	10	1	2	2	X
ajst-14002	10	2	.	.	X
ajst-14002	10	3	manipulator	manipulator	NOUN
ajst-14002	10	4	structure	structure	NOUN
ajst-14002	10	5	of	of	ADP
ajst-14002	10	6	insulating	insulate	VERB
ajst-14002	10	7	glass	glass	NOUN
ajst-14002	10	8	production	production	NOUN
ajst-14002	10	9	line	line	NOUN
ajst-14002	10	10	2.1	2.1	NUM
ajst-14002	10	11	.	.	PUNCT
ajst-14002	11	1	production	production	NOUN
ajst-14002	11	2	process	process	NOUN
ajst-14002	11	3	of	of	ADP
ajst-14002	11	4	insulating	insulate	VERB
ajst-14002	11	5	glass	glass	NOUN
ajst-14002	11	6	the	the	DET
ajst-14002	11	7	vertical	vertical	ADJ
ajst-14002	11	8	insulated	insulated	ADJ
ajst-14002	11	9	glass	glass	NOUN
ajst-14002	11	10	automated	automate	VERB
ajst-14002	11	11	production	production	NOUN
ajst-14002	11	12	line	line	NOUN
ajst-14002	11	13	equipped	equip	VERB
ajst-14002	11	14	with	with	ADP
ajst-14002	11	15	manipulators	manipulator	NOUN
ajst-14002	11	16	is	be	AUX
ajst-14002	11	17	shown	show	VERB
ajst-14002	11	18	in	in	ADP
ajst-14002	11	19	figure	figure	NOUN
ajst-14002	11	20	1	1	NUM
ajst-14002	11	21	.	.	PUNCT
ajst-14002	12	1	the	the	DET
ajst-14002	12	2	dashed	dash	VERB
ajst-14002	12	3	box	box	NOUN
ajst-14002	12	4	represents	represent	VERB
ajst-14002	12	5	the	the	DET
ajst-14002	12	6	current	current	ADJ
ajst-14002	12	7	insulated	insulated	ADJ
ajst-14002	12	8	glass	glass	NOUN
ajst-14002	12	9	production	production	NOUN
ajst-14002	12	10	process	process	NOUN
ajst-14002	12	11	.	.	PUNCT
ajst-14002	13	1	the	the	DET
ajst-14002	13	2	raw	raw	ADJ
ajst-14002	13	3	materials	material	NOUN
ajst-14002	13	4	are	be	AUX
ajst-14002	13	5	manually	manually	ADV
ajst-14002	13	6	placed	place	VERB
ajst-14002	13	7	on	on	ADP
ajst-14002	13	8	a	a	DET
ajst-14002	13	9	conveyor	conveyor	NOUN
ajst-14002	13	10	,	,	PUNCT
ajst-14002	13	11	and	and	CCONJ
ajst-14002	13	12	the	the	DET
ajst-14002	13	13	insulated	insulated	ADJ
ajst-14002	13	14	glass	glass	NOUN
ajst-14002	13	15	is	be	AUX
ajst-14002	13	16	manufactured	manufacture	VERB
ajst-14002	13	17	through	through	ADP
ajst-14002	13	18	three	three	NUM
ajst-14002	13	19	processes	process	NOUN
ajst-14002	13	20	:	:	PUNCT
ajst-14002	13	21	cleaning	cleaning	NOUN
ajst-14002	13	22	,	,	PUNCT
ajst-14002	13	23	gluing	gluing	NOUN
ajst-14002	13	24	,	,	PUNCT
ajst-14002	13	25	and	and	CCONJ
ajst-14002	13	26	pressing	press	VERB
ajst-14002	13	27	.	.	PUNCT
ajst-14002	14	1	finally	finally	ADV
ajst-14002	14	2	,	,	PUNCT
ajst-14002	14	3	the	the	DET
ajst-14002	14	4	finished	finished	ADJ
ajst-14002	14	5	product	product	NOUN
ajst-14002	14	6	is	be	AUX
ajst-14002	14	7	manually	manually	ADV
ajst-14002	14	8	removed	remove	VERB
ajst-14002	14	9	and	and	CCONJ
ajst-14002	14	10	placed	place	VERB
ajst-14002	14	11	in	in	ADP
ajst-14002	14	12	a	a	DET
ajst-14002	14	13	designated	designate	VERB
ajst-14002	14	14	location	location	NOUN
ajst-14002	14	15	.	.	PUNCT
ajst-14002	15	1	figure	figure	NOUN
ajst-14002	15	2	1	1	NUM
ajst-14002	15	3	.	.	PUNCT
ajst-14002	16	1	production	production	NOUN
ajst-14002	16	2	process	process	NOUN
ajst-14002	16	3	of	of	ADP
ajst-14002	16	4	insulating	insulate	VERB
ajst-14002	16	5	glass	glass	NOUN
ajst-14002	16	6	2.2	2.2	NUM
ajst-14002	16	7	.	.	PUNCT
ajst-14002	17	1	manipulator	manipulator	NOUN
ajst-14002	17	2	structure	structure	NOUN
ajst-14002	17	3	the	the	DET
ajst-14002	17	4	working	working	NOUN
ajst-14002	17	5	process	process	NOUN
ajst-14002	17	6	of	of	ADP
ajst-14002	17	7	the	the	DET
ajst-14002	17	8	manipulators	manipulator	NOUN
ajst-14002	17	9	in	in	ADP
ajst-14002	17	10	the	the	DET
ajst-14002	17	11	insulating	insulate	VERB
ajst-14002	17	12	glass	glass	NOUN
ajst-14002	17	13	production	production	NOUN
ajst-14002	17	14	line	line	NOUN
ajst-14002	17	15	is	be	AUX
ajst-14002	17	16	as	as	SCONJ
ajst-14002	17	17	follows	follow	VERB
ajst-14002	17	18	:	:	PUNCT
ajst-14002	17	19	the	the	DET
ajst-14002	17	20	loading	loading	NOUN
ajst-14002	17	21	manipulator	manipulator	NOUN
ajst-14002	17	22	extends	extend	VERB
ajst-14002	17	23	to	to	ADP
ajst-14002	17	24	the	the	DET
ajst-14002	17	25	given	give	VERB
ajst-14002	17	26	stroke	stroke	NOUN
ajst-14002	17	27	,	,	PUNCT
ajst-14002	17	28	then	then	ADV
ajst-14002	17	29	descends	descend	VERB
ajst-14002	17	30	to	to	ADP
ajst-14002	17	31	the	the	DET
ajst-14002	17	32	specified	specify	VERB
ajst-14002	17	33	position	position	NOUN
ajst-14002	17	34	to	to	PART
ajst-14002	17	35	extract	extract	VERB
ajst-14002	17	36	the	the	DET
ajst-14002	17	37	glass	glass	NOUN
ajst-14002	17	38	and	and	CCONJ
ajst-14002	17	39	return	return	VERB
ajst-14002	17	40	along	along	ADP
ajst-14002	17	41	the	the	DET
ajst-14002	17	42	original	original	ADJ
ajst-14002	17	43	path	path	NOUN
ajst-14002	17	44	,	,	PUNCT
ajst-14002	17	45	the	the	DET
ajst-14002	17	46	glass	glass	NOUN
ajst-14002	17	47	is	be	AUX
ajst-14002	17	48	placed	place	VERB
ajst-14002	17	49	on	on	ADP
ajst-14002	17	50	the	the	DET
ajst-14002	17	51	conveyor	conveyor	NOUN
ajst-14002	17	52	,	,	PUNCT
ajst-14002	17	53	which	which	PRON
ajst-14002	17	54	then	then	ADV
ajst-14002	17	55	undergoes	undergo	VERB
ajst-14002	17	56	cleaning	cleaning	NOUN
ajst-14002	17	57	,	,	PUNCT
ajst-14002	17	58	gluing	gluing	NOUN
ajst-14002	17	59	,	,	PUNCT
ajst-14002	17	60	and	and	CCONJ
ajst-14002	17	61	pressing	press	VERB
ajst-14002	17	62	processes	process	NOUN
ajst-14002	17	63	,	,	PUNCT
ajst-14002	17	64	the	the	DET
ajst-14002	17	65	glass	glass	NOUN
ajst-14002	17	66	is	be	AUX
ajst-14002	17	67	then	then	ADV
ajst-14002	17	68	transported	transport	VERB
ajst-14002	17	69	to	to	ADP
ajst-14002	17	70	the	the	DET
ajst-14002	17	71	position	position	NOUN
ajst-14002	17	72	of	of	ADP
ajst-14002	17	73	the	the	DET
ajst-14002	17	74	unloading	unloading	NOUN
ajst-14002	17	75	manipulator	manipulator	NOUN
ajst-14002	17	76	through	through	ADP
ajst-14002	17	77	the	the	DET
ajst-14002	17	78	conveyor	conveyor	NOUN
ajst-14002	17	79	,	,	PUNCT
ajst-14002	17	80	and	and	CCONJ
ajst-14002	17	81	the	the	DET
ajst-14002	17	82	unloading	unloading	NOUN
ajst-14002	17	83	manipulator	manipulator	NOUN
ajst-14002	17	84	completes	complete	VERB
ajst-14002	17	85	the	the	DET
ajst-14002	17	86	stacking	stacking	NOUN
ajst-14002	17	87	work	work	NOUN
ajst-14002	17	88	.	.	PUNCT
ajst-14002	18	1	both	both	CCONJ
ajst-14002	18	2	the	the	DET
ajst-14002	18	3	loading	loading	NOUN
ajst-14002	18	4	and	and	CCONJ
ajst-14002	18	5	unloading	unloading	NOUN
ajst-14002	18	6	processes	process	NOUN
ajst-14002	18	7	require	require	VERB
ajst-14002	18	8	3	3	NUM
ajst-14002	18	9	degrees	degree	NOUN
ajst-14002	18	10	of	of	ADP
ajst-14002	18	11	freedom	freedom	NOUN
ajst-14002	18	12	to	to	PART
ajst-14002	18	13	meet	meet	VERB
ajst-14002	18	14	the	the	DET
ajst-14002	18	15	requirements	requirement	NOUN
ajst-14002	18	16	.	.	PUNCT
ajst-14002	19	1	the	the	DET
ajst-14002	19	2	manipulator	manipulator	NOUN
ajst-14002	19	3	has	have	VERB
ajst-14002	19	4	2	2	NUM
ajst-14002	19	5	moving	move	VERB
ajst-14002	19	6	pairs	pair	NOUN
ajst-14002	19	7	and	and	CCONJ
ajst-14002	19	8	1	1	NUM
ajst-14002	19	9	rotating	rotate	VERB
ajst-14002	19	10	pair	pair	NOUN
ajst-14002	19	11	,	,	PUNCT
ajst-14002	19	12	mainly	mainly	ADV
ajst-14002	19	13	composed	compose	VERB
ajst-14002	19	14	of	of	ADP
ajst-14002	19	15	a	a	DET
ajst-14002	19	16	base	base	NOUN
ajst-14002	19	17	,	,	PUNCT
ajst-14002	19	18	rack	rack	NOUN
ajst-14002	19	19	and	and	CCONJ
ajst-14002	19	20	pinion	pinion	NOUN
ajst-14002	19	21	,	,	PUNCT
ajst-14002	19	22	electric	electric	ADJ
ajst-14002	19	23	push	push	NOUN
ajst-14002	19	24	rod	rod	NOUN
ajst-14002	19	25	,	,	PUNCT
ajst-14002	19	26	end	end	NOUN
ajst-14002	19	27	effector	effector	NOUN
ajst-14002	19	28	,	,	PUNCT
ajst-14002	19	29	etc	etc	X
ajst-14002	19	30	.	.	X
ajst-14002	20	1	the	the	DET
ajst-14002	20	2	structure	structure	NOUN
ajst-14002	20	3	is	be	AUX
ajst-14002	20	4	shown	show	VERB
ajst-14002	20	5	in	in	ADP
ajst-14002	20	6	figure	figure	NOUN
ajst-14002	20	7	2	2	NUM
ajst-14002	20	8	.	.	PUNCT
ajst-14002	20	9	according	accord	VERB
ajst-14002	20	10	to	to	ADP
ajst-14002	20	11	the	the	DET
ajst-14002	20	12	process	process	NOUN
ajst-14002	20	13	requirements	requirement	NOUN
ajst-14002	20	14	of	of	ADP
ajst-14002	20	15	the	the	DET
ajst-14002	20	16	production	production	NOUN
ajst-14002	20	17	line	line	NOUN
ajst-14002	20	18	,	,	PUNCT
ajst-14002	20	19	the	the	DET
ajst-14002	20	20	forward	forward	ADJ
ajst-14002	20	21	and	and	CCONJ
ajst-14002	20	22	backward	backward	ADJ
ajst-14002	20	23	movement	movement	NOUN
ajst-14002	20	24	range	range	NOUN
ajst-14002	20	25	of	of	ADP
ajst-14002	20	26	the	the	DET
ajst-14002	20	27	robotic	robotic	ADJ
ajst-14002	20	28	arm	arm	NOUN
ajst-14002	20	29	is	be	AUX
ajst-14002	20	30	0	0	NOUN
ajst-14002	20	31	-	-	SYM
ajst-14002	20	32	1350	1350	NUM
ajst-14002	20	33	mm	mm	NOUN
ajst-14002	20	34	,	,	PUNCT
ajst-14002	20	35	the	the	DET
ajst-14002	20	36	lifting	lift	VERB
ajst-14002	20	37	range	range	NOUN
ajst-14002	20	38	is	be	AUX
ajst-14002	20	39	0	0	NUM
ajst-14002	20	40	-	-	SYM
ajst-14002	20	41	950	950	NUM
ajst-14002	20	42	mm	mm	NOUN
ajst-14002	20	43	,	,	PUNCT
ajst-14002	20	44	the	the	DET
ajst-14002	20	45	load	load	NOUN
ajst-14002	20	46	capacity	capacity	NOUN
ajst-14002	20	47	is	be	AUX
ajst-14002	20	48	300	300	NUM
ajst-14002	20	49	kg	kg	NOUN
ajst-14002	20	50	,	,	PUNCT
ajst-14002	20	51	and	and	CCONJ
ajst-14002	20	52	the	the	DET
ajst-14002	20	53	flipping	flip	VERB
ajst-14002	20	54	angle	angle	NOUN
ajst-14002	20	55	range	range	NOUN
ajst-14002	20	56	of	of	ADP
ajst-14002	20	57	the	the	DET
ajst-14002	20	58	robotic	robotic	ADJ
ajst-14002	20	59	arm	arm	NOUN
ajst-14002	20	60	end	end	VERB
ajst-14002	20	61	effector	effector	NOUN
ajst-14002	20	62	is	be	AUX
ajst-14002	20	63	0	0	NUM
ajst-14002	20	64	0	0	NUM
ajst-14002	20	65	-	-	SYM
ajst-14002	20	66	30	30	NUM
ajst-14002	20	67	60∼	60∼	NUM
ajst-14002	20	68	.	.	PUNCT
ajst-14002	21	1	3	3	X
ajst-14002	21	2	.	.	X
ajst-14002	21	3	kinematic	kinematic	ADJ
ajst-14002	21	4	analysis	analysis	NOUN
ajst-14002	21	5	of	of	ADP
ajst-14002	21	6	manipulator	manipulator	NOUN
ajst-14002	21	7	3.1	3.1	NUM
ajst-14002	21	8	.	.	PUNCT
ajst-14002	22	1	kinematic	kinematic	ADJ
ajst-14002	22	2	model	model	NOUN
ajst-14002	22	3	of	of	ADP
ajst-14002	22	4	manipulator	manipulator	NOUN
ajst-14002	22	5	the	the	DET
ajst-14002	22	6	d	d	ADJ
ajst-14002	22	7	-	-	ADJ
ajst-14002	22	8	h	h	ADJ
ajst-14002	22	9	method	method	NOUN
ajst-14002	22	10	is	be	AUX
ajst-14002	22	11	used	use	VERB
ajst-14002	22	12	to	to	PART
ajst-14002	22	13	establish	establish	VERB
ajst-14002	22	14	the	the	DET
ajst-14002	22	15	coordinate	coordinate	NOUN
ajst-14002	22	16	system	system	NOUN
ajst-14002	22	17	of	of	ADP
ajst-14002	22	18	the	the	DET
ajst-14002	22	19	manipulator[1	manipulator[1	NOUN
ajst-14002	22	20	]	]	PUNCT
ajst-14002	22	21	,	,	PUNCT
ajst-14002	22	22	as	as	SCONJ
ajst-14002	22	23	shown	show	VERB
ajst-14002	22	24	in	in	ADP
ajst-14002	22	25	figure	figure	NOUN
ajst-14002	22	26	3	3	NUM
ajst-14002	22	27	.	.	PUNCT
ajst-14002	23	1	the	the	DET
ajst-14002	23	2	d	d	PROPN
ajst-14002	23	3	-	-	ADJ
ajst-14002	23	4	h	h	ADJ
ajst-14002	23	5	parameters	parameter	NOUN
ajst-14002	23	6	of	of	ADP
ajst-14002	23	7	the	the	DET
ajst-14002	23	8	manipulator	manipulator	NOUN
ajst-14002	23	9	are	be	AUX
ajst-14002	23	10	shown	show	VERB
ajst-14002	23	11	in	in	ADP
ajst-14002	23	12	table	table	NOUN
ajst-14002	23	13	1	1	NUM
ajst-14002	23	14	.	.	X
ajst-14002	23	15	92	92	NUM
ajst-14002	23	16	(	(	PUNCT
ajst-14002	23	17	a	a	NOUN
ajst-14002	23	18	)	)	PUNCT
ajst-14002	23	19	view	view	NOUN
ajst-14002	23	20	1	1	NUM
ajst-14002	23	21	(	(	PUNCT
ajst-14002	23	22	b	b	NOUN
ajst-14002	23	23	)	)	PUNCT
ajst-14002	23	24	view	view	NOUN
ajst-14002	23	25	2	2	NUM
ajst-14002	23	26	1	1	NUM
ajst-14002	23	27	.	.	PUNCT
ajst-14002	23	28	base	base	NOUN
ajst-14002	23	29	2	2	NUM
ajst-14002	23	30	,	,	PUNCT
ajst-14002	23	31	11	11	NUM
ajst-14002	23	32	servo	servo	NOUN
ajst-14002	23	33	motors	motor	NOUN
ajst-14002	23	34	3	3	NUM
ajst-14002	23	35	.	.	PUNCT
ajst-14002	24	1	servo	servo	NOUN
ajst-14002	24	2	motor	motor	NOUN
ajst-14002	24	3	output	output	NOUN
ajst-14002	24	4	gear	gear	NOUN
ajst-14002	24	5	4	4	NUM
ajst-14002	24	6	.	.	PUNCT
ajst-14002	24	7	rack	rack	VERB
ajst-14002	24	8	5	5	NUM
ajst-14002	24	9	.	.	PUNCT
ajst-14002	24	10	section	section	NOUN
ajst-14002	24	11	bar	bar	NOUN
ajst-14002	24	12	6	6	NUM
ajst-14002	24	13	.	.	PUNCT
ajst-14002	25	1	slider	slider	NOUN
ajst-14002	25	2	7	7	NUM
ajst-14002	25	3	.	.	PUNCT
ajst-14002	26	1	guide	guide	VERB
ajst-14002	26	2	rail	rail	NOUN
ajst-14002	26	3	8	8	NUM
ajst-14002	26	4	.	.	PUNCT
ajst-14002	27	1	electric	electric	ADJ
ajst-14002	27	2	pushing	push	VERB
ajst-14002	27	3	rod	rod	NOUN
ajst-14002	27	4	9	9	NUM
ajst-14002	27	5	.	.	PUNCT
ajst-14002	27	6	brake	brake	NOUN
ajst-14002	27	7	motor	motor	PROPN
ajst-14002	27	8	10	10	NUM
ajst-14002	27	9	.	.	PUNCT
ajst-14002	28	1	sprocket	sprocket	NOUN
ajst-14002	28	2	11	11	NUM
ajst-14002	28	3	.	.	PUNCT
ajst-14002	29	1	chain	chain	NOUN
ajst-14002	29	2	12	12	NUM
ajst-14002	29	3	.	.	PUNCT
ajst-14002	30	1	vacuum	vacuum	NOUN
ajst-14002	30	2	suckers	sucker	NOUN
ajst-14002	30	3	13	13	NUM
ajst-14002	30	4	.	.	PUNCT
ajst-14002	31	1	conveyor	conveyor	PROPN
ajst-14002	31	2	14	14	NUM
ajst-14002	31	3	.	.	PUNCT
ajst-14002	32	1	contact	contact	NOUN
ajst-14002	32	2	roller	roller	NOUN
ajst-14002	32	3	figure	figure	NOUN
ajst-14002	32	4	2	2	NUM
ajst-14002	32	5	.	.	PUNCT
ajst-14002	32	6	manipulator	manipulator	NOUN
ajst-14002	32	7	structure	structure	NOUN
ajst-14002	32	8	figure	figure	NOUN
ajst-14002	32	9	3	3	NUM
ajst-14002	32	10	.	.	PUNCT
ajst-14002	32	11	manipulator	manipulator	NOUN
ajst-14002	32	12	structure	structure	NOUN
ajst-14002	32	13	diagram	diagram	NOUN
ajst-14002	32	14	table	table	NOUN
ajst-14002	32	15	1	1	NUM
ajst-14002	32	16	.	.	PUNCT
ajst-14002	33	1	manipulator	manipulator	NOUN
ajst-14002	33	2	d	d	PROPN
ajst-14002	33	3	-	-	PUNCT
ajst-14002	33	4	h	h	ADJ
ajst-14002	33	5	parameters	parameter	NOUN
ajst-14002	33	6	joint	joint	PROPN
ajst-14002	33	7	𝐿	𝐿	PROPN
ajst-14002	33	8	/𝑚𝑚	/𝑚𝑚	NOUN
ajst-14002	33	9	𝛼	𝛼	NOUN
ajst-14002	33	10	/	/	SYM
ajst-14002	33	11	°	°	PROPN
ajst-14002	33	12	𝑑	𝑑	VERB
ajst-14002	33	13	𝑚𝑚	𝑚𝑚	ADP
ajst-14002	33	14	𝜃	𝜃	NOUN
ajst-14002	33	15	°	°	ADJ
ajst-14002	33	16	variable	variable	ADJ
ajst-14002	33	17	range	range	NOUN
ajst-14002	33	18	1	1	NUM
ajst-14002	33	19	𝐿	𝐿	PROPN
ajst-14002	33	20	0	0	NUM
ajst-14002	33	21	𝑑	𝑑	NOUN
ajst-14002	33	22	0	0	NUM
ajst-14002	33	23	400	400	NUM
ajst-14002	33	24	-	-	SYM
ajst-14002	33	25	600	600	NUM
ajst-14002	33	26	mm	mm	NUM
ajst-14002	33	27	2	2	NUM
ajst-14002	33	28	𝐿	𝐿	NOUN
ajst-14002	33	29	0	0	NUM
ajst-14002	33	30	𝑑	𝑑	NOUN
ajst-14002	33	31	0	0	NUM
ajst-14002	33	32	700	700	NUM
ajst-14002	33	33	-	-	SYM
ajst-14002	33	34	900	900	NUM
ajst-14002	33	35	mm	mm	NUM
ajst-14002	33	36	3	3	NUM
ajst-14002	33	37	0	0	NUM
ajst-14002	33	38	0	0	NUM
ajst-14002	33	39	0	0	NUM
ajst-14002	33	40	𝜃	𝜃	NUM
ajst-14002	33	41	900	900	NUM
ajst-14002	33	42	-	-	SYM
ajst-14002	33	43	3600	3600	NUM
ajst-14002	33	44	the	the	DET
ajst-14002	33	45	general	general	ADJ
ajst-14002	33	46	formula	formula	NOUN
ajst-14002	33	47	[	[	X
ajst-14002	33	48	2	2	NUM
ajst-14002	33	49	-	-	SYM
ajst-14002	33	50	3	3	NUM
ajst-14002	33	51	]	]	PUNCT
ajst-14002	33	52	for	for	ADP
ajst-14002	33	53	connecting	connect	VERB
ajst-14002	33	54	rod	rod	NOUN
ajst-14002	33	55	transformation	transformation	NOUN
ajst-14002	33	56	is	be	AUX
ajst-14002	33	57	1	1	NUM
ajst-14002	33	58	1	1	NUM
ajst-14002	33	59	1	1	NUM
ajst-14002	33	60	1	1	NUM
ajst-14002	33	61	11	11	NUM
ajst-14002	33	62	1	1	NUM
ajst-14002	33	63	1	1	NUM
ajst-14002	33	64	1	1	NUM
ajst-14002	33	65	1	1	NUM
ajst-14002	33	66	0	0	NUM
ajst-14002	33	67	0	0	NUM
ajst-14002	33	68	0	0	NUM
ajst-14002	33	69	0	0	NUM
ajst-14002	33	70	1	1	NUM
ajst-14002	34	1	i	i	PRON
ajst-14002	35	1	i	i	PRON
ajst-14002	36	1	i	i	PRON
ajst-14002	37	1	i	i	PRON
ajst-14002	38	1	i	i	PRON
ajst-14002	39	1	i	i	PRON
ajst-14002	40	1	i	i	PRON
ajst-14002	41	1	i	i	PRON
ajst-14002	42	1	i	i	PRON
ajst-14002	42	2	ii	ii	VERB
ajst-14002	43	1	i	i	PRON
ajst-14002	43	2	i	i	PRON
ajst-14002	44	1	i	i	PRON
ajst-14002	44	2	i	i	PRON
ajst-14002	45	1	i	i	PRON
ajst-14002	45	2	i	i	PRON
ajst-14002	46	1	i	i	PRON
ajst-14002	46	2	i	i	VERB
ajst-14002	47	1	c	c	NOUN
ajst-14002	47	2	s	s	AUX
ajst-14002	47	3	l	l	NOUN
ajst-14002	47	4	s	s	X
ajst-14002	47	5	c	c	NOUN
ajst-14002	47	6	c	c	NOUN
ajst-14002	47	7	c	c	NOUN
ajst-14002	47	8	s	s	PROPN
ajst-14002	47	9	d	d	PROPN
ajst-14002	47	10	s	s	PROPN
ajst-14002	47	11	t	t	NOUN
ajst-14002	47	12	s	s	NOUN
ajst-14002	47	13	s	s	NOUN
ajst-14002	47	14	c	c	NOUN
ajst-14002	47	15	s	s	NOUN
ajst-14002	47	16	c	c	NOUN
ajst-14002	47	17	d	d	X
ajst-14002	47	18	c	c	NOUN
ajst-14002	47	19			PROPN
ajst-14002	47	20			PROPN
ajst-14002	47	21			PROPN
ajst-14002	47	22			X
ajst-14002	47	23			X
ajst-14002	47	24			X
ajst-14002	47	25			X
ajst-14002	47	26			X
ajst-14002	47	27			X
ajst-14002	47	28			X
ajst-14002	47	29			X
ajst-14002	47	30			X
ajst-14002	47	31			X
ajst-14002	47	32			PRON
ajst-14002	47	33			VERB
ajst-14002	47	34			PROPN
ajst-14002	47	35			PROPN
ajst-14002	47	36			NOUN
ajst-14002	47	37			PUNCT
ajst-14002	47	38			PROPN
ajst-14002	47	39			PROPN
ajst-14002	47	40			PROPN
ajst-14002	47	41			NOUN
ajst-14002	47	42			NOUN
ajst-14002	47	43			NOUN
ajst-14002	47	44			NOUN
ajst-14002	47	45			NOUN
ajst-14002	47	46			PROPN
ajst-14002	47	47			PROPN
ajst-14002	47	48			NOUN
ajst-14002	47	49			NOUN
ajst-14002	47	50			NOUN
ajst-14002	48	1			NOUN
ajst-14002	48	2			NOUN
ajst-14002	48	3			PROPN
ajst-14002	48	4	(	(	PUNCT
ajst-14002	48	5	1	1	X
ajst-14002	48	6	)	)	PUNCT
ajst-14002	48	7	substituting	substitute	VERB
ajst-14002	48	8	the	the	DET
ajst-14002	48	9	d	d	PROPN
ajst-14002	48	10	-	-	ADJ
ajst-14002	48	11	h	h	ADJ
ajst-14002	48	12	parameters	parameter	NOUN
ajst-14002	48	13	of	of	ADP
ajst-14002	48	14	the	the	DET
ajst-14002	48	15	robotic	robotic	ADJ
ajst-14002	48	16	arm	arm	NOUN
ajst-14002	48	17	into	into	ADP
ajst-14002	48	18	equation	equation	NOUN
ajst-14002	48	19	(	(	PUNCT
ajst-14002	48	20	1	1	NUM
ajst-14002	48	21	)	)	PUNCT
ajst-14002	48	22	,	,	PUNCT
ajst-14002	48	23	yields	yield	VERB
ajst-14002	48	24	0	0	NUM
ajst-14002	48	25	1	1	NUM
ajst-14002	48	26	1	1	NUM
ajst-14002	48	27	1	1	NUM
ajst-14002	48	28	0	0	NUM
ajst-14002	48	29	0	0	NUM
ajst-14002	48	30	0	0	NUM
ajst-14002	48	31	1	1	NUM
ajst-14002	48	32	0	0	NUM
ajst-14002	48	33	0	0	NUM
ajst-14002	48	34	0	0	NUM
ajst-14002	48	35	0	0	NUM
ajst-14002	48	36	1	1	NUM
ajst-14002	48	37	0	0	NUM
ajst-14002	48	38	0	0	NUM
ajst-14002	48	39	0	0	NUM
ajst-14002	48	40	1	1	NUM
ajst-14002	48	41	l	l	NOUN
ajst-14002	48	42	t	t	NOUN
ajst-14002	49	1	d	d	X
ajst-14002	49	2			PROPN
ajst-14002	49	3			ADJ
ajst-14002	49	4			NOUN
ajst-14002	49	5			PROPN
ajst-14002	49	6			NOUN
ajst-14002	49	7			NUM
ajst-14002	49	8			NOUN
ajst-14002	49	9			NOUN
ajst-14002	49	10			NOUN
ajst-14002	49	11			NOUN
ajst-14002	49	12			NOUN
ajst-14002	49	13			PROPN
ajst-14002	49	14	1	1	NUM
ajst-14002	49	15	2	2	NUM
ajst-14002	49	16	2	2	NUM
ajst-14002	49	17	1	1	NUM
ajst-14002	49	18	0	0	NUM
ajst-14002	49	19	0	0	NUM
ajst-14002	49	20	0	0	NUM
ajst-14002	49	21	1	1	NUM
ajst-14002	49	22	0	0	NUM
ajst-14002	49	23	0	0	NUM
ajst-14002	49	24	0	0	NUM
ajst-14002	49	25	0	0	NUM
ajst-14002	49	26	1	1	NUM
ajst-14002	49	27	0	0	NUM
ajst-14002	49	28	0	0	NUM
ajst-14002	49	29	0	0	NUM
ajst-14002	49	30	1	1	NUM
ajst-14002	49	31	l	l	NOUN
ajst-14002	49	32	t	t	NOUN
ajst-14002	50	1	d	d	X
ajst-14002	50	2			PROPN
ajst-14002	50	3			ADJ
ajst-14002	50	4			NOUN
ajst-14002	50	5			PROPN
ajst-14002	50	6			NOUN
ajst-14002	50	7			NUM
ajst-14002	50	8			NOUN
ajst-14002	50	9			NOUN
ajst-14002	50	10			NOUN
ajst-14002	50	11			NOUN
ajst-14002	50	12			NOUN
ajst-14002	50	13			PROPN
ajst-14002	50	14	3	3	NUM
ajst-14002	50	15	3	3	NUM
ajst-14002	50	16	3	3	NUM
ajst-14002	50	17	3	3	NUM
ajst-14002	50	18	3	3	NUM
ajst-14002	50	19	0	0	NUM
ajst-14002	50	20	0	0	NUM
ajst-14002	50	21	0	0	NUM
ajst-14002	50	22	0	0	NUM
ajst-14002	50	23	0	0	NUM
ajst-14002	50	24	0	0	NUM
ajst-14002	50	25	1	1	NUM
ajst-14002	50	26	0	0	NUM
ajst-14002	50	27	0	0	NUM
ajst-14002	50	28	0	0	NUM
ajst-14002	50	29	0	0	NUM
ajst-14002	50	30	1	1	NUM
ajst-14002	50	31	c	c	NOUN
ajst-14002	50	32	s	s	NOUN
ajst-14002	50	33	s	s	X
ajst-14002	50	34	c	c	NOUN
ajst-14002	50	35	t	t	NOUN
ajst-14002	50	36			PROPN
ajst-14002	50	37			X
ajst-14002	50	38			PROPN
ajst-14002	50	39			PROPN
ajst-14002	51	1			NOUN
ajst-14002	51	2			NOUN
ajst-14002	51	3			X
ajst-14002	51	4			NOUN
ajst-14002	51	5			NOUN
ajst-14002	51	6			NUM
ajst-14002	51	7			NOUN
ajst-14002	51	8			NOUN
ajst-14002	51	9			NOUN
ajst-14002	51	10			NOUN
ajst-14002	51	11			NOUN
ajst-14002	51	12			PROPN
ajst-14002	51	13	(	(	PUNCT
ajst-14002	51	14	2	2	X
ajst-14002	51	15	)	)	PUNCT
ajst-14002	51	16	the	the	DET
ajst-14002	51	17	pose	pose	NOUN
ajst-14002	51	18	of	of	ADP
ajst-14002	51	19	the	the	DET
ajst-14002	51	20	end	end	NOUN
ajst-14002	51	21	effector	effector	NOUN
ajst-14002	51	22	can	can	AUX
ajst-14002	51	23	be	be	AUX
ajst-14002	51	24	obtained	obtain	VERB
ajst-14002	51	25	from	from	ADP
ajst-14002	51	26	equation	equation	NOUN
ajst-14002	51	27	(	(	PUNCT
ajst-14002	51	28	2	2	NUM
ajst-14002	51	29	)	)	PUNCT
ajst-14002	51	30	.	.	PUNCT
ajst-14002	52	1	3	3	NUM
ajst-14002	52	2	3	3	NUM
ajst-14002	52	3	3	3	NUM
ajst-14002	52	4	0	0	NUM
ajst-14002	52	5	1	1	NUM
ajst-14002	52	6	3	3	NUM
ajst-14002	52	7	3	3	NUM
ajst-14002	52	8	3	3	NUM
ajst-14002	52	9	0	0	NUM
ajst-14002	52	10	10	10	NUM
ajst-14002	52	11	3	3	NUM
ajst-14002	52	12	1	1	NUM
ajst-14002	52	13	2	2	NUM
ajst-14002	52	14	0	0	NUM
ajst-14002	52	15	(	(	PUNCT
ajst-14002	52	16	)	)	PUNCT
ajst-14002	52	17	0	0	NUM
ajst-14002	52	18	(	(	PUNCT
ajst-14002	52	19	)	)	PUNCT
ajst-14002	52	20	0	0	NUM
ajst-14002	52	21	0	0	NUM
ajst-14002	52	22	1	1	NUM
ajst-14002	52	23	0	0	NUM
ajst-14002	52	24	0	0	NUM
ajst-14002	52	25	0	0	NUM
ajst-14002	52	26	1	1	NUM
ajst-14002	52	27	c	c	NOUN
ajst-14002	52	28	s	s	PROPN
ajst-14002	52	29	c	c	NOUN
ajst-14002	52	30	l	l	NOUN
ajst-14002	52	31	l	l	NOUN
ajst-14002	52	32	s	s	VERB
ajst-14002	52	33	c	c	NOUN
ajst-14002	52	34	s	s	PROPN
ajst-14002	52	35	l	l	NOUN
ajst-14002	52	36	l	l	NOUN
ajst-14002	52	37	t	t	NOUN
ajst-14002	53	1	d	d	X
ajst-14002	53	2	d	d	X
ajst-14002	53	3			X
ajst-14002	53	4			X
ajst-14002	53	5			PROPN
ajst-14002	53	6			PROPN
ajst-14002	53	7			PROPN
ajst-14002	54	1			PROPN
ajst-14002	54	2			VERB
ajst-14002	54	3			PRON
ajst-14002	54	4			NOUN
ajst-14002	54	5			PROPN
ajst-14002	54	6			NOUN
ajst-14002	54	7			PROPN
ajst-14002	54	8			NOUN
ajst-14002	54	9			NOUN
ajst-14002	54	10			NOUN
ajst-14002	54	11			NOUN
ajst-14002	54	12			NOUN
ajst-14002	54	13			PROPN
ajst-14002	54	14	(	(	PUNCT
ajst-14002	54	15	3	3	NUM
ajst-14002	54	16	)	)	PUNCT
ajst-14002	54	17	where	where	SCONJ
ajst-14002	54	18	3	3	NUM
ajst-14002	54	19	3	3	NUM
ajst-14002	54	20	3	3	NUM
ajst-14002	54	21	3=	3=	NUM
ajst-14002	54	22	sin	sin	NOUN
ajst-14002	54	23	c	c	NOUN
ajst-14002	54	24	=	=	NOUN
ajst-14002	54	25	sinsθ	sinsθ	NOUN
ajst-14002	54	26	θ	θ	NOUN
ajst-14002	54	27	θ	θ	PUNCT
ajst-14002	54	28	θ	θ	X
ajst-14002	54	29	；	；	NOUN
ajst-14002	54	30	.	.	PUNCT
ajst-14002	55	1	equation	equation	NOUN
ajst-14002	55	2	(	(	PUNCT
ajst-14002	55	3	4	4	NUM
ajst-14002	55	4	)	)	PUNCT
ajst-14002	55	5	represents	represent	VERB
ajst-14002	55	6	the	the	DET
ajst-14002	55	7	pose	pose	NOUN
ajst-14002	55	8	of	of	ADP
ajst-14002	55	9	the	the	DET
ajst-14002	55	10	end	end	NOUN
ajst-14002	55	11	effector	effector	NOUN
ajst-14002	55	12	,	,	PUNCT
ajst-14002	55	13	as	as	SCONJ
ajst-14002	55	14	follows	follow	VERB
ajst-14002	55	15	.	.	PUNCT
ajst-14002	56	1	0	0	NUM
ajst-14002	57	1	3	3	NUM
ajst-14002	57	2	0	0	NUM
ajst-14002	57	3	0	0	NUM
ajst-14002	57	4	0	0	NUM
ajst-14002	57	5	1	1	NUM
ajst-14002	57	6	x	x	SYM
ajst-14002	57	7	x	x	PUNCT
ajst-14002	57	8	x	x	PUNCT
ajst-14002	57	9	x	x	PUNCT
ajst-14002	57	10	y	y	VERB
ajst-14002	57	11	y	y	PROPN
ajst-14002	57	12	y	y	PROPN
ajst-14002	57	13	y	y	PROPN
ajst-14002	57	14	z	z	PROPN
ajst-14002	57	15	z	z	NOUN
ajst-14002	57	16	z	z	NOUN
ajst-14002	57	17	z	z	NOUN
ajst-14002	57	18	n	n	NOUN
ajst-14002	57	19	o	o	NOUN
ajst-14002	57	20	a	a	DET
ajst-14002	57	21	p	p	NOUN
ajst-14002	57	22	n	n	NUM
ajst-14002	57	23	o	o	NOUN
ajst-14002	57	24	a	a	DET
ajst-14002	57	25	p	p	X
ajst-14002	57	26	t	t	NOUN
ajst-14002	57	27	n	n	PRON
ajst-14002	57	28	o	o	NOUN
ajst-14002	57	29	a	a	DET
ajst-14002	57	30	p	p	X
ajst-14002	57	31			PROPN
ajst-14002	57	32			NOUN
ajst-14002	57	33			NOUN
ajst-14002	57	34			PROPN
ajst-14002	57	35			NOUN
ajst-14002	57	36			NUM
ajst-14002	57	37			NOUN
ajst-14002	57	38			NOUN
ajst-14002	57	39			NOUN
ajst-14002	57	40			NOUN
ajst-14002	57	41			NOUN
ajst-14002	57	42			PROPN
ajst-14002	57	43	(	(	PUNCT
ajst-14002	57	44	4	4	NUM
ajst-14002	57	45	)	)	PUNCT
ajst-14002	57	46	93	93	NUM
ajst-14002	57	47	by	by	ADP
ajst-14002	57	48	equating	equate	VERB
ajst-14002	57	49	the	the	DET
ajst-14002	57	50	corresponding	correspond	VERB
ajst-14002	57	51	elements	element	NOUN
ajst-14002	57	52	of	of	ADP
ajst-14002	57	53	equations	equation	NOUN
ajst-14002	57	54	(	(	PUNCT
ajst-14002	57	55	3	3	NUM
ajst-14002	57	56	)	)	PUNCT
ajst-14002	57	57	and	and	CCONJ
ajst-14002	57	58	(	(	PUNCT
ajst-14002	57	59	4	4	NUM
ajst-14002	57	60	)	)	PUNCT
ajst-14002	57	61	,	,	PUNCT
ajst-14002	57	62	it	it	PRON
ajst-14002	57	63	can	can	AUX
ajst-14002	57	64	be	be	AUX
ajst-14002	57	65	obtained	obtain	VERB
ajst-14002	57	66	that	that	SCONJ
ajst-14002	57	67	3x	3x	PROPN
ajst-14002	57	68	cn	cn	PROPN
ajst-14002	57	69			PROPN
ajst-14002	57	70	;	;	PUNCT
ajst-14002	57	71	3yn	3yn	NOUN
ajst-14002	57	72			NOUN
ajst-14002	57	73	;	;	PUNCT
ajst-14002	57	74	0zn	0zn	NOUN
ajst-14002	57	75			NOUN
ajst-14002	57	76	;	;	PUNCT
ajst-14002	57	77	3x	3x	NUM
ajst-14002	58	1	so	so	SCONJ
ajst-14002	58	2			PROPN
ajst-14002	58	3	;	;	PUNCT
ajst-14002	58	4	3y	3y	NUM
ajst-14002	58	5	co	co	NOUN
ajst-14002	58	6			PROPN
ajst-14002	58	7	;	;	PUNCT
ajst-14002	58	8	0zo	0zo	NOUN
ajst-14002	58	9			NOUN
ajst-14002	58	10	;	;	PUNCT
ajst-14002	58	11	0xa	0xa	NOUN
ajst-14002	58	12			NOUN
ajst-14002	58	13	;	;	PUNCT
ajst-14002	58	14	0ya	0ya	NOUN
ajst-14002	58	15			NOUN
ajst-14002	58	16	;	;	PUNCT
ajst-14002	58	17	1za	1za	ADJ
ajst-14002	58	18			NOUN
ajst-14002	58	19	;	;	PUNCT
ajst-14002	58	20	3	3	NUM
ajst-14002	58	21	0	0	NUM
ajst-14002	58	22	1	1	NUM
ajst-14002	58	23	(	(	PUNCT
ajst-14002	58	24	)	)	PUNCT
ajst-14002	58	25	x	x	SYM
ajst-14002	58	26	c	c	NOUN
ajst-14002	58	27	l	l	X
ajst-14002	58	28	lp	lp	PROPN
ajst-14002	58	29			PROPN
ajst-14002	58	30			ADV
ajst-14002	58	31	;	;	PUNCT
ajst-14002	58	32	3	3	NUM
ajst-14002	58	33	0	0	NUM
ajst-14002	58	34	1	1	NUM
ajst-14002	58	35	(	(	PUNCT
ajst-14002	58	36	)	)	PUNCT
ajst-14002	58	37	y	y	PROPN
ajst-14002	58	38	s	s	PROPN
ajst-14002	58	39	l	l	PROPN
ajst-14002	58	40	lp	lp	PROPN
ajst-14002	58	41			PROPN
ajst-14002	58	42			ADV
ajst-14002	58	43	;	;	PUNCT
ajst-14002	58	44	1	1	NUM
ajst-14002	58	45	2z	2z	NUM
ajst-14002	58	46	d	d	NOUN
ajst-14002	58	47	dp	dp	NOUN
ajst-14002	59	1			NOUN
ajst-14002	59	2			ADJ
ajst-14002	59	3	3.2	3.2	NUM
ajst-14002	59	4	.	.	PUNCT
ajst-14002	60	1	2.2	2.2	NUM
ajst-14002	60	2	kinematic	kinematic	ADJ
ajst-14002	60	3	analysis	analysis	NOUN
ajst-14002	60	4	example	example	NOUN
ajst-14002	60	5	take	take	VERB
ajst-14002	60	6	3	3	NUM
ajst-14002	60	7	0mm	0mm	NUM
ajst-14002	61	1			NUM
ajst-14002	61	2	,	,	PUNCT
ajst-14002	61	3	1	1	NUM
ajst-14002	61	4	400mmd	400mmd	NUM
ajst-14002	61	5			NOUN
ajst-14002	61	6	,	,	PUNCT
ajst-14002	61	7	2	2	NUM
ajst-14002	61	8	700mmd	700mmd	NUM
ajst-14002	61	9			NOUN
ajst-14002	61	10	,	,	PUNCT
ajst-14002	61	11	0	0	NUM
ajst-14002	61	12	500mml	500mml	NUM
ajst-14002	61	13			NOUN
ajst-14002	61	14	,	,	PUNCT
ajst-14002	61	15	1	1	NUM
ajst-14002	61	16	800mml	800mml	X
ajst-14002	61	17			NOUN
ajst-14002	61	18	;	;	PUNCT
ajst-14002	61	19	matlab	matlab	PROPN
ajst-14002	61	20	software	software	NOUN
ajst-14002	61	21	is	be	AUX
ajst-14002	61	22	used	use	VERB
ajst-14002	61	23	to	to	PART
ajst-14002	61	24	solve	solve	VERB
ajst-14002	61	25	equation	equation	NOUN
ajst-14002	61	26	(	(	PUNCT
ajst-14002	61	27	4	4	NUM
ajst-14002	61	28	)	)	PUNCT
ajst-14002	61	29	,	,	PUNCT
ajst-14002	61	30	it	it	PRON
ajst-14002	61	31	can	can	AUX
ajst-14002	61	32	be	be	AUX
ajst-14002	61	33	obtained	obtain	VERB
ajst-14002	61	34	0	0	NUM
ajst-14002	61	35	3	3	NUM
ajst-14002	61	36	1	1	NUM
ajst-14002	61	37	0	0	NUM
ajst-14002	61	38	0	0	NUM
ajst-14002	61	39	1300	1300	NUM
ajst-14002	61	40	0	0	NUM
ajst-14002	61	41	1	1	NUM
ajst-14002	61	42	0	0	NUM
ajst-14002	61	43	0	0	NUM
ajst-14002	61	44	0	0	NUM
ajst-14002	61	45	0	0	NUM
ajst-14002	61	46	1	1	NUM
ajst-14002	61	47	1300	1300	NUM
ajst-14002	61	48	0	0	NUM
ajst-14002	61	49	0	0	NUM
ajst-14002	61	50	0	0	NUM
ajst-14002	61	51	1	1	NUM
ajst-14002	61	52	t	t	NOUN
ajst-14002	61	53			PROPN
ajst-14002	61	54			ADJ
ajst-14002	61	55			NOUN
ajst-14002	61	56			PROPN
ajst-14002	61	57			NOUN
ajst-14002	61	58			NUM
ajst-14002	61	59			NOUN
ajst-14002	61	60			NOUN
ajst-14002	61	61			NOUN
ajst-14002	61	62			NOUN
ajst-14002	61	63			NOUN
ajst-14002	61	64			PROPN
ajst-14002	61	65	(	(	PUNCT
ajst-14002	61	66	5	5	NUM
ajst-14002	61	67	)	)	PUNCT
ajst-14002	61	68	the	the	DET
ajst-14002	61	69	results	result	NOUN
ajst-14002	61	70	are	be	AUX
ajst-14002	61	71	consistent	consistent	ADJ
ajst-14002	61	72	with	with	ADP
ajst-14002	61	73	the	the	DET
ajst-14002	61	74	actual	actual	ADJ
ajst-14002	61	75	posture	posture	NOUN
ajst-14002	61	76	,	,	PUNCT
ajst-14002	61	77	and	and	CCONJ
ajst-14002	61	78	the	the	DET
ajst-14002	61	79	kinematic	kinematic	ADJ
ajst-14002	61	80	equation	equation	NOUN
ajst-14002	61	81	is	be	AUX
ajst-14002	61	82	correct	correct	ADJ
ajst-14002	61	83	.	.	PUNCT
ajst-14002	62	1	3.3	3.3	NUM
ajst-14002	62	2	.	.	PUNCT
ajst-14002	63	1	kinematic	kinematic	ADJ
ajst-14002	63	2	simulation	simulation	NOUN
ajst-14002	63	3	analysis	analysis	NOUN
ajst-14002	63	4	the	the	DET
ajst-14002	63	5	3d	3d	NUM
ajst-14002	63	6	model	model	NOUN
ajst-14002	63	7	of	of	ADP
ajst-14002	63	8	the	the	DET
ajst-14002	63	9	robotic	robotic	ADJ
ajst-14002	63	10	arm	arm	NOUN
ajst-14002	63	11	is	be	AUX
ajst-14002	63	12	imported	import	VERB
ajst-14002	63	13	into	into	ADP
ajst-14002	63	14	adams	adams	PROPN
ajst-14002	63	15	software	software	PROPN
ajst-14002	63	16	,	,	PUNCT
ajst-14002	63	17	the	the	DET
ajst-14002	63	18	attributes	attribute	NOUN
ajst-14002	63	19	,	,	PUNCT
ajst-14002	63	20	constraints	constraint	NOUN
ajst-14002	63	21	,	,	PUNCT
ajst-14002	63	22	and	and	CCONJ
ajst-14002	63	23	simulation	simulation	NOUN
ajst-14002	63	24	time	time	NOUN
ajst-14002	63	25	of	of	ADP
ajst-14002	63	26	the	the	DET
ajst-14002	63	27	part	part	NOUN
ajst-14002	63	28	t=120s	t=120	NOUN
ajst-14002	63	29	are	be	AUX
ajst-14002	63	30	set	set	VERB
ajst-14002	63	31	,	,	PUNCT
ajst-14002	63	32	and	and	CCONJ
ajst-14002	63	33	the	the	DET
ajst-14002	63	34	driver	driver	NOUN
ajst-14002	63	35	functions	function	NOUN
ajst-14002	63	36	shown	show	VERB
ajst-14002	63	37	in	in	ADP
ajst-14002	63	38	table	table	NOUN
ajst-14002	63	39	2	2	NUM
ajst-14002	63	40	are	be	AUX
ajst-14002	63	41	added	add	VERB
ajst-14002	63	42	.	.	PUNCT
ajst-14002	64	1	the	the	DET
ajst-14002	64	2	displacement	displacement	ADJ
ajst-14002	64	3	curve	curve	NOUN
ajst-14002	64	4	and	and	CCONJ
ajst-14002	64	5	motion	motion	NOUN
ajst-14002	64	6	trajectory	trajectory	NOUN
ajst-14002	64	7	of	of	ADP
ajst-14002	64	8	the	the	DET
ajst-14002	64	9	end	end	NOUN
ajst-14002	64	10	point	point	NOUN
ajst-14002	64	11	shown	show	VERB
ajst-14002	64	12	in	in	ADP
ajst-14002	64	13	figure	figure	NOUN
ajst-14002	64	14	4	4	NUM
ajst-14002	64	15	are	be	AUX
ajst-14002	64	16	obtained	obtain	VERB
ajst-14002	64	17	through	through	ADP
ajst-14002	64	18	simulation	simulation	NOUN
ajst-14002	64	19	.	.	PUNCT
ajst-14002	65	1	the	the	DET
ajst-14002	65	2	displacement	displacement	NOUN
ajst-14002	65	3	at	at	ADP
ajst-14002	65	4	any	any	DET
ajst-14002	65	5	given	give	VERB
ajst-14002	65	6	moment	moment	NOUN
ajst-14002	65	7	on	on	ADP
ajst-14002	65	8	the	the	DET
ajst-14002	65	9	end	end	NOUN
ajst-14002	65	10	point	point	NOUN
ajst-14002	65	11	displacement	displacement	ADJ
ajst-14002	65	12	curve	curve	NOUN
ajst-14002	65	13	is	be	AUX
ajst-14002	65	14	basically	basically	ADV
ajst-14002	65	15	consistent	consistent	ADJ
ajst-14002	65	16	with	with	ADP
ajst-14002	65	17	the	the	DET
ajst-14002	65	18	value	value	NOUN
ajst-14002	65	19	calculated	calculate	VERB
ajst-14002	65	20	by	by	ADP
ajst-14002	65	21	matlab	matlab	PROPN
ajst-14002	65	22	.	.	PUNCT
ajst-14002	66	1	from	from	ADP
ajst-14002	66	2	figure	figure	NOUN
ajst-14002	66	3	5	5	NUM
ajst-14002	66	4	,	,	PUNCT
ajst-14002	66	5	it	it	PRON
ajst-14002	66	6	can	can	AUX
ajst-14002	66	7	be	be	AUX
ajst-14002	66	8	seen	see	VERB
ajst-14002	66	9	that	that	SCONJ
ajst-14002	66	10	the	the	DET
ajst-14002	66	11	running	running	NOUN
ajst-14002	66	12	trajectory	trajectory	NOUN
ajst-14002	66	13	of	of	ADP
ajst-14002	66	14	the	the	DET
ajst-14002	66	15	endpoint	endpoint	NOUN
ajst-14002	66	16	matches	match	VERB
ajst-14002	66	17	the	the	DET
ajst-14002	66	18	expected	expect	VERB
ajst-14002	66	19	glass	glass	NOUN
ajst-14002	66	20	grasping	grasping	NOUN
ajst-14002	66	21	path	path	NOUN
ajst-14002	66	22	.	.	PUNCT
ajst-14002	67	1	table	table	NOUN
ajst-14002	67	2	2	2	NUM
ajst-14002	67	3	.	.	X
ajst-14002	67	4	joint	joint	ADJ
ajst-14002	67	5	driving	driving	NOUN
ajst-14002	67	6	function	function	NOUN
ajst-14002	67	7	driving	drive	VERB
ajst-14002	67	8	function	function	NOUN
ajst-14002	67	9	driving_1	driving_1	VERB
ajst-14002	67	10	step（time,0,0,20,-200	step（time,0,0,20,-200	NUM
ajst-14002	67	11	）	）	PUNCT
ajst-14002	68	1	+	+	ADJ
ajst-14002	68	2	step（time,100,0,120,200	step（time,100,0,120,200	NOUN
ajst-14002	68	3	）	）	X
ajst-14002	68	4	driving_2	driving_2	NOUN
ajst-14002	68	5	step（time,20,0,40,200	step（time,20,0,40,200	X
ajst-14002	68	6	）	）	X
ajst-14002	69	1	+	+	ADJ
ajst-14002	69	2	step（time,80,0,100,-200	step（time,80,0,100,-200	NOUN
ajst-14002	69	3	）	）	SYM
ajst-14002	69	4	driving_3	driving_3	PRON
ajst-14002	69	5	step（time,40,0d,60,-10d）+step（time,60,0d,80,10d	step（time,40,0d,60,-10d）+step（time,60,0d,80,10d	NOUN
ajst-14002	69	6	）	）	PROPN
ajst-14002	69	7	driving_4	driving_4	ADJ
ajst-14002	69	8	step（time,40,0,60,-60	step（time,40,0,60,-60	X
ajst-14002	69	9	）	）	X
ajst-14002	69	10	+	+	ADJ
ajst-14002	69	11	step（time,60,0,80,60	step（time,60,0,80,60	ADJ
ajst-14002	69	12	）	）	NOUN
ajst-14002	69	13	figure	figure	NOUN
ajst-14002	69	14	7	7	NUM
ajst-14002	69	15	.	.	NOUN
ajst-14002	69	16	end	end	NOUN
ajst-14002	69	17	point	point	NOUN
ajst-14002	69	18	displacement	displacement	ADJ
ajst-14002	69	19	figure	figure	NOUN
ajst-14002	69	20	8	8	NUM
ajst-14002	69	21	.	.	PUNCT
ajst-14002	69	22	end	end	NOUN
ajst-14002	69	23	point	point	NOUN
ajst-14002	69	24	motion	motion	NOUN
ajst-14002	69	25	trajectory	trajectory	NOUN
ajst-14002	69	26	4	4	NUM
ajst-14002	69	27	.	.	PUNCT
ajst-14002	69	28	conclusion	conclusion	NOUN
ajst-14002	69	29	in	in	ADP
ajst-14002	69	30	order	order	NOUN
ajst-14002	69	31	to	to	PART
ajst-14002	69	32	improve	improve	VERB
ajst-14002	69	33	the	the	DET
ajst-14002	69	34	automation	automation	NOUN
ajst-14002	69	35	level	level	NOUN
ajst-14002	69	36	of	of	ADP
ajst-14002	69	37	the	the	DET
ajst-14002	69	38	insulating	insulate	VERB
ajst-14002	69	39	glass	glass	NOUN
ajst-14002	69	40	production	production	NOUN
ajst-14002	69	41	line	line	NOUN
ajst-14002	69	42	and	and	CCONJ
ajst-14002	69	43	meet	meet	VERB
ajst-14002	69	44	the	the	DET
ajst-14002	69	45	needs	need	NOUN
ajst-14002	69	46	of	of	ADP
ajst-14002	69	47	the	the	DET
ajst-14002	69	48	production	production	NOUN
ajst-14002	69	49	line	line	NOUN
ajst-14002	69	50	,	,	PUNCT
ajst-14002	69	51	a	a	DET
ajst-14002	69	52	vertical	vertical	ADJ
ajst-14002	69	53	insulating	insulate	VERB
ajst-14002	69	54	glass	glass	NOUN
ajst-14002	69	55	production	production	NOUN
ajst-14002	69	56	line	line	NOUN
ajst-14002	69	57	manipulator	manipulator	NOUN
ajst-14002	69	58	has	have	AUX
ajst-14002	69	59	been	be	AUX
ajst-14002	69	60	designed	design	VERB
ajst-14002	69	61	.	.	PUNCT
ajst-14002	70	1	the	the	DET
ajst-14002	70	2	d	d	ADJ
ajst-14002	70	3	-	-	PUNCT
ajst-14002	70	4	h	h	ADJ
ajst-14002	70	5	method	method	NOUN
ajst-14002	70	6	is	be	AUX
ajst-14002	70	7	used	use	VERB
ajst-14002	70	8	to	to	PART
ajst-14002	70	9	analyze	analyze	VERB
ajst-14002	70	10	the	the	DET
ajst-14002	70	11	kinematic	kinematic	ADJ
ajst-14002	70	12	problem	problem	NOUN
ajst-14002	70	13	of	of	ADP
ajst-14002	70	14	the	the	DET
ajst-14002	70	15	robotic	robotic	ADJ
ajst-14002	70	16	arm	arm	NOUN
ajst-14002	70	17	,	,	PUNCT
ajst-14002	70	18	and	and	CCONJ
ajst-14002	70	19	the	the	DET
ajst-14002	70	20	correctness	correctness	NOUN
ajst-14002	70	21	of	of	ADP
ajst-14002	70	22	the	the	DET
ajst-14002	70	23	kinematic	kinematic	ADJ
ajst-14002	70	24	solution	solution	NOUN
ajst-14002	70	25	is	be	AUX
ajst-14002	70	26	verified	verify	VERB
ajst-14002	70	27	using	use	VERB
ajst-14002	70	28	adams	adams	PROPN
ajst-14002	70	29	software	software	PROPN
ajst-14002	70	30	.	.	PUNCT
ajst-14002	71	1	acknowledgment	acknowledgment	NOUN
ajst-14002	71	2	this	this	DET
ajst-14002	71	3	work	work	NOUN
ajst-14002	71	4	is	be	AUX
ajst-14002	71	5	supported	support	VERB
ajst-14002	71	6	by	by	ADP
ajst-14002	71	7	teaching	teach	VERB
ajst-14002	71	8	reform	reform	NOUN
ajst-14002	71	9	project	project	NOUN
ajst-14002	71	10	of	of	ADP
ajst-14002	71	11	hebei	hebei	PROPN
ajst-14002	71	12	normal	normal	ADJ
ajst-14002	71	13	university	university	PROPN
ajst-14002	71	14	of	of	ADP
ajst-14002	71	15	science	science	PROPN
ajst-14002	71	16	&	&	CCONJ
ajst-14002	71	17	technology	technology	NOUN
ajst-14002	71	18	,	,	PUNCT
ajst-14002	71	19	project	project	NOUN
ajst-14002	71	20	number	number	NOUN
ajst-14002	71	21	:	:	PUNCT
ajst-14002	71	22	jyyb202322	jyyb202322	PROPN
ajst-14002	71	23	and	and	CCONJ
ajst-14002	71	24	jyyb202320	jyyb202320	PROPN
ajst-14002	71	25	,	,	PUNCT
ajst-14002	71	26	and	and	CCONJ
ajst-14002	71	27	hebei	hebei	PROPN
ajst-14002	71	28	province	province	PROPN
ajst-14002	71	29	college	college	PROPN
ajst-14002	71	30	student	student	NOUN
ajst-14002	71	31	innovation	innovation	NOUN
ajst-14002	71	32	and	and	CCONJ
ajst-14002	71	33	entrepreneurship	entrepreneurship	NOUN
ajst-14002	71	34	training	training	NOUN
ajst-14002	71	35	program	program	NOUN
ajst-14002	71	36	project	project	NOUN
ajst-14002	71	37	s202310798016	s202310798016	PROPN
ajst-14002	71	38	.	.	PUNCT
ajst-14002	72	1	references	reference	NOUN
ajst-14002	72	2	[	[	X
ajst-14002	72	3	1	1	X
ajst-14002	72	4	]	]	X
ajst-14002	72	5	liu	liu	PROPN
ajst-14002	72	6	xiangchen	xiangchen	PROPN
ajst-14002	72	7	,	,	PUNCT
ajst-14002	72	8	cai	cai	PROPN
ajst-14002	72	9	xiaojun	xiaojun	PROPN
ajst-14002	72	10	,	,	PUNCT
ajst-14002	72	11	jiang	jiang	PROPN
ajst-14002	72	12	lipei	lipei	PROPN
ajst-14002	72	13	,	,	PUNCT
ajst-14002	72	14	et	et	PROPN
ajst-14002	72	15	al．study	al．study	VERB
ajst-14002	72	16	on	on	ADP
ajst-14002	72	17	methods	method	NOUN
ajst-14002	72	18	of	of	ADP
ajst-14002	72	19	the	the	DET
ajst-14002	72	20	solution	solution	NOUN
ajst-14002	72	21	to	to	ADP
ajst-14002	72	22	robot	robot	NOUN
ajst-14002	72	23	kinematics[j	kinematics[j	PROPN
ajst-14002	72	24	]	]	PUNCT
ajst-14002	72	25	.	.	PUNCT
ajst-14002	73	1	machine	machine	NOUN
ajst-14002	73	2	tool	tool	NOUN
ajst-14002	73	3	＆	＆	PROPN
ajst-14002	73	4	hydraulics	hydraulic	NOUN
ajst-14002	73	5	,	,	PUNCT
ajst-14002	73	6	2009	2009	NUM
ajst-14002	73	7	,	,	PUNCT
ajst-14002	73	8	37(8):184	37(8):184	NOUN
ajst-14002	73	9	-	-	SYM
ajst-14002	73	10	185	185	NUM
ajst-14002	73	11	+	+	NOUN
ajst-14002	73	12	188	188	NUM
ajst-14002	73	13	.	.	PUNCT
ajst-14002	74	1	[	[	X
ajst-14002	74	2	2	2	NUM
ajst-14002	74	3	]	]	X
ajst-14002	74	4	chen	chen	PROPN
ajst-14002	74	5	lixin	lixin	PROPN
ajst-14002	74	6	.	.	PUNCT
ajst-14002	75	1	application	application	NOUN
ajst-14002	75	2	of	of	ADP
ajst-14002	75	3	industrial	industrial	ADJ
ajst-14002	75	4	robot	robot	NOUN
ajst-14002	75	5	in	in	ADP
ajst-14002	75	6	the	the	DET
ajst-14002	75	7	automatic	automatic	ADJ
ajst-14002	75	8	stamping	stamping	NOUN
ajst-14002	75	9	production	production	NOUN
ajst-14002	75	10	line[j	line[j	NOUN
ajst-14002	75	11	]	]	PUNCT
ajst-14002	75	12	.	.	PUNCT
ajst-14002	76	1	machinery	machinery	NOUN
ajst-14002	76	2	design	design	NOUN
ajst-14002	76	3	&	&	CCONJ
ajst-14002	76	4	manufacture	manufacture	PROPN
ajst-14002	76	5	,	,	PUNCT
ajst-14002	76	6	2010,10	2010,10	NUM
ajst-14002	76	7	:	:	PUNCT
ajst-14002	76	8	94	94	NUM
ajst-14002	76	9	-	-	SYM
ajst-14002	76	10	96	96	NUM
ajst-14002	76	11	.	.	PUNCT
ajst-14002	77	1	[	[	X
ajst-14002	77	2	3	3	X
ajst-14002	77	3	]	]	X
ajst-14002	77	4	liu	liu	PROPN
ajst-14002	77	5	xinjun	xinjun	PROPN
ajst-14002	77	6	,	,	PUNCT
ajst-14002	77	7	yu	yu	PROPN
ajst-14002	77	8	jinjun	jinjun	PROPN
ajst-14002	77	9	,	,	PUNCT
ajst-14002	77	10	kong	kong	PROPN
ajst-14002	77	11	xianwen	xianwen	PROPN
ajst-14002	77	12	.	.	PUNCT
ajst-14002	78	1	rototic	rototic	ADJ
ajst-14002	78	2	mechanisms	mechanism	NOUN
ajst-14002	78	3	[	[	X
ajst-14002	78	4	m	m	X
ajst-14002	78	5	]	]	X
ajst-14002	78	6	.	.	PUNCT
ajst-14002	79	1	beijing	beijing	PROPN
ajst-14002	79	2	:	:	PUNCT
ajst-14002	80	1	china	china	PROPN
ajst-14002	80	2	machine	machine	PROPN
ajst-14002	80	3	press	press	PROPN
ajst-14002	80	4	,	,	PUNCT
ajst-14002	80	5	2021	2021	NUM
ajst-14002	80	6	.	.	PUNCT
ajst-14002	81	1	[	[	X
ajst-14002	81	2	4	4	NUM
ajst-14002	81	3	]	]	X
ajst-14002	81	4	sun	sun	NOUN
ajst-14002	81	5	long	long	ADJ
ajst-14002	81	6	.	.	PUNCT
ajst-14002	82	1	development	development	NOUN
ajst-14002	82	2	and	and	CCONJ
ajst-14002	82	3	research	research	NOUN
ajst-14002	82	4	of	of	ADP
ajst-14002	82	5	loading	loading	NOUN
ajst-14002	82	6	and	and	CCONJ
ajst-14002	82	7	unloading	unloading	NOUN
ajst-14002	82	8	manipulator	manipulator	NOUN
ajst-14002	82	9	based	base	VERB
ajst-14002	82	10	on	on	ADP
ajst-14002	82	11	stamping	stamp	VERB
ajst-14002	82	12	press[d	press[d	PROPN
ajst-14002	82	13	]	]	PUNCT
ajst-14002	82	14	.	.	PUNCT
ajst-14002	83	1	south	south	PROPN
ajst-14002	83	2	china	china	PROPN
ajst-14002	83	3	university	university	PROPN
ajst-14002	83	4	of	of	ADP
ajst-14002	83	5	technology	technology	NOUN
ajst-14002	83	6	,	,	PUNCT
ajst-14002	83	7	2015	2015	NUM
ajst-14002	83	8	.	.	PUNCT
ajst-14002	84	1	[	[	X
ajst-14002	84	2	5	5	X
ajst-14002	84	3	]	]	X
ajst-14002	84	4	zhang	zhang	PROPN
ajst-14002	84	5	qiang	qiang	PROPN
ajst-14002	84	6	.	.	PUNCT
ajst-14002	84	7	robotics	robotic	NOUN
ajst-14002	84	8	mechanism	mechanism	NOUN
ajst-14002	84	9	,	,	PUNCT
ajst-14002	84	10	kinematics	kinematic	NOUN
ajst-14002	84	11	,	,	PUNCT
ajst-14002	84	12	dynamics	dynamic	NOUN
ajst-14002	84	13	and	and	CCONJ
ajst-14002	84	14	motion	motion	NOUN
ajst-14002	84	15	planning[m	planning[m	PROPN
ajst-14002	84	16	]	]	PUNCT
ajst-14002	84	17	.	.	PUNCT
ajst-14002	85	1	beijing	beijing	PROPN
ajst-14002	85	2	:	:	PUNCT
ajst-14002	86	1	tsinghua	tsinghua	PROPN
ajst-14002	86	2	university	university	PROPN
ajst-14002	86	3	press	press	NOUN
ajst-14002	86	4	,	,	PUNCT
ajst-14002	86	5	2019	2019	NUM
ajst-14002	86	6	.	.	PUNCT
ajst-14002	87	1	[	[	X
ajst-14002	87	2	6	6	NUM
ajst-14002	87	3	]	]	PUNCT
ajst-14002	87	4	wang	wang	PROPN
ajst-14002	87	5	hongqi	hongqi	PROPN
ajst-14002	87	6	,	,	PUNCT
ajst-14002	87	7	wu	wu	PROPN
ajst-14002	87	8	diyi	diyi	PROPN
ajst-14002	87	9	.	.	PUNCT
ajst-14002	88	1	kinematic	kinematic	ADJ
ajst-14002	88	2	simulation	simulation	NOUN
ajst-14002	88	3	of	of	ADP
ajst-14002	88	4	object	object	NOUN
ajst-14002	88	5	grasping	grasp	VERB
ajst-14002	88	6	manipulator	manipulator	NOUN
ajst-14002	88	7	based	base	VERB
ajst-14002	88	8	on	on	ADP
ajst-14002	88	9	adams	adam	NOUN
ajst-14002	88	10	and	and	CCONJ
ajst-14002	88	11	pro	pro	ADJ
ajst-14002	88	12	/	/	NOUN
ajst-14002	88	13	e[j	e[j	ADJ
ajst-14002	88	14	]	]	PUNCT
ajst-14002	88	15	.	.	PUNCT
ajst-14002	89	1	journal	journal	PROPN
ajst-14002	89	2	of	of	ADP
ajst-14002	89	3	henan	henan	PROPN
ajst-14002	89	4	mechanical	mechanical	ADJ
ajst-14002	89	5	and	and	CCONJ
ajst-14002	89	6	electrical	electrical	ADJ
ajst-14002	89	7	engineering	engineering	NOUN
ajst-14002	89	8	college	college	NOUN
ajst-14002	89	9	,	,	PUNCT
ajst-14002	89	10	2018	2018	NUM
ajst-14002	89	11	,	,	PUNCT
ajst-14002	89	12	26(4	26(4	NUM
ajst-14002	89	13	):	):	PUNCT
ajst-14002	89	14	1	1	NUM
ajst-14002	89	15	-	-	SYM
ajst-14002	89	16	6	6	NUM
ajst-14002	89	17	+	+	NOUN
ajst-14002	89	18	22	22	NUM
ajst-14002	89	19	.	.	PUNCT