id	sid	tid	token	lemma	pos
ap-6863	1	1	acta	acta	PROPN
ap-6863	1	2	polytechnica	polytechnica	PROPN
ap-6863	1	3	https://doi.org/10.14311/ap.2022.62.0303	https://doi.org/10.14311/ap.2022.62.0303	PROPN
ap-6863	1	4	acta	acta	PROPN
ap-6863	1	5	polytechnica	polytechnica	PROPN
ap-6863	1	6	62(2):303–312	62(2):303–312	PROPN
ap-6863	1	7	,	,	PUNCT
ap-6863	1	8	2022	2022	NUM
ap-6863	1	9	©	©	ADP
ap-6863	1	10	2022	2022	NUM
ap-6863	1	11	the	the	DET
ap-6863	1	12	author(s	author(s	NOUN
ap-6863	1	13	)	)	PUNCT
ap-6863	1	14	.	.	PUNCT
ap-6863	2	1	licensed	license	VERB
ap-6863	2	2	under	under	ADP
ap-6863	2	3	a	a	DET
ap-6863	2	4	cc	cc	NOUN
ap-6863	2	5	-	-	PUNCT
ap-6863	2	6	by	by	ADP
ap-6863	2	7	4.0	4.0	NUM
ap-6863	2	8	licence	licence	NOUN
ap-6863	2	9	published	publish	VERB
ap-6863	2	10	by	by	ADP
ap-6863	2	11	the	the	DET
ap-6863	2	12	czech	czech	PROPN
ap-6863	2	13	technical	technical	PROPN
ap-6863	2	14	university	university	PROPN
ap-6863	2	15	in	in	ADP
ap-6863	2	16	prague	prague	PROPN
ap-6863	2	17	results	result	NOUN
ap-6863	2	18	of	of	ADP
ap-6863	2	19	research	research	NOUN
ap-6863	2	20	on	on	ADP
ap-6863	2	21	backlash	backlash	NOUN
ap-6863	2	22	compensation	compensation	NOUN
ap-6863	2	23	in	in	ADP
ap-6863	2	24	a	a	DET
ap-6863	2	25	power	power	NOUN
ap-6863	2	26	electric	electric	ADJ
ap-6863	2	27	drive	drive	NOUN
ap-6863	2	28	by	by	ADP
ap-6863	2	29	low	low	ADJ
ap-6863	2	30	-	-	PUNCT
ap-6863	2	31	power	power	NOUN
ap-6863	2	32	electronic	electronic	ADJ
ap-6863	2	33	device	device	NOUN
ap-6863	2	34	semen	semen	NOUN
ap-6863	2	35	l.	l.	PROPN
ap-6863	2	36	samsonovich	samsonovich	PROPN
ap-6863	2	37	,	,	PUNCT
ap-6863	2	38	boris	boris	PROPN
ap-6863	2	39	k.	k.	PROPN
ap-6863	2	40	fedotov	fedotov	PROPN
ap-6863	2	41	,	,	PUNCT
ap-6863	2	42	nikolay	nikolay	PROPN
ap-6863	2	43	b.	b.	PROPN
ap-6863	2	44	rozhnin	rozhnin	PROPN
ap-6863	2	45	,	,	PUNCT
ap-6863	2	46	roman	roman	NOUN
ap-6863	2	47	v.	v.	ADP
ap-6863	2	48	goryunov∗	goryunov∗	ADJ
ap-6863	2	49	national	national	PROPN
ap-6863	2	50	research	research	PROPN
ap-6863	2	51	university	university	PROPN
ap-6863	2	52	,	,	PUNCT
ap-6863	2	53	moscow	moscow	PROPN
ap-6863	2	54	aviation	aviation	PROPN
ap-6863	2	55	institute	institute	PROPN
ap-6863	2	56	,	,	PUNCT
ap-6863	2	57	department	department	NOUN
ap-6863	2	58	702	702	NUM
ap-6863	2	59	,	,	PUNCT
ap-6863	2	60	a-80	a-80	NOUN
ap-6863	2	61	,	,	PUNCT
ap-6863	2	62	volokolamskoye	volokolamskoye	VERB
ap-6863	2	63	av	av	PROPN
ap-6863	2	64	.	.	PROPN
ap-6863	2	65	4	4	NUM
ap-6863	2	66	,	,	PUNCT
ap-6863	2	67	125993	125993	NUM
ap-6863	2	68	moscow	moscow	PROPN
ap-6863	2	69	,	,	PUNCT
ap-6863	2	70	russia	russia	PROPN
ap-6863	2	71	∗	∗	VERB
ap-6863	2	72	corresponding	correspond	VERB
ap-6863	2	73	author	author	NOUN
ap-6863	2	74	:	:	PUNCT
ap-6863	2	75	radiofizika01@mail.ru	radiofizika01@mail.ru	ADJ
ap-6863	2	76	abstract	abstract	NOUN
ap-6863	2	77	.	.	PUNCT
ap-6863	3	1	this	this	DET
ap-6863	3	2	article	article	NOUN
ap-6863	3	3	considers	consider	VERB
ap-6863	3	4	the	the	DET
ap-6863	3	5	feasibility	feasibility	NOUN
ap-6863	3	6	of	of	ADP
ap-6863	3	7	restoring	restore	VERB
ap-6863	3	8	and	and	CCONJ
ap-6863	3	9	maintaining	maintain	VERB
ap-6863	3	10	the	the	DET
ap-6863	3	11	kinematic	kinematic	ADJ
ap-6863	3	12	accuracy	accuracy	NOUN
ap-6863	3	13	of	of	ADP
ap-6863	3	14	the	the	DET
ap-6863	3	15	support	support	NOUN
ap-6863	3	16	-	-	PUNCT
ap-6863	3	17	rotary	rotary	NOUN
ap-6863	3	18	device	device	NOUN
ap-6863	3	19	drives	drive	NOUN
ap-6863	3	20	by	by	ADP
ap-6863	3	21	introducing	introduce	VERB
ap-6863	3	22	a	a	DET
ap-6863	3	23	backlash	backlash	NOUN
ap-6863	3	24	compensation	compensation	NOUN
ap-6863	3	25	device	device	NOUN
ap-6863	3	26	into	into	ADP
ap-6863	3	27	the	the	DET
ap-6863	3	28	control	control	NOUN
ap-6863	3	29	system	system	NOUN
ap-6863	3	30	.	.	PUNCT
ap-6863	4	1	the	the	DET
ap-6863	4	2	power	power	NOUN
ap-6863	4	3	electromechanical	electromechanical	ADJ
ap-6863	4	4	drives	drive	NOUN
ap-6863	4	5	of	of	ADP
ap-6863	4	6	support	support	NOUN
ap-6863	4	7	-	-	PUNCT
ap-6863	4	8	rotary	rotary	NOUN
ap-6863	4	9	device	device	NOUN
ap-6863	4	10	considered	consider	VERB
ap-6863	4	11	in	in	ADP
ap-6863	4	12	this	this	DET
ap-6863	4	13	article	article	NOUN
ap-6863	4	14	contain	contain	VERB
ap-6863	4	15	two	two	NUM
ap-6863	4	16	motors	motor	NOUN
ap-6863	4	17	,	,	PUNCT
ap-6863	4	18	the	the	DET
ap-6863	4	19	summation	summation	NOUN
ap-6863	4	20	of	of	ADP
ap-6863	4	21	the	the	DET
ap-6863	4	22	torques	torque	NOUN
ap-6863	4	23	of	of	ADP
ap-6863	4	24	which	which	PRON
ap-6863	4	25	is	be	AUX
ap-6863	4	26	carried	carry	VERB
ap-6863	4	27	out	out	ADP
ap-6863	4	28	on	on	ADP
ap-6863	4	29	a	a	DET
ap-6863	4	30	common	common	ADJ
ap-6863	4	31	output	output	NOUN
ap-6863	4	32	shaft	shaft	NOUN
ap-6863	4	33	.	.	PUNCT
ap-6863	5	1	it	it	PRON
ap-6863	5	2	is	be	AUX
ap-6863	5	3	shown	show	VERB
ap-6863	5	4	that	that	SCONJ
ap-6863	5	5	the	the	DET
ap-6863	5	6	restoration	restoration	NOUN
ap-6863	5	7	of	of	ADP
ap-6863	5	8	the	the	DET
ap-6863	5	9	required	require	VERB
ap-6863	5	10	kinematic	kinematic	ADJ
ap-6863	5	11	accuracy	accuracy	NOUN
ap-6863	5	12	of	of	ADP
ap-6863	5	13	the	the	DET
ap-6863	5	14	drives	drive	NOUN
ap-6863	5	15	can	can	AUX
ap-6863	5	16	be	be	AUX
ap-6863	5	17	achieved	achieve	VERB
ap-6863	5	18	by	by	ADP
ap-6863	5	19	introducing	introduce	VERB
ap-6863	5	20	one	one	NUM
ap-6863	5	21	of	of	ADP
ap-6863	5	22	two	two	NUM
ap-6863	5	23	variants	variant	NOUN
ap-6863	5	24	of	of	ADP
ap-6863	5	25	an	an	DET
ap-6863	5	26	electronic	electronic	ADJ
ap-6863	5	27	device	device	NOUN
ap-6863	5	28	for	for	ADP
ap-6863	5	29	backlash	backlash	NOUN
ap-6863	5	30	compensation	compensation	NOUN
ap-6863	5	31	into	into	ADP
ap-6863	5	32	the	the	DET
ap-6863	5	33	control	control	NOUN
ap-6863	5	34	system	system	NOUN
ap-6863	5	35	.	.	PUNCT
ap-6863	6	1	in	in	ADP
ap-6863	6	2	the	the	DET
ap-6863	6	3	first	first	ADJ
ap-6863	6	4	variant	variant	NOUN
ap-6863	6	5	,	,	PUNCT
ap-6863	6	6	equal	equal	ADJ
ap-6863	6	7	and	and	CCONJ
ap-6863	6	8	opposite	opposite	ADJ
ap-6863	6	9	displacement	displacement	ADJ
ap-6863	6	10	signals	signal	NOUN
ap-6863	6	11	are	be	AUX
ap-6863	6	12	introduced	introduce	VERB
ap-6863	6	13	into	into	ADP
ap-6863	6	14	the	the	DET
ap-6863	6	15	control	control	NOUN
ap-6863	6	16	signals	signal	NOUN
ap-6863	6	17	of	of	ADP
ap-6863	6	18	the	the	DET
ap-6863	6	19	motors	motor	NOUN
ap-6863	6	20	.	.	PUNCT
ap-6863	7	1	the	the	DET
ap-6863	7	2	second	second	ADJ
ap-6863	7	3	variant	variant	NOUN
ap-6863	7	4	introduces	introduce	VERB
ap-6863	7	5	an	an	DET
ap-6863	7	6	electronic	electronic	ADJ
ap-6863	7	7	cross	cross	ADJ
ap-6863	7	8	-	-	NOUN
ap-6863	7	9	connections	connection	NOUN
ap-6863	7	10	backlash	backlash	NOUN
ap-6863	7	11	compensation	compensation	NOUN
ap-6863	7	12	scheme	scheme	NOUN
ap-6863	7	13	was	be	AUX
ap-6863	7	14	into	into	ADP
ap-6863	7	15	the	the	DET
ap-6863	7	16	control	control	NOUN
ap-6863	7	17	system	system	NOUN
ap-6863	7	18	.	.	PUNCT
ap-6863	8	1	the	the	DET
ap-6863	8	2	study	study	NOUN
ap-6863	8	3	of	of	ADP
ap-6863	8	4	the	the	DET
ap-6863	8	5	operation	operation	NOUN
ap-6863	8	6	of	of	ADP
ap-6863	8	7	the	the	DET
ap-6863	8	8	support	support	NOUN
ap-6863	8	9	-	-	PUNCT
ap-6863	8	10	rotary	rotary	NOUN
ap-6863	8	11	device	device	NOUN
ap-6863	8	12	drive	drive	NOUN
ap-6863	8	13	system	system	NOUN
ap-6863	8	14	with	with	ADP
ap-6863	8	15	two	two	NUM
ap-6863	8	16	backlash	backlash	NOUN
ap-6863	8	17	compensation	compensation	NOUN
ap-6863	8	18	devices	device	NOUN
ap-6863	8	19	carried	carry	VERB
ap-6863	8	20	out	out	ADP
ap-6863	8	21	by	by	ADP
ap-6863	8	22	a	a	DET
ap-6863	8	23	simulation	simulation	NOUN
ap-6863	8	24	method	method	NOUN
ap-6863	8	25	showed	show	VERB
ap-6863	8	26	that	that	SCONJ
ap-6863	8	27	the	the	DET
ap-6863	8	28	use	use	NOUN
ap-6863	8	29	of	of	ADP
ap-6863	8	30	a	a	DET
ap-6863	8	31	cross	cross	ADJ
ap-6863	8	32	-	-	ADJ
ap-6863	8	33	connection	connection	ADJ
ap-6863	8	34	scheme	scheme	NOUN
ap-6863	8	35	is	be	AUX
ap-6863	8	36	the	the	DET
ap-6863	8	37	most	most	ADV
ap-6863	8	38	preferable	preferable	ADJ
ap-6863	8	39	and	and	CCONJ
ap-6863	8	40	effective	effective	ADJ
ap-6863	8	41	.	.	PUNCT
ap-6863	9	1	as	as	ADP
ap-6863	9	2	a	a	DET
ap-6863	9	3	result	result	NOUN
ap-6863	9	4	of	of	ADP
ap-6863	9	5	the	the	DET
ap-6863	9	6	research	research	NOUN
ap-6863	9	7	,	,	PUNCT
ap-6863	9	8	it	it	PRON
ap-6863	9	9	was	be	AUX
ap-6863	9	10	shown	show	VERB
ap-6863	9	11	that	that	SCONJ
ap-6863	9	12	the	the	DET
ap-6863	9	13	introduction	introduction	NOUN
ap-6863	9	14	of	of	ADP
ap-6863	9	15	an	an	DET
ap-6863	9	16	electronic	electronic	ADJ
ap-6863	9	17	backlash	backlash	NOUN
ap-6863	9	18	compensation	compensation	NOUN
ap-6863	9	19	device	device	NOUN
ap-6863	9	20	into	into	ADP
ap-6863	9	21	the	the	DET
ap-6863	9	22	control	control	NOUN
ap-6863	9	23	system	system	NOUN
ap-6863	9	24	makes	make	VERB
ap-6863	9	25	it	it	PRON
ap-6863	9	26	possible	possible	ADJ
ap-6863	9	27	to	to	PART
ap-6863	9	28	ensure	ensure	VERB
ap-6863	9	29	the	the	DET
ap-6863	9	30	operability	operability	NOUN
ap-6863	9	31	of	of	ADP
ap-6863	9	32	the	the	DET
ap-6863	9	33	power	power	NOUN
ap-6863	9	34	electromechanical	electromechanical	ADJ
ap-6863	9	35	drives	drive	NOUN
ap-6863	9	36	of	of	ADP
ap-6863	9	37	a	a	DET
ap-6863	9	38	support	support	NOUN
ap-6863	9	39	-	-	PUNCT
ap-6863	9	40	rotary	rotary	NOUN
ap-6863	9	41	device	device	NOUN
ap-6863	9	42	with	with	ADP
ap-6863	9	43	initial	initial	ADJ
ap-6863	9	44	kinematic	kinematic	ADJ
ap-6863	9	45	accuracy	accuracy	NOUN
ap-6863	9	46	.	.	PUNCT
ap-6863	10	1	keywords	keyword	NOUN
ap-6863	10	2	:	:	PUNCT
ap-6863	10	3	backlash	backlash	NOUN
ap-6863	10	4	,	,	PUNCT
ap-6863	10	5	backlash	backlash	NOUN
ap-6863	10	6	compensation	compensation	NOUN
ap-6863	10	7	device	device	NOUN
ap-6863	10	8	,	,	PUNCT
ap-6863	10	9	multi	multi	ADJ
ap-6863	10	10	-	-	ADJ
ap-6863	10	11	motor	motor	ADJ
ap-6863	10	12	drive	drive	NOUN
ap-6863	10	13	,	,	PUNCT
ap-6863	10	14	tandem	tandem	NOUN
ap-6863	10	15	control	control	NOUN
ap-6863	10	16	.	.	PUNCT
ap-6863	11	1	1	1	X
ap-6863	11	2	.	.	X
ap-6863	11	3	introduction	introduction	NOUN
ap-6863	11	4	the	the	DET
ap-6863	11	5	long	long	ADJ
ap-6863	11	6	-	-	PUNCT
ap-6863	11	7	time	time	NOUN
ap-6863	11	8	presence	presence	NOUN
ap-6863	11	9	of	of	ADP
ap-6863	11	10	a	a	DET
ap-6863	11	11	large	large	ADJ
ap-6863	11	12	-	-	PUNCT
ap-6863	11	13	sized	sized	ADJ
ap-6863	11	14	support	support	NOUN
ap-6863	11	15	-	-	PUNCT
ap-6863	11	16	rotary	rotary	NOUN
ap-6863	11	17	device	device	NOUN
ap-6863	11	18	(	(	PUNCT
ap-6863	11	19	srd	srd	NOUN
ap-6863	11	20	)	)	PUNCT
ap-6863	11	21	in	in	ADP
ap-6863	11	22	an	an	DET
ap-6863	11	23	open	open	ADJ
ap-6863	11	24	atmosphere	atmosphere	NOUN
ap-6863	11	25	leads	lead	VERB
ap-6863	11	26	,	,	PUNCT
ap-6863	11	27	as	as	ADP
ap-6863	11	28	a	a	DET
ap-6863	11	29	result	result	NOUN
ap-6863	11	30	of	of	ADP
ap-6863	11	31	corrosion	corrosion	NOUN
ap-6863	11	32	,	,	PUNCT
ap-6863	11	33	to	to	ADP
ap-6863	11	34	the	the	DET
ap-6863	11	35	appearance	appearance	NOUN
ap-6863	11	36	of	of	ADP
ap-6863	11	37	additional	additional	ADJ
ap-6863	11	38	gaps	gap	NOUN
ap-6863	11	39	in	in	ADP
ap-6863	11	40	the	the	DET
ap-6863	11	41	gearboxes	gearbox	NOUN
ap-6863	11	42	,	,	PUNCT
ap-6863	11	43	and	and	CCONJ
ap-6863	11	44	this	this	PRON
ap-6863	11	45	impairs	impair	VERB
ap-6863	11	46	the	the	DET
ap-6863	11	47	kinematic	kinematic	ADJ
ap-6863	11	48	accuracy	accuracy	NOUN
ap-6863	11	49	of	of	ADP
ap-6863	11	50	electromechanical	electromechanical	ADJ
ap-6863	11	51	drives	drive	NOUN
ap-6863	11	52	.	.	PUNCT
ap-6863	12	1	it	it	PRON
ap-6863	12	2	was	be	AUX
ap-6863	12	3	found	find	VERB
ap-6863	12	4	that	that	SCONJ
ap-6863	12	5	after	after	ADP
ap-6863	12	6	the	the	DET
ap-6863	12	7	30	30	NUM
ap-6863	12	8	years	year	NOUN
ap-6863	12	9	of	of	ADP
ap-6863	12	10	srd	srd	NOUN
ap-6863	12	11	being	be	AUX
ap-6863	12	12	in	in	ADP
ap-6863	12	13	the	the	DET
ap-6863	12	14	open	open	ADJ
ap-6863	12	15	air	air	NOUN
ap-6863	12	16	,	,	PUNCT
ap-6863	12	17	the	the	DET
ap-6863	12	18	gears	gear	NOUN
ap-6863	12	19	of	of	ADP
ap-6863	12	20	the	the	DET
ap-6863	12	21	drive	drive	NOUN
ap-6863	12	22	systems	system	NOUN
ap-6863	12	23	were	be	AUX
ap-6863	12	24	corrosive	corrosive	ADJ
ap-6863	12	25	,	,	PUNCT
ap-6863	12	26	as	as	ADP
ap-6863	12	27	a	a	DET
ap-6863	12	28	result	result	NOUN
ap-6863	12	29	of	of	ADP
ap-6863	12	30	which	which	PRON
ap-6863	12	31	the	the	DET
ap-6863	12	32	loss	loss	NOUN
ap-6863	12	33	of	of	ADP
ap-6863	12	34	the	the	DET
ap-6863	12	35	metal	metal	NOUN
ap-6863	12	36	layer	layer	NOUN
ap-6863	12	37	occurred	occur	VERB
ap-6863	12	38	,	,	PUNCT
ap-6863	12	39	which	which	PRON
ap-6863	12	40	in	in	ADP
ap-6863	12	41	turn	turn	NOUN
ap-6863	12	42	led	lead	VERB
ap-6863	12	43	to	to	ADP
ap-6863	12	44	the	the	DET
ap-6863	12	45	appearance	appearance	NOUN
ap-6863	12	46	of	of	ADP
ap-6863	12	47	backlash	backlash	NOUN
ap-6863	12	48	(	(	PUNCT
ap-6863	12	49	gaps	gap	NOUN
ap-6863	12	50	)	)	PUNCT
ap-6863	12	51	and	and	CCONJ
ap-6863	12	52	a	a	DET
ap-6863	12	53	decrease	decrease	NOUN
ap-6863	12	54	in	in	ADP
ap-6863	12	55	the	the	DET
ap-6863	12	56	kinematic	kinematic	ADJ
ap-6863	12	57	accuracy	accuracy	NOUN
ap-6863	12	58	of	of	ADP
ap-6863	12	59	the	the	DET
ap-6863	12	60	drive	drive	ADJ
ap-6863	12	61	system	system	NOUN
ap-6863	12	62	[	[	X
ap-6863	12	63	1	1	NUM
ap-6863	12	64	]	]	PUNCT
ap-6863	12	65	.	.	PUNCT
ap-6863	13	1	the	the	DET
ap-6863	13	2	restoration	restoration	NOUN
ap-6863	13	3	of	of	ADP
ap-6863	13	4	the	the	DET
ap-6863	13	5	kinematic	kinematic	ADJ
ap-6863	13	6	accuracy	accuracy	NOUN
ap-6863	13	7	of	of	ADP
ap-6863	13	8	the	the	DET
ap-6863	13	9	electromechanical	electromechanical	ADJ
ap-6863	13	10	drive	drive	NOUN
ap-6863	13	11	of	of	ADP
ap-6863	13	12	a	a	DET
ap-6863	13	13	large	large	ADJ
ap-6863	13	14	-	-	PUNCT
ap-6863	13	15	sized	sized	ADJ
ap-6863	13	16	srd	srd	NOUN
ap-6863	13	17	after	after	ADP
ap-6863	13	18	a	a	DET
ap-6863	13	19	long	long	ADJ
ap-6863	13	20	stay	stay	NOUN
ap-6863	13	21	in	in	ADP
ap-6863	13	22	an	an	DET
ap-6863	13	23	open	open	ADJ
ap-6863	13	24	atmosphere	atmosphere	NOUN
ap-6863	13	25	is	be	AUX
ap-6863	13	26	of	of	ADP
ap-6863	13	27	a	a	DET
ap-6863	13	28	great	great	ADJ
ap-6863	13	29	practical	practical	ADJ
ap-6863	13	30	importance	importance	NOUN
ap-6863	13	31	,	,	PUNCT
ap-6863	13	32	and	and	CCONJ
ap-6863	13	33	the	the	DET
ap-6863	13	34	way	way	NOUN
ap-6863	13	35	to	to	PART
ap-6863	13	36	restore	restore	VERB
ap-6863	13	37	it	it	PRON
ap-6863	13	38	is	be	AUX
ap-6863	13	39	an	an	DET
ap-6863	13	40	actual	actual	ADJ
ap-6863	13	41	scientific	scientific	ADJ
ap-6863	13	42	task	task	NOUN
ap-6863	13	43	.	.	PUNCT
ap-6863	14	1	there	there	PRON
ap-6863	14	2	are	be	VERB
ap-6863	14	3	known	know	VERB
ap-6863	14	4	ways	way	NOUN
ap-6863	14	5	to	to	PART
ap-6863	14	6	compensate	compensate	VERB
ap-6863	14	7	for	for	ADP
ap-6863	14	8	backlash	backlash	NOUN
ap-6863	14	9	in	in	ADP
ap-6863	14	10	mechanical	mechanical	ADJ
ap-6863	14	11	transmissions	transmission	NOUN
ap-6863	14	12	of	of	ADP
ap-6863	14	13	electromechanical	electromechanical	ADJ
ap-6863	14	14	drives	drive	NOUN
ap-6863	14	15	,	,	PUNCT
ap-6863	14	16	described	describe	VERB
ap-6863	14	17	in	in	ADP
ap-6863	14	18	[	[	X
ap-6863	14	19	2–10	2–10	NOUN
ap-6863	14	20	]	]	X
ap-6863	14	21	,	,	PUNCT
ap-6863	14	22	based	base	VERB
ap-6863	14	23	on	on	ADP
ap-6863	14	24	the	the	DET
ap-6863	14	25	following	follow	VERB
ap-6863	14	26	principles	principle	NOUN
ap-6863	14	27	:	:	PUNCT
ap-6863	14	28	a	a	X
ap-6863	14	29	)	)	PUNCT
ap-6863	14	30	using	use	VERB
ap-6863	14	31	mechanical	mechanical	ADJ
ap-6863	14	32	spring	spring	NOUN
ap-6863	14	33	devices	device	NOUN
ap-6863	14	34	to	to	PART
ap-6863	14	35	compensate	compensate	VERB
ap-6863	14	36	for	for	ADP
ap-6863	14	37	backlash	backlash	NOUN
ap-6863	14	38	[	[	X
ap-6863	14	39	2	2	NUM
ap-6863	14	40	]	]	PUNCT
ap-6863	14	41	;	;	PUNCT
ap-6863	14	42	b	b	X
ap-6863	14	43	)	)	PUNCT
ap-6863	14	44	frequency	frequency	NOUN
ap-6863	14	45	correction	correction	NOUN
ap-6863	14	46	and	and	CCONJ
ap-6863	14	47	system	system	NOUN
ap-6863	14	48	bandwidth	bandwidth	ADJ
ap-6863	14	49	degradation	degradation	NOUN
ap-6863	14	50	[	[	X
ap-6863	14	51	4	4	NUM
ap-6863	14	52	,	,	PUNCT
ap-6863	14	53	5	5	NUM
ap-6863	14	54	]	]	PUNCT
ap-6863	14	55	;	;	PUNCT
ap-6863	14	56	c	c	X
ap-6863	14	57	)	)	PUNCT
ap-6863	14	58	the	the	DET
ap-6863	14	59	use	use	NOUN
ap-6863	14	60	of	of	ADP
ap-6863	14	61	a	a	DET
ap-6863	14	62	backlash	backlash	NOUN
ap-6863	14	63	and	and	CCONJ
ap-6863	14	64	elastic	elastic	ADJ
ap-6863	14	65	deformation	deformation	NOUN
ap-6863	14	66	sensor	sensor	NOUN
ap-6863	14	67	[	[	X
ap-6863	14	68	5	5	NUM
ap-6863	14	69	,	,	PUNCT
ap-6863	14	70	6	6	NUM
ap-6863	14	71	]	]	PUNCT
ap-6863	14	72	;	;	PUNCT
ap-6863	14	73	d	d	X
ap-6863	14	74	)	)	PUNCT
ap-6863	14	75	converting	convert	VERB
ap-6863	14	76	signals	signal	NOUN
ap-6863	14	77	from	from	ADP
ap-6863	14	78	speed	speed	NOUN
ap-6863	14	79	and	and	CCONJ
ap-6863	14	80	torque	torque	NOUN
ap-6863	14	81	sensors	sensor	NOUN
ap-6863	14	82	to	to	PART
ap-6863	14	83	determine	determine	VERB
ap-6863	14	84	the	the	DET
ap-6863	14	85	amount	amount	NOUN
ap-6863	14	86	of	of	ADP
ap-6863	14	87	backlash	backlash	NOUN
ap-6863	14	88	and	and	CCONJ
ap-6863	14	89	elastic	elastic	ADJ
ap-6863	14	90	deformations	deformation	NOUN
ap-6863	14	91	[	[	X
ap-6863	14	92	4	4	NUM
ap-6863	14	93	,	,	PUNCT
ap-6863	14	94	7	7	NUM
ap-6863	14	95	]	]	PUNCT
ap-6863	14	96	;	;	PUNCT
ap-6863	14	97	e	e	X
ap-6863	14	98	)	)	PUNCT
ap-6863	14	99	introducing	introduce	VERB
ap-6863	14	100	a	a	DET
ap-6863	14	101	nonlinear	nonlinear	ADJ
ap-6863	14	102	corrective	corrective	ADJ
ap-6863	14	103	element	element	NOUN
ap-6863	14	104	“	"	PUNCT
ap-6863	14	105	dead	dead	ADJ
ap-6863	14	106	zone	zone	NOUN
ap-6863	14	107	”	"	PUNCT
ap-6863	14	108	into	into	ADP
ap-6863	14	109	the	the	DET
ap-6863	14	110	error	error	NOUN
ap-6863	14	111	signal	signal	NOUN
ap-6863	14	112	circuit	circuit	NOUN
ap-6863	14	113	[	[	X
ap-6863	14	114	6	6	NUM
ap-6863	14	115	]	]	PUNCT
ap-6863	14	116	.	.	PUNCT
ap-6863	15	1	since	since	SCONJ
ap-6863	15	2	the	the	DET
ap-6863	15	3	drive	drive	ADJ
ap-6863	15	4	systems	system	NOUN
ap-6863	15	5	of	of	ADP
ap-6863	15	6	srd	srd	NOUN
ap-6863	15	7	consist	consist	NOUN
ap-6863	15	8	of	of	ADP
ap-6863	15	9	two	two	NUM
ap-6863	15	10	drives	drive	NOUN
ap-6863	15	11	operating	operate	VERB
ap-6863	15	12	with	with	ADP
ap-6863	15	13	the	the	DET
ap-6863	15	14	same	same	ADJ
ap-6863	15	15	load	load	NOUN
ap-6863	15	16	(	(	PUNCT
ap-6863	15	17	figure	figure	NOUN
ap-6863	15	18	1	1	NUM
ap-6863	15	19	)	)	PUNCT
ap-6863	15	20	,	,	PUNCT
ap-6863	15	21	it	it	PRON
ap-6863	15	22	is	be	AUX
ap-6863	15	23	possible	possible	ADJ
ap-6863	15	24	to	to	PART
ap-6863	15	25	restore	restore	VERB
ap-6863	15	26	the	the	DET
ap-6863	15	27	kinematic	kinematic	ADJ
ap-6863	15	28	accuracy	accuracy	NOUN
ap-6863	15	29	by	by	ADP
ap-6863	15	30	using	use	VERB
ap-6863	15	31	special	special	ADJ
ap-6863	15	32	drive	drive	ADJ
ap-6863	15	33	channels	channel	NOUN
ap-6863	15	34	control	control	VERB
ap-6863	15	35	circuits	circuit	NOUN
ap-6863	15	36	to	to	PART
ap-6863	15	37	compensate	compensate	VERB
ap-6863	15	38	the	the	DET
ap-6863	15	39	backlash	backlash	NOUN
ap-6863	15	40	and	and	CCONJ
ap-6863	15	41	improve	improve	VERB
ap-6863	15	42	the	the	DET
ap-6863	15	43	operation	operation	NOUN
ap-6863	15	44	in	in	ADP
ap-6863	15	45	dynamic	dynamic	ADJ
ap-6863	15	46	tracking	tracking	NOUN
ap-6863	15	47	modes	mode	NOUN
ap-6863	15	48	.	.	PUNCT
ap-6863	16	1	the	the	DET
ap-6863	16	2	greatest	great	ADJ
ap-6863	16	3	development	development	NOUN
ap-6863	16	4	in	in	ADP
ap-6863	16	5	the	the	DET
ap-6863	16	6	multi	multi	ADJ
ap-6863	16	7	-	-	ADJ
ap-6863	16	8	motor	motor	ADJ
ap-6863	16	9	electric	electric	ADJ
ap-6863	16	10	drive	drive	NOUN
ap-6863	16	11	was	be	AUX
ap-6863	16	12	made	make	VERB
ap-6863	16	13	using	use	VERB
ap-6863	16	14	two	two	NUM
ap-6863	16	15	ways	way	NOUN
ap-6863	16	16	of	of	ADP
ap-6863	16	17	backlash	backlash	NOUN
ap-6863	16	18	compensation	compensation	NOUN
ap-6863	16	19	.	.	PUNCT
ap-6863	17	1	the	the	DET
ap-6863	17	2	first	first	ADJ
ap-6863	17	3	way	way	NOUN
ap-6863	17	4	of	of	ADP
ap-6863	17	5	backlash	backlash	NOUN
ap-6863	17	6	compensation	compensation	NOUN
ap-6863	17	7	is	be	AUX
ap-6863	17	8	similar	similar	ADJ
ap-6863	17	9	to	to	ADP
ap-6863	17	10	the	the	DET
ap-6863	17	11	operation	operation	NOUN
ap-6863	17	12	of	of	ADP
ap-6863	17	13	an	an	DET
ap-6863	17	14	“	"	PUNCT
ap-6863	17	15	electromechanical	electromechanical	ADJ
ap-6863	17	16	spring	spring	NOUN
ap-6863	17	17	”	"	PUNCT
ap-6863	17	18	,	,	PUNCT
ap-6863	17	19	based	base	VERB
ap-6863	17	20	on	on	ADP
ap-6863	17	21	the	the	DET
ap-6863	17	22	creation	creation	NOUN
ap-6863	17	23	of	of	ADP
ap-6863	17	24	,	,	PUNCT
ap-6863	17	25	opposite	opposite	ADJ
ap-6863	17	26	in	in	ADP
ap-6863	17	27	sign	sign	NOUN
ap-6863	17	28	,	,	PUNCT
ap-6863	17	29	but	but	CCONJ
ap-6863	17	30	equal	equal	ADJ
ap-6863	17	31	in	in	ADP
ap-6863	17	32	magnitude	magnitude	NOUN
ap-6863	17	33	,	,	PUNCT
ap-6863	17	34	torques	torque	NOUN
ap-6863	17	35	that	that	PRON
ap-6863	17	36	compensate	compensate	VERB
ap-6863	17	37	for	for	ADP
ap-6863	17	38	the	the	DET
ap-6863	17	39	gap	gap	NOUN
ap-6863	17	40	,	,	PUNCT
ap-6863	17	41	which	which	PRON
ap-6863	17	42	is	be	AUX
ap-6863	17	43	implemented	implement	VERB
ap-6863	17	44	by	by	ADP
ap-6863	17	45	introducing	introduce	VERB
ap-6863	17	46	constant	constant	ADJ
ap-6863	17	47	displacements	displacement	NOUN
ap-6863	17	48	of	of	ADP
ap-6863	17	49	a	a	DET
ap-6863	17	50	constant	constant	ADJ
ap-6863	17	51	value	value	NOUN
ap-6863	17	52	into	into	ADP
ap-6863	17	53	the	the	DET
ap-6863	17	54	control	control	NOUN
ap-6863	17	55	signals	signal	NOUN
ap-6863	17	56	of	of	ADP
ap-6863	17	57	the	the	DET
ap-6863	17	58	motors	motor	NOUN
ap-6863	17	59	of	of	ADP
ap-6863	17	60	the	the	DET
ap-6863	17	61	drive	drive	NOUN
ap-6863	17	62	.	.	PUNCT
ap-6863	18	1	methods	method	NOUN
ap-6863	18	2	to	to	PART
ap-6863	18	3	implement	implement	VERB
ap-6863	18	4	this	this	DET
ap-6863	18	5	way	way	NOUN
ap-6863	18	6	are	be	AUX
ap-6863	18	7	described	describe	VERB
ap-6863	18	8	in	in	ADP
ap-6863	18	9	[	[	X
ap-6863	18	10	11–17	11–17	NUM
ap-6863	18	11	]	]	PUNCT
ap-6863	18	12	.	.	PUNCT
ap-6863	19	1	another	another	DET
ap-6863	19	2	way	way	NOUN
ap-6863	19	3	is	be	AUX
ap-6863	19	4	“	"	PUNCT
ap-6863	19	5	tandem	tandem	NOUN
ap-6863	19	6	control	control	NOUN
ap-6863	19	7	”	"	PUNCT
ap-6863	19	8	,	,	PUNCT
ap-6863	19	9	based	base	VERB
ap-6863	19	10	on	on	ADP
ap-6863	19	11	phase	phase	NOUN
ap-6863	19	12	displacement	displacement	NOUN
ap-6863	19	13	of	of	ADP
ap-6863	19	14	control	control	NOUN
ap-6863	19	15	signals	signal	NOUN
ap-6863	19	16	for	for	ADP
ap-6863	19	17	individual	individual	ADJ
ap-6863	19	18	electric	electric	PROPN
ap-6863	19	19	motors	motors	PROPN
ap-6863	19	20	,	,	PUNCT
ap-6863	19	21	depending	depend	VERB
ap-6863	19	22	on	on	ADP
ap-6863	19	23	the	the	DET
ap-6863	19	24	calculated	calculate	VERB
ap-6863	19	25	coordinates	coordinate	NOUN
ap-6863	19	26	[	[	X
ap-6863	19	27	18–24	18–24	NUM
ap-6863	19	28	]	]	X
ap-6863	19	29	.	.	PUNCT
ap-6863	20	1	a	a	DET
ap-6863	20	2	feature	feature	NOUN
ap-6863	20	3	of	of	ADP
ap-6863	20	4	this	this	DET
ap-6863	20	5	way	way	NOUN
ap-6863	20	6	is	be	AUX
ap-6863	20	7	the	the	DET
ap-6863	20	8	need	need	NOUN
ap-6863	20	9	to	to	PART
ap-6863	20	10	carry	carry	VERB
ap-6863	20	11	out	out	ADP
ap-6863	20	12	a	a	DET
ap-6863	20	13	large	large	ADJ
ap-6863	20	14	amount	amount	NOUN
ap-6863	20	15	of	of	ADP
ap-6863	20	16	calculations	calculation	NOUN
ap-6863	20	17	and	and	CCONJ
ap-6863	20	18	build	build	VERB
ap-6863	20	19	a	a	DET
ap-6863	20	20	complex	complex	ADJ
ap-6863	20	21	digital	digital	ADJ
ap-6863	20	22	control	control	NOUN
ap-6863	20	23	system	system	NOUN
ap-6863	20	24	using	use	VERB
ap-6863	20	25	microprocessors	microprocessor	NOUN
ap-6863	20	26	for	for	ADP
ap-6863	20	27	its	its	PRON
ap-6863	20	28	implementation	implementation	NOUN
ap-6863	20	29	.	.	PUNCT
ap-6863	21	1	303	303	NUM
ap-6863	21	2	https://doi.org/10.14311/ap.2022.62.0303	https://doi.org/10.14311/ap.2022.62.0303	PROPN
ap-6863	21	3	https://creativecommons.org/licenses/by/4.0/	https://creativecommons.org/licenses/by/4.0/	PROPN
ap-6863	21	4	https://www.cvut.cz/en	https://www.cvut.cz/en	PROPN
ap-6863	21	5	s.	s.	PROPN
ap-6863	21	6	l.	l.	PROPN
ap-6863	21	7	samsonovich	samsonovich	PROPN
ap-6863	21	8	,	,	PUNCT
ap-6863	21	9	b.	b.	PROPN
ap-6863	21	10	k.	k.	PROPN
ap-6863	21	11	fedotov	fedotov	PROPN
ap-6863	21	12	,	,	PUNCT
ap-6863	21	13	n.	n.	PROPN
ap-6863	21	14	b.	b.	PROPN
ap-6863	21	15	rozhnin	rozhnin	PROPN
ap-6863	21	16	,	,	PUNCT
ap-6863	21	17	r.	r.	PROPN
ap-6863	21	18	v.	v.	PROPN
ap-6863	21	19	goryunov	goryunov	PROPN
ap-6863	21	20	acta	acta	PROPN
ap-6863	21	21	polytechnica	polytechnica	PROPN
ap-6863	21	22	figure	figure	NOUN
ap-6863	21	23	1	1	NUM
ap-6863	21	24	.	.	PUNCT
ap-6863	21	25	kinematic	kinematic	ADJ
ap-6863	21	26	diagram	diagram	NOUN
ap-6863	21	27	of	of	ADP
ap-6863	21	28	support	support	NOUN
ap-6863	21	29	-	-	PUNCT
ap-6863	21	30	rotary	rotary	NOUN
ap-6863	21	31	device	device	NOUN
ap-6863	21	32	drive	drive	NOUN
ap-6863	21	33	.	.	PUNCT
ap-6863	22	1	figure	figure	NOUN
ap-6863	22	2	2	2	NUM
ap-6863	22	3	.	.	PUNCT
ap-6863	22	4	block	block	NOUN
ap-6863	22	5	diagram	diagram	NOUN
ap-6863	22	6	of	of	ADP
ap-6863	22	7	a	a	DET
ap-6863	22	8	system	system	NOUN
ap-6863	22	9	with	with	ADP
ap-6863	22	10	non	non	ADJ
ap-6863	22	11	-	-	ADJ
ap-6863	22	12	linearity	linearity	NOUN
ap-6863	22	13	of	of	ADP
ap-6863	22	14	backlash	backlash	NOUN
ap-6863	22	15	.	.	PUNCT
ap-6863	23	1	2	2	X
ap-6863	23	2	.	.	X
ap-6863	23	3	methods	method	NOUN
ap-6863	23	4	the	the	DET
ap-6863	23	5	article	article	NOUN
ap-6863	23	6	discusses	discuss	VERB
ap-6863	23	7	two	two	NUM
ap-6863	23	8	ways	way	NOUN
ap-6863	23	9	to	to	PART
ap-6863	23	10	compensate	compensate	VERB
ap-6863	23	11	for	for	ADP
ap-6863	23	12	the	the	DET
ap-6863	23	13	backlash	backlash	NOUN
ap-6863	23	14	of	of	ADP
ap-6863	23	15	a	a	DET
ap-6863	23	16	multi	multi	ADJ
ap-6863	23	17	-	-	ADJ
ap-6863	23	18	motor	motor	ADJ
ap-6863	23	19	electric	electric	ADJ
ap-6863	23	20	drive	drive	NOUN
ap-6863	23	21	gears	gear	NOUN
ap-6863	23	22	,	,	PUNCT
ap-6863	23	23	based	base	VERB
ap-6863	23	24	on	on	ADP
ap-6863	23	25	the	the	DET
ap-6863	23	26	transformation	transformation	NOUN
ap-6863	23	27	of	of	ADP
ap-6863	23	28	a	a	DET
ap-6863	23	29	dynamic	dynamic	ADJ
ap-6863	23	30	error	error	NOUN
ap-6863	23	31	signal	signal	NOUN
ap-6863	23	32	:	:	PUNCT
ap-6863	23	33	the	the	DET
ap-6863	23	34	wellknown	wellknown	ADJ
ap-6863	23	35	method	method	NOUN
ap-6863	23	36	of	of	ADP
ap-6863	23	37	backlash	backlash	NOUN
ap-6863	23	38	compensating	compensate	VERB
ap-6863	23	39	with	with	ADP
ap-6863	23	40	the	the	DET
ap-6863	23	41	introduction	introduction	NOUN
ap-6863	23	42	of	of	ADP
ap-6863	23	43	displacement	displacement	ADJ
ap-6863	23	44	signals	signal	NOUN
ap-6863	23	45	(	(	PUNCT
ap-6863	23	46	electromechanical	electromechanical	ADJ
ap-6863	23	47	spring	spring	NOUN
ap-6863	23	48	)	)	PUNCT
ap-6863	24	1	[	[	X
ap-6863	24	2	11–17	11–17	NUM
ap-6863	24	3	]	]	PUNCT
ap-6863	24	4	,	,	PUNCT
ap-6863	24	5	and	and	CCONJ
ap-6863	24	6	a	a	DET
ap-6863	24	7	newly	newly	ADV
ap-6863	24	8	developed	develop	VERB
ap-6863	24	9	method	method	NOUN
ap-6863	24	10	with	with	ADP
ap-6863	24	11	a	a	DET
ap-6863	24	12	delay	delay	NOUN
ap-6863	24	13	of	of	ADP
ap-6863	24	14	the	the	DET
ap-6863	24	15	dynamic	dynamic	ADJ
ap-6863	24	16	error	error	NOUN
ap-6863	24	17	signal	signal	NOUN
ap-6863	24	18	[	[	X
ap-6863	24	19	25	25	NUM
ap-6863	24	20	]	]	PUNCT
ap-6863	24	21	.	.	PUNCT
ap-6863	25	1	each	each	PRON
ap-6863	25	2	of	of	ADP
ap-6863	25	3	the	the	DET
ap-6863	25	4	methods	method	NOUN
ap-6863	25	5	is	be	AUX
ap-6863	25	6	implemented	implement	VERB
ap-6863	25	7	by	by	ADP
ap-6863	25	8	a	a	DET
ap-6863	25	9	special	special	ADJ
ap-6863	25	10	electronic	electronic	ADJ
ap-6863	25	11	device	device	NOUN
ap-6863	25	12	introduced	introduce	VERB
ap-6863	25	13	into	into	ADP
ap-6863	25	14	the	the	DET
ap-6863	25	15	dynamic	dynamic	ADJ
ap-6863	25	16	error	error	NOUN
ap-6863	25	17	channel	channel	NOUN
ap-6863	25	18	of	of	ADP
ap-6863	25	19	the	the	DET
ap-6863	25	20	electro	electro	NOUN
ap-6863	25	21	drive	drive	NOUN
ap-6863	25	22	.	.	PUNCT
ap-6863	26	1	a	a	DET
ap-6863	26	2	comparison	comparison	NOUN
ap-6863	26	3	of	of	ADP
ap-6863	26	4	the	the	DET
ap-6863	26	5	schemes	scheme	NOUN
ap-6863	26	6	was	be	AUX
ap-6863	26	7	carried	carry	VERB
ap-6863	26	8	out	out	ADP
ap-6863	26	9	by	by	ADP
ap-6863	26	10	mathematical	mathematical	ADJ
ap-6863	26	11	modelling	modelling	NOUN
ap-6863	26	12	.	.	PUNCT
ap-6863	27	1	the	the	DET
ap-6863	27	2	simulation	simulation	NOUN
ap-6863	27	3	was	be	AUX
ap-6863	27	4	carried	carry	VERB
ap-6863	27	5	out	out	ADP
ap-6863	27	6	in	in	ADP
ap-6863	27	7	the	the	DET
ap-6863	27	8	matlab	matlab	PROPN
ap-6863	27	9	simulink	simulink	PROPN
ap-6863	27	10	software	software	PROPN
ap-6863	27	11	environment	environment	PROPN
ap-6863	27	12	,	,	PUNCT
ap-6863	27	13	a	a	DET
ap-6863	27	14	mathematical	mathematical	ADJ
ap-6863	27	15	model	model	NOUN
ap-6863	27	16	of	of	ADP
ap-6863	27	17	the	the	DET
ap-6863	27	18	investigated	investigate	VERB
ap-6863	27	19	drive	drive	NOUN
ap-6863	27	20	system	system	NOUN
ap-6863	27	21	was	be	AUX
ap-6863	27	22	compiled	compile	VERB
ap-6863	27	23	,	,	PUNCT
ap-6863	27	24	consisting	consist	VERB
ap-6863	27	25	of	of	ADP
ap-6863	27	26	two	two	NUM
ap-6863	27	27	motors	motor	NOUN
ap-6863	27	28	operating	operate	VERB
ap-6863	27	29	on	on	ADP
ap-6863	27	30	a	a	DET
ap-6863	27	31	common	common	ADJ
ap-6863	27	32	load	load	NOUN
ap-6863	27	33	and	and	CCONJ
ap-6863	27	34	the	the	DET
ap-6863	27	35	backlash	backlash	NOUN
ap-6863	27	36	model	model	NOUN
ap-6863	27	37	in	in	ADP
ap-6863	27	38	the	the	DET
ap-6863	27	39	form	form	NOUN
ap-6863	27	40	of	of	ADP
ap-6863	27	41	a	a	DET
ap-6863	27	42	dead	dead	ADJ
ap-6863	27	43	zone	zone	NOUN
ap-6863	27	44	coupled	couple	VERB
ap-6863	27	45	with	with	ADP
ap-6863	27	46	transmission	transmission	NOUN
ap-6863	27	47	stiffness	stiffness	NOUN
ap-6863	27	48	.	.	PUNCT
ap-6863	28	1	the	the	DET
ap-6863	28	2	block	block	NOUN
ap-6863	28	3	diagram	diagram	NOUN
ap-6863	28	4	of	of	ADP
ap-6863	28	5	the	the	DET
ap-6863	28	6	developed	develop	VERB
ap-6863	28	7	model	model	NOUN
ap-6863	28	8	is	be	AUX
ap-6863	28	9	shown	show	VERB
ap-6863	28	10	in	in	ADP
ap-6863	28	11	figure	figure	NOUN
ap-6863	28	12	2	2	NUM
ap-6863	28	13	.	.	PUNCT
ap-6863	29	1	the	the	DET
ap-6863	29	2	parameters	parameter	NOUN
ap-6863	29	3	of	of	ADP
ap-6863	29	4	the	the	DET
ap-6863	29	5	srd	srd	NOUN
ap-6863	29	6	drives	drive	NOUN
ap-6863	29	7	are	be	AUX
ap-6863	29	8	considered	consider	VERB
ap-6863	29	9	using	use	VERB
ap-6863	29	10	the	the	DET
ap-6863	29	11	example	example	NOUN
ap-6863	29	12	of	of	ADP
ap-6863	29	13	the	the	DET
ap-6863	29	14	signal	signal	PROPN
ap-6863	29	15	φ(t	φ(t	PROPN
ap-6863	29	16	)	)	PUNCT
ap-6863	30	1	=	=	X
ap-6863	30	2	asin	asin	NOUN
ap-6863	30	3	(	(	PUNCT
ap-6863	30	4	ωt	ωt	PROPN
ap-6863	30	5	)	)	PUNCT
ap-6863	30	6	.	.	PUNCT
ap-6863	31	1	the	the	DET
ap-6863	31	2	following	follow	VERB
ap-6863	31	3	parameter	parameter	NOUN
ap-6863	31	4	values	value	NOUN
ap-6863	31	5	are	be	AUX
ap-6863	31	6	used	use	VERB
ap-6863	31	7	in	in	ADP
ap-6863	31	8	the	the	DET
ap-6863	31	9	model	model	NOUN
ap-6863	31	10	:	:	PUNCT
ap-6863	31	11	electric	electric	ADJ
ap-6863	31	12	motor	motor	NOUN
ap-6863	31	13	armature	armature	NOUN
ap-6863	31	14	voltage	voltage	NOUN
ap-6863	31	15	–	–	PUNCT
ap-6863	31	16	440	440	NUM
ap-6863	31	17	v	v	NOUN
ap-6863	31	18	;	;	PUNCT
ap-6863	31	19	armature	armature	NOUN
ap-6863	31	20	current	current	NOUN
ap-6863	31	21	–	–	PUNCT
ap-6863	31	22	115	115	NUM
ap-6863	31	23	a	a	NOUN
ap-6863	31	24	;	;	PUNCT
ap-6863	31	25	rated	rate	VERB
ap-6863	31	26	power	power	NOUN
ap-6863	31	27	of	of	ADP
ap-6863	31	28	the	the	DET
ap-6863	31	29	electric	electric	ADJ
ap-6863	31	30	motor	motor	NOUN
ap-6863	31	31	–	–	PUNCT
ap-6863	31	32	45	45	NUM
ap-6863	31	33	kw	kw	NOUN
ap-6863	31	34	;	;	PUNCT
ap-6863	31	35	rated	rate	VERB
ap-6863	31	36	speed	speed	NOUN
ap-6863	31	37	–	–	PUNCT
ap-6863	31	38	750	750	NUM
ap-6863	31	39	rpm	rpm	NOUN
ap-6863	31	40	;	;	PUNCT
ap-6863	31	41	the	the	DET
ap-6863	31	42	moment	moment	NOUN
ap-6863	31	43	of	of	ADP
ap-6863	31	44	inertia	inertia	NOUN
ap-6863	31	45	of	of	ADP
ap-6863	31	46	the	the	DET
ap-6863	31	47	rotor	rotor	NOUN
ap-6863	31	48	–	–	PUNCT
ap-6863	31	49	2.575	2.575	NUM
ap-6863	31	50	kgm2	kgm2	NOUN
ap-6863	31	51	;	;	PUNCT
ap-6863	31	52	gear	gear	NOUN
ap-6863	31	53	ratio	ratio	NOUN
ap-6863	31	54	of	of	ADP
ap-6863	31	55	the	the	DET
ap-6863	31	56	gearbox	gearbox	NOUN
ap-6863	31	57	–	–	PUNCT
ap-6863	31	58	400	400	NUM
ap-6863	31	59	;	;	PUNCT
ap-6863	31	60	backlash	backlash	NOUN
ap-6863	31	61	of	of	ADP
ap-6863	31	62	mechanical	mechanical	ADJ
ap-6863	31	63	transmissions	transmission	NOUN
ap-6863	31	64	–	–	PUNCT
ap-6863	31	65	0.017	0.017	NUM
ap-6863	31	66	deg	deg	NOUN
ap-6863	31	67	.	.	PUNCT
ap-6863	32	1	initially	initially	ADV
ap-6863	32	2	,	,	PUNCT
ap-6863	32	3	the	the	DET
ap-6863	32	4	operation	operation	NOUN
ap-6863	32	5	of	of	ADP
ap-6863	32	6	an	an	DET
ap-6863	32	7	idealized	idealized	ADJ
ap-6863	32	8	drive	drive	NOUN
ap-6863	32	9	without	without	ADP
ap-6863	32	10	any	any	DET
ap-6863	32	11	backlash	backlash	NOUN
ap-6863	32	12	was	be	AUX
ap-6863	32	13	simulated	simulate	VERB
ap-6863	32	14	,	,	PUNCT
ap-6863	32	15	as	as	ADP
ap-6863	32	16	a	a	DET
ap-6863	32	17	result	result	NOUN
ap-6863	32	18	,	,	PUNCT
ap-6863	32	19	the	the	DET
ap-6863	32	20	reference	reference	NOUN
ap-6863	32	21	characteristics	characteristic	NOUN
ap-6863	32	22	of	of	ADP
ap-6863	32	23	the	the	DET
ap-6863	32	24	drive	drive	NOUN
ap-6863	32	25	with	with	ADP
ap-6863	32	26	the	the	DET
ap-6863	32	27	guidance	guidance	NOUN
ap-6863	32	28	signal	signal	NOUN
ap-6863	32	29	was	be	AUX
ap-6863	32	30	obtained	obtain	VERB
ap-6863	32	31	.	.	PUNCT
ap-6863	33	1	then	then	ADV
ap-6863	33	2	backlash	backlash	NOUN
ap-6863	33	3	was	be	AUX
ap-6863	33	4	introduced	introduce	VERB
ap-6863	33	5	into	into	ADP
ap-6863	33	6	the	the	DET
ap-6863	33	7	model	model	NOUN
ap-6863	33	8	and	and	CCONJ
ap-6863	33	9	the	the	DET
ap-6863	33	10	results	result	NOUN
ap-6863	33	11	of	of	ADP
ap-6863	33	12	its	its	PRON
ap-6863	33	13	impact	impact	NOUN
ap-6863	33	14	were	be	AUX
ap-6863	33	15	considered	consider	VERB
ap-6863	33	16	.	.	PUNCT
ap-6863	34	1	then	then	ADV
ap-6863	34	2	,	,	PUNCT
ap-6863	34	3	one	one	NUM
ap-6863	34	4	of	of	ADP
ap-6863	34	5	the	the	DET
ap-6863	34	6	electronic	electronic	ADJ
ap-6863	34	7	devices	device	NOUN
ap-6863	34	8	for	for	ADP
ap-6863	34	9	backlash	backlash	NOUN
ap-6863	34	10	compensation	compensation	NOUN
ap-6863	34	11	was	be	AUX
ap-6863	34	12	introduced	introduce	VERB
ap-6863	34	13	into	into	ADP
ap-6863	34	14	the	the	DET
ap-6863	34	15	control	control	NOUN
ap-6863	34	16	system	system	NOUN
ap-6863	34	17	of	of	ADP
ap-6863	34	18	the	the	DET
ap-6863	34	19	drives	drive	NOUN
ap-6863	34	20	and	and	CCONJ
ap-6863	34	21	the	the	DET
ap-6863	34	22	parameters	parameter	NOUN
ap-6863	34	23	were	be	AUX
ap-6863	34	24	synthesized	synthesize	VERB
ap-6863	34	25	until	until	ADP
ap-6863	34	26	304	304	NUM
ap-6863	34	27	vol	vol	NOUN
ap-6863	34	28	.	.	PUNCT
ap-6863	35	1	62	62	NUM
ap-6863	35	2	no	no	INTJ
ap-6863	35	3	.	.	PUNCT
ap-6863	36	1	2/2022	2/2022	NUM
ap-6863	36	2	results	result	NOUN
ap-6863	36	3	of	of	ADP
ap-6863	36	4	research	research	NOUN
ap-6863	36	5	on	on	ADP
ap-6863	36	6	backlash	backlash	NOUN
ap-6863	36	7	compensation	compensation	NOUN
ap-6863	36	8	in	in	ADP
ap-6863	36	9	a	a	DET
ap-6863	36	10	power	power	NOUN
ap-6863	36	11	.	.	PUNCT
ap-6863	36	12	.	.	PUNCT
ap-6863	36	13	.	.	PUNCT
ap-6863	37	1	figure	figure	VERB
ap-6863	37	2	3	3	NUM
ap-6863	37	3	.	.	PUNCT
ap-6863	37	4	backlash	backlash	NOUN
ap-6863	37	5	compensation	compensation	NOUN
ap-6863	37	6	with	with	ADP
ap-6863	37	7	connecting	connect	VERB
ap-6863	37	8	additional	additional	ADJ
ap-6863	37	9	supply	supply	NOUN
ap-6863	37	10	voltages	voltage	NOUN
ap-6863	37	11	.	.	PUNCT
ap-6863	38	1	the	the	DET
ap-6863	38	2	reference	reference	NOUN
ap-6863	38	3	characteristics	characteristic	NOUN
ap-6863	38	4	of	of	ADP
ap-6863	38	5	the	the	DET
ap-6863	38	6	srd	srd	NOUN
ap-6863	38	7	drives	drive	NOUN
ap-6863	38	8	corresponding	correspond	VERB
ap-6863	38	9	to	to	ADP
ap-6863	38	10	the	the	DET
ap-6863	38	11	idealized	idealized	ADJ
ap-6863	38	12	model	model	NOUN
ap-6863	38	13	without	without	ADP
ap-6863	38	14	backlash	backlash	NOUN
ap-6863	38	15	was	be	AUX
ap-6863	38	16	obtained	obtain	VERB
ap-6863	38	17	.	.	PUNCT
ap-6863	39	1	3	3	X
ap-6863	39	2	.	.	X
ap-6863	39	3	backlash	backlash	NOUN
ap-6863	39	4	compensation	compensation	NOUN
ap-6863	39	5	device	device	NOUN
ap-6863	39	6	with	with	ADP
ap-6863	39	7	input	input	NOUN
ap-6863	39	8	of	of	ADP
ap-6863	39	9	displacement	displacement	ADJ
ap-6863	39	10	signals	signal	NOUN
ap-6863	39	11	in	in	ADP
ap-6863	39	12	the	the	DET
ap-6863	39	13	well	well	ADV
ap-6863	39	14	-	-	PUNCT
ap-6863	39	15	known	know	VERB
ap-6863	39	16	scheme	scheme	NOUN
ap-6863	39	17	with	with	ADP
ap-6863	39	18	an	an	DET
ap-6863	39	19	input	input	NOUN
ap-6863	39	20	of	of	ADP
ap-6863	39	21	displacement	displacement	ADJ
ap-6863	39	22	control	control	NOUN
ap-6863	39	23	channels	channel	NOUN
ap-6863	39	24	(	(	PUNCT
ap-6863	39	25	electromechanical	electromechanical	ADJ
ap-6863	39	26	spring	spring	NOUN
ap-6863	39	27	scheme	scheme	NOUN
ap-6863	39	28	)	)	PUNCT
ap-6863	39	29	,	,	PUNCT
ap-6863	39	30	a	a	DET
ap-6863	39	31	certain	certain	ADJ
ap-6863	39	32	constant	constant	ADJ
ap-6863	39	33	displacement	displacement	NOUN
ap-6863	39	34	signal	signal	NOUN
ap-6863	39	35	is	be	AUX
ap-6863	39	36	supplied	supply	VERB
ap-6863	39	37	to	to	ADP
ap-6863	39	38	each	each	DET
ap-6863	39	39	channel	channel	NOUN
ap-6863	39	40	,	,	PUNCT
ap-6863	39	41	equal	equal	ADJ
ap-6863	39	42	in	in	ADP
ap-6863	39	43	magnitude	magnitude	NOUN
ap-6863	39	44	and	and	CCONJ
ap-6863	39	45	different	different	ADJ
ap-6863	39	46	in	in	ADP
ap-6863	39	47	sign	sign	NOUN
ap-6863	39	48	.	.	PUNCT
ap-6863	40	1	this	this	PRON
ap-6863	40	2	creates	create	VERB
ap-6863	40	3	an	an	DET
ap-6863	40	4	expansion	expansion	NOUN
ap-6863	40	5	of	of	ADP
ap-6863	40	6	two	two	NUM
ap-6863	40	7	gears	gear	NOUN
ap-6863	40	8	relative	relative	ADJ
ap-6863	40	9	to	to	ADP
ap-6863	40	10	the	the	DET
ap-6863	40	11	common	common	ADJ
ap-6863	40	12	wheel	wheel	NOUN
ap-6863	40	13	.	.	PUNCT
ap-6863	41	1	in	in	ADP
ap-6863	41	2	the	the	DET
ap-6863	41	3	first	first	ADJ
ap-6863	41	4	known	know	VERB
ap-6863	41	5	works	work	NOUN
ap-6863	41	6	[	[	X
ap-6863	41	7	2	2	NUM
ap-6863	41	8	]	]	PUNCT
ap-6863	41	9	,	,	PUNCT
ap-6863	41	10	the	the	DET
ap-6863	41	11	thrust	thrust	ADJ
ap-6863	41	12	torques	torque	NOUN
ap-6863	41	13	were	be	AUX
ap-6863	41	14	created	create	VERB
ap-6863	41	15	by	by	ADP
ap-6863	41	16	additional	additional	ADJ
ap-6863	41	17	supply	supply	NOUN
ap-6863	41	18	voltages	voltage	NOUN
ap-6863	41	19	to	to	ADP
ap-6863	41	20	the	the	DET
ap-6863	41	21	electric	electric	PROPN
ap-6863	41	22	motors	motor	NOUN
ap-6863	41	23	(	(	PUNCT
ap-6863	41	24	figure	figure	NOUN
ap-6863	41	25	3	3	NUM
ap-6863	41	26	)	)	PUNCT
ap-6863	41	27	.	.	PUNCT
ap-6863	42	1	later	later	ADV
ap-6863	42	2	,	,	PUNCT
ap-6863	42	3	to	to	PART
ap-6863	42	4	create	create	VERB
ap-6863	42	5	thrust	thrust	VERB
ap-6863	42	6	torques	torque	NOUN
ap-6863	42	7	,	,	PUNCT
ap-6863	42	8	instead	instead	ADV
ap-6863	42	9	of	of	ADP
ap-6863	42	10	supplying	supply	VERB
ap-6863	42	11	voltages	voltage	NOUN
ap-6863	42	12	to	to	ADP
ap-6863	42	13	the	the	DET
ap-6863	42	14	motors	motor	NOUN
ap-6863	42	15	,	,	PUNCT
ap-6863	42	16	an	an	DET
ap-6863	42	17	electronic	electronic	ADJ
ap-6863	42	18	device	device	NOUN
ap-6863	42	19	was	be	AUX
ap-6863	42	20	used	use	VERB
ap-6863	42	21	,	,	PUNCT
ap-6863	42	22	which	which	PRON
ap-6863	42	23	introduces	introduce	VERB
ap-6863	42	24	displacements	displacement	NOUN
ap-6863	42	25	into	into	ADP
ap-6863	42	26	the	the	DET
ap-6863	42	27	dynamic	dynamic	ADJ
ap-6863	42	28	error	error	NOUN
ap-6863	42	29	signal	signal	NOUN
ap-6863	42	30	(	(	PUNCT
ap-6863	42	31	figure	figure	NOUN
ap-6863	42	32	4	4	NUM
ap-6863	42	33	)	)	PUNCT
ap-6863	42	34	,	,	PUNCT
ap-6863	42	35	which	which	PRON
ap-6863	42	36	is	be	AUX
ap-6863	42	37	created	create	VERB
ap-6863	42	38	by	by	ADP
ap-6863	42	39	the	the	DET
ap-6863	42	40	preliminary	preliminary	ADJ
ap-6863	42	41	displacement	displacement	ADJ
ap-6863	42	42	block	block	NOUN
ap-6863	42	43	[	[	X
ap-6863	42	44	3	3	NUM
ap-6863	42	45	]	]	PUNCT
ap-6863	42	46	.	.	PUNCT
ap-6863	43	1	this	this	PRON
ap-6863	43	2	ensures	ensure	VERB
ap-6863	43	3	opposite	opposite	ADJ
ap-6863	43	4	torques	torque	NOUN
ap-6863	43	5	of	of	ADP
ap-6863	43	6	the	the	DET
ap-6863	43	7	motors	motor	NOUN
ap-6863	43	8	at	at	ADP
ap-6863	43	9	zero	zero	NUM
ap-6863	43	10	value	value	NOUN
ap-6863	43	11	of	of	ADP
ap-6863	43	12	the	the	DET
ap-6863	43	13	control	control	NOUN
ap-6863	43	14	signal	signal	NOUN
ap-6863	43	15	,	,	PUNCT
ap-6863	43	16	similar	similar	ADJ
ap-6863	43	17	to	to	ADP
ap-6863	43	18	the	the	DET
ap-6863	43	19	action	action	NOUN
ap-6863	43	20	of	of	ADP
ap-6863	43	21	a	a	DET
ap-6863	43	22	spring	spring	NOUN
ap-6863	43	23	.	.	PUNCT
ap-6863	44	1	the	the	DET
ap-6863	44	2	control	control	NOUN
ap-6863	44	3	signal	signal	NOUN
ap-6863	44	4	θ	θ	PROPN
ap-6863	44	5	in	in	ADP
ap-6863	44	6	a	a	DET
ap-6863	44	7	system	system	NOUN
ap-6863	44	8	with	with	ADP
ap-6863	44	9	the	the	DET
ap-6863	44	10	main	main	ADJ
ap-6863	44	11	position	position	NOUN
ap-6863	44	12	feedback	feedback	NOUN
ap-6863	44	13	is	be	AUX
ap-6863	44	14	a	a	DET
ap-6863	44	15	dynamic	dynamic	ADJ
ap-6863	44	16	error	error	NOUN
ap-6863	44	17	signal	signal	NOUN
ap-6863	44	18	.	.	PUNCT
ap-6863	45	1	when	when	SCONJ
ap-6863	45	2	a	a	DET
ap-6863	45	3	control	control	NOUN
ap-6863	45	4	signal	signal	NOUN
ap-6863	45	5	arrives	arrive	VERB
ap-6863	45	6	,	,	PUNCT
ap-6863	45	7	for	for	ADP
ap-6863	45	8	example	example	NOUN
ap-6863	45	9	,	,	PUNCT
ap-6863	45	10	a	a	DET
ap-6863	45	11	positive	positive	ADJ
ap-6863	45	12	one	one	NOUN
ap-6863	45	13	,	,	PUNCT
ap-6863	45	14	the	the	DET
ap-6863	45	15	signal	signal	ADJ
ap-6863	45	16	value	value	NOUN
ap-6863	45	17	in	in	ADP
ap-6863	45	18	the	the	DET
ap-6863	45	19	corresponding	corresponding	ADJ
ap-6863	45	20	channel	channel	NOUN
ap-6863	45	21	is	be	AUX
ap-6863	45	22	added	add	VERB
ap-6863	45	23	to	to	ADP
ap-6863	45	24	the	the	DET
ap-6863	45	25	offset	offset	NOUN
ap-6863	45	26	signal	signal	NOUN
ap-6863	45	27	,	,	PUNCT
ap-6863	45	28	and	and	CCONJ
ap-6863	45	29	in	in	ADP
ap-6863	45	30	the	the	DET
ap-6863	45	31	opposite	opposite	ADJ
ap-6863	45	32	channel	channel	NOUN
ap-6863	45	33	,	,	PUNCT
ap-6863	45	34	the	the	DET
ap-6863	45	35	offset	offset	NOUN
ap-6863	45	36	signal	signal	NOUN
ap-6863	45	37	is	be	AUX
ap-6863	45	38	subtracted	subtract	VERB
ap-6863	45	39	from	from	ADP
ap-6863	45	40	the	the	DET
ap-6863	45	41	control	control	NOUN
ap-6863	45	42	signal	signal	NOUN
ap-6863	45	43	.	.	PUNCT
ap-6863	46	1	if	if	SCONJ
ap-6863	46	2	the	the	DET
ap-6863	46	3	values	value	NOUN
ap-6863	46	4	of	of	ADP
ap-6863	46	5	the	the	DET
ap-6863	46	6	control	control	NOUN
ap-6863	46	7	signals	signal	NOUN
ap-6863	46	8	are	be	AUX
ap-6863	46	9	lesser	less	ADJ
ap-6863	46	10	than	than	ADP
ap-6863	46	11	the	the	DET
ap-6863	46	12	offset	offset	NOUN
ap-6863	46	13	value	value	NOUN
ap-6863	46	14	,	,	PUNCT
ap-6863	46	15	it	it	PRON
ap-6863	46	16	creates	create	VERB
ap-6863	46	17	a	a	DET
ap-6863	46	18	thrust	thrust	ADJ
ap-6863	46	19	torque	torque	NOUN
ap-6863	46	20	to	to	PART
ap-6863	46	21	compensate	compensate	VERB
ap-6863	46	22	for	for	ADP
ap-6863	46	23	backlash	backlash	NOUN
ap-6863	46	24	in	in	ADP
ap-6863	46	25	the	the	DET
ap-6863	46	26	system	system	NOUN
ap-6863	46	27	.	.	PUNCT
ap-6863	47	1	when	when	SCONJ
ap-6863	47	2	the	the	DET
ap-6863	47	3	value	value	NOUN
ap-6863	47	4	of	of	ADP
ap-6863	47	5	the	the	DET
ap-6863	47	6	control	control	NOUN
ap-6863	47	7	signal	signal	PROPN
ap-6863	47	8	exceeds	exceed	VERB
ap-6863	47	9	the	the	DET
ap-6863	47	10	offset	offset	NOUN
ap-6863	47	11	value	value	NOUN
ap-6863	47	12	,	,	PUNCT
ap-6863	47	13	the	the	DET
ap-6863	47	14	signal	signal	NOUN
ap-6863	47	15	in	in	ADP
ap-6863	47	16	the	the	DET
ap-6863	47	17	second	second	ADJ
ap-6863	47	18	channel	channel	NOUN
ap-6863	47	19	will	will	AUX
ap-6863	47	20	change	change	VERB
ap-6863	47	21	sign	sign	NOUN
ap-6863	47	22	,	,	PUNCT
ap-6863	47	23	and	and	CCONJ
ap-6863	47	24	both	both	DET
ap-6863	47	25	motors	motor	NOUN
ap-6863	47	26	will	will	AUX
ap-6863	47	27	create	create	VERB
ap-6863	47	28	torques	torque	NOUN
ap-6863	47	29	in	in	ADP
ap-6863	47	30	the	the	DET
ap-6863	47	31	same	same	ADJ
ap-6863	47	32	direction	direction	NOUN
ap-6863	47	33	.	.	PUNCT
ap-6863	48	1	4	4	X
ap-6863	48	2	.	.	X
ap-6863	48	3	backlash	backlash	NOUN
ap-6863	48	4	compensation	compensation	NOUN
ap-6863	48	5	device	device	NOUN
ap-6863	48	6	with	with	ADP
ap-6863	48	7	cross	cross	NOUN
ap-6863	48	8	connections	connection	NOUN
ap-6863	48	9	the	the	DET
ap-6863	48	10	disadvantage	disadvantage	NOUN
ap-6863	48	11	of	of	ADP
ap-6863	48	12	the	the	DET
ap-6863	48	13	known	know	VERB
ap-6863	48	14	method	method	NOUN
ap-6863	48	15	of	of	ADP
ap-6863	48	16	backlash	backlash	NOUN
ap-6863	48	17	compensation	compensation	NOUN
ap-6863	48	18	,	,	PUNCT
ap-6863	48	19	based	base	VERB
ap-6863	48	20	on	on	ADP
ap-6863	48	21	the	the	DET
ap-6863	48	22	introduction	introduction	NOUN
ap-6863	48	23	of	of	ADP
ap-6863	48	24	displacefigure	displacefigure	NOUN
ap-6863	48	25	4	4	NUM
ap-6863	48	26	.	.	PUNCT
ap-6863	48	27	backlash	backlash	NOUN
ap-6863	48	28	compensation	compensation	NOUN
ap-6863	48	29	device	device	NOUN
ap-6863	48	30	scheme	scheme	NOUN
ap-6863	48	31	on	on	ADP
ap-6863	48	32	input	input	NOUN
ap-6863	48	33	of	of	ADP
ap-6863	48	34	displacement	displacement	ADJ
ap-6863	48	35	signals	signal	NOUN
ap-6863	48	36	.	.	PUNCT
ap-6863	49	1	ment	ment	ADJ
ap-6863	49	2	signals	signal	NOUN
ap-6863	49	3	,	,	PUNCT
ap-6863	49	4	is	be	AUX
ap-6863	49	5	the	the	DET
ap-6863	49	6	low	low	ADJ
ap-6863	49	7	efficiency	efficiency	NOUN
ap-6863	49	8	of	of	ADP
ap-6863	49	9	the	the	DET
ap-6863	49	10	electric	electric	ADJ
ap-6863	49	11	drive	drive	NOUN
ap-6863	49	12	due	due	ADP
ap-6863	49	13	to	to	ADP
ap-6863	49	14	the	the	DET
ap-6863	49	15	high	high	ADJ
ap-6863	49	16	mutual	mutual	ADJ
ap-6863	49	17	loading	loading	NOUN
ap-6863	49	18	of	of	ADP
ap-6863	49	19	the	the	DET
ap-6863	49	20	electric	electric	PROPN
ap-6863	49	21	motors	motor	NOUN
ap-6863	49	22	.	.	PUNCT
ap-6863	50	1	in	in	ADP
ap-6863	50	2	the	the	DET
ap-6863	50	3	process	process	NOUN
ap-6863	50	4	of	of	ADP
ap-6863	50	5	research	research	NOUN
ap-6863	50	6	,	,	PUNCT
ap-6863	50	7	in	in	ADP
ap-6863	50	8	order	order	NOUN
ap-6863	50	9	to	to	PART
ap-6863	50	10	compensate	compensate	VERB
ap-6863	50	11	for	for	ADP
ap-6863	50	12	the	the	DET
ap-6863	50	13	influence	influence	NOUN
ap-6863	50	14	of	of	ADP
ap-6863	50	15	backlash	backlash	NOUN
ap-6863	50	16	in	in	ADP
ap-6863	50	17	gears	gear	NOUN
ap-6863	50	18	,	,	PUNCT
ap-6863	50	19	to	to	PART
ap-6863	50	20	ensure	ensure	VERB
ap-6863	50	21	the	the	DET
ap-6863	50	22	summation	summation	NOUN
ap-6863	50	23	of	of	ADP
ap-6863	50	24	the	the	DET
ap-6863	50	25	dynamic	dynamic	ADJ
ap-6863	50	26	capabilities	capability	NOUN
ap-6863	50	27	of	of	ADP
ap-6863	50	28	the	the	DET
ap-6863	50	29	channels	channel	NOUN
ap-6863	50	30	in	in	ADP
ap-6863	50	31	the	the	DET
ap-6863	50	32	steady	steady	ADJ
ap-6863	50	33	-	-	PUNCT
ap-6863	50	34	state	state	NOUN
ap-6863	50	35	motion	motion	NOUN
ap-6863	50	36	mode	mode	NOUN
ap-6863	50	37	,	,	PUNCT
ap-6863	50	38	as	as	ADV
ap-6863	50	39	well	well	ADV
ap-6863	50	40	as	as	ADP
ap-6863	50	41	to	to	PART
ap-6863	50	42	decrease	decrease	VERB
ap-6863	50	43	the	the	DET
ap-6863	50	44	mutual	mutual	ADJ
ap-6863	50	45	torques	torque	NOUN
ap-6863	50	46	and	and	CCONJ
ap-6863	50	47	increase	increase	VERB
ap-6863	50	48	the	the	DET
ap-6863	50	49	efficiency	efficiency	NOUN
ap-6863	50	50	,	,	PUNCT
ap-6863	50	51	a	a	DET
ap-6863	50	52	control	control	NOUN
ap-6863	50	53	scheme	scheme	NOUN
ap-6863	50	54	for	for	ADP
ap-6863	50	55	the	the	DET
ap-6863	50	56	drive	drive	ADJ
ap-6863	50	57	channels	channel	NOUN
ap-6863	50	58	with	with	ADP
ap-6863	50	59	the	the	DET
ap-6863	50	60	introduction	introduction	NOUN
ap-6863	50	61	of	of	ADP
ap-6863	50	62	cross	cross	NOUN
ap-6863	50	63	-	-	NOUN
ap-6863	50	64	connections	connection	NOUN
ap-6863	50	65	has	have	AUX
ap-6863	50	66	been	be	AUX
ap-6863	50	67	developed	develop	VERB
ap-6863	50	68	.	.	PUNCT
ap-6863	51	1	the	the	DET
ap-6863	51	2	scheme	scheme	NOUN
ap-6863	51	3	implements	implement	VERB
ap-6863	51	4	a	a	DET
ap-6863	51	5	method	method	NOUN
ap-6863	51	6	for	for	ADP
ap-6863	51	7	backlash	backlash	NOUN
ap-6863	51	8	compensation	compensation	NOUN
ap-6863	51	9	by	by	ADP
ap-6863	51	10	introducing	introduce	VERB
ap-6863	51	11	a	a	DET
ap-6863	51	12	delay	delay	NOUN
ap-6863	51	13	into	into	ADP
ap-6863	51	14	the	the	DET
ap-6863	51	15	dynamic	dynamic	ADJ
ap-6863	51	16	error	error	NOUN
ap-6863	51	17	signal	signal	NOUN
ap-6863	51	18	of	of	ADP
ap-6863	51	19	one	one	NUM
ap-6863	51	20	of	of	ADP
ap-6863	51	21	the	the	DET
ap-6863	51	22	drive	drive	ADJ
ap-6863	51	23	channels	channel	NOUN
ap-6863	51	24	.	.	PUNCT
ap-6863	52	1	the	the	DET
ap-6863	52	2	developed	develop	VERB
ap-6863	52	3	scheme	scheme	NOUN
ap-6863	52	4	of	of	ADP
ap-6863	52	5	the	the	DET
ap-6863	52	6	backlash	backlash	NOUN
ap-6863	52	7	compensation	compensation	NOUN
ap-6863	52	8	device	device	NOUN
ap-6863	52	9	will	will	AUX
ap-6863	52	10	be	be	AUX
ap-6863	52	11	called	call	VERB
ap-6863	52	12	a	a	DET
ap-6863	52	13	cross	cross	ADJ
ap-6863	52	14	-	-	ADJ
ap-6863	52	15	connections	connection	NOUN
ap-6863	52	16	scheme	scheme	NOUN
ap-6863	52	17	(	(	PUNCT
ap-6863	52	18	figure	figure	NOUN
ap-6863	52	19	5	5	NUM
ap-6863	52	20	)	)	PUNCT
ap-6863	52	21	.	.	PUNCT
ap-6863	53	1	this	this	DET
ap-6863	53	2	scheme	scheme	NOUN
ap-6863	53	3	can	can	AUX
ap-6863	53	4	be	be	AUX
ap-6863	53	5	considered	consider	VERB
ap-6863	53	6	as	as	ADP
ap-6863	53	7	a	a	DET
ap-6863	53	8	special	special	ADJ
ap-6863	53	9	type	type	NOUN
ap-6863	53	10	of	of	ADP
ap-6863	53	11	tandem	tandem	NOUN
ap-6863	53	12	control	control	NOUN
ap-6863	53	13	,	,	PUNCT
ap-6863	53	14	in	in	ADP
ap-6863	53	15	which	which	PRON
ap-6863	53	16	the	the	DET
ap-6863	53	17	phase	phase	NOUN
ap-6863	53	18	shift	shift	NOUN
ap-6863	53	19	is	be	AUX
ap-6863	53	20	carried	carry	VERB
ap-6863	53	21	out	out	ADP
ap-6863	53	22	not	not	PART
ap-6863	53	23	by	by	ADP
ap-6863	53	24	calculating	calculate	VERB
ap-6863	53	25	the	the	DET
ap-6863	53	26	coordinates	coordinate	NOUN
ap-6863	53	27	of	of	ADP
ap-6863	53	28	individual	individual	ADJ
ap-6863	53	29	electric	electric	PROPN
ap-6863	53	30	motors	motor	NOUN
ap-6863	53	31	,	,	PUNCT
ap-6863	53	32	but	but	CCONJ
ap-6863	53	33	by	by	ADP
ap-6863	53	34	converting	convert	VERB
ap-6863	53	35	the	the	DET
ap-6863	53	36	error	error	NOUN
ap-6863	53	37	signal	signal	NOUN
ap-6863	53	38	by	by	ADP
ap-6863	53	39	introducing	introduce	VERB
ap-6863	53	40	a	a	DET
ap-6863	53	41	dynamic	dynamic	ADJ
ap-6863	53	42	delay	delay	NOUN
ap-6863	53	43	that	that	PRON
ap-6863	53	44	depends	depend	VERB
ap-6863	53	45	on	on	ADP
ap-6863	53	46	the	the	DET
ap-6863	53	47	value	value	NOUN
ap-6863	53	48	of	of	ADP
ap-6863	53	49	backlash	backlash	NOUN
ap-6863	53	50	.	.	PUNCT
ap-6863	54	1	the	the	DET
ap-6863	54	2	backlash	backlash	NOUN
ap-6863	54	3	compensation	compensation	NOUN
ap-6863	54	4	device	device	NOUN
ap-6863	54	5	consists	consist	VERB
ap-6863	54	6	of	of	ADP
ap-6863	54	7	two	two	NUM
ap-6863	54	8	splitters	splitter	NOUN
ap-6863	54	9	,	,	PUNCT
ap-6863	54	10	two	two	NUM
ap-6863	54	11	switches	switch	NOUN
ap-6863	54	12	,	,	PUNCT
ap-6863	54	13	two	two	NUM
ap-6863	54	14	aperiodic	aperiodic	ADJ
ap-6863	54	15	links	link	NOUN
ap-6863	54	16	with	with	ADP
ap-6863	54	17	time	time	NOUN
ap-6863	54	18	constants	constant	NOUN
ap-6863	54	19	t1	t1	PROPN
ap-6863	54	20	,	,	PUNCT
ap-6863	54	21	t2	t2	NOUN
ap-6863	54	22	,	,	PUNCT
ap-6863	54	23	a	a	DET
ap-6863	54	24	signal	signal	NOUN
ap-6863	54	25	module	module	NOUN
ap-6863	54	26	extraction	extraction	NOUN
ap-6863	54	27	block	block	NOUN
ap-6863	54	28	,	,	PUNCT
ap-6863	54	29	four	four	NUM
ap-6863	54	30	multiplying	multiplying	NOUN
ap-6863	54	31	blocks	block	NOUN
ap-6863	54	32	,	,	PUNCT
ap-6863	54	33	and	and	CCONJ
ap-6863	54	34	two	two	NUM
ap-6863	54	35	summing	sum	VERB
ap-6863	54	36	blocks	block	NOUN
ap-6863	54	37	.	.	PUNCT
ap-6863	55	1	the	the	DET
ap-6863	55	2	input	input	NOUN
ap-6863	55	3	of	of	ADP
ap-6863	55	4	the	the	DET
ap-6863	55	5	backlash	backlash	NOUN
ap-6863	55	6	compensation	compensation	NOUN
ap-6863	55	7	device	device	NOUN
ap-6863	55	8	is	be	AUX
ap-6863	55	9	branched	branch	VERB
ap-6863	55	10	with	with	ADP
ap-6863	55	11	a	a	DET
ap-6863	55	12	splitter	splitter	NOUN
ap-6863	55	13	to	to	ADP
ap-6863	55	14	three	three	NUM
ap-6863	55	15	outputs	output	NOUN
ap-6863	55	16	.	.	PUNCT
ap-6863	56	1	two	two	NUM
ap-6863	56	2	outputs	output	NOUN
ap-6863	56	3	are	be	AUX
ap-6863	56	4	connected	connect	VERB
ap-6863	56	5	to	to	ADP
ap-6863	56	6	corresponding	corresponding	ADJ
ap-6863	56	7	switches	switch	NOUN
ap-6863	56	8	.	.	PUNCT
ap-6863	57	1	one	one	NUM
ap-6863	57	2	output	output	NOUN
ap-6863	57	3	of	of	ADP
ap-6863	57	4	the	the	DET
ap-6863	57	5	switch	switch	NOUN
ap-6863	57	6	is	be	AUX
ap-6863	57	7	connected	connect	VERB
ap-6863	57	8	to	to	ADP
ap-6863	57	9	the	the	DET
ap-6863	57	10	first	first	ADJ
ap-6863	57	11	input	input	NOUN
ap-6863	57	12	of	of	ADP
ap-6863	57	13	the	the	DET
ap-6863	57	14	summator	summator	NOUN
ap-6863	57	15	through	through	ADP
ap-6863	57	16	the	the	DET
ap-6863	57	17	first	first	ADJ
ap-6863	57	18	product	product	NOUN
ap-6863	57	19	block	block	NOUN
ap-6863	57	20	,	,	PUNCT
ap-6863	57	21	and	and	CCONJ
ap-6863	57	22	the	the	DET
ap-6863	57	23	second	second	ADJ
ap-6863	57	24	through	through	ADP
ap-6863	57	25	the	the	DET
ap-6863	57	26	aperiodic	aperiodic	ADJ
ap-6863	57	27	link	link	NOUN
ap-6863	57	28	.	.	PUNCT
ap-6863	58	1	the	the	DET
ap-6863	58	2	second	second	ADJ
ap-6863	58	3	product	product	NOUN
ap-6863	58	4	block	block	NOUN
ap-6863	58	5	forms	form	VERB
ap-6863	58	6	a	a	DET
ap-6863	58	7	cross	cross	ADJ
ap-6863	58	8	-	-	ADJ
ap-6863	58	9	connection	connection	ADJ
ap-6863	58	10	line	line	NOUN
ap-6863	58	11	to	to	ADP
ap-6863	58	12	the	the	DET
ap-6863	58	13	second	second	ADJ
ap-6863	58	14	input	input	NOUN
ap-6863	58	15	to	to	ADP
ap-6863	58	16	the	the	DET
ap-6863	58	17	second	second	ADJ
ap-6863	58	18	summator	summator	NOUN
ap-6863	58	19	.	.	PUNCT
ap-6863	59	1	switches	switch	NOUN
ap-6863	59	2	are	be	AUX
ap-6863	59	3	configured	configure	VERB
ap-6863	59	4	for	for	ADP
ap-6863	59	5	positive	positive	ADJ
ap-6863	59	6	and	and	CCONJ
ap-6863	59	7	negative	negative	ADJ
ap-6863	59	8	dynamic	dynamic	ADJ
ap-6863	59	9	error	error	NOUN
ap-6863	59	10	signal	signal	NOUN
ap-6863	59	11	.	.	PUNCT
ap-6863	60	1	the	the	DET
ap-6863	60	2	outputs	output	NOUN
ap-6863	60	3	of	of	ADP
ap-6863	60	4	the	the	DET
ap-6863	60	5	switches	switch	NOUN
ap-6863	60	6	are	be	AUX
ap-6863	60	7	signals	signal	NOUN
ap-6863	60	8	(	(	PUNCT
ap-6863	60	9	0	0	NUM
ap-6863	60	10	,	,	PUNCT
ap-6863	60	11	1	1	NUM
ap-6863	60	12	)	)	PUNCT
ap-6863	60	13	and	and	CCONJ
ap-6863	60	14	(	(	PUNCT
ap-6863	60	15	-1	-1	INTJ
ap-6863	60	16	,	,	PUNCT
ap-6863	60	17	0	0	NUM
ap-6863	60	18	)	)	PUNCT
ap-6863	60	19	,	,	PUNCT
ap-6863	60	20	respectively	respectively	ADV
ap-6863	60	21	.	.	PUNCT
ap-6863	61	1	after	after	ADP
ap-6863	61	2	the	the	DET
ap-6863	61	3	switch	switch	NOUN
ap-6863	61	4	,	,	PUNCT
ap-6863	61	5	one	one	NUM
ap-6863	61	6	of	of	ADP
ap-6863	61	7	the	the	DET
ap-6863	61	8	branches	branch	NOUN
ap-6863	61	9	includes	include	VERB
ap-6863	61	10	a	a	DET
ap-6863	61	11	signal	signal	ADJ
ap-6863	61	12	module	module	NOUN
ap-6863	61	13	extraction	extraction	NOUN
ap-6863	61	14	block	block	NOUN
ap-6863	61	15	,	,	PUNCT
ap-6863	61	16	which	which	PRON
ap-6863	61	17	is	be	AUX
ap-6863	61	18	necessary	necessary	ADJ
ap-6863	61	19	to	to	PART
ap-6863	61	20	match	match	VERB
ap-6863	61	21	the	the	DET
ap-6863	61	22	signs	sign	NOUN
ap-6863	61	23	of	of	ADP
ap-6863	61	24	signals	signal	NOUN
ap-6863	61	25	at	at	ADP
ap-6863	61	26	the	the	DET
ap-6863	61	27	outputs	output	NOUN
ap-6863	61	28	of	of	ADP
ap-6863	61	29	the	the	DET
ap-6863	61	30	products	product	NOUN
ap-6863	61	31	blocks	block	NOUN
ap-6863	61	32	,	,	PUNCT
ap-6863	61	33	the	the	DET
ap-6863	61	34	second	second	ADJ
ap-6863	61	35	inputs	input	NOUN
ap-6863	61	36	of	of	ADP
ap-6863	61	37	the	the	DET
ap-6863	61	38	four	four	NUM
ap-6863	61	39	product	product	NOUN
ap-6863	61	40	305	305	NUM
ap-6863	61	41	s.	s.	PROPN
ap-6863	61	42	l.	l.	PROPN
ap-6863	61	43	samsonovich	samsonovich	PROPN
ap-6863	61	44	,	,	PUNCT
ap-6863	61	45	b.	b.	PROPN
ap-6863	61	46	k.	k.	PROPN
ap-6863	61	47	fedotov	fedotov	PROPN
ap-6863	61	48	,	,	PUNCT
ap-6863	61	49	n.	n.	PROPN
ap-6863	61	50	b.	b.	PROPN
ap-6863	61	51	rozhnin	rozhnin	PROPN
ap-6863	61	52	,	,	PUNCT
ap-6863	61	53	r.	r.	PROPN
ap-6863	61	54	v.	v.	PROPN
ap-6863	61	55	goryunov	goryunov	PROPN
ap-6863	61	56	acta	acta	PROPN
ap-6863	61	57	polytechnica	polytechnica	PROPN
ap-6863	61	58	figure	figure	NOUN
ap-6863	61	59	5	5	NUM
ap-6863	61	60	.	.	PUNCT
ap-6863	61	61	scheme	scheme	NOUN
ap-6863	61	62	of	of	ADP
ap-6863	61	63	backlash	backlash	NOUN
ap-6863	61	64	compensation	compensation	NOUN
ap-6863	61	65	device	device	NOUN
ap-6863	61	66	with	with	ADP
ap-6863	61	67	cross	cross	NOUN
ap-6863	61	68	-	-	NOUN
ap-6863	61	69	connections	connection	NOUN
ap-6863	61	70	.	.	PUNCT
ap-6863	62	1	blocks	block	NOUN
ap-6863	62	2	are	be	AUX
ap-6863	62	3	connected	connect	VERB
ap-6863	62	4	to	to	ADP
ap-6863	62	5	the	the	DET
ap-6863	62	6	remaining	remain	VERB
ap-6863	62	7	outputs	output	NOUN
ap-6863	62	8	of	of	ADP
ap-6863	62	9	the	the	DET
ap-6863	62	10	input	input	NOUN
ap-6863	62	11	signal	signal	NOUN
ap-6863	62	12	splitter	splitter	NOUN
ap-6863	62	13	.	.	PUNCT
ap-6863	63	1	the	the	DET
ap-6863	63	2	signals	signal	NOUN
ap-6863	63	3	from	from	ADP
ap-6863	63	4	the	the	DET
ap-6863	63	5	outputs	output	NOUN
ap-6863	63	6	of	of	ADP
ap-6863	63	7	the	the	DET
ap-6863	63	8	summation	summation	NOUN
ap-6863	63	9	blocks	block	NOUN
ap-6863	63	10	are	be	AUX
ap-6863	63	11	the	the	DET
ap-6863	63	12	output	output	NOUN
ap-6863	63	13	signals	signal	NOUN
ap-6863	63	14	of	of	ADP
ap-6863	63	15	the	the	DET
ap-6863	63	16	backlash	backlash	NOUN
ap-6863	63	17	compensation	compensation	NOUN
ap-6863	63	18	device	device	NOUN
ap-6863	63	19	θ1	θ1	NOUN
ap-6863	63	20	,	,	PUNCT
ap-6863	63	21	θ2	θ2	PROPN
ap-6863	63	22	.	.	PUNCT
ap-6863	64	1	the	the	DET
ap-6863	64	2	principle	principle	NOUN
ap-6863	64	3	of	of	ADP
ap-6863	64	4	operation	operation	NOUN
ap-6863	64	5	of	of	ADP
ap-6863	64	6	a	a	DET
ap-6863	64	7	cross	cross	ADJ
ap-6863	64	8	-	-	ADJ
ap-6863	64	9	connections	connection	NOUN
ap-6863	64	10	scheme	scheme	NOUN
ap-6863	64	11	is	be	AUX
ap-6863	64	12	based	base	VERB
ap-6863	64	13	on	on	ADP
ap-6863	64	14	the	the	DET
ap-6863	64	15	phase	phase	NOUN
ap-6863	64	16	shift	shift	NOUN
ap-6863	64	17	of	of	ADP
ap-6863	64	18	the	the	DET
ap-6863	64	19	signal	signal	NOUN
ap-6863	64	20	in	in	ADP
ap-6863	64	21	the	the	DET
ap-6863	64	22	second	second	ADJ
ap-6863	64	23	channel	channel	NOUN
ap-6863	64	24	,	,	PUNCT
ap-6863	64	25	the	the	DET
ap-6863	64	26	value	value	NOUN
ap-6863	64	27	of	of	ADP
ap-6863	64	28	which	which	PRON
ap-6863	64	29	is	be	AUX
ap-6863	64	30	selected	select	VERB
ap-6863	64	31	depending	depend	VERB
ap-6863	64	32	on	on	ADP
ap-6863	64	33	the	the	DET
ap-6863	64	34	amount	amount	NOUN
ap-6863	64	35	of	of	ADP
ap-6863	64	36	backlash	backlash	NOUN
ap-6863	64	37	.	.	PUNCT
ap-6863	65	1	for	for	ADP
ap-6863	65	2	this	this	DET
ap-6863	65	3	purpose	purpose	NOUN
ap-6863	65	4	,	,	PUNCT
ap-6863	65	5	aperiodic	aperiodic	ADJ
ap-6863	65	6	links	link	NOUN
ap-6863	65	7	with	with	ADP
ap-6863	65	8	time	time	NOUN
ap-6863	65	9	constants	constant	NOUN
ap-6863	65	10	t1	t1	PROPN
ap-6863	65	11	,	,	PUNCT
ap-6863	65	12	t2	t2	PROPN
ap-6863	65	13	are	be	AUX
ap-6863	65	14	used	use	VERB
ap-6863	65	15	.	.	PUNCT
ap-6863	66	1	initially	initially	ADV
ap-6863	66	2	,	,	PUNCT
ap-6863	66	3	the	the	DET
ap-6863	66	4	values	value	NOUN
ap-6863	66	5	of	of	ADP
ap-6863	66	6	the	the	DET
ap-6863	66	7	time	time	NOUN
ap-6863	66	8	constants	constant	NOUN
ap-6863	66	9	are	be	AUX
ap-6863	66	10	equal	equal	ADJ
ap-6863	66	11	to	to	ADP
ap-6863	66	12	t1	t1	NOUN
ap-6863	66	13	=	=	SYM
ap-6863	66	14	t2	t2	PROPN
ap-6863	66	15	,	,	PUNCT
ap-6863	66	16	then	then	ADV
ap-6863	66	17	the	the	DET
ap-6863	66	18	value	value	NOUN
ap-6863	66	19	–	–	PUNCT
ap-6863	66	20	t1,2	t1,2	PROPN
ap-6863	66	21	is	be	AUX
ap-6863	66	22	selected	select	VERB
ap-6863	66	23	depending	depend	VERB
ap-6863	66	24	on	on	ADP
ap-6863	66	25	the	the	DET
ap-6863	66	26	individual	individual	ADJ
ap-6863	66	27	parameters	parameter	NOUN
ap-6863	66	28	of	of	ADP
ap-6863	66	29	a	a	DET
ap-6863	66	30	separate	separate	ADJ
ap-6863	66	31	channel	channel	NOUN
ap-6863	66	32	.	.	PUNCT
ap-6863	67	1	it	it	PRON
ap-6863	67	2	is	be	AUX
ap-6863	67	3	known	know	VERB
ap-6863	67	4	that	that	SCONJ
ap-6863	67	5	the	the	DET
ap-6863	67	6	backlash	backlash	NOUN
ap-6863	67	7	has	have	VERB
ap-6863	67	8	the	the	DET
ap-6863	67	9	greatest	great	ADJ
ap-6863	67	10	influence	influence	NOUN
ap-6863	67	11	in	in	ADP
ap-6863	67	12	the	the	DET
ap-6863	67	13	tracking	tracking	NOUN
ap-6863	67	14	system	system	NOUN
ap-6863	67	15	when	when	SCONJ
ap-6863	67	16	the	the	DET
ap-6863	67	17	direction	direction	NOUN
ap-6863	67	18	of	of	ADP
ap-6863	67	19	movement	movement	NOUN
ap-6863	67	20	is	be	AUX
ap-6863	67	21	changed	change	VERB
ap-6863	67	22	;	;	PUNCT
ap-6863	67	23	in	in	ADP
ap-6863	67	24	that	that	DET
ap-6863	67	25	moment	moment	NOUN
ap-6863	67	26	,	,	PUNCT
ap-6863	67	27	there	there	PRON
ap-6863	67	28	is	be	VERB
ap-6863	67	29	a	a	DET
ap-6863	67	30	change	change	NOUN
ap-6863	67	31	in	in	ADP
ap-6863	67	32	the	the	DET
ap-6863	67	33	working	work	VERB
ap-6863	67	34	surfaces	surface	NOUN
ap-6863	67	35	(	(	PUNCT
ap-6863	67	36	sides	side	NOUN
ap-6863	67	37	)	)	PUNCT
ap-6863	67	38	of	of	ADP
ap-6863	67	39	the	the	DET
ap-6863	67	40	gear	gear	NOUN
ap-6863	67	41	teeth	tooth	NOUN
ap-6863	67	42	,	,	PUNCT
ap-6863	67	43	and	and	CCONJ
ap-6863	67	44	for	for	ADP
ap-6863	67	45	the	the	DET
ap-6863	67	46	time	time	NOUN
ap-6863	67	47	of	of	ADP
ap-6863	67	48	this	this	DET
ap-6863	67	49	switching	switching	NOUN
ap-6863	67	50	,	,	PUNCT
ap-6863	67	51	the	the	DET
ap-6863	67	52	system	system	NOUN
ap-6863	67	53	appears	appear	VERB
ap-6863	67	54	to	to	PART
ap-6863	67	55	be	be	AUX
ap-6863	67	56	open	open	ADJ
ap-6863	67	57	.	.	PUNCT
ap-6863	68	1	changing	change	VERB
ap-6863	68	2	the	the	DET
ap-6863	68	3	direction	direction	NOUN
ap-6863	68	4	of	of	ADP
ap-6863	68	5	movement	movement	NOUN
ap-6863	68	6	of	of	ADP
ap-6863	68	7	the	the	DET
ap-6863	68	8	control	control	NOUN
ap-6863	68	9	object	object	NOUN
ap-6863	68	10	requires	require	VERB
ap-6863	68	11	switching	switch	VERB
ap-6863	68	12	channels	channel	NOUN
ap-6863	68	13	.	.	PUNCT
ap-6863	69	1	switches	switch	NOUN
ap-6863	69	2	are	be	AUX
ap-6863	69	3	used	use	VERB
ap-6863	69	4	to	to	PART
ap-6863	69	5	prevent	prevent	VERB
ap-6863	69	6	the	the	DET
ap-6863	69	7	backlash	backlash	NOUN
ap-6863	69	8	from	from	ADP
ap-6863	69	9	opening	opening	NOUN
ap-6863	69	10	when	when	SCONJ
ap-6863	69	11	the	the	DET
ap-6863	69	12	direction	direction	NOUN
ap-6863	69	13	of	of	ADP
ap-6863	69	14	movement	movement	NOUN
ap-6863	69	15	is	be	AUX
ap-6863	69	16	changed	change	VERB
ap-6863	69	17	.	.	PUNCT
ap-6863	70	1	for	for	ADP
ap-6863	70	2	this	this	DET
ap-6863	70	3	purpose	purpose	NOUN
ap-6863	70	4	,	,	PUNCT
ap-6863	70	5	switching	switch	VERB
ap-6863	70	6	filters	filter	NOUN
ap-6863	70	7	and	and	CCONJ
ap-6863	70	8	cross	cros	NOUN
ap-6863	70	9	-	-	NOUN
ap-6863	70	10	connections	connection	NOUN
ap-6863	70	11	are	be	AUX
ap-6863	70	12	used	use	VERB
ap-6863	70	13	.	.	PUNCT
ap-6863	71	1	in	in	ADP
ap-6863	71	2	the	the	DET
ap-6863	71	3	mode	mode	NOUN
ap-6863	71	4	of	of	ADP
ap-6863	71	5	steady	steady	ADJ
ap-6863	71	6	motion	motion	NOUN
ap-6863	71	7	,	,	PUNCT
ap-6863	71	8	after	after	ADP
ap-6863	71	9	the	the	DET
ap-6863	71	10	end	end	NOUN
ap-6863	71	11	of	of	ADP
ap-6863	71	12	the	the	DET
ap-6863	71	13	transient	transient	NOUN
ap-6863	71	14	processes	process	NOUN
ap-6863	71	15	,	,	PUNCT
ap-6863	71	16	the	the	DET
ap-6863	71	17	signal	signal	NOUN
ap-6863	71	18	in	in	ADP
ap-6863	71	19	the	the	DET
ap-6863	71	20	second	second	ADJ
ap-6863	71	21	channel	channel	NOUN
ap-6863	71	22	is	be	AUX
ap-6863	71	23	close	close	ADJ
ap-6863	71	24	to	to	ADP
ap-6863	71	25	the	the	DET
ap-6863	71	26	signal	signal	NOUN
ap-6863	71	27	in	in	ADP
ap-6863	71	28	the	the	DET
ap-6863	71	29	first	first	ADJ
ap-6863	71	30	channel	channel	NOUN
ap-6863	71	31	,	,	PUNCT
ap-6863	71	32	therefore	therefore	ADV
ap-6863	71	33	,	,	PUNCT
ap-6863	71	34	both	both	DET
ap-6863	71	35	channels	channel	NOUN
ap-6863	71	36	operate	operate	VERB
ap-6863	71	37	in	in	ADP
ap-6863	71	38	the	the	DET
ap-6863	71	39	same	same	ADJ
ap-6863	71	40	direction	direction	NOUN
ap-6863	71	41	,	,	PUNCT
ap-6863	71	42	in	in	ADP
ap-6863	71	43	this	this	DET
ap-6863	71	44	mode	mode	NOUN
ap-6863	71	45	of	of	ADP
ap-6863	71	46	movement	movement	NOUN
ap-6863	71	47	,	,	PUNCT
ap-6863	71	48	the	the	DET
ap-6863	71	49	drive	drive	ADJ
ap-6863	71	50	torques	torque	NOUN
ap-6863	71	51	are	be	AUX
ap-6863	71	52	summed	sum	VERB
ap-6863	71	53	up	up	ADP
ap-6863	71	54	.	.	PUNCT
ap-6863	72	1	the	the	DET
ap-6863	72	2	backlash	backlash	NOUN
ap-6863	72	3	in	in	ADP
ap-6863	72	4	mechanical	mechanical	ADJ
ap-6863	72	5	transmissions	transmission	NOUN
ap-6863	72	6	causes	cause	VERB
ap-6863	72	7	amplitude	amplitude	NOUN
ap-6863	72	8	limiting	limiting	NOUN
ap-6863	72	9	and	and	CCONJ
ap-6863	72	10	phase	phase	NOUN
ap-6863	72	11	displacement	displacement	NOUN
ap-6863	72	12	during	during	ADP
ap-6863	72	13	the	the	DET
ap-6863	72	14	guidance	guidance	NOUN
ap-6863	72	15	signal	signal	NOUN
ap-6863	72	16	processing	processing	NOUN
ap-6863	72	17	.	.	PUNCT
ap-6863	73	1	if	if	SCONJ
ap-6863	73	2	the	the	DET
ap-6863	73	3	selected	select	VERB
ap-6863	73	4	time	time	NOUN
ap-6863	73	5	constants	constant	NOUN
ap-6863	73	6	t1	t1	PROPN
ap-6863	73	7	,	,	PUNCT
ap-6863	73	8	t2	t2	PROPN
ap-6863	73	9	provide	provide	VERB
ap-6863	73	10	a	a	DET
ap-6863	73	11	displacement	displacement	NOUN
ap-6863	73	12	in	in	ADP
ap-6863	73	13	the	the	DET
ap-6863	73	14	second	second	ADJ
ap-6863	73	15	channel	channel	NOUN
ap-6863	73	16	greater	great	ADJ
ap-6863	73	17	than	than	ADP
ap-6863	73	18	the	the	DET
ap-6863	73	19	displacement	displacement	NOUN
ap-6863	73	20	produced	produce	VERB
ap-6863	73	21	by	by	ADP
ap-6863	73	22	the	the	DET
ap-6863	73	23	action	action	NOUN
ap-6863	73	24	of	of	ADP
ap-6863	73	25	the	the	DET
ap-6863	73	26	backlash	backlash	NOUN
ap-6863	73	27	,	,	PUNCT
ap-6863	73	28	then	then	ADV
ap-6863	73	29	in	in	ADP
ap-6863	73	30	the	the	DET
ap-6863	73	31	electric	electric	ADJ
ap-6863	73	32	drive	drive	NOUN
ap-6863	73	33	consisting	consist	VERB
ap-6863	73	34	of	of	ADP
ap-6863	73	35	two	two	NUM
ap-6863	73	36	motors	motor	NOUN
ap-6863	73	37	connected	connect	VERB
ap-6863	73	38	by	by	ADP
ap-6863	73	39	a	a	DET
ap-6863	73	40	common	common	ADJ
ap-6863	73	41	mechanical	mechanical	ADJ
ap-6863	73	42	transmission	transmission	NOUN
ap-6863	73	43	,	,	PUNCT
ap-6863	73	44	there	there	PRON
ap-6863	73	45	will	will	AUX
ap-6863	73	46	be	be	AUX
ap-6863	73	47	thrust	thrust	VERB
ap-6863	73	48	torques	torque	NOUN
ap-6863	73	49	for	for	ADP
ap-6863	73	50	backlash	backlash	NOUN
ap-6863	73	51	compensation	compensation	NOUN
ap-6863	73	52	.	.	PUNCT
ap-6863	74	1	5	5	X
ap-6863	74	2	.	.	X
ap-6863	74	3	experiment	experiment	NOUN
ap-6863	74	4	results	result	VERB
ap-6863	74	5	the	the	DET
ap-6863	74	6	study	study	NOUN
ap-6863	74	7	of	of	ADP
ap-6863	74	8	the	the	DET
ap-6863	74	9	electric	electric	ADJ
ap-6863	74	10	drive	drive	PROPN
ap-6863	74	11	operation	operation	NOUN
ap-6863	74	12	with	with	ADP
ap-6863	74	13	a	a	DET
ap-6863	74	14	backlash	backlash	NOUN
ap-6863	74	15	was	be	AUX
ap-6863	74	16	carried	carry	VERB
ap-6863	74	17	out	out	ADP
ap-6863	74	18	by	by	ADP
ap-6863	74	19	simulating	simulate	VERB
ap-6863	74	20	in	in	ADP
ap-6863	74	21	simulink	simulink	NOUN
ap-6863	74	22	using	use	VERB
ap-6863	74	23	the	the	DET
ap-6863	74	24	example	example	NOUN
ap-6863	74	25	of	of	ADP
ap-6863	74	26	a	a	DET
ap-6863	74	27	harmonic	harmonic	ADJ
ap-6863	74	28	guidance	guidance	NOUN
ap-6863	74	29	signal	signal	NOUN
ap-6863	74	30	.	.	PUNCT
ap-6863	75	1	the	the	DET
ap-6863	75	2	results	result	NOUN
ap-6863	75	3	of	of	ADP
ap-6863	75	4	the	the	DET
ap-6863	75	5	operation	operation	NOUN
ap-6863	75	6	of	of	ADP
ap-6863	75	7	the	the	DET
ap-6863	75	8	drive	drive	NOUN
ap-6863	75	9	under	under	ADP
ap-6863	75	10	study	study	NOUN
ap-6863	75	11	with	with	ADP
ap-6863	75	12	the	the	DET
ap-6863	75	13	known	know	VERB
ap-6863	75	14	scheme	scheme	NOUN
ap-6863	75	15	of	of	ADP
ap-6863	75	16	the	the	DET
ap-6863	75	17	backlash	backlash	NOUN
ap-6863	75	18	compensation	compensation	NOUN
ap-6863	75	19	device	device	NOUN
ap-6863	75	20	based	base	VERB
ap-6863	75	21	on	on	ADP
ap-6863	75	22	the	the	DET
ap-6863	75	23	introduction	introduction	NOUN
ap-6863	75	24	of	of	ADP
ap-6863	75	25	displacement	displacement	ADJ
ap-6863	75	26	signals	signal	NOUN
ap-6863	75	27	are	be	AUX
ap-6863	75	28	shown	show	VERB
ap-6863	75	29	in	in	ADP
ap-6863	75	30	figure	figure	NOUN
ap-6863	75	31	6	6	NUM
ap-6863	75	32	.	.	PUNCT
ap-6863	76	1	it	it	PRON
ap-6863	76	2	follows	follow	VERB
ap-6863	76	3	from	from	ADP
ap-6863	76	4	the	the	DET
ap-6863	76	5	graphs	graph	NOUN
ap-6863	76	6	that	that	SCONJ
ap-6863	76	7	the	the	DET
ap-6863	76	8	dynamics	dynamic	NOUN
ap-6863	76	9	of	of	ADP
ap-6863	76	10	the	the	DET
ap-6863	76	11	drive	drive	NOUN
ap-6863	76	12	is	be	AUX
ap-6863	76	13	close	close	ADJ
ap-6863	76	14	to	to	ADP
ap-6863	76	15	the	the	DET
ap-6863	76	16	dynamics	dynamic	NOUN
ap-6863	76	17	of	of	ADP
ap-6863	76	18	an	an	DET
ap-6863	76	19	idealized	idealized	ADJ
ap-6863	76	20	model	model	NOUN
ap-6863	76	21	without	without	ADP
ap-6863	76	22	any	any	DET
ap-6863	76	23	backlash	backlash	NOUN
ap-6863	76	24	.	.	PUNCT
ap-6863	77	1	the	the	DET
ap-6863	77	2	smoothness	smoothness	NOUN
ap-6863	77	3	of	of	ADP
ap-6863	77	4	the	the	DET
ap-6863	77	5	change	change	NOUN
ap-6863	77	6	in	in	ADP
ap-6863	77	7	the	the	DET
ap-6863	77	8	coordinates	coordinate	NOUN
ap-6863	77	9	of	of	ADP
ap-6863	77	10	the	the	DET
ap-6863	77	11	electric	electric	ADJ
ap-6863	77	12	drive	drive	NOUN
ap-6863	77	13	is	be	AUX
ap-6863	77	14	ensured	ensure	VERB
ap-6863	77	15	in	in	ADP
ap-6863	77	16	the	the	DET
ap-6863	77	17	entire	entire	ADJ
ap-6863	77	18	range	range	NOUN
ap-6863	77	19	of	of	ADP
ap-6863	77	20	development	development	NOUN
ap-6863	77	21	(	(	PUNCT
ap-6863	77	22	figure	figure	VERB
ap-6863	77	23	6a	6a	NOUN
ap-6863	77	24	)	)	PUNCT
ap-6863	77	25	.	.	PUNCT
ap-6863	78	1	figure	figure	NOUN
ap-6863	78	2	6b	6b	PROPN
ap-6863	78	3	shows	show	VERB
ap-6863	78	4	significant	significant	ADJ
ap-6863	78	5	thrust	thrust	VERB
ap-6863	78	6	torques	torque	NOUN
ap-6863	78	7	exceeding	exceed	VERB
ap-6863	78	8	the	the	DET
ap-6863	78	9	required	required	ADJ
ap-6863	78	10	total	total	ADJ
ap-6863	78	11	torque	torque	NOUN
ap-6863	78	12	.	.	PUNCT
ap-6863	79	1	a	a	DET
ap-6863	79	2	significant	significant	ADJ
ap-6863	79	3	amount	amount	NOUN
ap-6863	79	4	of	of	ADP
ap-6863	79	5	energy	energy	NOUN
ap-6863	79	6	is	be	AUX
ap-6863	79	7	spent	spend	VERB
ap-6863	79	8	on	on	ADP
ap-6863	79	9	mutual	mutual	ADJ
ap-6863	79	10	torques	torque	NOUN
ap-6863	79	11	of	of	ADP
ap-6863	79	12	the	the	DET
ap-6863	79	13	motors	motor	NOUN
ap-6863	79	14	,	,	PUNCT
ap-6863	79	15	which	which	PRON
ap-6863	79	16	leads	lead	VERB
ap-6863	79	17	to	to	ADP
ap-6863	79	18	a	a	DET
ap-6863	79	19	decrease	decrease	NOUN
ap-6863	79	20	in	in	ADP
ap-6863	79	21	the	the	DET
ap-6863	79	22	efficiency	efficiency	NOUN
ap-6863	79	23	of	of	ADP
ap-6863	79	24	the	the	DET
ap-6863	79	25	electric	electric	ADJ
ap-6863	79	26	drive	drive	NOUN
ap-6863	79	27	,	,	PUNCT
ap-6863	79	28	which	which	PRON
ap-6863	79	29	does	do	AUX
ap-6863	79	30	not	not	PART
ap-6863	79	31	exceed	exceed	VERB
ap-6863	79	32	30	30	NUM
ap-6863	79	33	%	%	NOUN
ap-6863	79	34	in	in	ADP
ap-6863	79	35	the	the	DET
ap-6863	79	36	steady	steady	ADJ
ap-6863	79	37	-	-	PUNCT
ap-6863	79	38	state	state	NOUN
ap-6863	79	39	motion	motion	NOUN
ap-6863	79	40	mode	mode	NOUN
ap-6863	79	41	(	(	PUNCT
ap-6863	79	42	figure	figure	NOUN
ap-6863	79	43	6c	6c	PROPN
ap-6863	79	44	)	)	PUNCT
ap-6863	79	45	.	.	PUNCT
ap-6863	80	1	the	the	DET
ap-6863	80	2	simulation	simulation	NOUN
ap-6863	80	3	results	result	NOUN
ap-6863	80	4	show	show	VERB
ap-6863	80	5	that	that	SCONJ
ap-6863	80	6	the	the	DET
ap-6863	80	7	use	use	NOUN
ap-6863	80	8	of	of	ADP
ap-6863	80	9	a	a	DET
ap-6863	80	10	backlash	backlash	NOUN
ap-6863	80	11	compensation	compensation	NOUN
ap-6863	80	12	device	device	NOUN
ap-6863	80	13	with	with	ADP
ap-6863	80	14	an	an	DET
ap-6863	80	15	input	input	NOUN
ap-6863	80	16	of	of	ADP
ap-6863	80	17	displacement	displacement	ADJ
ap-6863	80	18	signals	signal	NOUN
ap-6863	80	19	makes	make	VERB
ap-6863	80	20	it	it	PRON
ap-6863	80	21	possible	possible	ADJ
ap-6863	80	22	to	to	PART
ap-6863	80	23	compensate	compensate	VERB
ap-6863	80	24	for	for	ADP
ap-6863	80	25	the	the	DET
ap-6863	80	26	effect	effect	NOUN
ap-6863	80	27	of	of	ADP
ap-6863	80	28	backlash	backlash	NOUN
ap-6863	80	29	caused	cause	VERB
ap-6863	80	30	by	by	ADP
ap-6863	80	31	corrosion	corrosion	NOUN
ap-6863	80	32	and	and	CCONJ
ap-6863	80	33	ensure	ensure	VERB
ap-6863	80	34	the	the	DET
ap-6863	80	35	required	require	VERB
ap-6863	80	36	accuracy	accuracy	NOUN
ap-6863	80	37	of	of	ADP
ap-6863	80	38	operation	operation	NOUN
ap-6863	80	39	.	.	PUNCT
ap-6863	81	1	the	the	DET
ap-6863	81	2	operating	operating	NOUN
ap-6863	81	3	parameters	parameter	NOUN
ap-6863	81	4	,	,	PUNCT
ap-6863	81	5	in	in	ADP
ap-6863	81	6	terms	term	NOUN
ap-6863	81	7	of	of	ADP
ap-6863	81	8	processing	process	VERB
ap-6863	81	9	the	the	DET
ap-6863	81	10	control	control	NOUN
ap-6863	81	11	signal	signal	NOUN
ap-6863	81	12	,	,	PUNCT
ap-6863	81	13	are	be	AUX
ap-6863	81	14	as	as	ADV
ap-6863	81	15	close	close	ADJ
ap-6863	81	16	as	as	ADP
ap-6863	81	17	possible	possible	ADJ
ap-6863	81	18	to	to	ADP
ap-6863	81	19	the	the	DET
ap-6863	81	20	parameters	parameter	NOUN
ap-6863	81	21	of	of	ADP
ap-6863	81	22	the	the	DET
ap-6863	81	23	drive	drive	NOUN
ap-6863	81	24	without	without	ADP
ap-6863	81	25	backlash	backlash	NOUN
ap-6863	81	26	,	,	PUNCT
ap-6863	81	27	however	however	ADV
ap-6863	81	28	,	,	PUNCT
ap-6863	81	29	the	the	DET
ap-6863	81	30	high	high	ADJ
ap-6863	81	31	thrust	thrust	NOUN
ap-6863	81	32	torque	torque	NOUN
ap-6863	81	33	leads	lead	VERB
ap-6863	81	34	to	to	ADP
ap-6863	81	35	high	high	ADJ
ap-6863	81	36	energy	energy	NOUN
ap-6863	81	37	costs	cost	NOUN
ap-6863	81	38	and	and	CCONJ
ap-6863	81	39	a	a	DET
ap-6863	81	40	decrease	decrease	NOUN
ap-6863	81	41	in	in	ADP
ap-6863	81	42	efficiency	efficiency	NOUN
ap-6863	81	43	.	.	PUNCT
ap-6863	82	1	the	the	DET
ap-6863	82	2	results	result	NOUN
ap-6863	82	3	of	of	ADP
ap-6863	82	4	the	the	DET
ap-6863	82	5	operation	operation	NOUN
ap-6863	82	6	of	of	ADP
ap-6863	82	7	the	the	DET
ap-6863	82	8	drive	drive	NOUN
ap-6863	82	9	with	with	ADP
ap-6863	82	10	a	a	DET
ap-6863	82	11	crossconnection	crossconnection	NOUN
ap-6863	82	12	backlash	backlash	NOUN
ap-6863	82	13	compensation	compensation	NOUN
ap-6863	82	14	device	device	NOUN
ap-6863	82	15	when	when	SCONJ
ap-6863	82	16	small	small	ADJ
ap-6863	82	17	values	value	NOUN
ap-6863	82	18	of	of	ADP
ap-6863	82	19	t1,t2	t1,t2	PROPN
ap-6863	82	20	=	=	PUNCT
ap-6863	82	21	0.2	0.2	NUM
ap-6863	82	22	s	s	NOUN
ap-6863	82	23	are	be	AUX
ap-6863	82	24	selected	select	VERB
ap-6863	82	25	(	(	PUNCT
ap-6863	82	26	the	the	DET
ap-6863	82	27	displacement	displacement	NOUN
ap-6863	82	28	in	in	ADP
ap-6863	82	29	the	the	DET
ap-6863	82	30	second	second	ADJ
ap-6863	82	31	channel	channel	NOUN
ap-6863	82	32	is	be	AUX
ap-6863	82	33	lower	low	ADJ
ap-6863	82	34	than	than	ADP
ap-6863	82	35	the	the	DET
ap-6863	82	36	displacement	displacement	NOUN
ap-6863	82	37	produced	produce	VERB
ap-6863	82	38	by	by	ADP
ap-6863	82	39	the	the	DET
ap-6863	82	40	backlash	backlash	NOUN
ap-6863	82	41	)	)	PUNCT
ap-6863	82	42	and	and	CCONJ
ap-6863	82	43	when	when	SCONJ
ap-6863	82	44	a	a	DET
ap-6863	82	45	harmonic	harmonic	ADJ
ap-6863	82	46	guidance	guidance	NOUN
ap-6863	82	47	signal	signal	NOUN
ap-6863	82	48	arrives	arrive	NOUN
ap-6863	82	49	are	be	AUX
ap-6863	82	50	shown	show	VERB
ap-6863	82	51	in	in	ADP
ap-6863	82	52	figure	figure	NOUN
ap-6863	82	53	7	7	NUM
ap-6863	82	54	.	.	PUNCT
ap-6863	83	1	the	the	DET
ap-6863	83	2	simula306	simula306	PROPN
ap-6863	83	3	vol	vol	NOUN
ap-6863	83	4	.	.	PUNCT
ap-6863	84	1	62	62	NUM
ap-6863	84	2	no	no	INTJ
ap-6863	84	3	.	.	PUNCT
ap-6863	85	1	2/2022	2/2022	NUM
ap-6863	85	2	results	result	NOUN
ap-6863	85	3	of	of	ADP
ap-6863	85	4	research	research	NOUN
ap-6863	85	5	on	on	ADP
ap-6863	85	6	backlash	backlash	NOUN
ap-6863	85	7	compensation	compensation	NOUN
ap-6863	85	8	in	in	ADP
ap-6863	85	9	a	a	DET
ap-6863	85	10	power	power	NOUN
ap-6863	85	11	.	.	PUNCT
ap-6863	85	12	.	.	PUNCT
ap-6863	85	13	.	.	PUNCT
ap-6863	86	1	(	(	PUNCT
ap-6863	86	2	a	a	X
ap-6863	86	3	)	)	PUNCT
ap-6863	86	4	.	.	PUNCT
ap-6863	87	1	(	(	PUNCT
ap-6863	87	2	b	b	NOUN
ap-6863	87	3	)	)	PUNCT
ap-6863	87	4	.	.	PUNCT
ap-6863	88	1	(	(	PUNCT
ap-6863	88	2	c	c	X
ap-6863	88	3	)	)	PUNCT
ap-6863	88	4	.	.	PUNCT
ap-6863	89	1	figure	figure	VERB
ap-6863	89	2	6	6	NUM
ap-6863	89	3	.	.	PUNCT
ap-6863	90	1	the	the	DET
ap-6863	90	2	operation	operation	NOUN
ap-6863	90	3	of	of	ADP
ap-6863	90	4	the	the	DET
ap-6863	90	5	drive	drive	NOUN
ap-6863	90	6	with	with	ADP
ap-6863	90	7	a	a	DET
ap-6863	90	8	backlash	backlash	NOUN
ap-6863	90	9	compensation	compensation	NOUN
ap-6863	90	10	device	device	NOUN
ap-6863	90	11	with	with	ADP
ap-6863	90	12	input	input	NOUN
ap-6863	90	13	of	of	ADP
ap-6863	90	14	displacement	displacement	ADJ
ap-6863	90	15	signals	signal	NOUN
ap-6863	90	16	with	with	ADP
ap-6863	90	17	harmonic	harmonic	ADJ
ap-6863	90	18	guidance	guidance	NOUN
ap-6863	90	19	signal	signal	NOUN
ap-6863	90	20	:	:	PUNCT
ap-6863	90	21	a	a	X
ap-6863	90	22	)	)	PUNCT
ap-6863	90	23	guidance	guidance	NOUN
ap-6863	90	24	signal	signal	NOUN
ap-6863	90	25	–	–	PUNCT
ap-6863	90	26	φc	φc	NOUN
ap-6863	90	27	,	,	PUNCT
ap-6863	90	28	execution	execution	NOUN
ap-6863	90	29	of	of	ADP
ap-6863	90	30	the	the	DET
ap-6863	90	31	guidance	guidance	NOUN
ap-6863	90	32	signal	signal	NOUN
ap-6863	90	33	by	by	ADP
ap-6863	90	34	the	the	DET
ap-6863	90	35	drive	drive	NOUN
ap-6863	90	36	–	–	PUNCT
ap-6863	90	37	φobj	φobj	NOUN
ap-6863	90	38	,	,	PUNCT
ap-6863	90	39	and	and	CCONJ
ap-6863	90	40	dynamic	dynamic	ADJ
ap-6863	90	41	system	system	NOUN
ap-6863	90	42	error	error	NOUN
ap-6863	90	43	signal	signal	NOUN
ap-6863	90	44	θ	θ	PROPN
ap-6863	90	45	;	;	PUNCT
ap-6863	90	46	b	b	X
ap-6863	90	47	)	)	PUNCT
ap-6863	90	48	torques	torque	NOUN
ap-6863	90	49	developed	develop	VERB
ap-6863	90	50	by	by	ADP
ap-6863	90	51	motors	motor	NOUN
ap-6863	90	52	and	and	CCONJ
ap-6863	90	53	total	total	ADJ
ap-6863	90	54	drive	drive	ADJ
ap-6863	90	55	torque	torque	NOUN
ap-6863	90	56	;	;	PUNCT
ap-6863	90	57	c	c	X
ap-6863	90	58	)	)	PUNCT
ap-6863	90	59	efficiency	efficiency	NOUN
ap-6863	90	60	of	of	ADP
ap-6863	90	61	the	the	DET
ap-6863	90	62	electric	electric	ADJ
ap-6863	90	63	drive	drive	PROPN
ap-6863	90	64	.	.	PUNCT
ap-6863	91	1	tion	tion	PROPN
ap-6863	91	2	showed	show	VERB
ap-6863	91	3	the	the	DET
ap-6863	91	4	drive	drive	ADJ
ap-6863	91	5	execution	execution	NOUN
ap-6863	91	6	to	to	ADP
ap-6863	91	7	the	the	DET
ap-6863	91	8	guidance	guidance	NOUN
ap-6863	91	9	signal	signal	NOUN
ap-6863	91	10	;	;	PUNCT
ap-6863	91	11	when	when	SCONJ
ap-6863	91	12	the	the	DET
ap-6863	91	13	sign	sign	NOUN
ap-6863	91	14	of	of	ADP
ap-6863	91	15	the	the	DET
ap-6863	91	16	dynamic	dynamic	ADJ
ap-6863	91	17	error	error	NOUN
ap-6863	91	18	signal	signal	NOUN
ap-6863	91	19	changes	change	NOUN
ap-6863	91	20	,	,	PUNCT
ap-6863	91	21	a	a	DET
ap-6863	91	22	shift	shift	NOUN
ap-6863	91	23	in	in	ADP
ap-6863	91	24	the	the	DET
ap-6863	91	25	amplitudes	amplitude	NOUN
ap-6863	91	26	of	of	ADP
ap-6863	91	27	the	the	DET
ap-6863	91	28	torques	torque	NOUN
ap-6863	91	29	of	of	ADP
ap-6863	91	30	individual	individual	ADJ
ap-6863	91	31	motors	motor	NOUN
ap-6863	91	32	is	be	AUX
ap-6863	91	33	observed	observe	VERB
ap-6863	91	34	(	(	PUNCT
ap-6863	91	35	figure	figure	NOUN
ap-6863	91	36	7b	7b	NOUN
ap-6863	91	37	)	)	PUNCT
ap-6863	91	38	,	,	PUNCT
ap-6863	91	39	which	which	PRON
ap-6863	91	40	compensates	compensate	VERB
ap-6863	91	41	for	for	ADP
ap-6863	91	42	the	the	DET
ap-6863	91	43	backlash	backlash	NOUN
ap-6863	91	44	effect	effect	NOUN
ap-6863	91	45	.	.	PUNCT
ap-6863	92	1	a	a	DET
ap-6863	92	2	feature	feature	NOUN
ap-6863	92	3	of	of	ADP
ap-6863	92	4	the	the	DET
ap-6863	92	5	work	work	NOUN
ap-6863	92	6	is	be	AUX
ap-6863	92	7	the	the	DET
ap-6863	92	8	absence	absence	NOUN
ap-6863	92	9	of	of	ADP
ap-6863	92	10	thrust	thrust	ADJ
ap-6863	92	11	torques	torque	NOUN
ap-6863	92	12	.	.	PUNCT
ap-6863	93	1	figure	figure	NOUN
ap-6863	93	2	7c	7c	PROPN
ap-6863	93	3	shows	show	VERB
ap-6863	93	4	the	the	DET
ap-6863	93	5	change	change	NOUN
ap-6863	93	6	in	in	ADP
ap-6863	93	7	the	the	DET
ap-6863	93	8	efficiency	efficiency	NOUN
ap-6863	93	9	of	of	ADP
ap-6863	93	10	the	the	DET
ap-6863	93	11	electric	electric	ADJ
ap-6863	93	12	drive	drive	NOUN
ap-6863	93	13	,	,	PUNCT
ap-6863	93	14	which	which	PRON
ap-6863	93	15	in	in	ADP
ap-6863	93	16	the	the	DET
ap-6863	93	17	steady	steady	ADJ
ap-6863	93	18	state	state	NOUN
ap-6863	93	19	motion	motion	NOUN
ap-6863	93	20	mode	mode	NOUN
ap-6863	93	21	,	,	PUNCT
ap-6863	93	22	approaches	approach	VERB
ap-6863	93	23	80	80	NUM
ap-6863	93	24	%	%	NOUN
ap-6863	93	25	.	.	PUNCT
ap-6863	94	1	figure	figure	NOUN
ap-6863	94	2	8	8	NUM
ap-6863	94	3	shows	show	VERB
ap-6863	94	4	the	the	DET
ap-6863	94	5	harmonic	harmonic	ADJ
ap-6863	94	6	guidance	guidance	NOUN
ap-6863	94	7	signal	signal	NOUN
ap-6863	94	8	processing	processing	NOUN
ap-6863	94	9	by	by	ADP
ap-6863	94	10	the	the	DET
ap-6863	94	11	drive	drive	NOUN
ap-6863	94	12	when	when	SCONJ
ap-6863	94	13	high	high	ADJ
ap-6863	94	14	values	value	NOUN
ap-6863	94	15	of	of	ADP
ap-6863	94	16	the	the	DET
ap-6863	94	17	time	time	NOUN
ap-6863	94	18	constants	constant	NOUN
ap-6863	94	19	t1	t1	PROPN
ap-6863	94	20	,	,	PUNCT
ap-6863	94	21	t2	t2	NOUN
ap-6863	94	22	=	=	PUNCT
ap-6863	94	23	1.0	1.0	NUM
ap-6863	94	24	s	s	NOUN
ap-6863	94	25	are	be	AUX
ap-6863	94	26	selected	select	VERB
ap-6863	94	27	.	.	PUNCT
ap-6863	95	1	in	in	ADP
ap-6863	95	2	figure	figure	NOUN
ap-6863	95	3	8b	8b	NUM
ap-6863	95	4	,	,	PUNCT
ap-6863	95	5	you	you	PRON
ap-6863	95	6	can	can	AUX
ap-6863	95	7	see	see	VERB
ap-6863	95	8	that	that	SCONJ
ap-6863	95	9	an	an	DET
ap-6863	95	10	increase	increase	NOUN
ap-6863	95	11	in	in	ADP
ap-6863	95	12	the	the	DET
ap-6863	95	13	time	time	NOUN
ap-6863	95	14	constants	constant	NOUN
ap-6863	95	15	led	lead	VERB
ap-6863	95	16	to	to	ADP
ap-6863	95	17	the	the	DET
ap-6863	95	18	appearance	appearance	NOUN
ap-6863	95	19	of	of	ADP
ap-6863	95	20	thrust	thrust	ADJ
ap-6863	95	21	torques	torque	NOUN
ap-6863	95	22	,	,	PUNCT
ap-6863	95	23	which	which	PRON
ap-6863	95	24	function	function	VERB
ap-6863	95	25	in	in	ADP
ap-6863	95	26	almost	almost	ADV
ap-6863	95	27	the	the	DET
ap-6863	95	28	entire	entire	ADJ
ap-6863	95	29	operating	operating	NOUN
ap-6863	95	30	range	range	NOUN
ap-6863	95	31	.	.	PUNCT
ap-6863	96	1	thus	thus	ADV
ap-6863	96	2	,	,	PUNCT
ap-6863	96	3	when	when	SCONJ
ap-6863	96	4	choosing	choose	VERB
ap-6863	96	5	high	high	ADJ
ap-6863	96	6	values	value	NOUN
ap-6863	96	7	of	of	ADP
ap-6863	96	8	the	the	DET
ap-6863	96	9	time	time	NOUN
ap-6863	96	10	constants	constant	NOUN
ap-6863	96	11	t1	t1	PROPN
ap-6863	96	12	,	,	PUNCT
ap-6863	96	13	t2	t2	PROPN
ap-6863	96	14	,	,	PUNCT
ap-6863	96	15	the	the	DET
ap-6863	96	16	backlash	backlash	NOUN
ap-6863	96	17	is	be	AUX
ap-6863	96	18	compensated	compensate	VERB
ap-6863	96	19	by	by	ADP
ap-6863	96	20	creating	create	VERB
ap-6863	96	21	thrust	thrust	VERB
ap-6863	96	22	torques	torque	NOUN
ap-6863	96	23	by	by	ADP
ap-6863	96	24	an	an	DET
ap-6863	96	25	electric	electric	ADJ
ap-6863	96	26	drive	drive	NOUN
ap-6863	96	27	,	,	PUNCT
ap-6863	96	28	similar	similar	ADJ
ap-6863	96	29	to	to	ADP
ap-6863	96	30	the	the	DET
ap-6863	96	31	action	action	NOUN
ap-6863	96	32	of	of	ADP
ap-6863	96	33	the	the	DET
ap-6863	96	34	known	know	VERB
ap-6863	96	35	device	device	NOUN
ap-6863	96	36	with	with	ADP
ap-6863	96	37	the	the	DET
ap-6863	96	38	input	input	NOUN
ap-6863	96	39	of	of	ADP
ap-6863	96	40	displacement	displacement	ADJ
ap-6863	96	41	signals	signal	NOUN
ap-6863	96	42	.	.	PUNCT
ap-6863	97	1	the	the	DET
ap-6863	97	2	disadvantage	disadvantage	NOUN
ap-6863	97	3	of	of	ADP
ap-6863	97	4	this	this	DET
ap-6863	97	5	mode	mode	NOUN
ap-6863	97	6	,	,	PUNCT
ap-6863	97	7	as	as	ADP
ap-6863	97	8	in	in	ADP
ap-6863	97	9	the	the	DET
ap-6863	97	10	case	case	NOUN
ap-6863	97	11	of	of	ADP
ap-6863	97	12	the	the	DET
ap-6863	97	13	known	know	VERB
ap-6863	97	14	device	device	NOUN
ap-6863	97	15	,	,	PUNCT
ap-6863	97	16	is	be	AUX
ap-6863	97	17	the	the	DET
ap-6863	97	18	decrease	decrease	NOUN
ap-6863	97	19	in	in	ADP
ap-6863	97	20	efficiency	efficiency	NOUN
ap-6863	97	21	of	of	ADP
ap-6863	97	22	the	the	DET
ap-6863	97	23	electric	electric	ADJ
ap-6863	97	24	drive	drive	NOUN
ap-6863	97	25	(	(	PUNCT
ap-6863	97	26	figure	figure	NOUN
ap-6863	97	27	8c	8c	NUM
ap-6863	97	28	)	)	PUNCT
ap-6863	97	29	,	,	PUNCT
ap-6863	97	30	which	which	PRON
ap-6863	97	31	in	in	ADP
ap-6863	97	32	the	the	DET
ap-6863	97	33	mode	mode	NOUN
ap-6863	97	34	of	of	ADP
ap-6863	97	35	steady	steady	ADJ
ap-6863	97	36	motion	motion	NOUN
ap-6863	97	37	is	be	AUX
ap-6863	97	38	in	in	ADP
ap-6863	97	39	the	the	DET
ap-6863	97	40	range	range	NOUN
ap-6863	97	41	of	of	ADP
ap-6863	97	42	30–40	30–40	NUM
ap-6863	97	43	%	%	NOUN
ap-6863	97	44	.	.	PUNCT
ap-6863	98	1	the	the	DET
ap-6863	98	2	dependence	dependence	NOUN
ap-6863	98	3	of	of	ADP
ap-6863	98	4	the	the	DET
ap-6863	98	5	efficiency	efficiency	NOUN
ap-6863	98	6	of	of	ADP
ap-6863	98	7	the	the	DET
ap-6863	98	8	electric	electric	ADJ
ap-6863	98	9	drive	drive	NOUN
ap-6863	98	10	on	on	ADP
ap-6863	98	11	the	the	DET
ap-6863	98	12	selected	select	VERB
ap-6863	98	13	values	value	NOUN
ap-6863	98	14	of	of	ADP
ap-6863	98	15	the	the	DET
ap-6863	98	16	time	time	NOUN
ap-6863	98	17	constants	constant	NOUN
ap-6863	98	18	t1	t1	PROPN
ap-6863	98	19	,	,	PUNCT
ap-6863	98	20	t2	t2	PROPN
ap-6863	98	21	is	be	AUX
ap-6863	98	22	shown	show	VERB
ap-6863	98	23	in	in	ADP
ap-6863	98	24	figure	figure	NOUN
ap-6863	98	25	9	9	NUM
ap-6863	98	26	.	.	PUNCT
ap-6863	99	1	the	the	DET
ap-6863	99	2	graph	graph	NOUN
ap-6863	99	3	was	be	AUX
ap-6863	99	4	obtained	obtain	VERB
ap-6863	99	5	by	by	ADP
ap-6863	99	6	simulating	simulate	VERB
ap-6863	99	7	the	the	DET
ap-6863	99	8	processing	processing	NOUN
ap-6863	99	9	of	of	ADP
ap-6863	99	10	a	a	DET
ap-6863	99	11	harmonic	harmonic	ADJ
ap-6863	99	12	guidance	guidance	NOUN
ap-6863	99	13	signal	signal	NOUN
ap-6863	99	14	with	with	ADP
ap-6863	99	15	an	an	DET
ap-6863	99	16	amplitude	amplitude	NOUN
ap-6863	99	17	of	of	ADP
ap-6863	99	18	10	10	NUM
ap-6863	99	19	by	by	ADP
ap-6863	99	20	an	an	DET
ap-6863	99	21	electric	electric	ADJ
ap-6863	99	22	drive	drive	NOUN
ap-6863	99	23	.	.	PUNCT
ap-6863	100	1	the	the	DET
ap-6863	100	2	figure	figure	NOUN
ap-6863	100	3	shows	show	VERB
ap-6863	100	4	that	that	SCONJ
ap-6863	100	5	an	an	DET
ap-6863	100	6	increase	increase	NOUN
ap-6863	100	7	in	in	ADP
ap-6863	100	8	the	the	DET
ap-6863	100	9	time	time	NOUN
ap-6863	100	10	constants	constant	NOUN
ap-6863	100	11	t1	t1	PROPN
ap-6863	100	12	,	,	PUNCT
ap-6863	100	13	t2	t2	PROPN
ap-6863	100	14	leads	lead	VERB
ap-6863	100	15	to	to	ADP
ap-6863	100	16	a	a	DET
ap-6863	100	17	decrease	decrease	NOUN
ap-6863	100	18	in	in	ADP
ap-6863	100	19	efficiency	efficiency	NOUN
ap-6863	100	20	,	,	PUNCT
ap-6863	100	21	since	since	SCONJ
ap-6863	100	22	thrust	thrust	VERB
ap-6863	100	23	torques	torque	NOUN
ap-6863	100	24	begin	begin	VERB
ap-6863	100	25	to	to	PART
ap-6863	100	26	appear	appear	VERB
ap-6863	100	27	in	in	ADP
ap-6863	100	28	the	the	DET
ap-6863	100	29	system	system	NOUN
ap-6863	100	30	,	,	PUNCT
ap-6863	100	31	which	which	PRON
ap-6863	100	32	leads	lead	VERB
ap-6863	100	33	to	to	ADP
ap-6863	100	34	energy	energy	NOUN
ap-6863	100	35	losses	loss	NOUN
ap-6863	100	36	.	.	PUNCT
ap-6863	101	1	by	by	ADP
ap-6863	101	2	simulation	simulation	NOUN
ap-6863	101	3	,	,	PUNCT
ap-6863	101	4	it	it	PRON
ap-6863	101	5	was	be	AUX
ap-6863	101	6	found	find	VERB
ap-6863	101	7	that	that	SCONJ
ap-6863	101	8	for	for	ADP
ap-6863	101	9	the	the	DET
ap-6863	101	10	selected	select	VERB
ap-6863	101	11	guidance	guidance	NOUN
ap-6863	101	12	signal	signal	NOUN
ap-6863	101	13	and	and	CCONJ
ap-6863	101	14	the	the	DET
ap-6863	101	15	amount	amount	NOUN
ap-6863	101	16	of	of	ADP
ap-6863	101	17	backlash	backlash	NOUN
ap-6863	101	18	,	,	PUNCT
ap-6863	101	19	there	there	PRON
ap-6863	101	20	is	be	VERB
ap-6863	101	21	such	such	DET
ap-6863	101	22	a	a	DET
ap-6863	101	23	value	value	NOUN
ap-6863	101	24	of	of	ADP
ap-6863	101	25	the	the	DET
ap-6863	101	26	time	time	NOUN
ap-6863	101	27	constant	constant	ADJ
ap-6863	101	28	–	–	PUNCT
ap-6863	101	29	t1	t1	NOUN
ap-6863	101	30	,	,	PUNCT
ap-6863	101	31	t2	t2	NOUN
ap-6863	101	32	=	=	PUNCT
ap-6863	101	33	0.65	0.65	NUM
ap-6863	101	34	s	s	PROPN
ap-6863	101	35	,	,	PUNCT
ap-6863	101	36	at	at	ADP
ap-6863	101	37	which	which	PRON
ap-6863	101	38	the	the	DET
ap-6863	101	39	phase	phase	NOUN
ap-6863	101	40	displacement	displacement	NOUN
ap-6863	101	41	in	in	ADP
ap-6863	101	42	the	the	DET
ap-6863	101	43	second	second	ADJ
ap-6863	101	44	channel	channel	NOUN
ap-6863	101	45	is	be	AUX
ap-6863	101	46	close	close	ADJ
ap-6863	101	47	to	to	ADP
ap-6863	101	48	the	the	DET
ap-6863	101	49	displacement	displacement	NOUN
ap-6863	101	50	produced	produce	VERB
ap-6863	101	51	by	by	ADP
ap-6863	101	52	the	the	DET
ap-6863	101	53	backlash	backlash	NOUN
ap-6863	101	54	.	.	PUNCT
ap-6863	102	1	relative	relative	ADJ
ap-6863	102	2	to	to	ADP
ap-6863	102	3	this	this	DET
ap-6863	102	4	point	point	NOUN
ap-6863	102	5	,	,	PUNCT
ap-6863	102	6	a	a	DET
ap-6863	102	7	combined	combine	VERB
ap-6863	102	8	graph	graph	NOUN
ap-6863	102	9	of	of	ADP
ap-6863	102	10	the	the	DET
ap-6863	102	11	dependence	dependence	NOUN
ap-6863	102	12	of	of	ADP
ap-6863	102	13	the	the	DET
ap-6863	102	14	efficiency	efficiency	NOUN
ap-6863	102	15	of	of	ADP
ap-6863	102	16	the	the	DET
ap-6863	102	17	electric	electric	ADJ
ap-6863	102	18	drive	drive	NOUN
ap-6863	102	19	and	and	CCONJ
ap-6863	102	20	307	307	NUM
ap-6863	102	21	s.	s.	PROPN
ap-6863	102	22	l.	l.	PROPN
ap-6863	102	23	samsonovich	samsonovich	PROPN
ap-6863	102	24	,	,	PUNCT
ap-6863	102	25	b.	b.	PROPN
ap-6863	102	26	k.	k.	PROPN
ap-6863	102	27	fedotov	fedotov	PROPN
ap-6863	102	28	,	,	PUNCT
ap-6863	102	29	n.	n.	PROPN
ap-6863	102	30	b.	b.	PROPN
ap-6863	102	31	rozhnin	rozhnin	PROPN
ap-6863	102	32	,	,	PUNCT
ap-6863	102	33	r.	r.	PROPN
ap-6863	102	34	v.	v.	PROPN
ap-6863	102	35	goryunov	goryunov	PROPN
ap-6863	102	36	acta	acta	PROPN
ap-6863	102	37	polytechnica	polytechnica	PROPN
ap-6863	102	38	(	(	PUNCT
ap-6863	102	39	a	a	NOUN
ap-6863	102	40	)	)	PUNCT
ap-6863	102	41	.	.	PUNCT
ap-6863	103	1	(	(	PUNCT
ap-6863	103	2	b	b	NOUN
ap-6863	103	3	)	)	PUNCT
ap-6863	103	4	.	.	PUNCT
ap-6863	104	1	(	(	PUNCT
ap-6863	104	2	c	c	X
ap-6863	104	3	)	)	PUNCT
ap-6863	104	4	.	.	PUNCT
ap-6863	105	1	figure	figure	VERB
ap-6863	105	2	7	7	NUM
ap-6863	105	3	.	.	PUNCT
ap-6863	105	4	operation	operation	NOUN
ap-6863	105	5	of	of	ADP
ap-6863	105	6	the	the	DET
ap-6863	105	7	drive	drive	NOUN
ap-6863	105	8	with	with	ADP
ap-6863	105	9	a	a	DET
ap-6863	105	10	cross	cross	ADJ
ap-6863	105	11	-	-	ADJ
ap-6863	105	12	connection	connection	ADJ
ap-6863	105	13	backlash	backlash	NOUN
ap-6863	105	14	compensation	compensation	NOUN
ap-6863	105	15	device	device	NOUN
ap-6863	105	16	with	with	ADP
ap-6863	105	17	a	a	DET
ap-6863	105	18	harmonic	harmonic	ADJ
ap-6863	105	19	guidance	guidance	NOUN
ap-6863	105	20	signal	signal	NOUN
ap-6863	105	21	when	when	SCONJ
ap-6863	105	22	small	small	ADJ
ap-6863	105	23	values	value	NOUN
ap-6863	105	24	of	of	ADP
ap-6863	105	25	the	the	DET
ap-6863	105	26	time	time	NOUN
ap-6863	105	27	constants	constant	NOUN
ap-6863	105	28	t1	t1	PROPN
ap-6863	105	29	,	,	PUNCT
ap-6863	105	30	t2	t2	PROPN
ap-6863	105	31	are	be	AUX
ap-6863	105	32	selected	select	VERB
ap-6863	105	33	:	:	PUNCT
ap-6863	105	34	a	a	X
ap-6863	105	35	)	)	PUNCT
ap-6863	105	36	guidance	guidance	NOUN
ap-6863	105	37	signal	signal	NOUN
ap-6863	105	38	–	–	PUNCT
ap-6863	105	39	φc	φc	NOUN
ap-6863	105	40	,	,	PUNCT
ap-6863	105	41	execution	execution	NOUN
ap-6863	105	42	of	of	ADP
ap-6863	105	43	the	the	DET
ap-6863	105	44	guidance	guidance	NOUN
ap-6863	105	45	signal	signal	NOUN
ap-6863	105	46	by	by	ADP
ap-6863	105	47	the	the	DET
ap-6863	105	48	drive	drive	NOUN
ap-6863	105	49	–	–	PUNCT
ap-6863	105	50	φobj	φobj	NOUN
ap-6863	105	51	,	,	PUNCT
ap-6863	105	52	and	and	CCONJ
ap-6863	105	53	dynamic	dynamic	ADJ
ap-6863	105	54	system	system	NOUN
ap-6863	105	55	error	error	NOUN
ap-6863	105	56	signal	signal	NOUN
ap-6863	105	57	θ	θ	PROPN
ap-6863	105	58	;	;	PUNCT
ap-6863	105	59	b	b	X
ap-6863	105	60	)	)	PUNCT
ap-6863	105	61	the	the	DET
ap-6863	105	62	torques	torque	NOUN
ap-6863	105	63	developed	develop	VERB
ap-6863	105	64	by	by	ADP
ap-6863	105	65	the	the	DET
ap-6863	105	66	motors	motor	NOUN
ap-6863	105	67	and	and	CCONJ
ap-6863	105	68	total	total	ADJ
ap-6863	105	69	drive	drive	ADJ
ap-6863	105	70	torque	torque	NOUN
ap-6863	105	71	;	;	PUNCT
ap-6863	106	1	c	c	X
ap-6863	106	2	)	)	PUNCT
ap-6863	106	3	the	the	DET
ap-6863	106	4	efficiency	efficiency	NOUN
ap-6863	106	5	of	of	ADP
ap-6863	106	6	the	the	DET
ap-6863	106	7	electric	electric	ADJ
ap-6863	106	8	drive	drive	NOUN
ap-6863	106	9	.	.	PUNCT
ap-6863	107	1	the	the	DET
ap-6863	107	2	torques	torque	NOUN
ap-6863	107	3	of	of	ADP
ap-6863	107	4	individual	individual	ADJ
ap-6863	107	5	motors	motor	NOUN
ap-6863	107	6	on	on	ADP
ap-6863	107	7	the	the	DET
ap-6863	107	8	value	value	NOUN
ap-6863	107	9	t	t	NOUN
ap-6863	107	10	(	(	PUNCT
ap-6863	107	11	figure	figure	NOUN
ap-6863	107	12	10	10	NUM
ap-6863	107	13	)	)	PUNCT
ap-6863	107	14	is	be	AUX
ap-6863	107	15	plotted	plot	VERB
ap-6863	107	16	.	.	PUNCT
ap-6863	108	1	for	for	ADP
ap-6863	108	2	convenience	convenience	NOUN
ap-6863	108	3	,	,	PUNCT
ap-6863	108	4	this	this	DET
ap-6863	108	5	point	point	NOUN
ap-6863	108	6	will	will	AUX
ap-6863	108	7	be	be	AUX
ap-6863	108	8	called	call	VERB
ap-6863	108	9	the	the	DET
ap-6863	108	10	transition	transition	NOUN
ap-6863	108	11	point	point	NOUN
ap-6863	108	12	.	.	PUNCT
ap-6863	109	1	when	when	SCONJ
ap-6863	109	2	choosing	choose	VERB
ap-6863	109	3	values	value	NOUN
ap-6863	109	4	–	–	PUNCT
ap-6863	109	5	t1	t1	NOUN
ap-6863	109	6	,	,	PUNCT
ap-6863	109	7	t2	t2	NOUN
ap-6863	109	8	to	to	ADP
ap-6863	109	9	the	the	DET
ap-6863	109	10	left	left	NOUN
ap-6863	109	11	of	of	ADP
ap-6863	109	12	the	the	DET
ap-6863	109	13	transition	transition	NOUN
ap-6863	109	14	point	point	NOUN
ap-6863	109	15	,	,	PUNCT
ap-6863	109	16	the	the	DET
ap-6863	109	17	electric	electric	ADJ
ap-6863	109	18	drive	drive	NOUN
ap-6863	109	19	will	will	AUX
ap-6863	109	20	operate	operate	VERB
ap-6863	109	21	without	without	ADP
ap-6863	109	22	thrust	thrust	VERB
ap-6863	109	23	torques	torque	NOUN
ap-6863	109	24	,	,	PUNCT
ap-6863	109	25	to	to	ADP
ap-6863	109	26	the	the	DET
ap-6863	109	27	right	right	NOUN
ap-6863	109	28	–	–	PUNCT
ap-6863	109	29	there	there	PRON
ap-6863	109	30	will	will	AUX
ap-6863	109	31	be	be	AUX
ap-6863	109	32	thrust	thrust	VERB
ap-6863	109	33	torques	torque	NOUN
ap-6863	109	34	in	in	ADP
ap-6863	109	35	the	the	DET
ap-6863	109	36	system	system	NOUN
ap-6863	109	37	.	.	PUNCT
ap-6863	110	1	an	an	DET
ap-6863	110	2	increase	increase	NOUN
ap-6863	110	3	in	in	ADP
ap-6863	110	4	the	the	DET
ap-6863	110	5	values	value	NOUN
ap-6863	110	6	of	of	ADP
ap-6863	110	7	t1	t1	NOUN
ap-6863	110	8	,	,	PUNCT
ap-6863	110	9	t2	t2	NOUN
ap-6863	110	10	significantly	significantly	ADV
ap-6863	110	11	to	to	ADP
ap-6863	110	12	the	the	DET
ap-6863	110	13	right	right	NOUN
ap-6863	110	14	of	of	ADP
ap-6863	110	15	the	the	DET
ap-6863	110	16	transition	transition	NOUN
ap-6863	110	17	point	point	NOUN
ap-6863	110	18	will	will	AUX
ap-6863	110	19	lead	lead	VERB
ap-6863	110	20	to	to	ADP
ap-6863	110	21	a	a	DET
ap-6863	110	22	decrease	decrease	NOUN
ap-6863	110	23	in	in	ADP
ap-6863	110	24	the	the	DET
ap-6863	110	25	participation	participation	NOUN
ap-6863	110	26	of	of	ADP
ap-6863	110	27	the	the	DET
ap-6863	110	28	second	second	ADJ
ap-6863	110	29	channel	channel	NOUN
ap-6863	110	30	in	in	ADP
ap-6863	110	31	joint	joint	ADJ
ap-6863	110	32	work	work	NOUN
ap-6863	110	33	,	,	PUNCT
ap-6863	110	34	up	up	ADP
ap-6863	110	35	to	to	ADP
ap-6863	110	36	the	the	DET
ap-6863	110	37	transformation	transformation	NOUN
ap-6863	110	38	of	of	ADP
ap-6863	110	39	the	the	DET
ap-6863	110	40	drive	drive	NOUN
ap-6863	110	41	into	into	ADP
ap-6863	110	42	a	a	DET
ap-6863	110	43	single	single	ADJ
ap-6863	110	44	-	-	PUNCT
ap-6863	110	45	channel	channel	NOUN
ap-6863	110	46	drive	drive	NOUN
ap-6863	110	47	with	with	ADP
ap-6863	110	48	a	a	DET
ap-6863	110	49	passive	passive	ADJ
ap-6863	110	50	load	load	NOUN
ap-6863	110	51	.	.	PUNCT
ap-6863	111	1	this	this	DET
ap-6863	111	2	graph	graph	NOUN
ap-6863	111	3	is	be	AUX
ap-6863	111	4	only	only	ADV
ap-6863	111	5	valid	valid	ADJ
ap-6863	111	6	for	for	ADP
ap-6863	111	7	a	a	DET
ap-6863	111	8	specific	specific	ADJ
ap-6863	111	9	backlash	backlash	NOUN
ap-6863	111	10	value	value	NOUN
ap-6863	111	11	and	and	CCONJ
ap-6863	111	12	guidance	guidance	NOUN
ap-6863	111	13	signal	signal	NOUN
ap-6863	111	14	parameters	parameter	NOUN
ap-6863	111	15	.	.	PUNCT
ap-6863	112	1	when	when	SCONJ
ap-6863	112	2	the	the	DET
ap-6863	112	3	values	value	NOUN
ap-6863	112	4	t1	t1	VERB
ap-6863	112	5	,	,	PUNCT
ap-6863	112	6	t2	t2	NOUN
ap-6863	112	7	=	=	SYM
ap-6863	112	8	0	0	NUM
ap-6863	112	9	are	be	AUX
ap-6863	112	10	selected	select	VERB
ap-6863	112	11	,	,	PUNCT
ap-6863	112	12	the	the	DET
ap-6863	112	13	drive	drive	NOUN
ap-6863	112	14	will	will	AUX
ap-6863	112	15	operate	operate	VERB
ap-6863	112	16	without	without	ADP
ap-6863	112	17	displacements	displacement	NOUN
ap-6863	112	18	and	and	CCONJ
ap-6863	112	19	the	the	DET
ap-6863	112	20	signals	signal	NOUN
ap-6863	112	21	in	in	ADP
ap-6863	112	22	the	the	DET
ap-6863	112	23	channels	channel	NOUN
ap-6863	112	24	will	will	AUX
ap-6863	112	25	be	be	AUX
ap-6863	112	26	equal	equal	ADJ
ap-6863	112	27	.	.	PUNCT
ap-6863	113	1	an	an	DET
ap-6863	113	2	increase	increase	NOUN
ap-6863	113	3	in	in	ADP
ap-6863	113	4	backlash	backlash	NOUN
ap-6863	113	5	will	will	AUX
ap-6863	113	6	lead	lead	VERB
ap-6863	113	7	to	to	ADP
ap-6863	113	8	a	a	DET
ap-6863	113	9	shift	shift	NOUN
ap-6863	113	10	of	of	ADP
ap-6863	113	11	the	the	DET
ap-6863	113	12	transition	transition	NOUN
ap-6863	113	13	point	point	NOUN
ap-6863	113	14	to	to	ADP
ap-6863	113	15	the	the	DET
ap-6863	113	16	right	right	NOUN
ap-6863	113	17	,	,	PUNCT
ap-6863	113	18	a	a	DET
ap-6863	113	19	decrease	decrease	NOUN
ap-6863	113	20	in	in	ADP
ap-6863	113	21	backlash	backlash	NOUN
ap-6863	113	22	–	–	PUNCT
ap-6863	113	23	to	to	ADP
ap-6863	113	24	the	the	DET
ap-6863	113	25	left	left	NOUN
ap-6863	113	26	.	.	PUNCT
ap-6863	114	1	specific	specific	ADJ
ap-6863	114	2	values	value	NOUN
ap-6863	114	3	–	–	PUNCT
ap-6863	114	4	t1	t1	NOUN
ap-6863	114	5	,	,	PUNCT
ap-6863	114	6	t2	t2	NOUN
ap-6863	114	7	depend	depend	VERB
ap-6863	114	8	on	on	ADP
ap-6863	114	9	the	the	DET
ap-6863	114	10	speed	speed	NOUN
ap-6863	114	11	parameters	parameter	NOUN
ap-6863	114	12	of	of	ADP
ap-6863	114	13	electric	electric	PROPN
ap-6863	114	14	motors	motors	PROPN
ap-6863	114	15	and	and	CCONJ
ap-6863	114	16	power	power	NOUN
ap-6863	114	17	amplifiers	amplifier	NOUN
ap-6863	114	18	,	,	PUNCT
ap-6863	114	19	therefore	therefore	ADV
ap-6863	114	20	,	,	PUNCT
ap-6863	114	21	the	the	DET
ap-6863	114	22	choice	choice	NOUN
ap-6863	114	23	of	of	ADP
ap-6863	114	24	values	value	NOUN
ap-6863	114	25	must	must	AUX
ap-6863	114	26	be	be	AUX
ap-6863	114	27	made	make	VERB
ap-6863	114	28	individually	individually	ADV
ap-6863	114	29	,	,	PUNCT
ap-6863	114	30	based	base	VERB
ap-6863	114	31	on	on	ADP
ap-6863	114	32	a	a	DET
ap-6863	114	33	combination	combination	NOUN
ap-6863	114	34	of	of	ADP
ap-6863	114	35	parameters	parameter	NOUN
ap-6863	114	36	.	.	PUNCT
ap-6863	115	1	when	when	SCONJ
ap-6863	115	2	considering	consider	VERB
ap-6863	115	3	the	the	DET
ap-6863	115	4	operation	operation	NOUN
ap-6863	115	5	of	of	ADP
ap-6863	115	6	the	the	DET
ap-6863	115	7	crossconnections	crossconnection	NOUN
ap-6863	115	8	backlash	backlash	NOUN
ap-6863	115	9	compensation	compensation	NOUN
ap-6863	115	10	device	device	NOUN
ap-6863	115	11	,	,	PUNCT
ap-6863	115	12	it	it	PRON
ap-6863	115	13	was	be	AUX
ap-6863	115	14	found	find	VERB
ap-6863	115	15	that	that	SCONJ
ap-6863	115	16	the	the	DET
ap-6863	115	17	electric	electric	ADJ
ap-6863	115	18	drive	drive	NOUN
ap-6863	115	19	can	can	AUX
ap-6863	115	20	operate	operate	VERB
ap-6863	115	21	with	with	ADP
ap-6863	115	22	the	the	DET
ap-6863	115	23	device	device	NOUN
ap-6863	115	24	in	in	ADP
ap-6863	115	25	two	two	NUM
ap-6863	115	26	modes	mode	NOUN
ap-6863	115	27	of	of	ADP
ap-6863	115	28	operation	operation	NOUN
ap-6863	115	29	:	:	PUNCT
ap-6863	115	30	with	with	ADP
ap-6863	115	31	thrust	thrust	VERB
ap-6863	115	32	torques	torque	NOUN
ap-6863	115	33	and	and	CCONJ
ap-6863	115	34	without	without	ADP
ap-6863	115	35	thrust	thrust	VERB
ap-6863	115	36	torques	torque	NOUN
ap-6863	115	37	.	.	PUNCT
ap-6863	116	1	the	the	DET
ap-6863	116	2	thrust	thrust	ADJ
ap-6863	116	3	torques	torque	NOUN
ap-6863	116	4	mode	mode	NOUN
ap-6863	116	5	(	(	PUNCT
ap-6863	116	6	figure	figure	NOUN
ap-6863	116	7	8)	8)	NUM
ap-6863	116	8	occurs	occur	VERB
ap-6863	116	9	when	when	SCONJ
ap-6863	116	10	the	the	DET
ap-6863	116	11	control	control	NOUN
ap-6863	116	12	signal	signal	NOUN
ap-6863	116	13	in	in	ADP
ap-6863	116	14	the	the	DET
ap-6863	116	15	second	second	ADJ
ap-6863	116	16	channel	channel	NOUN
ap-6863	116	17	(	(	PUNCT
ap-6863	116	18	reversible	reversible	ADJ
ap-6863	116	19	)	)	PUNCT
ap-6863	116	20	has	have	VERB
ap-6863	116	21	a	a	DET
ap-6863	116	22	displacement	displacement	NOUN
ap-6863	116	23	greater	great	ADJ
ap-6863	116	24	than	than	ADP
ap-6863	116	25	the	the	DET
ap-6863	116	26	displacement	displacement	NOUN
ap-6863	116	27	caused	cause	VERB
ap-6863	116	28	by	by	ADP
ap-6863	116	29	the	the	DET
ap-6863	116	30	backlash	backlash	NOUN
ap-6863	116	31	.	.	PUNCT
ap-6863	117	1	without	without	ADP
ap-6863	117	2	thrust	thrust	VERB
ap-6863	117	3	torques	torque	NOUN
ap-6863	117	4	(	(	PUNCT
ap-6863	117	5	figure	figure	NOUN
ap-6863	117	6	7	7	NUM
ap-6863	117	7	)	)	PUNCT
ap-6863	117	8	,	,	PUNCT
ap-6863	117	9	the	the	DET
ap-6863	117	10	indicated	indicate	VERB
ap-6863	117	11	displacement	displacement	NOUN
ap-6863	117	12	is	be	AUX
ap-6863	117	13	lesser	less	ADJ
ap-6863	117	14	than	than	ADP
ap-6863	117	15	the	the	DET
ap-6863	117	16	displacement	displacement	NOUN
ap-6863	117	17	produced	produce	VERB
ap-6863	117	18	by	by	ADP
ap-6863	117	19	the	the	DET
ap-6863	117	20	backlash	backlash	NOUN
ap-6863	117	21	,	,	PUNCT
ap-6863	117	22	and	and	CCONJ
ap-6863	117	23	in	in	ADP
ap-6863	117	24	this	this	DET
ap-6863	117	25	mode	mode	NOUN
ap-6863	117	26	,	,	PUNCT
ap-6863	117	27	the	the	DET
ap-6863	117	28	electric	electric	ADJ
ap-6863	117	29	drive	drive	NOUN
ap-6863	117	30	operates	operate	VERB
ap-6863	117	31	more	more	ADV
ap-6863	117	32	efficiently	efficiently	ADV
ap-6863	117	33	.	.	PUNCT
ap-6863	118	1	if	if	SCONJ
ap-6863	118	2	the	the	DET
ap-6863	118	3	drive	drive	NOUN
ap-6863	118	4	operates	operate	VERB
ap-6863	118	5	only	only	ADV
ap-6863	118	6	with	with	ADP
ap-6863	118	7	certain	certain	ADJ
ap-6863	118	8	,	,	PUNCT
ap-6863	118	9	previously	previously	ADV
ap-6863	118	10	known	know	VERB
ap-6863	118	11	guidance	guidance	NOUN
ap-6863	118	12	signals	signal	NOUN
ap-6863	118	13	,	,	PUNCT
ap-6863	118	14	then	then	ADV
ap-6863	118	15	it	it	PRON
ap-6863	118	16	is	be	AUX
ap-6863	118	17	possible	possible	ADJ
ap-6863	118	18	to	to	ADP
ap-6863	118	19	fine	fine	ADJ
ap-6863	118	20	-	-	PUNCT
ap-6863	118	21	tune	tune	NOUN
ap-6863	118	22	the	the	DET
ap-6863	118	23	operating	operate	VERB
ap-6863	118	24	modes	mode	NOUN
ap-6863	118	25	of	of	ADP
ap-6863	118	26	the	the	DET
ap-6863	118	27	crossconnections	crossconnection	NOUN
ap-6863	118	28	backlash	backlash	NOUN
ap-6863	118	29	compensation	compensation	NOUN
ap-6863	118	30	device	device	NOUN
ap-6863	118	31	(	(	PUNCT
ap-6863	118	32	with	with	ADP
ap-6863	118	33	or	or	CCONJ
ap-6863	118	34	without	without	ADP
ap-6863	118	35	thrust	thrust	VERB
ap-6863	118	36	torques	torque	NOUN
ap-6863	118	37	)	)	PUNCT
ap-6863	118	38	.	.	PUNCT
ap-6863	119	1	when	when	SCONJ
ap-6863	119	2	the	the	DET
ap-6863	119	3	drive	drive	NOUN
ap-6863	119	4	is	be	AUX
ap-6863	119	5	operating	operate	VERB
ap-6863	119	6	308	308	NUM
ap-6863	119	7	vol	vol	NOUN
ap-6863	119	8	.	.	PUNCT
ap-6863	120	1	62	62	NUM
ap-6863	120	2	no	no	INTJ
ap-6863	120	3	.	.	PUNCT
ap-6863	121	1	2/2022	2/2022	NUM
ap-6863	121	2	results	result	NOUN
ap-6863	121	3	of	of	ADP
ap-6863	121	4	research	research	NOUN
ap-6863	121	5	on	on	ADP
ap-6863	121	6	backlash	backlash	NOUN
ap-6863	121	7	compensation	compensation	NOUN
ap-6863	121	8	in	in	ADP
ap-6863	121	9	a	a	DET
ap-6863	121	10	power	power	NOUN
ap-6863	121	11	.	.	PUNCT
ap-6863	121	12	.	.	PUNCT
ap-6863	121	13	.	.	PUNCT
ap-6863	122	1	(	(	PUNCT
ap-6863	122	2	a	a	X
ap-6863	122	3	)	)	PUNCT
ap-6863	122	4	.	.	PUNCT
ap-6863	123	1	(	(	PUNCT
ap-6863	123	2	b	b	NOUN
ap-6863	123	3	)	)	PUNCT
ap-6863	123	4	.	.	PUNCT
ap-6863	124	1	(	(	PUNCT
ap-6863	124	2	c	c	X
ap-6863	124	3	)	)	PUNCT
ap-6863	124	4	.	.	PUNCT
ap-6863	125	1	figure	figure	VERB
ap-6863	125	2	8	8	NUM
ap-6863	125	3	.	.	PUNCT
ap-6863	126	1	operation	operation	NOUN
ap-6863	126	2	of	of	ADP
ap-6863	126	3	the	the	DET
ap-6863	126	4	drive	drive	NOUN
ap-6863	126	5	with	with	ADP
ap-6863	126	6	a	a	DET
ap-6863	126	7	cross	cross	ADJ
ap-6863	126	8	-	-	ADJ
ap-6863	126	9	connection	connection	ADJ
ap-6863	126	10	backlash	backlash	NOUN
ap-6863	126	11	compensation	compensation	NOUN
ap-6863	126	12	device	device	NOUN
ap-6863	126	13	with	with	ADP
ap-6863	126	14	a	a	DET
ap-6863	126	15	harmonic	harmonic	ADJ
ap-6863	126	16	guidance	guidance	NOUN
ap-6863	126	17	signal	signal	NOUN
ap-6863	126	18	when	when	SCONJ
ap-6863	126	19	large	large	ADJ
ap-6863	126	20	values	value	NOUN
ap-6863	126	21	of	of	ADP
ap-6863	126	22	the	the	DET
ap-6863	126	23	time	time	NOUN
ap-6863	126	24	constants	constant	NOUN
ap-6863	126	25	t1	t1	PROPN
ap-6863	126	26	,	,	PUNCT
ap-6863	126	27	t2	t2	PROPN
ap-6863	126	28	are	be	AUX
ap-6863	126	29	selected	select	VERB
ap-6863	126	30	:	:	PUNCT
ap-6863	126	31	a	a	X
ap-6863	126	32	)	)	PUNCT
ap-6863	126	33	guidance	guidance	NOUN
ap-6863	126	34	signal	signal	NOUN
ap-6863	126	35	–	–	PUNCT
ap-6863	126	36	φc	φc	NOUN
ap-6863	126	37	,	,	PUNCT
ap-6863	126	38	execution	execution	NOUN
ap-6863	126	39	of	of	ADP
ap-6863	126	40	the	the	DET
ap-6863	126	41	guidance	guidance	NOUN
ap-6863	126	42	signal	signal	NOUN
ap-6863	126	43	by	by	ADP
ap-6863	126	44	the	the	DET
ap-6863	126	45	drive	drive	NOUN
ap-6863	126	46	–	–	PUNCT
ap-6863	126	47	φobj	φobj	NOUN
ap-6863	126	48	,	,	PUNCT
ap-6863	126	49	and	and	CCONJ
ap-6863	126	50	dynamic	dynamic	ADJ
ap-6863	126	51	system	system	NOUN
ap-6863	126	52	error	error	NOUN
ap-6863	126	53	signal	signal	NOUN
ap-6863	126	54	θ	θ	PROPN
ap-6863	126	55	;	;	PUNCT
ap-6863	126	56	b	b	X
ap-6863	126	57	)	)	PUNCT
ap-6863	126	58	the	the	DET
ap-6863	126	59	torques	torque	NOUN
ap-6863	126	60	developed	develop	VERB
ap-6863	126	61	by	by	ADP
ap-6863	126	62	the	the	DET
ap-6863	126	63	motors	motor	NOUN
ap-6863	126	64	and	and	CCONJ
ap-6863	126	65	total	total	ADJ
ap-6863	126	66	drive	drive	ADJ
ap-6863	126	67	torque	torque	NOUN
ap-6863	126	68	;	;	PUNCT
ap-6863	126	69	c	c	X
ap-6863	126	70	)	)	PUNCT
ap-6863	126	71	the	the	DET
ap-6863	126	72	efficiency	efficiency	NOUN
ap-6863	126	73	of	of	ADP
ap-6863	126	74	the	the	DET
ap-6863	126	75	electric	electric	ADJ
ap-6863	126	76	drive	drive	NOUN
ap-6863	126	77	.	.	PUNCT
ap-6863	127	1	figure	figure	NOUN
ap-6863	127	2	9	9	NUM
ap-6863	127	3	.	.	PUNCT
ap-6863	128	1	the	the	DET
ap-6863	128	2	dependence	dependence	NOUN
ap-6863	128	3	of	of	ADP
ap-6863	128	4	the	the	DET
ap-6863	128	5	efficiency	efficiency	NOUN
ap-6863	128	6	of	of	ADP
ap-6863	128	7	the	the	DET
ap-6863	128	8	electric	electric	ADJ
ap-6863	128	9	drive	drive	NOUN
ap-6863	128	10	on	on	ADP
ap-6863	128	11	the	the	DET
ap-6863	128	12	selected	select	VERB
ap-6863	128	13	values	value	NOUN
ap-6863	128	14	of	of	ADP
ap-6863	128	15	the	the	DET
ap-6863	128	16	time	time	NOUN
ap-6863	128	17	constants	constant	NOUN
ap-6863	128	18	t1	t1	PROPN
ap-6863	128	19	,	,	PUNCT
ap-6863	128	20	t2	t2	NOUN
ap-6863	128	21	.	.	PUNCT
ap-6863	129	1	309	309	NUM
ap-6863	129	2	s.	s.	PROPN
ap-6863	129	3	l.	l.	PROPN
ap-6863	129	4	samsonovich	samsonovich	PROPN
ap-6863	129	5	,	,	PUNCT
ap-6863	129	6	b.	b.	PROPN
ap-6863	129	7	k.	k.	PROPN
ap-6863	129	8	fedotov	fedotov	PROPN
ap-6863	129	9	,	,	PUNCT
ap-6863	129	10	n.	n.	PROPN
ap-6863	129	11	b.	b.	PROPN
ap-6863	129	12	rozhnin	rozhnin	PROPN
ap-6863	129	13	,	,	PUNCT
ap-6863	129	14	r.	r.	PROPN
ap-6863	129	15	v.	v.	PROPN
ap-6863	129	16	goryunov	goryunov	PROPN
ap-6863	129	17	acta	acta	PROPN
ap-6863	129	18	polytechnica	polytechnica	PROPN
ap-6863	129	19	figure	figure	NOUN
ap-6863	129	20	10	10	NUM
ap-6863	129	21	.	.	PUNCT
ap-6863	130	1	a	a	DET
ap-6863	130	2	combined	combine	VERB
ap-6863	130	3	graph	graph	NOUN
ap-6863	130	4	of	of	ADP
ap-6863	130	5	the	the	DET
ap-6863	130	6	dependence	dependence	NOUN
ap-6863	130	7	of	of	ADP
ap-6863	130	8	the	the	DET
ap-6863	130	9	drive	drive	NOUN
ap-6863	130	10	efficiency	efficiency	NOUN
ap-6863	130	11	and	and	CCONJ
ap-6863	130	12	the	the	DET
ap-6863	130	13	torques	torque	NOUN
ap-6863	130	14	of	of	ADP
ap-6863	130	15	individual	individual	ADJ
ap-6863	130	16	motors	motor	NOUN
ap-6863	130	17	on	on	ADP
ap-6863	130	18	the	the	DET
ap-6863	130	19	value	value	NOUN
ap-6863	130	20	–	–	PUNCT
ap-6863	130	21	t	t	NOUN
ap-6863	130	22	.	.	PUNCT
ap-6863	131	1	with	with	ADP
ap-6863	131	2	arbitrary	arbitrary	ADJ
ap-6863	131	3	(	(	PUNCT
ap-6863	131	4	random	random	ADJ
ap-6863	131	5	)	)	PUNCT
ap-6863	131	6	guidance	guidance	NOUN
ap-6863	131	7	signals	signal	NOUN
ap-6863	131	8	,	,	PUNCT
ap-6863	131	9	a	a	DET
ap-6863	131	10	variable	variable	ADJ
ap-6863	131	11	operation	operation	NOUN
ap-6863	131	12	of	of	ADP
ap-6863	131	13	the	the	DET
ap-6863	131	14	electric	electric	ADJ
ap-6863	131	15	drive	drive	NOUN
ap-6863	131	16	with	with	ADP
ap-6863	131	17	backlash	backlash	NOUN
ap-6863	131	18	in	in	ADP
ap-6863	131	19	gears	gear	NOUN
ap-6863	131	20	in	in	ADP
ap-6863	131	21	two	two	NUM
ap-6863	131	22	modes	mode	NOUN
ap-6863	131	23	is	be	AUX
ap-6863	131	24	possible	possible	ADJ
ap-6863	131	25	:	:	PUNCT
ap-6863	131	26	with	with	ADP
ap-6863	131	27	and	and	CCONJ
ap-6863	131	28	without	without	ADP
ap-6863	131	29	thrust	thrust	VERB
ap-6863	131	30	torques	torque	NOUN
ap-6863	131	31	.	.	PUNCT
ap-6863	132	1	6	6	NUM
ap-6863	132	2	.	.	X
ap-6863	132	3	comparison	comparison	NOUN
ap-6863	132	4	results	result	VERB
ap-6863	132	5	the	the	DET
ap-6863	132	6	comparison	comparison	NOUN
ap-6863	132	7	of	of	ADP
ap-6863	132	8	the	the	DET
ap-6863	132	9	schemes	scheme	NOUN
ap-6863	132	10	of	of	ADP
ap-6863	132	11	the	the	DET
ap-6863	132	12	backlash	backlash	NOUN
ap-6863	132	13	compensation	compensation	NOUN
ap-6863	132	14	devices	device	NOUN
ap-6863	132	15	shows	show	VERB
ap-6863	132	16	that	that	SCONJ
ap-6863	132	17	the	the	DET
ap-6863	132	18	device	device	NOUN
ap-6863	132	19	based	base	VERB
ap-6863	132	20	on	on	ADP
ap-6863	132	21	the	the	DET
ap-6863	132	22	introduction	introduction	NOUN
ap-6863	132	23	of	of	ADP
ap-6863	132	24	the	the	DET
ap-6863	132	25	displacement	displacement	ADJ
ap-6863	132	26	signal	signal	NOUN
ap-6863	132	27	is	be	AUX
ap-6863	132	28	the	the	DET
ap-6863	132	29	simplest	simple	ADJ
ap-6863	132	30	to	to	PART
ap-6863	132	31	implement	implement	VERB
ap-6863	132	32	and	and	CCONJ
ap-6863	132	33	gives	give	VERB
ap-6863	132	34	an	an	DET
ap-6863	132	35	effect	effect	NOUN
ap-6863	132	36	similar	similar	ADJ
ap-6863	132	37	to	to	ADP
ap-6863	132	38	the	the	DET
ap-6863	132	39	effect	effect	NOUN
ap-6863	132	40	of	of	ADP
ap-6863	132	41	a	a	DET
ap-6863	132	42	mechanical	mechanical	ADJ
ap-6863	132	43	spring	spring	NOUN
ap-6863	132	44	.	.	PUNCT
ap-6863	133	1	the	the	DET
ap-6863	133	2	simulation	simulation	NOUN
ap-6863	133	3	results	result	NOUN
ap-6863	133	4	shown	show	VERB
ap-6863	133	5	,	,	PUNCT
ap-6863	133	6	when	when	SCONJ
ap-6863	133	7	choosing	choose	VERB
ap-6863	133	8	the	the	DET
ap-6863	133	9	smallest	small	ADJ
ap-6863	133	10	value	value	NOUN
ap-6863	133	11	of	of	ADP
ap-6863	133	12	the	the	DET
ap-6863	133	13	error	error	NOUN
ap-6863	133	14	signal	signal	NOUN
ap-6863	133	15	displacements	displacement	NOUN
ap-6863	133	16	according	accord	VERB
ap-6863	133	17	to	to	ADP
ap-6863	133	18	the	the	DET
ap-6863	133	19	condition	condition	NOUN
ap-6863	133	20	of	of	ADP
ap-6863	133	21	the	the	DET
ap-6863	133	22	absence	absence	NOUN
ap-6863	133	23	of	of	ADP
ap-6863	133	24	self	self	NOUN
ap-6863	133	25	-	-	PUNCT
ap-6863	133	26	oscillations	oscillation	NOUN
ap-6863	133	27	,	,	PUNCT
ap-6863	133	28	one	one	NUM
ap-6863	133	29	of	of	ADP
ap-6863	133	30	the	the	DET
ap-6863	133	31	channels	channel	NOUN
ap-6863	133	32	develops	develop	VERB
ap-6863	133	33	a	a	DET
ap-6863	133	34	torque	torque	NOUN
ap-6863	133	35	that	that	PRON
ap-6863	133	36	is	be	AUX
ap-6863	133	37	almost	almost	ADV
ap-6863	133	38	twice	twice	DET
ap-6863	133	39	the	the	DET
ap-6863	133	40	required	require	VERB
ap-6863	133	41	one	one	NOUN
ap-6863	133	42	(	(	PUNCT
ap-6863	133	43	figure	figure	NOUN
ap-6863	133	44	6b	6b	NUM
ap-6863	133	45	)	)	PUNCT
ap-6863	133	46	,	,	PUNCT
ap-6863	133	47	while	while	SCONJ
ap-6863	133	48	excess	excess	ADJ
ap-6863	133	49	energy	energy	NOUN
ap-6863	133	50	is	be	AUX
ap-6863	133	51	expended	expend	VERB
ap-6863	133	52	to	to	PART
ap-6863	133	53	create	create	VERB
ap-6863	133	54	thrust	thrust	VERB
ap-6863	133	55	torques	torque	NOUN
ap-6863	133	56	.	.	PUNCT
ap-6863	134	1	the	the	DET
ap-6863	134	2	effect	effect	NOUN
ap-6863	134	3	of	of	ADP
ap-6863	134	4	backlash	backlash	NOUN
ap-6863	134	5	compensation	compensation	NOUN
ap-6863	134	6	in	in	ADP
ap-6863	134	7	the	the	DET
ap-6863	134	8	dynamics	dynamic	NOUN
ap-6863	134	9	is	be	AUX
ap-6863	134	10	achieved	achieve	VERB
ap-6863	134	11	by	by	ADP
ap-6863	134	12	significant	significant	ADJ
ap-6863	134	13	energy	energy	NOUN
ap-6863	134	14	losses	loss	NOUN
ap-6863	134	15	for	for	ADP
ap-6863	134	16	the	the	DET
ap-6863	134	17	mutual	mutual	ADJ
ap-6863	134	18	torques	torque	NOUN
ap-6863	134	19	of	of	ADP
ap-6863	134	20	the	the	DET
ap-6863	134	21	channels	channel	NOUN
ap-6863	134	22	.	.	PUNCT
ap-6863	135	1	the	the	DET
ap-6863	135	2	efficiency	efficiency	NOUN
ap-6863	135	3	of	of	ADP
ap-6863	135	4	a	a	DET
ap-6863	135	5	drive	drive	NOUN
ap-6863	135	6	with	with	ADP
ap-6863	135	7	a	a	DET
ap-6863	135	8	device	device	NOUN
ap-6863	135	9	with	with	ADP
ap-6863	135	10	an	an	DET
ap-6863	135	11	input	input	NOUN
ap-6863	135	12	of	of	ADP
ap-6863	135	13	displacement	displacement	ADJ
ap-6863	135	14	signals	signal	NOUN
ap-6863	135	15	with	with	ADP
ap-6863	135	16	a	a	DET
ap-6863	135	17	harmonic	harmonic	ADJ
ap-6863	135	18	guidance	guidance	NOUN
ap-6863	135	19	signal	signal	NOUN
ap-6863	135	20	does	do	AUX
ap-6863	135	21	not	not	PART
ap-6863	135	22	exceed	exceed	VERB
ap-6863	135	23	40	40	NUM
ap-6863	135	24	%	%	NOUN
ap-6863	135	25	.	.	PUNCT
ap-6863	136	1	the	the	DET
ap-6863	136	2	cross	cross	ADJ
ap-6863	136	3	-	-	ADJ
ap-6863	136	4	connection	connection	ADJ
ap-6863	136	5	scheme	scheme	NOUN
ap-6863	136	6	shows	show	VERB
ap-6863	136	7	that	that	SCONJ
ap-6863	136	8	,	,	PUNCT
ap-6863	136	9	when	when	SCONJ
ap-6863	136	10	a	a	DET
ap-6863	136	11	small	small	ADJ
ap-6863	136	12	value	value	NOUN
ap-6863	136	13	of	of	ADP
ap-6863	136	14	the	the	DET
ap-6863	136	15	time	time	NOUN
ap-6863	136	16	constant	constant	ADJ
ap-6863	136	17	of	of	ADP
ap-6863	136	18	the	the	DET
ap-6863	136	19	aperiodic	aperiodic	ADJ
ap-6863	136	20	block	block	NOUN
ap-6863	136	21	is	be	AUX
ap-6863	136	22	selected	select	VERB
ap-6863	136	23	due	due	ADP
ap-6863	136	24	to	to	ADP
ap-6863	136	25	the	the	DET
ap-6863	136	26	absence	absence	NOUN
ap-6863	136	27	of	of	ADP
ap-6863	136	28	self	self	NOUN
ap-6863	136	29	-	-	PUNCT
ap-6863	136	30	oscillations	oscillation	NOUN
ap-6863	136	31	in	in	ADP
ap-6863	136	32	the	the	DET
ap-6863	136	33	steady	steady	ADJ
ap-6863	136	34	-	-	PUNCT
ap-6863	136	35	state	state	NOUN
ap-6863	136	36	mode	mode	NOUN
ap-6863	136	37	of	of	ADP
ap-6863	136	38	motion	motion	NOUN
ap-6863	136	39	,	,	PUNCT
ap-6863	136	40	the	the	DET
ap-6863	136	41	summation	summation	NOUN
ap-6863	136	42	of	of	ADP
ap-6863	136	43	the	the	DET
ap-6863	136	44	torques	torque	NOUN
ap-6863	136	45	of	of	ADP
ap-6863	136	46	individual	individual	ADJ
ap-6863	136	47	motors	motor	NOUN
ap-6863	136	48	is	be	AUX
ap-6863	136	49	provided	provide	VERB
ap-6863	136	50	;	;	PUNCT
ap-6863	136	51	the	the	DET
ap-6863	136	52	backlash	backlash	NOUN
ap-6863	136	53	is	be	AUX
ap-6863	136	54	compensated	compensate	VERB
ap-6863	136	55	by	by	ADP
ap-6863	136	56	shifting	shift	VERB
ap-6863	136	57	the	the	DET
ap-6863	136	58	control	control	NOUN
ap-6863	136	59	signals	signal	NOUN
ap-6863	136	60	in	in	ADP
ap-6863	136	61	individual	individual	ADJ
ap-6863	136	62	channels	channel	NOUN
ap-6863	136	63	.	.	PUNCT
ap-6863	137	1	the	the	DET
ap-6863	137	2	dynamics	dynamic	NOUN
ap-6863	137	3	of	of	ADP
ap-6863	137	4	the	the	DET
ap-6863	137	5	main	main	ADJ
ap-6863	137	6	movement	movement	NOUN
ap-6863	137	7	is	be	AUX
ap-6863	137	8	close	close	ADJ
ap-6863	137	9	to	to	ADP
ap-6863	137	10	the	the	DET
ap-6863	137	11	dynamics	dynamic	NOUN
ap-6863	137	12	of	of	ADP
ap-6863	137	13	the	the	DET
ap-6863	137	14	ideal	ideal	ADJ
ap-6863	137	15	model	model	NOUN
ap-6863	137	16	without	without	ADP
ap-6863	137	17	any	any	DET
ap-6863	137	18	backlash	backlash	NOUN
ap-6863	137	19	.	.	PUNCT
ap-6863	138	1	the	the	DET
ap-6863	138	2	efficiency	efficiency	NOUN
ap-6863	138	3	of	of	ADP
ap-6863	138	4	the	the	DET
ap-6863	138	5	electric	electric	ADJ
ap-6863	138	6	drive	drive	PROPN
ap-6863	138	7	approaches	approach	VERB
ap-6863	138	8	80	80	NUM
ap-6863	138	9	%	%	NOUN
ap-6863	138	10	when	when	SCONJ
ap-6863	138	11	processing	process	VERB
ap-6863	138	12	the	the	DET
ap-6863	138	13	harmonic	harmonic	ADJ
ap-6863	138	14	guidance	guidance	NOUN
ap-6863	138	15	signal	signal	NOUN
ap-6863	138	16	.	.	PUNCT
ap-6863	139	1	an	an	DET
ap-6863	139	2	increase	increase	NOUN
ap-6863	139	3	in	in	ADP
ap-6863	139	4	the	the	DET
ap-6863	139	5	time	time	NOUN
ap-6863	139	6	constants	constant	NOUN
ap-6863	139	7	t1	t1	PROPN
ap-6863	139	8	,	,	PUNCT
ap-6863	139	9	t2	t2	NOUN
ap-6863	139	10	of	of	ADP
ap-6863	139	11	the	the	DET
ap-6863	139	12	aperiodic	aperiodic	ADJ
ap-6863	139	13	links	link	NOUN
ap-6863	139	14	leads	lead	VERB
ap-6863	139	15	to	to	ADP
ap-6863	139	16	a	a	DET
ap-6863	139	17	change	change	NOUN
ap-6863	139	18	of	of	ADP
ap-6863	139	19	the	the	DET
ap-6863	139	20	operation	operation	NOUN
ap-6863	139	21	of	of	ADP
ap-6863	139	22	the	the	DET
ap-6863	139	23	electric	electric	ADJ
ap-6863	139	24	drive	drive	NOUN
ap-6863	139	25	.	.	PUNCT
ap-6863	140	1	the	the	DET
ap-6863	140	2	thrust	thrust	ADJ
ap-6863	140	3	torques	torque	NOUN
ap-6863	140	4	of	of	ADP
ap-6863	140	5	the	the	DET
ap-6863	140	6	electric	electric	ADJ
ap-6863	140	7	drive	drive	PROPN
ap-6863	140	8	appear	appear	VERB
ap-6863	140	9	(	(	PUNCT
ap-6863	140	10	figure	figure	NOUN
ap-6863	140	11	8b	8b	NUM
ap-6863	140	12	)	)	PUNCT
ap-6863	140	13	,	,	PUNCT
ap-6863	140	14	which	which	PRON
ap-6863	140	15	increases	increase	VERB
ap-6863	140	16	the	the	DET
ap-6863	140	17	energy	energy	NOUN
ap-6863	140	18	consumption	consumption	NOUN
ap-6863	140	19	and	and	CCONJ
ap-6863	140	20	leads	lead	VERB
ap-6863	140	21	to	to	ADP
ap-6863	140	22	a	a	DET
ap-6863	140	23	decrease	decrease	NOUN
ap-6863	140	24	in	in	ADP
ap-6863	140	25	efficiency	efficiency	NOUN
ap-6863	140	26	(	(	PUNCT
ap-6863	140	27	figure	figure	NOUN
ap-6863	140	28	8c	8c	NOUN
ap-6863	140	29	)	)	PUNCT
ap-6863	140	30	,	,	PUNCT
ap-6863	140	31	similar	similar	ADJ
ap-6863	140	32	to	to	ADP
ap-6863	140	33	the	the	DET
ap-6863	140	34	device	device	NOUN
ap-6863	140	35	with	with	ADP
ap-6863	140	36	an	an	DET
ap-6863	140	37	input	input	NOUN
ap-6863	140	38	of	of	ADP
ap-6863	140	39	displacement	displacement	ADJ
ap-6863	140	40	signals	signal	NOUN
ap-6863	140	41	.	.	PUNCT
ap-6863	141	1	the	the	DET
ap-6863	141	2	use	use	NOUN
ap-6863	141	3	of	of	ADP
ap-6863	141	4	a	a	DET
ap-6863	141	5	backlash	backlash	NOUN
ap-6863	141	6	compensation	compensation	NOUN
ap-6863	141	7	device	device	NOUN
ap-6863	141	8	for	for	ADP
ap-6863	141	9	a	a	DET
ap-6863	141	10	drive	drive	NOUN
ap-6863	141	11	containing	contain	VERB
ap-6863	141	12	two	two	NUM
ap-6863	141	13	control	control	NOUN
ap-6863	141	14	channels	channel	NOUN
ap-6863	141	15	will	will	AUX
ap-6863	141	16	ensure	ensure	VERB
ap-6863	141	17	the	the	DET
ap-6863	141	18	required	require	VERB
ap-6863	141	19	kinematic	kinematic	ADJ
ap-6863	141	20	accuracy	accuracy	NOUN
ap-6863	141	21	of	of	ADP
ap-6863	141	22	drive	drive	ADJ
ap-6863	141	23	systems	system	NOUN
ap-6863	141	24	during	during	ADP
ap-6863	141	25	the	the	DET
ap-6863	141	26	operation	operation	NOUN
ap-6863	141	27	and	and	CCONJ
ap-6863	141	28	will	will	AUX
ap-6863	141	29	not	not	PART
ap-6863	141	30	require	require	VERB
ap-6863	141	31	any	any	DET
ap-6863	141	32	additional	additional	ADJ
ap-6863	141	33	effort	effort	NOUN
ap-6863	141	34	to	to	PART
ap-6863	141	35	restore	restore	VERB
ap-6863	141	36	accuracy	accuracy	NOUN
ap-6863	141	37	.	.	PUNCT
ap-6863	142	1	the	the	DET
ap-6863	142	2	simulation	simulation	NOUN
ap-6863	142	3	showed	show	VERB
ap-6863	142	4	that	that	SCONJ
ap-6863	142	5	the	the	DET
ap-6863	142	6	developed	develop	VERB
ap-6863	142	7	device	device	NOUN
ap-6863	142	8	for	for	ADP
ap-6863	142	9	backlash	backlash	NOUN
ap-6863	142	10	compensation	compensation	NOUN
ap-6863	142	11	with	with	ADP
ap-6863	142	12	cross	cros	NOUN
ap-6863	142	13	-	-	NOUN
ap-6863	142	14	connections	connection	NOUN
ap-6863	142	15	allows	allow	VERB
ap-6863	142	16	ensuring	ensure	VERB
ap-6863	142	17	the	the	DET
ap-6863	142	18	accuracy	accuracy	NOUN
ap-6863	142	19	of	of	ADP
ap-6863	142	20	an	an	DET
ap-6863	142	21	electromechanical	electromechanical	ADJ
ap-6863	142	22	drive	drive	NOUN
ap-6863	142	23	with	with	ADP
ap-6863	142	24	backlash	backlash	NOUN
ap-6863	142	25	in	in	ADP
ap-6863	142	26	mechanical	mechanical	ADJ
ap-6863	142	27	transmissions	transmission	NOUN
ap-6863	142	28	,	,	PUNCT
ap-6863	142	29	and	and	CCONJ
ap-6863	142	30	compensating	compensate	VERB
ap-6863	142	31	for	for	ADP
ap-6863	142	32	the	the	DET
ap-6863	142	33	gap	gap	NOUN
ap-6863	142	34	caused	cause	VERB
ap-6863	142	35	by	by	ADP
ap-6863	142	36	prolonged	prolonged	ADJ
ap-6863	142	37	idling	idle	VERB
ap-6863	142	38	periods	period	NOUN
ap-6863	142	39	so	so	SCONJ
ap-6863	142	40	that	that	SCONJ
ap-6863	142	41	when	when	SCONJ
ap-6863	142	42	the	the	DET
ap-6863	142	43	dynamic	dynamic	ADJ
ap-6863	142	44	error	error	NOUN
ap-6863	142	45	signal	signal	NOUN
ap-6863	142	46	changes	change	NOUN
ap-6863	142	47	,	,	PUNCT
ap-6863	142	48	it	it	PRON
ap-6863	142	49	creates	create	VERB
ap-6863	142	50	a	a	DET
ap-6863	142	51	shift	shift	NOUN
ap-6863	142	52	in	in	ADP
ap-6863	142	53	control	control	NOUN
ap-6863	142	54	signals	signal	NOUN
ap-6863	142	55	in	in	ADP
ap-6863	142	56	individual	individual	ADJ
ap-6863	142	57	channels	channel	NOUN
ap-6863	142	58	,	,	PUNCT
ap-6863	142	59	providing	provide	VERB
ap-6863	142	60	a	a	DET
ap-6863	142	61	compensation	compensation	NOUN
ap-6863	142	62	for	for	ADP
ap-6863	142	63	backlash	backlash	NOUN
ap-6863	142	64	,	,	PUNCT
ap-6863	142	65	and	and	CCONJ
ap-6863	142	66	in	in	ADP
ap-6863	142	67	the	the	DET
ap-6863	142	68	mode	mode	NOUN
ap-6863	142	69	of	of	ADP
ap-6863	142	70	steady	steady	ADJ
ap-6863	142	71	motion	motion	NOUN
ap-6863	142	72	,	,	PUNCT
ap-6863	142	73	it	it	PRON
ap-6863	142	74	creates	create	VERB
ap-6863	142	75	the	the	DET
ap-6863	142	76	summation	summation	NOUN
ap-6863	142	77	of	of	ADP
ap-6863	142	78	the	the	DET
ap-6863	142	79	torques	torque	NOUN
ap-6863	142	80	of	of	ADP
ap-6863	142	81	the	the	DET
ap-6863	142	82	channels	channel	NOUN
ap-6863	142	83	.	.	PUNCT
ap-6863	143	1	when	when	SCONJ
ap-6863	143	2	choosing	choose	VERB
ap-6863	143	3	large	large	ADJ
ap-6863	143	4	values	value	NOUN
ap-6863	143	5	of	of	ADP
ap-6863	143	6	the	the	DET
ap-6863	143	7	time	time	NOUN
ap-6863	143	8	constants	constant	NOUN
ap-6863	143	9	t1	t1	PROPN
ap-6863	143	10	,	,	PUNCT
ap-6863	143	11	t2	t2	NOUN
ap-6863	143	12	of	of	ADP
ap-6863	143	13	a	a	DET
ap-6863	143	14	cross	cross	ADJ
ap-6863	143	15	-	-	ADJ
ap-6863	143	16	connection	connection	ADJ
ap-6863	143	17	device	device	NOUN
ap-6863	143	18	,	,	PUNCT
ap-6863	143	19	the	the	DET
ap-6863	143	20	backlash	backlash	NOUN
ap-6863	143	21	is	be	AUX
ap-6863	143	22	compensated	compensate	VERB
ap-6863	143	23	by	by	ADP
ap-6863	143	24	creating	create	VERB
ap-6863	143	25	thrust	thrust	ADJ
ap-6863	143	26	torques	torque	NOUN
ap-6863	143	27	,	,	PUNCT
ap-6863	143	28	similar	similar	ADJ
ap-6863	143	29	to	to	ADP
ap-6863	143	30	a	a	DET
ap-6863	143	31	device	device	NOUN
ap-6863	143	32	with	with	ADP
ap-6863	143	33	an	an	DET
ap-6863	143	34	input	input	NOUN
ap-6863	143	35	of	of	ADP
ap-6863	143	36	displacement	displacement	ADJ
ap-6863	143	37	signals	signal	NOUN
ap-6863	143	38	;	;	PUNCT
ap-6863	143	39	in	in	ADP
ap-6863	143	40	this	this	DET
ap-6863	143	41	case	case	NOUN
ap-6863	143	42	,	,	PUNCT
ap-6863	143	43	the	the	DET
ap-6863	143	44	efficiency	efficiency	NOUN
ap-6863	143	45	does	do	AUX
ap-6863	143	46	not	not	PART
ap-6863	143	47	exceed	exceed	VERB
ap-6863	143	48	40	40	NUM
ap-6863	143	49	%	%	NOUN
ap-6863	143	50	.	.	PUNCT
ap-6863	144	1	the	the	DET
ap-6863	144	2	choice	choice	NOUN
ap-6863	144	3	of	of	ADP
ap-6863	144	4	small	small	ADJ
ap-6863	144	5	values	value	NOUN
ap-6863	144	6	of	of	ADP
ap-6863	144	7	the	the	DET
ap-6863	144	8	time	time	NOUN
ap-6863	144	9	constants	constant	NOUN
ap-6863	144	10	t1	t1	PROPN
ap-6863	144	11	,	,	PUNCT
ap-6863	144	12	t2	t2	NOUN
ap-6863	144	13	of	of	ADP
ap-6863	144	14	the	the	DET
ap-6863	144	15	aperiodic	aperiodic	ADJ
ap-6863	144	16	links	link	NOUN
ap-6863	144	17	of	of	ADP
ap-6863	144	18	the	the	DET
ap-6863	144	19	backlash	backlash	NOUN
ap-6863	144	20	compensation	compensation	NOUN
ap-6863	144	21	device	device	NOUN
ap-6863	144	22	provides	provide	VERB
ap-6863	144	23	high	high	ADJ
ap-6863	144	24	-	-	PUNCT
ap-6863	144	25	speed	speed	NOUN
ap-6863	144	26	performance	performance	NOUN
ap-6863	144	27	,	,	PUNCT
ap-6863	144	28	an	an	DET
ap-6863	144	29	increase	increase	NOUN
ap-6863	144	30	in	in	ADP
ap-6863	144	31	the	the	DET
ap-6863	144	32	accuracy	accuracy	NOUN
ap-6863	144	33	of	of	ADP
ap-6863	144	34	operation	operation	NOUN
ap-6863	144	35	(	(	PUNCT
ap-6863	144	36	the	the	DET
ap-6863	144	37	value	value	NOUN
ap-6863	144	38	of	of	ADP
ap-6863	144	39	the	the	DET
ap-6863	144	40	dynamic	dynamic	ADJ
ap-6863	144	41	error	error	NOUN
ap-6863	144	42	is	be	AUX
ap-6863	144	43	lower	low	ADJ
ap-6863	144	44	(	(	PUNCT
ap-6863	144	45	figure	figure	NOUN
ap-6863	144	46	7a	7a	NUM
ap-6863	144	47	)	)	PUNCT
ap-6863	144	48	)	)	PUNCT
ap-6863	144	49	and	and	CCONJ
ap-6863	144	50	an	an	DET
ap-6863	144	51	increase	increase	NOUN
ap-6863	144	52	in	in	ADP
ap-6863	144	53	efficiency	efficiency	NOUN
ap-6863	144	54	of	of	ADP
ap-6863	144	55	up	up	ADP
ap-6863	144	56	to	to	PART
ap-6863	144	57	85	85	NUM
ap-6863	144	58	%	%	NOUN
ap-6863	144	59	.	.	PUNCT
ap-6863	145	1	an	an	DET
ap-6863	145	2	analysis	analysis	NOUN
ap-6863	145	3	of	of	ADP
ap-6863	145	4	the	the	DET
ap-6863	145	5	operating	operate	VERB
ap-6863	145	6	parameters	parameter	NOUN
ap-6863	145	7	of	of	ADP
ap-6863	145	8	a	a	DET
ap-6863	145	9	drive	drive	NOUN
ap-6863	145	10	with	with	ADP
ap-6863	145	11	various	various	ADJ
ap-6863	145	12	schemes	scheme	NOUN
ap-6863	145	13	for	for	ADP
ap-6863	145	14	constructing	construct	VERB
ap-6863	145	15	backlash	backlash	NOUN
ap-6863	145	16	compensation	compensation	NOUN
ap-6863	145	17	devices	device	NOUN
ap-6863	145	18	testifies	testify	VERB
ap-6863	145	19	that	that	SCONJ
ap-6863	145	20	it	it	PRON
ap-6863	145	21	is	be	AUX
ap-6863	145	22	advisable	advisable	ADJ
ap-6863	145	23	to	to	PART
ap-6863	145	24	use	use	VERB
ap-6863	145	25	a	a	DET
ap-6863	145	26	circuit	circuit	NOUN
ap-6863	145	27	with	with	ADP
ap-6863	145	28	cross	cross	NOUN
ap-6863	145	29	-	-	NOUN
ap-6863	145	30	connections	connection	NOUN
ap-6863	145	31	.	.	PUNCT
ap-6863	146	1	310	310	NUM
ap-6863	146	2	vol	vol	NOUN
ap-6863	146	3	.	.	PUNCT
ap-6863	147	1	62	62	NUM
ap-6863	147	2	no	no	INTJ
ap-6863	147	3	.	.	PUNCT
ap-6863	148	1	2/2022	2/2022	NUM
ap-6863	148	2	results	result	NOUN
ap-6863	148	3	of	of	ADP
ap-6863	148	4	research	research	NOUN
ap-6863	148	5	on	on	ADP
ap-6863	148	6	backlash	backlash	NOUN
ap-6863	148	7	compensation	compensation	NOUN
ap-6863	148	8	in	in	ADP
ap-6863	148	9	a	a	DET
ap-6863	148	10	power	power	NOUN
ap-6863	148	11	.	.	PUNCT
ap-6863	148	12	.	.	PUNCT
ap-6863	148	13	.	.	PUNCT
ap-6863	149	1	7	7	X
ap-6863	149	2	.	.	X
ap-6863	149	3	conclusions	conclusion	NOUN
ap-6863	149	4	(	(	PUNCT
ap-6863	149	5	1	1	NUM
ap-6863	149	6	.	.	PUNCT
ap-6863	149	7	)	)	PUNCT
ap-6863	150	1	the	the	DET
ap-6863	150	2	conducted	conduct	VERB
ap-6863	150	3	research	research	NOUN
ap-6863	150	4	on	on	ADP
ap-6863	150	5	compensation	compensation	NOUN
ap-6863	150	6	of	of	ADP
ap-6863	150	7	backlash	backlash	NOUN
ap-6863	150	8	in	in	ADP
ap-6863	150	9	mechanical	mechanical	ADJ
ap-6863	150	10	transmissions	transmission	NOUN
ap-6863	150	11	of	of	ADP
ap-6863	150	12	a	a	DET
ap-6863	150	13	power	power	NOUN
ap-6863	150	14	electromechanical	electromechanical	ADJ
ap-6863	150	15	drive	drive	NOUN
ap-6863	150	16	by	by	ADP
ap-6863	150	17	introducing	introduce	VERB
ap-6863	150	18	various	various	ADJ
ap-6863	150	19	devices	device	NOUN
ap-6863	150	20	for	for	ADP
ap-6863	150	21	backlash	backlash	NOUN
ap-6863	150	22	compensation	compensation	NOUN
ap-6863	150	23	shows	show	VERB
ap-6863	150	24	that	that	SCONJ
ap-6863	150	25	the	the	DET
ap-6863	150	26	devices	device	NOUN
ap-6863	150	27	provide	provide	VERB
ap-6863	150	28	the	the	DET
ap-6863	150	29	required	require	VERB
ap-6863	150	30	dynamic	dynamic	ADJ
ap-6863	150	31	characteristics	characteristic	NOUN
ap-6863	150	32	with	with	ADP
ap-6863	150	33	different	different	ADJ
ap-6863	150	34	energy	energy	NOUN
ap-6863	150	35	efficiency	efficiency	NOUN
ap-6863	150	36	.	.	PUNCT
ap-6863	151	1	(	(	PUNCT
ap-6863	151	2	2	2	NUM
ap-6863	151	3	.	.	PUNCT
ap-6863	151	4	)	)	PUNCT
ap-6863	152	1	the	the	DET
ap-6863	152	2	proposed	propose	VERB
ap-6863	152	3	electronic	electronic	ADJ
ap-6863	152	4	device	device	NOUN
ap-6863	152	5	for	for	ADP
ap-6863	152	6	backlash	backlash	NOUN
ap-6863	152	7	compensation	compensation	NOUN
ap-6863	152	8	allows	allow	VERB
ap-6863	152	9	,	,	PUNCT
ap-6863	152	10	due	due	ADP
ap-6863	152	11	to	to	ADP
ap-6863	152	12	the	the	DET
ap-6863	152	13	transformation	transformation	NOUN
ap-6863	152	14	of	of	ADP
ap-6863	152	15	the	the	DET
ap-6863	152	16	signal	signal	NOUN
ap-6863	152	17	of	of	ADP
ap-6863	152	18	the	the	DET
ap-6863	152	19	dynamic	dynamic	ADJ
ap-6863	152	20	error	error	NOUN
ap-6863	152	21	of	of	ADP
ap-6863	152	22	the	the	DET
ap-6863	152	23	system	system	NOUN
ap-6863	152	24	in	in	ADP
ap-6863	152	25	lowpower	lowpower	ADJ
ap-6863	152	26	electrical	electrical	ADJ
ap-6863	152	27	control	control	NOUN
ap-6863	152	28	circuits	circuit	NOUN
ap-6863	152	29	,	,	PUNCT
ap-6863	152	30	to	to	PART
ap-6863	152	31	create	create	VERB
ap-6863	152	32	a	a	DET
ap-6863	152	33	shift	shift	NOUN
ap-6863	152	34	of	of	ADP
ap-6863	152	35	signals	signal	NOUN
ap-6863	152	36	in	in	ADP
ap-6863	152	37	each	each	DET
ap-6863	152	38	channel	channel	NOUN
ap-6863	152	39	so	so	SCONJ
ap-6863	152	40	that	that	SCONJ
ap-6863	152	41	when	when	SCONJ
ap-6863	152	42	the	the	DET
ap-6863	152	43	sign	sign	NOUN
ap-6863	152	44	of	of	ADP
ap-6863	152	45	the	the	DET
ap-6863	152	46	signal	signal	NOUN
ap-6863	152	47	of	of	ADP
ap-6863	152	48	the	the	DET
ap-6863	152	49	dynamic	dynamic	ADJ
ap-6863	152	50	error	error	NOUN
ap-6863	152	51	changes	change	NOUN
ap-6863	152	52	,	,	PUNCT
ap-6863	152	53	it	it	PRON
ap-6863	152	54	compensates	compensate	VERB
ap-6863	152	55	for	for	ADP
ap-6863	152	56	the	the	DET
ap-6863	152	57	backlash	backlash	NOUN
ap-6863	152	58	,	,	PUNCT
ap-6863	152	59	and	and	CCONJ
ap-6863	152	60	when	when	SCONJ
ap-6863	152	61	the	the	DET
ap-6863	152	62	motion	motion	NOUN
ap-6863	152	63	is	be	AUX
ap-6863	152	64	steady	steady	ADJ
ap-6863	152	65	,	,	PUNCT
ap-6863	152	66	the	the	DET
ap-6863	152	67	torques	torque	NOUN
ap-6863	152	68	of	of	ADP
ap-6863	152	69	the	the	DET
ap-6863	152	70	individual	individual	ADJ
ap-6863	152	71	motors	motor	NOUN
ap-6863	152	72	are	be	AUX
ap-6863	152	73	summed	sum	VERB
ap-6863	152	74	up	up	ADP
ap-6863	152	75	.	.	PUNCT
ap-6863	153	1	(	(	PUNCT
ap-6863	153	2	3	3	NUM
ap-6863	153	3	.	.	PUNCT
ap-6863	153	4	)	)	PUNCT
ap-6863	154	1	it	it	PRON
ap-6863	154	2	is	be	AUX
ap-6863	154	3	shown	show	VERB
ap-6863	154	4	that	that	SCONJ
ap-6863	154	5	the	the	DET
ap-6863	154	6	proposed	propose	VERB
ap-6863	154	7	cross	cross	ADJ
ap-6863	154	8	-	-	ADJ
ap-6863	154	9	connection	connection	ADJ
ap-6863	154	10	backlash	backlash	NOUN
ap-6863	154	11	compensation	compensation	NOUN
ap-6863	154	12	scheme	scheme	NOUN
ap-6863	154	13	provides	provide	VERB
ap-6863	154	14	a	a	DET
ap-6863	154	15	kinematic	kinematic	ADJ
ap-6863	154	16	accuracy	accuracy	NOUN
ap-6863	154	17	with	with	ADP
ap-6863	154	18	increased	increase	VERB
ap-6863	154	19	efficiency	efficiency	NOUN
ap-6863	154	20	,	,	PUNCT
ap-6863	154	21	which	which	PRON
ap-6863	154	22	is	be	AUX
ap-6863	154	23	two	two	NUM
ap-6863	154	24	times	time	NOUN
ap-6863	154	25	higher	high	ADJ
ap-6863	154	26	than	than	ADP
ap-6863	154	27	the	the	DET
ap-6863	154	28	efficiency	efficiency	NOUN
ap-6863	154	29	of	of	ADP
ap-6863	154	30	the	the	DET
ap-6863	154	31	circuit	circuit	NOUN
ap-6863	154	32	with	with	ADP
ap-6863	154	33	the	the	DET
ap-6863	154	34	input	input	NOUN
ap-6863	154	35	of	of	ADP
ap-6863	154	36	displacement	displacement	ADJ
ap-6863	154	37	signals	signal	NOUN
ap-6863	154	38	.	.	PUNCT
ap-6863	155	1	references	reference	NOUN
ap-6863	155	2	[	[	X
ap-6863	155	3	1	1	X
ap-6863	155	4	]	]	PUNCT
ap-6863	155	5	s.	s.	PROPN
ap-6863	155	6	l.	l.	PROPN
ap-6863	155	7	samsonovich	samsonovich	PROPN
ap-6863	155	8	,	,	PUNCT
ap-6863	155	9	r.	r.	PROPN
ap-6863	155	10	v.	v.	PROPN
ap-6863	155	11	goryunov	goryunov	PROPN
ap-6863	155	12	.	.	PUNCT
ap-6863	156	1	research	research	NOUN
ap-6863	156	2	of	of	ADP
ap-6863	156	3	the	the	DET
ap-6863	156	4	influence	influence	NOUN
ap-6863	156	5	of	of	ADP
ap-6863	156	6	atmospheric	atmospheric	ADJ
ap-6863	156	7	corrosion	corrosion	NOUN
ap-6863	156	8	on	on	ADP
ap-6863	156	9	the	the	DET
ap-6863	156	10	kinematic	kinematic	ADJ
ap-6863	156	11	accuracy	accuracy	NOUN
ap-6863	156	12	of	of	ADP
ap-6863	156	13	the	the	DET
ap-6863	156	14	drive	drive	NOUN
ap-6863	156	15	of	of	ADP
ap-6863	156	16	a	a	DET
ap-6863	156	17	large	large	ADJ
ap-6863	156	18	-	-	PUNCT
ap-6863	156	19	sized	sized	ADJ
ap-6863	156	20	supporting	support	VERB
ap-6863	156	21	and	and	CCONJ
ap-6863	156	22	rotating	rotate	VERB
ap-6863	156	23	device	device	NOUN
ap-6863	156	24	.	.	PUNCT
ap-6863	157	1	handbook	handbook	VERB
ap-6863	157	2	an	an	DET
ap-6863	157	3	engineering	engineering	NOUN
ap-6863	157	4	journal	journal	NOUN
ap-6863	157	5	(	(	PUNCT
ap-6863	157	6	2):16–22	2):16–22	NUM
ap-6863	157	7	,	,	PUNCT
ap-6863	157	8	2019	2019	NUM
ap-6863	157	9	.	.	PUNCT
ap-6863	158	1	https://doi.org/10.14489/hb.2019.02.pp.016-022	https://doi.org/10.14489/hb.2019.02.pp.016-022	NOUN
ap-6863	158	2	.	.	PUNCT
ap-6863	159	1	[	[	X
ap-6863	159	2	2	2	X
ap-6863	159	3	]	]	PUNCT
ap-6863	159	4	p.	p.	NOUN
ap-6863	159	5	v.	v.	PROPN
ap-6863	159	6	belyanskiy	belyanskiy	PROPN
ap-6863	159	7	,	,	PUNCT
ap-6863	159	8	b.	b.	PROPN
ap-6863	159	9	g.	g.	PROPN
ap-6863	159	10	sergeev	sergeev	PROPN
ap-6863	159	11	.	.	PUNCT
ap-6863	160	1	control	control	NOUN
ap-6863	160	2	of	of	ADP
ap-6863	160	3	terrestrial	terrestrial	ADJ
ap-6863	160	4	antennas	antenna	NOUN
ap-6863	160	5	and	and	CCONJ
ap-6863	160	6	radio	radio	NOUN
ap-6863	160	7	telescopes	telescope	NOUN
ap-6863	160	8	[	[	X
ap-6863	160	9	in	in	ADP
ap-6863	160	10	russian	russian	PROPN
ap-6863	160	11	]	]	PUNCT
ap-6863	160	12	.	.	PUNCT
ap-6863	161	1	sovet	sovet	NOUN
ap-6863	161	2	radio	radio	NOUN
ap-6863	161	3	publishing	publishing	PROPN
ap-6863	161	4	house	house	PROPN
ap-6863	161	5	,	,	PUNCT
ap-6863	161	6	moscow	moscow	PROPN
ap-6863	161	7	,	,	PUNCT
ap-6863	161	8	1980	1980	NUM
ap-6863	161	9	.	.	PUNCT
ap-6863	162	1	[	[	X
ap-6863	162	2	3	3	NUM
ap-6863	162	3	]	]	PUNCT
ap-6863	162	4	a.	a.	NOUN
ap-6863	162	5	a.	a.	NOUN
ap-6863	162	6	kirillov	kirillov	PROPN
ap-6863	162	7	,	,	PUNCT
ap-6863	162	8	v.	v.	PROPN
ap-6863	162	9	g.	g.	PROPN
ap-6863	162	10	stebletsov	stebletsov	PROPN
ap-6863	162	11	.	.	PUNCT
ap-6863	163	1	bases	basis	NOUN
ap-6863	163	2	of	of	ADP
ap-6863	163	3	the	the	DET
ap-6863	163	4	electric	electric	ADJ
ap-6863	163	5	drive	drive	NOUN
ap-6863	163	6	of	of	ADP
ap-6863	163	7	aircraft	aircraft	NOUN
ap-6863	163	8	.	.	PUNCT
ap-6863	164	1	tutorial	tutorial	NOUN
ap-6863	164	2	.	.	PUNCT
ap-6863	165	1	biblio	biblio	PROPN
ap-6863	165	2	-	-	PUNCT
ap-6863	165	3	globus	globus	PROPN
ap-6863	165	4	publishing	publishing	NOUN
ap-6863	165	5	house	house	NOUN
ap-6863	165	6	,	,	PUNCT
ap-6863	165	7	moscow	moscow	PROPN
ap-6863	165	8	,	,	PUNCT
ap-6863	165	9	2013	2013	NUM
ap-6863	165	10	.	.	PUNCT
ap-6863	166	1	[	[	X
ap-6863	166	2	2020	2020	NUM
ap-6863	166	3	-	-	SYM
ap-6863	166	4	03	03	NUM
ap-6863	166	5	-	-	SYM
ap-6863	166	6	05	05	NUM
ap-6863	166	7	]	]	PUNCT
ap-6863	166	8	,	,	PUNCT
ap-6863	166	9	https://rucont.ru/efd/260901	https://rucont.ru/efd/260901	NOUN
ap-6863	166	10	.	.	PUNCT
ap-6863	167	1	[	[	X
ap-6863	167	2	4	4	NUM
ap-6863	167	3	]	]	PUNCT
ap-6863	167	4	m.	m.	NOUN
ap-6863	167	5	nordin	nordin	PROPN
ap-6863	167	6	,	,	PUNCT
ap-6863	167	7	p.-o	p.-o	NOUN
ap-6863	167	8	.	.	PUNCT
ap-6863	168	1	gutman	gutman	NOUN
ap-6863	168	2	.	.	PUNCT
ap-6863	169	1	controlling	control	VERB
ap-6863	169	2	mechanical	mechanical	ADJ
ap-6863	169	3	systems	system	NOUN
ap-6863	169	4	with	with	ADP
ap-6863	169	5	backlash	backlash	NOUN
ap-6863	169	6	–	–	PUNCT
ap-6863	169	7	a	a	DET
ap-6863	169	8	survey	survey	NOUN
ap-6863	169	9	.	.	PUNCT
ap-6863	170	1	automatica	automatica	PROPN
ap-6863	170	2	38(10):1633–1649	38(10):1633–1649	NUM
ap-6863	170	3	,	,	PUNCT
ap-6863	170	4	2002	2002	NUM
ap-6863	170	5	.	.	PUNCT
ap-6863	171	1	https://doi.org/10.1016/s0005-1098(02)00047-x	https://doi.org/10.1016/s0005-1098(02)00047-x	NOUN
ap-6863	171	2	.	.	PUNCT
ap-6863	172	1	[	[	X
ap-6863	172	2	5	5	NUM
ap-6863	172	3	]	]	X
ap-6863	172	4	r.	r.	PROPN
ap-6863	172	5	m.	m.	PROPN
ap-6863	172	6	r.	r.	PROPN
ap-6863	172	7	bruns	bruns	PROPN
ap-6863	172	8	,	,	PUNCT
ap-6863	172	9	j.	j.	PROPN
ap-6863	172	10	f.	f.	PROPN
ap-6863	172	11	p.	p.	PROPN
ap-6863	172	12	b.	b.	PROPN
ap-6863	172	13	diepstraten	diepstraten	VERB
ap-6863	172	14	,	,	PUNCT
ap-6863	172	15	x.	x.	NOUN
ap-6863	172	16	g.	g.	PROPN
ap-6863	172	17	p.	p.	PROPN
ap-6863	172	18	schuurbiers	schuurbiers	PROPN
ap-6863	172	19	,	,	PUNCT
ap-6863	172	20	j.	j.	PROPN
ap-6863	172	21	a.	a.	PROPN
ap-6863	172	22	g.	g.	PROPN
ap-6863	172	23	wouters	wouters	PROPN
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ap-6863	173	4	systems	system	NOUN
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ap-6863	173	7	,	,	PUNCT
ap-6863	173	8	2006	2006	NUM
ap-6863	173	9	.	.	PUNCT
ap-6863	174	1	dct	dct	PROPN
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ap-6863	174	5	.	.	PUNCT
ap-6863	175	1	2006.075	2006.075	NUM
ap-6863	176	1	[	[	X
ap-6863	176	2	2020	2020	NUM
ap-6863	176	3	-	-	SYM
ap-6863	176	4	02	02	NUM
ap-6863	176	5	-	-	NUM
ap-6863	176	6	16	16	NUM
ap-6863	176	7	]	]	PUNCT
ap-6863	176	8	,	,	PUNCT
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ap-6863	177	1	[	[	X
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ap-6863	178	4	in	in	ADP
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ap-6863	178	7	.	.	PUNCT
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ap-6863	179	2	mstu	mstu	PROPN
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ap-6863	179	4	house	house	PROPN
ap-6863	179	5	,	,	PUNCT
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ap-6863	179	9	.	.	PUNCT
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ap-6863	180	5	-	-	PUNCT
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ap-6863	180	7	-	-	SYM
ap-6863	180	8	2	2	NUM
ap-6863	180	9	.	.	PUNCT
ap-6863	181	1	[	[	X
ap-6863	181	2	7	7	X
ap-6863	181	3	]	]	X
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ap-6863	182	8	backlash	backlash	NOUN
ap-6863	182	9	.	.	PUNCT
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ap-6863	184	5	r.	r.	PROPN
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ap-6863	184	9	l.	l.	PROPN
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ap-6863	184	11	.	.	PUNCT
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ap-6863	185	2	net	net	PROPN
ap-6863	185	3	backlash	backlash	NOUN
ap-6863	185	4	compensation	compensation	NOUN
ap-6863	185	5	with	with	ADP
ap-6863	185	6	hebbian	hebbian	ADJ
ap-6863	185	7	tuning	tuning	NOUN
ap-6863	185	8	using	use	VERB
ap-6863	185	9	dynamic	dynamic	ADJ
ap-6863	185	10	inversion	inversion	NOUN
ap-6863	185	11	.	.	PUNCT
ap-6863	186	1	automatica	automatica	PROPN
ap-6863	186	2	37(8):1269–1277	37(8):1269–1277	NUM
ap-6863	186	3	,	,	PUNCT
ap-6863	186	4	2001	2001	NUM
ap-6863	186	5	.	.	PUNCT
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ap-6863	188	1	[	[	X
ap-6863	188	2	9	9	NUM
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ap-6863	188	10	.	.	PUNCT
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ap-6863	189	6	systems	system	NOUN
ap-6863	189	7	.	.	PUNCT
ap-6863	190	1	springer	springer	NOUN
ap-6863	190	2	-	-	PUNCT
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ap-6863	190	4	,	,	PUNCT
ap-6863	190	5	london	london	PROPN
ap-6863	190	6	,	,	PUNCT
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ap-6863	190	8	.	.	PUNCT
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ap-6863	191	3	-	-	SYM
ap-6863	191	4	1	1	NUM
ap-6863	191	5	-	-	PUNCT
ap-6863	191	6	84996	84996	NUM
ap-6863	191	7	-	-	SYM
ap-6863	191	8	869	869	NUM
ap-6863	191	9	-	-	SYM
ap-6863	191	10	0	0	NUM
ap-6863	191	11	,	,	PUNCT
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ap-6863	192	1	[	[	X
ap-6863	192	2	10	10	NUM
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ap-6863	192	6	,	,	PUNCT
ap-6863	192	7	i.	i.	PROPN
ap-6863	192	8	n.	n.	PROPN
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ap-6863	192	17	k.	k.	PROPN
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ap-6863	192	20	.	.	PUNCT
ap-6863	193	1	adaptive	adaptive	PROPN
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ap-6863	193	3	-	-	PUNCT
ap-6863	193	4	slip	slip	NOUN
ap-6863	193	5	friction	friction	NOUN
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ap-6863	193	7	backlash	backlash	NOUN
ap-6863	193	8	compensation	compensation	NOUN
ap-6863	193	9	using	use	VERB
ap-6863	193	10	dynamic	dynamic	ADJ
ap-6863	193	11	fuzzy	fuzzy	ADJ
ap-6863	193	12	logic	logic	NOUN
ap-6863	193	13	system	system	NOUN
ap-6863	193	14	.	.	PUNCT
ap-6863	194	1	applied	apply	VERB
ap-6863	194	2	soft	soft	ADJ
ap-6863	194	3	computing	computing	NOUN
ap-6863	194	4	6(1):26–37	6(1):26–37	NUM
ap-6863	194	5	,	,	PUNCT
ap-6863	194	6	2005	2005	NUM
ap-6863	194	7	.	.	PUNCT
ap-6863	195	1	https://doi.org//10.1016/j.asoc.2004.10.005	https://doi.org//10.1016/j.asoc.2004.10.005	PROPN
ap-6863	195	2	.	.	PUNCT
ap-6863	196	1	[	[	X
ap-6863	196	2	11	11	NUM
ap-6863	196	3	]	]	X
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ap-6863	196	5	v.	v.	ADP
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ap-6863	196	7	.	.	PUNCT
ap-6863	197	1	backlash	backlash	NOUN
ap-6863	197	2	compensation	compensation	NOUN
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ap-6863	197	4	in	in	ADP
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ap-6863	197	7	-	-	PUNCT
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ap-6863	197	11	,	,	PUNCT
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ap-6863	197	13	.	.	PUNCT
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ap-6863	198	3	,	,	PUNCT
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ap-6863	198	5	.	.	PUNCT
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ap-6863	200	1	25	25	NUM
ap-6863	200	2	.	.	PUNCT
ap-6863	201	1	[	[	X
ap-6863	201	2	12	12	NUM
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ap-6863	201	4	y.	y.	PROPN
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ap-6863	201	6	,	,	PUNCT
ap-6863	201	7	et	et	PROPN
ap-6863	201	8	al	al	PROPN
ap-6863	201	9	.	.	PROPN
ap-6863	202	1	dc	dc	PROPN
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ap-6863	202	3	-	-	PUNCT
ap-6863	202	4	motor	motor	NOUN
ap-6863	202	5	driver	driver	NOUN
ap-6863	202	6	,	,	PUNCT
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ap-6863	202	8	.	.	PUNCT
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ap-6863	203	3	,	,	PUNCT
ap-6863	203	4	bull	bull	NOUN
ap-6863	203	5	.	.	PUNCT
ap-6863	204	1	no	no	INTJ
ap-6863	204	2	.	.	NOUN
ap-6863	205	1	7	7	X
ap-6863	205	2	.	.	PUNCT
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ap-6863	206	2	13	13	NUM
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ap-6863	206	14	motor	motor	NOUN
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ap-6863	206	17	,	,	PUNCT
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ap-6863	206	19	.	.	PUNCT
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ap-6863	208	2	14	14	NUM
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ap-6863	208	13	t.	t.	PROPN
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ap-6863	209	7	the	the	DET
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ap-6863	209	12	pp	pp	X
ap-6863	209	13	.	.	PUNCT
ap-6863	210	1	3d14–1–3d14–12	3d14–1–3d14–12	NUM
ap-6863	210	2	,	,	PUNCT
ap-6863	210	3	2010	2010	NUM
ap-6863	210	4	.	.	PUNCT
ap-6863	211	1	https://doi.org/10.1299/jsmemovic.2010._3d14-1	https://doi.org/10.1299/jsmemovic.2010._3d14-1	NOUN
ap-6863	211	2	_	_	NOUN
ap-6863	211	3	.	.	PUNCT
ap-6863	212	1	[	[	X
ap-6863	212	2	15	15	NUM
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ap-6863	213	5	fourmotor	fourmotor	NOUN
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ap-6863	213	12	.	.	PUNCT
ap-6863	214	1	control	control	NOUN
ap-6863	214	2	theory	theory	NOUN
ap-6863	214	3	and	and	CCONJ
ap-6863	214	4	technology	technology	NOUN
ap-6863	214	5	15(1):45–57	15(1):45–57	NUM
ap-6863	214	6	,	,	PUNCT
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ap-6863	214	8	.	.	PUNCT
ap-6863	215	1	https://doi.org/10.1007/s11768-017-5120-7	https://doi.org/10.1007/s11768-017-5120-7	NUM
ap-6863	215	2	.	.	PUNCT
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ap-6863	216	6	,	,	PUNCT
ap-6863	216	7	h.	h.	PROPN
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ap-6863	216	9	.	.	PUNCT
ap-6863	217	1	clearance	clearance	NOUN
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ap-6863	217	3	method	method	NOUN
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ap-6863	217	5	two	two	NUM
ap-6863	217	6	motors	motor	NOUN
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ap-6863	217	9	fuzzy	fuzzy	ADJ
ap-6863	217	10	control	control	NOUN
ap-6863	217	11	for	for	ADP
ap-6863	217	12	turntable	turntable	NOUN
ap-6863	217	13	.	.	PUNCT
ap-6863	218	1	in	in	ADP
ap-6863	218	2	proceedings	proceeding	NOUN
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ap-6863	218	13	.	.	PUNCT
ap-6863	219	1	702–710	702–710	NUM
ap-6863	219	2	.	.	PUNCT
ap-6863	219	3	springer	springer	PROPN
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ap-6863	219	5	,	,	PUNCT
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ap-6863	219	9	.	.	PUNCT
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ap-6863	220	2	.	.	PUNCT
ap-6863	221	1	[	[	X
ap-6863	221	2	17	17	NUM
ap-6863	221	3	]	]	PUNCT
ap-6863	221	4	m.	m.	PROPN
ap-6863	221	5	deng	deng	PROPN
ap-6863	221	6	.	.	PROPN
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ap-6863	221	8	-	-	PUNCT
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ap-6863	221	12	systems	system	NOUN
ap-6863	221	13	:	:	PUNCT
ap-6863	221	14	design	design	NOUN
ap-6863	221	15	and	and	CCONJ
ap-6863	221	16	applications	application	NOUN
ap-6863	221	17	.	.	PUNCT
ap-6863	222	1	wiley	wiley	PROPN
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ap-6863	222	9	.	.	PUNCT
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ap-6863	223	3	-	-	SYM
ap-6863	223	4	1	1	NUM
ap-6863	223	5	-	-	PUNCT
ap-6863	223	6	118	118	NUM
ap-6863	223	7	-	-	PUNCT
ap-6863	223	8	13122	13122	NUM
ap-6863	223	9	-	-	SYM
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ap-6863	226	10	,	,	PUNCT
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ap-6863	230	9	.	.	PUNCT
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ap-6863	231	2	.	.	PUNCT
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ap-6863	232	2	20	20	NUM
ap-6863	232	3	]	]	PUNCT
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ap-6863	235	2	.	.	PUNCT
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ap-6863	237	24	.	.	PUNCT
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ap-6863	239	2	.	.	PUNCT
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