id	sid	tid	token	lemma	pos
ajst-9438	1	1	academic	academic	ADJ
ajst-9438	1	2	journal	journal	NOUN
ajst-9438	1	3	of	of	ADP
ajst-9438	1	4	science	science	NOUN
ajst-9438	1	5	and	and	CCONJ
ajst-9438	1	6	technology	technology	NOUN
ajst-9438	1	7	issn	issn	NOUN
ajst-9438	1	8	:	:	PUNCT
ajst-9438	1	9	2771	2771	NUM
ajst-9438	1	10	-	-	SYM
ajst-9438	1	11	3032	3032	NUM
ajst-9438	1	12	|	|	NOUN
ajst-9438	1	13	vol	vol	NOUN
ajst-9438	1	14	.	.	PROPN
ajst-9438	2	1	6	6	NUM
ajst-9438	2	2	,	,	PUNCT
ajst-9438	2	3	no	no	INTJ
ajst-9438	2	4	.	.	NOUN
ajst-9438	2	5	2	2	NUM
ajst-9438	2	6	,	,	PUNCT
ajst-9438	2	7	2023	2023	NUM
ajst-9438	2	8	20	20	NUM
ajst-9438	2	9	design	design	NOUN
ajst-9438	2	10	of	of	ADP
ajst-9438	2	11	robot	robot	NOUN
ajst-9438	2	12	end	end	NOUN
ajst-9438	2	13	trajectory	trajectory	NOUN
ajst-9438	2	14	tracking	track	VERB
ajst-9438	2	15	controller	controller	NOUN
ajst-9438	2	16	xuying	xuye	VERB
ajst-9438	2	17	gao	gao	PROPN
ajst-9438	2	18	*	*	PROPN
ajst-9438	2	19	,	,	PUNCT
ajst-9438	2	20	geng	geng	PROPN
ajst-9438	2	21	liang	liang	PROPN
ajst-9438	2	22	,	,	PUNCT
ajst-9438	2	23	wei	wei	PROPN
ajst-9438	2	24	pei+	pei+	PROPN
ajst-9438	2	25	,	,	PUNCT
ajst-9438	2	26	xiangyu	xiangyu	PROPN
ajst-9438	2	27	feng+	feng+	ADP
ajst-9438	2	28	north	north	PROPN
ajst-9438	2	29	china	china	PROPN
ajst-9438	2	30	electric	electric	PROPN
ajst-9438	2	31	power	power	PROPN
ajst-9438	2	32	university	university	PROPN
ajst-9438	2	33	,	,	PUNCT
ajst-9438	2	34	beijing	beijing	PROPN
ajst-9438	2	35	100000	100000	NUM
ajst-9438	2	36	,	,	PUNCT
ajst-9438	2	37	china	china	PROPN
ajst-9438	2	38	+	+	CCONJ
ajst-9438	2	39	.are	.are	PUNCT
ajst-9438	3	1	:	:	PUNCT
ajst-9438	3	2	the	the	DET
ajst-9438	3	3	.third	.third	ADJ
ajst-9438	3	4	*	*	PUNCT
ajst-9438	3	5	authors	author	NOUN
ajst-9438	3	6	*	*	PUNCT
ajst-9438	3	7	corresponding	correspond	VERB
ajst-9438	3	8	author	author	NOUN
ajst-9438	3	9	’	'	PUNCT
ajst-9438	3	10	abstract	abstract	NOUN
ajst-9438	3	11	:	:	PUNCT
ajst-9438	3	12	the	the	DET
ajst-9438	3	13	most	most	ADV
ajst-9438	3	14	important	important	ADJ
ajst-9438	3	15	point	point	NOUN
ajst-9438	3	16	for	for	SCONJ
ajst-9438	3	17	the	the	DET
ajst-9438	3	18	manipulator	manipulator	NOUN
ajst-9438	3	19	to	to	PART
ajst-9438	3	20	run	run	VERB
ajst-9438	3	21	quickly	quickly	ADV
ajst-9438	3	22	and	and	CCONJ
ajst-9438	3	23	efficiently	efficiently	ADV
ajst-9438	3	24	is	be	AUX
ajst-9438	3	25	that	that	SCONJ
ajst-9438	3	26	we	we	PRON
ajst-9438	3	27	must	must	AUX
ajst-9438	3	28	explore	explore	VERB
ajst-9438	3	29	the	the	DET
ajst-9438	3	30	trajectory	trajectory	NOUN
ajst-9438	3	31	tracking	tracking	NOUN
ajst-9438	3	32	control	control	NOUN
ajst-9438	3	33	technology	technology	NOUN
ajst-9438	3	34	,	,	PUNCT
ajst-9438	3	35	so	so	SCONJ
ajst-9438	3	36	we	we	PRON
ajst-9438	3	37	need	need	VERB
ajst-9438	3	38	to	to	PART
ajst-9438	3	39	master	master	VERB
ajst-9438	3	40	the	the	DET
ajst-9438	3	41	end	end	NOUN
ajst-9438	3	42	trajectory	trajectory	NOUN
ajst-9438	3	43	operation	operation	NOUN
ajst-9438	3	44	law	law	NOUN
ajst-9438	3	45	.	.	PUNCT
ajst-9438	4	1	this	this	DET
ajst-9438	4	2	topic	topic	NOUN
ajst-9438	4	3	is	be	AUX
ajst-9438	4	4	mainly	mainly	ADV
ajst-9438	4	5	to	to	PART
ajst-9438	4	6	analyze	analyze	VERB
ajst-9438	4	7	the	the	DET
ajst-9438	4	8	structural	structural	ADJ
ajst-9438	4	9	characteristics	characteristic	NOUN
ajst-9438	4	10	and	and	CCONJ
ajst-9438	4	11	working	working	NOUN
ajst-9438	4	12	principle	principle	NOUN
ajst-9438	4	13	of	of	ADP
ajst-9438	4	14	the	the	DET
ajst-9438	4	15	manipulator	manipulator	NOUN
ajst-9438	4	16	,	,	PUNCT
ajst-9438	4	17	create	create	VERB
ajst-9438	4	18	the	the	DET
ajst-9438	4	19	control	control	NOUN
ajst-9438	4	20	law	law	NOUN
ajst-9438	4	21	of	of	ADP
ajst-9438	4	22	the	the	DET
ajst-9438	4	23	end	end	NOUN
ajst-9438	4	24	node	node	NOUN
ajst-9438	4	25	system	system	NOUN
ajst-9438	4	26	model	model	NOUN
ajst-9438	4	27	of	of	ADP
ajst-9438	4	28	the	the	DET
ajst-9438	4	29	workspace	workspace	NOUN
ajst-9438	4	30	,	,	PUNCT
ajst-9438	4	31	calculate	calculate	VERB
ajst-9438	4	32	the	the	DET
ajst-9438	4	33	actual	actual	ADJ
ajst-9438	4	34	joint	joint	ADJ
ajst-9438	4	35	torque	torque	NOUN
ajst-9438	4	36	,	,	PUNCT
ajst-9438	4	37	and	and	CCONJ
ajst-9438	4	38	conduct	conduct	VERB
ajst-9438	4	39	kinematics	kinematic	NOUN
ajst-9438	4	40	analysis	analysis	NOUN
ajst-9438	4	41	of	of	ADP
ajst-9438	4	42	the	the	DET
ajst-9438	4	43	end	end	NOUN
ajst-9438	4	44	trajectory	trajectory	NOUN
ajst-9438	4	45	of	of	ADP
ajst-9438	4	46	the	the	DET
ajst-9438	4	47	manipulator	manipulator	NOUN
ajst-9438	4	48	,	,	PUNCT
ajst-9438	4	49	finally	finally	ADV
ajst-9438	4	50	,	,	PUNCT
ajst-9438	4	51	matlab	matlab	PROPN
ajst-9438	4	52	simulation	simulation	PROPN
ajst-9438	4	53	was	be	AUX
ajst-9438	4	54	used	use	VERB
ajst-9438	4	55	to	to	PART
ajst-9438	4	56	verify	verify	VERB
ajst-9438	4	57	the	the	DET
ajst-9438	4	58	designed	design	VERB
ajst-9438	4	59	controller	controller	NOUN
ajst-9438	4	60	.	.	PUNCT
ajst-9438	5	1	studying	study	VERB
ajst-9438	5	2	trajectory	trajectory	NOUN
ajst-9438	5	3	tracking	tracking	NOUN
ajst-9438	5	4	control	control	NOUN
ajst-9438	5	5	technology	technology	NOUN
ajst-9438	5	6	will	will	AUX
ajst-9438	5	7	have	have	VERB
ajst-9438	5	8	a	a	DET
ajst-9438	5	9	positive	positive	ADJ
ajst-9438	5	10	impact	impact	NOUN
ajst-9438	5	11	on	on	ADP
ajst-9438	5	12	future	future	ADJ
ajst-9438	5	13	life	life	NOUN
ajst-9438	5	14	and	and	CCONJ
ajst-9438	5	15	can	can	AUX
ajst-9438	5	16	be	be	AUX
ajst-9438	5	17	applied	apply	VERB
ajst-9438	5	18	practically	practically	ADV
ajst-9438	5	19	in	in	ADP
ajst-9438	5	20	production	production	NOUN
ajst-9438	5	21	and	and	CCONJ
ajst-9438	5	22	daily	daily	ADJ
ajst-9438	5	23	life	life	NOUN
ajst-9438	5	24	to	to	PART
ajst-9438	5	25	meet	meet	VERB
ajst-9438	5	26	the	the	DET
ajst-9438	5	27	needs	need	NOUN
ajst-9438	5	28	of	of	ADP
ajst-9438	5	29	modern	modern	ADJ
ajst-9438	5	30	production	production	NOUN
ajst-9438	5	31	.	.	PUNCT
ajst-9438	6	1	keywords	keyword	NOUN
ajst-9438	6	2	:	:	PUNCT
ajst-9438	6	3	robotic	robotic	ADJ
ajst-9438	6	4	arm	arm	NOUN
ajst-9438	6	5	,	,	PUNCT
ajst-9438	6	6	end	end	NOUN
ajst-9438	6	7	trajectory	trajectory	NOUN
ajst-9438	6	8	tracking	tracking	NOUN
ajst-9438	6	9	,	,	PUNCT
ajst-9438	6	10	control	control	NOUN
ajst-9438	6	11	.	.	PUNCT
ajst-9438	7	1	1	1	X
ajst-9438	7	2	.	.	X
ajst-9438	7	3	introduction	introduction	NOUN
ajst-9438	7	4	with	with	ADP
ajst-9438	7	5	the	the	DET
ajst-9438	7	6	rapid	rapid	ADJ
ajst-9438	7	7	development	development	NOUN
ajst-9438	7	8	of	of	ADP
ajst-9438	7	9	robotic	robotic	ADJ
ajst-9438	7	10	arms	arm	NOUN
ajst-9438	7	11	in	in	ADP
ajst-9438	7	12	industry	industry	NOUN
ajst-9438	7	13	,	,	PUNCT
ajst-9438	7	14	new	new	ADJ
ajst-9438	7	15	tracking	tracking	NOUN
ajst-9438	7	16	and	and	CCONJ
ajst-9438	7	17	trajectory	trajectory	NOUN
ajst-9438	7	18	control	control	NOUN
ajst-9438	7	19	methods	method	NOUN
ajst-9438	7	20	have	have	AUX
ajst-9438	7	21	emerged	emerge	VERB
ajst-9438	7	22	one	one	NUM
ajst-9438	7	23	after	after	ADP
ajst-9438	7	24	another	another	PRON
ajst-9438	7	25	.	.	PUNCT
ajst-9438	8	1	with	with	ADP
ajst-9438	8	2	the	the	DET
ajst-9438	8	3	increasing	increase	VERB
ajst-9438	8	4	application	application	NOUN
ajst-9438	8	5	of	of	ADP
ajst-9438	8	6	robotic	robotic	ADJ
ajst-9438	8	7	arms	arm	NOUN
ajst-9438	8	8	in	in	ADP
ajst-9438	8	9	the	the	DET
ajst-9438	8	10	industrial	industrial	ADJ
ajst-9438	8	11	field	field	NOUN
ajst-9438	8	12	,	,	PUNCT
ajst-9438	8	13	research	research	NOUN
ajst-9438	8	14	has	have	AUX
ajst-9438	8	15	become	become	VERB
ajst-9438	8	16	a	a	DET
ajst-9438	8	17	crossroads	crossroad	NOUN
ajst-9438	8	18	between	between	ADP
ajst-9438	8	19	home	home	NOUN
ajst-9438	8	20	and	and	CCONJ
ajst-9438	8	21	outdoor	outdoor	ADJ
ajst-9438	8	22	activities	activity	NOUN
ajst-9438	8	23	[	[	X
ajst-9438	8	24	1	1	NUM
ajst-9438	8	25	]	]	PUNCT
ajst-9438	8	26	.	.	PUNCT
ajst-9438	9	1	for	for	ADP
ajst-9438	9	2	example	example	NOUN
ajst-9438	9	3	,	,	PUNCT
ajst-9438	9	4	pid	pid	NOUN
ajst-9438	9	5	control	control	NOUN
ajst-9438	9	6	algorithms	algorithm	NOUN
ajst-9438	9	7	and	and	CCONJ
ajst-9438	9	8	other	other	ADJ
ajst-9438	9	9	methods	method	NOUN
ajst-9438	9	10	can	can	AUX
ajst-9438	9	11	be	be	AUX
ajst-9438	9	12	applied	apply	VERB
ajst-9438	9	13	to	to	ADP
ajst-9438	9	14	simple	simple	ADJ
ajst-9438	9	15	systems	system	NOUN
ajst-9438	9	16	,	,	PUNCT
ajst-9438	9	17	but	but	CCONJ
ajst-9438	9	18	they	they	PRON
ajst-9438	9	19	are	be	AUX
ajst-9438	9	20	somewhat	somewhat	ADV
ajst-9438	9	21	difficult	difficult	ADJ
ajst-9438	9	22	to	to	PART
ajst-9438	9	23	apply	apply	VERB
ajst-9438	9	24	to	to	ADP
ajst-9438	9	25	complex	complex	ADJ
ajst-9438	9	26	systems	system	NOUN
ajst-9438	9	27	.	.	PUNCT
ajst-9438	10	1	often	often	ADV
ajst-9438	10	2	in	in	ADP
ajst-9438	10	3	practical	practical	ADJ
ajst-9438	10	4	applications	application	NOUN
ajst-9438	10	5	,	,	PUNCT
ajst-9438	10	6	due	due	ADP
ajst-9438	10	7	to	to	ADP
ajst-9438	10	8	the	the	DET
ajst-9438	10	9	lack	lack	NOUN
ajst-9438	10	10	of	of	ADP
ajst-9438	10	11	uniformity	uniformity	NOUN
ajst-9438	10	12	and	and	CCONJ
ajst-9438	10	13	linearity	linearity	NOUN
ajst-9438	10	14	in	in	ADP
ajst-9438	10	15	the	the	DET
ajst-9438	10	16	control	control	NOUN
ajst-9438	10	17	system	system	NOUN
ajst-9438	10	18	itself	itself	PRON
ajst-9438	10	19	,	,	PUNCT
ajst-9438	10	20	it	it	PRON
ajst-9438	10	21	is	be	AUX
ajst-9438	10	22	difficult	difficult	ADJ
ajst-9438	10	23	to	to	PART
ajst-9438	10	24	obtain	obtain	VERB
ajst-9438	10	25	an	an	DET
ajst-9438	10	26	accurate	accurate	ADJ
ajst-9438	10	27	mathematical	mathematical	ADJ
ajst-9438	10	28	model	model	NOUN
ajst-9438	10	29	.	.	PUNCT
ajst-9438	11	1	this	this	PRON
ajst-9438	11	2	requires	require	VERB
ajst-9438	11	3	the	the	DET
ajst-9438	11	4	use	use	NOUN
ajst-9438	11	5	of	of	ADP
ajst-9438	11	6	correct	correct	ADJ
ajst-9438	11	7	and	and	CCONJ
ajst-9438	11	8	accurate	accurate	ADJ
ajst-9438	11	9	control	control	NOUN
ajst-9438	11	10	algorithms	algorithm	NOUN
ajst-9438	11	11	to	to	PART
ajst-9438	11	12	control	control	VERB
ajst-9438	11	13	and	and	CCONJ
ajst-9438	11	14	apply	apply	VERB
ajst-9438	11	15	the	the	DET
ajst-9438	11	16	control	control	NOUN
ajst-9438	11	17	system	system	NOUN
ajst-9438	11	18	to	to	PART
ajst-9438	11	19	complete	complete	VERB
ajst-9438	11	20	trajectory	trajectory	NOUN
ajst-9438	11	21	tracking	tracking	NOUN
ajst-9438	11	22	work	work	NOUN
ajst-9438	11	23	.	.	PUNCT
ajst-9438	12	1	different	different	ADJ
ajst-9438	12	2	control	control	NOUN
ajst-9438	12	3	methods	method	NOUN
ajst-9438	12	4	are	be	AUX
ajst-9438	12	5	used	use	VERB
ajst-9438	12	6	for	for	ADP
ajst-9438	12	7	different	different	ADJ
ajst-9438	12	8	trajectory	trajectory	NOUN
ajst-9438	12	9	tracking	track	VERB
ajst-9438	12	10	effects[2	effects[2	PROPN
ajst-9438	12	11	]	]	PUNCT
ajst-9438	12	12	.	.	PUNCT
ajst-9438	13	1	starting	start	VERB
ajst-9438	13	2	from	from	ADP
ajst-9438	13	3	analyzing	analyze	VERB
ajst-9438	13	4	the	the	DET
ajst-9438	13	5	background	background	NOUN
ajst-9438	13	6	and	and	CCONJ
ajst-9438	13	7	significance	significance	NOUN
ajst-9438	13	8	of	of	ADP
ajst-9438	13	9	the	the	DET
ajst-9438	13	10	project	project	NOUN
ajst-9438	13	11	,	,	PUNCT
ajst-9438	13	12	this	this	DET
ajst-9438	13	13	article	article	NOUN
ajst-9438	13	14	explores	explore	VERB
ajst-9438	13	15	the	the	DET
ajst-9438	13	16	current	current	ADJ
ajst-9438	13	17	development	development	NOUN
ajst-9438	13	18	status	status	NOUN
ajst-9438	13	19	of	of	ADP
ajst-9438	13	20	robotic	robotic	ADJ
ajst-9438	13	21	arms	arm	NOUN
ajst-9438	13	22	,	,	PUNCT
ajst-9438	13	23	studies	study	VERB
ajst-9438	13	24	the	the	DET
ajst-9438	13	25	system	system	NOUN
ajst-9438	13	26	's	's	PART
ajst-9438	13	27	pose	pose	NOUN
ajst-9438	13	28	and	and	CCONJ
ajst-9438	13	29	coordinate	coordinate	NOUN
ajst-9438	13	30	system	system	NOUN
ajst-9438	13	31	description	description	NOUN
ajst-9438	13	32	,	,	PUNCT
ajst-9438	13	33	as	as	ADV
ajst-9438	13	34	well	well	ADV
ajst-9438	13	35	as	as	ADP
ajst-9438	13	36	trajectory	trajectory	NOUN
ajst-9438	13	37	tracking	tracking	NOUN
ajst-9438	13	38	control	control	NOUN
ajst-9438	13	39	methods[3	methods[3	PROPN
ajst-9438	13	40	]	]	PUNCT
ajst-9438	13	41	.	.	PUNCT
ajst-9438	14	1	the	the	DET
ajst-9438	14	2	use	use	NOUN
ajst-9438	14	3	of	of	ADP
ajst-9438	14	4	lyapunov	lyapunov	ADJ
ajst-9438	14	5	controllers	controller	NOUN
ajst-9438	14	6	is	be	AUX
ajst-9438	14	7	aimed	aim	VERB
ajst-9438	14	8	at	at	ADP
ajst-9438	14	9	improving	improve	VERB
ajst-9438	14	10	the	the	DET
ajst-9438	14	11	tracking	tracking	NOUN
ajst-9438	14	12	performance	performance	NOUN
ajst-9438	14	13	of	of	ADP
ajst-9438	14	14	robots	robot	NOUN
ajst-9438	14	15	under	under	ADP
ajst-9438	14	16	bounded	bounded	ADJ
ajst-9438	14	17	and	and	CCONJ
ajst-9438	14	18	time	time	NOUN
ajst-9438	14	19	-	-	PUNCT
ajst-9438	14	20	varying	vary	VERB
ajst-9438	14	21	disturbances	disturbance	NOUN
ajst-9438	14	22	.	.	PUNCT
ajst-9438	15	1	the	the	DET
ajst-9438	15	2	trajectory	trajectory	NOUN
ajst-9438	15	3	proposed	propose	VERB
ajst-9438	15	4	relaxes	relax	VERB
ajst-9438	15	5	the	the	DET
ajst-9438	15	6	need	need	NOUN
ajst-9438	15	7	for	for	ADP
ajst-9438	15	8	nonlinear	nonlinear	ADJ
ajst-9438	15	9	dynamics	dynamic	NOUN
ajst-9438	15	10	knowledge	knowledge	NOUN
ajst-9438	15	11	,	,	PUNCT
ajst-9438	15	12	and	and	CCONJ
ajst-9438	16	1	based	base	VERB
ajst-9438	16	2	on	on	ADP
ajst-9438	16	3	interference	interference	NOUN
ajst-9438	16	4	suppression	suppression	NOUN
ajst-9438	16	5	schemes	scheme	NOUN
ajst-9438	16	6	,	,	PUNCT
ajst-9438	16	7	an	an	DET
ajst-9438	16	8	asymptotically	asymptotically	ADV
ajst-9438	16	9	stable	stable	ADJ
ajst-9438	16	10	tracking	tracking	NOUN
ajst-9438	16	11	controller	controller	NOUN
ajst-9438	16	12	in	in	ADP
ajst-9438	16	13	the	the	DET
ajst-9438	16	14	sense	sense	NOUN
ajst-9438	16	15	of	of	ADP
ajst-9438	16	16	lyapunov	lyapunov	NOUN
ajst-9438	16	17	is	be	AUX
ajst-9438	16	18	constructed	construct	VERB
ajst-9438	16	19	.	.	PUNCT
ajst-9438	17	1	the	the	DET
ajst-9438	17	2	focus	focus	NOUN
ajst-9438	17	3	of	of	ADP
ajst-9438	17	4	this	this	DET
ajst-9438	17	5	article	article	NOUN
ajst-9438	17	6	is	be	AUX
ajst-9438	17	7	to	to	PART
ajst-9438	17	8	use	use	VERB
ajst-9438	17	9	controller	controller	NOUN
ajst-9438	17	10	design	design	NOUN
ajst-9438	17	11	to	to	PART
ajst-9438	17	12	achieve	achieve	VERB
ajst-9438	17	13	trajectory	trajectory	NOUN
ajst-9438	17	14	tracking[4	tracking[4	NUM
ajst-9438	17	15	]	]	PUNCT
ajst-9438	17	16	.	.	PUNCT
ajst-9438	18	1	2	2	X
ajst-9438	18	2	.	.	X
ajst-9438	18	3	establishment	establishment	NOUN
ajst-9438	18	4	of	of	ADP
ajst-9438	18	5	system	system	NOUN
ajst-9438	18	6	model	model	NOUN
ajst-9438	18	7	we	we	PRON
ajst-9438	18	8	can	can	AUX
ajst-9438	18	9	find	find	VERB
ajst-9438	18	10	robust	robust	ADJ
ajst-9438	18	11	control	control	NOUN
ajst-9438	18	12	strategies	strategy	NOUN
ajst-9438	18	13	to	to	PART
ajst-9438	18	14	ensure	ensure	VERB
ajst-9438	18	15	tracking	tracking	NOUN
ajst-9438	18	16	of	of	ADP
ajst-9438	18	17	the	the	DET
ajst-9438	18	18	desired	desire	VERB
ajst-9438	18	19	position	position	NOUN
ajst-9438	18	20	and	and	CCONJ
ajst-9438	18	21	design	design	NOUN
ajst-9438	18	22	techniques	technique	NOUN
ajst-9438	18	23	for	for	ADP
ajst-9438	18	24	such	such	ADJ
ajst-9438	18	25	controllers	controller	NOUN
ajst-9438	18	26	.	.	PUNCT
ajst-9438	19	1	our	our	PRON
ajst-9438	19	2	goal	goal	NOUN
ajst-9438	19	3	is	be	AUX
ajst-9438	19	4	to	to	PART
ajst-9438	19	5	design	design	VERB
ajst-9438	19	6	a	a	DET
ajst-9438	19	7	controller	controller	NOUN
ajst-9438	19	8	by	by	ADP
ajst-9438	19	9	first	first	ADV
ajst-9438	19	10	establishing	establish	VERB
ajst-9438	19	11	a	a	DET
ajst-9438	19	12	mathematical	mathematical	ADJ
ajst-9438	19	13	model	model	NOUN
ajst-9438	19	14	and	and	CCONJ
ajst-9438	19	15	then	then	ADV
ajst-9438	19	16	writing	write	VERB
ajst-9438	19	17	dynamic	dynamic	ADJ
ajst-9438	19	18	equations	equation	NOUN
ajst-9438	19	19	.	.	PUNCT
ajst-9438	20	1	the	the	DET
ajst-9438	20	2	trajectory	trajectory	NOUN
ajst-9438	20	3	tracking	tracking	NOUN
ajst-9438	20	4	control	control	NOUN
ajst-9438	20	5	algorithm	algorithm	NOUN
ajst-9438	20	6	proposed	propose	VERB
ajst-9438	20	7	in	in	ADP
ajst-9438	20	8	this	this	DET
ajst-9438	20	9	paper	paper	NOUN
ajst-9438	20	10	can	can	AUX
ajst-9438	20	11	improve	improve	VERB
ajst-9438	20	12	tracking	track	VERB
ajst-9438	20	13	performance	performance	NOUN
ajst-9438	20	14	in	in	ADP
ajst-9438	20	15	system	system	NOUN
ajst-9438	20	16	dynamics	dynamic	NOUN
ajst-9438	20	17	,	,	PUNCT
ajst-9438	20	18	and	and	CCONJ
ajst-9438	20	19	the	the	DET
ajst-9438	20	20	motion	motion	NOUN
ajst-9438	20	21	of	of	ADP
ajst-9438	20	22	the	the	DET
ajst-9438	20	23	end	end	NOUN
ajst-9438	20	24	effector	effector	NOUN
ajst-9438	20	25	can	can	AUX
ajst-9438	20	26	be	be	AUX
ajst-9438	20	27	tracked	track	VERB
ajst-9438	20	28	to	to	ADP
ajst-9438	20	29	the	the	DET
ajst-9438	20	30	desired	desire	VERB
ajst-9438	20	31	trajectory	trajectory	NOUN
ajst-9438	20	32	input	input	NOUN
ajst-9438	20	33	channel	channel	NOUN
ajst-9438	20	34	in	in	ADP
ajst-9438	20	35	a	a	DET
ajst-9438	20	36	shorter	short	ADJ
ajst-9438	20	37	time	time	NOUN
ajst-9438	20	38	.	.	PUNCT
ajst-9438	21	1	usually	usually	ADV
ajst-9438	21	2	,	,	PUNCT
ajst-9438	21	3	dynamic	dynamic	ADJ
ajst-9438	21	4	modeling	modeling	NOUN
ajst-9438	21	5	involves	involve	VERB
ajst-9438	21	6	calculating	calculate	VERB
ajst-9438	21	7	the	the	DET
ajst-9438	21	8	joint	joint	ADJ
ajst-9438	21	9	angle	angle	NOUN
ajst-9438	21	10	.	.	PUNCT
ajst-9438	22	1	when	when	SCONJ
ajst-9438	22	2	designing	design	VERB
ajst-9438	22	3	the	the	DET
ajst-9438	22	4	articulated	articulated	ADJ
ajst-9438	22	5	torque	torque	NOUN
ajst-9438	22	6	applied	apply	VERB
ajst-9438	22	7	by	by	ADP
ajst-9438	22	8	the	the	DET
ajst-9438	22	9	actuator	actuator	NOUN
ajst-9438	22	10	,	,	PUNCT
ajst-9438	22	11	the	the	DET
ajst-9438	22	12	angle	angle	NOUN
ajst-9438	22	13	and	and	CCONJ
ajst-9438	22	14	joint	joint	ADJ
ajst-9438	22	15	angular	angular	ADJ
ajst-9438	22	16	velocity	velocity	NOUN
ajst-9438	22	17	can	can	AUX
ajst-9438	22	18	be	be	AUX
ajst-9438	22	19	followed	follow	VERB
ajst-9438	22	20	.	.	PUNCT
ajst-9438	23	1	in	in	ADP
ajst-9438	23	2	engineering	engineering	NOUN
ajst-9438	23	3	,	,	PUNCT
ajst-9438	23	4	it	it	PRON
ajst-9438	23	5	is	be	AUX
ajst-9438	23	6	usually	usually	ADV
ajst-9438	23	7	necessary	necessary	ADJ
ajst-9438	23	8	to	to	PART
ajst-9438	23	9	control	control	VERB
ajst-9438	23	10	the	the	DET
ajst-9438	23	11	trajectory	trajectory	NOUN
ajst-9438	23	12	of	of	ADP
ajst-9438	23	13	the	the	DET
ajst-9438	23	14	end	end	NOUN
ajst-9438	23	15	points	point	NOUN
ajst-9438	23	16	.	.	PUNCT
ajst-9438	24	1	therefore	therefore	ADV
ajst-9438	24	2	,	,	PUNCT
ajst-9438	24	3	it	it	PRON
ajst-9438	24	4	is	be	AUX
ajst-9438	24	5	necessary	necessary	ADJ
ajst-9438	24	6	to	to	PART
ajst-9438	24	7	establish	establish	VERB
ajst-9438	24	8	a	a	DET
ajst-9438	24	9	dynamic	dynamic	ADJ
ajst-9438	24	10	mode	mode	NOUN
ajst-9438	24	11	of	of	ADP
ajst-9438	24	12	cartesian	cartesian	ADJ
ajst-9438	24	13	coordinates	coordinate	NOUN
ajst-9438	24	14	at	at	ADP
ajst-9438	24	15	the	the	DET
ajst-9438	24	16	end	end	NOUN
ajst-9438	24	17	points	point	NOUN
ajst-9438	24	18	of	of	ADP
ajst-9438	24	19	each	each	DET
ajst-9438	24	20	node	node	NOUN
ajst-9438	24	21	in	in	ADP
ajst-9438	24	22	the	the	DET
ajst-9438	24	23	workspace	workspace	NOUN
ajst-9438	24	24	,	,	PUNCT
ajst-9438	24	25	and	and	CCONJ
ajst-9438	24	26	design	design	VERB
ajst-9438	24	27	further	further	ADJ
ajst-9438	24	28	control	control	NOUN
ajst-9438	24	29	laws	law	NOUN
ajst-9438	24	30	through	through	ADP
ajst-9438	24	31	mapping	mapping	NOUN
ajst-9438	24	32	relationships	relationship	NOUN
ajst-9438	24	33	to	to	PART
ajst-9438	24	34	obtain	obtain	VERB
ajst-9438	24	35	the	the	DET
ajst-9438	24	36	actual	actual	ADJ
ajst-9438	24	37	joint	joint	ADJ
ajst-9438	24	38	torque[5,6	torque[5,6	PROPN
ajst-9438	24	39	]	]	X
ajst-9438	24	40	.	.	PUNCT
ajst-9438	25	1	2.1	2.1	NUM
ajst-9438	25	2	.	.	PUNCT
ajst-9438	25	3	pose	pose	VERB
ajst-9438	25	4	and	and	CCONJ
ajst-9438	25	5	coordinate	coordinate	NOUN
ajst-9438	25	6	system	system	NOUN
ajst-9438	25	7	description	description	NOUN
ajst-9438	25	8	the	the	DET
ajst-9438	25	9	physical	physical	ADJ
ajst-9438	25	10	structure	structure	NOUN
ajst-9438	25	11	of	of	ADP
ajst-9438	25	12	a	a	DET
ajst-9438	25	13	regular	regular	ADJ
ajst-9438	25	14	operating	operating	NOUN
ajst-9438	25	15	system	system	NOUN
ajst-9438	25	16	is	be	AUX
ajst-9438	25	17	a	a	DET
ajst-9438	25	18	mechanical	mechanical	ADJ
ajst-9438	25	19	structure	structure	NOUN
ajst-9438	25	20	,	,	PUNCT
ajst-9438	25	21	with	with	ADP
ajst-9438	25	22	normal	normal	ADJ
ajst-9438	25	23	two	two	NUM
ajst-9438	25	24	arm	arm	NOUN
ajst-9438	25	25	operation	operation	NOUN
ajst-9438	25	26	of	of	ADP
ajst-9438	25	27	four	four	NUM
ajst-9438	25	28	degrees	degree	NOUN
ajst-9438	25	29	of	of	ADP
ajst-9438	25	30	freedom	freedom	NOUN
ajst-9438	25	31	.	.	PUNCT
ajst-9438	26	1	the	the	DET
ajst-9438	26	2	main	main	ADJ
ajst-9438	26	3	servo	servo	NOUN
ajst-9438	26	4	controller	controller	NOUN
ajst-9438	26	5	of	of	ADP
ajst-9438	26	6	the	the	DET
ajst-9438	26	7	control	control	NOUN
ajst-9438	26	8	system	system	NOUN
ajst-9438	26	9	directly	directly	ADV
ajst-9438	26	10	operates	operate	VERB
ajst-9438	26	11	the	the	DET
ajst-9438	26	12	servo	servo	NOUN
ajst-9438	26	13	motors	motor	NOUN
ajst-9438	26	14	of	of	ADP
ajst-9438	26	15	the	the	DET
ajst-9438	26	16	hands	hand	NOUN
ajst-9438	26	17	and	and	CCONJ
ajst-9438	26	18	joints	joint	NOUN
ajst-9438	26	19	to	to	PART
ajst-9438	26	20	control	control	VERB
ajst-9438	26	21	the	the	DET
ajst-9438	26	22	movement	movement	NOUN
ajst-9438	26	23	of	of	ADP
ajst-9438	26	24	the	the	DET
ajst-9438	26	25	axes	axis	NOUN
ajst-9438	26	26	and	and	CCONJ
ajst-9438	26	27	extend	extend	VERB
ajst-9438	26	28	the	the	DET
ajst-9438	26	29	arms	arm	NOUN
ajst-9438	26	30	.	.	PUNCT
ajst-9438	27	1	the	the	DET
ajst-9438	27	2	bom	bom	PROPN
ajst-9438	27	3	control	control	PROPN
ajst-9438	27	4	algorithm	algorithm	PROPN
ajst-9438	27	5	must	must	AUX
ajst-9438	27	6	be	be	AUX
ajst-9438	27	7	used	use	VERB
ajst-9438	27	8	to	to	PART
ajst-9438	27	9	approximate	approximate	VERB
ajst-9438	27	10	the	the	DET
ajst-9438	27	11	system	system	NOUN
ajst-9438	27	12	accuracy	accuracy	NOUN
ajst-9438	27	13	curve	curve	NOUN
ajst-9438	27	14	,	,	PUNCT
ajst-9438	27	15	improve	improve	VERB
ajst-9438	27	16	the	the	DET
ajst-9438	27	17	positioning	positioning	NOUN
ajst-9438	27	18	accuracy	accuracy	NOUN
ajst-9438	27	19	and	and	CCONJ
ajst-9438	27	20	handling	handle	VERB
ajst-9438	27	21	speed	speed	NOUN
ajst-9438	27	22	of	of	ADP
ajst-9438	27	23	joints	joint	NOUN
ajst-9438	27	24	,	,	PUNCT
ajst-9438	27	25	complete	complete	VERB
ajst-9438	27	26	the	the	DET
ajst-9438	27	27	precise	precise	ADJ
ajst-9438	27	28	placement	placement	NOUN
ajst-9438	27	29	of	of	ADP
ajst-9438	27	30	hands	hand	NOUN
ajst-9438	27	31	,	,	PUNCT
ajst-9438	27	32	and	and	CCONJ
ajst-9438	27	33	give	give	VERB
ajst-9438	27	34	a	a	DET
ajst-9438	27	35	predetermined	predetermined	ADJ
ajst-9438	27	36	angular	angular	ADJ
ajst-9438	27	37	displacement	displacement	NOUN
ajst-9438	27	38	.	.	PUNCT
ajst-9438	28	1	the	the	DET
ajst-9438	28	2	most	most	ADV
ajst-9438	28	3	common	common	ADJ
ajst-9438	28	4	schematic	schematic	ADJ
ajst-9438	28	5	diagram	diagram	NOUN
ajst-9438	28	6	of	of	ADP
ajst-9438	28	7	mechanical	mechanical	ADJ
ajst-9438	28	8	arm	arm	NOUN
ajst-9438	28	9	structural	structural	ADJ
ajst-9438	28	10	parameters	parameter	NOUN
ajst-9438	28	11	is	be	AUX
ajst-9438	28	12	shown	show	VERB
ajst-9438	28	13	in	in	ADP
ajst-9438	28	14	figure	figure	NOUN
ajst-9438	28	15	1	1	NUM
ajst-9438	28	16	.	.	PUNCT
ajst-9438	28	17	figure	figure	NOUN
ajst-9438	28	18	1	1	NUM
ajst-9438	28	19	.	.	PUNCT
ajst-9438	28	20	schematic	schematic	ADJ
ajst-9438	28	21	diagram	diagram	NOUN
ajst-9438	28	22	of	of	ADP
ajst-9438	28	23	structural	structural	ADJ
ajst-9438	28	24	parameters	parameter	NOUN
ajst-9438	28	25	of	of	ADP
ajst-9438	28	26	a	a	DET
ajst-9438	28	27	dual	dual	ADJ
ajst-9438	28	28	joint	joint	ADJ
ajst-9438	28	29	robotic	robotic	ADJ
ajst-9438	28	30	arm	arm	NOUN
ajst-9438	28	31	in	in	ADP
ajst-9438	28	32	system	system	NOUN
ajst-9438	28	33	analysis	analysis	NOUN
ajst-9438	28	34	and	and	CCONJ
ajst-9438	28	35	modeling	modeling	NOUN
ajst-9438	28	36	,	,	PUNCT
ajst-9438	28	37	in	in	ADP
ajst-9438	28	38	order	order	NOUN
ajst-9438	28	39	to	to	PART
ajst-9438	28	40	clearly	clearly	ADV
ajst-9438	28	41	express	express	VERB
ajst-9438	28	42	the	the	DET
ajst-9438	28	43	relationship	relationship	NOUN
ajst-9438	28	44	between	between	ADP
ajst-9438	28	45	the	the	DET
ajst-9438	28	46	connecting	connect	VERB
ajst-9438	28	47	rods	rod	NOUN
ajst-9438	28	48	in	in	ADP
ajst-9438	28	49	a	a	DET
ajst-9438	28	50	complex	complex	ADJ
ajst-9438	28	51	system	system	NOUN
ajst-9438	28	52	,	,	PUNCT
ajst-9438	28	53	the	the	DET
ajst-9438	28	54	d	d	ADJ
ajst-9438	28	55	-	-	ADJ
ajst-9438	28	56	h	h	NOUN
ajst-9438	28	57	method	method	NOUN
ajst-9438	28	58	and	and	CCONJ
ajst-9438	28	59	coordinate	coordinate	NOUN
ajst-9438	28	60	system	system	NOUN
ajst-9438	28	61	are	be	AUX
ajst-9438	28	62	usually	usually	ADV
ajst-9438	28	63	used	use	VERB
ajst-9438	28	64	to	to	PART
ajst-9438	28	65	describe	describe	VERB
ajst-9438	28	66	the	the	DET
ajst-9438	28	67	system	system	NOUN
ajst-9438	28	68	.	.	PUNCT
ajst-9438	29	1	the	the	DET
ajst-9438	29	2	meaning	meaning	NOUN
ajst-9438	29	3	of	of	ADP
ajst-9438	29	4	coordinate	coordinate	NOUN
ajst-9438	29	5	system	system	NOUN
ajst-9438	29	6	parameters	parameter	NOUN
ajst-9438	29	7	is	be	AUX
ajst-9438	29	8	as	as	SCONJ
ajst-9438	29	9	follows	follow	VERB
ajst-9438	29	10	:	:	PUNCT
ajst-9438	29	11	ai-1	ai-1	PUNCT
ajst-9438	29	12	is	be	AUX
ajst-9438	29	13	generally	generally	ADV
ajst-9438	29	14	the	the	DET
ajst-9438	29	15	length	length	NOUN
ajst-9438	29	16	of	of	ADP
ajst-9438	29	17	the	the	DET
ajst-9438	29	18	connecting	connect	VERB
ajst-9438	29	19	rod	rod	NOUN
ajst-9438	29	20	of	of	ADP
ajst-9438	29	21	the	the	DET
ajst-9438	29	22	joint	joint	NOUN
ajst-9438	29	23	,	,	PUNCT
ajst-9438	29	24	which	which	PRON
ajst-9438	29	25	is	be	AUX
ajst-9438	29	26	the	the	DET
ajst-9438	29	27	minimum	minimum	ADJ
ajst-9438	29	28	distance	distance	NOUN
ajst-9438	29	29	between	between	ADP
ajst-9438	29	30	the	the	DET
ajst-9438	29	31	two	two	NUM
ajst-9438	29	32	axes	axis	NOUN
ajst-9438	29	33	of	of	ADP
ajst-9438	29	34	zi	zi	NOUN
ajst-9438	29	35	and	and	CCONJ
ajst-9438	29	36	zi-1	zi-1	NUM
ajst-9438	29	37	;	;	PUNCT
ajst-9438	29	38	di	di	X
ajst-9438	29	39	is	be	AUX
ajst-9438	29	40	he	he	PRON
ajst-9438	29	41	distance	distance	NOUN
ajst-9438	29	42	between	between	ADP
ajst-9438	29	43	the	the	DET
ajst-9438	29	44	connecting	connect	VERB
ajst-9438	29	45	rods	rod	NOUN
ajst-9438	29	46	,	,	PUNCT
ajst-9438	29	47	which	which	PRON
ajst-9438	29	48	is	be	AUX
ajst-9438	29	49	the	the	DET
ajst-9438	29	50	distance	distance	NOUN
ajst-9438	29	51	between	between	ADP
ajst-9438	29	52	the	the	DET
ajst-9438	29	53	common	common	ADJ
ajst-9438	29	54	perpendicular	perpendicular	ADJ
ajst-9438	29	55	lines	line	NOUN
ajst-9438	29	56	ai	ai	VERB
ajst-9438	29	57	and	and	CCONJ
ajst-9438	29	58	ai-1	ai-1	NUM
ajst-9438	29	59	;	;	PUNCT
ajst-9438	29	60	21	21	NUM
ajst-9438	29	61	θi	θi	NOUN
ajst-9438	29	62	is	be	AUX
ajst-9438	29	63	generally	generally	ADV
ajst-9438	29	64	the	the	DET
ajst-9438	29	65	angle	angle	NOUN
ajst-9438	29	66	between	between	ADP
ajst-9438	29	67	the	the	DET
ajst-9438	29	68	connecting	connect	VERB
ajst-9438	29	69	rods	rod	NOUN
ajst-9438	29	70	,	,	PUNCT
ajst-9438	29	71	which	which	PRON
ajst-9438	29	72	is	be	AUX
ajst-9438	29	73	the	the	DET
ajst-9438	29	74	angle	angle	NOUN
ajst-9438	29	75	between	between	ADP
ajst-9438	29	76	xi-1	xi-1	PUNCT
ajst-9438	29	77	and	and	CCONJ
ajst-9438	29	78	xi	xi	PROPN
ajst-9438	29	79	,	,	PUNCT
ajst-9438	29	80	where	where	SCONJ
ajst-9438	29	81	the	the	DET
ajst-9438	29	82	direction	direction	NOUN
ajst-9438	29	83	of	of	ADP
ajst-9438	29	84	rightward	rightward	ADJ
ajst-9438	29	85	rotation	rotation	NOUN
ajst-9438	29	86	around	around	ADP
ajst-9438	29	87	the	the	DET
ajst-9438	29	88	zi-1	zi-1	PUNCT
ajst-9438	29	89	axis	axis	NOUN
ajst-9438	29	90	is	be	AUX
ajst-9438	29	91	positive	positive	ADJ
ajst-9438	29	92	;	;	PUNCT
ajst-9438	29	93	α	α	PROPN
ajst-9438	29	94	i-1	i-1	ADJ
ajst-9438	29	95	torsion	torsion	NOUN
ajst-9438	29	96	angle	angle	NOUN
ajst-9438	29	97	is	be	AUX
ajst-9438	29	98	the	the	DET
ajst-9438	29	99	angle	angle	NOUN
ajst-9438	29	100	between	between	ADP
ajst-9438	29	101	the	the	DET
ajst-9438	29	102	two	two	NUM
ajst-9438	29	103	axes	axis	NOUN
ajst-9438	29	104	zi	zi	NOUN
ajst-9438	29	105	and	and	CCONJ
ajst-9438	29	106	zi-1	zi-1	PRON
ajst-9438	29	107	,	,	PUNCT
ajst-9438	29	108	where	where	SCONJ
ajst-9438	29	109	the	the	DET
ajst-9438	29	110	right	right	ADJ
ajst-9438	29	111	rotation	rotation	NOUN
ajst-9438	29	112	around	around	ADV
ajst-9438	29	113	xi	xi	PROPN
ajst-9438	29	114	is	be	AUX
ajst-9438	29	115	positive	positive	ADJ
ajst-9438	29	116	.	.	PUNCT
ajst-9438	30	1	table	table	NOUN
ajst-9438	30	2	1	1	NUM
ajst-9438	30	3	shows	show	VERB
ajst-9438	30	4	the	the	DET
ajst-9438	30	5	parameters	parameter	NOUN
ajst-9438	30	6	of	of	ADP
ajst-9438	30	7	each	each	DET
ajst-9438	30	8	connecting	connect	VERB
ajst-9438	30	9	rod	rod	NOUN
ajst-9438	30	10	.	.	PUNCT
ajst-9438	31	1	table	table	NOUN
ajst-9438	31	2	1	1	NUM
ajst-9438	31	3	.	.	PUNCT
ajst-9438	31	4	robot	robot	NOUN
ajst-9438	31	5	link	link	PROPN
ajst-9438	31	6	parameters	parameter	NOUN
ajst-9438	31	7	(	(	PUNCT
ajst-9438	31	8	base	base	NOUN
ajst-9438	31	9	coordinate	coordinate	NOUN
ajst-9438	31	10	system	system	NOUN
ajst-9438	31	11	)	)	PUNCT
ajst-9438	31	12	2.2	2.2	NUM
ajst-9438	31	13	.	.	PUNCT
ajst-9438	32	1	conversion	conversion	NOUN
ajst-9438	32	2	of	of	ADP
ajst-9438	32	3	cartesian	cartesian	ADJ
ajst-9438	32	4	coordinates	coordinate	NOUN
ajst-9438	32	5	a	a	DET
ajst-9438	32	6	dual	dual	ADJ
ajst-9438	32	7	link	link	NOUN
ajst-9438	32	8	planar	planar	ADJ
ajst-9438	32	9	manipulator	manipulator	NOUN
ajst-9438	32	10	can	can	AUX
ajst-9438	32	11	move	move	VERB
ajst-9438	32	12	on	on	ADP
ajst-9438	32	13	the	the	DET
ajst-9438	32	14	x	x	PROPN
ajst-9438	32	15	-	-	ADJ
ajst-9438	32	16	y	y	ADJ
ajst-9438	32	17	plane	plane	NOUN
ajst-9438	32	18	.	.	PUNCT
ajst-9438	33	1	firstly	firstly	ADV
ajst-9438	33	2	,	,	PUNCT
ajst-9438	33	3	model	model	VERB
ajst-9438	33	4	the	the	DET
ajst-9438	33	5	robotic	robotic	ADJ
ajst-9438	33	6	arm	arm	NOUN
ajst-9438	33	7	system	system	NOUN
ajst-9438	33	8	in	in	ADP
ajst-9438	33	9	adams	adams	PROPN
ajst-9438	33	10	.	.	PUNCT
ajst-9438	34	1	the	the	DET
ajst-9438	34	2	adams	adams	PROPN
ajst-9438	34	3	model	model	PROPN
ajst-9438	34	4	has	have	VERB
ajst-9438	34	5	two	two	NUM
ajst-9438	34	6	inputs	input	NOUN
ajst-9438	34	7	(	(	PUNCT
ajst-9438	34	8	actuator	actuator	NOUN
ajst-9438	34	9	torque	torque	NOUN
ajst-9438	34	10	)	)	PUNCT
ajst-9438	34	11	and	and	CCONJ
ajst-9438	34	12	four	four	NUM
ajst-9438	34	13	outputs	output	NOUN
ajst-9438	34	14	(	(	PUNCT
ajst-9438	34	15	first	first	ADJ
ajst-9438	34	16	joint	joint	ADJ
ajst-9438	34	17	angle	angle	NOUN
ajst-9438	34	18	,	,	PUNCT
ajst-9438	34	19	second	second	ADJ
ajst-9438	34	20	joint	joint	ADJ
ajst-9438	34	21	angle	angle	NOUN
ajst-9438	34	22	,	,	PUNCT
ajst-9438	34	23	and	and	CCONJ
ajst-9438	34	24	end	end	VERB
ajst-9438	34	25	effector	effector	NOUN
ajst-9438	34	26	positionx	positionx	NOUN
ajst-9438	34	27	x	x	SYM
ajst-9438	34	28	component	component	NOUN
ajst-9438	34	29	)	)	PUNCT
ajst-9438	34	30	.	.	PUNCT
ajst-9438	35	1	then	then	ADV
ajst-9438	35	2	,	,	PUNCT
ajst-9438	35	3	export	export	VERB
ajst-9438	35	4	the	the	DET
ajst-9438	35	5	created	create	VERB
ajst-9438	35	6	robotic	robotic	ADJ
ajst-9438	35	7	arm	arm	NOUN
ajst-9438	35	8	system	system	NOUN
ajst-9438	35	9	to	to	PART
ajst-9438	35	10	matlab	matlab	VERB
ajst-9438	35	11	to	to	PART
ajst-9438	35	12	complete	complete	VERB
ajst-9438	35	13	the	the	DET
ajst-9438	35	14	controller	controller	NOUN
ajst-9438	35	15	design	design	NOUN
ajst-9438	35	16	work	work	NOUN
ajst-9438	35	17	in	in	ADP
ajst-9438	35	18	this	this	DET
ajst-9438	35	19	software	software	NOUN
ajst-9438	35	20	on	on	ADP
ajst-9438	35	21	simulink	simulink	PROPN
ajst-9438	35	22	.	.	PUNCT
ajst-9438	36	1	the	the	DET
ajst-9438	36	2	problem	problem	NOUN
ajst-9438	36	3	of	of	ADP
ajst-9438	36	4	robot	robot	NOUN
ajst-9438	36	5	inverse	inverse	NOUN
ajst-9438	36	6	kinematics	kinematic	NOUN
ajst-9438	36	7	is	be	AUX
ajst-9438	36	8	to	to	PART
ajst-9438	36	9	translate	translate	VERB
ajst-9438	36	10	the	the	DET
ajst-9438	36	11	cartesian	cartesian	ADJ
ajst-9438	36	12	coordinates	coordinate	NOUN
ajst-9438	36	13	of	of	ADP
ajst-9438	36	14	joint	joint	ADJ
ajst-9438	36	15	end	end	NOUN
ajst-9438	36	16	nodes	node	NOUN
ajst-9438	36	17	in	in	ADP
ajst-9438	36	18	the	the	DET
ajst-9438	36	19	workspace	workspace	NOUN
ajst-9438	36	20	(	(	PUNCT
ajst-9438	36	21	x	x	X
ajst-9438	36	22	,	,	PUNCT
ajst-9438	36	23	x	x	SYM
ajst-9438	36	24	)	)	PUNCT
ajst-9438	36	25	convert	convert	NOUN
ajst-9438	36	26	to	to	ADP
ajst-9438	36	27	the	the	DET
ajst-9438	36	28	position	position	NOUN
ajst-9438	36	29	of	of	ADP
ajst-9438	36	30	the	the	DET
ajst-9438	36	31	two	two	NUM
ajst-9438	36	32	joint	joint	ADJ
ajst-9438	36	33	w	w	PROPN
ajst-9438	36	34	angle	angle	NOUN
ajst-9438	36	35	(	(	PUNCT
ajst-9438	36	36	q	q	NOUN
ajst-9438	36	37	,	,	PUNCT
ajst-9438	36	38	q	q	NOUN
ajst-9438	36	39	)	)	PUNCT
ajst-9438	36	40	for	for	ADP
ajst-9438	36	41	the	the	DET
ajst-9438	36	42	problem	problem	NOUN
ajst-9438	36	43	,	,	PUNCT
ajst-9438	36	44	we	we	PRON
ajst-9438	36	45	adopt	adopt	VERB
ajst-9438	36	46	forward	forward	ADV
ajst-9438	36	47	thinking	think	VERB
ajst-9438	36	48	,	,	PUNCT
ajst-9438	36	49	and	and	CCONJ
ajst-9438	36	50	figure	figure	VERB
ajst-9438	36	51	2	2	NUM
ajst-9438	36	52	shows	show	VERB
ajst-9438	36	53	the	the	DET
ajst-9438	36	54	cartesian	cartesian	ADJ
ajst-9438	36	55	coordinate	coordinate	NOUN
ajst-9438	36	56	system	system	NOUN
ajst-9438	36	57	established	establish	VERB
ajst-9438	36	58	by	by	ADP
ajst-9438	36	59	a	a	DET
ajst-9438	36	60	two	two	NUM
ajst-9438	36	61	degree	degree	NOUN
ajst-9438	36	62	of	of	ADP
ajst-9438	36	63	freedom	freedom	NOUN
ajst-9438	36	64	robotic	robotic	ADJ
ajst-9438	36	65	arm	arm	NOUN
ajst-9438	36	66	.	.	PUNCT
ajst-9438	37	1	figure	figure	NOUN
ajst-9438	37	2	2	2	NUM
ajst-9438	37	3	.	.	NUM
ajst-9438	37	4	two	two	NUM
ajst-9438	37	5	degree	degree	NOUN
ajst-9438	37	6	of	of	ADP
ajst-9438	37	7	freedom	freedom	NOUN
ajst-9438	37	8	robotic	robotic	ADJ
ajst-9438	37	9	arm	arm	NOUN
ajst-9438	37	10	x	x	PUNCT
ajst-9438	37	11	l	l	NOUN
ajst-9438	37	12	cosq	cosq	NOUN
ajst-9438	38	1	l	l	PROPN
ajst-9438	38	2	cos	cos	PROPN
ajst-9438	38	3	q	q	X
ajst-9438	38	4	q	q	X
ajst-9438	38	5	(	(	PUNCT
ajst-9438	38	6	1	1	NUM
ajst-9438	38	7	)	)	PUNCT
ajst-9438	38	8	x	x	X
ajst-9438	38	9	l	l	NOUN
ajst-9438	38	10	sinq	sinq	PROPN
ajst-9438	38	11	l	l	PROPN
ajst-9438	38	12	sin	sin	NOUN
ajst-9438	38	13	q	q	X
ajst-9438	38	14	q	q	X
ajst-9438	38	15	(	(	PUNCT
ajst-9438	38	16	2	2	X
ajst-9438	38	17	)	)	PUNCT
ajst-9438	38	18	adding	add	VERB
ajst-9438	38	19	the	the	DET
ajst-9438	38	20	square	square	NOUN
ajst-9438	38	21	of	of	ADP
ajst-9438	38	22	(	(	PUNCT
ajst-9438	38	23	1	1	NUM
ajst-9438	38	24	)	)	PUNCT
ajst-9438	38	25	to	to	ADP
ajst-9438	38	26	the	the	DET
ajst-9438	38	27	square	square	NOUN
ajst-9438	38	28	of	of	ADP
ajst-9438	38	29	equation	equation	NOUN
ajst-9438	38	30	(	(	PUNCT
ajst-9438	38	31	2	2	X
ajst-9438	38	32	)	)	PUNCT
ajst-9438	38	33	yields	yield	NOUN
ajst-9438	38	34	:	:	PUNCT
ajst-9438	38	35	x	x	SYM
ajst-9438	38	36	x	x	PUNCT
ajst-9438	38	37	l	l	NOUN
ajst-9438	39	1	+	+	NOUN
ajst-9438	39	2	l	l	NOUN
ajst-9438	39	3	2l	2l	NUM
ajst-9438	39	4	l	l	NOUN
ajst-9438	39	5	cosq	cosq	NOUN
ajst-9438	39	6	(	(	PUNCT
ajst-9438	39	7	3	3	NUM
ajst-9438	39	8	)	)	PUNCT
ajst-9438	39	9	thus	thus	ADV
ajst-9438	39	10	,	,	PUNCT
ajst-9438	39	11	we	we	PRON
ajst-9438	39	12	can	can	AUX
ajst-9438	39	13	obtain	obtain	VERB
ajst-9438	39	14	:	:	PUNCT
ajst-9438	39	15	q	q	X
ajst-9438	39	16	cos	cos	X
ajst-9438	39	17	(	(	PUNCT
ajst-9438	39	18	4	4	X
ajst-9438	39	19	)	)	PUNCT
ajst-9438	39	20	take	take	VERB
ajst-9438	39	21	p	p	PROPN
ajst-9438	39	22	arctan	arctan	PROPN
ajst-9438	39	23	,	,	PUNCT
ajst-9438	39	24	p	p	NOUN
ajst-9438	39	25	arccos	arcco	NOUN
ajst-9438	39	26	,	,	PUNCT
ajst-9438	39	27	then	then	ADV
ajst-9438	39	28	q	q	X
ajst-9438	40	1	p	p	X
ajst-9438	40	2	p	p	PROPN
ajst-9438	40	3	，	，	PROPN
ajst-9438	40	4	q	q	NOUN
ajst-9438	40	5	0	0	PUNCT
ajst-9438	40	6	p	p	X
ajst-9438	40	7	p	p	NOUN
ajst-9438	40	8	,	,	PUNCT
ajst-9438	40	9	q	q	X
ajst-9438	40	10	≪	≪	ADJ
ajst-9438	40	11	0	0	NUM
ajst-9438	40	12	(	(	PUNCT
ajst-9438	40	13	5	5	NUM
ajst-9438	40	14	)	)	PUNCT
ajst-9438	40	15	x=[x1	x=[x1	PROPN
ajst-9438	41	1	x2]，q=[q1	x2]，q=[q1	PROPN
ajst-9438	41	2	q2]，then	q2]，then	ADV
ajst-9438	41	3	dx	dx	PROPN
ajst-9438	41	4	dq，j	dq，j	VERB
ajst-9438	41	5	，	，	PROPN
ajst-9438	41	6	then	then	ADV
ajst-9438	41	7	dx	dx	PROPN
ajst-9438	41	8	j	j	PROPN
ajst-9438	41	9	dq	dq	PROPN
ajst-9438	41	10	in	in	ADP
ajst-9438	41	11	the	the	DET
ajst-9438	41	12	equation	equation	NOUN
ajst-9438	41	13	,	,	PUNCT
ajst-9438	41	14	j=	j=	NOUN
ajst-9438	41	15	,	,	PUNCT
ajst-9438	41	16	representing	represent	VERB
ajst-9438	41	17	the	the	DET
ajst-9438	41	18	jacobian	jacobian	ADJ
ajst-9438	41	19	matrix	matrix	NOUN
ajst-9438	41	20	and	and	CCONJ
ajst-9438	41	21	determinant	determinant	ADJ
ajst-9438	41	22	of	of	ADP
ajst-9438	41	23	the	the	DET
ajst-9438	41	24	relationship	relationship	NOUN
ajst-9438	41	25	between	between	ADP
ajst-9438	41	26	the	the	DET
ajst-9438	41	27	end	end	NOUN
ajst-9438	41	28	point	point	NOUN
ajst-9438	41	29	velocity	velocity	NOUN
ajst-9438	41	30	of	of	ADP
ajst-9438	41	31	the	the	DET
ajst-9438	41	32	manipulator	manipulator	NOUN
ajst-9438	41	33	and	and	CCONJ
ajst-9438	41	34	the	the	DET
ajst-9438	41	35	joint	joint	ADJ
ajst-9438	41	36	angle	angle	NOUN
ajst-9438	41	37	of	of	ADP
ajst-9438	41	38	the	the	DET
ajst-9438	41	39	manipulator	manipulator	NOUN
ajst-9438	41	40	.	.	PUNCT
ajst-9438	42	1	it	it	PRON
ajst-9438	42	2	can	can	AUX
ajst-9438	42	3	be	be	AUX
ajst-9438	42	4	obtained	obtain	VERB
ajst-9438	42	5	from	from	ADP
ajst-9438	42	6	the	the	DET
ajst-9438	42	7	formula	formula	NOUN
ajst-9438	42	8	that	that	PRON
ajst-9438	42	9	l	l	NOUN
ajst-9438	42	10	sin	sin	NOUN
ajst-9438	42	11	q	q	PROPN
ajst-9438	42	12	l	l	NOUN
ajst-9438	42	13	sin	sin	NOUN
ajst-9438	42	14	q	q	PROPN
ajst-9438	42	15	q	q	X
ajst-9438	42	16	,	,	PUNCT
ajst-9438	42	17	l	l	X
ajst-9438	42	18	sin	sin	NOUN
ajst-9438	42	19	q	q	PROPN
ajst-9438	42	20	q	q	X
ajst-9438	42	21	,	,	PUNCT
ajst-9438	42	22	l	l	NOUN
ajst-9438	42	23	cos	cos	PROPN
ajst-9438	42	24	q	q	PROPN
ajst-9438	42	25	l	l	PROPN
ajst-9438	42	26	cos	cos	PROPN
ajst-9438	42	27	q	q	X
ajst-9438	42	28	q	q	X
ajst-9438	42	29	,	,	PUNCT
ajst-9438	42	30	l	l	PROPN
ajst-9438	42	31	cos	cos	NOUN
ajst-9438	42	32	q	q	X
ajst-9438	42	33	q	q	NOUN
ajst-9438	42	34	.	.	PUNCT
ajst-9438	43	1	2.3	2.3	NUM
ajst-9438	43	2	.	.	PUNCT
ajst-9438	44	1	modeling	modeling	NOUN
ajst-9438	44	2	of	of	ADP
ajst-9438	44	3	workspaces	workspace	NOUN
ajst-9438	44	4	for	for	ADP
ajst-9438	44	5	a	a	DET
ajst-9438	44	6	rigid	rigid	ADJ
ajst-9438	44	7	robotic	robotic	ADJ
ajst-9438	44	8	arm	arm	NOUN
ajst-9438	44	9	with	with	ADP
ajst-9438	44	10	n	n	DET
ajst-9438	44	11	joints	joint	NOUN
ajst-9438	44	12	,	,	PUNCT
ajst-9438	44	13	its	its	PRON
ajst-9438	44	14	dynamic	dynamic	ADJ
ajst-9438	44	15	characteristics	characteristic	NOUN
ajst-9438	44	16	are	be	AUX
ajst-9438	44	17	as	as	SCONJ
ajst-9438	44	18	follows	follow	VERB
ajst-9438	44	19	:	:	PUNCT
ajst-9438	45	1	d	d	X
ajst-9438	45	2	q	q	PUNCT
ajst-9438	45	3	x	x	X
ajst-9438	45	4	c	c	NOUN
ajst-9438	45	5	q	q	NOUN
ajst-9438	45	6	,	,	PUNCT
ajst-9438	45	7	q	q	NOUN
ajst-9438	45	8	x	x	PUNCT
ajst-9438	45	9	g	g	PROPN
ajst-9438	45	10	q	q	PROPN
ajst-9438	45	11	τ	τ	X
ajst-9438	45	12	(	(	PUNCT
ajst-9438	45	13	6	6	NUM
ajst-9438	45	14	)	)	PUNCT
ajst-9438	45	15	in	in	ADP
ajst-9438	45	16	order	order	NOUN
ajst-9438	45	17	to	to	PART
ajst-9438	45	18	convert	convert	VERB
ajst-9438	45	19	the	the	DET
ajst-9438	45	20	dynamic	dynamic	ADJ
ajst-9438	45	21	equation	equation	NOUN
ajst-9438	45	22	of	of	ADP
ajst-9438	45	23	the	the	DET
ajst-9438	45	24	set	set	NOUN
ajst-9438	45	25	angle	angle	NOUN
ajst-9438	45	26	into	into	ADP
ajst-9438	45	27	a	a	DET
ajst-9438	45	28	dynamic	dynamic	ADJ
ajst-9438	45	29	equation	equation	NOUN
ajst-9438	45	30	based	base	VERB
ajst-9438	45	31	on	on	ADP
ajst-9438	45	32	the	the	DET
ajst-9438	45	33	final	final	ADJ
ajst-9438	45	34	position	position	NOUN
ajst-9438	45	35	,	,	PUNCT
ajst-9438	45	36	it	it	PRON
ajst-9438	45	37	is	be	AUX
ajst-9438	45	38	necessary	necessary	ADJ
ajst-9438	45	39	to	to	PART
ajst-9438	45	40	control	control	VERB
ajst-9438	45	41	the	the	DET
ajst-9438	45	42	final	final	ADJ
ajst-9438	45	43	position	position	NOUN
ajst-9438	45	44	.	.	PUNCT
ajst-9438	46	1	in	in	ADP
ajst-9438	46	2	the	the	DET
ajst-9438	46	3	static	static	ADJ
ajst-9438	46	4	equilibrium	equilibrium	NOUN
ajst-9438	46	5	state	state	NOUN
ajst-9438	46	6	,	,	PUNCT
ajst-9438	46	7	there	there	PRON
ajst-9438	46	8	is	be	VERB
ajst-9438	46	9	a	a	DET
ajst-9438	46	10	linear	linear	ADJ
ajst-9438	46	11	map	map	NOUN
ajst-9438	46	12	relationship	relationship	NOUN
ajst-9438	46	13	between	between	ADP
ajst-9438	46	14	the	the	DET
ajst-9438	46	15	joint	joint	ADJ
ajst-9438	46	16	torque	torque	NOUN
ajst-9438	46	17	and	and	CCONJ
ajst-9438	46	18	the	the	DET
ajst-9438	46	19	force	force	NOUN
ajst-9438	46	20	transferred	transfer	VERB
ajst-9438	46	21	to	to	ADP
ajst-9438	46	22	the	the	DET
ajst-9438	46	23	manipulator	manipulator	NOUN
ajst-9438	46	24	.	.	PUNCT
ajst-9438	47	1	according	accord	VERB
ajst-9438	47	2	to	to	ADP
ajst-9438	47	3	the	the	DET
ajst-9438	47	4	principle	principle	NOUN
ajst-9438	47	5	of	of	ADP
ajst-9438	47	6	virtual	virtual	ADJ
ajst-9438	47	7	work	work	NOUN
ajst-9438	47	8	:	:	PUNCT
ajst-9438	47	9	f	f	PROPN
ajst-9438	47	10	j	j	PROPN
ajst-9438	47	11	q	q	X
ajst-9438	47	12	τ	τ	PROPN
ajst-9438	47	13	(	(	PUNCT
ajst-9438	47	14	7	7	NUM
ajst-9438	47	15	)	)	PUNCT
ajst-9438	47	16	in	in	ADP
ajst-9438	47	17	the	the	DET
ajst-9438	47	18	workspace	workspace	NOUN
ajst-9438	47	19	,	,	PUNCT
ajst-9438	47	20	the	the	DET
ajst-9438	47	21	dynamic	dynamic	ADJ
ajst-9438	47	22	equation	equation	NOUN
ajst-9438	47	23	based	base	VERB
ajst-9438	47	24	on	on	ADP
ajst-9438	47	25	the	the	DET
ajst-9438	47	26	final	final	ADJ
ajst-9438	47	27	position	position	NOUN
ajst-9438	47	28	can	can	AUX
ajst-9438	47	29	be	be	AUX
ajst-9438	47	30	written	write	VERB
ajst-9438	47	31	as	as	ADP
ajst-9438	47	32	:	:	PUNCT
ajst-9438	47	33	d	d	X
ajst-9438	47	34	q	q	PUNCT
ajst-9438	47	35	x	x	X
ajst-9438	47	36	c	c	NOUN
ajst-9438	47	37	q	q	NOUN
ajst-9438	47	38	,	,	PUNCT
ajst-9438	47	39	q	q	NOUN
ajst-9438	47	40	x	x	X
ajst-9438	47	41	g	g	PROPN
ajst-9438	47	42	q	q	PROPN
ajst-9438	47	43	f	f	PROPN
ajst-9438	47	44	(	(	PUNCT
ajst-9438	47	45	8)	8)	NUM
ajst-9438	47	46	d	d	NOUN
ajst-9438	47	47	q	q	NOUN
ajst-9438	47	48	θ	θ	X
ajst-9438	47	49	ε	ε	X
ajst-9438	47	50	q	q	PROPN
ajst-9438	47	51	(	(	PUNCT
ajst-9438	47	52	9	9	NUM
ajst-9438	47	53	)	)	PUNCT
ajst-9438	47	54	c	c	NOUN
ajst-9438	47	55	q	q	NOUN
ajst-9438	47	56	,	,	PUNCT
ajst-9438	47	57	q	q	NOUN
ajst-9438	47	58	θ	θ	X
ajst-9438	47	59	ε	ε	PROPN
ajst-9438	47	60	z	z	PROPN
ajst-9438	47	61	(	(	PUNCT
ajst-9438	47	62	10	10	NUM
ajst-9438	47	63	)	)	PUNCT
ajst-9438	47	64	g	g	NOUN
ajst-9438	47	65	q	q	PROPN
ajst-9438	47	66	β	β	X
ajst-9438	47	67	η	η	X
ajst-9438	47	68	q	q	X
ajst-9438	47	69	(	(	PUNCT
ajst-9438	47	70	11	11	NUM
ajst-9438	47	71	)	)	PUNCT
ajst-9438	47	72	among	among	ADP
ajst-9438	47	73	,	,	PUNCT
ajst-9438	47	74	d	d	X
ajst-9438	47	75	,	,	PUNCT
ajst-9438	47	76	c	c	AUX
ajst-9438	47	77	,	,	PUNCT
ajst-9438	47	78	g	g	PROPN
ajst-9438	47	79	are	be	AUX
ajst-9438	47	80	matrixelements	matrixelement	NOUN
ajst-9438	47	81	in	in	ADP
ajst-9438	47	82	d	d	PROPN
ajst-9438	47	83	,	,	PUNCT
ajst-9438	47	84	c	c	NOUN
ajst-9438	47	85	,	,	PUNCT
ajst-9438	47	86	g	g	PROPN
ajst-9438	47	87	.	.	PUNCT
ajst-9438	48	1	this	this	DET
ajst-9438	48	2	section	section	NOUN
ajst-9438	48	3	introduces	introduce	VERB
ajst-9438	48	4	the	the	DET
ajst-9438	48	5	d	d	ADJ
ajst-9438	48	6	-	-	ADJ
ajst-9438	48	7	h	h	NOUN
ajst-9438	48	8	method	method	NOUN
ajst-9438	48	9	and	and	CCONJ
ajst-9438	48	10	coordinate	coordinate	VERB
ajst-9438	48	11	system	system	NOUN
ajst-9438	48	12	to	to	PART
ajst-9438	48	13	describe	describe	VERB
ajst-9438	48	14	the	the	DET
ajst-9438	48	15	system	system	NOUN
ajst-9438	48	16	in	in	ADP
ajst-9438	48	17	system	system	NOUN
ajst-9438	48	18	analysis	analysis	NOUN
ajst-9438	48	19	and	and	CCONJ
ajst-9438	48	20	modeling	modeling	NOUN
ajst-9438	48	21	,	,	PUNCT
ajst-9438	48	22	in	in	ADP
ajst-9438	48	23	order	order	NOUN
ajst-9438	48	24	to	to	PART
ajst-9438	48	25	clearly	clearly	ADV
ajst-9438	48	26	express	express	VERB
ajst-9438	48	27	the	the	DET
ajst-9438	48	28	relationship	relationship	NOUN
ajst-9438	48	29	between	between	ADP
ajst-9438	48	30	various	various	ADJ
ajst-9438	48	31	connecting	connect	VERB
ajst-9438	48	32	rods	rod	NOUN
ajst-9438	48	33	in	in	ADP
ajst-9438	48	34	a	a	DET
ajst-9438	48	35	complex	complex	ADJ
ajst-9438	48	36	system	system	NOUN
ajst-9438	48	37	.	.	PUNCT
ajst-9438	49	1	the	the	DET
ajst-9438	49	2	problem	problem	NOUN
ajst-9438	49	3	of	of	ADP
ajst-9438	49	4	robot	robot	NOUN
ajst-9438	49	5	inverse	inverse	NOUN
ajst-9438	49	6	kinematics	kinematic	NOUN
ajst-9438	49	7	is	be	AUX
ajst-9438	49	8	to	to	PART
ajst-9438	49	9	translate	translate	VERB
ajst-9438	49	10	the	the	DET
ajst-9438	49	11	cartesian	cartesian	ADJ
ajst-9438	49	12	coordinates	coordinate	NOUN
ajst-9438	49	13	of	of	ADP
ajst-9438	49	14	joint	joint	ADJ
ajst-9438	49	15	end	end	NOUN
ajst-9438	49	16	nodes	node	NOUN
ajst-9438	49	17	in	in	ADP
ajst-9438	49	18	the	the	DET
ajst-9438	49	19	workspace	workspace	NOUN
ajst-9438	49	20	(	(	PUNCT
ajst-9438	49	21	x	x	X
ajst-9438	49	22	,	,	PUNCT
ajst-9438	49	23	x	x	SYM
ajst-9438	49	24	)	)	PUNCT
ajst-9438	49	25	convert	convert	NOUN
ajst-9438	49	26	to	to	ADP
ajst-9438	49	27	the	the	DET
ajst-9438	49	28	position	position	NOUN
ajst-9438	49	29	of	of	ADP
ajst-9438	49	30	the	the	DET
ajst-9438	49	31	two	two	NUM
ajst-9438	49	32	joint	joint	ADJ
ajst-9438	49	33	w	w	PROPN
ajst-9438	49	34	angle	angle	NOUN
ajst-9438	49	35	(	(	PUNCT
ajst-9438	49	36	q	q	NOUN
ajst-9438	49	37	,	,	PUNCT
ajst-9438	49	38	q	q	PROPN
ajst-9438	49	39	)	)	PUNCT
ajst-9438	49	40	we	we	PRON
ajst-9438	49	41	adopt	adopt	VERB
ajst-9438	49	42	forward	forward	ADV
ajst-9438	49	43	thinking	think	VERB
ajst-9438	49	44	to	to	PART
ajst-9438	49	45	establish	establish	VERB
ajst-9438	49	46	a	a	DET
ajst-9438	49	47	cartesian	cartesian	ADJ
ajst-9438	49	48	coordinate	coordinate	NOUN
ajst-9438	49	49	system	system	NOUN
ajst-9438	49	50	system	system	NOUN
ajst-9438	49	51	established	establish	VERB
ajst-9438	49	52	by	by	ADP
ajst-9438	49	53	a	a	DET
ajst-9438	49	54	two	two	NUM
ajst-9438	49	55	degree	degree	NOUN
ajst-9438	49	56	of	of	ADP
ajst-9438	49	57	freedom	freedom	NOUN
ajst-9438	49	58	22	22	NUM
ajst-9438	49	59	manipulator	manipulator	NOUN
ajst-9438	49	60	.	.	PUNCT
ajst-9438	50	1	in	in	ADP
ajst-9438	50	2	order	order	NOUN
ajst-9438	50	3	to	to	PART
ajst-9438	50	4	convert	convert	VERB
ajst-9438	50	5	the	the	DET
ajst-9438	50	6	dynamic	dynamic	ADJ
ajst-9438	50	7	equation	equation	NOUN
ajst-9438	50	8	of	of	ADP
ajst-9438	50	9	the	the	DET
ajst-9438	50	10	set	set	NOUN
ajst-9438	50	11	angle	angle	NOUN
ajst-9438	50	12	into	into	ADP
ajst-9438	50	13	the	the	DET
ajst-9438	50	14	dynamic	dynamic	ADJ
ajst-9438	50	15	equation	equation	NOUN
ajst-9438	50	16	based	base	VERB
ajst-9438	50	17	on	on	ADP
ajst-9438	50	18	the	the	DET
ajst-9438	50	19	final	final	ADJ
ajst-9438	50	20	position	position	NOUN
ajst-9438	50	21	,	,	PUNCT
ajst-9438	50	22	it	it	PRON
ajst-9438	50	23	is	be	AUX
ajst-9438	50	24	necessary	necessary	ADJ
ajst-9438	50	25	to	to	PART
ajst-9438	50	26	control	control	VERB
ajst-9438	50	27	the	the	DET
ajst-9438	50	28	final	final	ADJ
ajst-9438	50	29	position	position	NOUN
ajst-9438	50	30	and	and	CCONJ
ajst-9438	50	31	establish	establish	VERB
ajst-9438	50	32	a	a	DET
ajst-9438	50	33	system	system	NOUN
ajst-9438	50	34	model	model	NOUN
ajst-9438	50	35	.	.	PUNCT
ajst-9438	51	1	3	3	X
ajst-9438	51	2	.	.	X
ajst-9438	51	3	controller	controller	NOUN
ajst-9438	51	4	design	design	NOUN
ajst-9438	51	5	assuming	assume	VERB
ajst-9438	51	6	the	the	DET
ajst-9438	51	7	ideal	ideal	ADJ
ajst-9438	51	8	trajectory	trajectory	NOUN
ajst-9438	51	9	in	in	ADP
ajst-9438	51	10	the	the	DET
ajst-9438	51	11	workspace	workspace	NOUN
ajst-9438	51	12	is	be	AUX
ajst-9438	51	13	x	x	PROPN
ajst-9438	51	14	t	t	NOUN
ajst-9438	51	15	,	,	PUNCT
ajst-9438	51	16	then	then	ADV
ajst-9438	51	17	x	x	X
ajst-9438	51	18	t	t	PROPN
ajst-9438	51	19	x	x	PROPN
ajst-9438	51	20	t	t	PROPN
ajst-9438	51	21	and	and	CCONJ
ajst-9438	51	22	x	x	PROPN
ajst-9438	51	23	t	t	PROPN
ajst-9438	51	24	ideal	ideal	ADJ
ajst-9438	51	25	velocity	velocity	NOUN
ajst-9438	51	26	and	and	CCONJ
ajst-9438	51	27	acceleration	acceleration	NOUN
ajst-9438	51	28	,	,	PUNCT
ajst-9438	51	29	respectively	respectively	ADV
ajst-9438	51	30	.	.	PUNCT
ajst-9438	52	1	definition	definition	NOUN
ajst-9438	52	2	e	e	PROPN
ajst-9438	52	3	t	t	PROPN
ajst-9438	52	4	x	x	PROPN
ajst-9438	52	5	t	t	PROPN
ajst-9438	52	6	x	x	SYM
ajst-9438	52	7	t	t	PROPN
ajst-9438	52	8	(	(	PUNCT
ajst-9438	52	9	12	12	NUM
ajst-9438	52	10	)	)	PUNCT
ajst-9438	53	1	x	x	SYM
ajst-9438	53	2	t	t	NOUN
ajst-9438	53	3	x	x	SYM
ajst-9438	53	4	t	t	PROPN
ajst-9438	53	5	⋀e	⋀e	PROPN
ajst-9438	53	6	t	t	PROPN
ajst-9438	53	7	(	(	PUNCT
ajst-9438	53	8	13	13	NUM
ajst-9438	53	9	)	)	PUNCT
ajst-9438	53	10	r	r	NOUN
ajst-9438	53	11	t	t	NOUN
ajst-9438	53	12	x	x	SYM
ajst-9438	53	13	t	t	NOUN
ajst-9438	53	14	x	x	SYM
ajst-9438	53	15	t	t	PROPN
ajst-9438	53	16	e	e	PROPN
ajst-9438	53	17	t	t	PROPN
ajst-9438	53	18	⋀e	⋀e	PROPN
ajst-9438	53	19	t	t	PROPN
ajst-9438	53	20	(	(	PUNCT
ajst-9438	53	21	14	14	NUM
ajst-9438	53	22	)	)	PUNCT
ajst-9438	53	23	among	among	ADP
ajst-9438	53	24	⋀	⋀	PROPN
ajst-9438	53	25	is	be	AUX
ajst-9438	53	26	a	a	DET
ajst-9438	53	27	positive	positive	ADJ
ajst-9438	53	28	-	-	PUNCT
ajst-9438	53	29	definite	definite	ADJ
ajst-9438	53	30	matrix	matrix	NOUN
ajst-9438	53	31	.	.	PUNCT
ajst-9438	54	1	the	the	DET
ajst-9438	54	2	neural	neural	ADJ
ajst-9438	54	3	network	network	NOUN
ajst-9438	54	4	control	control	NOUN
ajst-9438	54	5	process	process	NOUN
ajst-9438	54	6	is	be	AUX
ajst-9438	54	7	shown	show	VERB
ajst-9438	54	8	in	in	ADP
ajst-9438	54	9	figure	figure	NOUN
ajst-9438	54	10	2	2	NUM
ajst-9438	54	11	.	.	PUNCT
ajst-9438	54	12	by	by	ADP
ajst-9438	54	13	assigning	assign	VERB
ajst-9438	54	14	the	the	DET
ajst-9438	54	15	initial	initial	ADJ
ajst-9438	54	16	value	value	NOUN
ajst-9438	54	17	of	of	ADP
ajst-9438	54	18	the	the	DET
ajst-9438	54	19	control	control	NOUN
ajst-9438	54	20	object	object	NOUN
ajst-9438	54	21	to	to	ADP
ajst-9438	54	22	the	the	DET
ajst-9438	54	23	equations	equation	NOUN
ajst-9438	54	24	of	of	ADP
ajst-9438	54	25	motion	motion	NOUN
ajst-9438	54	26	,	,	PUNCT
ajst-9438	54	27	the	the	DET
ajst-9438	54	28	neural	neural	ADJ
ajst-9438	54	29	network	network	NOUN
ajst-9438	54	30	model	model	NOUN
ajst-9438	54	31	will	will	AUX
ajst-9438	54	32	get	get	VERB
ajst-9438	54	33	a	a	DET
ajst-9438	54	34	new	new	ADJ
ajst-9438	54	35	cad	cad	NOUN
ajst-9438	54	36	state	state	NOUN
ajst-9438	54	37	after	after	ADP
ajst-9438	54	38	passing	pass	VERB
ajst-9438	54	39	t.compare	t.compare	NOUN
ajst-9438	54	40	this	this	DET
ajst-9438	54	41	state	state	NOUN
ajst-9438	54	42	with	with	ADP
ajst-9438	54	43	the	the	DET
ajst-9438	54	44	ideal	ideal	ADJ
ajst-9438	54	45	state	state	NOUN
ajst-9438	54	46	,	,	PUNCT
ajst-9438	54	47	calculate	calculate	VERB
ajst-9438	54	48	the	the	DET
ajst-9438	54	49	error	error	NOUN
ajst-9438	54	50	according	accord	VERB
ajst-9438	54	51	to	to	ADP
ajst-9438	54	52	the	the	DET
ajst-9438	54	53	error	error	NOUN
ajst-9438	54	54	model	model	NOUN
ajst-9438	54	55	shown	show	VERB
ajst-9438	54	56	in	in	ADP
ajst-9438	54	57	formulas	formula	NOUN
ajst-9438	54	58	,	,	PUNCT
ajst-9438	54	59	and	and	CCONJ
ajst-9438	54	60	use	use	VERB
ajst-9438	54	61	the	the	DET
ajst-9438	54	62	error	error	NOUN
ajst-9438	54	63	correction	correction	NOUN
ajst-9438	54	64	network	network	NOUN
ajst-9438	54	65	weight	weight	NOUN
ajst-9438	54	66	to	to	PART
ajst-9438	54	67	obtain	obtain	VERB
ajst-9438	54	68	new	new	ADJ
ajst-9438	54	69	c	c	PROPN
ajst-9438	54	70	g	g	NOUN
ajst-9438	54	71	from	from	ADP
ajst-9438	54	72	the	the	DET
ajst-9438	54	73	systemthen	systemthen	NOUN
ajst-9438	54	74	,	,	PUNCT
ajst-9438	54	75	a	a	DET
ajst-9438	54	76	neural	neural	ADJ
ajst-9438	54	77	network	network	NOUN
ajst-9438	54	78	model	model	NOUN
ajst-9438	54	79	is	be	AUX
ajst-9438	54	80	introduced	introduce	VERB
ajst-9438	54	81	to	to	PART
ajst-9438	54	82	calculate	calculate	VERB
ajst-9438	54	83	the	the	DET
ajst-9438	54	84	next	next	ADJ
ajst-9438	54	85	state	state	NOUN
ajst-9438	54	86	,	,	PUNCT
ajst-9438	54	87	in	in	ADP
ajst-9438	54	88	order	order	NOUN
ajst-9438	54	89	to	to	PART
ajst-9438	54	90	achieve	achieve	VERB
ajst-9438	54	91	the	the	DET
ajst-9438	54	92	purpose	purpose	NOUN
ajst-9438	54	93	of	of	ADP
ajst-9438	54	94	control	control	NOUN
ajst-9438	54	95	.	.	PUNCT
ajst-9438	55	1	the	the	DET
ajst-9438	55	2	control	control	NOUN
ajst-9438	55	3	law	law	NOUN
ajst-9438	55	4	is	be	AUX
ajst-9438	55	5	designed	design	VERB
ajst-9438	55	6	by	by	ADP
ajst-9438	55	7	combining	combine	VERB
ajst-9438	55	8	feedforward	feedforward	NOUN
ajst-9438	55	9	and	and	CCONJ
ajst-9438	55	10	feedback	feedback	NOUN
ajst-9438	55	11	control	control	NOUN
ajst-9438	55	12	,	,	PUNCT
ajst-9438	55	13	and	and	CCONJ
ajst-9438	55	14	the	the	DET
ajst-9438	55	15	design	design	NOUN
ajst-9438	55	16	of	of	ADP
ajst-9438	55	17	the	the	DET
ajst-9438	55	18	control	control	NOUN
ajst-9438	55	19	law	law	NOUN
ajst-9438	55	20	is	be	AUX
ajst-9438	55	21	as	as	SCONJ
ajst-9438	55	22	follows	follow	VERB
ajst-9438	55	23	:	:	PUNCT
ajst-9438	55	24	fx	fx	PROPN
ajst-9438	55	25	kpe	kpe	PROPN
ajst-9438	55	26	kde	kde	PROPN
ajst-9438	55	27	dx	dx	PROPN
ajst-9438	55	28	q	q	PROPN
ajst-9438	56	1	xd	xd	INTJ
ajst-9438	56	2	cx	cx	PROPN
ajst-9438	57	1	q	q	NOUN
ajst-9438	57	2	,	,	PUNCT
ajst-9438	57	3	q	q	PROPN
ajst-9438	57	4	xd	xd	INTJ
ajst-9438	57	5	gx	gx	PROPN
ajst-9438	57	6	q	q	PROPN
ajst-9438	57	7	(	(	PUNCT
ajst-9438	57	8	15	15	NUM
ajst-9438	57	9	)	)	PUNCT
ajst-9438	57	10	in	in	ADP
ajst-9438	57	11	the	the	DET
ajst-9438	57	12	formula	formula	NOUN
ajst-9438	57	13	,	,	PUNCT
ajst-9438	57	14	kp>0	kp>0	NOUN
ajst-9438	57	15	;	;	PUNCT
ajst-9438	57	16	kd>0	kd>0	PROPN
ajst-9438	57	17	.	.	PUNCT
ajst-9438	58	1	at	at	ADP
ajst-9438	58	2	this	this	DET
ajst-9438	58	3	point	point	NOUN
ajst-9438	58	4	,	,	PUNCT
ajst-9438	58	5	the	the	DET
ajst-9438	58	6	formula	formula	NOUN
ajst-9438	58	7	can	can	AUX
ajst-9438	58	8	be	be	AUX
ajst-9438	58	9	written	write	VERB
ajst-9438	58	10	as	as	ADP
ajst-9438	58	11	dx	dx	PROPN
ajst-9438	58	12	q	q	PROPN
ajst-9438	58	13	xd	xd	INTJ
ajst-9438	58	14	x	x	PROPN
ajst-9438	58	15	cx	cx	PROPN
ajst-9438	58	16	q	q	NOUN
ajst-9438	58	17	,	,	PUNCT
ajst-9438	58	18	q	q	X
ajst-9438	59	1	xd	xd	INTJ
ajst-9438	59	2	x	x	PROPN
ajst-9438	59	3	kde	kde	PROPN
ajst-9438	59	4	kpe	kpe	PROPN
ajst-9438	59	5	0	0	NUM
ajst-9438	59	6	(	(	PUNCT
ajst-9438	59	7	16	16	NUM
ajst-9438	59	8	)	)	PUNCT
ajst-9438	59	9	dx	dx	PROPN
ajst-9438	60	1	q	q	PROPN
ajst-9438	60	2	e	e	PROPN
ajst-9438	60	3	cx	cx	PROPN
ajst-9438	60	4	q	q	PROPN
ajst-9438	60	5	,	,	PUNCT
ajst-9438	60	6	q	q	PROPN
ajst-9438	60	7	kd	kd	PROPN
ajst-9438	60	8	e	e	PROPN
ajst-9438	60	9	kpe	kpe	PROPN
ajst-9438	60	10	0	0	NUM
ajst-9438	60	11	(	(	PUNCT
ajst-9438	60	12	17	17	NUM
ajst-9438	60	13	)	)	PUNCT
ajst-9438	60	14	the	the	DET
ajst-9438	60	15	control	control	NOUN
ajst-9438	60	16	objective	objective	NOUN
ajst-9438	60	17	is	be	AUX
ajst-9438	60	18	e	e	NOUN
ajst-9438	60	19	and	and	CCONJ
ajst-9438	60	20	e	e	NOUN
ajst-9438	60	21	approaching	approach	VERB
ajst-9438	60	22	0	0	NUM
ajst-9438	60	23	.	.	PUNCT
ajst-9438	61	1	take	take	VERB
ajst-9438	61	2	the	the	DET
ajst-9438	61	3	lyapunov	lyapunov	NOUN
ajst-9438	61	4	function	function	NOUN
ajst-9438	61	5	v	v	ADP
ajst-9438	61	6	e	e	PROPN
ajst-9438	61	7	d	d	X
ajst-9438	61	8	q	q	X
ajst-9438	61	9	e	e	X
ajst-9438	61	10	e	e	X
ajst-9438	61	11	k	k	PROPN
ajst-9438	61	12	e	e	X
ajst-9438	61	13	(	(	PUNCT
ajst-9438	61	14	18	18	NUM
ajst-9438	61	15	)	)	PUNCT
ajst-9438	61	16	according	accord	VERB
ajst-9438	61	17	to	to	ADP
ajst-9438	61	18	the	the	DET
ajst-9438	61	19	positive	positive	ADJ
ajst-9438	61	20	definiteness	definiteness	NOUN
ajst-9438	61	21	of	of	ADP
ajst-9438	61	22	dx	dx	PROPN
ajst-9438	61	23	(	(	PUNCT
ajst-9438	61	24	q	q	NOUN
ajst-9438	61	25	)	)	PUNCT
ajst-9438	61	26	and	and	CCONJ
ajst-9438	61	27	kp	kp	INTJ
ajst-9438	61	28	,	,	PUNCT
ajst-9438	61	29	if	if	SCONJ
ajst-9438	61	30	v	v	NOUN
ajst-9438	61	31	is	be	AUX
ajst-9438	61	32	globally	globally	ADV
ajst-9438	61	33	positive	positive	ADJ
ajst-9438	61	34	definite	definite	ADJ
ajst-9438	61	35	,	,	PUNCT
ajst-9438	61	36	then	then	ADV
ajst-9438	61	37	v	v	X
ajst-9438	61	38	e	e	PROPN
ajst-9438	61	39	dxe	dxe	PROPN
ajst-9438	61	40	e	e	PROPN
ajst-9438	61	41	dxe	dxe	PROPN
ajst-9438	61	42	e	e	PROPN
ajst-9438	61	43	kpe	kpe	PROPN
ajst-9438	61	44	(	(	PUNCT
ajst-9438	61	45	19	19	NUM
ajst-9438	61	46	)	)	PUNCT
ajst-9438	61	47	from	from	ADP
ajst-9438	61	48	oblique	oblique	ADJ
ajst-9438	61	49	symmetry	symmetry	NOUN
ajst-9438	61	50	,	,	PUNCT
ajst-9438	61	51	it	it	PRON
ajst-9438	61	52	can	can	AUX
ajst-9438	61	53	be	be	AUX
ajst-9438	61	54	seen	see	VERB
ajst-9438	61	55	that	that	SCONJ
ajst-9438	61	56	e	e	PROPN
ajst-9438	61	57	dxe	dxe	PROPN
ajst-9438	61	58	2e	2e	PROPN
ajst-9438	61	59	cxe	cxe	PROPN
ajst-9438	61	60	,	,	PUNCT
ajst-9438	61	61	v	v	PROPN
ajst-9438	61	62	e	e	PROPN
ajst-9438	61	63	dxe	dxe	PROPN
ajst-9438	61	64	e	e	NOUN
ajst-9438	61	65	cxe	cxe	PROPN
ajst-9438	61	66	e	e	PROPN
ajst-9438	61	67	kpe	kpe	PROPN
ajst-9438	61	68	e	e	PROPN
ajst-9438	61	69	dxe	dxe	PROPN
ajst-9438	61	70	cxe	cxe	PROPN
ajst-9438	61	71	kpe	kpe	PROPN
ajst-9438	61	72	e	e	PROPN
ajst-9438	61	73	kpe	kpe	PROPN
ajst-9438	61	74	0	0	NUM
ajst-9438	61	75	20	20	NUM
ajst-9438	61	76	that	that	PRON
ajst-9438	61	77	is	be	AUX
ajst-9438	61	78	,	,	PUNCT
ajst-9438	61	79	starting	start	VERB
ajst-9438	61	80	from	from	ADP
ajst-9438	61	81	any	any	DET
ajst-9438	61	82	initial	initial	ADJ
ajst-9438	61	83	condition	condition	NOUN
ajst-9438	61	84	,	,	PUNCT
ajst-9438	61	85	when	when	SCONJ
ajst-9438	61	86	t	t	PROPN
ajst-9438	61	87	tends	tend	VERB
ajst-9438	61	88	to	to	PART
ajst-9438	61	89	infinity	infinity	VERB
ajst-9438	61	90	,	,	PUNCT
ajst-9438	61	91	x	x	PRON
ajst-9438	61	92	tends	tend	VERB
ajst-9438	61	93	to	to	PART
ajst-9438	61	94	infinity	infinity	VERB
ajst-9438	61	95	x	x	X
ajst-9438	61	96	,	,	PUNCT
ajst-9438	61	97	x	x	SYM
ajst-9438	61	98	approaching	approach	VERB
ajst-9438	61	99	x	x	PUNCT
ajst-9438	61	100	.	.	PUNCT
ajst-9438	62	1	this	this	DET
ajst-9438	62	2	section	section	NOUN
ajst-9438	62	3	elaborates	elaborate	VERB
ajst-9438	62	4	on	on	ADP
ajst-9438	62	5	the	the	DET
ajst-9438	62	6	design	design	NOUN
ajst-9438	62	7	of	of	ADP
ajst-9438	62	8	the	the	DET
ajst-9438	62	9	entire	entire	ADJ
ajst-9438	62	10	controller	controller	NOUN
ajst-9438	62	11	from	from	ADP
ajst-9438	62	12	two	two	NUM
ajst-9438	62	13	aspects	aspect	NOUN
ajst-9438	62	14	:	:	PUNCT
ajst-9438	62	15	controller	controller	NOUN
ajst-9438	62	16	overview	overview	NOUN
ajst-9438	62	17	and	and	CCONJ
ajst-9438	62	18	controller	controller	NOUN
ajst-9438	62	19	design	design	NOUN
ajst-9438	62	20	.	.	PUNCT
ajst-9438	63	1	when	when	SCONJ
ajst-9438	63	2	studying	study	VERB
ajst-9438	63	3	the	the	DET
ajst-9438	63	4	control	control	NOUN
ajst-9438	63	5	problem	problem	NOUN
ajst-9438	63	6	of	of	ADP
ajst-9438	63	7	robotic	robotic	ADJ
ajst-9438	63	8	arm	arm	NOUN
ajst-9438	63	9	tracking	tracking	NOUN
ajst-9438	63	10	,	,	PUNCT
ajst-9438	63	11	it	it	PRON
ajst-9438	63	12	is	be	AUX
ajst-9438	63	13	assumed	assume	VERB
ajst-9438	63	14	that	that	SCONJ
ajst-9438	63	15	the	the	DET
ajst-9438	63	16	navigation	navigation	NOUN
ajst-9438	63	17	path	path	NOUN
ajst-9438	63	18	of	of	ADP
ajst-9438	63	19	the	the	DET
ajst-9438	63	20	robot	robot	NOUN
ajst-9438	63	21	's	's	PART
ajst-9438	63	22	target	target	NOUN
ajst-9438	63	23	point	point	NOUN
ajst-9438	63	24	is	be	AUX
ajst-9438	63	25	always	always	ADV
ajst-9438	63	26	within	within	ADP
ajst-9438	63	27	the	the	DET
ajst-9438	63	28	workspace	workspace	NOUN
ajst-9438	63	29	at	at	ADP
ajst-9438	63	30	the	the	DET
ajst-9438	63	31	end	end	NOUN
ajst-9438	63	32	of	of	ADP
ajst-9438	63	33	the	the	DET
ajst-9438	63	34	robotic	robotic	ADJ
ajst-9438	63	35	arm	arm	NOUN
ajst-9438	63	36	.	.	PUNCT
ajst-9438	64	1	starting	start	VERB
ajst-9438	64	2	from	from	ADP
ajst-9438	64	3	their	their	PRON
ajst-9438	64	4	respective	respective	ADJ
ajst-9438	64	5	initial	initial	ADJ
ajst-9438	64	6	positions	position	NOUN
ajst-9438	64	7	,	,	PUNCT
ajst-9438	64	8	the	the	DET
ajst-9438	64	9	robotic	robotic	ADJ
ajst-9438	64	10	arms	arm	NOUN
ajst-9438	64	11	transmit	transmit	VERB
ajst-9438	64	12	the	the	DET
ajst-9438	64	13	collected	collect	VERB
ajst-9438	64	14	target	target	NOUN
ajst-9438	64	15	points	point	NOUN
ajst-9438	64	16	and	and	CCONJ
ajst-9438	64	17	end	end	VERB
ajst-9438	64	18	effector	effector	NOUN
ajst-9438	64	19	information	information	NOUN
ajst-9438	64	20	in	in	ADP
ajst-9438	64	21	real	real	ADJ
ajst-9438	64	22	-	-	PUNCT
ajst-9438	64	23	time	time	NOUN
ajst-9438	64	24	to	to	ADP
ajst-9438	64	25	the	the	DET
ajst-9438	64	26	controller	controller	NOUN
ajst-9438	64	27	for	for	ADP
ajst-9438	64	28	processing	processing	NOUN
ajst-9438	64	29	,	,	PUNCT
ajst-9438	64	30	and	and	CCONJ
ajst-9438	64	31	then	then	ADV
ajst-9438	64	32	achieve	achieve	VERB
ajst-9438	64	33	real	real	ADJ
ajst-9438	64	34	-	-	PUNCT
ajst-9438	64	35	time	time	NOUN
ajst-9438	64	36	adjustment	adjustment	NOUN
ajst-9438	64	37	of	of	ADP
ajst-9438	64	38	the	the	DET
ajst-9438	64	39	robotic	robotic	ADJ
ajst-9438	64	40	arm	arm	NOUN
ajst-9438	64	41	joints	joint	NOUN
ajst-9438	64	42	through	through	ADP
ajst-9438	64	43	control	control	NOUN
ajst-9438	64	44	.	.	PUNCT
ajst-9438	65	1	after	after	ADP
ajst-9438	65	2	multiple	multiple	ADJ
ajst-9438	65	3	feedbacks	feedback	NOUN
ajst-9438	65	4	and	and	CCONJ
ajst-9438	65	5	information	information	NOUN
ajst-9438	65	6	processing	processing	NOUN
ajst-9438	65	7	,	,	PUNCT
ajst-9438	65	8	the	the	DET
ajst-9438	65	9	end	end	NOUN
ajst-9438	65	10	effector	effector	NOUN
ajst-9438	65	11	of	of	ADP
ajst-9438	65	12	the	the	DET
ajst-9438	65	13	robotic	robotic	ADJ
ajst-9438	65	14	arm	arm	NOUN
ajst-9438	65	15	is	be	AUX
ajst-9438	65	16	finally	finally	ADV
ajst-9438	65	17	able	able	ADJ
ajst-9438	65	18	to	to	PART
ajst-9438	65	19	track	track	VERB
ajst-9438	65	20	the	the	DET
ajst-9438	65	21	trajectory	trajectory	NOUN
ajst-9438	65	22	of	of	ADP
ajst-9438	65	23	the	the	DET
ajst-9438	65	24	target	target	NOUN
ajst-9438	65	25	point	point	NOUN
ajst-9438	65	26	.	.	PUNCT
ajst-9438	66	1	4	4	X
ajst-9438	66	2	.	.	X
ajst-9438	66	3	system	system	NOUN
ajst-9438	66	4	simulation	simulation	NOUN
ajst-9438	66	5	4.1	4.1	NUM
ajst-9438	66	6	.	.	PUNCT
ajst-9438	67	1	simulation	simulation	NOUN
ajst-9438	67	2	analysis	analysis	NOUN
ajst-9438	67	3	for	for	ADP
ajst-9438	67	4	the	the	DET
ajst-9438	67	5	simulation	simulation	NOUN
ajst-9438	67	6	example	example	NOUN
ajst-9438	67	7	,	,	PUNCT
ajst-9438	67	8	we	we	PRON
ajst-9438	67	9	select	select	VERB
ajst-9438	67	10	a	a	DET
ajst-9438	67	11	two	two	NUM
ajst-9438	67	12	joint	joint	ADJ
ajst-9438	67	13	robotic	robotic	ADJ
ajst-9438	67	14	arm	arm	NOUN
ajst-9438	67	15	model	model	NOUN
ajst-9438	67	16	for	for	ADP
ajst-9438	67	17	simulation	simulation	NOUN
ajst-9438	67	18	,	,	PUNCT
ajst-9438	67	19	and	and	CCONJ
ajst-9438	67	20	the	the	DET
ajst-9438	67	21	dynamic	dynamic	ADJ
ajst-9438	67	22	equation	equation	NOUN
ajst-9438	67	23	of	of	ADP
ajst-9438	67	24	the	the	DET
ajst-9438	67	25	manipulator	manipulator	NOUN
ajst-9438	67	26	is	be	AUX
ajst-9438	67	27	d	d	X
ajst-9438	67	28	q	q	X
ajst-9438	67	29	q	q	X
ajst-9438	67	30	c	c	X
ajst-9438	67	31	q	q	NOUN
ajst-9438	67	32	,	,	PUNCT
ajst-9438	67	33	q	q	X
ajst-9438	67	34	q	q	X
ajst-9438	67	35	g	g	PROPN
ajst-9438	67	36	q	q	X
ajst-9438	67	37	τ	τ	X
ajst-9438	67	38	(	(	PUNCT
ajst-9438	67	39	21	21	NUM
ajst-9438	67	40	)	)	PUNCT
ajst-9438	67	41	where	where	SCONJ
ajst-9438	67	42	p	p	NOUN
ajst-9438	67	43	is	be	AUX
ajst-9438	67	44	the	the	DET
ajst-9438	67	45	load	load	NOUN
ajst-9438	67	46	,	,	PUNCT
ajst-9438	67	47	p	p	NOUN
ajst-9438	67	48	is	be	AUX
ajst-9438	67	49	the	the	DET
ajst-9438	67	50	parameter	parameter	NOUN
ajst-9438	67	51	vector	vector	NOUN
ajst-9438	67	52	of	of	ADP
ajst-9438	67	53	the	the	DET
ajst-9438	67	54	robot	robot	NOUN
ajst-9438	67	55	itself	itself	PRON
ajst-9438	67	56	,	,	PUNCT
ajst-9438	67	57	and	and	CCONJ
ajst-9438	67	58	l1	l1	PROPN
ajst-9438	67	59	and	and	CCONJ
ajst-9438	67	60	l2	l2	NOUN
ajst-9438	67	61	are	be	AUX
ajst-9438	67	62	the	the	DET
ajst-9438	67	63	lengths	length	NOUN
ajst-9438	67	64	of	of	ADP
ajst-9438	67	65	joint	joint	ADJ
ajst-9438	67	66	1	1	NUM
ajst-9438	67	67	and	and	CCONJ
ajst-9438	67	68	joint	joint	ADJ
ajst-9438	67	69	2	2	NUM
ajst-9438	67	70	,	,	PUNCT
ajst-9438	67	71	respectively	respectively	ADV
ajst-9438	67	72	.	.	PUNCT
ajst-9438	68	1	the	the	DET
ajst-9438	68	2	actual	actual	ADJ
ajst-9438	68	3	parameters	parameter	NOUN
ajst-9438	68	4	when	when	SCONJ
ajst-9438	68	5	processing	process	VERB
ajst-9438	68	6	the	the	DET
ajst-9438	68	7	arm	arm	NOUN
ajst-9438	68	8	program	program	NOUN
ajst-9438	68	9	are	be	AUX
ajst-9438	68	10	l	l	NOUN
ajst-9438	68	11	l	l	NOUN
ajst-9438	68	12	1	1	NUM
ajst-9438	68	13	in	in	ADP
ajst-9438	68	14	order	order	NOUN
ajst-9438	68	15	to	to	PART
ajst-9438	68	16	observe	observe	VERB
ajst-9438	68	17	whether	whether	SCONJ
ajst-9438	68	18	the	the	DET
ajst-9438	68	19	controller	controller	NOUN
ajst-9438	68	20	can	can	AUX
ajst-9438	68	21	reduce	reduce	VERB
ajst-9438	68	22	load	load	NOUN
ajst-9438	68	23	disturbance	disturbance	NOUN
ajst-9438	68	24	,	,	PUNCT
ajst-9438	68	25	the	the	DET
ajst-9438	68	26	load	load	NOUN
ajst-9438	68	27	value	value	NOUN
ajst-9438	68	28	changed	change	VERB
ajst-9438	68	29	from	from	ADP
ajst-9438	68	30	0	0	NUM
ajst-9438	68	31	to	to	ADP
ajst-9438	68	32	0.5	0.5	NUM
ajst-9438	68	33	at	at	ADP
ajst-9438	68	34	t=4.0	t=4.0	NUM
ajst-9438	68	35	.	.	PUNCT
ajst-9438	69	1	a	a	DET
ajst-9438	69	2	trajectory	trajectory	NOUN
ajst-9438	69	3	is	be	AUX
ajst-9438	69	4	a	a	DET
ajst-9438	69	5	circle	circle	NOUN
ajst-9438	69	6	with	with	ADP
ajst-9438	69	7	a	a	DET
ajst-9438	69	8	radius	radius	NOUN
ajst-9438	69	9	of	of	ADP
ajst-9438	69	10	1.0	1.0	NUM
ajst-9438	69	11	and	and	CCONJ
ajst-9438	69	12	a	a	DET
ajst-9438	69	13	center	center	NOUN
ajst-9438	69	14	located	locate	VERB
ajst-9438	69	15	at	at	ADP
ajst-9438	69	16	(	(	PUNCT
ajst-9438	69	17	1.0	1.0	NUM
ajst-9438	69	18	1.0	1.0	NUM
ajst-9438	69	19	)	)	PUNCT
ajst-9438	69	20	.	.	PUNCT
ajst-9438	70	1	under	under	ADP
ajst-9438	70	2	initial	initial	ADJ
ajst-9438	70	3	condition	condition	NOUN
ajst-9438	70	4	,	,	PUNCT
ajst-9438	70	5	the	the	DET
ajst-9438	70	6	actuator	actuator	NOUN
ajst-9438	70	7	at	at	ADP
ajst-9438	70	8	the	the	DET
ajst-9438	70	9	end	end	NOUN
ajst-9438	70	10	of	of	ADP
ajst-9438	70	11	the	the	DET
ajst-9438	70	12	robot	robot	NOUN
ajst-9438	70	13	arm	arm	NOUN
ajst-9438	70	14	is	be	AUX
ajst-9438	70	15	located	locate	VERB
ajst-9438	70	16	at	at	ADP
ajst-9438	70	17	the	the	DET
ajst-9438	70	18	center	center	NOUN
ajst-9438	70	19	of	of	ADP
ajst-9438	70	20	the	the	DET
ajst-9438	70	21	circle	circle	NOUN
ajst-9438	70	22	(	(	PUNCT
ajst-9438	70	23	1.0	1.0	NUM
ajst-9438	70	24	1.0	1.0	NUM
ajst-9438	70	25	)	)	PUNCT
ajst-9438	70	26	.	.	PUNCT
ajst-9438	71	1	the	the	DET
ajst-9438	71	2	ideal	ideal	ADJ
ajst-9438	71	3	tracking	tracking	NOUN
ajst-9438	71	4	trajectory	trajectory	NOUN
ajst-9438	71	5	in	in	ADP
ajst-9438	71	6	space	space	NOUN
ajst-9438	71	7	is	be	AUX
ajst-9438	71	8	x	x	X
ajst-9438	71	9	cos	cos	PROPN
ajst-9438	71	10	t	t	PROPN
ajst-9438	71	11	x	x	PUNCT
ajst-9438	71	12	sin	sin	PROPN
ajst-9438	71	13	t	t	PROPN
ajst-9438	71	14	(	(	PUNCT
ajst-9438	71	15	22	22	NUM
ajst-9438	71	16	)	)	PUNCT
ajst-9438	71	17	the	the	DET
ajst-9438	71	18	cartesian	cartesian	ADJ
ajst-9438	71	19	coordinates	coordinate	NOUN
ajst-9438	71	20	of	of	ADP
ajst-9438	71	21	the	the	DET
ajst-9438	71	22	joint	joint	ADJ
ajst-9438	71	23	end	end	NOUN
ajst-9438	71	24	in	in	ADP
ajst-9438	71	25	the	the	DET
ajst-9438	71	26	workspace	workspace	NOUN
ajst-9438	71	27	must	must	AUX
ajst-9438	71	28	be	be	AUX
ajst-9438	71	29	the	the	DET
ajst-9438	71	30	angle	angle	NOUN
ajst-9438	71	31	of	of	ADP
ajst-9438	71	32	the	the	DET
ajst-9438	71	33	second	second	ADJ
ajst-9438	71	34	joint	joint	ADJ
ajst-9438	71	35	angle	angle	NOUN
ajst-9438	71	36	(	(	PUNCT
ajst-9438	71	37	x1	x1	PROPN
ajst-9438	71	38	,	,	PUNCT
ajst-9438	71	39	x2	x2	PROPN
ajst-9438	71	40	)	)	PUNCT
ajst-9438	71	41	,	,	PUNCT
ajst-9438	71	42	and	and	CCONJ
ajst-9438	71	43	the	the	DET
ajst-9438	71	44	joints	joint	NOUN
ajst-9438	71	45	must	must	AUX
ajst-9438	71	46	be	be	AUX
ajst-9438	71	47	connected	connect	VERB
ajst-9438	71	48	according	accord	VERB
ajst-9438	71	49	to	to	ADP
ajst-9438	71	50	the	the	DET
ajst-9438	71	51	formula	formula	NOUN
ajst-9438	71	52	(	(	PUNCT
ajst-9438	71	53	q1	q1	PROPN
ajst-9438	71	54	,	,	PUNCT
ajst-9438	71	55	q2	q2	NOUN
ajst-9438	71	56	)	)	PUNCT
ajst-9438	71	57	in	in	ADP
ajst-9438	71	58	the	the	DET
ajst-9438	71	59	first	first	ADJ
ajst-9438	71	60	part	part	NOUN
ajst-9438	71	61	.	.	PUNCT
ajst-9438	72	1	the	the	DET
ajst-9438	72	2	controlled	control	VERB
ajst-9438	72	3	object	object	NOUN
ajst-9438	72	4	and	and	CCONJ
ajst-9438	72	5	controller	controller	NOUN
ajst-9438	72	6	take	take	VERB
ajst-9438	72	7	the	the	DET
ajst-9438	72	8	above	above	ADJ
ajst-9438	72	9	equation	equation	NOUN
ajst-9438	72	10	,	,	PUNCT
ajst-9438	72	11	and	and	CCONJ
ajst-9438	72	12	the	the	DET
ajst-9438	72	13	controller	controller	NOUN
ajst-9438	72	14	gain	gain	NOUN
ajst-9438	72	15	is	be	AUX
ajst-9438	72	16	selected	select	VERB
ajst-9438	72	17	as	as	SCONJ
ajst-9438	72	18	k	k	PROPN
ajst-9438	72	19	k	k	PROPN
ajst-9438	72	20	30	30	NUM
ajst-9438	72	21	0	0	NUM
ajst-9438	72	22	0	0	NUM
ajst-9438	72	23	30	30	NUM
ajst-9438	72	24	(	(	PUNCT
ajst-9438	72	25	23	23	NUM
ajst-9438	72	26	)	)	PUNCT
ajst-9438	72	27	the	the	DET
ajst-9438	72	28	joint	joint	ADJ
ajst-9438	72	29	torque	torque	NOUN
ajst-9438	72	30	can	can	AUX
ajst-9438	72	31	be	be	AUX
ajst-9438	72	32	calculated	calculate	VERB
ajst-9438	72	33	from	from	ADP
ajst-9438	72	34	the	the	DET
ajst-9438	72	35	above	above	ADJ
ajst-9438	72	36	equation	equation	NOUN
ajst-9438	72	37	.	.	PUNCT
ajst-9438	73	1	the	the	DET
ajst-9438	73	2	designed	design	VERB
ajst-9438	73	3	controller	controller	NOUN
ajst-9438	73	4	ensures	ensure	VERB
ajst-9438	73	5	the	the	DET
ajst-9438	73	6	stability	stability	NOUN
ajst-9438	73	7	of	of	ADP
ajst-9438	73	8	the	the	DET
ajst-9438	73	9	closedloop	closedloop	NOUN
ajst-9438	73	10	system	system	NOUN
ajst-9438	73	11	and	and	CCONJ
ajst-9438	73	12	good	good	ADJ
ajst-9438	73	13	performance	performance	NOUN
ajst-9438	73	14	of	of	ADP
ajst-9438	73	15	the	the	DET
ajst-9438	73	16	end	end	NOUN
ajst-9438	73	17	effector	effector	NOUN
ajst-9438	73	18	tracking	tracking	NOUN
ajst-9438	73	19	error	error	NOUN
ajst-9438	73	20	.	.	PUNCT
ajst-9438	74	1	23	23	NUM
ajst-9438	74	2	figure	figure	NOUN
ajst-9438	74	3	3	3	NUM
ajst-9438	74	4	.	.	PUNCT
ajst-9438	74	5	position	position	NOUN
ajst-9438	74	6	tracking	tracking	NOUN
ajst-9438	74	7	of	of	ADP
ajst-9438	74	8	end	end	NOUN
ajst-9438	74	9	joint	joint	ADJ
ajst-9438	74	10	nodes	node	NOUN
ajst-9438	74	11	figure	figure	VERB
ajst-9438	74	12	4	4	NUM
ajst-9438	74	13	.	.	PUNCT
ajst-9438	74	14	velocity	velocity	NOUN
ajst-9438	74	15	tracking	tracking	NOUN
ajst-9438	74	16	of	of	ADP
ajst-9438	74	17	end	end	NOUN
ajst-9438	74	18	joint	joint	ADJ
ajst-9438	74	19	nodes	node	NOUN
ajst-9438	74	20	figure	figure	VERB
ajst-9438	74	21	5	5	NUM
ajst-9438	74	22	.	.	PUNCT
ajst-9438	74	23	control	control	PROPN
ajst-9438	74	24	input	input	PROPN
ajst-9438	74	25	fx	fx	PROPN
ajst-9438	74	26	and	and	CCONJ
ajst-9438	74	27	τ	τ	PROPN
ajst-9438	74	28	24	24	NUM
ajst-9438	74	29	as	as	SCONJ
ajst-9438	74	30	shown	show	VERB
ajst-9438	74	31	in	in	ADP
ajst-9438	74	32	figure	figure	NOUN
ajst-9438	74	33	3	3	NUM
ajst-9438	74	34	,	,	PUNCT
ajst-9438	74	35	the	the	DET
ajst-9438	74	36	position	position	NOUN
ajst-9438	74	37	tracking	tracking	NOUN
ajst-9438	74	38	of	of	ADP
ajst-9438	74	39	the	the	DET
ajst-9438	74	40	end	end	NOUN
ajst-9438	74	41	joint	joint	ADJ
ajst-9438	74	42	node	node	NOUN
ajst-9438	74	43	is	be	AUX
ajst-9438	74	44	shown	show	VERB
ajst-9438	74	45	.	.	PUNCT
ajst-9438	75	1	the	the	DET
ajst-9438	75	2	red	red	ADJ
ajst-9438	75	3	line	line	NOUN
ajst-9438	75	4	in	in	ADP
ajst-9438	75	5	the	the	DET
ajst-9438	75	6	figure	figure	NOUN
ajst-9438	75	7	represents	represent	VERB
ajst-9438	75	8	the	the	DET
ajst-9438	75	9	ideal	ideal	ADJ
ajst-9438	75	10	position	position	NOUN
ajst-9438	75	11	,	,	PUNCT
ajst-9438	75	12	and	and	CCONJ
ajst-9438	75	13	the	the	DET
ajst-9438	75	14	blue	blue	ADJ
ajst-9438	75	15	line	line	NOUN
ajst-9438	75	16	represents	represent	VERB
ajst-9438	75	17	the	the	DET
ajst-9438	75	18	position	position	NOUN
ajst-9438	75	19	obtained	obtain	VERB
ajst-9438	75	20	under	under	ADP
ajst-9438	75	21	the	the	DET
ajst-9438	75	22	neural	neural	ADJ
ajst-9438	75	23	network	network	NOUN
ajst-9438	75	24	model	model	NOUN
ajst-9438	75	25	.	.	PUNCT
ajst-9438	76	1	it	it	PRON
ajst-9438	76	2	can	can	AUX
ajst-9438	76	3	be	be	AUX
ajst-9438	76	4	seen	see	VERB
ajst-9438	76	5	that	that	SCONJ
ajst-9438	76	6	the	the	DET
ajst-9438	76	7	neural	neural	ADJ
ajst-9438	76	8	network	network	NOUN
ajst-9438	76	9	model	model	NOUN
ajst-9438	76	10	can	can	AUX
ajst-9438	76	11	track	track	VERB
ajst-9438	76	12	the	the	DET
ajst-9438	76	13	ideal	ideal	ADJ
ajst-9438	76	14	trajectory	trajectory	NOUN
ajst-9438	76	15	well	well	ADV
ajst-9438	76	16	in	in	ADP
ajst-9438	76	17	less	less	ADJ
ajst-9438	76	18	than	than	ADP
ajst-9438	76	19	2	2	NUM
ajst-9438	76	20	seconds	second	NOUN
ajst-9438	76	21	;	;	PUNCT
ajst-9438	76	22	as	as	SCONJ
ajst-9438	76	23	shown	show	VERB
ajst-9438	76	24	in	in	ADP
ajst-9438	76	25	figure	figure	NOUN
ajst-9438	76	26	4	4	NUM
ajst-9438	76	27	,	,	PUNCT
ajst-9438	76	28	the	the	DET
ajst-9438	76	29	velocity	velocity	NOUN
ajst-9438	76	30	tracking	tracking	NOUN
ajst-9438	76	31	of	of	ADP
ajst-9438	76	32	the	the	DET
ajst-9438	76	33	end	end	NOUN
ajst-9438	76	34	joint	joint	ADJ
ajst-9438	76	35	node	node	NOUN
ajst-9438	76	36	is	be	AUX
ajst-9438	76	37	shown	show	VERB
ajst-9438	76	38	.	.	PUNCT
ajst-9438	77	1	the	the	DET
ajst-9438	77	2	red	red	ADJ
ajst-9438	77	3	line	line	NOUN
ajst-9438	77	4	in	in	ADP
ajst-9438	77	5	the	the	DET
ajst-9438	77	6	figure	figure	NOUN
ajst-9438	77	7	represents	represent	VERB
ajst-9438	77	8	the	the	DET
ajst-9438	77	9	ideal	ideal	ADJ
ajst-9438	77	10	velocity	velocity	NOUN
ajst-9438	77	11	,	,	PUNCT
ajst-9438	77	12	and	and	CCONJ
ajst-9438	77	13	the	the	DET
ajst-9438	77	14	blue	blue	ADJ
ajst-9438	77	15	line	line	NOUN
ajst-9438	77	16	represents	represent	VERB
ajst-9438	77	17	the	the	DET
ajst-9438	77	18	velocity	velocity	NOUN
ajst-9438	77	19	obtained	obtain	VERB
ajst-9438	77	20	under	under	ADP
ajst-9438	77	21	the	the	DET
ajst-9438	77	22	neural	neural	ADJ
ajst-9438	77	23	network	network	NOUN
ajst-9438	77	24	model	model	NOUN
ajst-9438	77	25	.	.	PUNCT
ajst-9438	78	1	similarly	similarly	ADV
ajst-9438	78	2	,	,	PUNCT
ajst-9438	78	3	the	the	DET
ajst-9438	78	4	neural	neural	ADJ
ajst-9438	78	5	network	network	NOUN
ajst-9438	78	6	model	model	NOUN
ajst-9438	78	7	can	can	AUX
ajst-9438	78	8	track	track	VERB
ajst-9438	78	9	the	the	DET
ajst-9438	78	10	ideal	ideal	ADJ
ajst-9438	78	11	velocity	velocity	NOUN
ajst-9438	78	12	well	well	ADV
ajst-9438	78	13	in	in	ADP
ajst-9438	78	14	less	less	ADJ
ajst-9438	78	15	than	than	ADP
ajst-9438	78	16	2	2	NUM
ajst-9438	78	17	seconds	second	NOUN
ajst-9438	78	18	.	.	PUNCT
ajst-9438	79	1	from	from	ADP
ajst-9438	79	2	the	the	DET
ajst-9438	79	3	simulation	simulation	NOUN
ajst-9438	79	4	graph	graph	NOUN
ajst-9438	79	5	,	,	PUNCT
ajst-9438	79	6	we	we	PRON
ajst-9438	79	7	can	can	AUX
ajst-9438	79	8	see	see	VERB
ajst-9438	79	9	that	that	SCONJ
ajst-9438	79	10	utilizing	utilize	VERB
ajst-9438	79	11	the	the	DET
ajst-9438	79	12	infinite	infinite	ADJ
ajst-9438	79	13	approximation	approximation	NOUN
ajst-9438	79	14	performance	performance	NOUN
ajst-9438	79	15	of	of	ADP
ajst-9438	79	16	multilayer	multilayer	ADJ
ajst-9438	79	17	neural	neural	ADJ
ajst-9438	79	18	networks	network	NOUN
ajst-9438	79	19	,	,	PUNCT
ajst-9438	79	20	with	with	ADP
ajst-9438	79	21	ideal	ideal	ADJ
ajst-9438	79	22	positioning	positioning	NOUN
ajst-9438	79	23	accuracy	accuracy	NOUN
ajst-9438	79	24	,	,	PUNCT
ajst-9438	79	25	the	the	DET
ajst-9438	79	26	position	position	NOUN
ajst-9438	79	27	and	and	CCONJ
ajst-9438	79	28	velocity	velocity	NOUN
ajst-9438	79	29	of	of	ADP
ajst-9438	79	30	the	the	DET
ajst-9438	79	31	end	end	NOUN
ajst-9438	79	32	joints	joint	NOUN
ajst-9438	79	33	are	be	AUX
ajst-9438	79	34	tracked	track	VERB
ajst-9438	79	35	.	.	PUNCT
ajst-9438	80	1	one	one	NUM
ajst-9438	80	2	of	of	ADP
ajst-9438	80	3	the	the	DET
ajst-9438	80	4	main	main	ADJ
ajst-9438	80	5	goals	goal	NOUN
ajst-9438	80	6	of	of	ADP
ajst-9438	80	7	robot	robot	NOUN
ajst-9438	80	8	system	system	NOUN
ajst-9438	80	9	design	design	NOUN
ajst-9438	80	10	is	be	AUX
ajst-9438	80	11	to	to	PART
ajst-9438	80	12	design	design	VERB
ajst-9438	80	13	structures	structure	NOUN
ajst-9438	80	14	that	that	PRON
ajst-9438	80	15	can	can	AUX
ajst-9438	80	16	perform	perform	VERB
ajst-9438	80	17	multiple	multiple	ADJ
ajst-9438	80	18	tasks	task	NOUN
ajst-9438	80	19	.	.	PUNCT
ajst-9438	81	1	figure	figure	NOUN
ajst-9438	81	2	6	6	NUM
ajst-9438	81	3	.	.	PUNCT
ajst-9438	81	4	track	track	NOUN
ajst-9438	81	5	tracking	tracking	NOUN
ajst-9438	81	6	effect	effect	NOUN
ajst-9438	81	7	figure	figure	NOUN
ajst-9438	81	8	5	5	NUM
ajst-9438	81	9	shows	show	VERB
ajst-9438	81	10	the	the	DET
ajst-9438	81	11	control	control	NOUN
ajst-9438	81	12	inputs	input	VERB
ajst-9438	81	13	fx	fx	PROPN
ajst-9438	81	14	and	and	CCONJ
ajst-9438	81	15	τ	τ	PROPN
ajst-9438	81	16	the	the	DET
ajst-9438	81	17	red	red	NOUN
ajst-9438	81	18	represents	represent	VERB
ajst-9438	81	19	the	the	DET
ajst-9438	81	20	control	control	NOUN
ajst-9438	81	21	input	input	NOUN
ajst-9438	81	22	of	of	ADP
ajst-9438	81	23	the	the	DET
ajst-9438	81	24	first	first	ADJ
ajst-9438	81	25	joint	joint	NOUN
ajst-9438	81	26	,	,	PUNCT
ajst-9438	81	27	the	the	DET
ajst-9438	81	28	blue	blue	NOUN
ajst-9438	81	29	represents	represent	VERB
ajst-9438	81	30	the	the	DET
ajst-9438	81	31	control	control	NOUN
ajst-9438	81	32	input	input	NOUN
ajst-9438	81	33	of	of	ADP
ajst-9438	81	34	the	the	DET
ajst-9438	81	35	second	second	ADJ
ajst-9438	81	36	joint	joint	NOUN
ajst-9438	81	37	,	,	PUNCT
ajst-9438	81	38	and	and	CCONJ
ajst-9438	81	39	there	there	PRON
ajst-9438	81	40	is	be	VERB
ajst-9438	81	41	some	some	DET
ajst-9438	81	42	delay	delay	NOUN
ajst-9438	81	43	in	in	ADP
ajst-9438	81	44	the	the	DET
ajst-9438	81	45	control	control	NOUN
ajst-9438	81	46	input	input	NOUN
ajst-9438	81	47	of	of	ADP
ajst-9438	81	48	the	the	DET
ajst-9438	81	49	second	second	ADJ
ajst-9438	81	50	joint	joint	NOUN
ajst-9438	81	51	.	.	PUNCT
ajst-9438	82	1	the	the	DET
ajst-9438	82	2	overall	overall	ADJ
ajst-9438	82	3	trend	trend	NOUN
ajst-9438	82	4	is	be	AUX
ajst-9438	82	5	basically	basically	ADV
ajst-9438	82	6	consistent	consistent	ADJ
ajst-9438	82	7	with	with	ADP
ajst-9438	82	8	the	the	DET
ajst-9438	82	9	system	system	NOUN
ajst-9438	82	10	parameters	parameter	NOUN
ajst-9438	82	11	of	of	ADP
ajst-9438	82	12	the	the	DET
ajst-9438	82	13	first	first	ADJ
ajst-9438	82	14	joint	joint	NOUN
ajst-9438	82	15	;	;	PUNCT
ajst-9438	82	16	figure	figure	NOUN
ajst-9438	82	17	6	6	NUM
ajst-9438	82	18	shows	show	VERB
ajst-9438	82	19	the	the	DET
ajst-9438	82	20	trajectory	trajectory	NOUN
ajst-9438	82	21	tracking	tracking	NOUN
ajst-9438	82	22	effect	effect	NOUN
ajst-9438	82	23	,	,	PUNCT
ajst-9438	82	24	with	with	ADP
ajst-9438	82	25	red	red	ADJ
ajst-9438	82	26	indicating	indicate	VERB
ajst-9438	82	27	the	the	DET
ajst-9438	82	28	ideal	ideal	ADJ
ajst-9438	82	29	trajectory	trajectory	NOUN
ajst-9438	82	30	and	and	CCONJ
ajst-9438	82	31	blue	blue	NOUN
ajst-9438	82	32	indicating	indicate	VERB
ajst-9438	82	33	the	the	DET
ajst-9438	82	34	actual	actual	ADJ
ajst-9438	82	35	trajectory	trajectory	NOUN
ajst-9438	82	36	.	.	PUNCT
ajst-9438	83	1	we	we	PRON
ajst-9438	83	2	found	find	VERB
ajst-9438	83	3	that	that	SCONJ
ajst-9438	83	4	the	the	DET
ajst-9438	83	5	negative	negative	ADJ
ajst-9438	83	6	half	half	ADJ
ajst-9438	83	7	axis	axis	NOUN
ajst-9438	83	8	trajectory	trajectory	NOUN
ajst-9438	83	9	of	of	ADP
ajst-9438	83	10	the	the	DET
ajst-9438	83	11	y	y	NOUN
ajst-9438	83	12	-	-	PUNCT
ajst-9438	83	13	axis	axis	NOUN
ajst-9438	83	14	completely	completely	ADV
ajst-9438	83	15	coincides	coincide	VERB
ajst-9438	83	16	,	,	PUNCT
ajst-9438	83	17	but	but	CCONJ
ajst-9438	83	18	the	the	DET
ajst-9438	83	19	positive	positive	ADJ
ajst-9438	83	20	half	half	ADJ
ajst-9438	83	21	axis	axis	NOUN
ajst-9438	83	22	trajectory	trajectory	NOUN
ajst-9438	83	23	of	of	ADP
ajst-9438	83	24	the	the	DET
ajst-9438	83	25	y	y	ADJ
ajst-9438	83	26	-	-	PUNCT
ajst-9438	83	27	axis	axis	NOUN
ajst-9438	83	28	deviates	deviate	NOUN
ajst-9438	83	29	.	.	PUNCT
ajst-9438	84	1	this	this	DET
ajst-9438	84	2	article	article	NOUN
ajst-9438	84	3	explores	explore	VERB
ajst-9438	84	4	two	two	NUM
ajst-9438	84	5	degree	degree	NOUN
ajst-9438	84	6	of	of	ADP
ajst-9438	84	7	freedom	freedom	NOUN
ajst-9438	84	8	robots	robot	NOUN
ajst-9438	84	9	,	,	PUNCT
ajst-9438	84	10	but	but	CCONJ
ajst-9438	84	11	common	common	ADJ
ajst-9438	84	12	industrial	industrial	ADJ
ajst-9438	84	13	robots	robot	NOUN
ajst-9438	84	14	,	,	PUNCT
ajst-9438	84	15	due	due	ADP
ajst-9438	84	16	to	to	ADP
ajst-9438	84	17	their	their	PRON
ajst-9438	84	18	high	high	ADJ
ajst-9438	84	19	degrees	degree	NOUN
ajst-9438	84	20	of	of	ADP
ajst-9438	84	21	freedom	freedom	NOUN
ajst-9438	84	22	,	,	PUNCT
ajst-9438	84	23	expand	expand	VERB
ajst-9438	84	24	the	the	DET
ajst-9438	84	25	workspace	workspace	NOUN
ajst-9438	84	26	of	of	ADP
ajst-9438	84	27	end	end	NOUN
ajst-9438	84	28	effectors	effector	NOUN
ajst-9438	84	29	and	and	CCONJ
ajst-9438	84	30	are	be	AUX
ajst-9438	84	31	widely	widely	ADV
ajst-9438	84	32	used	use	VERB
ajst-9438	84	33	in	in	ADP
ajst-9438	84	34	multitasking	multitaske	VERB
ajst-9438	84	35	systems	system	NOUN
ajst-9438	84	36	.	.	PUNCT
ajst-9438	85	1	the	the	DET
ajst-9438	85	2	simulation	simulation	NOUN
ajst-9438	85	3	results	result	NOUN
ajst-9438	85	4	show	show	VERB
ajst-9438	85	5	that	that	SCONJ
ajst-9438	85	6	using	use	VERB
ajst-9438	85	7	rbf	rbf	PROPN
ajst-9438	85	8	neural	neural	ADJ
ajst-9438	85	9	network	network	NOUN
ajst-9438	85	10	control	control	NOUN
ajst-9438	85	11	to	to	PART
ajst-9438	85	12	compensate	compensate	VERB
ajst-9438	85	13	for	for	ADP
ajst-9438	85	14	the	the	DET
ajst-9438	85	15	imprecise	imprecise	ADJ
ajst-9438	85	16	problem	problem	NOUN
ajst-9438	85	17	of	of	ADP
ajst-9438	85	18	the	the	DET
ajst-9438	85	19	mathematical	mathematical	ADJ
ajst-9438	85	20	model	model	NOUN
ajst-9438	85	21	can	can	AUX
ajst-9438	85	22	reduce	reduce	VERB
ajst-9438	85	23	the	the	DET
ajst-9438	85	24	impact	impact	NOUN
ajst-9438	85	25	of	of	ADP
ajst-9438	85	26	this	this	DET
ajst-9438	85	27	problem	problem	NOUN
ajst-9438	85	28	on	on	ADP
ajst-9438	85	29	the	the	DET
ajst-9438	85	30	system	system	NOUN
ajst-9438	85	31	,	,	PUNCT
ajst-9438	85	32	while	while	SCONJ
ajst-9438	85	33	also	also	ADV
ajst-9438	85	34	obtaining	obtain	VERB
ajst-9438	85	35	asymptotically	asymptotically	ADV
ajst-9438	85	36	convergent	convergent	ADJ
ajst-9438	85	37	positioning	positioning	NOUN
ajst-9438	85	38	error	error	NOUN
ajst-9438	85	39	,	,	PUNCT
ajst-9438	85	40	and	and	CCONJ
ajst-9438	85	41	high	high	ADJ
ajst-9438	85	42	-	-	PUNCT
ajst-9438	85	43	precision	precision	NOUN
ajst-9438	85	44	tracking	tracking	NOUN
ajst-9438	85	45	of	of	ADP
ajst-9438	85	46	the	the	DET
ajst-9438	85	47	angular	angular	ADJ
ajst-9438	85	48	velocity	velocity	NOUN
ajst-9438	85	49	and	and	CCONJ
ajst-9438	85	50	angular	angular	ADJ
ajst-9438	85	51	velocity	velocity	NOUN
ajst-9438	85	52	of	of	ADP
ajst-9438	85	53	the	the	DET
ajst-9438	85	54	two	two	NUM
ajst-9438	85	55	joints	joint	NOUN
ajst-9438	85	56	.	.	PUNCT
ajst-9438	86	1	based	base	VERB
ajst-9438	86	2	on	on	ADP
ajst-9438	86	3	the	the	DET
ajst-9438	86	4	invariance	invariance	NOUN
ajst-9438	86	5	of	of	ADP
ajst-9438	86	6	parameters	parameter	NOUN
ajst-9438	86	7	rather	rather	ADV
ajst-9438	86	8	than	than	ADP
ajst-9438	86	9	the	the	DET
ajst-9438	86	10	change	change	NOUN
ajst-9438	86	11	of	of	ADP
ajst-9438	86	12	the	the	DET
ajst-9438	86	13	system	system	NOUN
ajst-9438	86	14	,	,	PUNCT
ajst-9438	86	15	the	the	DET
ajst-9438	86	16	lyapunov	lyapunov	ADJ
ajst-9438	86	17	function	function	NOUN
ajst-9438	86	18	is	be	AUX
ajst-9438	86	19	selected	select	VERB
ajst-9438	86	20	to	to	PART
ajst-9438	86	21	obtain	obtain	VERB
ajst-9438	86	22	the	the	DET
ajst-9438	86	23	location	location	NOUN
ajst-9438	86	24	error	error	NOUN
ajst-9438	86	25	of	of	ADP
ajst-9438	86	26	asymptomatic	asymptomatic	ADJ
ajst-9438	86	27	convergence	convergence	NOUN
ajst-9438	86	28	,	,	PUNCT
ajst-9438	86	29	and	and	CCONJ
ajst-9438	86	30	the	the	DET
ajst-9438	86	31	stability	stability	NOUN
ajst-9438	86	32	of	of	ADP
ajst-9438	86	33	the	the	DET
ajst-9438	86	34	control	control	NOUN
ajst-9438	86	35	system	system	NOUN
ajst-9438	86	36	is	be	AUX
ajst-9438	86	37	proved	prove	VERB
ajst-9438	86	38	.	.	PUNCT
ajst-9438	87	1	robot	robot	NOUN
ajst-9438	87	2	trajectory	trajectory	NOUN
ajst-9438	87	3	tracking	tracking	NOUN
ajst-9438	87	4	is	be	AUX
ajst-9438	87	5	a	a	DET
ajst-9438	87	6	research	research	NOUN
ajst-9438	87	7	topic	topic	NOUN
ajst-9438	87	8	that	that	PRON
ajst-9438	87	9	needs	need	VERB
ajst-9438	87	10	further	further	ADJ
ajst-9438	87	11	exploration	exploration	NOUN
ajst-9438	87	12	.	.	PUNCT
ajst-9438	88	1	the	the	DET
ajst-9438	88	2	research	research	NOUN
ajst-9438	88	3	in	in	ADP
ajst-9438	88	4	this	this	DET
ajst-9438	88	5	article	article	NOUN
ajst-9438	88	6	is	be	AUX
ajst-9438	88	7	only	only	ADV
ajst-9438	88	8	an	an	DET
ajst-9438	88	9	initial	initial	ADJ
ajst-9438	88	10	stage	stage	NOUN
ajst-9438	88	11	,	,	PUNCT
ajst-9438	88	12	and	and	CCONJ
ajst-9438	88	13	there	there	PRON
ajst-9438	88	14	are	be	VERB
ajst-9438	88	15	still	still	ADV
ajst-9438	88	16	many	many	ADJ
ajst-9438	88	17	issues	issue	NOUN
ajst-9438	88	18	that	that	PRON
ajst-9438	88	19	need	need	VERB
ajst-9438	88	20	further	further	ADJ
ajst-9438	88	21	research	research	NOUN
ajst-9438	88	22	.	.	PUNCT
ajst-9438	89	1	the	the	DET
ajst-9438	89	2	above	above	ADJ
ajst-9438	89	3	content	content	NOUN
ajst-9438	89	4	is	be	AUX
ajst-9438	89	5	only	only	ADV
ajst-9438	89	6	a	a	DET
ajst-9438	89	7	small	small	ADJ
ajst-9438	89	8	part	part	NOUN
ajst-9438	89	9	of	of	ADP
ajst-9438	89	10	the	the	DET
ajst-9438	89	11	field	field	NOUN
ajst-9438	89	12	of	of	ADP
ajst-9438	89	13	robot	robot	NOUN
ajst-9438	89	14	trajectory	trajectory	NOUN
ajst-9438	89	15	tracking	tracking	NOUN
ajst-9438	89	16	,	,	PUNCT
ajst-9438	89	17	and	and	CCONJ
ajst-9438	89	18	there	there	PRON
ajst-9438	89	19	is	be	VERB
ajst-9438	89	20	still	still	ADV
ajst-9438	89	21	a	a	DET
ajst-9438	89	22	certain	certain	ADJ
ajst-9438	89	23	gap	gap	NOUN
ajst-9438	89	24	between	between	ADP
ajst-9438	89	25	it	it	PRON
ajst-9438	89	26	and	and	CCONJ
ajst-9438	89	27	the	the	DET
ajst-9438	89	28	application	application	NOUN
ajst-9438	89	29	of	of	ADP
ajst-9438	89	30	robotic	robotic	ADJ
ajst-9438	89	31	arm	arm	NOUN
ajst-9438	89	32	trajectory	trajectory	NOUN
ajst-9438	89	33	tracking	tracking	NOUN
ajst-9438	89	34	technology	technology	NOUN
ajst-9438	89	35	.	.	PUNCT
ajst-9438	90	1	establishing	establish	VERB
ajst-9438	90	2	a	a	DET
ajst-9438	90	3	manipulation	manipulation	NOUN
ajst-9438	90	4	model	model	NOUN
ajst-9438	90	5	and	and	CCONJ
ajst-9438	90	6	selecting	select	VERB
ajst-9438	90	7	control	control	NOUN
ajst-9438	90	8	algorithms	algorithm	NOUN
ajst-9438	90	9	are	be	AUX
ajst-9438	90	10	the	the	DET
ajst-9438	90	11	key	key	NOUN
ajst-9438	90	12	to	to	ADP
ajst-9438	90	13	trajectory	trajectory	NOUN
ajst-9438	90	14	tracking	tracking	NOUN
ajst-9438	90	15	.	.	PUNCT
ajst-9438	91	1	the	the	DET
ajst-9438	91	2	method	method	NOUN
ajst-9438	91	3	proposed	propose	VERB
ajst-9438	91	4	in	in	ADP
ajst-9438	91	5	this	this	DET
ajst-9438	91	6	paper	paper	NOUN
ajst-9438	91	7	has	have	VERB
ajst-9438	91	8	certain	certain	ADJ
ajst-9438	91	9	advantages	advantage	NOUN
ajst-9438	91	10	compared	compare	VERB
ajst-9438	91	11	to	to	ADP
ajst-9438	91	12	traditional	traditional	ADJ
ajst-9438	91	13	methods	method	NOUN
ajst-9438	91	14	,	,	PUNCT
ajst-9438	91	15	and	and	CCONJ
ajst-9438	91	16	a	a	DET
ajst-9438	91	17	deeper	deep	ADJ
ajst-9438	91	18	study	study	NOUN
ajst-9438	91	19	is	be	AUX
ajst-9438	91	20	conducted	conduct	VERB
ajst-9438	91	21	on	on	ADP
ajst-9438	91	22	how	how	SCONJ
ajst-9438	91	23	to	to	PART
ajst-9438	91	24	extend	extend	VERB
ajst-9438	91	25	it	it	PRON
ajst-9438	91	26	to	to	ADP
ajst-9438	91	27	high	high	ADJ
ajst-9438	91	28	degree	degree	NOUN
ajst-9438	91	29	of	of	ADP
ajst-9438	91	30	freedom	freedom	NOUN
ajst-9438	91	31	operations	operation	NOUN
ajst-9438	91	32	through	through	ADP
ajst-9438	91	33	new	new	ADJ
ajst-9438	91	34	methods	method	NOUN
ajst-9438	91	35	,	,	PUNCT
ajst-9438	91	36	effectively	effectively	ADV
ajst-9438	91	37	improving	improve	VERB
ajst-9438	91	38	the	the	DET
ajst-9438	91	39	accuracy	accuracy	NOUN
ajst-9438	91	40	of	of	ADP
ajst-9438	91	41	the	the	DET
ajst-9438	91	42	robotic	robotic	ADJ
ajst-9438	91	43	arm	arm	NOUN
ajst-9438	91	44	and	and	CCONJ
ajst-9438	91	45	obtaining	obtain	VERB
ajst-9438	91	46	better	well	ADJ
ajst-9438	91	47	trajectories	trajectory	NOUN
ajst-9438	91	48	.	.	PUNCT
ajst-9438	92	1	5	5	X
ajst-9438	92	2	.	.	X
ajst-9438	92	3	conclusion	conclusion	NOUN
ajst-9438	92	4	the	the	DET
ajst-9438	92	5	mechanical	mechanical	ADJ
ajst-9438	92	6	design	design	NOUN
ajst-9438	92	7	,	,	PUNCT
ajst-9438	92	8	kinematics	kinematic	NOUN
ajst-9438	92	9	and	and	CCONJ
ajst-9438	92	10	dynamics	dynamic	NOUN
ajst-9438	92	11	simulation	simulation	NOUN
ajst-9438	92	12	,	,	PUNCT
ajst-9438	92	13	manufacturing	manufacturing	NOUN
ajst-9438	92	14	and	and	CCONJ
ajst-9438	92	15	control	control	NOUN
ajst-9438	92	16	of	of	ADP
ajst-9438	92	17	a	a	DET
ajst-9438	92	18	two	two	NUM
ajst-9438	92	19	degree	degree	NOUN
ajst-9438	92	20	of	of	ADP
ajst-9438	92	21	freedom	freedom	NOUN
ajst-9438	92	22	manipulator	manipulator	NOUN
ajst-9438	92	23	has	have	VERB
ajst-9438	92	24	a	a	DET
ajst-9438	92	25	high	high	ADJ
ajst-9438	92	26	degree	degree	NOUN
ajst-9438	92	27	of	of	ADP
ajst-9438	92	28	freedom	freedom	NOUN
ajst-9438	92	29	,	,	PUNCT
ajst-9438	92	30	which	which	PRON
ajst-9438	92	31	can	can	AUX
ajst-9438	92	32	cover	cover	VERB
ajst-9438	92	33	a	a	DET
ajst-9438	92	34	large	large	ADJ
ajst-9438	92	35	workspace	workspace	NOUN
ajst-9438	92	36	and	and	CCONJ
ajst-9438	92	37	perform	perform	VERB
ajst-9438	92	38	different	different	ADJ
ajst-9438	92	39	tasks	task	NOUN
ajst-9438	92	40	in	in	ADP
ajst-9438	92	41	different	different	ADJ
ajst-9438	92	42	environments	environment	NOUN
ajst-9438	92	43	.	.	PUNCT
ajst-9438	93	1	the	the	DET
ajst-9438	93	2	results	result	NOUN
ajst-9438	93	3	indicate	indicate	VERB
ajst-9438	93	4	that	that	SCONJ
ajst-9438	93	5	the	the	DET
ajst-9438	93	6	proposed	propose	VERB
ajst-9438	93	7	mechanical	mechanical	ADJ
ajst-9438	93	8	structure	structure	NOUN
ajst-9438	93	9	can	can	AUX
ajst-9438	93	10	be	be	AUX
ajst-9438	93	11	extended	extend	VERB
ajst-9438	93	12	to	to	PART
ajst-9438	93	13	multi	multi	VERB
ajst-9438	93	14	degree	degree	NOUN
ajst-9438	93	15	of	of	ADP
ajst-9438	93	16	freedom	freedom	NOUN
ajst-9438	93	17	robotic	robotic	ADJ
ajst-9438	93	18	arms	arm	NOUN
ajst-9438	93	19	.	.	PUNCT
ajst-9438	94	1	research	research	NOUN
ajst-9438	94	2	has	have	AUX
ajst-9438	94	3	shown	show	VERB
ajst-9438	94	4	that	that	SCONJ
ajst-9438	94	5	the	the	DET
ajst-9438	94	6	proposed	propose	VERB
ajst-9438	94	7	lyapunov	lyapunov	NOUN
ajst-9438	94	8	based	base	VERB
ajst-9438	94	9	controller	controller	NOUN
ajst-9438	94	10	can	can	AUX
ajst-9438	94	11	suppress	suppress	VERB
ajst-9438	94	12	interference	interference	NOUN
ajst-9438	94	13	in	in	ADP
ajst-9438	94	14	a	a	DET
ajst-9438	94	15	short	short	ADJ
ajst-9438	94	16	period	period	NOUN
ajst-9438	94	17	of	of	ADP
ajst-9438	94	18	time	time	NOUN
ajst-9438	94	19	while	while	SCONJ
ajst-9438	94	20	tracking	track	VERB
ajst-9438	94	21	a	a	DET
ajst-9438	94	22	predetermined	predetermine	VERB
ajst-9438	94	23	trajectory	trajectory	NOUN
ajst-9438	94	24	.	.	PUNCT
ajst-9438	95	1	this	this	DET
ajst-9438	95	2	article	article	NOUN
ajst-9438	95	3	considers	consider	VERB
ajst-9438	95	4	the	the	DET
ajst-9438	95	5	effects	effect	NOUN
ajst-9438	95	6	of	of	ADP
ajst-9438	95	7	friction	friction	NOUN
ajst-9438	95	8	and	and	CCONJ
ajst-9438	95	9	saturation	saturation	NOUN
ajst-9438	95	10	,	,	PUNCT
ajst-9438	95	11	assuming	assume	VERB
ajst-9438	95	12	that	that	SCONJ
ajst-9438	95	13	the	the	DET
ajst-9438	95	14	connecting	connect	VERB
ajst-9438	95	15	rod	rod	NOUN
ajst-9438	95	16	is	be	AUX
ajst-9438	95	17	rigid	rigid	ADJ
ajst-9438	95	18	and	and	CCONJ
ajst-9438	95	19	considering	consider	VERB
ajst-9438	95	20	the	the	DET
ajst-9438	95	21	influence	influence	NOUN
ajst-9438	95	22	of	of	ADP
ajst-9438	95	23	flexibility	flexibility	NOUN
ajst-9438	95	24	,	,	PUNCT
ajst-9438	95	25	and	and	CCONJ
ajst-9438	95	26	studies	study	NOUN
ajst-9438	95	27	the	the	DET
ajst-9438	95	28	accuracy	accuracy	NOUN
ajst-9438	95	29	and	and	CCONJ
ajst-9438	95	30	accuracy	accuracy	NOUN
ajst-9438	95	31	of	of	ADP
ajst-9438	95	32	lyapunov	lyapunov	NOUN
ajst-9438	95	33	based	base	VERB
ajst-9438	95	34	controllers	controller	NOUN
ajst-9438	95	35	.	.	PUNCT
ajst-9438	96	1	we	we	PRON
ajst-9438	96	2	describe	describe	VERB
ajst-9438	96	3	the	the	DET
ajst-9438	96	4	working	work	VERB
ajst-9438	96	5	process	process	NOUN
ajst-9438	96	6	of	of	ADP
ajst-9438	96	7	a	a	DET
ajst-9438	96	8	robotic	robotic	ADJ
ajst-9438	96	9	arm	arm	NOUN
ajst-9438	96	10	as	as	ADP
ajst-9438	96	11	the	the	DET
ajst-9438	96	12	problem	problem	NOUN
ajst-9438	96	13	of	of	ADP
ajst-9438	96	14	tracking	track	VERB
ajst-9438	96	15	the	the	DET
ajst-9438	96	16	robot	robot	NOUN
ajst-9438	96	17	with	with	ADP
ajst-9438	96	18	the	the	DET
ajst-9438	96	19	end	end	NOUN
ajst-9438	96	20	effector	effector	NOUN
ajst-9438	96	21	of	of	ADP
ajst-9438	96	22	the	the	DET
ajst-9438	96	23	robotic	robotic	ADJ
ajst-9438	96	24	arm	arm	NOUN
ajst-9438	96	25	.	.	PUNCT
ajst-9438	97	1	many	many	ADJ
ajst-9438	97	2	methods	method	NOUN
ajst-9438	97	3	have	have	AUX
ajst-9438	97	4	been	be	AUX
ajst-9438	97	5	proposed	propose	VERB
ajst-9438	97	6	to	to	PART
ajst-9438	97	7	address	address	VERB
ajst-9438	97	8	the	the	DET
ajst-9438	97	9	purpose	purpose	NOUN
ajst-9438	97	10	of	of	ADP
ajst-9438	97	11	trajectory	trajectory	NOUN
ajst-9438	97	12	tracking	tracking	NOUN
ajst-9438	97	13	control	control	NOUN
ajst-9438	97	14	.	.	PUNCT
ajst-9438	98	1	based	base	VERB
ajst-9438	98	2	on	on	ADP
ajst-9438	98	3	the	the	DET
ajst-9438	98	4	computational	computational	ADJ
ajst-9438	98	5	torque	torque	NOUN
ajst-9438	98	6	theory	theory	NOUN
ajst-9438	98	7	and	and	CCONJ
ajst-9438	98	8	rbf	rbf	PROPN
ajst-9438	98	9	neural	neural	ADJ
ajst-9438	98	10	network	network	NOUN
ajst-9438	98	11	,	,	PUNCT
ajst-9438	98	12	the	the	DET
ajst-9438	98	13	tracking	tracking	NOUN
ajst-9438	98	14	control	control	NOUN
ajst-9438	98	15	method	method	NOUN
ajst-9438	98	16	of	of	ADP
ajst-9438	98	17	the	the	DET
ajst-9438	98	18	joint	joint	ADJ
ajst-9438	98	19	robot	robot	NOUN
ajst-9438	98	20	is	be	AUX
ajst-9438	98	21	designed	design	VERB
ajst-9438	98	22	.	.	PUNCT
ajst-9438	99	1	it	it	PRON
ajst-9438	99	2	is	be	AUX
ajst-9438	99	3	an	an	DET
ajst-9438	99	4	adaptive	adaptive	ADJ
ajst-9438	99	5	robust	robust	ADJ
ajst-9438	99	6	control	control	NOUN
ajst-9438	99	7	method	method	NOUN
ajst-9438	99	8	and	and	CCONJ
ajst-9438	99	9	iterative	iterative	NOUN
ajst-9438	99	10	learning	learning	NOUN
ajst-9438	99	11	control	control	NOUN
ajst-9438	99	12	method	method	NOUN
ajst-9438	99	13	,	,	PUNCT
ajst-9438	99	14	which	which	PRON
ajst-9438	99	15	have	have	AUX
ajst-9438	99	16	been	be	AUX
ajst-9438	99	17	recognized	recognize	VERB
ajst-9438	99	18	and	and	CCONJ
ajst-9438	99	19	studied	study	VERB
ajst-9438	99	20	by	by	ADP
ajst-9438	99	21	experts	expert	NOUN
ajst-9438	99	22	at	at	ADP
ajst-9438	99	23	home	home	ADV
ajst-9438	99	24	and	and	CCONJ
ajst-9438	99	25	abroad	abroad	ADV
ajst-9438	99	26	in	in	ADP
ajst-9438	99	27	tracking	track	VERB
ajst-9438	99	28	the	the	DET
ajst-9438	99	29	path	path	NOUN
ajst-9438	99	30	of	of	ADP
ajst-9438	99	31	the	the	DET
ajst-9438	99	32	control	control	NOUN
ajst-9438	99	33	system	system	NOUN
ajst-9438	99	34	.	.	PUNCT
ajst-9438	100	1	25	25	NUM
ajst-9438	100	2	because	because	SCONJ
ajst-9438	100	3	this	this	DET
ajst-9438	100	4	control	control	NOUN
ajst-9438	100	5	algorithm	algorithm	NOUN
ajst-9438	100	6	can	can	AUX
ajst-9438	100	7	play	play	VERB
ajst-9438	100	8	a	a	DET
ajst-9438	100	9	role	role	NOUN
ajst-9438	100	10	of	of	ADP
ajst-9438	100	11	boundary	boundary	NOUN
ajst-9438	100	12	in	in	ADP
ajst-9438	100	13	the	the	DET
ajst-9438	100	14	control	control	NOUN
ajst-9438	100	15	system	system	NOUN
ajst-9438	100	16	,	,	PUNCT
ajst-9438	100	17	the	the	DET
ajst-9438	100	18	uncertainty	uncertainty	NOUN
ajst-9438	100	19	is	be	AUX
ajst-9438	100	20	corrected	correct	VERB
ajst-9438	100	21	and	and	CCONJ
ajst-9438	100	22	compensated	compensate	VERB
ajst-9438	100	23	,	,	PUNCT
ajst-9438	100	24	so	so	CCONJ
ajst-9438	100	25	it	it	PRON
ajst-9438	100	26	is	be	AUX
ajst-9438	100	27	usually	usually	ADV
ajst-9438	100	28	possible	possible	ADJ
ajst-9438	100	29	to	to	PART
ajst-9438	100	30	achieve	achieve	VERB
ajst-9438	100	31	common	common	ADJ
ajst-9438	100	32	high	high	ADJ
ajst-9438	100	33	-	-	PUNCT
ajst-9438	100	34	precision	precision	NOUN
ajst-9438	100	35	trajectory	trajectory	NOUN
ajst-9438	100	36	tracking	tracking	NOUN
ajst-9438	100	37	.	.	PUNCT
ajst-9438	101	1	references	reference	NOUN
ajst-9438	101	2	[	[	X
ajst-9438	101	3	1	1	NUM
ajst-9438	101	4	]	]	PUNCT
ajst-9438	101	5	mingyue	mingyue	ADJ
ajst-9438	101	6	cui	cui	PROPN
ajst-9438	101	7	,	,	PUNCT
ajst-9438	101	8	zhaojing	zhaojing	PROPN
ajst-9438	101	9	wu	wu	PROPN
ajst-9438	101	10	.	.	PUNCT
ajst-9438	102	1	trajectory	trajectory	NOUN
ajst-9438	102	2	tracking	tracking	NOUN
ajst-9438	102	3	of	of	ADP
ajst-9438	102	4	flexible	flexible	ADJ
ajst-9438	102	5	joint	joint	ADJ
ajst-9438	102	6	manipulators	manipulator	NOUN
ajst-9438	102	7	acted	act	VERB
ajst-9438	102	8	by	by	ADP
ajst-9438	102	9	dc	dc	PROPN
ajst-9438	102	10	motors	motor	NOUN
ajst-9438	102	11	under	under	ADP
ajst-9438	102	12	random	random	ADJ
ajst-9438	102	13	disturbances	disturbance	NOUN
ajst-9438	102	14	[	[	X
ajst-9438	102	15	j	j	X
ajst-9438	102	16	]	]	X
ajst-9438	102	17	.	.	PUNCT
ajst-9438	103	1	journal	journal	PROPN
ajst-9438	103	2	of	of	ADP
ajst-9438	103	3	the	the	DET
ajst-9438	103	4	franklin	franklin	PROPN
ajst-9438	103	5	institute	institute	PROPN
ajst-9438	103	6	,	,	PUNCT
ajst-9438	103	7	2019	2019	NUM
ajst-9438	103	8	.	.	PUNCT
ajst-9438	104	1	[	[	X
ajst-9438	104	2	2	2	NUM
ajst-9438	104	3	]	]	PUNCT
ajst-9438	104	4	decao	decao	PROPN
ajst-9438	104	5	chen	chen	PROPN
ajst-9438	104	6	,	,	PUNCT
ajst-9438	104	7	shuai	shuai	PROPN
ajst-9438	104	8	li	li	PROPN
ajst-9438	104	9	.	.	PUNCT
ajst-9438	105	1	a	a	DET
ajst-9438	105	2	recurrent	recurrent	ADJ
ajst-9438	105	3	neural	neural	ADJ
ajst-9438	105	4	network	network	NOUN
ajst-9438	105	5	applied	apply	VERB
ajst-9438	105	6	to	to	ADP
ajst-9438	105	7	optimal	optimal	ADJ
ajst-9438	105	8	motion	motion	NOUN
ajst-9438	105	9	control	control	NOUN
ajst-9438	105	10	of	of	ADP
ajst-9438	105	11	mobile	mobile	ADJ
ajst-9438	105	12	robots	robot	NOUN
ajst-9438	105	13	with	with	ADP
ajst-9438	105	14	physical	physical	ADJ
ajst-9438	105	15	constraints	constraint	NOUN
ajst-9438	105	16	[	[	X
ajst-9438	105	17	j	j	X
ajst-9438	105	18	]	]	X
ajst-9438	105	19	.	.	PUNCT
ajst-9438	106	1	applied	apply	VERB
ajst-9438	106	2	soft	soft	ADJ
ajst-9438	106	3	computing	computing	NOUN
ajst-9438	106	4	journal	journal	NOUN
ajst-9438	106	5	,	,	PUNCT
ajst-9438	106	6	2019	2019	NUM
ajst-9438	106	7	.	.	PUNCT
ajst-9438	107	1	[	[	X
ajst-9438	107	2	3	3	X
ajst-9438	107	3	]	]	X
ajst-9438	107	4	hamed	hamed	PROPN
ajst-9438	107	5	jabbari	jabbari	PROPN
ajst-9438	107	6	asl	asl	PROPN
ajst-9438	107	7	,	,	PUNCT
ajst-9438	107	8	jungwon	jungwon	PROPN
ajst-9438	107	9	yoon	yoon	PROPN
ajst-9438	107	10	.	.	PUNCT
ajst-9438	108	1	robust	robust	ADJ
ajst-9438	108	2	trajectory	trajectory	NOUN
ajst-9438	108	3	tracking	tracking	NOUN
ajst-9438	108	4	control	control	NOUN
ajst-9438	108	5	of	of	ADP
ajst-9438	108	6	cable	cable	NOUN
ajst-9438	108	7	driven	drive	VERB
ajst-9438	108	8	parallel	parallel	ADJ
ajst-9438	108	9	robots	robot	NOUN
ajst-9438	109	1	[	[	X
ajst-9438	109	2	j	j	X
ajst-9438	109	3	]	]	X
ajst-9438	109	4	.	.	PUNCT
ajst-9438	110	1	online	online	ADJ
ajst-9438	110	2	dynamics	dynamic	NOUN
ajst-9438	110	3	,	,	PUNCT
ajst-9438	110	4	2017	2017	NUM
ajst-9438	110	5	.	.	PUNCT
ajst-9438	111	1	[	[	X
ajst-9438	111	2	4	4	X
ajst-9438	111	3	]	]	X
ajst-9438	111	4	van	van	PROPN
ajst-9438	111	5	cuong	cuong	PROPN
ajst-9438	111	6	p	p	PROPN
ajst-9438	111	7	,	,	PUNCT
ajst-9438	111	8	nan	nan	PROPN
ajst-9438	111	9	w	w	PROPN
ajst-9438	111	10	y.	y.	PROPN
ajst-9438	111	11	adaptive	adaptive	PROPN
ajst-9438	111	12	trajectory	trajectory	NOUN
ajst-9438	111	13	tracking	track	VERB
ajst-9438	111	14	neural	neural	ADJ
ajst-9438	111	15	network	network	NOUN
ajst-9438	111	16	control	control	NOUN
ajst-9438	111	17	with	with	ADP
ajst-9438	111	18	robust	robust	ADJ
ajst-9438	111	19	compensator	compensator	NOUN
ajst-9438	111	20	for	for	ADP
ajst-9438	111	21	robot	robot	NOUN
ajst-9438	111	22	manipulators	manipulator	NOUN
ajst-9438	111	23	[	[	X
ajst-9438	111	24	j	j	X
ajst-9438	111	25	]	]	X
ajst-9438	111	26	neural	neural	ADJ
ajst-9438	111	27	computing	computing	NOUN
ajst-9438	111	28	and	and	CCONJ
ajst-9438	111	29	applications	application	NOUN
ajst-9438	111	30	,	,	PUNCT
ajst-9438	111	31	2016	2016	NUM
ajst-9438	111	32	.	.	PUNCT
ajst-9438	112	1	[	[	X
ajst-9438	112	2	5	5	NUM
ajst-9438	112	3	]	]	X
ajst-9438	112	4	zhang	zhang	PROPN
ajst-9438	112	5	w	w	PROPN
ajst-9438	112	6	,	,	PUNCT
ajst-9438	112	7	qi	qi	PROPN
ajst-9438	112	8	n	n	AUX
ajst-9438	112	9	,	,	PUNCT
ajst-9438	112	10	yin	yin	PROPN
ajst-9438	112	11	h.	h.	PROPN
ajst-9438	112	12	pd	pd	PROPN
ajst-9438	112	13	control	control	PROPN
ajst-9438	112	14	of	of	ADP
ajst-9438	112	15	robot	robot	NOUN
ajst-9438	112	16	manipulators	manipulator	NOUN
ajst-9438	112	17	with	with	ADP
ajst-9438	112	18	uncertainties	uncertainty	NOUN
ajst-9438	112	19	based	base	VERB
ajst-9438	112	20	on	on	ADP
ajst-9438	112	21	neural	neural	ADJ
ajst-9438	112	22	network	network	NOUN
ajst-9438	112	23	[	[	X
ajst-9438	112	24	c	c	X
ajst-9438	112	25	]	]	X
ajst-9438	112	26	international	international	ADJ
ajst-9438	112	27	conference	conference	NOUN
ajst-9438	112	28	on	on	ADP
ajst-9438	112	29	intelligent	intelligent	ADJ
ajst-9438	112	30	computing	computing	NOUN
ajst-9438	112	31	technology	technology	NOUN
ajst-9438	112	32	&	&	CCONJ
ajst-9438	112	33	automation	automation	PROPN
ajst-9438	112	34	ieee	ieee	PROPN
ajst-9438	112	35	,	,	PUNCT
ajst-9438	112	36	2010	2010	NUM
ajst-9438	112	37	.	.	PUNCT
ajst-9438	113	1	[	[	X
ajst-9438	113	2	6	6	NUM
ajst-9438	113	3	]	]	X
ajst-9438	113	4	ge	ge	PROPN
ajst-9438	113	5	s	s	PROPN
ajst-9438	113	6	s	s	PROPN
ajst-9438	113	7	,	,	PUNCT
ajst-9438	113	8	hang	hang	VERB
ajst-9438	113	9	c	c	PROPN
ajst-9438	113	10	c	c	X
ajst-9438	113	11	,	,	PUNCT
ajst-9438	113	12	woon	woon	PROPN
ajst-9438	113	13	l	l	PROPN
ajst-9438	113	14	c.	c.	PROPN
ajst-9438	113	15	adaptive	adaptive	ADJ
ajst-9438	113	16	neural	neural	ADJ
ajst-9438	113	17	network	network	NOUN
ajst-9438	113	18	control	control	NOUN
ajst-9438	113	19	of	of	ADP
ajst-9438	113	20	robotic	robotic	ADJ
ajst-9438	113	21	manipulators	manipulator	NOUN
ajst-9438	113	22	[	[	X
ajst-9438	113	23	j	j	X
ajst-9438	113	24	]	]	X
ajst-9438	113	25	world	world	PROPN
ajst-9438	113	26	scientific	scientific	PROPN
ajst-9438	113	27	,	,	PUNCT
ajst-9438	113	28	london	london	PROPN
ajst-9438	113	29	,	,	PUNCT
ajst-9438	113	30	1998	1998	NUM
ajst-9438	113	31	.	.	PUNCT