id	sid	tid	token	lemma	pos
ajst-19150	1	1	academic	academic	ADJ
ajst-19150	1	2	journal	journal	NOUN
ajst-19150	1	3	of	of	ADP
ajst-19150	1	4	science	science	NOUN
ajst-19150	1	5	and	and	CCONJ
ajst-19150	1	6	technology	technology	NOUN
ajst-19150	1	7	issn	issn	NOUN
ajst-19150	1	8	:	:	PUNCT
ajst-19150	1	9	2771	2771	NUM
ajst-19150	1	10	-	-	SYM
ajst-19150	1	11	3032	3032	NUM
ajst-19150	1	12	|	|	NOUN
ajst-19150	1	13	vol	vol	NOUN
ajst-19150	1	14	.	.	PROPN
ajst-19150	2	1	10	10	NUM
ajst-19150	2	2	,	,	PUNCT
ajst-19150	2	3	no	no	INTJ
ajst-19150	2	4	.	.	NOUN
ajst-19150	2	5	1	1	NUM
ajst-19150	2	6	,	,	PUNCT
ajst-19150	2	7	2024	2024	NUM
ajst-19150	2	8	69	69	NUM
ajst-19150	2	9	research	research	NOUN
ajst-19150	2	10	on	on	ADP
ajst-19150	2	11	calibration	calibration	NOUN
ajst-19150	2	12	method	method	NOUN
ajst-19150	2	13	of	of	ADP
ajst-19150	2	14	six	six	NUM
ajst-19150	2	15	dimensional	dimensional	ADJ
ajst-19150	2	16	force	force	NOUN
ajst-19150	2	17	sensor	sensor	NOUN
ajst-19150	2	18	at	at	ADP
ajst-19150	2	19	the	the	DET
ajst-19150	2	20	end	end	NOUN
ajst-19150	2	21	of	of	ADP
ajst-19150	2	22	robot	robot	NOUN
ajst-19150	2	23	hongchao	hongchao	PROPN
ajst-19150	2	24	yang	yang	PROPN
ajst-19150	2	25	,	,	PUNCT
ajst-19150	2	26	chong	chong	PROPN
ajst-19150	2	27	xie	xie	PROPN
ajst-19150	2	28	school	school	PROPN
ajst-19150	2	29	of	of	ADP
ajst-19150	2	30	southwest	southwest	PROPN
ajst-19150	2	31	petroleum	petroleum	PROPN
ajst-19150	2	32	university	university	PROPN
ajst-19150	2	33	,	,	PUNCT
ajst-19150	2	34	chengdu	chengdu	PROPN
ajst-19150	2	35	610500	610500	NUM
ajst-19150	2	36	,	,	PUNCT
ajst-19150	2	37	china	china	PROPN
ajst-19150	2	38	abstract	abstract	PROPN
ajst-19150	2	39	:	:	PUNCT
ajst-19150	2	40	a	a	DET
ajst-19150	2	41	six	six	NUM
ajst-19150	2	42	-	-	PUNCT
ajst-19150	2	43	axis	axis	NOUN
ajst-19150	2	44	force	force	NOUN
ajst-19150	2	45	sensor	sensor	NOUN
ajst-19150	2	46	calibration	calibration	NOUN
ajst-19150	2	47	method	method	NOUN
ajst-19150	2	48	for	for	ADP
ajst-19150	2	49	industrial	industrial	ADJ
ajst-19150	2	50	robots	robot	NOUN
ajst-19150	2	51	is	be	AUX
ajst-19150	2	52	proposed	propose	VERB
ajst-19150	2	53	to	to	PART
ajst-19150	2	54	meet	meet	VERB
ajst-19150	2	55	the	the	DET
ajst-19150	2	56	demand	demand	NOUN
ajst-19150	2	57	for	for	ADP
ajst-19150	2	58	precise	precise	ADJ
ajst-19150	2	59	force	force	NOUN
ajst-19150	2	60	measurement	measurement	NOUN
ajst-19150	2	61	of	of	ADP
ajst-19150	2	62	end	end	NOUN
ajst-19150	2	63	effectors	effector	NOUN
ajst-19150	2	64	in	in	ADP
ajst-19150	2	65	industrial	industrial	ADJ
ajst-19150	2	66	robots	robot	NOUN
ajst-19150	2	67	.	.	PUNCT
ajst-19150	3	1	firstly	firstly	ADV
ajst-19150	3	2	,	,	PUNCT
ajst-19150	3	3	establish	establish	VERB
ajst-19150	3	4	a	a	DET
ajst-19150	3	5	sensor	sensor	NOUN
ajst-19150	3	6	data	datum	NOUN
ajst-19150	3	7	relationship	relationship	NOUN
ajst-19150	3	8	calculation	calculation	NOUN
ajst-19150	3	9	model	model	NOUN
ajst-19150	3	10	,	,	PUNCT
ajst-19150	3	11	and	and	CCONJ
ajst-19150	3	12	based	base	VERB
ajst-19150	3	13	on	on	ADP
ajst-19150	3	14	this	this	PRON
ajst-19150	3	15	,	,	PUNCT
ajst-19150	3	16	focus	focus	VERB
ajst-19150	3	17	on	on	ADP
ajst-19150	3	18	considering	consider	VERB
ajst-19150	3	19	the	the	DET
ajst-19150	3	20	interference	interference	NOUN
ajst-19150	3	21	caused	cause	VERB
ajst-19150	3	22	by	by	ADP
ajst-19150	3	23	sensor	sensor	NOUN
ajst-19150	3	24	"	"	PUNCT
ajst-19150	3	25	zero	zero	NUM
ajst-19150	3	26	drift	drift	NOUN
ajst-19150	3	27	"	"	PUNCT
ajst-19150	3	28	;	;	PUNCT
ajst-19150	3	29	then	then	ADV
ajst-19150	3	30	,	,	PUNCT
ajst-19150	3	31	the	the	DET
ajst-19150	3	32	least	least	ADJ
ajst-19150	3	33	squares	square	NOUN
ajst-19150	3	34	method	method	NOUN
ajst-19150	3	35	is	be	AUX
ajst-19150	3	36	used	use	VERB
ajst-19150	3	37	to	to	PART
ajst-19150	3	38	determine	determine	VERB
ajst-19150	3	39	the	the	DET
ajst-19150	3	40	inclination	inclination	NOUN
ajst-19150	3	41	angle	angle	NOUN
ajst-19150	3	42	between	between	ADP
ajst-19150	3	43	the	the	DET
ajst-19150	3	44	robot	robot	NOUN
ajst-19150	3	45	's	's	PART
ajst-19150	3	46	end	end	NOUN
ajst-19150	3	47	effector	effector	NOUN
ajst-19150	3	48	and	and	CCONJ
ajst-19150	3	49	the	the	DET
ajst-19150	3	50	installation	installation	NOUN
ajst-19150	3	51	of	of	ADP
ajst-19150	3	52	the	the	DET
ajst-19150	3	53	six	six	NUM
ajst-19150	3	54	-	-	PUNCT
ajst-19150	3	55	axis	axis	NOUN
ajst-19150	3	56	force	force	NOUN
ajst-19150	3	57	sensor	sensor	NOUN
ajst-19150	3	58	,	,	PUNCT
ajst-19150	3	59	the	the	DET
ajst-19150	3	60	gravity	gravity	NOUN
ajst-19150	3	61	of	of	ADP
ajst-19150	3	62	the	the	DET
ajst-19150	3	63	end	end	NOUN
ajst-19150	3	64	effector	effector	NOUN
ajst-19150	3	65	,	,	PUNCT
ajst-19150	3	66	and	and	CCONJ
ajst-19150	3	67	the	the	DET
ajst-19150	3	68	coordinate	coordinate	NOUN
ajst-19150	3	69	parameters	parameter	NOUN
ajst-19150	3	70	of	of	ADP
ajst-19150	3	71	the	the	DET
ajst-19150	3	72	center	center	NOUN
ajst-19150	3	73	of	of	ADP
ajst-19150	3	74	gravity	gravity	NOUN
ajst-19150	3	75	.	.	PUNCT
ajst-19150	4	1	finally	finally	ADV
ajst-19150	4	2	,	,	PUNCT
ajst-19150	4	3	a	a	DET
ajst-19150	4	4	cr5	cr5	PROPN
ajst-19150	4	5	robotic	robotic	ADJ
ajst-19150	4	6	arm	arm	NOUN
ajst-19150	4	7	experimental	experimental	ADJ
ajst-19150	4	8	platform	platform	NOUN
ajst-19150	4	9	was	be	AUX
ajst-19150	4	10	built	build	VERB
ajst-19150	4	11	to	to	PART
ajst-19150	4	12	verify	verify	VERB
ajst-19150	4	13	the	the	DET
ajst-19150	4	14	feasibility	feasibility	NOUN
ajst-19150	4	15	of	of	ADP
ajst-19150	4	16	the	the	DET
ajst-19150	4	17	algorithm	algorithm	NOUN
ajst-19150	4	18	.	.	PUNCT
ajst-19150	5	1	the	the	DET
ajst-19150	5	2	experiment	experiment	NOUN
ajst-19150	5	3	showed	show	VERB
ajst-19150	5	4	that	that	SCONJ
ajst-19150	5	5	the	the	DET
ajst-19150	5	6	calibrated	calibrate	VERB
ajst-19150	5	7	sensor	sensor	NOUN
ajst-19150	5	8	maintained	maintain	VERB
ajst-19150	5	9	a	a	DET
ajst-19150	5	10	stable	stable	ADJ
ajst-19150	5	11	force	force	NOUN
ajst-19150	5	12	value	value	NOUN
ajst-19150	5	13	of	of	ADP
ajst-19150	5	14	0n	0n	NUM
ajst-19150	5	15	without	without	ADP
ajst-19150	5	16	external	external	ADJ
ajst-19150	5	17	force	force	NOUN
ajst-19150	5	18	,	,	PUNCT
ajst-19150	5	19	verifying	verify	VERB
ajst-19150	5	20	the	the	DET
ajst-19150	5	21	accuracy	accuracy	NOUN
ajst-19150	5	22	of	of	ADP
ajst-19150	5	23	the	the	DET
ajst-19150	5	24	calibration	calibration	NOUN
ajst-19150	5	25	algorithm	algorithm	NOUN
ajst-19150	5	26	.	.	PUNCT
ajst-19150	6	1	keywords	keyword	NOUN
ajst-19150	6	2	:	:	PUNCT
ajst-19150	6	3	six	six	NUM
ajst-19150	6	4	-	-	PUNCT
ajst-19150	6	5	axis	axis	NOUN
ajst-19150	6	6	force	force	NOUN
ajst-19150	6	7	sensor	sensor	NOUN
ajst-19150	6	8	;	;	PUNCT
ajst-19150	6	9	industrial	industrial	ADJ
ajst-19150	6	10	robots	robot	NOUN
ajst-19150	6	11	;	;	PUNCT
ajst-19150	6	12	zero	zero	NUM
ajst-19150	6	13	compensation	compensation	NOUN
ajst-19150	6	14	.	.	PUNCT
ajst-19150	7	1	1	1	X
ajst-19150	7	2	.	.	X
ajst-19150	7	3	introduction	introduction	NOUN
ajst-19150	7	4	to	to	PART
ajst-19150	7	5	enable	enable	VERB
ajst-19150	7	6	a	a	DET
ajst-19150	7	7	robot	robot	NOUN
ajst-19150	7	8	to	to	PART
ajst-19150	7	9	perceive	perceive	VERB
ajst-19150	7	10	the	the	DET
ajst-19150	7	11	external	external	ADJ
ajst-19150	7	12	environment	environment	NOUN
ajst-19150	7	13	,	,	PUNCT
ajst-19150	7	14	it	it	PRON
ajst-19150	7	15	is	be	AUX
ajst-19150	7	16	common	common	ADJ
ajst-19150	7	17	to	to	PART
ajst-19150	7	18	install	install	VERB
ajst-19150	7	19	a	a	DET
ajst-19150	7	20	six	six	NUM
ajst-19150	7	21	-	-	PUNCT
ajst-19150	7	22	axis	axis	NOUN
ajst-19150	7	23	force	force	NOUN
ajst-19150	7	24	/	/	SYM
ajst-19150	7	25	torque	torque	NOUN
ajst-19150	7	26	sensor	sensor	NOUN
ajst-19150	7	27	between	between	ADP
ajst-19150	7	28	the	the	DET
ajst-19150	7	29	robot	robot	NOUN
ajst-19150	7	30	's	's	PART
ajst-19150	7	31	end	end	NOUN
ajst-19150	7	32	effector	effector	NOUN
ajst-19150	7	33	and	and	CCONJ
ajst-19150	7	34	the	the	DET
ajst-19150	7	35	tool	tool	NOUN
ajst-19150	7	36	.	.	PUNCT
ajst-19150	8	1	a	a	DET
ajst-19150	8	2	six	six	NUM
ajst-19150	8	3	-	-	PUNCT
ajst-19150	8	4	axis	axis	NOUN
ajst-19150	8	5	force	force	NOUN
ajst-19150	8	6	/	/	SYM
ajst-19150	8	7	torque	torque	NOUN
ajst-19150	8	8	sensor	sensor	NOUN
ajst-19150	8	9	is	be	AUX
ajst-19150	8	10	capable	capable	ADJ
ajst-19150	8	11	of	of	ADP
ajst-19150	8	12	detecting	detect	VERB
ajst-19150	8	13	varying	vary	VERB
ajst-19150	8	14	forces	force	NOUN
ajst-19150	8	15	and	and	CCONJ
ajst-19150	8	16	torques	torque	NOUN
ajst-19150	8	17	in	in	ADP
ajst-19150	8	18	different	different	ADJ
ajst-19150	8	19	directions	direction	NOUN
ajst-19150	8	20	.	.	PUNCT
ajst-19150	9	1	typically	typically	ADV
ajst-19150	9	2	,	,	PUNCT
ajst-19150	9	3	these	these	DET
ajst-19150	9	4	sensors	sensor	NOUN
ajst-19150	9	5	are	be	AUX
ajst-19150	9	6	installed	instal	VERB
ajst-19150	9	7	at	at	ADP
ajst-19150	9	8	the	the	DET
ajst-19150	9	9	end	end	NOUN
ajst-19150	9	10	of	of	ADP
ajst-19150	9	11	industrial	industrial	ADJ
ajst-19150	9	12	robots	robot	NOUN
ajst-19150	9	13	to	to	PART
ajst-19150	9	14	assist	assist	VERB
ajst-19150	9	15	in	in	ADP
ajst-19150	9	16	tasks	task	NOUN
ajst-19150	9	17	such	such	ADJ
ajst-19150	9	18	as	as	ADP
ajst-19150	9	19	force	force	NOUN
ajst-19150	9	20	/	/	SYM
ajst-19150	9	21	position	position	NOUN
ajst-19150	9	22	control	control	NOUN
ajst-19150	9	23	,	,	PUNCT
ajst-19150	9	24	contour	contour	NOUN
ajst-19150	9	25	tracking	tracking	NOUN
ajst-19150	9	26	,	,	PUNCT
ajst-19150	9	27	and	and	CCONJ
ajst-19150	9	28	precise	precise	ADJ
ajst-19150	9	29	assembly	assembly	NOUN
ajst-19150	9	30	operations	operation	NOUN
ajst-19150	10	1	[	[	X
ajst-19150	10	2	1,2,3	1,2,3	NUM
ajst-19150	10	3	]	]	PUNCT
ajst-19150	10	4	.	.	PUNCT
ajst-19150	11	1	the	the	DET
ajst-19150	11	2	installation	installation	NOUN
ajst-19150	11	3	of	of	ADP
ajst-19150	11	4	a	a	DET
ajst-19150	11	5	six	six	NUM
ajst-19150	11	6	-	-	PUNCT
ajst-19150	11	7	axis	axis	NOUN
ajst-19150	11	8	force	force	NOUN
ajst-19150	11	9	sensor	sensor	NOUN
ajst-19150	11	10	calibration	calibration	NOUN
ajst-19150	11	11	on	on	ADP
ajst-19150	11	12	the	the	DET
ajst-19150	11	13	industrial	industrial	ADJ
ajst-19150	11	14	robot	robot	NOUN
ajst-19150	11	15	base	base	NOUN
ajst-19150	11	16	ensures	ensure	VERB
ajst-19150	11	17	the	the	DET
ajst-19150	11	18	safety	safety	NOUN
ajst-19150	11	19	of	of	ADP
ajst-19150	11	20	human	human	ADJ
ajst-19150	11	21	-	-	PUNCT
ajst-19150	11	22	machine	machine	NOUN
ajst-19150	11	23	interaction	interaction	NOUN
ajst-19150	11	24	,	,	PUNCT
ajst-19150	11	25	which	which	PRON
ajst-19150	11	26	not	not	PART
ajst-19150	11	27	only	only	ADV
ajst-19150	11	28	reduces	reduce	VERB
ajst-19150	11	29	costs	cost	NOUN
ajst-19150	11	30	but	but	CCONJ
ajst-19150	11	31	also	also	ADV
ajst-19150	11	32	effectively	effectively	ADV
ajst-19150	11	33	reduces	reduce	VERB
ajst-19150	11	34	computational	computational	ADJ
ajst-19150	11	35	complexity	complexity	NOUN
ajst-19150	11	36	and	and	CCONJ
ajst-19150	11	37	improves	improve	VERB
ajst-19150	11	38	the	the	DET
ajst-19150	11	39	system	system	NOUN
ajst-19150	11	40	's	's	PART
ajst-19150	11	41	response	response	NOUN
ajst-19150	11	42	speed	speed	NOUN
ajst-19150	11	43	[	[	X
ajst-19150	11	44	4,5	4,5	NUM
ajst-19150	11	45	]	]	PUNCT
ajst-19150	11	46	.	.	PUNCT
ajst-19150	12	1	at	at	ADP
ajst-19150	12	2	the	the	DET
ajst-19150	12	3	same	same	ADJ
ajst-19150	12	4	time	time	NOUN
ajst-19150	12	5	,	,	PUNCT
ajst-19150	12	6	using	use	VERB
ajst-19150	12	7	six	six	NUM
ajst-19150	12	8	-	-	PUNCT
ajst-19150	12	9	axis	axis	NOUN
ajst-19150	12	10	force	force	NOUN
ajst-19150	12	11	sensor	sensor	NOUN
ajst-19150	12	12	calibration	calibration	NOUN
ajst-19150	12	13	to	to	PART
ajst-19150	12	14	achieve	achieve	VERB
ajst-19150	12	15	safe	safe	ADJ
ajst-19150	12	16	humanmachine	humanmachine	ADJ
ajst-19150	12	17	interaction	interaction	NOUN
ajst-19150	12	18	can	can	AUX
ajst-19150	12	19	save	save	VERB
ajst-19150	12	20	more	more	ADJ
ajst-19150	12	21	costs	cost	NOUN
ajst-19150	12	22	in	in	ADP
ajst-19150	12	23	the	the	DET
ajst-19150	12	24	upgrading	upgrading	NOUN
ajst-19150	12	25	and	and	CCONJ
ajst-19150	12	26	renovation	renovation	NOUN
ajst-19150	12	27	of	of	ADP
ajst-19150	12	28	traditional	traditional	ADJ
ajst-19150	12	29	industrial	industrial	ADJ
ajst-19150	12	30	robots	robot	NOUN
ajst-19150	12	31	.	.	PUNCT
ajst-19150	13	1	with	with	ADP
ajst-19150	13	2	the	the	DET
ajst-19150	13	3	continuous	continuous	ADJ
ajst-19150	13	4	movement	movement	NOUN
ajst-19150	13	5	of	of	ADP
ajst-19150	13	6	the	the	DET
ajst-19150	13	7	robot	robot	NOUN
ajst-19150	13	8	,	,	PUNCT
ajst-19150	13	9	the	the	DET
ajst-19150	13	10	pose	pose	NOUN
ajst-19150	13	11	information	information	NOUN
ajst-19150	13	12	is	be	AUX
ajst-19150	13	13	constantly	constantly	ADV
ajst-19150	13	14	changing	change	VERB
ajst-19150	13	15	.	.	PUNCT
ajst-19150	14	1	due	due	ADP
ajst-19150	14	2	to	to	ADP
ajst-19150	14	3	the	the	DET
ajst-19150	14	4	influence	influence	NOUN
ajst-19150	14	5	of	of	ADP
ajst-19150	14	6	the	the	DET
ajst-19150	14	7	gravity	gravity	NOUN
ajst-19150	14	8	of	of	ADP
ajst-19150	14	9	the	the	DET
ajst-19150	14	10	end	end	NOUN
ajst-19150	14	11	tool	tool	NOUN
ajst-19150	14	12	,	,	PUNCT
ajst-19150	14	13	the	the	DET
ajst-19150	14	14	sensing	sense	VERB
ajst-19150	14	15	zero	zero	NUM
ajst-19150	14	16	position	position	NOUN
ajst-19150	14	17	value	value	NOUN
ajst-19150	14	18	is	be	AUX
ajst-19150	14	19	constantly	constantly	ADV
ajst-19150	14	20	changing	change	VERB
ajst-19150	14	21	,	,	PUNCT
ajst-19150	14	22	resulting	result	VERB
ajst-19150	14	23	in	in	ADP
ajst-19150	14	24	a	a	DET
ajst-19150	14	25	certain	certain	ADJ
ajst-19150	14	26	decrease	decrease	NOUN
ajst-19150	14	27	in	in	ADP
ajst-19150	14	28	measurement	measurement	NOUN
ajst-19150	14	29	accuracy	accuracy	NOUN
ajst-19150	14	30	of	of	ADP
ajst-19150	14	31	the	the	DET
ajst-19150	14	32	sensor	sensor	NOUN
ajst-19150	14	33	,	,	PUNCT
ajst-19150	14	34	which	which	PRON
ajst-19150	14	35	in	in	ADP
ajst-19150	14	36	turn	turn	NOUN
ajst-19150	14	37	affects	affect	VERB
ajst-19150	14	38	the	the	DET
ajst-19150	14	39	operation	operation	NOUN
ajst-19150	14	40	of	of	ADP
ajst-19150	14	41	the	the	DET
ajst-19150	14	42	robot	robot	NOUN
ajst-19150	14	43	.	.	PUNCT
ajst-19150	15	1	the	the	DET
ajst-19150	15	2	force	force	NOUN
ajst-19150	15	3	data	datum	NOUN
ajst-19150	15	4	read	read	VERB
ajst-19150	15	5	from	from	ADP
ajst-19150	15	6	the	the	DET
ajst-19150	15	7	upper	upper	ADJ
ajst-19150	15	8	computer	computer	NOUN
ajst-19150	15	9	will	will	AUX
ajst-19150	15	10	consist	consist	VERB
ajst-19150	15	11	of	of	ADP
ajst-19150	15	12	three	three	NUM
ajst-19150	15	13	parts	part	NOUN
ajst-19150	15	14	,	,	PUNCT
ajst-19150	15	15	namely	namely	ADV
ajst-19150	15	16	:	:	PUNCT
ajst-19150	15	17	1	1	X
ajst-19150	15	18	)	)	PUNCT
ajst-19150	15	19	the	the	DET
ajst-19150	15	20	sensor	sensor	NOUN
ajst-19150	15	21	's	's	PART
ajst-19150	15	22	own	own	ADJ
ajst-19150	15	23	system	system	NOUN
ajst-19150	15	24	error	error	NOUN
ajst-19150	15	25	(	(	PUNCT
ajst-19150	15	26	zero	zero	NUM
ajst-19150	15	27	drift	drift	NOUN
ajst-19150	15	28	)	)	PUNCT
ajst-19150	15	29	;	;	PUNCT
ajst-19150	15	30	2	2	X
ajst-19150	15	31	)	)	PUNCT
ajst-19150	15	32	gravity	gravity	NOUN
ajst-19150	15	33	action	action	NOUN
ajst-19150	15	34	;	;	PUNCT
ajst-19150	15	35	3	3	X
ajst-19150	15	36	)	)	PUNCT
ajst-19150	15	37	external	external	ADJ
ajst-19150	15	38	contact	contact	NOUN
ajst-19150	15	39	force	force	NOUN
ajst-19150	15	40	received	receive	VERB
ajst-19150	15	41	[	[	PUNCT
ajst-19150	15	42	6	6	NUM
ajst-19150	15	43	]	]	PUNCT
ajst-19150	15	44	.	.	PUNCT
ajst-19150	16	1	to	to	PART
ajst-19150	16	2	obtain	obtain	VERB
ajst-19150	16	3	the	the	DET
ajst-19150	16	4	external	external	ADJ
ajst-19150	16	5	contact	contact	NOUN
ajst-19150	16	6	force	force	NOUN
ajst-19150	16	7	,	,	PUNCT
ajst-19150	16	8	it	it	PRON
ajst-19150	16	9	is	be	AUX
ajst-19150	16	10	necessary	necessary	ADJ
ajst-19150	16	11	to	to	PART
ajst-19150	16	12	eliminate	eliminate	VERB
ajst-19150	16	13	the	the	DET
ajst-19150	16	14	effects	effect	NOUN
ajst-19150	16	15	of	of	ADP
ajst-19150	16	16	sensor	sensor	NOUN
ajst-19150	16	17	system	system	NOUN
ajst-19150	16	18	errors	error	NOUN
ajst-19150	16	19	and	and	CCONJ
ajst-19150	16	20	load	load	NOUN
ajst-19150	16	21	gravity	gravity	NOUN
ajst-19150	16	22	.	.	PUNCT
ajst-19150	17	1	the	the	DET
ajst-19150	17	2	inertia	inertia	NOUN
ajst-19150	17	3	force	force	NOUN
ajst-19150	17	4	caused	cause	VERB
ajst-19150	17	5	by	by	ADP
ajst-19150	17	6	robot	robot	NOUN
ajst-19150	17	7	motion	motion	NOUN
ajst-19150	17	8	can	can	AUX
ajst-19150	17	9	be	be	AUX
ajst-19150	17	10	ignored	ignore	VERB
ajst-19150	17	11	in	in	ADP
ajst-19150	17	12	the	the	DET
ajst-19150	17	13	actual	actual	ADJ
ajst-19150	17	14	slow	slow	ADJ
ajst-19150	17	15	motion	motion	NOUN
ajst-19150	17	16	of	of	ADP
ajst-19150	17	17	robots	robot	NOUN
ajst-19150	17	18	[	[	X
ajst-19150	17	19	7	7	NUM
ajst-19150	17	20	]	]	PUNCT
ajst-19150	17	21	,	,	PUNCT
ajst-19150	17	22	and	and	CCONJ
ajst-19150	17	23	this	this	DET
ajst-19150	17	24	item	item	NOUN
ajst-19150	17	25	is	be	AUX
ajst-19150	17	26	not	not	PART
ajst-19150	17	27	considered	consider	VERB
ajst-19150	17	28	in	in	ADP
ajst-19150	17	29	this	this	DET
ajst-19150	17	30	article	article	NOUN
ajst-19150	17	31	.	.	PUNCT
ajst-19150	18	1	the	the	DET
ajst-19150	18	2	commonly	commonly	ADV
ajst-19150	18	3	used	use	VERB
ajst-19150	18	4	gravity	gravity	NOUN
ajst-19150	18	5	compensation	compensation	NOUN
ajst-19150	18	6	and	and	CCONJ
ajst-19150	18	7	correction	correction	NOUN
ajst-19150	18	8	algorithms	algorithm	NOUN
ajst-19150	18	9	for	for	ADP
ajst-19150	18	10	six	six	NUM
ajst-19150	18	11	-	-	PUNCT
ajst-19150	18	12	axis	axis	NOUN
ajst-19150	18	13	force	force	NOUN
ajst-19150	18	14	sensors	sensor	NOUN
ajst-19150	18	15	include	include	VERB
ajst-19150	18	16	linear	linear	PROPN
ajst-19150	18	17	regression	regression	NOUN
ajst-19150	18	18	,	,	PUNCT
ajst-19150	18	19	least	least	ADJ
ajst-19150	18	20	squares	square	NOUN
ajst-19150	18	21	method	method	NOUN
ajst-19150	18	22	,	,	PUNCT
ajst-19150	18	23	wavelet	wavelet	NOUN
ajst-19150	18	24	transform	transform	NOUN
ajst-19150	18	25	,	,	PUNCT
ajst-19150	18	26	neural	neural	ADJ
ajst-19150	18	27	network	network	NOUN
ajst-19150	18	28	,	,	PUNCT
ajst-19150	18	29	and	and	CCONJ
ajst-19150	18	30	particle	particle	NOUN
ajst-19150	18	31	swarm	swarm	NOUN
ajst-19150	18	32	optimization	optimization	NOUN
ajst-19150	18	33	methods	method	NOUN
ajst-19150	18	34	[	[	X
ajst-19150	18	35	8	8	NUM
ajst-19150	18	36	]	]	PUNCT
ajst-19150	18	37	.	.	PUNCT
ajst-19150	19	1	among	among	ADP
ajst-19150	19	2	them	they	PRON
ajst-19150	19	3	,	,	PUNCT
ajst-19150	19	4	the	the	DET
ajst-19150	19	5	method	method	NOUN
ajst-19150	19	6	of	of	ADP
ajst-19150	19	7	using	use	VERB
ajst-19150	19	8	linear	linear	ADJ
ajst-19150	19	9	regression	regression	NOUN
ajst-19150	19	10	and	and	CCONJ
ajst-19150	19	11	least	least	ADJ
ajst-19150	19	12	squares	square	NOUN
ajst-19150	19	13	to	to	PART
ajst-19150	19	14	calculate	calculate	VERB
ajst-19150	19	15	the	the	DET
ajst-19150	19	16	offset	offset	NOUN
ajst-19150	19	17	and	and	CCONJ
ajst-19150	19	18	sensitivity	sensitivity	NOUN
ajst-19150	19	19	coefficient	coefficient	NOUN
ajst-19150	19	20	of	of	ADP
ajst-19150	19	21	sensors	sensor	NOUN
ajst-19150	19	22	for	for	ADP
ajst-19150	19	23	gravity	gravity	NOUN
ajst-19150	19	24	compensation	compensation	NOUN
ajst-19150	19	25	and	and	CCONJ
ajst-19150	19	26	correction	correction	NOUN
ajst-19150	19	27	has	have	VERB
ajst-19150	19	28	the	the	DET
ajst-19150	19	29	advantages	advantage	NOUN
ajst-19150	19	30	of	of	ADP
ajst-19150	19	31	simple	simple	ADJ
ajst-19150	19	32	calculation	calculation	NOUN
ajst-19150	19	33	and	and	CCONJ
ajst-19150	19	34	easy	easy	ADJ
ajst-19150	19	35	implementation	implementation	NOUN
ajst-19150	19	36	.	.	PUNCT
ajst-19150	20	1	neural	neural	ADJ
ajst-19150	20	2	networks	network	NOUN
ajst-19150	20	3	and	and	CCONJ
ajst-19150	20	4	particle	particle	NOUN
ajst-19150	20	5	swarm	swarm	NOUN
ajst-19150	20	6	optimization	optimization	NOUN
ajst-19150	20	7	methods	method	NOUN
ajst-19150	20	8	can	can	AUX
ajst-19150	20	9	perform	perform	VERB
ajst-19150	20	10	gravity	gravity	NOUN
ajst-19150	20	11	compensation	compensation	NOUN
ajst-19150	20	12	and	and	CCONJ
ajst-19150	20	13	correction	correction	NOUN
ajst-19150	20	14	through	through	ADP
ajst-19150	20	15	adaptive	adaptive	ADJ
ajst-19150	20	16	learning	learning	NOUN
ajst-19150	20	17	and	and	CCONJ
ajst-19150	20	18	optimization	optimization	NOUN
ajst-19150	20	19	based	base	VERB
ajst-19150	20	20	on	on	ADP
ajst-19150	20	21	sensor	sensor	NOUN
ajst-19150	20	22	measurements	measurement	NOUN
ajst-19150	20	23	and	and	CCONJ
ajst-19150	20	24	theoretical	theoretical	ADJ
ajst-19150	20	25	models	model	NOUN
ajst-19150	20	26	,	,	PUNCT
ajst-19150	20	27	thus	thus	ADV
ajst-19150	20	28	having	have	VERB
ajst-19150	20	29	good	good	ADJ
ajst-19150	20	30	accuracy	accuracy	NOUN
ajst-19150	20	31	and	and	CCONJ
ajst-19150	20	32	robustness	robustness	NOUN
ajst-19150	20	33	.	.	PUNCT
ajst-19150	21	1	these	these	DET
ajst-19150	21	2	algorithms	algorithm	NOUN
ajst-19150	21	3	still	still	ADV
ajst-19150	21	4	have	have	VERB
ajst-19150	21	5	shortcomings	shortcoming	NOUN
ajst-19150	21	6	in	in	ADP
ajst-19150	21	7	handling	handle	VERB
ajst-19150	21	8	gravity	gravity	NOUN
ajst-19150	21	9	compensation	compensation	NOUN
ajst-19150	21	10	and	and	CCONJ
ajst-19150	21	11	correction	correction	NOUN
ajst-19150	21	12	of	of	ADP
ajst-19150	21	13	six	six	NUM
ajst-19150	21	14	-	-	PUNCT
ajst-19150	21	15	axis	axis	NOUN
ajst-19150	21	16	force	force	NOUN
ajst-19150	21	17	sensor	sensor	NOUN
ajst-19150	21	18	.	.	PUNCT
ajst-19150	22	1	for	for	ADP
ajst-19150	22	2	example	example	NOUN
ajst-19150	22	3	,	,	PUNCT
ajst-19150	22	4	the	the	DET
ajst-19150	22	5	accuracy	accuracy	NOUN
ajst-19150	22	6	and	and	CCONJ
ajst-19150	22	7	precision	precision	NOUN
ajst-19150	22	8	of	of	ADP
ajst-19150	22	9	algorithms	algorithm	NOUN
ajst-19150	22	10	are	be	AUX
ajst-19150	22	11	easily	easily	ADV
ajst-19150	22	12	affected	affect	VERB
ajst-19150	22	13	by	by	ADP
ajst-19150	22	14	the	the	DET
ajst-19150	22	15	environment	environment	NOUN
ajst-19150	22	16	and	and	CCONJ
ajst-19150	22	17	sensor	sensor	NOUN
ajst-19150	22	18	position	position	NOUN
ajst-19150	22	19	[	[	X
ajst-19150	22	20	9	9	NUM
ajst-19150	22	21	]	]	PUNCT
ajst-19150	22	22	;	;	PUNCT
ajst-19150	22	23	some	some	DET
ajst-19150	22	24	algorithms	algorithm	NOUN
ajst-19150	22	25	have	have	AUX
ajst-19150	22	26	limited	limit	VERB
ajst-19150	22	27	processing	processing	NOUN
ajst-19150	22	28	capabilities	capability	NOUN
ajst-19150	22	29	for	for	ADP
ajst-19150	22	30	nonlinear	nonlinear	ADJ
ajst-19150	22	31	and	and	CCONJ
ajst-19150	22	32	complex	complex	ADJ
ajst-19150	22	33	sensor	sensor	NOUN
ajst-19150	22	34	models	model	NOUN
ajst-19150	22	35	,	,	PUNCT
ajst-19150	22	36	and	and	CCONJ
ajst-19150	22	37	further	further	ADJ
ajst-19150	22	38	research	research	NOUN
ajst-19150	22	39	and	and	CCONJ
ajst-19150	22	40	optimization	optimization	NOUN
ajst-19150	22	41	are	be	AUX
ajst-19150	22	42	needed	need	VERB
ajst-19150	22	43	.	.	PUNCT
ajst-19150	23	1	to	to	PART
ajst-19150	23	2	address	address	VERB
ajst-19150	23	3	the	the	DET
ajst-19150	23	4	aforementioned	aforementioned	ADJ
ajst-19150	23	5	issues	issue	NOUN
ajst-19150	23	6	,	,	PUNCT
ajst-19150	23	7	this	this	DET
ajst-19150	23	8	paper	paper	NOUN
ajst-19150	23	9	proposes	propose	VERB
ajst-19150	23	10	an	an	DET
ajst-19150	23	11	effective	effective	ADJ
ajst-19150	23	12	calibration	calibration	NOUN
ajst-19150	23	13	method	method	NOUN
ajst-19150	23	14	for	for	ADP
ajst-19150	23	15	industrial	industrial	ADJ
ajst-19150	23	16	robot	robot	NOUN
ajst-19150	23	17	end	end	VERB
ajst-19150	23	18	effector	effector	NOUN
ajst-19150	23	19	force	force	NOUN
ajst-19150	23	20	sensors	sensor	NOUN
ajst-19150	23	21	.	.	PUNCT
ajst-19150	24	1	the	the	DET
ajst-19150	24	2	least	least	ADJ
ajst-19150	24	3	squares	square	NOUN
ajst-19150	24	4	method	method	NOUN
ajst-19150	24	5	is	be	AUX
ajst-19150	24	6	used	use	VERB
ajst-19150	24	7	to	to	PART
ajst-19150	24	8	obtain	obtain	VERB
ajst-19150	24	9	parameters	parameter	NOUN
ajst-19150	24	10	such	such	ADJ
ajst-19150	24	11	as	as	ADP
ajst-19150	24	12	sensor	sensor	NOUN
ajst-19150	24	13	‘	'	PUNCT
ajst-19150	24	14	zero	zero	NUM
ajst-19150	24	15	point	point	NOUN
ajst-19150	24	16	’	'	PUNCT
ajst-19150	24	17	,	,	PUNCT
ajst-19150	24	18	rotation	rotation	NOUN
ajst-19150	24	19	angle	angle	NOUN
ajst-19150	24	20	between	between	ADP
ajst-19150	24	21	robot	robot	NOUN
ajst-19150	24	22	end	end	NOUN
ajst-19150	24	23	and	and	CCONJ
ajst-19150	24	24	sensor	sensor	NOUN
ajst-19150	24	25	installation	installation	NOUN
ajst-19150	24	26	load	load	NOUN
ajst-19150	24	27	gravity	gravity	NOUN
ajst-19150	24	28	,	,	PUNCT
ajst-19150	24	29	and	and	CCONJ
ajst-19150	24	30	load	load	NOUN
ajst-19150	24	31	center	center	NOUN
ajst-19150	24	32	of	of	ADP
ajst-19150	24	33	gravity	gravity	NOUN
ajst-19150	24	34	coordinates	coordinate	NOUN
ajst-19150	24	35	.	.	PUNCT
ajst-19150	25	1	this	this	PRON
ajst-19150	25	2	eliminates	eliminate	VERB
ajst-19150	25	3	the	the	DET
ajst-19150	25	4	influence	influence	NOUN
ajst-19150	25	5	of	of	ADP
ajst-19150	25	6	sensor	sensor	NOUN
ajst-19150	25	7	zero	zero	NUM
ajst-19150	25	8	point	point	NOUN
ajst-19150	25	9	and	and	CCONJ
ajst-19150	25	10	end	end	VERB
ajst-19150	25	11	module	module	NOUN
ajst-19150	25	12	gravity	gravity	NOUN
ajst-19150	25	13	on	on	ADP
ajst-19150	25	14	force	force	NOUN
ajst-19150	25	15	sensor	sensor	NOUN
ajst-19150	25	16	readings	reading	NOUN
ajst-19150	25	17	,	,	PUNCT
ajst-19150	25	18	and	and	CCONJ
ajst-19150	25	19	ultimately	ultimately	ADV
ajst-19150	25	20	obtains	obtain	VERB
ajst-19150	25	21	accurate	accurate	ADJ
ajst-19150	25	22	external	external	ADJ
ajst-19150	25	23	force	force	NOUN
ajst-19150	25	24	and	and	CCONJ
ajst-19150	25	25	torque	torque	NOUN
ajst-19150	25	26	data	datum	NOUN
ajst-19150	25	27	for	for	ADP
ajst-19150	25	28	the	the	DET
ajst-19150	25	29	robot	robot	NOUN
ajst-19150	25	30	end	end	VERB
ajst-19150	25	31	effector	effector	NOUN
ajst-19150	25	32	module	module	NOUN
ajst-19150	25	33	.	.	PUNCT
ajst-19150	26	1	2	2	X
ajst-19150	26	2	.	.	X
ajst-19150	26	3	theoretical	theoretical	ADJ
ajst-19150	26	4	model	model	NOUN
ajst-19150	26	5	establishment	establishment	NOUN
ajst-19150	26	6	2.1	2.1	NUM
ajst-19150	26	7	.	.	PUNCT
ajst-19150	27	1	centroid	centroid	NOUN
ajst-19150	27	2	identification	identification	NOUN
ajst-19150	27	3	.	.	PUNCT
ajst-19150	28	1	as	as	ADP
ajst-19150	28	2	a	a	DET
ajst-19150	28	3	force	force	NOUN
ajst-19150	28	4	sensing	sense	VERB
ajst-19150	28	5	system	system	NOUN
ajst-19150	28	6	for	for	ADP
ajst-19150	28	7	robots	robot	NOUN
ajst-19150	28	8	,	,	PUNCT
ajst-19150	28	9	the	the	DET
ajst-19150	28	10	six	six	NUM
ajst-19150	28	11	-	-	PUNCT
ajst-19150	28	12	axis	axis	NOUN
ajst-19150	28	13	force	force	NOUN
ajst-19150	28	14	sensor	sensor	NOUN
ajst-19150	28	15	can	can	AUX
ajst-19150	28	16	detect	detect	VERB
ajst-19150	28	17	real	real	ADJ
ajst-19150	28	18	-	-	PUNCT
ajst-19150	28	19	time	time	NOUN
ajst-19150	28	20	changes	change	NOUN
ajst-19150	28	21	in	in	ADP
ajst-19150	28	22	size	size	NOUN
ajst-19150	28	23	and	and	CCONJ
ajst-19150	28	24	direction	direction	NOUN
ajst-19150	28	25	of	of	ADP
ajst-19150	28	26	three	three	NUM
ajst-19150	28	27	-	-	PUNCT
ajst-19150	28	28	dimensional	dimensional	ADJ
ajst-19150	28	29	orthogonal	orthogonal	ADJ
ajst-19150	28	30	forces	force	NOUN
ajst-19150	28	31	,	,	PUNCT
ajst-19150	28	32	,	,	PUNCT
ajst-19150	28	33	x	x	PROPN
ajst-19150	28	34	y	y	NOUN
ajst-19150	28	35	zf	zf	PROPN
ajst-19150	28	36	f	f	PROPN
ajst-19150	28	37	f	f	PROPN
ajst-19150	28	38	and	and	CCONJ
ajst-19150	28	39	moments	moment	NOUN
ajst-19150	28	40	,	,	PUNCT
ajst-19150	28	41	,	,	PUNCT
ajst-19150	28	42	x	x	PROPN
ajst-19150	28	43	y	y	PROPN
ajst-19150	28	44	zm	zm	PROPN
ajst-19150	28	45	m	m	VERB
ajst-19150	28	46	m	m	VERB
ajst-19150	28	47	.	.	PUNCT
ajst-19150	29	1	the	the	DET
ajst-19150	29	2	force	force	NOUN
ajst-19150	29	3	and	and	CCONJ
ajst-19150	29	4	torque	torque	NOUN
ajst-19150	29	5	measured	measure	VERB
ajst-19150	29	6	by	by	ADP
ajst-19150	29	7	the	the	DET
ajst-19150	29	8	six	six	NUM
ajst-19150	29	9	-	-	PUNCT
ajst-19150	29	10	axis	axis	NOUN
ajst-19150	29	11	force	force	NOUN
ajst-19150	29	12	sensor	sensor	NOUN
ajst-19150	29	13	consist	consist	NOUN
ajst-19150	29	14	of	of	ADP
ajst-19150	29	15	three	three	NUM
ajst-19150	29	16	parts	part	NOUN
ajst-19150	29	17	:	:	PUNCT
ajst-19150	29	18	the	the	DET
ajst-19150	29	19	‘	'	PUNCT
ajst-19150	29	20	zero	zero	NUM
ajst-19150	29	21	point	point	NOUN
ajst-19150	29	22	’	'	PUNCT
ajst-19150	29	23	data	datum	NOUN
ajst-19150	29	24	of	of	ADP
ajst-19150	29	25	the	the	DET
ajst-19150	29	26	force	force	NOUN
ajst-19150	29	27	sensor	sensor	NOUN
ajst-19150	29	28	(	(	PUNCT
ajst-19150	29	29	system	system	NOUN
ajst-19150	29	30	error	error	NOUN
ajst-19150	29	31	)	)	PUNCT
ajst-19150	29	32	,	,	PUNCT
ajst-19150	29	33	the	the	DET
ajst-19150	29	34	force	force	NOUN
ajst-19150	29	35	and	and	CCONJ
ajst-19150	29	36	torque	torque	NOUN
ajst-19150	29	37	generated	generate	VERB
ajst-19150	29	38	by	by	ADP
ajst-19150	29	39	the	the	DET
ajst-19150	29	40	gravity	gravity	NOUN
ajst-19150	29	41	of	of	ADP
ajst-19150	29	42	the	the	DET
ajst-19150	29	43	end	end	NOUN
ajst-19150	29	44	tool	tool	NOUN
ajst-19150	29	45	,	,	PUNCT
ajst-19150	29	46	and	and	CCONJ
ajst-19150	29	47	the	the	DET
ajst-19150	29	48	force	force	NOUN
ajst-19150	29	49	and	and	CCONJ
ajst-19150	29	50	torque	torque	NOUN
ajst-19150	29	51	applied	apply	VERB
ajst-19150	29	52	by	by	ADP
ajst-19150	29	53	the	the	DET
ajst-19150	29	54	external	external	ADJ
ajst-19150	29	55	environment	environment	NOUN
ajst-19150	29	56	.	.	PUNCT
ajst-19150	30	1	in	in	ADP
ajst-19150	30	2	order	order	NOUN
ajst-19150	30	3	to	to	PART
ajst-19150	30	4	more	more	ADV
ajst-19150	30	5	accurately	accurately	ADV
ajst-19150	30	6	measure	measure	VERB
ajst-19150	30	7	the	the	DET
ajst-19150	30	8	force	force	NOUN
ajst-19150	30	9	and	and	CCONJ
ajst-19150	30	10	torque	torque	NOUN
ajst-19150	30	11	acting	act	VERB
ajst-19150	30	12	on	on	ADP
ajst-19150	30	13	the	the	DET
ajst-19150	30	14	end	end	NOUN
ajst-19150	30	15	tool	tool	NOUN
ajst-19150	30	16	of	of	ADP
ajst-19150	30	17	the	the	DET
ajst-19150	30	18	robot	robot	NOUN
ajst-19150	30	19	,	,	PUNCT
ajst-19150	30	20	it	it	PRON
ajst-19150	30	21	is	be	AUX
ajst-19150	30	22	necessary	necessary	ADJ
ajst-19150	30	23	to	to	PART
ajst-19150	30	24	consider	consider	VERB
ajst-19150	30	25	the	the	DET
ajst-19150	30	26	error	error	NOUN
ajst-19150	30	27	interference	interference	NOUN
ajst-19150	30	28	caused	cause	VERB
ajst-19150	30	29	by	by	ADP
ajst-19150	30	30	the	the	DET
ajst-19150	30	31	zero	zero	NUM
ajst-19150	30	32	point	point	NOUN
ajst-19150	30	33	of	of	ADP
ajst-19150	30	34	the	the	DET
ajst-19150	30	35	force	force	NOUN
ajst-19150	30	36	sensor	sensor	NOUN
ajst-19150	30	37	and	and	CCONJ
ajst-19150	30	38	the	the	DET
ajst-19150	30	39	gravity	gravity	NOUN
ajst-19150	30	40	of	of	ADP
ajst-19150	30	41	the	the	DET
ajst-19150	30	42	end	end	NOUN
ajst-19150	30	43	tool	tool	NOUN
ajst-19150	30	44	.	.	PUNCT
ajst-19150	31	1	because	because	SCONJ
ajst-19150	31	2	the	the	DET
ajst-19150	31	3	robot	robot	NOUN
ajst-19150	31	4	in	in	ADP
ajst-19150	31	5	this	this	DET
ajst-19150	31	6	article	article	NOUN
ajst-19150	31	7	operates	operate	VERB
ajst-19150	31	8	under	under	ADP
ajst-19150	31	9	lowspeed	lowspeed	ADJ
ajst-19150	31	10	conditions	condition	NOUN
ajst-19150	31	11	,	,	PUNCT
ajst-19150	31	12	only	only	ADV
ajst-19150	31	13	the	the	DET
ajst-19150	31	14	gravity	gravity	NOUN
ajst-19150	31	15	between	between	ADP
ajst-19150	31	16	the	the	DET
ajst-19150	31	17	calibrated	calibrate	VERB
ajst-19150	31	18	workpiece	workpiece	NOUN
ajst-19150	31	19	and	and	CCONJ
ajst-19150	31	20	the	the	DET
ajst-19150	31	21	sensitive	sensitive	ADJ
ajst-19150	31	22	end	end	NOUN
ajst-19150	31	23	of	of	ADP
ajst-19150	31	24	the	the	DET
ajst-19150	31	25	sensor	sensor	NOUN
ajst-19150	31	26	is	be	AUX
ajst-19150	31	27	considered	consider	VERB
ajst-19150	31	28	,	,	PUNCT
ajst-19150	31	29	and	and	CCONJ
ajst-19150	31	30	the	the	DET
ajst-19150	31	31	inertial	inertial	ADJ
ajst-19150	31	32	force	force	NOUN
ajst-19150	31	33	caused	cause	VERB
ajst-19150	31	34	by	by	ADP
ajst-19150	31	35	it	it	PRON
ajst-19150	31	36	is	be	AUX
ajst-19150	31	37	ignored	ignore	VERB
ajst-19150	31	38	.	.	PUNCT
ajst-19150	32	1	the	the	DET
ajst-19150	32	2	model	model	NOUN
ajst-19150	32	3	calculation	calculation	NOUN
ajst-19150	32	4	in	in	ADP
ajst-19150	32	5	this	this	DET
ajst-19150	32	6	article	article	NOUN
ajst-19150	32	7	refers	refer	VERB
ajst-19150	32	8	to	to	ADP
ajst-19150	32	9	the	the	DET
ajst-19150	32	10	theory	theory	NOUN
ajst-19150	32	11	of	of	ADP
ajst-19150	32	12	robot	robot	NOUN
ajst-19150	32	13	statics	statics	PROPN
ajst-19150	33	1	[	[	X
ajst-19150	33	2	10	10	NUM
ajst-19150	33	3	]	]	PUNCT
ajst-19150	33	4	.	.	PUNCT
ajst-19150	34	1	record	record	VERB
ajst-19150	34	2	the	the	DET
ajst-19150	34	3	zero	zero	NUM
ajst-19150	34	4	values	value	NOUN
ajst-19150	34	5	of	of	ADP
ajst-19150	34	6	the	the	DET
ajst-19150	34	7	three	three	NUM
ajst-19150	34	8	force	force	NOUN
ajst-19150	34	9	components	component	NOUN
ajst-19150	34	10	of	of	ADP
ajst-19150	34	11	the	the	DET
ajst-19150	34	12	six	six	NUM
ajst-19150	34	13	-	-	PUNCT
ajst-19150	34	14	axis	axis	NOUN
ajst-19150	34	15	force	force	NOUN
ajst-19150	34	16	sensor	sensor	NOUN
ajst-19150	34	17	as	as	ADP
ajst-19150	34	18	0	0	NUM
ajst-19150	34	19	0	0	NUM
ajst-19150	34	20	0	0	NUM
ajst-19150	34	21	,	,	PUNCT
ajst-19150	34	22	,	,	PUNCT
ajst-19150	34	23	x	x	PROPN
ajst-19150	34	24	y	y	NOUN
ajst-19150	34	25	zf	zf	PROPN
ajst-19150	34	26	f	f	PROPN
ajst-19150	34	27	f	f	PROPN
ajst-19150	34	28	,	,	PUNCT
ajst-19150	34	29	and	and	CCONJ
ajst-19150	34	30	the	the	DET
ajst-19150	34	31	zero	zero	NUM
ajst-19150	34	32	values	value	NOUN
ajst-19150	34	33	of	of	ADP
ajst-19150	34	34	the	the	DET
ajst-19150	34	35	70	70	NUM
ajst-19150	34	36	three	three	NUM
ajst-19150	34	37	torques	torque	NOUN
ajst-19150	34	38	as	as	ADP
ajst-19150	34	39	0	0	NUM
ajst-19150	34	40	0	0	NUM
ajst-19150	34	41	0	0	NUM
ajst-19150	34	42	,	,	PUNCT
ajst-19150	34	43	,	,	PUNCT
ajst-19150	34	44	x	x	PROPN
ajst-19150	34	45	y	y	PROPN
ajst-19150	34	46	zm	zm	PROPN
ajst-19150	34	47	m	m	VERB
ajst-19150	34	48	m	m	VERB
ajst-19150	34	49	.	.	PUNCT
ajst-19150	35	1	establish	establish	VERB
ajst-19150	35	2	the	the	DET
ajst-19150	35	3	sensor	sensor	NOUN
ajst-19150	35	4	coordinate	coordinate	NOUN
ajst-19150	35	5	system	system	NOUN
ajst-19150	35	6	{	{	PUNCT
ajst-19150	35	7	s	s	NOUN
ajst-19150	35	8	}	}	PUNCT
ajst-19150	35	9	,	,	PUNCT
ajst-19150	35	10	end	end	VERB
ajst-19150	35	11	coordinate	coordinate	NOUN
ajst-19150	35	12	system	system	NOUN
ajst-19150	35	13	{	{	PUNCT
ajst-19150	35	14	w	w	NOUN
ajst-19150	35	15	}	}	PUNCT
ajst-19150	35	16	,	,	PUNCT
ajst-19150	35	17	base	base	ADJ
ajst-19150	35	18	coordinate	coordinate	NOUN
ajst-19150	35	19	system	system	NOUN
ajst-19150	35	20	{	{	PUNCT
ajst-19150	35	21	b	b	NOUN
ajst-19150	35	22	}	}	PUNCT
ajst-19150	35	23	,	,	PUNCT
ajst-19150	35	24	and	and	CCONJ
ajst-19150	35	25	axis	axis	ADJ
ajst-19150	35	26	coordinate	coordinate	NOUN
ajst-19150	35	27	system	system	NOUN
ajst-19150	35	28	{	{	PUNCT
ajst-19150	35	29	p	p	X
ajst-19150	35	30	}	}	PUNCT
ajst-19150	35	31	,	,	PUNCT
ajst-19150	35	32	as	as	SCONJ
ajst-19150	35	33	shown	show	VERB
ajst-19150	35	34	in	in	ADP
ajst-19150	35	35	figure	figure	NOUN
ajst-19150	35	36	1	1	NUM
ajst-19150	35	37	.	.	PUNCT
ajst-19150	36	1	the	the	DET
ajst-19150	36	2	coordinate	coordinate	NOUN
ajst-19150	36	3	system	system	NOUN
ajst-19150	36	4	of	of	ADP
ajst-19150	36	5	the	the	DET
ajst-19150	36	6	six	six	NUM
ajst-19150	36	7	-	-	PUNCT
ajst-19150	36	8	axis	axis	NOUN
ajst-19150	36	9	force	force	NOUN
ajst-19150	36	10	sensor	sensor	NOUN
ajst-19150	36	11	is	be	AUX
ajst-19150	36	12	a	a	DET
ajst-19150	36	13	cartesian	cartesian	ADJ
ajst-19150	36	14	coordinate	coordinate	NOUN
ajst-19150	36	15	system	system	NOUN
ajst-19150	36	16	with	with	ADP
ajst-19150	36	17	three	three	NUM
ajst-19150	36	18	directional	directional	ADJ
ajst-19150	36	19	axes	axis	NOUN
ajst-19150	36	20	.	.	PUNCT
ajst-19150	37	1	the	the	DET
ajst-19150	37	2	gravity	gravity	NOUN
ajst-19150	37	3	of	of	ADP
ajst-19150	37	4	the	the	DET
ajst-19150	37	5	end	end	NOUN
ajst-19150	37	6	module	module	NOUN
ajst-19150	37	7	is	be	AUX
ajst-19150	37	8	g	g	NOUN
ajst-19150	37	9	,	,	PUNCT
ajst-19150	37	10	and	and	CCONJ
ajst-19150	37	11	the	the	DET
ajst-19150	37	12	center	center	NOUN
ajst-19150	37	13	of	of	ADP
ajst-19150	37	14	mass	mass	NOUN
ajst-19150	37	15	of	of	ADP
ajst-19150	37	16	the	the	DET
ajst-19150	37	17	end	end	NOUN
ajst-19150	37	18	module	module	NOUN
ajst-19150	37	19	can	can	AUX
ajst-19150	37	20	be	be	AUX
ajst-19150	37	21	recorded	record	VERB
ajst-19150	37	22	in	in	ADP
ajst-19150	37	23	the	the	DET
ajst-19150	37	24	force	force	NOUN
ajst-19150	37	25	sensor	sensor	NOUN
ajst-19150	37	26	coordinate	coordinate	NOUN
ajst-19150	37	27	system	system	NOUN
ajst-19150	37	28	.	.	PUNCT
ajst-19150	38	1	the	the	DET
ajst-19150	38	2	force	force	NOUN
ajst-19150	38	3	component	component	NOUN
ajst-19150	38	4	of	of	ADP
ajst-19150	38	5	the	the	DET
ajst-19150	38	6	gravity	gravity	NOUN
ajst-19150	38	7	g	g	NOUN
ajst-19150	38	8	of	of	ADP
ajst-19150	38	9	the	the	DET
ajst-19150	38	10	end	end	NOUN
ajst-19150	38	11	module	module	NOUN
ajst-19150	38	12	in	in	ADP
ajst-19150	38	13	the	the	DET
ajst-19150	38	14	x	x	PROPN
ajst-19150	38	15	,	,	PUNCT
ajst-19150	38	16	y	y	PROPN
ajst-19150	38	17	,	,	PUNCT
ajst-19150	38	18	and	and	CCONJ
ajst-19150	38	19	z	z	NOUN
ajst-19150	38	20	axis	axis	NOUN
ajst-19150	38	21	directions	direction	NOUN
ajst-19150	38	22	of	of	ADP
ajst-19150	38	23	the	the	DET
ajst-19150	38	24	sensor	sensor	NOUN
ajst-19150	38	25	coordinate	coordinate	NOUN
ajst-19150	38	26	system	system	NOUN
ajst-19150	38	27	can	can	AUX
ajst-19150	38	28	be	be	AUX
ajst-19150	38	29	recorded	record	VERB
ajst-19150	38	30	as	as	ADP
ajst-19150	38	31	,	,	PUNCT
ajst-19150	38	32	,	,	PUNCT
ajst-19150	38	33	x	x	PROPN
ajst-19150	38	34	y	y	NOUN
ajst-19150	38	35	zg	zg	PROPN
ajst-19150	38	36	g	g	ADP
ajst-19150	38	37	g	g	PROPN
ajst-19150	38	38	,	,	PUNCT
ajst-19150	38	39	and	and	CCONJ
ajst-19150	38	40	the	the	DET
ajst-19150	38	41	torque	torque	NOUN
ajst-19150	38	42	can	can	AUX
ajst-19150	38	43	be	be	AUX
ajst-19150	38	44	recorded	record	VERB
ajst-19150	38	45	as	as	ADP
ajst-19150	38	46	,	,	PUNCT
ajst-19150	38	47	,	,	PUNCT
ajst-19150	38	48	gx	gx	PROPN
ajst-19150	38	49	gy	gy	PROPN
ajst-19150	38	50	gzm	gzm	PROPN
ajst-19150	38	51	m	m	VERB
ajst-19150	38	52	m	m	VERB
ajst-19150	38	53	in	in	ADP
ajst-19150	38	54	the	the	DET
ajst-19150	38	55	x	x	PROPN
ajst-19150	38	56	,	,	PUNCT
ajst-19150	38	57	y	y	PROPN
ajst-19150	38	58	,	,	PUNCT
ajst-19150	38	59	and	and	CCONJ
ajst-19150	38	60	z	z	NOUN
ajst-19150	38	61	axis	axis	NOUN
ajst-19150	38	62	directions	direction	NOUN
ajst-19150	38	63	of	of	ADP
ajst-19150	38	64	the	the	DET
ajst-19150	38	65	sensor	sensor	NOUN
ajst-19150	38	66	coordinate	coordinate	NOUN
ajst-19150	38	67	system	system	NOUN
ajst-19150	38	68	.	.	PUNCT
ajst-19150	39	1	according	accord	VERB
ajst-19150	39	2	to	to	ADP
ajst-19150	39	3	the	the	DET
ajst-19150	39	4	relationship	relationship	NOUN
ajst-19150	39	5	between	between	ADP
ajst-19150	39	6	force	force	NOUN
ajst-19150	39	7	and	and	CCONJ
ajst-19150	39	8	torque	torque	NOUN
ajst-19150	39	9	,	,	PUNCT
ajst-19150	39	10	refer	refer	VERB
ajst-19150	39	11	to	to	PART
ajst-19150	39	12	figure	figure	VERB
ajst-19150	39	13	1	1	NUM
ajst-19150	39	14	to	to	PART
ajst-19150	39	15	obtain	obtain	VERB
ajst-19150	39	16	:	:	PUNCT
ajst-19150	39	17	gx	gx	PROPN
ajst-19150	39	18	z	z	PROPN
ajst-19150	39	19	y	y	NOUN
ajst-19150	39	20	gy	gy	NOUN
ajst-19150	39	21	x	x	PUNCT
ajst-19150	39	22	z	z	NOUN
ajst-19150	39	23	gz	gz	NOUN
ajst-19150	39	24	x	x	PUNCT
ajst-19150	39	25	x	x	VERB
ajst-19150	39	26	m	m	VERB
ajst-19150	39	27	g	g	NOUN
ajst-19150	39	28	y	y	PROPN
ajst-19150	39	29	g	g	PROPN
ajst-19150	39	30	z	z	NOUN
ajst-19150	39	31	m	m	VERB
ajst-19150	39	32	g	g	NOUN
ajst-19150	39	33	y	y	PROPN
ajst-19150	39	34	g	g	PROPN
ajst-19150	39	35	z	z	NOUN
ajst-19150	39	36	m	m	VERB
ajst-19150	39	37	g	g	NOUN
ajst-19150	39	38	y	y	PROPN
ajst-19150	39	39	g	g	PROPN
ajst-19150	39	40	z	z	NOUN
ajst-19150	39	41			ADP
ajst-19150	40	1			PROPN
ajst-19150	40	2			PROPN
ajst-19150	40	3			PROPN
ajst-19150	40	4			PROPN
ajst-19150	40	5			NUM
ajst-19150	40	6			PROPN
ajst-19150	40	7			PROPN
ajst-19150	40	8			NOUN
ajst-19150	40	9			PROPN
ajst-19150	40	10			NUM
ajst-19150	40	11			NUM
ajst-19150	40	12			PROPN
ajst-19150	40	13			PROPN
ajst-19150	40	14			PROPN
ajst-19150	40	15	(	(	PUNCT
ajst-19150	40	16	1	1	NUM
ajst-19150	40	17	)	)	PUNCT
ajst-19150	40	18	figure	figure	NOUN
ajst-19150	40	19	1	1	NUM
ajst-19150	40	20	.	.	PUNCT
ajst-19150	40	21	coordinate	coordinate	NOUN
ajst-19150	40	22	system	system	NOUN
ajst-19150	40	23	establishment	establishment	NOUN
ajst-19150	40	24	the	the	DET
ajst-19150	40	25	three	three	NUM
ajst-19150	40	26	force	force	NOUN
ajst-19150	40	27	components	component	NOUN
ajst-19150	40	28	of	of	ADP
ajst-19150	40	29	the	the	DET
ajst-19150	40	30	generalized	generalized	ADJ
ajst-19150	40	31	six	six	NUM
ajst-19150	40	32	-	-	PUNCT
ajst-19150	40	33	axis	axis	NOUN
ajst-19150	40	34	force	force	NOUN
ajst-19150	40	35	vector	vector	NOUN
ajst-19150	40	36	directly	directly	ADV
ajst-19150	40	37	measured	measure	VERB
ajst-19150	40	38	by	by	ADP
ajst-19150	40	39	the	the	DET
ajst-19150	40	40	six	six	NUM
ajst-19150	40	41	-	-	PUNCT
ajst-19150	40	42	force	force	NOUN
ajst-19150	40	43	sensor	sensor	NOUN
ajst-19150	40	44	are	be	AUX
ajst-19150	40	45	represented	represent	VERB
ajst-19150	40	46	as	as	ADP
ajst-19150	40	47	0	0	NUM
ajst-19150	40	48	0	0	NUM
ajst-19150	40	49	0	0	NUM
ajst-19150	40	50	,	,	PUNCT
ajst-19150	40	51	,	,	PUNCT
ajst-19150	40	52	x	x	PROPN
ajst-19150	41	1	y	y	NOUN
ajst-19150	41	2	zf	zf	PROPN
ajst-19150	41	3	f	f	PROPN
ajst-19150	41	4	f	f	PROPN
ajst-19150	41	5	and	and	CCONJ
ajst-19150	41	6	the	the	DET
ajst-19150	41	7	three	three	NUM
ajst-19150	41	8	torque	torque	NOUN
ajst-19150	41	9	components	component	NOUN
ajst-19150	41	10	are	be	AUX
ajst-19150	41	11	denoted	denote	VERB
ajst-19150	41	12	as	as	ADP
ajst-19150	41	13	0	0	NUM
ajst-19150	41	14	0	0	NUM
ajst-19150	41	15	0	0	NUM
ajst-19150	41	16	,	,	PUNCT
ajst-19150	41	17	,	,	PUNCT
ajst-19150	41	18	x	x	PROPN
ajst-19150	42	1	y	y	NOUN
ajst-19150	42	2	zf	zf	PROPN
ajst-19150	42	3	f	f	PROPN
ajst-19150	42	4	f	f	PROPN
ajst-19150	42	5	.	.	PUNCT
ajst-19150	43	1	assuming	assume	VERB
ajst-19150	43	2	that	that	SCONJ
ajst-19150	43	3	the	the	DET
ajst-19150	43	4	end	end	NOUN
ajst-19150	43	5	module	module	NOUN
ajst-19150	43	6	of	of	ADP
ajst-19150	43	7	the	the	DET
ajst-19150	43	8	robot	robot	NOUN
ajst-19150	43	9	is	be	AUX
ajst-19150	43	10	not	not	PART
ajst-19150	43	11	subjected	subject	VERB
ajst-19150	43	12	to	to	ADP
ajst-19150	43	13	contact	contact	NOUN
ajst-19150	43	14	forces	force	NOUN
ajst-19150	43	15	from	from	ADP
ajst-19150	43	16	the	the	DET
ajst-19150	43	17	environment	environment	NOUN
ajst-19150	43	18	,	,	PUNCT
ajst-19150	43	19	the	the	DET
ajst-19150	43	20	force	force	NOUN
ajst-19150	43	21	and	and	CCONJ
ajst-19150	43	22	torque	torque	NOUN
ajst-19150	43	23	values	value	NOUN
ajst-19150	43	24	measured	measure	VERB
ajst-19150	43	25	by	by	ADP
ajst-19150	43	26	the	the	DET
ajst-19150	43	27	sensor	sensor	NOUN
ajst-19150	43	28	are	be	AUX
ajst-19150	43	29	only	only	ADV
ajst-19150	43	30	composed	compose	VERB
ajst-19150	43	31	of	of	ADP
ajst-19150	43	32	the	the	DET
ajst-19150	43	33	gravity	gravity	NOUN
ajst-19150	43	34	and	and	CCONJ
ajst-19150	43	35	zero	zero	NUM
ajst-19150	43	36	point	point	NOUN
ajst-19150	43	37	values	value	NOUN
ajst-19150	43	38	of	of	ADP
ajst-19150	43	39	the	the	DET
ajst-19150	43	40	end	end	NOUN
ajst-19150	43	41	module	module	NOUN
ajst-19150	43	42	,	,	PUNCT
ajst-19150	43	43	thus	thus	ADV
ajst-19150	43	44	obtaining	obtain	VERB
ajst-19150	43	45	0	0	NUM
ajst-19150	43	46	0	0	NUM
ajst-19150	43	47	0	0	NUM
ajst-19150	43	48	0	0	NUM
ajst-19150	43	49	0	0	NUM
ajst-19150	43	50	0	0	NUM
ajst-19150	44	1	x	x	SYM
ajst-19150	44	2	x	x	PUNCT
ajst-19150	44	3	x	x	PUNCT
ajst-19150	44	4	y	y	VERB
ajst-19150	44	5	y	y	PROPN
ajst-19150	44	6	y	y	PROPN
ajst-19150	44	7	z	z	PROPN
ajst-19150	44	8	z	z	PROPN
ajst-19150	44	9	z	z	PUNCT
ajst-19150	44	10	gx	gx	PROPN
ajst-19150	44	11	x	x	PUNCT
ajst-19150	44	12	x	x	X
ajst-19150	44	13	gy	gy	PROPN
ajst-19150	44	14	y	y	PROPN
ajst-19150	44	15	y	y	PROPN
ajst-19150	44	16	gz	gz	PROPN
ajst-19150	44	17	z	z	PROPN
ajst-19150	44	18	z	z	PROPN
ajst-19150	45	1	g	g	PROPN
ajst-19150	45	2	f	f	PROPN
ajst-19150	46	1	f	f	PROPN
ajst-19150	46	2	g	g	PROPN
ajst-19150	46	3	f	f	PROPN
ajst-19150	47	1	f	f	PROPN
ajst-19150	47	2	g	g	PROPN
ajst-19150	47	3	f	f	PROPN
ajst-19150	48	1	f	f	PROPN
ajst-19150	48	2	m	m	VERB
ajst-19150	48	3	m	m	VERB
ajst-19150	48	4	m	m	VERB
ajst-19150	48	5	m	m	VERB
ajst-19150	48	6	m	m	VERB
ajst-19150	48	7	m	m	VERB
ajst-19150	48	8	m	m	VERB
ajst-19150	48	9	m	m	VERB
ajst-19150	48	10	m	m	PROPN
ajst-19150	48	11			PROPN
ajst-19150	48	12			PROPN
ajst-19150	48	13			NUM
ajst-19150	48	14			NOUN
ajst-19150	48	15			PROPN
ajst-19150	48	16			X
ajst-19150	48	17			NOUN
ajst-19150	48	18			NOUN
ajst-19150	48	19			NUM
ajst-19150	48	20			NOUN
ajst-19150	48	21			NOUN
ajst-19150	48	22			NUM
ajst-19150	48	23			PROPN
ajst-19150	48	24			PROPN
ajst-19150	48	25			NUM
ajst-19150	48	26			PROPN
ajst-19150	48	27			PROPN
ajst-19150	48	28	(	(	PUNCT
ajst-19150	48	29	2	2	NUM
ajst-19150	48	30	)	)	PUNCT
ajst-19150	48	31	substituting	substitute	VERB
ajst-19150	48	32	(	(	PUNCT
ajst-19150	48	33	2	2	NUM
ajst-19150	48	34	)	)	PUNCT
ajst-19150	48	35	into	into	ADP
ajst-19150	48	36	(	(	PUNCT
ajst-19150	48	37	1	1	NUM
ajst-19150	48	38	)	)	PUNCT
ajst-19150	48	39	yields	yield	NOUN
ajst-19150	48	40	:	:	PUNCT
ajst-19150	48	41	0	0	NUM
ajst-19150	48	42	0	0	NUM
ajst-19150	48	43	0	0	NUM
ajst-19150	48	44	0	0	NUM
ajst-19150	48	45	0	0	NUM
ajst-19150	48	46	0	0	NUM
ajst-19150	48	47	0	0	NUM
ajst-19150	48	48	0	0	NUM
ajst-19150	48	49	0	0	NUM
ajst-19150	49	1	x	x	SYM
ajst-19150	49	2	z	z	VERB
ajst-19150	49	3	y	y	PROPN
ajst-19150	49	4	y	y	PROPN
ajst-19150	49	5	y	y	PROPN
ajst-19150	49	6	z	z	PROPN
ajst-19150	49	7	y	y	PROPN
ajst-19150	49	8	x	x	X
ajst-19150	49	9	z	z	VERB
ajst-19150	49	10	y	y	NOUN
ajst-19150	49	11	z	z	NOUN
ajst-19150	49	12	x	x	PUNCT
ajst-19150	50	1	z	z	NOUN
ajst-19150	50	2	y	y	NOUN
ajst-19150	50	3	x	x	X
ajst-19150	50	4	z	z	NOUN
ajst-19150	50	5	x	x	PUNCT
ajst-19150	51	1	y	y	NOUN
ajst-19150	51	2	m	m	VERB
ajst-19150	51	3	f	f	NOUN
ajst-19150	51	4	y	y	PROPN
ajst-19150	51	5	f	f	PROPN
ajst-19150	52	1	z	z	NOUN
ajst-19150	52	2	m	m	VERB
ajst-19150	53	1	f	f	X
ajst-19150	53	2	z	z	PROPN
ajst-19150	53	3	f	f	PROPN
ajst-19150	53	4	y	y	PROPN
ajst-19150	53	5	m	m	VERB
ajst-19150	53	6	f	f	NOUN
ajst-19150	53	7	z	z	NOUN
ajst-19150	53	8	f	f	PROPN
ajst-19150	54	1	x	x	X
ajst-19150	55	1	m	m	VERB
ajst-19150	55	2	f	f	NOUN
ajst-19150	55	3	x	x	X
ajst-19150	55	4	f	f	PROPN
ajst-19150	56	1	z	z	NOUN
ajst-19150	56	2	m	m	VERB
ajst-19150	56	3	f	f	NOUN
ajst-19150	56	4	x	x	X
ajst-19150	56	5	f	f	VERB
ajst-19150	57	1	y	y	PROPN
ajst-19150	57	2	m	m	VERB
ajst-19150	57	3	f	f	VERB
ajst-19150	57	4	y	y	PROPN
ajst-19150	57	5	f	f	PROPN
ajst-19150	58	1	x	x	PUNCT
ajst-19150	58	2			ADP
ajst-19150	59	1			PROPN
ajst-19150	59	2			PROPN
ajst-19150	59	3			PROPN
ajst-19150	59	4			PROPN
ajst-19150	59	5			PROPN
ajst-19150	59	6			PROPN
ajst-19150	59	7			PROPN
ajst-19150	59	8			PROPN
ajst-19150	59	9			PROPN
ajst-19150	59	10			PRON
ajst-19150	59	11			PROPN
ajst-19150	59	12			PROPN
ajst-19150	59	13			PROPN
ajst-19150	59	14			PROPN
ajst-19150	59	15			PROPN
ajst-19150	59	16			PROPN
ajst-19150	59	17			AUX
ajst-19150	59	18			PROPN
ajst-19150	59	19			PROPN
ajst-19150	59	20			NUM
ajst-19150	59	21			NUM
ajst-19150	59	22			PROPN
ajst-19150	59	23			PROPN
ajst-19150	59	24			PROPN
ajst-19150	59	25			PROPN
ajst-19150	59	26			PROPN
ajst-19150	59	27			AUX
ajst-19150	59	28			PROPN
ajst-19150	59	29			PROPN
ajst-19150	59	30	(	(	PUNCT
ajst-19150	59	31	3	3	NUM
ajst-19150	59	32	)	)	PUNCT
ajst-19150	59	33	in	in	ADP
ajst-19150	59	34	equation	equation	NOUN
ajst-19150	59	35	(	(	PUNCT
ajst-19150	59	36	3	3	NUM
ajst-19150	59	37	)	)	PUNCT
ajst-19150	59	38	,	,	PUNCT
ajst-19150	59	39	0	0	NUM
ajst-19150	59	40	0	0	NUM
ajst-19150	59	41	0	0	NUM
ajst-19150	59	42	0	0	NUM
ajst-19150	59	43	0	0	NUM
ajst-19150	59	44	0	0	NUM
ajst-19150	59	45	,	,	PUNCT
ajst-19150	59	46	,	,	PUNCT
ajst-19150	59	47	,	,	PUNCT
ajst-19150	59	48	,	,	PUNCT
ajst-19150	59	49	,	,	PUNCT
ajst-19150	59	50	,	,	PUNCT
ajst-19150	59	51	,	,	PUNCT
ajst-19150	59	52	,	,	PUNCT
ajst-19150	59	53	x	x	X
ajst-19150	59	54	y	y	NOUN
ajst-19150	59	55	z	z	NOUN
ajst-19150	59	56	x	x	PROPN
ajst-19150	60	1	y	y	NOUN
ajst-19150	60	2	zf	zf	PROPN
ajst-19150	61	1	f	f	PROPN
ajst-19150	61	2	f	f	PROPN
ajst-19150	61	3	m	m	VERB
ajst-19150	61	4	m	m	VERB
ajst-19150	61	5	m	m	VERB
ajst-19150	61	6	x	x	X
ajst-19150	61	7	y	y	PROPN
ajst-19150	61	8	z	z	PROPN
ajst-19150	61	9	is	be	AUX
ajst-19150	61	10	a	a	DET
ajst-19150	61	11	constant	constant	ADJ
ajst-19150	61	12	,	,	PUNCT
ajst-19150	61	13	so	so	SCONJ
ajst-19150	61	14	that	that	SCONJ
ajst-19150	61	15	1	1	NUM
ajst-19150	61	16	0	0	NUM
ajst-19150	61	17	0	0	NUM
ajst-19150	61	18	0	0	NUM
ajst-19150	61	19	2	2	NUM
ajst-19150	61	20	0	0	NUM
ajst-19150	61	21	0	0	NUM
ajst-19150	61	22	0	0	NUM
ajst-19150	61	23	3	3	NUM
ajst-19150	61	24	0	0	NUM
ajst-19150	61	25	0	0	NUM
ajst-19150	61	26	0	0	NUM
ajst-19150	62	1	y	y	PROPN
ajst-19150	62	2	y	y	PROPN
ajst-19150	62	3	z	z	NOUN
ajst-19150	62	4	y	y	PROPN
ajst-19150	62	5	z	z	NOUN
ajst-19150	62	6	x	x	SYM
ajst-19150	62	7	z	z	NOUN
ajst-19150	62	8	x	x	PUNCT
ajst-19150	62	9	y	y	NOUN
ajst-19150	62	10	k	k	NOUN
ajst-19150	62	11	m	m	VERB
ajst-19150	62	12	f	f	X
ajst-19150	62	13	z	z	NOUN
ajst-19150	62	14	f	f	PROPN
ajst-19150	63	1	y	y	PROPN
ajst-19150	63	2	k	k	PROPN
ajst-19150	63	3	m	m	VERB
ajst-19150	63	4	f	f	NOUN
ajst-19150	63	5	x	x	X
ajst-19150	63	6	f	f	PROPN
ajst-19150	63	7	z	z	PROPN
ajst-19150	64	1	k	k	NOUN
ajst-19150	64	2	m	m	VERB
ajst-19150	64	3	f	f	NOUN
ajst-19150	64	4	y	y	PROPN
ajst-19150	64	5	f	f	PROPN
ajst-19150	64	6	x	x	PUNCT
ajst-19150	64	7			ADP
ajst-19150	64	8			PROPN
ajst-19150	64	9			PROPN
ajst-19150	64	10			PROPN
ajst-19150	64	11			PROPN
ajst-19150	64	12			PROPN
ajst-19150	65	1			NUM
ajst-19150	65	2			PROPN
ajst-19150	65	3			PUNCT
ajst-19150	65	4			AUX
ajst-19150	65	5			PROPN
ajst-19150	65	6			PROPN
ajst-19150	65	7			NUM
ajst-19150	65	8			PROPN
ajst-19150	65	9			PUNCT
ajst-19150	65	10			X
ajst-19150	65	11			PROPN
ajst-19150	65	12			PROPN
ajst-19150	65	13	(	(	PUNCT
ajst-19150	65	14	4	4	NUM
ajst-19150	65	15	)	)	PUNCT
ajst-19150	65	16	substituting	substitute	VERB
ajst-19150	65	17	equation	equation	NOUN
ajst-19150	65	18	(	(	PUNCT
ajst-19150	65	19	4	4	NUM
ajst-19150	65	20	)	)	PUNCT
ajst-19150	65	21	into	into	ADP
ajst-19150	65	22	equation	equation	NOUN
ajst-19150	65	23	(	(	PUNCT
ajst-19150	65	24	3	3	X
ajst-19150	65	25	)	)	PUNCT
ajst-19150	65	26	yields	yield	NOUN
ajst-19150	65	27	:	:	PUNCT
ajst-19150	66	1	1	1	NUM
ajst-19150	66	2	2	2	NUM
ajst-19150	66	3	3	3	NUM
ajst-19150	66	4	0	0	NUM
ajst-19150	66	5	f	f	X
ajst-19150	66	6	-f	-f	NUM
ajst-19150	67	1	1	1	NUM
ajst-19150	67	2	0	0	NUM
ajst-19150	67	3	0	0	NUM
ajst-19150	68	1	-f	-f	NUM
ajst-19150	68	2	0	0	NUM
ajst-19150	68	3	f	f	NOUN
ajst-19150	68	4	0	0	NUM
ajst-19150	68	5	1	1	NUM
ajst-19150	68	6	0	0	NUM
ajst-19150	68	7	f	f	X
ajst-19150	69	1	-f	-f	NUM
ajst-19150	69	2	0	0	NUM
ajst-19150	69	3	0	0	NUM
ajst-19150	69	4	1	1	NUM
ajst-19150	69	5	0	0	NUM
ajst-19150	69	6	z	z	NOUN
ajst-19150	69	7	yx	yx	ADP
ajst-19150	69	8	y	y	PROPN
ajst-19150	69	9	z	z	PROPN
ajst-19150	69	10	x	x	PUNCT
ajst-19150	69	11	y	y	NOUN
ajst-19150	69	12	xz	xz	PROPN
ajst-19150	69	13	x	x	VERB
ajst-19150	70	1	y	y	VERB
ajst-19150	70	2	m	m	VERB
ajst-19150	70	3	z	z	NOUN
ajst-19150	70	4	m	m	VERB
ajst-19150	70	5	k	k	NOUN
ajst-19150	70	6	m	m	VERB
ajst-19150	70	7	k	k	PROPN
ajst-19150	70	8	k	k	PROPN
ajst-19150	70	9			PROPN
ajst-19150	70	10			ADJ
ajst-19150	70	11			NOUN
ajst-19150	70	12			NOUN
ajst-19150	70	13			NOUN
ajst-19150	70	14			NOUN
ajst-19150	70	15			PROPN
ajst-19150	70	16			X
ajst-19150	70	17			NOUN
ajst-19150	70	18			NOUN
ajst-19150	70	19			NOUN
ajst-19150	70	20			NOUN
ajst-19150	71	1			NUM
ajst-19150	71	2			NOUN
ajst-19150	71	3			NOUN
ajst-19150	71	4			PROPN
ajst-19150	71	5			PROPN
ajst-19150	71	6			PROPN
ajst-19150	71	7			PROPN
ajst-19150	71	8			PROPN
ajst-19150	71	9			PROPN
ajst-19150	71	10			PROPN
ajst-19150	71	11			NOUN
ajst-19150	71	12			PROPN
ajst-19150	71	13			NOUN
ajst-19150	71	14			PROPN
ajst-19150	71	15			NOUN
ajst-19150	71	16			NOUN
ajst-19150	71	17			NOUN
ajst-19150	71	18			PROPN
ajst-19150	71	19			PROPN
ajst-19150	71	20	(	(	PUNCT
ajst-19150	71	21	5	5	NUM
ajst-19150	71	22	)	)	PUNCT
ajst-19150	71	23	control	control	VERB
ajst-19150	71	24	the	the	DET
ajst-19150	71	25	robot	robot	NOUN
ajst-19150	71	26	to	to	PART
ajst-19150	71	27	reach	reach	VERB
ajst-19150	71	28	different	different	ADJ
ajst-19150	71	29	postures	posture	NOUN
ajst-19150	71	30	and	and	CCONJ
ajst-19150	71	31	collect	collect	VERB
ajst-19150	71	32	sensor	sensor	NOUN
ajst-19150	71	33	data	datum	NOUN
ajst-19150	71	34	for	for	ADP
ajst-19150	71	35	n	n	PROPN
ajst-19150	71	36	(	(	PUNCT
ajst-19150	71	37	n>3	n>3	NOUN
ajst-19150	71	38	)	)	PUNCT
ajst-19150	71	39	groups	group	NOUN
ajst-19150	71	40	of	of	ADP
ajst-19150	71	41	non	non	ADJ
ajst-19150	71	42	-	-	ADJ
ajst-19150	71	43	coplanar	coplanar	ADJ
ajst-19150	71	44	robot	robot	NOUN
ajst-19150	71	45	end	end	VERB
ajst-19150	71	46	effector	effector	NOUN
ajst-19150	71	47	postures	posture	NOUN
ajst-19150	71	48	.	.	PUNCT
ajst-19150	72	1	using	use	VERB
ajst-19150	72	2	these	these	DET
ajst-19150	72	3	data	datum	NOUN
ajst-19150	72	4	to	to	PART
ajst-19150	72	5	expand	expand	VERB
ajst-19150	72	6	equation	equation	NOUN
ajst-19150	72	7	(	(	PUNCT
ajst-19150	72	8	5	5	NUM
ajst-19150	72	9	)	)	PUNCT
ajst-19150	72	10	,	,	PUNCT
ajst-19150	72	11	it	it	PRON
ajst-19150	72	12	can	can	AUX
ajst-19150	72	13	be	be	AUX
ajst-19150	72	14	obtained	obtain	VERB
ajst-19150	72	15	that	that	SCONJ
ajst-19150	72	16	:	:	PUNCT
ajst-19150	73	1	1	1	NUM
ajst-19150	73	2	11	11	NUM
ajst-19150	73	3	1	1	NUM
ajst-19150	73	4	11	11	NUM
ajst-19150	73	5	1	1	NUM
ajst-19150	73	6	11	11	NUM
ajst-19150	73	7	2	2	NUM
ajst-19150	73	8	22	22	NUM
ajst-19150	73	9	2	2	NUM
ajst-19150	73	10	2	2	NUM
ajst-19150	73	11	2	2	NUM
ajst-19150	73	12	2	2	NUM
ajst-19150	73	13	22	22	NUM
ajst-19150	73	14	3	3	NUM
ajst-19150	73	15	3	3	NUM
ajst-19150	73	16	3	3	NUM
ajst-19150	73	17	0	0	NUM
ajst-19150	73	18	f	f	X
ajst-19150	73	19	-f	-f	NUM
ajst-19150	73	20	1	1	NUM
ajst-19150	73	21	0	0	NUM
ajst-19150	73	22	0	0	NUM
ajst-19150	74	1	-f	-f	NUM
ajst-19150	74	2	0	0	NUM
ajst-19150	74	3	f	f	NOUN
ajst-19150	74	4	0	0	NUM
ajst-19150	74	5	1	1	NUM
ajst-19150	74	6	0	0	NUM
ajst-19150	74	7	f	f	X
ajst-19150	75	1	-f	-f	NUM
ajst-19150	75	2	0	0	NUM
ajst-19150	75	3	0	0	NUM
ajst-19150	75	4	1	1	NUM
ajst-19150	75	5	0	0	NUM
ajst-19150	75	6	0	0	NUM
ajst-19150	76	1	f	f	X
ajst-19150	77	1	-f	-f	NUM
ajst-19150	78	1	1	1	NUM
ajst-19150	78	2	0	0	NUM
ajst-19150	78	3	0	0	NUM
ajst-19150	79	1	-f	-f	NUM
ajst-19150	79	2	0	0	NUM
ajst-19150	79	3	f	f	NOUN
ajst-19150	79	4	0	0	NUM
ajst-19150	79	5	1	1	NUM
ajst-19150	79	6	0	0	NUM
ajst-19150	79	7	f	f	X
ajst-19150	80	1	-f	-f	NUM
ajst-19150	80	2	0	0	NUM
ajst-19150	80	3	0	0	NUM
ajst-19150	80	4	1	1	NUM
ajst-19150	80	5	z	z	NOUN
ajst-19150	80	6	yx	yx	NOUN
ajst-19150	80	7	z	z	PROPN
ajst-19150	81	1	xy	xy	PROPN
ajst-19150	82	1	y	y	PROPN
ajst-19150	82	2	xz	xz	PROPN
ajst-19150	82	3	z	z	PROPN
ajst-19150	82	4	yx	yx	PROPN
ajst-19150	82	5	y	y	PROPN
ajst-19150	82	6	z	z	PROPN
ajst-19150	82	7	x	x	PUNCT
ajst-19150	82	8	y	y	NOUN
ajst-19150	82	9	xz	xz	PROPN
ajst-19150	82	10	x	x	PROPN
ajst-19150	82	11	y	y	PROPN
ajst-19150	82	12	z	z	NOUN
ajst-19150	82	13	m	m	VERB
ajst-19150	82	14	m	m	VERB
ajst-19150	82	15	m	m	VERB
ajst-19150	82	16	m	m	VERB
ajst-19150	82	17	m	m	VERB
ajst-19150	82	18	m	m	VERB
ajst-19150	82	19	m	m	VERB
ajst-19150	82	20	m	m	VERB
ajst-19150	82	21	m	m	VERB
ajst-19150	82	22			ADJ
ajst-19150	82	23			ADJ
ajst-19150	82	24			NOUN
ajst-19150	82	25			PROPN
ajst-19150	82	26			NOUN
ajst-19150	82	27			NOUN
ajst-19150	82	28			NOUN
ajst-19150	82	29			NOUN
ajst-19150	82	30			NOUN
ajst-19150	82	31			NOUN
ajst-19150	82	32			NOUN
ajst-19150	82	33			NOUN
ajst-19150	82	34			NOUN
ajst-19150	82	35			NOUN
ajst-19150	82	36			NOUN
ajst-19150	82	37			NOUN
ajst-19150	82	38			NUM
ajst-19150	82	39			NOUN
ajst-19150	82	40			NOUN
ajst-19150	82	41			NOUN
ajst-19150	82	42			NOUN
ajst-19150	82	43			NOUN
ajst-19150	82	44			NOUN
ajst-19150	82	45			NOUN
ajst-19150	82	46			NOUN
ajst-19150	82	47			NOUN
ajst-19150	82	48			NOUN
ajst-19150	82	49			NOUN
ajst-19150	82	50			NOUN
ajst-19150	82	51			NOUN
ajst-19150	82	52			NOUN
ajst-19150	82	53			NOUN
ajst-19150	82	54			PROPN
ajst-19150	82	55			NOUN
ajst-19150	82	56	1	1	NUM
ajst-19150	82	57	2	2	NUM
ajst-19150	82	58	3	3	NUM
ajst-19150	82	59	0	0	NUM
ajst-19150	82	60	0	0	NUM
ajst-19150	83	1	f	f	X
ajst-19150	83	2	-f	-f	NUM
ajst-19150	84	1	1	1	NUM
ajst-19150	84	2	0	0	NUM
ajst-19150	84	3	0	0	NUM
ajst-19150	85	1	-f	-f	NUM
ajst-19150	85	2	0	0	NUM
ajst-19150	85	3	f	f	NOUN
ajst-19150	85	4	0	0	NUM
ajst-19150	85	5	1	1	NUM
ajst-19150	85	6	0	0	NUM
ajst-19150	85	7	f	f	X
ajst-19150	86	1	-f	-f	NUM
ajst-19150	86	2	0	0	NUM
ajst-19150	86	3	0	0	NUM
ajst-19150	86	4	1	1	NUM
ajst-19150	86	5	0	0	NUM
ajst-19150	86	6	zn	zn	NUM
ajst-19150	86	7	yn	yn	INTJ
ajst-19150	86	8	zn	zn	INTJ
ajst-19150	86	9	xn	xn	PROPN
ajst-19150	87	1	yn	yn	INTJ
ajst-19150	87	2	xn	xn	PROPN
ajst-19150	88	1	x	x	PUNCT
ajst-19150	88	2	y	y	PROPN
ajst-19150	88	3	z	z	NOUN
ajst-19150	88	4	k	k	PROPN
ajst-19150	89	1	k	k	PROPN
ajst-19150	89	2	k	k	PROPN
ajst-19150	89	3			PROPN
ajst-19150	89	4			ADJ
ajst-19150	89	5			NOUN
ajst-19150	89	6			PROPN
ajst-19150	89	7			NOUN
ajst-19150	89	8			NOUN
ajst-19150	89	9			NOUN
ajst-19150	89	10			NOUN
ajst-19150	89	11			NUM
ajst-19150	89	12			X
ajst-19150	89	13			ADJ
ajst-19150	89	14			NOUN
ajst-19150	89	15			PROPN
ajst-19150	89	16			PROPN
ajst-19150	89	17			NOUN
ajst-19150	89	18			PROPN
ajst-19150	89	19			PROPN
ajst-19150	89	20			NOUN
ajst-19150	89	21			PROPN
ajst-19150	89	22			PROPN
ajst-19150	89	23			NOUN
ajst-19150	89	24			PROPN
ajst-19150	89	25			PROPN
ajst-19150	89	26			NOUN
ajst-19150	89	27			PROPN
ajst-19150	89	28			PROPN
ajst-19150	89	29			NOUN
ajst-19150	89	30			PROPN
ajst-19150	89	31			PROPN
ajst-19150	89	32			NOUN
ajst-19150	89	33			PROPN
ajst-19150	89	34			PROPN
ajst-19150	89	35			NOUN
ajst-19150	89	36			ADJ
ajst-19150	89	37			NOUN
ajst-19150	89	38			PROPN
ajst-19150	89	39			NOUN
ajst-19150	89	40			NOUN
ajst-19150	89	41			NOUN
ajst-19150	89	42			NOUN
ajst-19150	89	43			VERB
ajst-19150	89	44			PROPN
ajst-19150	89	45			PROPN
ajst-19150	89	46			NOUN
ajst-19150	89	47	(	(	PUNCT
ajst-19150	89	48	6	6	NUM
ajst-19150	89	49	)	)	PUNCT
ajst-19150	89	50	it	it	PRON
ajst-19150	89	51	can	can	AUX
ajst-19150	89	52	be	be	AUX
ajst-19150	89	53	expressed	express	VERB
ajst-19150	89	54	as	as	ADP
ajst-19150	89	55	:	:	PUNCT
ajst-19150	89	56	m	m	VERB
ajst-19150	89	57	f	f	VERB
ajst-19150	89	58	p	p	ADV
ajst-19150	89	59			NUM
ajst-19150	89	60	(	(	PUNCT
ajst-19150	89	61	7	7	NUM
ajst-19150	89	62	)	)	PUNCT
ajst-19150	89	63	wherein	wherein	ADJ
ajst-19150	89	64	:	:	PUNCT
ajst-19150	90	1	71	71	NUM
ajst-19150	90	2	1	1	NUM
ajst-19150	90	3	2	2	NUM
ajst-19150	90	4	3	3	NUM
ajst-19150	90	5	x	x	SYM
ajst-19150	90	6	y	y	NOUN
ajst-19150	90	7	z	z	PROPN
ajst-19150	90	8	p	p	PROPN
ajst-19150	91	1	k	k	PROPN
ajst-19150	91	2	k	k	PROPN
ajst-19150	91	3	k	k	PROPN
ajst-19150	91	4			PROPN
ajst-19150	91	5			ADJ
ajst-19150	91	6			NOUN
ajst-19150	91	7			PROPN
ajst-19150	91	8			NOUN
ajst-19150	91	9			NOUN
ajst-19150	91	10			NOUN
ajst-19150	91	11			NOUN
ajst-19150	91	12			NUM
ajst-19150	91	13			NOUN
ajst-19150	91	14			NOUN
ajst-19150	91	15			NOUN
ajst-19150	91	16			NOUN
ajst-19150	91	17			NOUN
ajst-19150	91	18			NOUN
ajst-19150	91	19			NOUN
ajst-19150	91	20			NOUN
ajst-19150	91	21			NOUN
ajst-19150	91	22			PROPN
ajst-19150	91	23			PROPN
ajst-19150	91	24	(	(	PUNCT
ajst-19150	91	25	8)	8)	NUM
ajst-19150	91	26	multiplying	multiply	VERB
ajst-19150	91	27	tf	tf	NUM
ajst-19150	91	28	to	to	ADP
ajst-19150	91	29	the	the	DET
ajst-19150	91	30	left	left	NOUN
ajst-19150	91	31	on	on	ADP
ajst-19150	91	32	both	both	DET
ajst-19150	91	33	sides	side	NOUN
ajst-19150	91	34	of	of	ADP
ajst-19150	91	35	(	(	PUNCT
ajst-19150	91	36	7	7	X
ajst-19150	91	37	)	)	PUNCT
ajst-19150	91	38	yields	yield	NOUN
ajst-19150	91	39	:	:	PUNCT
ajst-19150	91	40	1	1	NUM
ajst-19150	91	41	(	(	PUNCT
ajst-19150	91	42	)	)	PUNCT
ajst-19150	91	43	t	t	PROPN
ajst-19150	91	44	tp	tp	NOUN
ajst-19150	91	45	f	f	PROPN
ajst-19150	91	46	f	f	PROPN
ajst-19150	91	47	f	f	PROPN
ajst-19150	91	48	m	m	PROPN
ajst-19150	91	49			PROPN
ajst-19150	91	50	(	(	PUNCT
ajst-19150	91	51	9	9	NUM
ajst-19150	91	52	)	)	PUNCT
ajst-19150	91	53	so	so	ADV
ajst-19150	91	54	,	,	PUNCT
ajst-19150	91	55	the	the	DET
ajst-19150	91	56	center	center	NOUN
ajst-19150	91	57	of	of	ADP
ajst-19150	91	58	mass	mass	NOUN
ajst-19150	91	59	position	position	NOUN
ajst-19150	91	60			NOUN
ajst-19150	91	61			PROPN
ajst-19150	91	62	,	,	PUNCT
ajst-19150	91	63	,	,	PUNCT
ajst-19150	91	64	x	x	PROPN
ajst-19150	91	65	y	y	PROPN
ajst-19150	91	66	z	z	PROPN
ajst-19150	91	67	and	and	CCONJ
ajst-19150	91	68	constant	constant	ADJ
ajst-19150	91	69	1	1	NUM
ajst-19150	91	70	2	2	NUM
ajst-19150	91	71	3k	3k	NOUN
ajst-19150	91	72	k	k	PROPN
ajst-19150	91	73	k	k	X
ajst-19150	91	74	、	、	PROPN
ajst-19150	91	75	、	、	PROPN
ajst-19150	91	76	of	of	ADP
ajst-19150	91	77	the	the	DET
ajst-19150	91	78	end	end	NOUN
ajst-19150	91	79	module	module	NOUN
ajst-19150	91	80	were	be	AUX
ajst-19150	91	81	obtained	obtain	VERB
ajst-19150	91	82	.	.	PUNCT
ajst-19150	92	1	2.2	2.2	NUM
ajst-19150	92	2	.	.	PUNCT
ajst-19150	93	1	sensor	sensor	NOUN
ajst-19150	93	2	installation	installation	NOUN
ajst-19150	93	3	inclination	inclination	NOUN
ajst-19150	93	4	angle	angle	NOUN
ajst-19150	93	5	and	and	CCONJ
ajst-19150	93	6	zero	zero	NUM
ajst-19150	93	7	point	point	NOUN
ajst-19150	93	8	identification	identification	NOUN
ajst-19150	93	9	.	.	PUNCT
ajst-19150	94	1	there	there	PRON
ajst-19150	94	2	may	may	AUX
ajst-19150	94	3	be	be	AUX
ajst-19150	94	4	a	a	DET
ajst-19150	94	5	certain	certain	ADJ
ajst-19150	94	6	installation	installation	NOUN
ajst-19150	94	7	angle	angle	NOUN
ajst-19150	94	8	deviation	deviation	NOUN
ajst-19150	94	9	between	between	ADP
ajst-19150	94	10	the	the	DET
ajst-19150	94	11	sensor	sensor	NOUN
ajst-19150	94	12	coordinate	coordinate	NOUN
ajst-19150	94	13	system	system	NOUN
ajst-19150	94	14	and	and	CCONJ
ajst-19150	94	15	the	the	DET
ajst-19150	94	16	end	end	NOUN
ajst-19150	94	17	effector	effector	NOUN
ajst-19150	94	18	coordinate	coordinate	NOUN
ajst-19150	94	19	system	system	NOUN
ajst-19150	94	20	of	of	ADP
ajst-19150	94	21	the	the	DET
ajst-19150	94	22	robotic	robotic	ADJ
ajst-19150	94	23	arm	arm	NOUN
ajst-19150	94	24	.	.	PUNCT
ajst-19150	95	1	it	it	PRON
ajst-19150	95	2	can	can	AUX
ajst-19150	95	3	be	be	AUX
ajst-19150	95	4	considered	consider	VERB
ajst-19150	95	5	that	that	SCONJ
ajst-19150	95	6	the	the	DET
ajst-19150	95	7	z	z	NOUN
ajst-19150	95	8	-	-	PUNCT
ajst-19150	95	9	axis	axis	NOUN
ajst-19150	95	10	of	of	ADP
ajst-19150	95	11	the	the	DET
ajst-19150	95	12	sensor	sensor	NOUN
ajst-19150	95	13	coordinate	coordinate	NOUN
ajst-19150	95	14	system	system	NOUN
ajst-19150	95	15	and	and	CCONJ
ajst-19150	95	16	the	the	DET
ajst-19150	95	17	end	end	NOUN
ajst-19150	95	18	effector	effector	NOUN
ajst-19150	95	19	coordinate	coordinate	NOUN
ajst-19150	95	20	system	system	NOUN
ajst-19150	95	21	of	of	ADP
ajst-19150	95	22	the	the	DET
ajst-19150	95	23	robotic	robotic	ADJ
ajst-19150	95	24	arm	arm	NOUN
ajst-19150	95	25	are	be	AUX
ajst-19150	95	26	collinear	collinear	VERB
ajst-19150	95	27	.	.	PUNCT
ajst-19150	96	1	therefore	therefore	ADV
ajst-19150	96	2	,	,	PUNCT
ajst-19150	96	3	the	the	DET
ajst-19150	96	4	sensor	sensor	NOUN
ajst-19150	96	5	coordinate	coordinate	NOUN
ajst-19150	96	6	system	system	NOUN
ajst-19150	96	7	{	{	PUNCT
ajst-19150	96	8	s	s	AUX
ajst-19150	96	9	}	}	PUNCT
ajst-19150	96	10	can	can	AUX
ajst-19150	96	11	be	be	AUX
ajst-19150	96	12	obtained	obtain	VERB
ajst-19150	96	13	by	by	ADP
ajst-19150	96	14	rotating	rotate	VERB
ajst-19150	96	15	the	the	DET
ajst-19150	96	16	robot	robot	NOUN
ajst-19150	96	17	end	end	NOUN
ajst-19150	96	18	effector	effector	NOUN
ajst-19150	96	19	coordinate	coordinate	NOUN
ajst-19150	96	20	system	system	NOUN
ajst-19150	96	21	around	around	ADP
ajst-19150	96	22	its	its	PRON
ajst-19150	96	23	z	z	NOUN
ajst-19150	96	24	-	-	PUNCT
ajst-19150	96	25	axis	axis	NOUN
ajst-19150	96	26	by	by	ADP
ajst-19150	96	27	an	an	DET
ajst-19150	96	28	angle	angle	NOUN
ajst-19150	96	29	of	of	ADP
ajst-19150	96	30	0	0	NUM
ajst-19150	96	31	.	.	PUNCT
ajst-19150	97	1	the	the	DET
ajst-19150	97	2	attitude	attitude	NOUN
ajst-19150	97	3	matrix	matrix	NOUN
ajst-19150	97	4	of	of	ADP
ajst-19150	97	5	{	{	PUNCT
ajst-19150	97	6	w	w	NOUN
ajst-19150	97	7	}	}	PUNCT
ajst-19150	97	8	relative	relative	ADJ
ajst-19150	97	9	to	to	ADP
ajst-19150	97	10	{	{	PUNCT
ajst-19150	97	11	s	s	PRON
ajst-19150	97	12	}	}	PUNCT
ajst-19150	97	13	can	can	AUX
ajst-19150	97	14	be	be	AUX
ajst-19150	97	15	expressed	express	VERB
ajst-19150	97	16	as	as	ADP
ajst-19150	97	17	:	:	PUNCT
ajst-19150	97	18	there	there	PRON
ajst-19150	97	19	may	may	AUX
ajst-19150	97	20	be	be	AUX
ajst-19150	97	21	a	a	DET
ajst-19150	97	22	certain	certain	ADJ
ajst-19150	97	23	installation	installation	NOUN
ajst-19150	97	24	angle	angle	NOUN
ajst-19150	97	25	deviation	deviation	NOUN
ajst-19150	97	26	between	between	ADP
ajst-19150	97	27	the	the	DET
ajst-19150	97	28	sensor	sensor	NOUN
ajst-19150	97	29	coordinate	coordinate	NOUN
ajst-19150	97	30	system	system	NOUN
ajst-19150	97	31	and	and	CCONJ
ajst-19150	97	32	the	the	DET
ajst-19150	97	33	end	end	NOUN
ajst-19150	97	34	effector	effector	NOUN
ajst-19150	97	35	coordinate	coordinate	NOUN
ajst-19150	97	36	system	system	NOUN
ajst-19150	97	37	of	of	ADP
ajst-19150	97	38	the	the	DET
ajst-19150	97	39	robotic	robotic	ADJ
ajst-19150	97	40	arm	arm	NOUN
ajst-19150	97	41	.	.	PUNCT
ajst-19150	98	1	it	it	PRON
ajst-19150	98	2	can	can	AUX
ajst-19150	98	3	be	be	AUX
ajst-19150	98	4	considered	consider	VERB
ajst-19150	98	5	that	that	SCONJ
ajst-19150	98	6	the	the	DET
ajst-19150	98	7	z	z	NOUN
ajst-19150	98	8	-	-	PUNCT
ajst-19150	98	9	axis	axis	NOUN
ajst-19150	98	10	of	of	ADP
ajst-19150	98	11	the	the	DET
ajst-19150	98	12	sensor	sensor	NOUN
ajst-19150	98	13	coordinate	coordinate	NOUN
ajst-19150	98	14	system	system	NOUN
ajst-19150	98	15	and	and	CCONJ
ajst-19150	98	16	the	the	DET
ajst-19150	98	17	end	end	NOUN
ajst-19150	98	18	effector	effector	NOUN
ajst-19150	98	19	coordinate	coordinate	NOUN
ajst-19150	98	20	system	system	NOUN
ajst-19150	98	21	of	of	ADP
ajst-19150	98	22	the	the	DET
ajst-19150	98	23	robotic	robotic	ADJ
ajst-19150	98	24	arm	arm	NOUN
ajst-19150	98	25	are	be	AUX
ajst-19150	98	26	collinear	collinear	VERB
ajst-19150	98	27	.	.	PUNCT
ajst-19150	99	1	therefore	therefore	ADV
ajst-19150	99	2	,	,	PUNCT
ajst-19150	99	3	the	the	DET
ajst-19150	99	4	sensor	sensor	NOUN
ajst-19150	99	5	coordinate	coordinate	NOUN
ajst-19150	99	6	system	system	NOUN
ajst-19150	99	7	{	{	PUNCT
ajst-19150	99	8	s	s	AUX
ajst-19150	99	9	}	}	PUNCT
ajst-19150	99	10	can	can	AUX
ajst-19150	99	11	be	be	AUX
ajst-19150	99	12	obtained	obtain	VERB
ajst-19150	99	13	by	by	ADP
ajst-19150	99	14	rotating	rotate	VERB
ajst-19150	99	15	the	the	DET
ajst-19150	99	16	robot	robot	NOUN
ajst-19150	99	17	end	end	NOUN
ajst-19150	99	18	effector	effector	NOUN
ajst-19150	99	19	coordinate	coordinate	NOUN
ajst-19150	99	20	system	system	NOUN
ajst-19150	99	21	by	by	ADP
ajst-19150	99	22	one	one	NUM
ajst-19150	99	23	angle	angle	NOUN
ajst-19150	99	24			PROPN
ajst-19150	99	25	around	around	ADP
ajst-19150	99	26	its	its	PRON
ajst-19150	99	27	z	z	NOUN
ajst-19150	99	28	-	-	PUNCT
ajst-19150	99	29	axis	axis	NOUN
ajst-19150	99	30	.	.	PUNCT
ajst-19150	100	1	the	the	DET
ajst-19150	100	2	attitude	attitude	NOUN
ajst-19150	100	3	matrix	matrix	NOUN
ajst-19150	100	4	of	of	ADP
ajst-19150	100	5	{	{	PUNCT
ajst-19150	100	6	w	w	NOUN
ajst-19150	100	7	}	}	PUNCT
ajst-19150	100	8	relative	relative	ADJ
ajst-19150	100	9	to	to	ADP
ajst-19150	100	10	{	{	PUNCT
ajst-19150	100	11	s	s	PRON
ajst-19150	100	12	}	}	PUNCT
ajst-19150	100	13	can	can	AUX
ajst-19150	100	14	be	be	AUX
ajst-19150	100	15	expressed	express	VERB
ajst-19150	100	16	as	as	SCONJ
ajst-19150	100	17	:	:	PUNCT
ajst-19150	100	18	cos	cos	PROPN
ajst-19150	100	19	sin	sin	PROPN
ajst-19150	100	20	0	0	NUM
ajst-19150	100	21	-sin	-sin	SYM
ajst-19150	100	22	cos	cos	PROPN
ajst-19150	100	23	0	0	NUM
ajst-19150	100	24	0	0	NUM
ajst-19150	100	25	0	0	NUM
ajst-19150	100	26	1	1	NUM
ajst-19150	100	27	s	s	NOUN
ajst-19150	100	28	wr	wr	NOUN
ajst-19150	100	29			PROPN
ajst-19150	100	30			X
ajst-19150	100	31			PROPN
ajst-19150	100	32			PROPN
ajst-19150	100	33			PROPN
ajst-19150	100	34			ADJ
ajst-19150	100	35			X
ajst-19150	100	36			X
ajst-19150	100	37			NOUN
ajst-19150	100	38			PROPN
ajst-19150	100	39			NOUN
ajst-19150	100	40			PROPN
ajst-19150	100	41			PROPN
ajst-19150	100	42	(	(	PUNCT
ajst-19150	100	43	10	10	NUM
ajst-19150	100	44	)	)	PUNCT
ajst-19150	100	45	the	the	DET
ajst-19150	100	46	base	base	NOUN
ajst-19150	100	47	coordinate	coordinate	NOUN
ajst-19150	100	48	system	system	NOUN
ajst-19150	100	49	can	can	AUX
ajst-19150	100	50	be	be	AUX
ajst-19150	100	51	considered	consider	VERB
ajst-19150	100	52	parallel	parallel	ADJ
ajst-19150	100	53	to	to	ADP
ajst-19150	100	54	the	the	DET
ajst-19150	100	55	direction	direction	NOUN
ajst-19150	100	56	of	of	ADP
ajst-19150	100	57	gravity	gravity	NOUN
ajst-19150	100	58	,	,	PUNCT
ajst-19150	100	59	and	and	CCONJ
ajst-19150	100	60	the	the	DET
ajst-19150	100	61	gravity	gravity	NOUN
ajst-19150	100	62	of	of	ADP
ajst-19150	100	63	the	the	DET
ajst-19150	100	64	end	end	NOUN
ajst-19150	100	65	module	module	NOUN
ajst-19150	100	66	in	in	ADP
ajst-19150	100	67	the	the	DET
ajst-19150	100	68	base	base	NOUN
ajst-19150	100	69	coordinate	coordinate	NOUN
ajst-19150	100	70	system	system	NOUN
ajst-19150	100	71	can	can	AUX
ajst-19150	100	72	be	be	AUX
ajst-19150	100	73	expressed	express	VERB
ajst-19150	100	74	as	as	ADP
ajst-19150	100	75	:	:	PUNCT
ajst-19150	100	76	(	(	PUNCT
ajst-19150	100	77	0,0	0,0	NOUN
ajst-19150	100	78	,	,	PUNCT
ajst-19150	100	79	)	)	PUNCT
ajst-19150	100	80	ttg	ttg	PROPN
ajst-19150	100	81	g	g	PROPN
ajst-19150	100	82			PROPN
ajst-19150	100	83	(	(	PUNCT
ajst-19150	100	84	11	11	NUM
ajst-19150	100	85	)	)	PUNCT
ajst-19150	100	86	by	by	ADP
ajst-19150	100	87	converting	convert	VERB
ajst-19150	100	88	the	the	DET
ajst-19150	100	89	rotation	rotation	NOUN
ajst-19150	100	90	matrix	matrix	NOUN
ajst-19150	100	91	,	,	PUNCT
ajst-19150	100	92	the	the	DET
ajst-19150	100	93	gravity	gravity	NOUN
ajst-19150	100	94	vector	vector	NOUN
ajst-19150	100	95	of	of	ADP
ajst-19150	100	96	the	the	DET
ajst-19150	100	97	end	end	NOUN
ajst-19150	100	98	module	module	NOUN
ajst-19150	100	99	can	can	AUX
ajst-19150	100	100	be	be	AUX
ajst-19150	100	101	represented	represent	VERB
ajst-19150	100	102	in	in	ADP
ajst-19150	100	103	the	the	DET
ajst-19150	100	104	sensor	sensor	NOUN
ajst-19150	100	105	coordinate	coordinate	NOUN
ajst-19150	100	106	system	system	NOUN
ajst-19150	100	107	:	:	PUNCT
ajst-19150	100	108	s	s	X
ajst-19150	100	109	s	s	X
ajst-19150	100	110	w	w	PROPN
ajst-19150	100	111	t	t	PROPN
ajst-19150	100	112	w	w	PROPN
ajst-19150	100	113	b	b	PROPN
ajst-19150	100	114	tg	tg	ADP
ajst-19150	100	115	r	r	NOUN
ajst-19150	100	116	r	r	NOUN
ajst-19150	100	117	g	g	NOUN
ajst-19150	100	118			PROPN
ajst-19150	100	119			PROPN
ajst-19150	100	120	(	(	PUNCT
ajst-19150	100	121	12	12	NUM
ajst-19150	100	122	)	)	PUNCT
ajst-19150	100	123	among	among	ADP
ajst-19150	100	124	them	they	PRON
ajst-19150	100	125	is	be	AUX
ajst-19150	100	126	the	the	DET
ajst-19150	100	127	rotation	rotation	NOUN
ajst-19150	100	128	matrix	matrix	NOUN
ajst-19150	100	129	from	from	ADP
ajst-19150	100	130	the	the	DET
ajst-19150	100	131	base	base	NOUN
ajst-19150	100	132	coordinate	coordinate	NOUN
ajst-19150	100	133	system	system	NOUN
ajst-19150	100	134	to	to	ADP
ajst-19150	100	135	the	the	DET
ajst-19150	100	136	robot	robot	NOUN
ajst-19150	100	137	end	end	NOUN
ajst-19150	100	138	coordinate	coordinate	NOUN
ajst-19150	100	139	system	system	NOUN
ajst-19150	100	140	.	.	PUNCT
ajst-19150	101	1	when	when	SCONJ
ajst-19150	101	2	the	the	DET
ajst-19150	101	3	robot	robot	NOUN
ajst-19150	101	4	has	have	VERB
ajst-19150	101	5	no	no	DET
ajst-19150	101	6	contact	contact	NOUN
ajst-19150	101	7	with	with	ADP
ajst-19150	101	8	the	the	DET
ajst-19150	101	9	environment	environment	NOUN
ajst-19150	101	10	,	,	PUNCT
ajst-19150	101	11	the	the	DET
ajst-19150	101	12	following	follow	VERB
ajst-19150	101	13	equation	equation	NOUN
ajst-19150	101	14	holds	hold	VERB
ajst-19150	101	15	:	:	PUNCT
ajst-19150	101	16	s	s	PART
ajst-19150	101	17	s	s	X
ajst-19150	101	18	s	s	X
ajst-19150	101	19	t	t	X
ajst-19150	101	20	dg	dg	X
ajst-19150	101	21	f	f	PROPN
ajst-19150	101	22	f	f	NUM
ajst-19150	101	23			PROPN
ajst-19150	102	1	(	(	PUNCT
ajst-19150	102	2	13	13	NUM
ajst-19150	102	3	)	)	PUNCT
ajst-19150	102	4	there	there	PRON
ajst-19150	102	5	are	be	VERB
ajst-19150	102	6	:	:	PUNCT
ajst-19150	102	7	11	11	NUM
ajst-19150	102	8	12	12	NUM
ajst-19150	102	9	13	13	NUM
ajst-19150	102	10	0	0	NUM
ajst-19150	102	11	13	13	NUM
ajst-19150	102	12	23	23	NUM
ajst-19150	102	13	21	21	NUM
ajst-19150	102	14	22	22	NUM
ajst-19150	102	15	23	23	NUM
ajst-19150	102	16	0	0	NUM
ajst-19150	102	17	23	23	NUM
ajst-19150	102	18	13	13	NUM
ajst-19150	102	19	31	31	NUM
ajst-19150	102	20	32	32	NUM
ajst-19150	102	21	33	33	NUM
ajst-19150	102	22	330	330	NUM
ajst-19150	102	23	0cos	0cos	PROPN
ajst-19150	102	24	sin	sin	NOUN
ajst-19150	102	25	0	0	NUM
ajst-19150	102	26	0	0	PUNCT
ajst-19150	102	27	cos	cos	PROPN
ajst-19150	102	28	-sin	-sin	PUNCT
ajst-19150	102	29	cos	cos	PROPN
ajst-19150	102	30	0	0	NUM
ajst-19150	102	31	0	0	NUM
ajst-19150	102	32	0	0	NUM
ajst-19150	102	33	sin	sin	NOUN
ajst-19150	102	34	0	0	NUM
ajst-19150	102	35	0	0	NUM
ajst-19150	102	36	1	1	NUM
ajst-19150	102	37	0	0	NUM
ajst-19150	102	38	0	0	NUM
ajst-19150	103	1	x	x	SYM
ajst-19150	103	2	y	y	NOUN
ajst-19150	103	3	z	z	NOUN
ajst-19150	103	4	r	r	NOUN
ajst-19150	103	5	r	r	NOUN
ajst-19150	103	6	r	r	NOUN
ajst-19150	103	7	f	f	NOUN
ajst-19150	103	8	r	r	NOUN
ajst-19150	103	9	r	r	NOUN
ajst-19150	103	10	g	g	NOUN
ajst-19150	103	11	r	r	NOUN
ajst-19150	103	12	r	r	NOUN
ajst-19150	103	13	r	r	NOUN
ajst-19150	103	14	f	f	NOUN
ajst-19150	103	15	r	r	NOUN
ajst-19150	103	16	r	r	NOUN
ajst-19150	103	17	g	g	NOUN
ajst-19150	103	18	g	g	NOUN
ajst-19150	103	19	gr	gr	NUM
ajst-19150	103	20	r	r	NOUN
ajst-19150	103	21	r	r	NOUN
ajst-19150	103	22	rf	rf	NOUN
ajst-19150	103	23			X
ajst-19150	103	24			X
ajst-19150	103	25			PROPN
ajst-19150	103	26			PROPN
ajst-19150	104	1			PROPN
ajst-19150	104	2			PROPN
ajst-19150	104	3			PROPN
ajst-19150	104	4			PROPN
ajst-19150	104	5			X
ajst-19150	105	1			PROPN
ajst-19150	105	2			PROPN
ajst-19150	105	3			INTJ
ajst-19150	105	4			PROPN
ajst-19150	105	5			ADJ
ajst-19150	105	6			PROPN
ajst-19150	105	7			NOUN
ajst-19150	105	8			PROPN
ajst-19150	105	9			PROPN
ajst-19150	105	10			NOUN
ajst-19150	105	11			PROPN
ajst-19150	105	12			NOUN
ajst-19150	105	13			NOUN
ajst-19150	105	14			NOUN
ajst-19150	105	15			NOUN
ajst-19150	105	16			PRON
ajst-19150	105	17			NOUN
ajst-19150	105	18			PROPN
ajst-19150	105	19			NOUN
ajst-19150	105	20			PROPN
ajst-19150	105	21			PROPN
ajst-19150	105	22			NOUN
ajst-19150	105	23			NOUN
ajst-19150	105	24			NOUN
ajst-19150	105	25			NOUN
ajst-19150	105	26			NOUN
ajst-19150	105	27			NOUN
ajst-19150	105	28			NOUN
ajst-19150	105	29			PROPN
ajst-19150	105	30			PROPN
ajst-19150	105	31			NOUN
ajst-19150	105	32			PROPN
ajst-19150	105	33			ADJ
ajst-19150	105	34			PROPN
ajst-19150	105	35			NOUN
ajst-19150	105	36			PROPN
ajst-19150	105	37			PROPN
ajst-19150	105	38			PROPN
ajst-19150	105	39			VERB
ajst-19150	105	40			PROPN
ajst-19150	105	41			PROPN
ajst-19150	105	42	0	0	NUM
ajst-19150	105	43	0	0	NUM
ajst-19150	105	44	0	0	NUM
ajst-19150	106	1	x	x	SYM
ajst-19150	106	2	x	x	PUNCT
ajst-19150	106	3	y	y	VERB
ajst-19150	106	4	y	y	PROPN
ajst-19150	106	5	z	z	PROPN
ajst-19150	106	6	z	z	NOUN
ajst-19150	107	1	f	f	X
ajst-19150	107	2	f	f	X
ajst-19150	107	3	f	f	X
ajst-19150	107	4	f	f	PROPN
ajst-19150	107	5	f	f	PROPN
ajst-19150	107	6	f	f	PROPN
ajst-19150	107	7			PROPN
ajst-19150	107	8			X
ajst-19150	107	9			PROPN
ajst-19150	107	10			PROPN
ajst-19150	107	11			PROPN
ajst-19150	107	12			PROPN
ajst-19150	107	13			NOUN
ajst-19150	107	14			PROPN
ajst-19150	107	15			ADV
ajst-19150	107	16			ADJ
ajst-19150	107	17			ADJ
ajst-19150	107	18			NOUN
ajst-19150	107	19			PROPN
ajst-19150	107	20			NOUN
ajst-19150	107	21			NOUN
ajst-19150	107	22			NOUN
ajst-19150	107	23			X
ajst-19150	107	24			X
ajst-19150	107	25			PROPN
ajst-19150	107	26			PROPN
ajst-19150	107	27	(	(	PUNCT
ajst-19150	107	28	14	14	NUM
ajst-19150	107	29	)	)	PUNCT
ajst-19150	107	30	there	there	PRON
ajst-19150	107	31	are	be	VERB
ajst-19150	107	32	:	:	PUNCT
ajst-19150	107	33	f	f	X
ajst-19150	107	34	r	r	NOUN
ajst-19150	107	35	l	l	NOUN
ajst-19150	107	36			PROPN
ajst-19150	107	37	(	(	PUNCT
ajst-19150	107	38	15	15	NUM
ajst-19150	107	39	)	)	PUNCT
ajst-19150	107	40	wherein	wherein	NOUN
ajst-19150	107	41	:	:	PUNCT
ajst-19150	107	42	0	0	NUM
ajst-19150	107	43	0	0	NUM
ajst-19150	107	44	0	0	NUM
ajst-19150	107	45	g	g	PROPN
ajst-19150	107	46	cos	cos	PROPN
ajst-19150	107	47	gsin	gsin	PROPN
ajst-19150	107	48	g	g	PROPN
ajst-19150	107	49	f	f	PROPN
ajst-19150	108	1	f	f	PROPN
ajst-19150	108	2	f	f	PROPN
ajst-19150	108	3	x	x	SYM
ajst-19150	108	4	y	y	PROPN
ajst-19150	108	5	z	z	NOUN
ajst-19150	108	6	l	l	NOUN
ajst-19150	109	1			PROPN
ajst-19150	109	2			X
ajst-19150	109	3			PROPN
ajst-19150	109	4			ADJ
ajst-19150	109	5			NOUN
ajst-19150	109	6			PROPN
ajst-19150	109	7			NOUN
ajst-19150	109	8			NOUN
ajst-19150	109	9			NOUN
ajst-19150	109	10			NOUN
ajst-19150	109	11			NUM
ajst-19150	109	12			NOUN
ajst-19150	109	13			NOUN
ajst-19150	109	14			NOUN
ajst-19150	109	15			NOUN
ajst-19150	109	16			NOUN
ajst-19150	109	17			NOUN
ajst-19150	109	18			NOUN
ajst-19150	109	19			NOUN
ajst-19150	109	20			NOUN
ajst-19150	109	21			PROPN
ajst-19150	109	22			PROPN
ajst-19150	109	23	(	(	PUNCT
ajst-19150	109	24	16	16	NUM
ajst-19150	109	25	)	)	PUNCT
ajst-19150	109	26	multiplying	multiplying	NOUN
ajst-19150	109	27	tr	tr	PUNCT
ajst-19150	109	28	to	to	ADP
ajst-19150	109	29	the	the	DET
ajst-19150	109	30	left	left	NOUN
ajst-19150	109	31	on	on	ADP
ajst-19150	109	32	both	both	DET
ajst-19150	109	33	sides	side	NOUN
ajst-19150	109	34	of	of	ADP
ajst-19150	109	35	equation	equation	NOUN
ajst-19150	109	36	(	(	PUNCT
ajst-19150	109	37	15	15	NUM
ajst-19150	109	38	)	)	PUNCT
ajst-19150	109	39	yields	yield	NOUN
ajst-19150	109	40	:	:	PUNCT
ajst-19150	109	41	1	1	NUM
ajst-19150	109	42	(	(	PUNCT
ajst-19150	109	43	)	)	PUNCT
ajst-19150	109	44	t	t	NOUN
ajst-19150	109	45	tl	tl	PROPN
ajst-19150	109	46	r	r	NOUN
ajst-19150	109	47	r	r	NOUN
ajst-19150	109	48	r	r	NOUN
ajst-19150	109	49	f	f	PROPN
ajst-19150	109	50	(	(	PUNCT
ajst-19150	109	51	17	17	NUM
ajst-19150	109	52	)	)	PUNCT
ajst-19150	109	53	therefore	therefore	ADV
ajst-19150	109	54	,	,	PUNCT
ajst-19150	109	55	the	the	DET
ajst-19150	109	56	zero	zero	NUM
ajst-19150	109	57	drift	drift	NOUN
ajst-19150	109	58	values	value	NOUN
ajst-19150	109	59	of	of	ADP
ajst-19150	109	60	the	the	DET
ajst-19150	109	61	three	three	NUM
ajst-19150	109	62	force	force	NOUN
ajst-19150	109	63	components	component	NOUN
ajst-19150	109	64	of	of	ADP
ajst-19150	109	65	the	the	DET
ajst-19150	109	66	sensor	sensor	NOUN
ajst-19150	109	67	and	and	CCONJ
ajst-19150	109	68	the	the	DET
ajst-19150	109	69	gravity	gravity	NOUN
ajst-19150	109	70	of	of	ADP
ajst-19150	109	71	the	the	DET
ajst-19150	109	72	end	end	NOUN
ajst-19150	109	73	module	module	NOUN
ajst-19150	109	74	can	can	AUX
ajst-19150	109	75	be	be	AUX
ajst-19150	109	76	obtained	obtain	VERB
ajst-19150	109	77	.	.	PUNCT
ajst-19150	110	1	according	accord	VERB
ajst-19150	110	2	to	to	ADP
ajst-19150	110	3	equations	equation	NOUN
ajst-19150	110	4	(	(	PUNCT
ajst-19150	110	5	4	4	NUM
ajst-19150	110	6	)	)	PUNCT
ajst-19150	110	7	and	and	CCONJ
ajst-19150	110	8	(	(	PUNCT
ajst-19150	110	9	17	17	NUM
ajst-19150	110	10	)	)	PUNCT
ajst-19150	110	11	,	,	PUNCT
ajst-19150	110	12	the	the	DET
ajst-19150	110	13	following	follow	VERB
ajst-19150	110	14	can	can	AUX
ajst-19150	110	15	be	be	AUX
ajst-19150	110	16	obtained	obtain	VERB
ajst-19150	110	17	:	:	PUNCT
ajst-19150	110	18	0	0	NUM
ajst-19150	110	19	1	1	NUM
ajst-19150	110	20	0	0	NUM
ajst-19150	110	21	0	0	NUM
ajst-19150	110	22	0	0	NUM
ajst-19150	110	23	2	2	NUM
ajst-19150	110	24	0	0	NUM
ajst-19150	110	25	0	0	NUM
ajst-19150	110	26	0	0	NUM
ajst-19150	111	1	3	3	NUM
ajst-19150	111	2	0	0	NUM
ajst-19150	111	3	0	0	NUM
ajst-19150	111	4	cos	cos	X
ajst-19150	111	5	arccos	arccos	X
ajst-19150	111	6	(	(	PUNCT
ajst-19150	111	7	)	)	PUNCT
ajst-19150	111	8	x	x	PROPN
ajst-19150	112	1	y	y	PROPN
ajst-19150	112	2	z	z	PROPN
ajst-19150	112	3	y	y	NOUN
ajst-19150	112	4	z	z	NOUN
ajst-19150	112	5	x	x	SYM
ajst-19150	112	6	z	z	NOUN
ajst-19150	112	7	x	x	PUNCT
ajst-19150	113	1	y	y	NOUN
ajst-19150	113	2	g	g	PROPN
ajst-19150	113	3	g	g	PROPN
ajst-19150	113	4	m	m	PROPN
ajst-19150	113	5	k	k	PROPN
ajst-19150	114	1	f	f	PROPN
ajst-19150	114	2	z	z	PROPN
ajst-19150	114	3	f	f	PROPN
ajst-19150	115	1	y	y	PROPN
ajst-19150	115	2	m	m	VERB
ajst-19150	115	3	k	k	NOUN
ajst-19150	116	1	f	f	PROPN
ajst-19150	116	2	x	x	X
ajst-19150	116	3	f	f	PROPN
ajst-19150	116	4	z	z	NOUN
ajst-19150	116	5	m	m	VERB
ajst-19150	116	6	k	k	X
ajst-19150	117	1	f	f	X
ajst-19150	117	2	y	y	NOUN
ajst-19150	117	3	f	f	PROPN
ajst-19150	117	4	x	x	INTJ
ajst-19150	117	5			PROPN
ajst-19150	117	6			NOUN
ajst-19150	117	7			NUM
ajst-19150	118	1			PROPN
ajst-19150	118	2			PROPN
ajst-19150	118	3			NOUN
ajst-19150	118	4			PROPN
ajst-19150	118	5			PROPN
ajst-19150	118	6			NUM
ajst-19150	118	7			PROPN
ajst-19150	118	8			PROPN
ajst-19150	118	9			PROPN
ajst-19150	118	10			PROPN
ajst-19150	118	11			PROPN
ajst-19150	119	1			NUM
ajst-19150	119	2			PROPN
ajst-19150	119	3			PROPN
ajst-19150	119	4			PROPN
ajst-19150	119	5			PROPN
ajst-19150	119	6			NOUN
ajst-19150	119	7	(	(	PUNCT
ajst-19150	119	8	18	18	NUM
ajst-19150	119	9	)	)	PUNCT
ajst-19150	119	10	at	at	ADP
ajst-19150	119	11	this	this	DET
ajst-19150	119	12	point	point	NOUN
ajst-19150	119	13	,	,	PUNCT
ajst-19150	119	14	the	the	DET
ajst-19150	119	15	zero	zero	NUM
ajst-19150	119	16	point	point	NOUN
ajst-19150	119	17	of	of	ADP
ajst-19150	119	18	the	the	DET
ajst-19150	119	19	sensor	sensor	NOUN
ajst-19150	119	20	,	,	PUNCT
ajst-19150	119	21	the	the	DET
ajst-19150	119	22	gravity	gravity	NOUN
ajst-19150	119	23	of	of	ADP
ajst-19150	119	24	the	the	DET
ajst-19150	119	25	end	end	NOUN
ajst-19150	119	26	module	module	NOUN
ajst-19150	119	27	,	,	PUNCT
ajst-19150	119	28	the	the	DET
ajst-19150	119	29	installation	installation	NOUN
ajst-19150	119	30	angle	angle	NOUN
ajst-19150	119	31	of	of	ADP
ajst-19150	119	32	the	the	DET
ajst-19150	119	33	sensor	sensor	NOUN
ajst-19150	119	34	,	,	PUNCT
ajst-19150	119	35	and	and	CCONJ
ajst-19150	119	36	the	the	DET
ajst-19150	119	37	centroid	centroid	PROPN
ajst-19150	119	38	data	datum	NOUN
ajst-19150	119	39	of	of	ADP
ajst-19150	119	40	the	the	DET
ajst-19150	119	41	end	end	NOUN
ajst-19150	119	42	module	module	NOUN
ajst-19150	119	43	have	have	AUX
ajst-19150	119	44	all	all	PRON
ajst-19150	119	45	been	be	AUX
ajst-19150	119	46	calculated	calculate	VERB
ajst-19150	119	47	.	.	PUNCT
ajst-19150	120	1	2.3	2.3	NUM
ajst-19150	120	2	.	.	PUNCT
ajst-19150	121	1	final	final	ADJ
ajst-19150	121	2	accurate	accurate	ADJ
ajst-19150	121	3	external	external	ADJ
ajst-19150	121	4	force	force	NOUN
ajst-19150	121	5	calculation	calculation	NOUN
ajst-19150	121	6	.	.	PUNCT
ajst-19150	122	1	during	during	ADP
ajst-19150	122	2	the	the	DET
ajst-19150	122	3	end	end	NOUN
ajst-19150	122	4	contact	contact	NOUN
ajst-19150	122	5	process	process	NOUN
ajst-19150	122	6	of	of	ADP
ajst-19150	122	7	the	the	DET
ajst-19150	122	8	robot	robot	NOUN
ajst-19150	122	9	,	,	PUNCT
ajst-19150	122	10	the	the	DET
ajst-19150	122	11	‘	'	PUNCT
ajst-19150	122	12	zero	zero	NUM
ajst-19150	122	13	drift	drift	NOUN
ajst-19150	122	14	’	'	PUNCT
ajst-19150	122	15	phenomenon	phenomenon	NOUN
ajst-19150	122	16	of	of	ADP
ajst-19150	122	17	the	the	DET
ajst-19150	122	18	sensor	sensor	NOUN
ajst-19150	122	19	can	can	AUX
ajst-19150	122	20	be	be	AUX
ajst-19150	122	21	eliminated	eliminate	VERB
ajst-19150	122	22	based	base	VERB
ajst-19150	122	23	on	on	ADP
ajst-19150	122	24	the	the	DET
ajst-19150	122	25	72	72	NUM
ajst-19150	122	26	identified	identify	VERB
ajst-19150	122	27	parameters	parameter	NOUN
ajst-19150	122	28	above	above	ADV
ajst-19150	122	29	,	,	PUNCT
ajst-19150	122	30	and	and	CCONJ
ajst-19150	122	31	the	the	DET
ajst-19150	122	32	gravity	gravity	NOUN
ajst-19150	122	33	of	of	ADP
ajst-19150	122	34	the	the	DET
ajst-19150	122	35	end	end	NOUN
ajst-19150	122	36	module	module	NOUN
ajst-19150	122	37	can	can	AUX
ajst-19150	122	38	be	be	AUX
ajst-19150	122	39	compensated	compensate	VERB
ajst-19150	122	40	in	in	ADP
ajst-19150	122	41	real	real	ADJ
ajst-19150	122	42	time	time	NOUN
ajst-19150	122	43	according	accord	VERB
ajst-19150	122	44	to	to	ADP
ajst-19150	122	45	the	the	DET
ajst-19150	122	46	current	current	ADJ
ajst-19150	122	47	end	end	NOUN
ajst-19150	122	48	posture	posture	NOUN
ajst-19150	122	49	of	of	ADP
ajst-19150	122	50	the	the	DET
ajst-19150	122	51	robot	robot	NOUN
ajst-19150	122	52	.	.	PUNCT
ajst-19150	123	1	the	the	DET
ajst-19150	123	2	final	final	ADJ
ajst-19150	123	3	compensated	compensated	ADJ
ajst-19150	123	4	force	force	NOUN
ajst-19150	123	5	/	/	SYM
ajst-19150	123	6	torque	torque	NOUN
ajst-19150	123	7	can	can	AUX
ajst-19150	123	8	be	be	AUX
ajst-19150	123	9	represented	represent	VERB
ajst-19150	123	10	in	in	ADP
ajst-19150	123	11	the	the	DET
ajst-19150	123	12	sensor	sensor	NOUN
ajst-19150	123	13	coordinate	coordinate	NOUN
ajst-19150	123	14	system	system	NOUN
ajst-19150	123	15	as	as	ADP
ajst-19150	123	16	:	:	PUNCT
ajst-19150	123	17	0	0	NUM
ajst-19150	123	18	0	0	NUM
ajst-19150	123	19	0	0	NUM
ajst-19150	123	20	0	0	NUM
ajst-19150	123	21	0	0	NUM
ajst-19150	123	22	0	0	NUM
ajst-19150	124	1	ex	ex	NOUN
ajst-19150	124	2	x	x	PUNCT
ajst-19150	124	3	x	x	PUNCT
ajst-19150	124	4	x	x	PUNCT
ajst-19150	124	5	ey	ey	INTJ
ajst-19150	124	6	y	y	PROPN
ajst-19150	124	7	y	y	PROPN
ajst-19150	124	8	y	y	PROPN
ajst-19150	124	9	ez	ez	PROPN
ajst-19150	124	10	z	z	PROPN
ajst-19150	124	11	z	z	PROPN
ajst-19150	124	12	z	z	X
ajst-19150	124	13	ex	ex	X
ajst-19150	124	14	x	x	SYM
ajst-19150	124	15	gx	gx	PROPN
ajst-19150	124	16	x	x	PROPN
ajst-19150	124	17	ey	ey	PROPN
ajst-19150	124	18	y	y	PROPN
ajst-19150	124	19	gy	gy	PROPN
ajst-19150	124	20	y	y	PROPN
ajst-19150	124	21	ez	ez	PROPN
ajst-19150	124	22	z	z	PROPN
ajst-19150	124	23	gz	gz	PROPN
ajst-19150	125	1	z	z	PROPN
ajst-19150	125	2	f	f	PROPN
ajst-19150	126	1	f	f	PROPN
ajst-19150	126	2	g	g	PROPN
ajst-19150	126	3	f	f	PROPN
ajst-19150	127	1	f	f	PROPN
ajst-19150	127	2	f	f	PROPN
ajst-19150	127	3	g	g	PROPN
ajst-19150	128	1	f	f	PROPN
ajst-19150	129	1	f	f	PROPN
ajst-19150	129	2	f	f	PROPN
ajst-19150	130	1	g	g	PROPN
ajst-19150	130	2	f	f	PROPN
ajst-19150	130	3	m	m	VERB
ajst-19150	130	4	m	m	VERB
ajst-19150	130	5	m	m	VERB
ajst-19150	130	6	m	m	VERB
ajst-19150	130	7	m	m	VERB
ajst-19150	130	8	m	m	VERB
ajst-19150	130	9	m	m	VERB
ajst-19150	130	10	m	m	VERB
ajst-19150	130	11	m	m	VERB
ajst-19150	130	12	m	m	VERB
ajst-19150	130	13	m	m	VERB
ajst-19150	130	14	m	m	ADJ
ajst-19150	130	15			ADJ
ajst-19150	130	16			PROPN
ajst-19150	130	17			PROPN
ajst-19150	130	18			NUM
ajst-19150	130	19			PROPN
ajst-19150	130	20			PROPN
ajst-19150	130	21			PROPN
ajst-19150	130	22			NUM
ajst-19150	130	23			PROPN
ajst-19150	130	24			NOUN
ajst-19150	130	25			VERB
ajst-19150	130	26			NUM
ajst-19150	130	27			NUM
ajst-19150	130	28			NOUN
ajst-19150	130	29			PROPN
ajst-19150	130	30			NUM
ajst-19150	130	31			PROPN
ajst-19150	130	32			PROPN
ajst-19150	130	33			PROPN
ajst-19150	130	34			NUM
ajst-19150	130	35			PROPN
ajst-19150	130	36			PROPN
ajst-19150	130	37			PROPN
ajst-19150	130	38	(	(	PUNCT
ajst-19150	130	39	19	19	NUM
ajst-19150	130	40	)	)	PUNCT
ajst-19150	130	41	wherein	wherein	ADJ
ajst-19150	130	42	:	:	PUNCT
ajst-19150	130	43	13	13	NUM
ajst-19150	130	44	23	23	NUM
ajst-19150	130	45	13	13	NUM
ajst-19150	130	46	23	23	NUM
ajst-19150	130	47	33	33	NUM
ajst-19150	130	48	cos	cos	PROPN
ajst-19150	130	49	sin	sin	PROPN
ajst-19150	130	50	sin	sin	NOUN
ajst-19150	130	51	cos	cos	PROPN
ajst-19150	130	52	x	x	PROPN
ajst-19150	130	53	y	y	PROPN
ajst-19150	130	54	z	z	NOUN
ajst-19150	130	55	g	g	NOUN
ajst-19150	130	56	g	g	PROPN
ajst-19150	130	57	r	r	NOUN
ajst-19150	130	58	g	g	NOUN
ajst-19150	130	59	r	r	NOUN
ajst-19150	130	60	g	g	NOUN
ajst-19150	130	61	g	g	NOUN
ajst-19150	130	62	r	r	NOUN
ajst-19150	130	63	g	g	NOUN
ajst-19150	130	64	r	r	NOUN
ajst-19150	130	65	g	g	NOUN
ajst-19150	130	66	gr	gr	NOUN
ajst-19150	130	67			PROPN
ajst-19150	130	68			X
ajst-19150	130	69			PROPN
ajst-19150	130	70			PROPN
ajst-19150	130	71			PRON
ajst-19150	131	1			PROPN
ajst-19150	131	2			PROPN
ajst-19150	131	3			PROPN
ajst-19150	131	4			NUM
ajst-19150	131	5			NUM
ajst-19150	131	6			NOUN
ajst-19150	131	7			NUM
ajst-19150	131	8			NOUN
ajst-19150	131	9			CCONJ
ajst-19150	131	10	(	(	PUNCT
ajst-19150	131	11	20	20	NUM
ajst-19150	131	12	)	)	PUNCT
ajst-19150	131	13	3	3	NUM
ajst-19150	131	14	.	.	PUNCT
ajst-19150	132	1	experiments	experiment	NOUN
ajst-19150	132	2	and	and	CCONJ
ajst-19150	132	3	data	datum	NOUN
ajst-19150	132	4	analysis	analysis	NOUN
ajst-19150	132	5	3.1	3.1	NUM
ajst-19150	132	6	.	.	PUNCT
ajst-19150	133	1	experimental	experimental	ADJ
ajst-19150	133	2	platform	platform	NOUN
ajst-19150	133	3	.	.	PUNCT
ajst-19150	134	1	the	the	DET
ajst-19150	134	2	six	six	NUM
ajst-19150	134	3	-	-	PUNCT
ajst-19150	134	4	axis	axis	NOUN
ajst-19150	134	5	force	force	NOUN
ajst-19150	134	6	sensor	sensor	NOUN
ajst-19150	134	7	adopts	adopt	VERB
ajst-19150	134	8	kwr75b	kwr75b	NOUN
ajst-19150	134	9	from	from	ADP
ajst-19150	134	10	kunwei	kunwei	PROPN
ajst-19150	134	11	company	company	PROPN
ajst-19150	134	12	.	.	PUNCT
ajst-19150	135	1	the	the	DET
ajst-19150	135	2	measurement	measurement	NOUN
ajst-19150	135	3	range	range	NOUN
ajst-19150	135	4	of	of	ADP
ajst-19150	135	5	gg	gg	PROPN
ajst-19150	135	6	,	,	PUNCT
ajst-19150	135	7	,	,	PUNCT
ajst-19150	135	8	x	x	PROPN
ajst-19150	135	9	y	y	NOUN
ajst-19150	135	10	zf	zf	PROPN
ajst-19150	135	11	f	f	PROPN
ajst-19150	135	12	f	f	PROPN
ajst-19150	135	13	is	be	AUX
ajst-19150	135	14	±	±	NUM
ajst-19150	135	15	200n	200n	NOUN
ajst-19150	135	16	,	,	PUNCT
ajst-19150	135	17	the	the	DET
ajst-19150	135	18	measurement	measurement	NOUN
ajst-19150	135	19	range	range	NOUN
ajst-19150	135	20	of	of	ADP
ajst-19150	135	21	,	,	PUNCT
ajst-19150	135	22	,	,	PUNCT
ajst-19150	135	23	x	x	PROPN
ajst-19150	135	24	y	y	PROPN
ajst-19150	135	25	zm	zm	PROPN
ajst-19150	135	26	m	m	VERB
ajst-19150	135	27	m	m	VERB
ajst-19150	135	28	is	be	AUX
ajst-19150	135	29	±	±	NUM
ajst-19150	135	30	8	8	NUM
ajst-19150	135	31	nm	nm	NOUN
ajst-19150	135	32	,	,	PUNCT
ajst-19150	135	33	the	the	DET
ajst-19150	135	34	overload	overload	NOUN
ajst-19150	135	35	range	range	NOUN
ajst-19150	135	36	is	be	AUX
ajst-19150	135	37	300	300	NUM
ajst-19150	135	38	%	%	NOUN
ajst-19150	135	39	,	,	PUNCT
ajst-19150	135	40	the	the	DET
ajst-19150	135	41	repetition	repetition	NOUN
ajst-19150	135	42	accuracy	accuracy	NOUN
ajst-19150	135	43	is	be	AUX
ajst-19150	135	44	0.1	0.1	NUM
ajst-19150	135	45	%	%	NOUN
ajst-19150	135	46	fs	f	NOUN
ajst-19150	135	47	,	,	PUNCT
ajst-19150	135	48	and	and	CCONJ
ajst-19150	135	49	the	the	DET
ajst-19150	135	50	output	output	NOUN
ajst-19150	135	51	frequency	frequency	NOUN
ajst-19150	135	52	is	be	AUX
ajst-19150	135	53	1khz	1khz	NUM
ajst-19150	135	54	.	.	PUNCT
ajst-19150	136	1	it	it	PRON
ajst-19150	136	2	has	have	VERB
ajst-19150	136	3	the	the	DET
ajst-19150	136	4	characteristics	characteristic	NOUN
ajst-19150	136	5	of	of	ADP
ajst-19150	136	6	high	high	ADJ
ajst-19150	136	7	sensitivity	sensitivity	NOUN
ajst-19150	136	8	,	,	PUNCT
ajst-19150	136	9	high	high	ADJ
ajst-19150	136	10	stress	stress	NOUN
ajst-19150	136	11	intensity	intensity	NOUN
ajst-19150	136	12	,	,	PUNCT
ajst-19150	136	13	high	high	ADJ
ajst-19150	136	14	accuracy	accuracy	NOUN
ajst-19150	136	15	,	,	PUNCT
ajst-19150	136	16	low	low	ADJ
ajst-19150	136	17	signal	signal	NOUN
ajst-19150	136	18	-	-	PUNCT
ajst-19150	136	19	to	to	ADP
ajst-19150	136	20	-	-	PUNCT
ajst-19150	136	21	noise	noise	NOUN
ajst-19150	136	22	ratio	ratio	NOUN
ajst-19150	136	23	,	,	PUNCT
ajst-19150	136	24	small	small	ADJ
ajst-19150	136	25	size	size	NOUN
ajst-19150	136	26	,	,	PUNCT
ajst-19150	136	27	and	and	CCONJ
ajst-19150	136	28	compact	compact	ADJ
ajst-19150	136	29	structure	structure	NOUN
ajst-19150	136	30	.	.	PUNCT
ajst-19150	137	1	the	the	DET
ajst-19150	137	2	experiment	experiment	NOUN
ajst-19150	137	3	used	use	VERB
ajst-19150	137	4	a	a	DET
ajst-19150	137	5	cr5	cr5	NOUN
ajst-19150	137	6	robotic	robotic	ADJ
ajst-19150	137	7	arm	arm	NOUN
ajst-19150	137	8	,	,	PUNCT
ajst-19150	137	9	and	and	CCONJ
ajst-19150	137	10	the	the	DET
ajst-19150	137	11	experimental	experimental	ADJ
ajst-19150	137	12	platform	platform	NOUN
ajst-19150	137	13	is	be	AUX
ajst-19150	137	14	shown	show	VERB
ajst-19150	137	15	in	in	ADP
ajst-19150	137	16	figure	figure	NOUN
ajst-19150	137	17	2	2	NUM
ajst-19150	137	18	.	.	PUNCT
ajst-19150	137	19	figure	figure	NOUN
ajst-19150	137	20	2	2	NUM
ajst-19150	137	21	.	.	PUNCT
ajst-19150	137	22	calibration	calibration	NOUN
ajst-19150	137	23	experiment	experiment	NOUN
ajst-19150	137	24	platform	platform	NOUN
ajst-19150	137	25	3.2	3.2	NUM
ajst-19150	137	26	.	.	PUNCT
ajst-19150	138	1	experimental	experimental	ADJ
ajst-19150	138	2	process	process	NOUN
ajst-19150	138	3	.	.	PUNCT
ajst-19150	139	1	when	when	SCONJ
ajst-19150	139	2	calibrating	calibrate	VERB
ajst-19150	139	3	a	a	DET
ajst-19150	139	4	six	six	NUM
ajst-19150	139	5	-	-	PUNCT
ajst-19150	139	6	axis	axis	NOUN
ajst-19150	139	7	force	force	NOUN
ajst-19150	139	8	sensor	sensor	NOUN
ajst-19150	139	9	,	,	PUNCT
ajst-19150	139	10	it	it	PRON
ajst-19150	139	11	is	be	AUX
ajst-19150	139	12	necessary	necessary	ADJ
ajst-19150	139	13	to	to	PART
ajst-19150	139	14	pre	pre	AUX
ajst-19150	139	15	design	design	VERB
ajst-19150	139	16	several	several	ADJ
ajst-19150	139	17	sets	set	NOUN
ajst-19150	139	18	of	of	ADP
ajst-19150	139	19	poses	pose	NOUN
ajst-19150	139	20	with	with	ADP
ajst-19150	139	21	significant	significant	ADJ
ajst-19150	139	22	changes	change	NOUN
ajst-19150	139	23	at	at	ADP
ajst-19150	139	24	the	the	DET
ajst-19150	139	25	end	end	NOUN
ajst-19150	139	26	of	of	ADP
ajst-19150	139	27	the	the	DET
ajst-19150	139	28	robotic	robotic	ADJ
ajst-19150	139	29	arm	arm	NOUN
ajst-19150	139	30	,	,	PUNCT
ajst-19150	139	31	as	as	SCONJ
ajst-19150	139	32	shown	show	VERB
ajst-19150	139	33	in	in	ADP
ajst-19150	139	34	the	the	DET
ajst-19150	139	35	figure	figure	NOUN
ajst-19150	139	36	.	.	PUNCT
ajst-19150	140	1	control	control	VERB
ajst-19150	140	2	the	the	DET
ajst-19150	140	3	robot	robot	NOUN
ajst-19150	140	4	to	to	PART
ajst-19150	140	5	move	move	VERB
ajst-19150	140	6	to	to	ADP
ajst-19150	140	7	these	these	DET
ajst-19150	140	8	poses	pose	NOUN
ajst-19150	140	9	,	,	PUNCT
ajst-19150	140	10	and	and	CCONJ
ajst-19150	140	11	to	to	PART
ajst-19150	140	12	avoid	avoid	VERB
ajst-19150	140	13	interference	interference	NOUN
ajst-19150	140	14	from	from	ADP
ajst-19150	140	15	inertial	inertial	ADJ
ajst-19150	140	16	forces	force	NOUN
ajst-19150	140	17	,	,	PUNCT
ajst-19150	140	18	stay	stay	VERB
ajst-19150	140	19	at	at	ADP
ajst-19150	140	20	the	the	DET
ajst-19150	140	21	target	target	NOUN
ajst-19150	140	22	position	position	NOUN
ajst-19150	140	23	for	for	ADP
ajst-19150	140	24	1	1	NUM
ajst-19150	140	25	second	second	NOUN
ajst-19150	140	26	each	each	DET
ajst-19150	140	27	time	time	NOUN
ajst-19150	140	28	.	.	PUNCT
ajst-19150	141	1	collect	collect	VERB
ajst-19150	141	2	the	the	DET
ajst-19150	141	3	six	six	NUM
ajst-19150	141	4	-	-	PUNCT
ajst-19150	141	5	axis	axis	NOUN
ajst-19150	141	6	force	force	NOUN
ajst-19150	141	7	values	value	NOUN
ajst-19150	141	8	at	at	ADP
ajst-19150	141	9	this	this	DET
ajst-19150	141	10	pose	pose	NOUN
ajst-19150	141	11	,	,	PUNCT
ajst-19150	141	12	and	and	CCONJ
ajst-19150	141	13	calculate	calculate	VERB
ajst-19150	141	14	the	the	DET
ajst-19150	141	15	zero	zero	NUM
ajst-19150	141	16	drift	drift	NOUN
ajst-19150	141	17	of	of	ADP
ajst-19150	141	18	the	the	DET
ajst-19150	141	19	sensor	sensor	NOUN
ajst-19150	141	20	,	,	PUNCT
ajst-19150	141	21	the	the	DET
ajst-19150	141	22	gravity	gravity	NOUN
ajst-19150	141	23	and	and	CCONJ
ajst-19150	141	24	center	center	NOUN
ajst-19150	141	25	of	of	ADP
ajst-19150	141	26	gravity	gravity	NOUN
ajst-19150	141	27	of	of	ADP
ajst-19150	141	28	the	the	DET
ajst-19150	141	29	gripper	gripper	NOUN
ajst-19150	141	30	and	and	CCONJ
ajst-19150	141	31	workpiece	workpiece	NOUN
ajst-19150	141	32	through	through	ADP
ajst-19150	141	33	the	the	DET
ajst-19150	141	34	calibration	calibration	NOUN
ajst-19150	141	35	algorithm	algorithm	NOUN
ajst-19150	141	36	the	the	DET
ajst-19150	141	37	installation	installation	NOUN
ajst-19150	141	38	rotation	rotation	NOUN
ajst-19150	141	39	angle	angle	NOUN
ajst-19150	141	40	between	between	ADP
ajst-19150	141	41	the	the	DET
ajst-19150	141	42	end	end	NOUN
ajst-19150	141	43	effector	effector	NOUN
ajst-19150	141	44	of	of	ADP
ajst-19150	141	45	the	the	DET
ajst-19150	141	46	robotic	robotic	ADJ
ajst-19150	141	47	arm	arm	NOUN
ajst-19150	141	48	and	and	CCONJ
ajst-19150	141	49	the	the	DET
ajst-19150	141	50	six	six	NUM
ajst-19150	141	51	-	-	PUNCT
ajst-19150	141	52	axis	axis	NOUN
ajst-19150	141	53	force	force	NOUN
ajst-19150	141	54	sensor	sensor	NOUN
ajst-19150	141	55	is	be	AUX
ajst-19150	141	56	determined	determine	VERB
ajst-19150	141	57	.	.	PUNCT
ajst-19150	142	1	finally	finally	ADV
ajst-19150	142	2	,	,	PUNCT
ajst-19150	142	3	an	an	DET
ajst-19150	142	4	end	end	NOUN
ajst-19150	142	5	effector	effector	NOUN
ajst-19150	142	6	motion	motion	NOUN
ajst-19150	142	7	trajectory	trajectory	NOUN
ajst-19150	142	8	is	be	AUX
ajst-19150	142	9	designed	design	VERB
ajst-19150	142	10	,	,	PUNCT
ajst-19150	142	11	and	and	CCONJ
ajst-19150	142	12	the	the	DET
ajst-19150	142	13	six	six	NUM
ajst-19150	142	14	axis	axis	ADJ
ajst-19150	142	15	force	force	NOUN
ajst-19150	142	16	values	value	NOUN
ajst-19150	142	17	at	at	ADP
ajst-19150	142	18	10	10	NUM
ajst-19150	142	19	discrete	discrete	ADJ
ajst-19150	142	20	point	point	NOUN
ajst-19150	142	21	positions	position	NOUN
ajst-19150	142	22	in	in	ADP
ajst-19150	142	23	the	the	DET
ajst-19150	142	24	trajectory	trajectory	NOUN
ajst-19150	142	25	are	be	AUX
ajst-19150	142	26	recorded	record	VERB
ajst-19150	142	27	.	.	PUNCT
ajst-19150	143	1	the	the	DET
ajst-19150	143	2	calibrated	calibrate	VERB
ajst-19150	143	3	six	six	NUM
ajst-19150	143	4	axis	axis	ADJ
ajst-19150	143	5	force	force	NOUN
ajst-19150	143	6	values	value	NOUN
ajst-19150	143	7	can	can	AUX
ajst-19150	143	8	be	be	AUX
ajst-19150	143	9	obtained	obtain	VERB
ajst-19150	143	10	using	use	VERB
ajst-19150	143	11	the	the	DET
ajst-19150	143	12	calculated	calculate	VERB
ajst-19150	143	13	zero	zero	NUM
ajst-19150	143	14	drift	drift	NOUN
ajst-19150	143	15	,	,	PUNCT
ajst-19150	143	16	center	center	NOUN
ajst-19150	143	17	of	of	ADP
ajst-19150	143	18	gravity	gravity	NOUN
ajst-19150	143	19	,	,	PUNCT
ajst-19150	143	20	and	and	CCONJ
ajst-19150	143	21	rotation	rotation	NOUN
ajst-19150	143	22	angle	angle	NOUN
ajst-19150	143	23	.	.	PUNCT
ajst-19150	144	1	3.3	3.3	NUM
ajst-19150	144	2	.	.	PUNCT
ajst-19150	145	1	experimental	experimental	ADJ
ajst-19150	145	2	result	result	VERB
ajst-19150	145	3	the	the	DET
ajst-19150	145	4	zero	zero	NUM
ajst-19150	145	5	drift	drift	NOUN
ajst-19150	145	6	of	of	ADP
ajst-19150	145	7	the	the	DET
ajst-19150	145	8	calibrated	calibrate	VERB
ajst-19150	145	9	six	six	NUM
ajst-19150	145	10	-	-	PUNCT
ajst-19150	145	11	axis	axis	NOUN
ajst-19150	145	12	force	force	NOUN
ajst-19150	145	13	sensor	sensor	NOUN
ajst-19150	145	14	,	,	PUNCT
ajst-19150	145	15	the	the	DET
ajst-19150	145	16	gravity	gravity	NOUN
ajst-19150	145	17	and	and	CCONJ
ajst-19150	145	18	center	center	NOUN
ajst-19150	145	19	of	of	ADP
ajst-19150	145	20	gravity	gravity	NOUN
ajst-19150	145	21	between	between	ADP
ajst-19150	145	22	the	the	DET
ajst-19150	145	23	gripper	gripper	NOUN
ajst-19150	145	24	and	and	CCONJ
ajst-19150	145	25	the	the	DET
ajst-19150	145	26	workpiece	workpiece	NOUN
ajst-19150	145	27	,	,	PUNCT
ajst-19150	145	28	and	and	CCONJ
ajst-19150	145	29	the	the	DET
ajst-19150	145	30	installation	installation	NOUN
ajst-19150	145	31	rotation	rotation	NOUN
ajst-19150	145	32	angle	angle	NOUN
ajst-19150	145	33	between	between	ADP
ajst-19150	145	34	the	the	DET
ajst-19150	145	35	end	end	NOUN
ajst-19150	145	36	of	of	ADP
ajst-19150	145	37	the	the	DET
ajst-19150	145	38	robotic	robotic	ADJ
ajst-19150	145	39	arm	arm	NOUN
ajst-19150	145	40	and	and	CCONJ
ajst-19150	145	41	the	the	DET
ajst-19150	145	42	six	six	NUM
ajst-19150	145	43	-	-	PUNCT
ajst-19150	145	44	axis	axis	NOUN
ajst-19150	145	45	force	force	NOUN
ajst-19150	145	46	sensor	sensor	NOUN
ajst-19150	145	47	are	be	AUX
ajst-19150	145	48	shown	show	VERB
ajst-19150	145	49	in	in	ADP
ajst-19150	145	50	the	the	DET
ajst-19150	145	51	table	table	NOUN
ajst-19150	145	52	1	1	NUM
ajst-19150	145	53	.	.	PUNCT
ajst-19150	145	54	table	table	NOUN
ajst-19150	145	55	1	1	NUM
ajst-19150	145	56	.	.	PUNCT
ajst-19150	146	1	calibration	calibration	NOUN
ajst-19150	146	2	results	result	NOUN
ajst-19150	146	3	name	name	NOUN
ajst-19150	146	4	parameter	parameter	NOUN
ajst-19150	146	5	sensor	sensor	NOUN
ajst-19150	146	6	zero	zero	NUM
ajst-19150	146	7	drift(n	drift(n	PROPN
ajst-19150	146	8	/	/	SYM
ajst-19150	146	9	nm	nm	NOUN
ajst-19150	146	10	)	)	PUNCT
ajst-19150	146	11	(	(	PUNCT
ajst-19150	146	12	-1.026	-1.026	PROPN
ajst-19150	146	13	,	,	PUNCT
ajst-19150	146	14	9.386	9.386	NUM
ajst-19150	146	15	,	,	PUNCT
ajst-19150	146	16	0.4405	0.4405	NUM
ajst-19150	146	17	,	,	PUNCT
ajst-19150	146	18	0.98	0.98	NUM
ajst-19150	146	19	,	,	PUNCT
ajst-19150	146	20	0.115	0.115	NUM
ajst-19150	146	21	,	,	PUNCT
ajst-19150	146	22	0.005	0.005	NUM
ajst-19150	146	23	)	)	PUNCT
ajst-19150	146	24	claw	claw	NOUN
ajst-19150	146	25	and	and	CCONJ
ajst-19150	146	26	workpiece	workpiece	PROPN
ajst-19150	146	27	gravity(n	gravity(n	PROPN
ajst-19150	146	28	)	)	PUNCT
ajst-19150	146	29	13.459	13.459	NUM
ajst-19150	146	30	claw	claw	NOUN
ajst-19150	146	31	and	and	CCONJ
ajst-19150	146	32	workpiece	workpiece	NOUN
ajst-19150	146	33	center	center	NOUN
ajst-19150	146	34	of	of	ADP
ajst-19150	146	35	gravity	gravity	NOUN
ajst-19150	146	36	position(mm	position(mm	NOUN
ajst-19150	146	37	)	)	PUNCT
ajst-19150	146	38	(	(	PUNCT
ajst-19150	146	39	0.2,4.3,56.9	0.2,4.3,56.9	NOUN
ajst-19150	146	40	)	)	PUNCT
ajst-19150	146	41	installation	installation	NOUN
ajst-19150	146	42	rotation	rotation	NOUN
ajst-19150	146	43	angle	angle	NOUN
ajst-19150	146	44	22.670	22.670	NUM
ajst-19150	146	45	°	°	ADP
ajst-19150	146	46	the	the	DET
ajst-19150	146	47	force	force	NOUN
ajst-19150	146	48	and	and	CCONJ
ajst-19150	146	49	torque	torque	NOUN
ajst-19150	146	50	values	value	NOUN
ajst-19150	146	51	at	at	ADP
ajst-19150	146	52	the	the	DET
ajst-19150	146	53	end	end	NOUN
ajst-19150	146	54	of	of	ADP
ajst-19150	146	55	the	the	DET
ajst-19150	146	56	robotic	robotic	ADJ
ajst-19150	146	57	arm	arm	NOUN
ajst-19150	146	58	before	before	ADV
ajst-19150	146	59	and	and	CCONJ
ajst-19150	146	60	after	after	ADP
ajst-19150	146	61	calibration	calibration	NOUN
ajst-19150	146	62	are	be	AUX
ajst-19150	146	63	shown	show	VERB
ajst-19150	146	64	in	in	ADP
ajst-19150	146	65	the	the	DET
ajst-19150	146	66	figure	figure	NOUN
ajst-19150	146	67	3	3	NUM
ajst-19150	146	68	and	and	CCONJ
ajst-19150	146	69	figure	figure	VERB
ajst-19150	146	70	4	4	NUM
ajst-19150	146	71	.	.	PUNCT
ajst-19150	147	1	the	the	DET
ajst-19150	147	2	force	force	NOUN
ajst-19150	147	3	values	value	NOUN
ajst-19150	147	4	of	of	ADP
ajst-19150	147	5	the	the	DET
ajst-19150	147	6	end	end	NOUN
ajst-19150	147	7	sensors	sensor	NOUN
ajst-19150	147	8	of	of	ADP
ajst-19150	147	9	the	the	DET
ajst-19150	147	10	robotic	robotic	ADJ
ajst-19150	147	11	arm	arm	NOUN
ajst-19150	147	12	before	before	ADV
ajst-19150	147	13	and	and	CCONJ
ajst-19150	147	14	after	after	ADP
ajst-19150	147	15	calibration	calibration	NOUN
ajst-19150	147	16	are	be	AUX
ajst-19150	147	17	shown	show	VERB
ajst-19150	147	18	in	in	ADP
ajst-19150	147	19	figure	figure	NOUN
ajst-19150	147	20	3	3	NUM
ajst-19150	147	21	,	,	PUNCT
ajst-19150	147	22	and	and	CCONJ
ajst-19150	147	23	the	the	DET
ajst-19150	147	24	torque	torque	NOUN
ajst-19150	147	25	values	value	NOUN
ajst-19150	147	26	are	be	AUX
ajst-19150	147	27	shown	show	VERB
ajst-19150	147	28	in	in	ADP
ajst-19150	147	29	figure	figure	NOUN
ajst-19150	147	30	4	4	NUM
ajst-19150	147	31	.	.	PUNCT
ajst-19150	147	32	from	from	ADP
ajst-19150	147	33	the	the	DET
ajst-19150	147	34	figure	figure	NOUN
ajst-19150	147	35	,	,	PUNCT
ajst-19150	147	36	it	it	PRON
ajst-19150	147	37	can	can	AUX
ajst-19150	147	38	be	be	AUX
ajst-19150	147	39	seen	see	VERB
ajst-19150	147	40	that	that	SCONJ
ajst-19150	147	41	the	the	DET
ajst-19150	147	42	green	green	ADJ
ajst-19150	147	43	circle	circle	NOUN
ajst-19150	147	44	represents	represent	VERB
ajst-19150	147	45	the	the	DET
ajst-19150	147	46	force	force	NOUN
ajst-19150	147	47	and	and	CCONJ
ajst-19150	147	48	torque	torque	NOUN
ajst-19150	147	49	values	value	NOUN
ajst-19150	147	50	of	of	ADP
ajst-19150	147	51	the	the	DET
ajst-19150	147	52	sensor	sensor	NOUN
ajst-19150	147	53	before	before	ADP
ajst-19150	147	54	calibration	calibration	NOUN
ajst-19150	147	55	,	,	PUNCT
ajst-19150	147	56	and	and	CCONJ
ajst-19150	147	57	the	the	DET
ajst-19150	147	58	blue	blue	ADJ
ajst-19150	147	59	circle	circle	NOUN
ajst-19150	147	60	represents	represent	VERB
ajst-19150	147	61	the	the	DET
ajst-19150	147	62	force	force	NOUN
ajst-19150	147	63	and	and	CCONJ
ajst-19150	147	64	torque	torque	NOUN
ajst-19150	147	65	values	value	NOUN
ajst-19150	147	66	of	of	ADP
ajst-19150	147	67	the	the	DET
ajst-19150	147	68	sensor	sensor	NOUN
ajst-19150	147	69	after	after	ADP
ajst-19150	147	70	calibration	calibration	NOUN
ajst-19150	147	71	.	.	PUNCT
ajst-19150	148	1	the	the	DET
ajst-19150	148	2	force	force	NOUN
ajst-19150	148	3	values	value	NOUN
ajst-19150	148	4	of	of	ADP
ajst-19150	148	5	the	the	DET
ajst-19150	148	6	sensor	sensor	NOUN
ajst-19150	148	7	before	before	ADP
ajst-19150	148	8	calibration	calibration	NOUN
ajst-19150	148	9	are	be	AUX
ajst-19150	148	10	far	far	ADV
ajst-19150	148	11	greater	great	ADJ
ajst-19150	148	12	than	than	ADP
ajst-19150	148	13	0	0	NUM
ajst-19150	148	14	,	,	PUNCT
ajst-19150	148	15	and	and	CCONJ
ajst-19150	148	16	the	the	DET
ajst-19150	148	17	force	force	NOUN
ajst-19150	148	18	values	value	NOUN
ajst-19150	148	19	of	of	ADP
ajst-19150	148	20	the	the	DET
ajst-19150	148	21	sensor	sensor	NOUN
ajst-19150	148	22	after	after	ADP
ajst-19150	148	23	calibration	calibration	NOUN
ajst-19150	148	24	are	be	AUX
ajst-19150	148	25	stable	stable	ADJ
ajst-19150	148	26	around	around	ADP
ajst-19150	148	27	0	0	NUM
ajst-19150	148	28	,	,	PUNCT
ajst-19150	148	29	indicating	indicate	VERB
ajst-19150	148	30	an	an	DET
ajst-19150	148	31	ideal	ideal	ADJ
ajst-19150	148	32	calibration	calibration	NOUN
ajst-19150	148	33	effect	effect	NOUN
ajst-19150	148	34	.	.	PUNCT
ajst-19150	149	1	figure	figure	VERB
ajst-19150	149	2	3	3	NUM
ajst-19150	149	3	.	.	PUNCT
ajst-19150	149	4	force	force	PROPN
ajst-19150	149	5	value	value	NOUN
ajst-19150	149	6	diagram	diagram	NOUN
ajst-19150	149	7	before	before	ADV
ajst-19150	149	8	and	and	CCONJ
ajst-19150	149	9	after	after	ADP
ajst-19150	149	10	calibration	calibration	NOUN
ajst-19150	149	11	figure	figure	NOUN
ajst-19150	149	12	4	4	NUM
ajst-19150	149	13	.	.	PUNCT
ajst-19150	149	14	torque	torque	NOUN
ajst-19150	149	15	diagram	diagram	NOUN
ajst-19150	149	16	before	before	ADV
ajst-19150	149	17	and	and	CCONJ
ajst-19150	149	18	after	after	ADP
ajst-19150	149	19	calibration	calibration	NOUN
ajst-19150	149	20	73	73	NUM
ajst-19150	149	21	4	4	NUM
ajst-19150	149	22	.	.	PUNCT
ajst-19150	150	1	summary	summary	NOUN
ajst-19150	150	2	this	this	DET
ajst-19150	150	3	article	article	NOUN
ajst-19150	150	4	proposes	propose	VERB
ajst-19150	150	5	a	a	DET
ajst-19150	150	6	sensor	sensor	NOUN
ajst-19150	150	7	calibration	calibration	NOUN
ajst-19150	150	8	algorithm	algorithm	NOUN
ajst-19150	150	9	for	for	ADP
ajst-19150	150	10	the	the	DET
ajst-19150	150	11	contact	contact	NOUN
ajst-19150	150	12	between	between	ADP
ajst-19150	150	13	the	the	DET
ajst-19150	150	14	end	end	NOUN
ajst-19150	150	15	of	of	ADP
ajst-19150	150	16	a	a	DET
ajst-19150	150	17	robotic	robotic	ADJ
ajst-19150	150	18	arm	arm	NOUN
ajst-19150	150	19	and	and	CCONJ
ajst-19150	150	20	the	the	DET
ajst-19150	150	21	environment	environment	NOUN
ajst-19150	150	22	,	,	PUNCT
ajst-19150	150	23	where	where	SCONJ
ajst-19150	150	24	the	the	DET
ajst-19150	150	25	six	six	NUM
ajst-19150	150	26	-	-	PUNCT
ajst-19150	150	27	axis	axis	NOUN
ajst-19150	150	28	force	force	NOUN
ajst-19150	150	29	sensor	sensor	NOUN
ajst-19150	150	30	is	be	AUX
ajst-19150	150	31	not	not	PART
ajst-19150	150	32	the	the	DET
ajst-19150	150	33	actual	actual	ADJ
ajst-19150	150	34	contact	contact	NOUN
ajst-19150	150	35	force	force	NOUN
ajst-19150	150	36	.	.	PUNCT
ajst-19150	151	1	using	use	VERB
ajst-19150	151	2	the	the	DET
ajst-19150	151	3	least	least	ADJ
ajst-19150	151	4	squares	square	NOUN
ajst-19150	151	5	method	method	NOUN
ajst-19150	151	6	,	,	PUNCT
ajst-19150	151	7	the	the	DET
ajst-19150	151	8	zero	zero	NUM
ajst-19150	151	9	drift	drift	NOUN
ajst-19150	151	10	of	of	ADP
ajst-19150	151	11	the	the	DET
ajst-19150	151	12	sensor	sensor	NOUN
ajst-19150	151	13	,	,	PUNCT
ajst-19150	151	14	the	the	DET
ajst-19150	151	15	gravity	gravity	NOUN
ajst-19150	151	16	between	between	ADP
ajst-19150	151	17	the	the	DET
ajst-19150	151	18	end	end	NOUN
ajst-19150	151	19	clamp	clamp	NOUN
ajst-19150	151	20	and	and	CCONJ
ajst-19150	151	21	the	the	DET
ajst-19150	151	22	workpiece	workpiece	NOUN
ajst-19150	151	23	,	,	PUNCT
ajst-19150	151	24	the	the	DET
ajst-19150	151	25	position	position	NOUN
ajst-19150	151	26	of	of	ADP
ajst-19150	151	27	the	the	DET
ajst-19150	151	28	center	center	NOUN
ajst-19150	151	29	of	of	ADP
ajst-19150	151	30	gravity	gravity	NOUN
ajst-19150	151	31	between	between	ADP
ajst-19150	151	32	the	the	DET
ajst-19150	151	33	end	end	NOUN
ajst-19150	151	34	clamp	clamp	NOUN
ajst-19150	151	35	and	and	CCONJ
ajst-19150	151	36	the	the	DET
ajst-19150	151	37	workpiece	workpiece	NOUN
ajst-19150	151	38	,	,	PUNCT
ajst-19150	151	39	and	and	CCONJ
ajst-19150	151	40	the	the	DET
ajst-19150	151	41	rotation	rotation	NOUN
ajst-19150	151	42	angle	angle	NOUN
ajst-19150	151	43	between	between	ADP
ajst-19150	151	44	the	the	DET
ajst-19150	151	45	end	end	NOUN
ajst-19150	151	46	of	of	ADP
ajst-19150	151	47	the	the	DET
ajst-19150	151	48	robotic	robotic	ADJ
ajst-19150	151	49	arm	arm	NOUN
ajst-19150	151	50	and	and	CCONJ
ajst-19150	151	51	the	the	DET
ajst-19150	151	52	sensor	sensor	NOUN
ajst-19150	151	53	installation	installation	NOUN
ajst-19150	151	54	were	be	AUX
ajst-19150	151	55	identified	identify	VERB
ajst-19150	151	56	in	in	ADP
ajst-19150	151	57	steps	step	NOUN
ajst-19150	151	58	.	.	PUNCT
ajst-19150	152	1	finally	finally	ADV
ajst-19150	152	2	,	,	PUNCT
ajst-19150	152	3	an	an	DET
ajst-19150	152	4	experimental	experimental	ADJ
ajst-19150	152	5	platform	platform	NOUN
ajst-19150	152	6	was	be	AUX
ajst-19150	152	7	built	build	VERB
ajst-19150	152	8	on	on	ADP
ajst-19150	152	9	the	the	DET
ajst-19150	152	10	cr5	cr5	PROPN
ajst-19150	152	11	robotic	robotic	ADJ
ajst-19150	152	12	arm	arm	NOUN
ajst-19150	152	13	to	to	PART
ajst-19150	152	14	validate	validate	VERB
ajst-19150	152	15	the	the	DET
ajst-19150	152	16	algorithm	algorithm	NOUN
ajst-19150	152	17	.	.	PUNCT
ajst-19150	153	1	the	the	DET
ajst-19150	153	2	experiment	experiment	NOUN
ajst-19150	153	3	showed	show	VERB
ajst-19150	153	4	that	that	SCONJ
ajst-19150	153	5	the	the	DET
ajst-19150	153	6	proposed	propose	VERB
ajst-19150	153	7	algorithm	algorithm	NOUN
ajst-19150	153	8	can	can	AUX
ajst-19150	153	9	calculate	calculate	VERB
ajst-19150	153	10	calibration	calibration	NOUN
ajst-19150	153	11	related	relate	VERB
ajst-19150	153	12	parameters	parameter	NOUN
ajst-19150	153	13	and	and	CCONJ
ajst-19150	153	14	restore	restore	VERB
ajst-19150	153	15	the	the	DET
ajst-19150	153	16	contact	contact	NOUN
ajst-19150	153	17	force	force	NOUN
ajst-19150	153	18	between	between	ADP
ajst-19150	153	19	the	the	DET
ajst-19150	153	20	end	end	NOUN
ajst-19150	153	21	of	of	ADP
ajst-19150	153	22	the	the	DET
ajst-19150	153	23	robotic	robotic	ADJ
ajst-19150	153	24	arm	arm	NOUN
ajst-19150	153	25	and	and	CCONJ
ajst-19150	153	26	the	the	DET
ajst-19150	153	27	environment	environment	NOUN
ajst-19150	153	28	.	.	PUNCT
ajst-19150	154	1	references	reference	NOUN
ajst-19150	154	2	[	[	X
ajst-19150	154	3	1	1	X
ajst-19150	154	4	]	]	X
ajst-19150	154	5	wang	wang	PROPN
ajst-19150	154	6	zj	zj	PROPN
ajst-19150	154	7	,	,	PUNCT
ajst-19150	154	8	li	li	PROPN
ajst-19150	154	9	zx	zx	PROPN
ajst-19150	154	10	,	,	PUNCT
ajst-19150	154	11	he	he	PRON
ajst-19150	154	12	j	j	PROPN
ajst-19150	154	13	,	,	PUNCT
ajst-19150	154	14	yao	yao	PROPN
ajst-19150	154	15	jt	jt	PROPN
ajst-19150	154	16	,	,	PUNCT
ajst-19150	154	17	zhao	zhao	PROPN
ajst-19150	154	18	ys	ys	PROPN
ajst-19150	154	19	.	.	PUNCT
ajst-19150	155	1	optimal	optimal	ADJ
ajst-19150	155	2	design	design	NOUN
ajst-19150	155	3	and	and	CCONJ
ajst-19150	155	4	experiment	experiment	NOUN
ajst-19150	155	5	research	research	NOUN
ajst-19150	155	6	of	of	ADP
ajst-19150	155	7	a	a	DET
ajst-19150	155	8	fully	fully	ADV
ajst-19150	155	9	pre	pre	ADJ
ajst-19150	155	10	-	-	ADJ
ajst-19150	155	11	stressed	stressed	ADJ
ajst-19150	155	12	six	six	NUM
ajst-19150	155	13	-	-	PUNCT
ajst-19150	155	14	axis	axis	NOUN
ajst-19150	155	15	force	force	NOUN
ajst-19150	155	16	/	/	SYM
ajst-19150	155	17	torque	torque	NOUN
ajst-19150	155	18	sensor	sensor	NOUN
ajst-19150	155	19	(	(	PUNCT
ajst-19150	155	20	article)[j	article)[j	PROPN
ajst-19150	155	21	]	]	PUNCT
ajst-19150	155	22	.	.	PUNCT
ajst-19150	156	1	measurement	measurement	NOUN
ajst-19150	156	2	:	:	PUNCT
ajst-19150	156	3	journal	journal	NOUN
ajst-19150	156	4	of	of	ADP
ajst-19150	156	5	the	the	DET
ajst-19150	156	6	international	international	ADJ
ajst-19150	156	7	measurement	measurement	NOUN
ajst-19150	156	8	confederation,2013	confederation,2013	PROPN
ajst-19150	156	9	,	,	PUNCT
ajst-19150	156	10	vol.46(6	vol.46(6	PROPN
ajst-19150	156	11	):	):	PUNCT
ajst-19150	156	12	2013	2013	NUM
ajst-19150	156	13	-	-	SYM
ajst-19150	156	14	2021	2021	NUM
ajst-19150	156	15	.	.	PUNCT
ajst-19150	157	1	[	[	X
ajst-19150	157	2	2	2	NUM
ajst-19150	157	3	]	]	X
ajst-19150	157	4	yao	yao	PROPN
ajst-19150	157	5	jt	jt	PROPN
ajst-19150	157	6	,	,	PUNCT
ajst-19150	157	7	hou	hou	PROPN
ajst-19150	157	8	yl	yl	PROPN
ajst-19150	157	9	,	,	PUNCT
ajst-19150	157	10	chen	chen	PROPN
ajst-19150	157	11	j	j	PROPN
ajst-19150	157	12	,	,	PUNCT
ajst-19150	157	13	lu	lu	PROPN
ajst-19150	157	14	l	l	PROPN
ajst-19150	157	15	,	,	PUNCT
ajst-19150	157	16	zhao	zhao	PROPN
ajst-19150	157	17	ys	ys	PROPN
ajst-19150	157	18	.	.	PUNCT
ajst-19150	158	1	theoretical	theoretical	ADJ
ajst-19150	158	2	analysis	analysis	NOUN
ajst-19150	158	3	and	and	CCONJ
ajst-19150	158	4	experiment	experiment	NOUN
ajst-19150	158	5	research	research	NOUN
ajst-19150	158	6	of	of	ADP
ajst-19150	158	7	a	a	DET
ajst-19150	158	8	statically	statically	ADV
ajst-19150	158	9	indeterminate	indeterminate	ADJ
ajst-19150	158	10	prestressed	prestressed	ADJ
ajst-19150	158	11	six	six	NUM
ajst-19150	158	12	-	-	PUNCT
ajst-19150	158	13	axis	axis	NOUN
ajst-19150	158	14	force	force	NOUN
ajst-19150	158	15	sensor	sensor	NOUN
ajst-19150	158	16	[	[	X
ajst-19150	158	17	j	j	X
ajst-19150	158	18	]	]	X
ajst-19150	158	19	.	.	PUNCT
ajst-19150	159	1	sensors	sensor	NOUN
ajst-19150	159	2	and	and	CCONJ
ajst-19150	159	3	actuators	actuator	NOUN
ajst-19150	159	4	a	a	PRON
ajst-19150	159	5	-	-	PUNCT
ajst-19150	159	6	physical	physical	ADJ
ajst-19150	159	7	,	,	PUNCT
ajst-19150	159	8	2009	2009	NUM
ajst-19150	159	9	,	,	PUNCT
ajst-19150	159	10	vol.150(1	vol.150(1	NOUN
ajst-19150	159	11	):	):	PUNCT
ajst-19150	159	12	1	1	NUM
ajst-19150	159	13	-	-	SYM
ajst-19150	159	14	11	11	NUM
ajst-19150	159	15	.	.	PUNCT
ajst-19150	160	1	[	[	X
ajst-19150	160	2	3	3	X
ajst-19150	160	3	]	]	X
ajst-19150	160	4	li	li	PROPN
ajst-19150	160	5	yj	yj	PROPN
ajst-19150	160	6	,	,	PUNCT
ajst-19150	160	7	wang	wang	PROPN
ajst-19150	160	8	gc	gc	PROPN
ajst-19150	160	9	,	,	PUNCT
ajst-19150	160	10	yang	yang	PROPN
ajst-19150	160	11	x	x	PROPN
ajst-19150	160	12	,	,	PUNCT
ajst-19150	160	13	zhan	zhan	PROPN
ajst-19150	160	14	h	h	PROPN
ajst-19150	160	15	,	,	PUNCT
ajst-19150	160	16	han	han	PROPN
ajst-19150	160	17	bb	bb	PROPN
ajst-19150	160	18	,	,	PUNCT
ajst-19150	160	19	zhang	zhang	PROPN
ajst-19150	160	20	yl	yl	PROPN
ajst-19150	160	21	.	.	PUNCT
ajst-19150	160	22	research	research	NOUN
ajst-19150	160	23	on	on	ADP
ajst-19150	160	24	static	static	ADJ
ajst-19150	160	25	decoupling	decouple	VERB
ajst-19150	160	26	algorithm	algorithm	NOUN
ajst-19150	160	27	for	for	ADP
ajst-19150	160	28	piezoelectric	piezoelectric	ADJ
ajst-19150	160	29	six	six	NUM
ajst-19150	160	30	axis	axis	ADJ
ajst-19150	160	31	force	force	NOUN
ajst-19150	160	32	/	/	SYM
ajst-19150	160	33	torque	torque	NOUN
ajst-19150	160	34	sensor	sensor	NOUN
ajst-19150	160	35	based	base	VERB
ajst-19150	160	36	on	on	ADP
ajst-19150	160	37	lssvr	lssvr	VERB
ajst-19150	160	38	fusion	fusion	NOUN
ajst-19150	160	39	algorithm	algorithm	NOUN
ajst-19150	160	40	[	[	X
ajst-19150	160	41	j	j	X
ajst-19150	160	42	]	]	X
ajst-19150	160	43	.	.	PUNCT
ajst-19150	161	1	mechanical	mechanical	ADJ
ajst-19150	161	2	systems	system	NOUN
ajst-19150	161	3	and	and	CCONJ
ajst-19150	161	4	signal	signal	NOUN
ajst-19150	161	5	processing	processing	NOUN
ajst-19150	161	6	,	,	PUNCT
ajst-19150	161	7	2018	2018	NUM
ajst-19150	161	8	,	,	PUNCT
ajst-19150	161	9	vol.110	vol.110	NOUN
ajst-19150	161	10	:	:	PUNCT
ajst-19150	161	11	509	509	NUM
ajst-19150	161	12	-	-	SYM
ajst-19150	161	13	520	520	NUM
ajst-19150	161	14	.	.	PUNCT
ajst-19150	162	1	[	[	X
ajst-19150	162	2	4	4	NUM
ajst-19150	162	3	]	]	X
ajst-19150	162	4	mchichi	mchichi	X
ajst-19150	162	5	,	,	PUNCT
ajst-19150	162	6	n.	n.	PROPN
ajst-19150	162	7	a	a	PROPN
ajst-19150	162	8	,	,	PUNCT
ajst-19150	162	9	mayer	mayer	PROPN
ajst-19150	162	10	j	j	PROPN
ajst-19150	162	11	r	r	PROPN
ajst-19150	162	12	r.	r.	PROPN
ajst-19150	162	13	optimal	optimal	ADJ
ajst-19150	162	14	calibration	calibration	NOUN
ajst-19150	162	15	strategy	strategy	NOUN
ajst-19150	162	16	for	for	ADP
ajst-19150	162	17	a	a	DET
ajst-19150	162	18	five	five	NUM
ajst-19150	162	19	-	-	PUNCT
ajst-19150	162	20	axis	axis	NOUN
ajst-19150	162	21	machine	machine	NOUN
ajst-19150	162	22	tool	tool	NOUN
ajst-19150	162	23	accuracy	accuracy	NOUN
ajst-19150	162	24	improvement	improvement	NOUN
ajst-19150	162	25	using	use	VERB
ajst-19150	162	26	the	the	DET
ajst-19150	162	27	doptimal	doptimal	ADJ
ajst-19150	162	28	approach	approach	NOUN
ajst-19150	162	29	(	(	PUNCT
ajst-19150	162	30	article)[j	article)[j	PROPN
ajst-19150	162	31	]	]	PUNCT
ajst-19150	162	32	.	.	PUNCT
ajst-19150	163	1	international	international	ADJ
ajst-19150	163	2	journal	journal	PROPN
ajst-19150	163	3	of	of	ADP
ajst-19150	163	4	advanced	advanced	ADJ
ajst-19150	163	5	manufacturing	manufacturing	NOUN
ajst-19150	163	6	technology,2019	technology,2019	NOUN
ajst-19150	163	7	,	,	PUNCT
ajst-19150	163	8	vol.103	vol.103	NOUN
ajst-19150	163	9	:	:	PUNCT
ajst-19150	163	10	251	251	NUM
ajst-19150	163	11	-	-	SYM
ajst-19150	163	12	265	265	NUM
ajst-19150	163	13	.	.	PUNCT
ajst-19150	164	1	[	[	X
ajst-19150	164	2	5	5	X
ajst-19150	164	3	]	]	PUNCT
ajst-19150	164	4	zhang	zhang	PROPN
ajst-19150	164	5	j	j	PROPN
ajst-19150	165	1	z	z	PROPN
ajst-19150	165	2	,	,	PUNCT
ajst-19150	165	3	xu	xu	PROPN
ajst-19150	165	4	c	c	X
ajst-19150	165	5	,	,	PUNCT
ajst-19150	165	6	guo	guo	PROPN
ajst-19150	165	7	k.	k.	PROPN
ajst-19150	165	8	research	research	PROPN
ajst-19150	165	9	on	on	ADP
ajst-19150	165	10	the	the	DET
ajst-19150	165	11	rigidity	rigidity	NOUN
ajst-19150	165	12	and	and	CCONJ
ajst-19150	165	13	flexibility	flexibility	NOUN
ajst-19150	165	14	performance	performance	NOUN
ajst-19150	165	15	of	of	ADP
ajst-19150	165	16	six	six	NUM
ajst-19150	165	17	-	-	PUNCT
ajst-19150	165	18	axis	axis	NOUN
ajst-19150	165	19	force	force	NOUN
ajst-19150	165	20	1	1	NUM
ajst-19150	165	21	torque	torque	NOUN
ajst-19150	165	22	sensor	sensor	NOUN
ajst-19150	165	23	based	base	VERB
ajst-19150	165	24	on	on	ADP
ajst-19150	165	25	stewart	stewart	PROPN
ajst-19150	165	26	configuration	configuration	NOUN
ajst-19150	166	1	[	[	X
ajst-19150	166	2	d	d	X
ajst-19150	166	3	]	]	X
ajst-19150	166	4	mechanical	mechanical	ADJ
ajst-19150	166	5	design	design	NOUN
ajst-19150	166	6	,	,	PUNCT
ajst-19150	166	7	2007	2007	NUM
ajst-19150	166	8	(	(	PUNCT
ajst-19150	166	9	7	7	NUM
ajst-19150	166	10	):	):	PUNCT
ajst-19150	166	11	6	6	NUM
ajst-19150	166	12	-	-	SYM
ajst-19150	166	13	8	8	NUM
ajst-19150	166	14	,	,	PUNCT
ajst-19150	166	15	16	16	NUM
ajst-19150	166	16	.	.	PUNCT
ajst-19150	167	1	[	[	X
ajst-19150	167	2	6	6	NUM
ajst-19150	167	3	]	]	PUNCT
ajst-19150	167	4	shetty	shetty	PROPN
ajst-19150	167	5	b	b	PROPN
ajst-19150	167	6	r	r	PROPN
ajst-19150	167	7	,	,	PUNCT
ajst-19150	167	8	ang	ang	PROPN
ajst-19150	167	9	m	m	PROPN
ajst-19150	167	10	h	h	PROPN
ajst-19150	167	11	jr	jr	PROPN
ajst-19150	167	12	.	.	PUNCT
ajst-19150	167	13	active	active	ADJ
ajst-19150	167	14	compliance	compliance	NOUN
ajst-19150	167	15	control	control	NOUN
ajst-19150	167	16	of	of	ADP
ajst-19150	167	17	a	a	DET
ajst-19150	167	18	puma	puma	PROPN
ajst-19150	167	19	560	560	NUM
ajst-19150	167	20	robot	robot	NOUN
ajst-19150	167	21	.	.	PUNCT
ajst-19150	168	1	in	in	ADP
ajst-19150	168	2	:	:	PUNCT
ajst-19150	168	3	proceedings	proceeding	NOUN
ajst-19150	168	4	of	of	ADP
ajst-19150	168	5	the	the	DET
ajst-19150	168	6	1996	1996	NUM
ajst-19150	168	7	ieee	ieee	PROPN
ajst-19150	168	8	international	international	ADJ
ajst-19150	168	9	conference	conference	NOUN
ajst-19150	168	10	on	on	ADP
ajst-19150	168	11	robotics	robotic	NOUN
ajst-19150	168	12	and	and	CCONJ
ajst-19150	168	13	automation	automation	NOUN
ajst-19150	168	14	.	.	PUNCT
ajst-19150	169	1	minneapolis	minneapolis	PROPN
ajst-19150	169	2	,	,	PUNCT
ajst-19150	169	3	minnesota	minnesota	PROPN
ajst-19150	169	4	,	,	PUNCT
ajst-19150	169	5	usa	usa	PROPN
ajst-19150	169	6	:	:	PUNCT
ajst-19150	169	7	ieee	ieee	NOUN
ajst-19150	169	8	,	,	PUNCT
ajst-19150	169	9	1996	1996	NUM
ajst-19150	169	10	.	.	PUNCT
ajst-19150	170	1	3720−3725	3720−3725	X
ajst-19150	170	2	.	.	PUNCT
ajst-19150	171	1	[	[	X
ajst-19150	171	2	7	7	X
ajst-19150	171	3	]	]	X
ajst-19150	171	4	tian	tian	PROPN
ajst-19150	171	5	f	f	PROPN
ajst-19150	171	6	j	j	PROPN
ajst-19150	171	7	,	,	PUNCT
ajst-19150	171	8	lv	lv	PROPN
ajst-19150	171	9	c	c	PROPN
ajst-19150	171	10	,	,	PUNCT
ajst-19150	171	11	li	li	PROPN
ajst-19150	171	12	zg	zg	PROPN
ajst-19150	171	13	,	,	PUNCT
ajst-19150	171	14	liu	liu	PROPN
ajst-19150	171	15	g	g	PROPN
ajst-19150	171	16	b.	b.	PROPN
ajst-19150	171	17	modeling	modeling	NOUN
ajst-19150	171	18	and	and	CCONJ
ajst-19150	171	19	control	control	NOUN
ajst-19150	171	20	of	of	ADP
ajst-19150	171	21	robotic	robotic	ADJ
ajst-19150	171	22	automatic	automatic	ADJ
ajst-19150	171	23	polishing	polishing	NOUN
ajst-19150	171	24	for	for	ADP
ajst-19150	171	25	curved	curved	ADJ
ajst-19150	171	26	surfaces[j	surfaces[j	PROPN
ajst-19150	171	27	]	]	PUNCT
ajst-19150	171	28	.	.	PUNCT
ajst-19150	172	1	cirp	cirp	PROPN
ajst-19150	172	2	journal	journal	NOUN
ajst-19150	172	3	of	of	ADP
ajst-19150	172	4	manufacturing	manufacturing	NOUN
ajst-19150	172	5	science	science	NOUN
ajst-19150	172	6	and	and	CCONJ
ajst-19150	172	7	technology,2016	technology,2016	PROPN
ajst-19150	172	8	,	,	PUNCT
ajst-19150	172	9	vol.14	vol.14	NOUN
ajst-19150	172	10	:	:	PUNCT
ajst-19150	172	11	55	55	NUM
ajst-19150	172	12	-	-	SYM
ajst-19150	172	13	64	64	NUM
ajst-19150	172	14	.	.	PUNCT
ajst-19150	173	1	[	[	X
ajst-19150	173	2	8	8	NUM
ajst-19150	173	3	]	]	X
ajst-19150	173	4	yun	yun	PROPN
ajst-19150	173	5	z	z	PROPN
ajst-19150	173	6	h	h	PROPN
ajst-19150	173	7	,	,	PUNCT
ajst-19150	173	8	qin	qin	PROPN
ajst-19150	173	9	w	w	PROPN
ajst-19150	173	10	h	h	PROPN
ajst-19150	173	11	,	,	PUNCT
ajst-19150	173	12	shi	shi	PROPN
ajst-19150	173	13	w	w	PROPN
ajst-19150	173	14	p.	p.	PROPN
ajst-19150	173	15	state	state	NOUN
ajst-19150	173	16	of	of	ADP
ajst-19150	173	17	charge	charge	NOUN
ajst-19150	173	18	estimation	estimation	NOUN
ajst-19150	173	19	of	of	ADP
ajst-19150	173	20	lithium	lithium	NOUN
ajst-19150	173	21	-	-	PUNCT
ajst-19150	173	22	ion	ion	NOUN
ajst-19150	173	23	batteries	battery	NOUN
ajst-19150	173	24	with	with	ADP
ajst-19150	173	25	non	non	ADJ
ajst-19150	173	26	-	-	ADJ
ajst-19150	173	27	negligible	negligible	ADJ
ajst-19150	173	28	outlier	outlier	NOUN
ajst-19150	173	29	observations	observation	NOUN
ajst-19150	173	30	based	base	VERB
ajst-19150	173	31	on	on	ADP
ajst-19150	173	32	student	student	NOUN
ajst-19150	173	33	's	's	PART
ajst-19150	173	34	t	t	PROPN
ajst-19150	173	35	filter[j	filter[j	PROPN
ajst-19150	173	36	]	]	PUNCT
ajst-19150	173	37	.	.	PUNCT
ajst-19150	174	1	journal	journal	PROPN
ajst-19150	174	2	of	of	ADP
ajst-19150	174	3	energy	energy	NOUN
ajst-19150	174	4	storage	storage	NOUN
ajst-19150	174	5	,	,	PUNCT
ajst-19150	174	6	2022,55	2022,55	NUM
ajst-19150	174	7	:	:	PUNCT
ajst-19150	174	8	105825	105825	NUM
ajst-19150	174	9	.	.	PUNCT
ajst-19150	175	1	[	[	X
ajst-19150	175	2	9	9	NUM
ajst-19150	175	3	]	]	PUNCT
ajst-19150	175	4	zhu	zhu	PROPN
ajst-19150	175	5	h	h	PROPN
ajst-19150	175	6	c	c	X
ajst-19150	175	7	,	,	PUNCT
ajst-19150	175	8	tu	tu	PROPN
ajst-19150	175	9	j	j	PROPN
ajst-19150	175	10	,	,	PUNCT
ajst-19150	175	11	cai	cai	PROPN
ajst-19150	176	1	c	c	X
ajst-19150	176	2	,	,	PUNCT
ajst-19150	176	3	et	et	PROPN
ajst-19150	176	4	al	al	PROPN
ajst-19150	176	5	.	.	PUNCT
ajst-19150	177	1	a	a	DET
ajst-19150	177	2	fast	fast	ADJ
ajst-19150	177	3	signal	signal	NOUN
ajst-19150	177	4	-	-	PUNCT
ajst-19150	177	5	processing	processing	NOUN
ajst-19150	177	6	method	method	NOUN
ajst-19150	177	7	for	for	ADP
ajst-19150	177	8	electromagnetic	electromagnetic	ADJ
ajst-19150	177	9	ultrasonic	ultrasonic	ADJ
ajst-19150	177	10	thickness	thickness	NOUN
ajst-19150	177	11	measurement	measurement	NOUN
ajst-19150	177	12	of	of	ADP
ajst-19150	177	13	pipelines	pipeline	NOUN
ajst-19150	177	14	based	base	VERB
ajst-19150	177	15	on	on	ADP
ajst-19150	177	16	ukf	ukf	PROPN
ajst-19150	177	17	and	and	CCONJ
ajst-19150	177	18	smo	smo	PROPN
ajst-19150	178	1	[	[	X
ajst-19150	178	2	j	j	X
ajst-19150	178	3	]	]	X
ajst-19150	178	4	.	.	PUNCT
ajst-19150	179	1	energies	energy	NOUN
ajst-19150	179	2	,	,	PUNCT
ajst-19150	179	3	2022	2022	NUM
ajst-19150	179	4	,	,	PUNCT
ajst-19150	179	5	15(18	15(18	NUM
ajst-19150	179	6	)	)	PUNCT
ajst-19150	179	7	:	:	PUNCT
ajst-19150	179	8	6554	6554	NUM
ajst-19150	179	9	.	.	PUNCT