id	sid	tid	token	lemma	pos
aiti-11957	1	1	microsoft	microsoft	PROPN
aiti-11957	1	2	word	word	NOUN
aiti-11957	1	3	3	3	NUM
aiti-11957	1	4	-	-	PUNCT
aiti-11957	1	5	v8n4(2023)-aiti#11957(267	v8n4(2023)-aiti#11957(267	ADJ
aiti-11957	1	6	-	-	PUNCT
aiti-11957	1	7	277).docx	277).docx	NUM
aiti-11957	1	8	advances	advance	NOUN
aiti-11957	1	9	in	in	ADP
aiti-11957	1	10	technology	technology	NOUN
aiti-11957	1	11	innovation	innovation	NOUN
aiti-11957	1	12	,	,	PUNCT
aiti-11957	1	13	vol	vol	NOUN
aiti-11957	1	14	.	.	PROPN
aiti-11957	1	15	8	8	NUM
aiti-11957	1	16	,	,	PUNCT
aiti-11957	1	17	no	no	INTJ
aiti-11957	1	18	.	.	NOUN
aiti-11957	1	19	4	4	NUM
aiti-11957	1	20	,	,	PUNCT
aiti-11957	1	21	2023	2023	NUM
aiti-11957	1	22	,	,	PUNCT
aiti-11957	1	23	pp	pp	ADJ
aiti-11957	1	24	.	.	PUNCT
aiti-11957	2	1	267	267	NUM
aiti-11957	2	2	-	-	SYM
aiti-11957	2	3	277	277	NUM
aiti-11957	2	4	english	english	ADJ
aiti-11957	2	5	language	language	NOUN
aiti-11957	2	6	proofreader	proofreader	NOUN
aiti-11957	2	7	:	:	PUNCT
aiti-11957	2	8	chih	chih	PROPN
aiti-11957	2	9	-	-	PUNCT
aiti-11957	2	10	wei	wei	PROPN
aiti-11957	2	11	chang	chang	PROPN
aiti-11957	2	12	virtual	virtual	ADJ
aiti-11957	2	13	modeling	modeling	NOUN
aiti-11957	2	14	of	of	ADP
aiti-11957	2	15	an	an	DET
aiti-11957	2	16	industrial	industrial	ADJ
aiti-11957	2	17	robotic	robotic	ADJ
aiti-11957	2	18	arm	arm	NOUN
aiti-11957	2	19	for	for	ADP
aiti-11957	2	20	energy	energy	NOUN
aiti-11957	2	21	consumption	consumption	NOUN
aiti-11957	2	22	estimation	estimation	NOUN
aiti-11957	2	23	jin	jin	PROPN
aiti-11957	2	24	-	-	PUNCT
aiti-11957	2	25	siang	siang	PROPN
aiti-11957	2	26	shaw1	shaw1	PROPN
aiti-11957	2	27	,	,	PUNCT
aiti-11957	2	28	*	*	NOUN
aiti-11957	2	29	,	,	PUNCT
aiti-11957	2	30	yi	yi	PROPN
aiti-11957	2	31	-	-	PUNCT
aiti-11957	2	32	hua	hua	PROPN
aiti-11957	2	33	huang2	huang2	PROPN
aiti-11957	2	34	1department	1department	NUM
aiti-11957	2	35	of	of	ADP
aiti-11957	2	36	mechanical	mechanical	ADJ
aiti-11957	2	37	engineering	engineering	NOUN
aiti-11957	2	38	,	,	PUNCT
aiti-11957	2	39	national	national	PROPN
aiti-11957	2	40	taipei	taipei	PROPN
aiti-11957	2	41	university	university	PROPN
aiti-11957	2	42	of	of	ADP
aiti-11957	2	43	technology	technology	PROPN
aiti-11957	2	44	,	,	PUNCT
aiti-11957	2	45	taiwan	taiwan	PROPN
aiti-11957	2	46	,	,	PUNCT
aiti-11957	2	47	roc	roc	PROPN
aiti-11957	2	48	2institute	2institute	NUM
aiti-11957	2	49	of	of	ADP
aiti-11957	2	50	mechatronic	mechatronic	ADJ
aiti-11957	2	51	engineering	engineering	NOUN
aiti-11957	2	52	,	,	PUNCT
aiti-11957	2	53	national	national	PROPN
aiti-11957	2	54	taipei	taipei	PROPN
aiti-11957	2	55	university	university	PROPN
aiti-11957	2	56	of	of	ADP
aiti-11957	2	57	technology	technology	PROPN
aiti-11957	2	58	,	,	PUNCT
aiti-11957	2	59	taiwan	taiwan	PROPN
aiti-11957	2	60	,	,	PUNCT
aiti-11957	2	61	roc	roc	PROPN
aiti-11957	2	62	received	receive	VERB
aiti-11957	2	63	13	13	NUM
aiti-11957	2	64	april	april	PROPN
aiti-11957	2	65	2023	2023	NUM
aiti-11957	2	66	;	;	PUNCT
aiti-11957	2	67	received	receive	VERB
aiti-11957	2	68	in	in	ADP
aiti-11957	2	69	revised	revise	VERB
aiti-11957	2	70	form	form	NOUN
aiti-11957	2	71	03	03	NUM
aiti-11957	2	72	july	july	PROPN
aiti-11957	2	73	2023	2023	NUM
aiti-11957	2	74	;	;	PUNCT
aiti-11957	2	75	accepted	accept	VERB
aiti-11957	2	76	04	04	NUM
aiti-11957	2	77	july	july	PROPN
aiti-11957	2	78	2023	2023	NUM
aiti-11957	2	79	doi	doi	NOUN
aiti-11957	2	80	:	:	PUNCT
aiti-11957	2	81	https://doi.org/10.46604/aiti.2023.11957	https://doi.org/10.46604/aiti.2023.11957	NOUN
aiti-11957	2	82	abstract	abstract	ADJ
aiti-11957	2	83	this	this	DET
aiti-11957	2	84	study	study	NOUN
aiti-11957	2	85	aims	aim	VERB
aiti-11957	2	86	to	to	PART
aiti-11957	2	87	improve	improve	VERB
aiti-11957	2	88	the	the	DET
aiti-11957	2	89	traditional	traditional	ADJ
aiti-11957	2	90	control	control	NOUN
aiti-11957	2	91	methods	method	NOUN
aiti-11957	2	92	of	of	ADP
aiti-11957	2	93	industrial	industrial	ADJ
aiti-11957	2	94	robotic	robotic	ADJ
aiti-11957	2	95	arms	arm	NOUN
aiti-11957	2	96	for	for	ADP
aiti-11957	2	97	path	path	NOUN
aiti-11957	2	98	planning	planning	NOUN
aiti-11957	2	99	in	in	ADP
aiti-11957	2	100	line	line	NOUN
aiti-11957	2	101	with	with	ADP
aiti-11957	2	102	efforts	effort	NOUN
aiti-11957	2	103	to	to	PART
aiti-11957	2	104	conserve	conserve	VERB
aiti-11957	2	105	energy	energy	NOUN
aiti-11957	2	106	and	and	CCONJ
aiti-11957	2	107	reduce	reduce	VERB
aiti-11957	2	108	carbon	carbon	NOUN
aiti-11957	2	109	emissions	emission	NOUN
aiti-11957	2	110	.	.	PUNCT
aiti-11957	3	1	the	the	DET
aiti-11957	3	2	digital	digital	ADJ
aiti-11957	3	3	twin	twin	NOUN
aiti-11957	3	4	of	of	ADP
aiti-11957	3	5	a	a	DET
aiti-11957	3	6	six	six	NUM
aiti-11957	3	7	-	-	PUNCT
aiti-11957	3	8	axis	axis	NOUN
aiti-11957	3	9	industrial	industrial	ADJ
aiti-11957	3	10	robotic	robotic	ADJ
aiti-11957	3	11	arm	arm	NOUN
aiti-11957	3	12	with	with	ADP
aiti-11957	3	13	an	an	DET
aiti-11957	3	14	energy	energy	NOUN
aiti-11957	3	15	consumption	consumption	NOUN
aiti-11957	3	16	model	model	NOUN
aiti-11957	3	17	is	be	AUX
aiti-11957	3	18	innovatively	innovatively	ADV
aiti-11957	3	19	designed	design	VERB
aiti-11957	3	20	.	.	PUNCT
aiti-11957	4	1	by	by	ADP
aiti-11957	4	2	directly	directly	ADV
aiti-11957	4	3	dragging	drag	VERB
aiti-11957	4	4	the	the	DET
aiti-11957	4	5	end	end	NOUN
aiti-11957	4	6	effector	effector	NOUN
aiti-11957	4	7	of	of	ADP
aiti-11957	4	8	a	a	DET
aiti-11957	4	9	digital	digital	ADJ
aiti-11957	4	10	twin	twin	ADJ
aiti-11957	4	11	model	model	NOUN
aiti-11957	4	12	,	,	PUNCT
aiti-11957	4	13	the	the	DET
aiti-11957	4	14	robotic	robotic	ADJ
aiti-11957	4	15	arm	arm	NOUN
aiti-11957	4	16	can	can	AUX
aiti-11957	4	17	be	be	AUX
aiti-11957	4	18	controlled	control	VERB
aiti-11957	4	19	for	for	ADP
aiti-11957	4	20	path	path	NOUN
aiti-11957	4	21	planning	planning	NOUN
aiti-11957	4	22	,	,	PUNCT
aiti-11957	4	23	allowing	allow	VERB
aiti-11957	4	24	path	path	NOUN
aiti-11957	4	25	tuning	tuning	NOUN
aiti-11957	4	26	to	to	PART
aiti-11957	4	27	be	be	AUX
aiti-11957	4	28	easily	easily	ADV
aiti-11957	4	29	made	make	VERB
aiti-11957	4	30	.	.	PUNCT
aiti-11957	5	1	in	in	ADP
aiti-11957	5	2	addition	addition	NOUN
aiti-11957	5	3	,	,	PUNCT
aiti-11957	5	4	the	the	DET
aiti-11957	5	5	dynamic	dynamic	ADJ
aiti-11957	5	6	equation	equation	NOUN
aiti-11957	5	7	of	of	ADP
aiti-11957	5	8	the	the	DET
aiti-11957	5	9	industrial	industrial	ADJ
aiti-11957	5	10	robotic	robotic	ADJ
aiti-11957	5	11	arm	arm	NOUN
aiti-11957	5	12	is	be	AUX
aiti-11957	5	13	derived	derive	VERB
aiti-11957	5	14	,	,	PUNCT
aiti-11957	5	15	and	and	CCONJ
aiti-11957	5	16	the	the	DET
aiti-11957	5	17	energy	energy	NOUN
aiti-11957	5	18	consumption	consumption	NOUN
aiti-11957	5	19	of	of	ADP
aiti-11957	5	20	the	the	DET
aiti-11957	5	21	corresponding	corresponding	ADJ
aiti-11957	5	22	path	path	NOUN
aiti-11957	5	23	can	can	AUX
aiti-11957	5	24	be	be	AUX
aiti-11957	5	25	estimated	estimate	VERB
aiti-11957	5	26	.	.	PUNCT
aiti-11957	6	1	four	four	NUM
aiti-11957	6	2	cases	case	NOUN
aiti-11957	6	3	are	be	AUX
aiti-11957	6	4	designed	design	VERB
aiti-11957	6	5	to	to	PART
aiti-11957	6	6	test	test	VERB
aiti-11957	6	7	the	the	DET
aiti-11957	6	8	validity	validity	NOUN
aiti-11957	6	9	of	of	ADP
aiti-11957	6	10	the	the	DET
aiti-11957	6	11	digital	digital	ADJ
aiti-11957	6	12	twin	twin	NOUN
aiti-11957	6	13	.	.	PUNCT
aiti-11957	7	1	experimental	experimental	ADJ
aiti-11957	7	2	results	result	NOUN
aiti-11957	7	3	show	show	VERB
aiti-11957	7	4	that	that	SCONJ
aiti-11957	7	5	the	the	DET
aiti-11957	7	6	physical	physical	ADJ
aiti-11957	7	7	robotic	robotic	ADJ
aiti-11957	7	8	arm	arm	NOUN
aiti-11957	7	9	follows	follow	VERB
aiti-11957	7	10	its	its	PRON
aiti-11957	7	11	digital	digital	ADJ
aiti-11957	7	12	twin	twin	ADJ
aiti-11957	7	13	model	model	NOUN
aiti-11957	7	14	with	with	ADP
aiti-11957	7	15	the	the	DET
aiti-11957	7	16	corresponding	correspond	VERB
aiti-11957	7	17	energy	energy	NOUN
aiti-11957	7	18	consumption	consumption	NOUN
aiti-11957	7	19	computed	compute	VERB
aiti-11957	7	20	.	.	PUNCT
aiti-11957	8	1	the	the	DET
aiti-11957	8	2	estimated	estimate	VERB
aiti-11957	8	3	energy	energy	NOUN
aiti-11957	8	4	consumptions	consumption	NOUN
aiti-11957	8	5	agree	agree	VERB
aiti-11957	8	6	quite	quite	ADV
aiti-11957	8	7	well	well	ADV
aiti-11957	8	8	with	with	ADP
aiti-11957	8	9	each	each	DET
aiti-11957	8	10	designed	design	VERB
aiti-11957	8	11	case	case	NOUN
aiti-11957	8	12	scenario	scenario	NOUN
aiti-11957	8	13	.	.	PUNCT
aiti-11957	9	1	keywords	keyword	NOUN
aiti-11957	9	2	:	:	PUNCT
aiti-11957	9	3	digital	digital	ADJ
aiti-11957	9	4	twin	twin	ADJ
aiti-11957	9	5	,	,	PUNCT
aiti-11957	9	6	robotic	robotic	ADJ
aiti-11957	9	7	arm	arm	NOUN
aiti-11957	9	8	,	,	PUNCT
aiti-11957	9	9	unity	unity	NOUN
aiti-11957	9	10	,	,	PUNCT
aiti-11957	9	11	euler	euler	NOUN
aiti-11957	9	12	-	-	PUNCT
aiti-11957	9	13	lagrange	lagrange	PROPN
aiti-11957	9	14	equation	equation	NOUN
aiti-11957	9	15	,	,	PUNCT
aiti-11957	9	16	energy	energy	NOUN
aiti-11957	9	17	consumption	consumption	NOUN
aiti-11957	9	18	1	1	NUM
aiti-11957	9	19	.	.	PUNCT
aiti-11957	9	20	introduction	introduction	NOUN
aiti-11957	9	21	in	in	ADP
aiti-11957	9	22	the	the	DET
aiti-11957	9	23	advanced	advanced	ADJ
aiti-11957	9	24	21st	21st	ADJ
aiti-11957	9	25	century	century	NOUN
aiti-11957	9	26	,	,	PUNCT
aiti-11957	9	27	technologies	technology	NOUN
aiti-11957	9	28	,	,	PUNCT
aiti-11957	9	29	such	such	ADJ
aiti-11957	9	30	as	as	ADP
aiti-11957	9	31	the	the	DET
aiti-11957	9	32	internet	internet	NOUN
aiti-11957	9	33	of	of	ADP
aiti-11957	9	34	things	thing	NOUN
aiti-11957	9	35	(	(	PUNCT
aiti-11957	9	36	iot	iot	NOUN
aiti-11957	9	37	)	)	PUNCT
aiti-11957	9	38	,	,	PUNCT
aiti-11957	9	39	cloud	cloud	NOUN
aiti-11957	9	40	computing	computing	NOUN
aiti-11957	9	41	,	,	PUNCT
aiti-11957	9	42	big	big	ADJ
aiti-11957	9	43	data	datum	NOUN
aiti-11957	9	44	analysis	analysis	NOUN
aiti-11957	9	45	,	,	PUNCT
aiti-11957	9	46	and	and	CCONJ
aiti-11957	9	47	intelligent	intelligent	ADJ
aiti-11957	9	48	robot	robot	NOUN
aiti-11957	9	49	systems	system	NOUN
aiti-11957	9	50	,	,	PUNCT
aiti-11957	9	51	will	will	AUX
aiti-11957	9	52	cause	cause	VERB
aiti-11957	9	53	changes	change	NOUN
aiti-11957	9	54	in	in	ADP
aiti-11957	9	55	the	the	DET
aiti-11957	9	56	global	global	ADJ
aiti-11957	9	57	manufacturing	manufacturing	NOUN
aiti-11957	9	58	industry	industry	NOUN
aiti-11957	9	59	and	and	CCONJ
aiti-11957	9	60	lead	lead	VERB
aiti-11957	9	61	to	to	ADP
aiti-11957	9	62	an	an	DET
aiti-11957	9	63	era	era	NOUN
aiti-11957	9	64	of	of	ADP
aiti-11957	9	65	intelligent	intelligent	ADJ
aiti-11957	9	66	manufacturing	manufacturing	NOUN
aiti-11957	9	67	in	in	ADP
aiti-11957	9	68	industry	industry	NOUN
aiti-11957	9	69	4.0	4.0	NUM
aiti-11957	9	70	.	.	PUNCT
aiti-11957	10	1	with	with	ADP
aiti-11957	10	2	the	the	DET
aiti-11957	10	3	advent	advent	NOUN
aiti-11957	10	4	of	of	ADP
aiti-11957	10	5	industry	industry	NOUN
aiti-11957	10	6	4.0	4.0	NUM
aiti-11957	10	7	,	,	PUNCT
aiti-11957	10	8	there	there	PRON
aiti-11957	10	9	has	have	AUX
aiti-11957	10	10	been	be	AUX
aiti-11957	10	11	remarkable	remarkable	ADJ
aiti-11957	10	12	growth	growth	NOUN
aiti-11957	10	13	in	in	ADP
aiti-11957	10	14	the	the	DET
aiti-11957	10	15	synergistic	synergistic	ADJ
aiti-11957	10	16	integration	integration	NOUN
aiti-11957	10	17	of	of	ADP
aiti-11957	10	18	existing	exist	VERB
aiti-11957	10	19	and	and	CCONJ
aiti-11957	10	20	emerging	emerge	VERB
aiti-11957	10	21	technologies	technology	NOUN
aiti-11957	10	22	,	,	PUNCT
aiti-11957	10	23	for	for	ADP
aiti-11957	10	24	example	example	NOUN
aiti-11957	10	25	,	,	PUNCT
aiti-11957	10	26	the	the	DET
aiti-11957	10	27	digital	digital	ADJ
aiti-11957	10	28	twin	twin	NOUN
aiti-11957	10	29	(	(	PUNCT
aiti-11957	10	30	dt	dt	NOUN
aiti-11957	10	31	)	)	PUNCT
aiti-11957	10	32	in	in	ADP
aiti-11957	10	33	robotics	robotic	NOUN
aiti-11957	10	34	[	[	X
aiti-11957	10	35	1	1	NUM
aiti-11957	10	36	]	]	PUNCT
aiti-11957	10	37	,	,	PUNCT
aiti-11957	10	38	the	the	DET
aiti-11957	10	39	predictive	predictive	ADJ
aiti-11957	10	40	maintenance	maintenance	NOUN
aiti-11957	10	41	based	base	VERB
aiti-11957	10	42	on	on	ADP
aiti-11957	10	43	dt	dt	PROPN
aiti-11957	11	1	[	[	X
aiti-11957	11	2	2	2	NUM
aiti-11957	11	3	]	]	PUNCT
aiti-11957	11	4	,	,	PUNCT
aiti-11957	11	5	and	and	CCONJ
aiti-11957	11	6	the	the	DET
aiti-11957	11	7	dt	dt	ADV
aiti-11957	11	8	-	-	PUNCT
aiti-11957	11	9	driven	drive	VERB
aiti-11957	11	10	machining	machining	NOUN
aiti-11957	11	11	[	[	X
aiti-11957	11	12	3	3	NUM
aiti-11957	11	13	]	]	PUNCT
aiti-11957	11	14	.	.	PUNCT
aiti-11957	12	1	moreover	moreover	ADV
aiti-11957	12	2	,	,	PUNCT
aiti-11957	12	3	gartner	gartner	PROPN
aiti-11957	12	4	predicted	predict	VERB
aiti-11957	12	5	that	that	SCONJ
aiti-11957	12	6	more	more	ADJ
aiti-11957	12	7	than	than	ADP
aiti-11957	12	8	20	20	NUM
aiti-11957	12	9	billion	billion	NUM
aiti-11957	12	10	us	we	PRON
aiti-11957	12	11	of	of	ADP
aiti-11957	12	12	equipment	equipment	NOUN
aiti-11957	12	13	(	(	PUNCT
aiti-11957	12	14	mostly	mostly	ADV
aiti-11957	12	15	from	from	ADP
aiti-11957	12	16	the	the	DET
aiti-11957	12	17	manufacturing	manufacturing	NOUN
aiti-11957	12	18	industry	industry	NOUN
aiti-11957	12	19	)	)	PUNCT
aiti-11957	12	20	would	would	AUX
aiti-11957	12	21	be	be	AUX
aiti-11957	12	22	applied	apply	VERB
aiti-11957	12	23	to	to	ADP
aiti-11957	12	24	iot	iot	ADJ
aiti-11957	12	25	technology	technology	NOUN
aiti-11957	12	26	[	[	X
aiti-11957	12	27	4	4	NUM
aiti-11957	12	28	]	]	PUNCT
aiti-11957	12	29	.	.	PUNCT
aiti-11957	13	1	in	in	ADP
aiti-11957	13	2	industry	industry	NOUN
aiti-11957	13	3	4.0	4.0	NUM
aiti-11957	13	4	,	,	PUNCT
aiti-11957	13	5	engineers	engineer	NOUN
aiti-11957	13	6	need	need	VERB
aiti-11957	13	7	to	to	PART
aiti-11957	13	8	establish	establish	VERB
aiti-11957	13	9	iot	iot	NOUN
aiti-11957	13	10	and	and	CCONJ
aiti-11957	13	11	cyber	cyber	NOUN
aiti-11957	13	12	-	-	PUNCT
aiti-11957	13	13	physical	physical	ADJ
aiti-11957	13	14	systems	system	NOUN
aiti-11957	13	15	for	for	ADP
aiti-11957	13	16	coordinating	coordinate	VERB
aiti-11957	13	17	smart	smart	ADJ
aiti-11957	13	18	factories	factory	NOUN
aiti-11957	13	19	,	,	PUNCT
aiti-11957	13	20	with	with	ADP
aiti-11957	13	21	digital	digital	ADJ
aiti-11957	13	22	twins	twin	NOUN
aiti-11957	13	23	playing	play	VERB
aiti-11957	13	24	a	a	DET
aiti-11957	13	25	crucial	crucial	ADJ
aiti-11957	13	26	role	role	NOUN
aiti-11957	13	27	[	[	X
aiti-11957	13	28	5	5	NUM
aiti-11957	13	29	]	]	PUNCT
aiti-11957	13	30	.	.	PUNCT
aiti-11957	14	1	through	through	ADP
aiti-11957	14	2	computer	computer	NOUN
aiti-11957	14	3	-	-	PUNCT
aiti-11957	14	4	integrated	integrate	VERB
aiti-11957	14	5	manufacturing	manufacturing	NOUN
aiti-11957	14	6	,	,	PUNCT
aiti-11957	14	7	digital	digital	ADJ
aiti-11957	14	8	information	information	NOUN
aiti-11957	14	9	technology	technology	NOUN
aiti-11957	14	10	,	,	PUNCT
aiti-11957	14	11	data	data	VERB
aiti-11957	14	12	analysis	analysis	NOUN
aiti-11957	14	13	,	,	PUNCT
aiti-11957	14	14	and	and	CCONJ
aiti-11957	14	15	data	data	NOUN
aiti-11957	14	16	-	-	PUNCT
aiti-11957	14	17	driven	drive	VERB
aiti-11957	14	18	services	service	NOUN
aiti-11957	14	19	,	,	PUNCT
aiti-11957	14	20	appropriate	appropriate	ADJ
aiti-11957	14	21	and	and	CCONJ
aiti-11957	14	22	practical	practical	ADJ
aiti-11957	14	23	production	production	NOUN
aiti-11957	14	24	integration	integration	NOUN
aiti-11957	14	25	can	can	AUX
aiti-11957	14	26	improve	improve	VERB
aiti-11957	14	27	the	the	DET
aiti-11957	14	28	efficiency	efficiency	NOUN
aiti-11957	14	29	,	,	PUNCT
aiti-11957	14	30	productivity	productivity	NOUN
aiti-11957	14	31	,	,	PUNCT
aiti-11957	14	32	and	and	CCONJ
aiti-11957	14	33	flexibility	flexibility	NOUN
aiti-11957	14	34	of	of	ADP
aiti-11957	14	35	the	the	DET
aiti-11957	14	36	production	production	NOUN
aiti-11957	14	37	process	process	NOUN
aiti-11957	14	38	[	[	X
aiti-11957	14	39	6	6	NUM
aiti-11957	14	40	-	-	SYM
aiti-11957	14	41	8	8	NUM
aiti-11957	14	42	]	]	PUNCT
aiti-11957	14	43	.	.	PUNCT
aiti-11957	15	1	a	a	DET
aiti-11957	15	2	virtual	virtual	ADJ
aiti-11957	15	3	model	model	NOUN
aiti-11957	15	4	in	in	ADP
aiti-11957	15	5	a	a	DET
aiti-11957	15	6	dt	dt	NOUN
aiti-11957	15	7	can	can	AUX
aiti-11957	15	8	use	use	VERB
aiti-11957	15	9	this	this	DET
aiti-11957	15	10	information	information	NOUN
aiti-11957	15	11	to	to	PART
aiti-11957	15	12	monitor	monitor	VERB
aiti-11957	15	13	,	,	PUNCT
aiti-11957	15	14	optimize	optimize	NOUN
aiti-11957	15	15	,	,	PUNCT
aiti-11957	15	16	and	and	CCONJ
aiti-11957	15	17	predict	predict	VERB
aiti-11957	15	18	real	real	ADJ
aiti-11957	15	19	objects	object	NOUN
aiti-11957	15	20	by	by	ADP
aiti-11957	15	21	accessing	access	VERB
aiti-11957	15	22	their	their	PRON
aiti-11957	15	23	physical	physical	ADJ
aiti-11957	15	24	properties	property	NOUN
aiti-11957	15	25	,	,	PUNCT
aiti-11957	15	26	behaviors	behavior	NOUN
aiti-11957	15	27	,	,	PUNCT
aiti-11957	15	28	and	and	CCONJ
aiti-11957	15	29	specifications	specification	NOUN
aiti-11957	15	30	[	[	X
aiti-11957	15	31	9	9	NUM
aiti-11957	15	32	]	]	PUNCT
aiti-11957	15	33	.	.	PUNCT
aiti-11957	16	1	therefore	therefore	ADV
aiti-11957	16	2	,	,	PUNCT
aiti-11957	16	3	the	the	DET
aiti-11957	16	4	dt	dt	PROPN
aiti-11957	16	5	concept	concept	NOUN
aiti-11957	16	6	is	be	AUX
aiti-11957	16	7	considered	consider	VERB
aiti-11957	16	8	a	a	DET
aiti-11957	16	9	promising	promising	ADJ
aiti-11957	16	10	and	and	CCONJ
aiti-11957	16	11	innovative	innovative	ADJ
aiti-11957	16	12	research	research	NOUN
aiti-11957	16	13	field	field	NOUN
aiti-11957	16	14	.	.	PUNCT
aiti-11957	17	1	however	however	ADV
aiti-11957	17	2	,	,	PUNCT
aiti-11957	17	3	owing	owe	VERB
aiti-11957	17	4	to	to	ADP
aiti-11957	17	5	the	the	DET
aiti-11957	17	6	complexity	complexity	NOUN
aiti-11957	17	7	of	of	ADP
aiti-11957	17	8	constructing	construct	VERB
aiti-11957	17	9	a	a	DET
aiti-11957	17	10	digital	digital	ADJ
aiti-11957	17	11	model	model	NOUN
aiti-11957	17	12	corresponding	correspond	VERB
aiti-11957	17	13	to	to	ADP
aiti-11957	17	14	physical	physical	ADJ
aiti-11957	17	15	space	space	NOUN
aiti-11957	17	16	in	in	ADP
aiti-11957	17	17	a	a	DET
aiti-11957	17	18	virtual	virtual	ADJ
aiti-11957	17	19	space	space	NOUN
aiti-11957	17	20	,	,	PUNCT
aiti-11957	17	21	its	its	PRON
aiti-11957	17	22	application	application	NOUN
aiti-11957	17	23	in	in	ADP
aiti-11957	17	24	the	the	DET
aiti-11957	17	25	field	field	NOUN
aiti-11957	17	26	of	of	ADP
aiti-11957	17	27	industrial	industrial	ADJ
aiti-11957	17	28	manufacturing	manufacturing	NOUN
aiti-11957	17	29	is	be	AUX
aiti-11957	17	30	rarely	rarely	ADV
aiti-11957	17	31	observed	observe	VERB
aiti-11957	17	32	.	.	PUNCT
aiti-11957	18	1	although	although	SCONJ
aiti-11957	18	2	digital	digital	ADJ
aiti-11957	18	3	twinning	twinning	NOUN
aiti-11957	18	4	has	have	AUX
aiti-11957	18	5	been	be	AUX
aiti-11957	18	6	widely	widely	ADV
aiti-11957	18	7	recognized	recognize	VERB
aiti-11957	18	8	as	as	ADP
aiti-11957	18	9	a	a	DET
aiti-11957	18	10	futuristic	futuristic	ADJ
aiti-11957	18	11	and	and	CCONJ
aiti-11957	18	12	innovative	innovative	ADJ
aiti-11957	18	13	research	research	NOUN
aiti-11957	18	14	field	field	NOUN
aiti-11957	18	15	,	,	PUNCT
aiti-11957	18	16	its	its	PRON
aiti-11957	18	17	applications	application	NOUN
aiti-11957	18	18	in	in	ADP
aiti-11957	18	19	industrial	industrial	ADJ
aiti-11957	18	20	manufacturing	manufacturing	NOUN
aiti-11957	18	21	are	be	AUX
aiti-11957	18	22	uncommon	uncommon	ADJ
aiti-11957	18	23	due	due	ADP
aiti-11957	18	24	to	to	ADP
aiti-11957	18	25	the	the	DET
aiti-11957	18	26	complexity	complexity	NOUN
aiti-11957	18	27	of	of	ADP
aiti-11957	18	28	developing	develop	VERB
aiti-11957	18	29	digital	digital	ADJ
aiti-11957	18	30	models	model	NOUN
aiti-11957	18	31	in	in	ADP
aiti-11957	18	32	a	a	DET
aiti-11957	18	33	virtual	virtual	ADJ
aiti-11957	18	34	space	space	NOUN
aiti-11957	18	35	that	that	PRON
aiti-11957	18	36	corresponds	correspond	VERB
aiti-11957	18	37	to	to	ADP
aiti-11957	18	38	and	and	CCONJ
aiti-11957	18	39	replicates	replicate	VERB
aiti-11957	18	40	a	a	DET
aiti-11957	18	41	physical	physical	ADJ
aiti-11957	18	42	space	space	NOUN
aiti-11957	18	43	.	.	PUNCT
aiti-11957	19	1	currently	currently	ADV
aiti-11957	19	2	,	,	PUNCT
aiti-11957	19	3	most	most	ADJ
aiti-11957	19	4	of	of	ADP
aiti-11957	19	5	the	the	DET
aiti-11957	19	6	research	research	NOUN
aiti-11957	19	7	papers	paper	NOUN
aiti-11957	19	8	and	and	CCONJ
aiti-11957	19	9	applications	application	NOUN
aiti-11957	19	10	related	relate	VERB
aiti-11957	19	11	to	to	ADP
aiti-11957	19	12	robotic	robotic	ADJ
aiti-11957	19	13	arms	arm	NOUN
aiti-11957	19	14	and	and	CCONJ
aiti-11957	19	15	digital	digital	ADJ
aiti-11957	19	16	twinning	twinning	NOUN
aiti-11957	19	17	are	be	AUX
aiti-11957	19	18	focused	focus	VERB
aiti-11957	19	19	on	on	ADP
aiti-11957	19	20	establishing	establish	VERB
aiti-11957	19	21	teaching	teaching	NOUN
aiti-11957	19	22	and	and	CCONJ
aiti-11957	19	23	demonstration	demonstration	NOUN
aiti-11957	19	24	scenarios	scenario	NOUN
aiti-11957	19	25	[	[	X
aiti-11957	19	26	10	10	NUM
aiti-11957	19	27	-	-	SYM
aiti-11957	19	28	12	12	NUM
aiti-11957	19	29	]	]	PUNCT
aiti-11957	19	30	.	.	PUNCT
aiti-11957	20	1	*	*	PUNCT
aiti-11957	20	2	corresponding	correspond	VERB
aiti-11957	20	3	author	author	NOUN
aiti-11957	20	4	.	.	PUNCT
aiti-11957	21	1	e	e	X
aiti-11957	21	2	-	-	NOUN
aiti-11957	21	3	mail	mail	NOUN
aiti-11957	21	4	address	address	NOUN
aiti-11957	21	5	:	:	PUNCT
aiti-11957	21	6	jshaw@ntut.edu.tw	jshaw@ntut.edu.tw	PROPN
aiti-11957	21	7	advances	advance	VERB
aiti-11957	21	8	in	in	ADP
aiti-11957	21	9	technology	technology	NOUN
aiti-11957	21	10	innovation	innovation	NOUN
aiti-11957	21	11	,	,	PUNCT
aiti-11957	21	12	vol	vol	NOUN
aiti-11957	21	13	.	.	PROPN
aiti-11957	21	14	8	8	NUM
aiti-11957	21	15	,	,	PUNCT
aiti-11957	21	16	no	no	INTJ
aiti-11957	21	17	.	.	NOUN
aiti-11957	21	18	4	4	NUM
aiti-11957	21	19	,	,	PUNCT
aiti-11957	21	20	2023	2023	NUM
aiti-11957	21	21	,	,	PUNCT
aiti-11957	21	22	pp	pp	ADJ
aiti-11957	21	23	.	.	PUNCT
aiti-11957	22	1	267	267	NUM
aiti-11957	22	2	-	-	SYM
aiti-11957	22	3	277	277	NUM
aiti-11957	22	4	268	268	NUM
aiti-11957	22	5	the	the	DET
aiti-11957	22	6	windows	window	NOUN
aiti-11957	22	7	operating	operating	NOUN
aiti-11957	22	8	system	system	NOUN
aiti-11957	22	9	is	be	AUX
aiti-11957	22	10	widely	widely	ADV
aiti-11957	22	11	used	use	VERB
aiti-11957	22	12	worldwide	worldwide	ADV
aiti-11957	22	13	,	,	PUNCT
aiti-11957	22	14	as	as	SCONJ
aiti-11957	22	15	shown	show	VERB
aiti-11957	22	16	in	in	ADP
aiti-11957	22	17	fig	fig	NOUN
aiti-11957	22	18	.	.	PUNCT
aiti-11957	23	1	1	1	NUM
aiti-11957	24	1	[	[	X
aiti-11957	24	2	13	13	NUM
aiti-11957	24	3	]	]	PUNCT
aiti-11957	24	4	.	.	PUNCT
aiti-11957	25	1	the	the	DET
aiti-11957	25	2	most	most	ADV
aiti-11957	25	3	significant	significant	ADJ
aiti-11957	25	4	difference	difference	NOUN
aiti-11957	25	5	between	between	ADP
aiti-11957	25	6	ros	ros	PROPN
aiti-11957	25	7	and	and	CCONJ
aiti-11957	25	8	windows	windows	PROPN
aiti-11957	25	9	is	be	AUX
aiti-11957	25	10	the	the	DET
aiti-11957	25	11	complexity	complexity	NOUN
aiti-11957	25	12	of	of	ADP
aiti-11957	25	13	ros	ros	PROPN
aiti-11957	25	14	operations	operation	NOUN
aiti-11957	25	15	.	.	PUNCT
aiti-11957	26	1	while	while	SCONJ
aiti-11957	26	2	most	most	ADJ
aiti-11957	26	3	software	software	NOUN
aiti-11957	26	4	today	today	NOUN
aiti-11957	26	5	is	be	AUX
aiti-11957	26	6	designed	design	VERB
aiti-11957	26	7	based	base	VERB
aiti-11957	26	8	on	on	ADP
aiti-11957	26	9	the	the	DET
aiti-11957	26	10	windows	window	NOUN
aiti-11957	26	11	operating	operating	NOUN
aiti-11957	26	12	system	system	NOUN
aiti-11957	26	13	architecture	architecture	NOUN
aiti-11957	26	14	.	.	PUNCT
aiti-11957	27	1	its	its	PRON
aiti-11957	27	2	scalability	scalability	NOUN
aiti-11957	27	3	is	be	AUX
aiti-11957	27	4	far	far	ADV
aiti-11957	27	5	more	more	ADV
aiti-11957	27	6	convenient	convenient	ADJ
aiti-11957	27	7	than	than	ADP
aiti-11957	27	8	that	that	PRON
aiti-11957	27	9	of	of	ADP
aiti-11957	27	10	ros	ros	PROPN
aiti-11957	27	11	,	,	PUNCT
aiti-11957	27	12	and	and	CCONJ
aiti-11957	27	13	the	the	DET
aiti-11957	27	14	resources	resource	NOUN
aiti-11957	27	15	are	be	AUX
aiti-11957	27	16	more	more	ADV
aiti-11957	27	17	abundant	abundant	ADJ
aiti-11957	27	18	.	.	PUNCT
aiti-11957	28	1	since	since	SCONJ
aiti-11957	28	2	most	most	ADJ
aiti-11957	28	3	people	people	NOUN
aiti-11957	28	4	have	have	AUX
aiti-11957	28	5	been	be	AUX
aiti-11957	28	6	in	in	ADP
aiti-11957	28	7	contact	contact	NOUN
aiti-11957	28	8	with	with	ADP
aiti-11957	28	9	computers	computer	NOUN
aiti-11957	28	10	set	set	VERB
aiti-11957	28	11	up	up	ADP
aiti-11957	28	12	under	under	ADP
aiti-11957	28	13	the	the	DET
aiti-11957	28	14	windows	window	NOUN
aiti-11957	28	15	operating	operating	NOUN
aiti-11957	28	16	system	system	NOUN
aiti-11957	28	17	architecture	architecture	NOUN
aiti-11957	28	18	since	since	SCONJ
aiti-11957	28	19	childhood	childhood	NOUN
aiti-11957	28	20	,	,	PUNCT
aiti-11957	28	21	they	they	PRON
aiti-11957	28	22	are	be	AUX
aiti-11957	28	23	familiar	familiar	ADJ
aiti-11957	28	24	with	with	ADP
aiti-11957	28	25	the	the	DET
aiti-11957	28	26	operating	operating	NOUN
aiti-11957	28	27	interface	interface	NOUN
aiti-11957	28	28	and	and	CCONJ
aiti-11957	28	29	use	use	VERB
aiti-11957	28	30	computers	computer	NOUN
aiti-11957	28	31	with	with	ADP
aiti-11957	28	32	much	much	ADV
aiti-11957	28	33	greater	great	ADJ
aiti-11957	28	34	proficiency	proficiency	NOUN
aiti-11957	28	35	than	than	ADP
aiti-11957	28	36	those	those	PRON
aiti-11957	28	37	under	under	ADP
aiti-11957	28	38	ros	ros	PROPN
aiti-11957	28	39	architecture	architecture	NOUN
aiti-11957	28	40	.	.	PUNCT
aiti-11957	29	1	as	as	ADP
aiti-11957	29	2	a	a	DET
aiti-11957	29	3	result	result	NOUN
aiti-11957	29	4	,	,	PUNCT
aiti-11957	29	5	there	there	PRON
aiti-11957	29	6	is	be	VERB
aiti-11957	29	7	no	no	DET
aiti-11957	29	8	need	need	NOUN
aiti-11957	29	9	to	to	PART
aiti-11957	29	10	invest	invest	VERB
aiti-11957	29	11	additional	additional	ADJ
aiti-11957	29	12	time	time	NOUN
aiti-11957	29	13	learning	learn	VERB
aiti-11957	29	14	the	the	DET
aiti-11957	29	15	two	two	NUM
aiti-11957	29	16	operating	operating	NOUN
aiti-11957	29	17	systems	system	NOUN
aiti-11957	29	18	,	,	PUNCT
aiti-11957	29	19	ubuntu	ubuntu	NOUN
aiti-11957	29	20	and	and	CCONJ
aiti-11957	29	21	ros	ros	PROPN
aiti-11957	29	22	,	,	PUNCT
aiti-11957	29	23	and	and	CCONJ
aiti-11957	29	24	only	only	ADV
aiti-11957	29	25	one	one	NUM
aiti-11957	29	26	operating	operate	VERB
aiti-11957	29	27	system	system	NOUN
aiti-11957	29	28	can	can	AUX
aiti-11957	29	29	be	be	AUX
aiti-11957	29	30	used	use	VERB
aiti-11957	29	31	to	to	PART
aiti-11957	29	32	complete	complete	VERB
aiti-11957	29	33	the	the	DET
aiti-11957	29	34	robot	robot	NOUN
aiti-11957	29	35	research	research	NOUN
aiti-11957	29	36	.	.	PUNCT
aiti-11957	30	1	fig	fig	NOUN
aiti-11957	30	2	.	.	PUNCT
aiti-11957	31	1	1	1	NUM
aiti-11957	31	2	global	global	ADJ
aiti-11957	31	3	desktop	desktop	NOUN
aiti-11957	31	4	operating	operating	NOUN
aiti-11957	31	5	system	system	NOUN
aiti-11957	31	6	market	market	NOUN
aiti-11957	31	7	share	share	NOUN
aiti-11957	31	8	[	[	X
aiti-11957	31	9	13	13	NUM
aiti-11957	31	10	]	]	PUNCT
aiti-11957	31	11	according	accord	VERB
aiti-11957	31	12	to	to	ADP
aiti-11957	31	13	the	the	DET
aiti-11957	31	14	world	world	NOUN
aiti-11957	31	15	robotics	robotic	NOUN
aiti-11957	31	16	2022	2022	NUM
aiti-11957	31	17	industrial	industrial	ADJ
aiti-11957	31	18	robots	robot	NOUN
aiti-11957	31	19	report	report	NOUN
aiti-11957	31	20	released	release	VERB
aiti-11957	31	21	by	by	ADP
aiti-11957	31	22	the	the	DET
aiti-11957	31	23	international	international	PROPN
aiti-11957	31	24	federation	federation	PROPN
aiti-11957	31	25	of	of	ADP
aiti-11957	31	26	robotics	robotic	NOUN
aiti-11957	31	27	,	,	PUNCT
aiti-11957	31	28	there	there	PRON
aiti-11957	31	29	are	be	VERB
aiti-11957	31	30	currently	currently	ADV
aiti-11957	31	31	3.5	3.5	NUM
aiti-11957	31	32	million	million	NUM
aiti-11957	31	33	industrial	industrial	ADJ
aiti-11957	31	34	robots	robot	NOUN
aiti-11957	31	35	used	use	VERB
aiti-11957	31	36	in	in	ADP
aiti-11957	31	37	global	global	ADJ
aiti-11957	31	38	factories	factory	NOUN
aiti-11957	31	39	,	,	PUNCT
aiti-11957	31	40	and	and	CCONJ
aiti-11957	31	41	approximately	approximately	ADV
aiti-11957	31	42	510,000	510,000	NUM
aiti-11957	31	43	units	unit	NOUN
aiti-11957	31	44	were	be	AUX
aiti-11957	31	45	delivered	deliver	VERB
aiti-11957	31	46	globally	globally	ADV
aiti-11957	31	47	in	in	ADP
aiti-11957	31	48	2021	2021	NUM
aiti-11957	31	49	.	.	PUNCT
aiti-11957	32	1	the	the	DET
aiti-11957	32	2	applications	application	NOUN
aiti-11957	32	3	include	include	VERB
aiti-11957	32	4	handling	handling	NOUN
aiti-11957	32	5	,	,	PUNCT
aiti-11957	32	6	welding	welding	NOUN
aiti-11957	32	7	,	,	PUNCT
aiti-11957	32	8	assembly	assembly	NOUN
aiti-11957	32	9	,	,	PUNCT
aiti-11957	32	10	cleaning	cleaning	NOUN
aiti-11957	32	11	,	,	PUNCT
aiti-11957	32	12	distribution	distribution	NOUN
aiti-11957	32	13	,	,	PUNCT
aiti-11957	32	14	etc	etc	X
aiti-11957	32	15	.	.	PUNCT
aiti-11957	33	1	[	[	X
aiti-11957	33	2	14	14	NUM
aiti-11957	33	3	]	]	PUNCT
aiti-11957	33	4	.	.	PUNCT
aiti-11957	34	1	however	however	ADV
aiti-11957	34	2	,	,	PUNCT
aiti-11957	34	3	many	many	ADJ
aiti-11957	34	4	industries	industry	NOUN
aiti-11957	34	5	have	have	AUX
aiti-11957	34	6	not	not	PART
aiti-11957	34	7	invested	invest	VERB
aiti-11957	34	8	in	in	ADP
aiti-11957	34	9	robot	robot	NOUN
aiti-11957	34	10	-	-	PUNCT
aiti-11957	34	11	related	relate	VERB
aiti-11957	34	12	technologies	technology	NOUN
aiti-11957	34	13	,	,	PUNCT
aiti-11957	34	14	and	and	CCONJ
aiti-11957	34	15	the	the	DET
aiti-11957	34	16	main	main	ADJ
aiti-11957	34	17	problem	problem	NOUN
aiti-11957	34	18	lies	lie	VERB
aiti-11957	34	19	in	in	ADP
aiti-11957	34	20	the	the	DET
aiti-11957	34	21	limitations	limitation	NOUN
aiti-11957	34	22	of	of	ADP
aiti-11957	34	23	traditional	traditional	ADJ
aiti-11957	34	24	robot	robot	NOUN
aiti-11957	34	25	control	control	NOUN
aiti-11957	34	26	methods	method	NOUN
aiti-11957	34	27	.	.	PUNCT
aiti-11957	35	1	considerable	considerable	ADJ
aiti-11957	35	2	knowledge	knowledge	NOUN
aiti-11957	35	3	and	and	CCONJ
aiti-11957	35	4	technological	technological	ADJ
aiti-11957	35	5	intervention	intervention	NOUN
aiti-11957	35	6	are	be	AUX
aiti-11957	35	7	required	require	VERB
aiti-11957	35	8	to	to	PART
aiti-11957	35	9	make	make	VERB
aiti-11957	35	10	it	it	PRON
aiti-11957	35	11	operate	operate	VERB
aiti-11957	35	12	normally	normally	ADV
aiti-11957	35	13	,	,	PUNCT
aiti-11957	35	14	which	which	PRON
aiti-11957	35	15	seriously	seriously	ADV
aiti-11957	35	16	constrains	constrain	VERB
aiti-11957	35	17	the	the	DET
aiti-11957	35	18	development	development	NOUN
aiti-11957	35	19	of	of	ADP
aiti-11957	35	20	the	the	DET
aiti-11957	35	21	robotics	robotic	NOUN
aiti-11957	35	22	industry	industry	NOUN
aiti-11957	35	23	.	.	PUNCT
aiti-11957	36	1	furthermore	furthermore	ADV
aiti-11957	36	2	,	,	PUNCT
aiti-11957	36	3	revenue	revenue	NOUN
aiti-11957	36	4	from	from	ADP
aiti-11957	36	5	industrial	industrial	ADJ
aiti-11957	36	6	robots	robot	NOUN
aiti-11957	36	7	continues	continue	VERB
aiti-11957	36	8	to	to	PART
aiti-11957	36	9	grow	grow	VERB
aiti-11957	36	10	globally	globally	ADV
aiti-11957	36	11	,	,	PUNCT
aiti-11957	36	12	and	and	CCONJ
aiti-11957	36	13	there	there	PRON
aiti-11957	36	14	is	be	VERB
aiti-11957	36	15	a	a	DET
aiti-11957	36	16	huge	huge	ADJ
aiti-11957	36	17	energy	energy	NOUN
aiti-11957	36	18	cost	cost	NOUN
aiti-11957	36	19	to	to	PART
aiti-11957	36	20	drive	drive	VERB
aiti-11957	36	21	these	these	DET
aiti-11957	36	22	automated	automate	VERB
aiti-11957	36	23	systems	system	NOUN
aiti-11957	36	24	with	with	ADP
aiti-11957	36	25	multiple	multiple	ADJ
aiti-11957	36	26	robots	robot	NOUN
aiti-11957	36	27	operating	operate	VERB
aiti-11957	36	28	[	[	X
aiti-11957	36	29	15	15	NUM
aiti-11957	36	30	]	]	PUNCT
aiti-11957	36	31	.	.	PUNCT
aiti-11957	37	1	typical	typical	ADJ
aiti-11957	37	2	energy	energy	NOUN
aiti-11957	37	3	consumption	consumption	NOUN
aiti-11957	37	4	modeling	modeling	NOUN
aiti-11957	37	5	methods	method	NOUN
aiti-11957	37	6	for	for	ADP
aiti-11957	37	7	robots	robot	NOUN
aiti-11957	37	8	rely	rely	VERB
aiti-11957	37	9	on	on	ADP
aiti-11957	37	10	kinematic	kinematic	ADJ
aiti-11957	37	11	and	and	CCONJ
aiti-11957	37	12	dynamic	dynamic	ADJ
aiti-11957	37	13	characteristics	characteristic	NOUN
aiti-11957	37	14	to	to	PART
aiti-11957	37	15	calculate	calculate	VERB
aiti-11957	37	16	energy	energy	NOUN
aiti-11957	37	17	consumption	consumption	NOUN
aiti-11957	37	18	.	.	PUNCT
aiti-11957	38	1	heredia	heredia	PROPN
aiti-11957	38	2	et	et	PROPN
aiti-11957	38	3	al	al	PROPN
aiti-11957	38	4	.	.	PUNCT
aiti-11957	39	1	[	[	X
aiti-11957	39	2	16	16	NUM
aiti-11957	39	3	]	]	PUNCT
aiti-11957	39	4	established	establish	VERB
aiti-11957	39	5	mathematical	mathematical	ADJ
aiti-11957	39	6	models	model	NOUN
aiti-11957	39	7	of	of	ADP
aiti-11957	39	8	robotic	robotic	ADJ
aiti-11957	39	9	arms	arm	NOUN
aiti-11957	39	10	for	for	ADP
aiti-11957	39	11	energy	energy	NOUN
aiti-11957	39	12	consumption	consumption	NOUN
aiti-11957	39	13	calculation	calculation	NOUN
aiti-11957	39	14	.	.	PUNCT
aiti-11957	40	1	these	these	DET
aiti-11957	40	2	models	model	NOUN
aiti-11957	40	3	were	be	AUX
aiti-11957	40	4	parameterized	parameterized	ADJ
aiti-11957	40	5	and	and	CCONJ
aiti-11957	40	6	trained	train	VERB
aiti-11957	40	7	through	through	ADP
aiti-11957	40	8	collected	collect	VERB
aiti-11957	40	9	experimental	experimental	ADJ
aiti-11957	40	10	data	datum	NOUN
aiti-11957	40	11	to	to	PART
aiti-11957	40	12	evaluate	evaluate	VERB
aiti-11957	40	13	their	their	PRON
aiti-11957	40	14	accuracy	accuracy	NOUN
aiti-11957	40	15	.	.	PUNCT
aiti-11957	41	1	another	another	DET
aiti-11957	41	2	approach	approach	NOUN
aiti-11957	41	3	involved	involve	VERB
aiti-11957	41	4	using	use	VERB
aiti-11957	41	5	a	a	DET
aiti-11957	41	6	trained	train	VERB
aiti-11957	41	7	multilayer	multilayer	ADJ
aiti-11957	41	8	perceptron	perceptron	NOUN
aiti-11957	41	9	(	(	PUNCT
aiti-11957	41	10	mlp	mlp	PROPN
aiti-11957	41	11	)	)	PUNCT
aiti-11957	41	12	or	or	CCONJ
aiti-11957	41	13	resnet	resnet	NOUN
aiti-11957	41	14	model	model	NOUN
aiti-11957	41	15	to	to	PART
aiti-11957	41	16	predict	predict	VERB
aiti-11957	41	17	the	the	DET
aiti-11957	41	18	relevant	relevant	ADJ
aiti-11957	41	19	energy	energy	NOUN
aiti-11957	41	20	consumption	consumption	NOUN
aiti-11957	41	21	of	of	ADP
aiti-11957	41	22	the	the	DET
aiti-11957	41	23	robotic	robotic	ADJ
aiti-11957	41	24	arm	arm	NOUN
aiti-11957	41	25	[	[	X
aiti-11957	41	26	17	17	NUM
aiti-11957	41	27	-	-	SYM
aiti-11957	41	28	18	18	NUM
aiti-11957	41	29	]	]	PUNCT
aiti-11957	41	30	.	.	PUNCT
aiti-11957	42	1	however	however	ADV
aiti-11957	42	2	,	,	PUNCT
aiti-11957	42	3	the	the	DET
aiti-11957	42	4	aforementioned	aforementioned	ADJ
aiti-11957	42	5	data	data	NOUN
aiti-11957	42	6	-	-	PUNCT
aiti-11957	42	7	driven	drive	VERB
aiti-11957	42	8	modeling	modeling	NOUN
aiti-11957	42	9	required	require	VERB
aiti-11957	42	10	a	a	DET
aiti-11957	42	11	large	large	ADJ
aiti-11957	42	12	amount	amount	NOUN
aiti-11957	42	13	of	of	ADP
aiti-11957	42	14	training	training	NOUN
aiti-11957	42	15	data	datum	NOUN
aiti-11957	42	16	collected	collect	VERB
aiti-11957	42	17	from	from	ADP
aiti-11957	42	18	various	various	ADJ
aiti-11957	42	19	sensors	sensor	NOUN
aiti-11957	42	20	.	.	PUNCT
aiti-11957	43	1	in	in	ADP
aiti-11957	43	2	this	this	DET
aiti-11957	43	3	study	study	NOUN
aiti-11957	43	4	,	,	PUNCT
aiti-11957	43	5	the	the	DET
aiti-11957	43	6	corresponding	correspond	VERB
aiti-11957	43	7	energy	energy	NOUN
aiti-11957	43	8	consumption	consumption	NOUN
aiti-11957	43	9	can	can	AUX
aiti-11957	43	10	be	be	AUX
aiti-11957	43	11	computed	compute	VERB
aiti-11957	43	12	solely	solely	ADV
aiti-11957	43	13	by	by	ADP
aiti-11957	43	14	the	the	DET
aiti-11957	43	15	derived	derive	VERB
aiti-11957	43	16	energy	energy	NOUN
aiti-11957	43	17	consumption	consumption	NOUN
aiti-11957	43	18	model	model	NOUN
aiti-11957	43	19	with	with	ADP
aiti-11957	43	20	the	the	DET
aiti-11957	43	21	provided	provide	VERB
aiti-11957	43	22	angular	angular	ADJ
aiti-11957	43	23	speeds	speed	NOUN
aiti-11957	43	24	of	of	ADP
aiti-11957	43	25	each	each	DET
aiti-11957	43	26	joint	joint	NOUN
aiti-11957	43	27	from	from	ADP
aiti-11957	43	28	the	the	DET
aiti-11957	43	29	dt	dt	PROPN
aiti-11957	43	30	,	,	PUNCT
aiti-11957	43	31	and	and	CCONJ
aiti-11957	43	32	no	no	DET
aiti-11957	43	33	need	need	NOUN
aiti-11957	43	34	to	to	PART
aiti-11957	43	35	collect	collect	VERB
aiti-11957	43	36	training	training	NOUN
aiti-11957	43	37	data	datum	NOUN
aiti-11957	43	38	.	.	PUNCT
aiti-11957	44	1	this	this	DET
aiti-11957	44	2	study	study	NOUN
aiti-11957	44	3	aims	aim	VERB
aiti-11957	44	4	to	to	PART
aiti-11957	44	5	create	create	VERB
aiti-11957	44	6	a	a	DET
aiti-11957	44	7	dt	dt	NOUN
aiti-11957	44	8	and	and	CCONJ
aiti-11957	44	9	energy	energy	NOUN
aiti-11957	44	10	consumption	consumption	NOUN
aiti-11957	44	11	model	model	NOUN
aiti-11957	44	12	in	in	ADP
aiti-11957	44	13	the	the	DET
aiti-11957	44	14	windows	window	NOUN
aiti-11957	44	15	framework	framework	NOUN
aiti-11957	44	16	,	,	PUNCT
aiti-11957	44	17	in	in	ADP
aiti-11957	44	18	which	which	PRON
aiti-11957	44	19	the	the	DET
aiti-11957	44	20	physical	physical	ADJ
aiti-11957	44	21	robotic	robotic	ADJ
aiti-11957	44	22	arm	arm	NOUN
aiti-11957	44	23	moves	move	NOUN
aiti-11957	44	24	by	by	ADP
aiti-11957	44	25	dragging	drag	VERB
aiti-11957	44	26	the	the	DET
aiti-11957	44	27	end	end	NOUN
aiti-11957	44	28	effector	effector	NOUN
aiti-11957	44	29	of	of	ADP
aiti-11957	44	30	the	the	DET
aiti-11957	44	31	virtual	virtual	ADJ
aiti-11957	44	32	robotic	robotic	ADJ
aiti-11957	44	33	arm	arm	NOUN
aiti-11957	44	34	.	.	PUNCT
aiti-11957	45	1	in	in	ADP
aiti-11957	45	2	other	other	ADJ
aiti-11957	45	3	words	word	NOUN
aiti-11957	45	4	,	,	PUNCT
aiti-11957	45	5	the	the	DET
aiti-11957	45	6	physical	physical	ADJ
aiti-11957	45	7	robotic	robotic	ADJ
aiti-11957	45	8	arm	arm	NOUN
aiti-11957	45	9	can	can	AUX
aiti-11957	45	10	be	be	AUX
aiti-11957	45	11	collaborative	collaborative	ADJ
aiti-11957	45	12	in	in	ADP
aiti-11957	45	13	this	this	DET
aiti-11957	45	14	manner	manner	NOUN
aiti-11957	45	15	,	,	PUNCT
aiti-11957	45	16	and	and	CCONJ
aiti-11957	45	17	the	the	DET
aiti-11957	45	18	energy	energy	NOUN
aiti-11957	45	19	consumption	consumption	NOUN
aiti-11957	45	20	of	of	ADP
aiti-11957	45	21	the	the	DET
aiti-11957	45	22	corresponding	corresponding	ADJ
aiti-11957	45	23	path	path	NOUN
aiti-11957	45	24	can	can	AUX
aiti-11957	45	25	be	be	AUX
aiti-11957	45	26	computed	compute	VERB
aiti-11957	45	27	.	.	PUNCT
aiti-11957	46	1	with	with	SCONJ
aiti-11957	46	2	the	the	DET
aiti-11957	46	3	energy	energy	NOUN
aiti-11957	46	4	consumption	consumption	NOUN
aiti-11957	46	5	evaluated	evaluate	VERB
aiti-11957	46	6	,	,	PUNCT
aiti-11957	46	7	the	the	DET
aiti-11957	46	8	planning	planning	NOUN
aiti-11957	46	9	path	path	NOUN
aiti-11957	46	10	with	with	ADP
aiti-11957	46	11	the	the	DET
aiti-11957	46	12	lowest	low	ADJ
aiti-11957	46	13	energy	energy	NOUN
aiti-11957	46	14	consumption	consumption	NOUN
aiti-11957	46	15	value	value	NOUN
aiti-11957	46	16	can	can	AUX
aiti-11957	46	17	be	be	AUX
aiti-11957	46	18	selected	select	VERB
aiti-11957	46	19	for	for	SCONJ
aiti-11957	46	20	the	the	DET
aiti-11957	46	21	physical	physical	ADJ
aiti-11957	46	22	robotic	robotic	ADJ
aiti-11957	46	23	arm	arm	NOUN
aiti-11957	46	24	to	to	PART
aiti-11957	46	25	operate	operate	VERB
aiti-11957	46	26	,	,	PUNCT
aiti-11957	46	27	resulting	result	VERB
aiti-11957	46	28	in	in	ADP
aiti-11957	46	29	significant	significant	ADJ
aiti-11957	46	30	energy	energy	NOUN
aiti-11957	46	31	savings	saving	NOUN
aiti-11957	46	32	.	.	PUNCT
aiti-11957	47	1	advances	advance	NOUN
aiti-11957	47	2	in	in	ADP
aiti-11957	47	3	technology	technology	NOUN
aiti-11957	47	4	innovation	innovation	NOUN
aiti-11957	47	5	,	,	PUNCT
aiti-11957	47	6	vol	vol	NOUN
aiti-11957	47	7	.	.	PROPN
aiti-11957	47	8	8	8	NUM
aiti-11957	47	9	,	,	PUNCT
aiti-11957	47	10	no	no	INTJ
aiti-11957	47	11	.	.	NOUN
aiti-11957	47	12	4	4	NUM
aiti-11957	47	13	,	,	PUNCT
aiti-11957	47	14	2023	2023	NUM
aiti-11957	47	15	,	,	PUNCT
aiti-11957	47	16	pp	pp	ADJ
aiti-11957	47	17	.	.	PUNCT
aiti-11957	48	1	267	267	NUM
aiti-11957	48	2	-	-	SYM
aiti-11957	48	3	277	277	NUM
aiti-11957	48	4	269	269	NUM
aiti-11957	48	5	2	2	NUM
aiti-11957	48	6	.	.	PUNCT
aiti-11957	48	7	methodology	methodology	NOUN
aiti-11957	48	8	although	although	SCONJ
aiti-11957	48	9	the	the	DET
aiti-11957	48	10	simulation	simulation	NOUN
aiti-11957	48	11	of	of	ADP
aiti-11957	48	12	a	a	DET
aiti-11957	48	13	robotic	robotic	ADJ
aiti-11957	48	14	arm	arm	NOUN
aiti-11957	48	15	in	in	ADP
aiti-11957	48	16	ros	ros	PROPN
aiti-11957	48	17	using	use	VERB
aiti-11957	48	18	moveit	moveit	NOUN
aiti-11957	48	19	,	,	PUNCT
aiti-11957	48	20	gazebo	gazebo	NOUN
aiti-11957	48	21	,	,	PUNCT
aiti-11957	48	22	and	and	CCONJ
aiti-11957	48	23	rviz	rviz	NOUN
aiti-11957	48	24	is	be	AUX
aiti-11957	48	25	quite	quite	ADV
aiti-11957	48	26	common	common	ADJ
aiti-11957	48	27	,	,	PUNCT
aiti-11957	48	28	no	no	DET
aiti-11957	48	29	cases	case	NOUN
aiti-11957	48	30	have	have	AUX
aiti-11957	48	31	been	be	AUX
aiti-11957	48	32	found	find	VERB
aiti-11957	48	33	that	that	PRON
aiti-11957	48	34	utilize	utilize	VERB
aiti-11957	48	35	the	the	DET
aiti-11957	48	36	ros	ros	PROPN
aiti-11957	48	37	framework	framework	NOUN
aiti-11957	48	38	in	in	ADP
aiti-11957	48	39	constructing	construct	VERB
aiti-11957	48	40	a	a	DET
aiti-11957	48	41	digital	digital	ADJ
aiti-11957	48	42	twin	twin	ADJ
aiti-11957	48	43	model	model	NOUN
aiti-11957	48	44	capable	capable	ADJ
aiti-11957	48	45	of	of	ADP
aiti-11957	48	46	estimating	estimate	VERB
aiti-11957	48	47	energy	energy	NOUN
aiti-11957	48	48	consumption	consumption	NOUN
aiti-11957	48	49	for	for	ADP
aiti-11957	48	50	robotic	robotic	ADJ
aiti-11957	48	51	arms	arm	NOUN
aiti-11957	48	52	.	.	PUNCT
aiti-11957	49	1	in	in	ADP
aiti-11957	49	2	fact	fact	NOUN
aiti-11957	49	3	,	,	PUNCT
aiti-11957	49	4	to	to	ADP
aiti-11957	49	5	the	the	DET
aiti-11957	49	6	best	good	ADJ
aiti-11957	49	7	of	of	ADP
aiti-11957	49	8	the	the	DET
aiti-11957	49	9	authors	author	NOUN
aiti-11957	49	10	’	’	PART
aiti-11957	49	11	knowledge	knowledge	NOUN
aiti-11957	49	12	,	,	PUNCT
aiti-11957	49	13	no	no	DET
aiti-11957	49	14	research	research	NOUN
aiti-11957	49	15	has	have	AUX
aiti-11957	49	16	been	be	AUX
aiti-11957	49	17	reported	report	VERB
aiti-11957	49	18	on	on	ADP
aiti-11957	49	19	using	use	VERB
aiti-11957	49	20	the	the	DET
aiti-11957	49	21	dt	dt	PROPN
aiti-11957	49	22	model	model	NOUN
aiti-11957	49	23	that	that	PRON
aiti-11957	49	24	can	can	AUX
aiti-11957	49	25	predict	predict	VERB
aiti-11957	49	26	the	the	DET
aiti-11957	49	27	corresponding	correspond	VERB
aiti-11957	49	28	energy	energy	NOUN
aiti-11957	49	29	consumption	consumption	NOUN
aiti-11957	49	30	for	for	ADP
aiti-11957	49	31	robotic	robotic	ADJ
aiti-11957	49	32	arms	arm	NOUN
aiti-11957	49	33	under	under	ADP
aiti-11957	49	34	either	either	CCONJ
aiti-11957	49	35	the	the	DET
aiti-11957	49	36	windows	window	NOUN
aiti-11957	49	37	or	or	CCONJ
aiti-11957	49	38	ros	ros	PROPN
aiti-11957	49	39	system	system	NOUN
aiti-11957	49	40	.	.	PUNCT
aiti-11957	50	1	since	since	SCONJ
aiti-11957	50	2	windows	window	NOUN
aiti-11957	50	3	is	be	AUX
aiti-11957	50	4	the	the	DET
aiti-11957	50	5	most	most	ADV
aiti-11957	50	6	popular	popular	ADJ
aiti-11957	50	7	operating	operating	NOUN
aiti-11957	50	8	system	system	NOUN
aiti-11957	50	9	in	in	ADP
aiti-11957	50	10	the	the	DET
aiti-11957	50	11	world	world	NOUN
aiti-11957	50	12	,	,	PUNCT
aiti-11957	50	13	the	the	DET
aiti-11957	50	14	development	development	NOUN
aiti-11957	50	15	of	of	ADP
aiti-11957	50	16	a	a	DET
aiti-11957	50	17	dt	dt	NOUN
aiti-11957	50	18	of	of	ADP
aiti-11957	50	19	an	an	DET
aiti-11957	50	20	industrial	industrial	ADJ
aiti-11957	50	21	robotic	robotic	ADJ
aiti-11957	50	22	arm	arm	NOUN
aiti-11957	50	23	under	under	ADP
aiti-11957	50	24	the	the	DET
aiti-11957	50	25	windows	window	NOUN
aiti-11957	50	26	architecture	architecture	NOUN
aiti-11957	50	27	is	be	AUX
aiti-11957	50	28	planned	plan	VERB
aiti-11957	50	29	.	.	PUNCT
aiti-11957	51	1	the	the	DET
aiti-11957	51	2	system	system	NOUN
aiti-11957	51	3	architecture	architecture	NOUN
aiti-11957	51	4	is	be	AUX
aiti-11957	51	5	illustrated	illustrate	VERB
aiti-11957	51	6	in	in	ADP
aiti-11957	51	7	fig	fig	NOUN
aiti-11957	51	8	.	.	PUNCT
aiti-11957	52	1	2	2	X
aiti-11957	52	2	.	.	X
aiti-11957	52	3	model	model	NOUN
aiti-11957	52	4	preprocessing	preprocessing	NOUN
aiti-11957	52	5	of	of	ADP
aiti-11957	52	6	the	the	DET
aiti-11957	52	7	industrial	industrial	ADJ
aiti-11957	52	8	robotic	robotic	ADJ
aiti-11957	52	9	arm	arm	NOUN
aiti-11957	52	10	is	be	AUX
aiti-11957	52	11	primarily	primarily	ADV
aiti-11957	52	12	performed	perform	VERB
aiti-11957	52	13	because	because	SCONJ
aiti-11957	52	14	the	the	DET
aiti-11957	52	15	initial	initial	ADJ
aiti-11957	52	16	industrial	industrial	ADJ
aiti-11957	52	17	robotic	robotic	ADJ
aiti-11957	52	18	arm	arm	NOUN
aiti-11957	52	19	model	model	NOUN
aiti-11957	52	20	is	be	AUX
aiti-11957	52	21	not	not	PART
aiti-11957	52	22	similar	similar	ADJ
aiti-11957	52	23	to	to	ADP
aiti-11957	52	24	that	that	PRON
aiti-11957	52	25	under	under	ADP
aiti-11957	52	26	the	the	DET
aiti-11957	52	27	ros	ros	PROPN
aiti-11957	52	28	architecture	architecture	NOUN
aiti-11957	52	29	.	.	PUNCT
aiti-11957	53	1	instead	instead	ADV
aiti-11957	53	2	,	,	PUNCT
aiti-11957	53	3	similar	similar	ADJ
aiti-11957	53	4	to	to	ADP
aiti-11957	53	5	the	the	DET
aiti-11957	53	6	unified	unify	VERB
aiti-11957	53	7	robot	robot	NOUN
aiti-11957	53	8	description	description	NOUN
aiti-11957	53	9	format	format	NOUN
aiti-11957	53	10	(	(	PUNCT
aiti-11957	53	11	urdf	urdf	NOUN
aiti-11957	53	12	)	)	PUNCT
aiti-11957	53	13	file	file	NOUN
aiti-11957	53	14	,	,	PUNCT
aiti-11957	53	15	the	the	DET
aiti-11957	53	16	urdf	urdf	NOUN
aiti-11957	53	17	file	file	NOUN
aiti-11957	53	18	includes	include	VERB
aiti-11957	53	19	all	all	DET
aiti-11957	53	20	relevant	relevant	ADJ
aiti-11957	53	21	information	information	NOUN
aiti-11957	53	22	regarding	regard	VERB
aiti-11957	53	23	the	the	DET
aiti-11957	53	24	industrial	industrial	ADJ
aiti-11957	53	25	robotic	robotic	ADJ
aiti-11957	53	26	arm	arm	NOUN
aiti-11957	53	27	,	,	PUNCT
aiti-11957	53	28	such	such	ADJ
aiti-11957	53	29	as	as	ADP
aiti-11957	53	30	the	the	DET
aiti-11957	53	31	pivot	pivot	NOUN
aiti-11957	53	32	point	point	NOUN
aiti-11957	53	33	,	,	PUNCT
aiti-11957	53	34	rotation	rotation	NOUN
aiti-11957	53	35	range	range	NOUN
aiti-11957	53	36	,	,	PUNCT
aiti-11957	53	37	and	and	CCONJ
aiti-11957	53	38	hue	hue	NOUN
aiti-11957	53	39	of	of	ADP
aiti-11957	53	40	each	each	DET
aiti-11957	53	41	joint	joint	NOUN
aiti-11957	53	42	.	.	PUNCT
aiti-11957	54	1	therefore	therefore	ADV
aiti-11957	54	2	,	,	PUNCT
aiti-11957	54	3	it	it	PRON
aiti-11957	54	4	is	be	AUX
aiti-11957	54	5	necessary	necessary	ADJ
aiti-11957	54	6	to	to	PART
aiti-11957	54	7	preprocess	preprocess	VERB
aiti-11957	54	8	the	the	DET
aiti-11957	54	9	original	original	ADJ
aiti-11957	54	10	model	model	NOUN
aiti-11957	54	11	using	use	VERB
aiti-11957	54	12	computer	computer	NOUN
aiti-11957	54	13	graphics	graphic	NOUN
aiti-11957	54	14	software	software	NOUN
aiti-11957	54	15	.	.	PUNCT
aiti-11957	55	1	after	after	ADP
aiti-11957	55	2	processing	processing	NOUN
aiti-11957	55	3	,	,	PUNCT
aiti-11957	55	4	the	the	DET
aiti-11957	55	5	model	model	NOUN
aiti-11957	55	6	is	be	AUX
aiti-11957	55	7	exported	export	VERB
aiti-11957	55	8	to	to	ADP
aiti-11957	55	9	unity	unity	NOUN
aiti-11957	55	10	,	,	PUNCT
aiti-11957	55	11	a	a	DET
aiti-11957	55	12	software	software	NOUN
aiti-11957	55	13	used	use	VERB
aiti-11957	55	14	as	as	ADP
aiti-11957	55	15	a	a	DET
aiti-11957	55	16	dt	dt	NOUN
aiti-11957	55	17	.	.	PUNCT
aiti-11957	56	1	to	to	PART
aiti-11957	56	2	allow	allow	VERB
aiti-11957	56	3	data	datum	NOUN
aiti-11957	56	4	transmission	transmission	NOUN
aiti-11957	56	5	between	between	ADP
aiti-11957	56	6	the	the	DET
aiti-11957	56	7	industrial	industrial	ADJ
aiti-11957	56	8	robotic	robotic	ADJ
aiti-11957	56	9	arm	arm	NOUN
aiti-11957	56	10	and	and	CCONJ
aiti-11957	56	11	dt	dt	PROPN
aiti-11957	56	12	software	software	NOUN
aiti-11957	56	13	,	,	PUNCT
aiti-11957	56	14	it	it	PRON
aiti-11957	56	15	is	be	AUX
aiti-11957	56	16	necessary	necessary	ADJ
aiti-11957	56	17	to	to	PART
aiti-11957	56	18	establish	establish	VERB
aiti-11957	56	19	network	network	NOUN
aiti-11957	56	20	communication	communication	NOUN
aiti-11957	56	21	between	between	ADP
aiti-11957	56	22	the	the	DET
aiti-11957	56	23	two	two	NUM
aiti-11957	56	24	,	,	PUNCT
aiti-11957	56	25	enabling	enable	VERB
aiti-11957	56	26	the	the	DET
aiti-11957	56	27	realtime	realtime	ADJ
aiti-11957	56	28	transfer	transfer	NOUN
aiti-11957	56	29	of	of	ADP
aiti-11957	56	30	important	important	ADJ
aiti-11957	56	31	data	datum	NOUN
aiti-11957	56	32	required	require	VERB
aiti-11957	56	33	to	to	PART
aiti-11957	56	34	simulate	simulate	VERB
aiti-11957	56	35	the	the	DET
aiti-11957	56	36	state	state	NOUN
aiti-11957	56	37	of	of	ADP
aiti-11957	56	38	the	the	DET
aiti-11957	56	39	physical	physical	ADJ
aiti-11957	56	40	robot	robot	NOUN
aiti-11957	56	41	arm	arm	NOUN
aiti-11957	56	42	in	in	ADP
aiti-11957	56	43	the	the	DET
aiti-11957	56	44	dt	dt	PROPN
aiti-11957	56	45	,	,	PUNCT
aiti-11957	56	46	and	and	CCONJ
aiti-11957	56	47	vice	vice	ADV
aiti-11957	56	48	versa	versa	ADV
aiti-11957	56	49	.	.	PUNCT
aiti-11957	57	1	this	this	DET
aiti-11957	57	2	study	study	NOUN
aiti-11957	57	3	used	use	VERB
aiti-11957	57	4	the	the	DET
aiti-11957	57	5	“	"	PUNCT
aiti-11957	57	6	socket	socket	NOUN
aiti-11957	57	7	”	"	PUNCT
aiti-11957	57	8	developed	develop	VERB
aiti-11957	57	9	in	in	ADP
aiti-11957	57	10	the	the	DET
aiti-11957	57	11	tcp	tcp	PROPN
aiti-11957	57	12	/	/	SYM
aiti-11957	57	13	ip	ip	NOUN
aiti-11957	57	14	environment	environment	NOUN
aiti-11957	57	15	to	to	PART
aiti-11957	57	16	transfer	transfer	VERB
aiti-11957	57	17	data	datum	NOUN
aiti-11957	57	18	between	between	ADP
aiti-11957	57	19	the	the	DET
aiti-11957	57	20	two	two	NUM
aiti-11957	57	21	.	.	PUNCT
aiti-11957	58	1	this	this	DET
aiti-11957	58	2	approach	approach	NOUN
aiti-11957	58	3	differs	differ	VERB
aiti-11957	58	4	from	from	ADP
aiti-11957	58	5	previous	previous	ADJ
aiti-11957	58	6	control	control	NOUN
aiti-11957	58	7	methods	method	NOUN
aiti-11957	58	8	of	of	ADP
aiti-11957	58	9	transmitting	transmit	VERB
aiti-11957	58	10	the	the	DET
aiti-11957	58	11	world	world	NOUN
aiti-11957	58	12	coordinate	coordinate	NOUN
aiti-11957	58	13	position	position	NOUN
aiti-11957	58	14	of	of	ADP
aiti-11957	58	15	an	an	DET
aiti-11957	58	16	industrial	industrial	ADJ
aiti-11957	58	17	robot	robot	NOUN
aiti-11957	58	18	arm	arm	NOUN
aiti-11957	58	19	and	and	CCONJ
aiti-11957	58	20	the	the	DET
aiti-11957	58	21	current	current	ADJ
aiti-11957	58	22	rotation	rotation	NOUN
aiti-11957	58	23	angle	angle	NOUN
aiti-11957	58	24	of	of	ADP
aiti-11957	58	25	each	each	DET
aiti-11957	58	26	joint	joint	NOUN
aiti-11957	58	27	.	.	PUNCT
aiti-11957	59	1	this	this	DET
aiti-11957	59	2	decision	decision	NOUN
aiti-11957	59	3	allows	allow	VERB
aiti-11957	59	4	users	user	NOUN
aiti-11957	59	5	to	to	PART
aiti-11957	59	6	understand	understand	VERB
aiti-11957	59	7	the	the	DET
aiti-11957	59	8	movement	movement	NOUN
aiti-11957	59	9	patterns	pattern	NOUN
aiti-11957	59	10	of	of	ADP
aiti-11957	59	11	an	an	DET
aiti-11957	59	12	industrial	industrial	ADJ
aiti-11957	59	13	robot	robot	NOUN
aiti-11957	59	14	arm	arm	VERB
aiti-11957	59	15	better	well	ADV
aiti-11957	59	16	when	when	SCONJ
aiti-11957	59	17	it	it	PRON
aiti-11957	59	18	is	be	AUX
aiti-11957	59	19	being	be	AUX
aiti-11957	59	20	controlled	control	VERB
aiti-11957	59	21	for	for	ADP
aiti-11957	59	22	the	the	DET
aiti-11957	59	23	first	first	ADJ
aiti-11957	59	24	time	time	NOUN
aiti-11957	59	25	.	.	PUNCT
aiti-11957	60	1	in	in	ADP
aiti-11957	60	2	addition	addition	NOUN
aiti-11957	60	3	,	,	PUNCT
aiti-11957	60	4	a	a	DET
aiti-11957	60	5	human	human	ADJ
aiti-11957	60	6	-	-	PUNCT
aiti-11957	60	7	machine	machine	NOUN
aiti-11957	60	8	monitoring	monitoring	NOUN
aiti-11957	60	9	interface	interface	NOUN
aiti-11957	60	10	is	be	AUX
aiti-11957	60	11	established	establish	VERB
aiti-11957	60	12	for	for	ADP
aiti-11957	60	13	allowing	allow	VERB
aiti-11957	60	14	users	user	NOUN
aiti-11957	60	15	quickly	quickly	ADV
aiti-11957	60	16	understand	understand	VERB
aiti-11957	60	17	the	the	DET
aiti-11957	60	18	system	system	NOUN
aiti-11957	60	19	status	status	NOUN
aiti-11957	60	20	and	and	CCONJ
aiti-11957	60	21	control	control	VERB
aiti-11957	60	22	the	the	DET
aiti-11957	60	23	industrial	industrial	ADJ
aiti-11957	60	24	robotic	robotic	ADJ
aiti-11957	60	25	arm	arm	NOUN
aiti-11957	60	26	in	in	ADP
aiti-11957	60	27	real	real	ADJ
aiti-11957	60	28	-	-	PUNCT
aiti-11957	60	29	time	time	NOUN
aiti-11957	60	30	.	.	PUNCT
aiti-11957	61	1	to	to	PART
aiti-11957	61	2	meet	meet	VERB
aiti-11957	61	3	the	the	DET
aiti-11957	61	4	requirements	requirement	NOUN
aiti-11957	61	5	of	of	ADP
aiti-11957	61	6	remote	remote	ADJ
aiti-11957	61	7	connection	connection	NOUN
aiti-11957	61	8	control	control	NOUN
aiti-11957	61	9	,	,	PUNCT
aiti-11957	61	10	this	this	DET
aiti-11957	61	11	interface	interface	NOUN
aiti-11957	61	12	integrates	integrate	NOUN
aiti-11957	61	13	functions	function	NOUN
aiti-11957	61	14	,	,	PUNCT
aiti-11957	61	15	such	such	ADJ
aiti-11957	61	16	as	as	ADP
aiti-11957	61	17	robot	robot	NOUN
aiti-11957	61	18	arm	arm	NOUN
aiti-11957	61	19	communication	communication	NOUN
aiti-11957	61	20	and	and	CCONJ
aiti-11957	61	21	the	the	DET
aiti-11957	61	22	real	real	ADJ
aiti-11957	61	23	-	-	PUNCT
aiti-11957	61	24	time	time	NOUN
aiti-11957	61	25	angles	angle	NOUN
aiti-11957	61	26	of	of	ADP
aiti-11957	61	27	each	each	DET
aiti-11957	61	28	joint	joint	NOUN
aiti-11957	61	29	.	.	PUNCT
aiti-11957	62	1	finally	finally	ADV
aiti-11957	62	2	,	,	PUNCT
aiti-11957	62	3	the	the	DET
aiti-11957	62	4	dynamic	dynamic	ADJ
aiti-11957	62	5	equation	equation	NOUN
aiti-11957	62	6	of	of	ADP
aiti-11957	62	7	the	the	DET
aiti-11957	62	8	six	six	NUM
aiti-11957	62	9	-	-	PUNCT
aiti-11957	62	10	axis	axis	NOUN
aiti-11957	62	11	industrial	industrial	ADJ
aiti-11957	62	12	robotic	robotic	ADJ
aiti-11957	62	13	arm	arm	NOUN
aiti-11957	62	14	is	be	AUX
aiti-11957	62	15	calculated	calculate	VERB
aiti-11957	62	16	using	use	VERB
aiti-11957	62	17	the	the	DET
aiti-11957	62	18	euler	euler	NOUN
aiti-11957	62	19	-	-	PUNCT
aiti-11957	62	20	lagrange	lagrange	NOUN
aiti-11957	62	21	equation	equation	NOUN
aiti-11957	62	22	.	.	PUNCT
aiti-11957	63	1	hence	hence	ADV
aiti-11957	63	2	,	,	PUNCT
aiti-11957	63	3	the	the	DET
aiti-11957	63	4	required	require	VERB
aiti-11957	63	5	torque	torque	NOUN
aiti-11957	63	6	of	of	ADP
aiti-11957	63	7	each	each	DET
aiti-11957	63	8	motor	motor	NOUN
aiti-11957	63	9	can	can	AUX
aiti-11957	63	10	be	be	AUX
aiti-11957	63	11	estimated	estimate	VERB
aiti-11957	63	12	for	for	ADP
aiti-11957	63	13	any	any	DET
aiti-11957	63	14	specific	specific	ADJ
aiti-11957	63	15	path	path	NOUN
aiti-11957	63	16	.	.	PUNCT
aiti-11957	64	1	fig	fig	NOUN
aiti-11957	64	2	.	.	PUNCT
aiti-11957	65	1	2	2	NUM
aiti-11957	65	2	system	system	NOUN
aiti-11957	65	3	architecture	architecture	NOUN
aiti-11957	65	4	diagram	diagram	NOUN
aiti-11957	65	5	2.1	2.1	NUM
aiti-11957	65	6	.	.	PUNCT
aiti-11957	66	1	building	build	VERB
aiti-11957	66	2	digital	digital	ADJ
aiti-11957	66	3	twins	twin	NOUN
aiti-11957	66	4	–	–	PUNCT
aiti-11957	66	5	unity	unity	NOUN
aiti-11957	66	6	in	in	ADP
aiti-11957	66	7	this	this	DET
aiti-11957	66	8	study	study	NOUN
aiti-11957	66	9	,	,	PUNCT
aiti-11957	66	10	the	the	DET
aiti-11957	66	11	unity	unity	NOUN
aiti-11957	66	12	software	software	NOUN
aiti-11957	66	13	was	be	AUX
aiti-11957	66	14	used	use	VERB
aiti-11957	66	15	to	to	PART
aiti-11957	66	16	build	build	VERB
aiti-11957	66	17	the	the	DET
aiti-11957	66	18	dt	dt	PROPN
aiti-11957	66	19	,	,	PUNCT
aiti-11957	66	20	which	which	PRON
aiti-11957	66	21	is	be	AUX
aiti-11957	66	22	a	a	DET
aiti-11957	66	23	cross	cross	ADJ
aiti-11957	66	24	-	-	ADJ
aiti-11957	66	25	platform	platform	ADJ
aiti-11957	66	26	2d/3d	2d/3d	NUM
aiti-11957	66	27	game	game	NOUN
aiti-11957	66	28	engine	engine	NOUN
aiti-11957	66	29	developed	develop	VERB
aiti-11957	66	30	by	by	ADP
aiti-11957	66	31	unity	unity	NOUN
aiti-11957	66	32	technologies	technology	NOUN
aiti-11957	66	33	,	,	PUNCT
aiti-11957	66	34	a	a	DET
aiti-11957	66	35	game	game	NOUN
aiti-11957	66	36	software	software	NOUN
aiti-11957	66	37	development	development	NOUN
aiti-11957	66	38	company	company	NOUN
aiti-11957	66	39	.	.	PUNCT
aiti-11957	67	1	generally	generally	ADV
aiti-11957	67	2	,	,	PUNCT
aiti-11957	67	3	unity	unity	NOUN
aiti-11957	67	4	supports	support	VERB
aiti-11957	67	5	the	the	DET
aiti-11957	67	6	following	follow	VERB
aiti-11957	67	7	aspects	aspect	NOUN
aiti-11957	67	8	.	.	PUNCT
aiti-11957	68	1	first	first	ADV
aiti-11957	68	2	,	,	PUNCT
aiti-11957	68	3	unity	unity	NOUN
aiti-11957	68	4	can	can	AUX
aiti-11957	68	5	be	be	AUX
aiti-11957	68	6	used	use	VERB
aiti-11957	68	7	to	to	PART
aiti-11957	68	8	develop	develop	VERB
aiti-11957	68	9	stand	stand	VERB
aiti-11957	68	10	-	-	PUNCT
aiti-11957	68	11	alone	alone	ADV
aiti-11957	68	12	games	game	NOUN
aiti-11957	68	13	for	for	ADP
aiti-11957	68	14	windows	window	NOUN
aiti-11957	68	15	,	,	PUNCT
aiti-11957	68	16	macos	macos	PROPN
aiti-11957	68	17	,	,	PUNCT
aiti-11957	68	18	linux	linux	PROPN
aiti-11957	68	19	,	,	PUNCT
aiti-11957	68	20	and	and	CCONJ
aiti-11957	68	21	other	other	ADJ
aiti-11957	68	22	operating	operating	NOUN
aiti-11957	68	23	systems	system	NOUN
aiti-11957	68	24	.	.	PUNCT
aiti-11957	69	1	second	second	ADJ
aiti-11957	69	2	,	,	PUNCT
aiti-11957	69	3	it	it	PRON
aiti-11957	69	4	’s	’	VERB
aiti-11957	69	5	also	also	ADV
aiti-11957	69	6	available	available	ADJ
aiti-11957	69	7	for	for	ADP
aiti-11957	69	8	games	game	NOUN
aiti-11957	69	9	on	on	ADP
aiti-11957	69	10	mobile	mobile	ADJ
aiti-11957	69	11	devices	device	NOUN
aiti-11957	69	12	such	such	ADJ
aiti-11957	69	13	as	as	ADP
aiti-11957	69	14	ios	ios	PROPN
aiti-11957	69	15	and	and	CCONJ
aiti-11957	69	16	android	android	PROPN
aiti-11957	69	17	.	.	PUNCT
aiti-11957	70	1	in	in	ADP
aiti-11957	70	2	addition	addition	NOUN
aiti-11957	70	3	to	to	ADP
aiti-11957	70	4	game	game	NOUN
aiti-11957	70	5	development	development	NOUN
aiti-11957	70	6	,	,	PUNCT
aiti-11957	70	7	unity	unity	NOUN
aiti-11957	70	8	is	be	AUX
aiti-11957	70	9	widely	widely	ADV
aiti-11957	70	10	used	use	VERB
aiti-11957	70	11	in	in	ADP
aiti-11957	70	12	the	the	DET
aiti-11957	70	13	production	production	NOUN
aiti-11957	70	14	of	of	ADP
aiti-11957	70	15	real	real	ADJ
aiti-11957	70	16	-	-	PUNCT
aiti-11957	70	17	time	time	NOUN
aiti-11957	70	18	3d	3d	NUM
aiti-11957	70	19	animations	animation	NOUN
aiti-11957	70	20	,	,	PUNCT
aiti-11957	70	21	architectural	architectural	ADJ
aiti-11957	70	22	visualizations	visualization	NOUN
aiti-11957	70	23	,	,	PUNCT
aiti-11957	70	24	and	and	CCONJ
aiti-11957	70	25	other	other	ADJ
aiti-11957	70	26	types	type	NOUN
aiti-11957	70	27	of	of	ADP
aiti-11957	70	28	projects	project	NOUN
aiti-11957	70	29	.	.	PUNCT
aiti-11957	71	1	lastly	lastly	ADV
aiti-11957	71	2	,	,	PUNCT
aiti-11957	71	3	it	it	PRON
aiti-11957	71	4	supports	support	VERB
aiti-11957	71	5	the	the	DET
aiti-11957	71	6	physx	physx	PROPN
aiti-11957	71	7	physics	physics	NOUN
aiti-11957	71	8	engine	engine	NOUN
aiti-11957	71	9	and	and	CCONJ
aiti-11957	71	10	particle	particle	NOUN
aiti-11957	71	11	system	system	NOUN
aiti-11957	71	12	and	and	CCONJ
aiti-11957	71	13	provides	provide	VERB
aiti-11957	71	14	network	network	NOUN
aiti-11957	71	15	multiplayer	multiplayer	NOUN
aiti-11957	71	16	connection	connection	NOUN
aiti-11957	71	17	functionality	functionality	NOUN
aiti-11957	71	18	without	without	ADP
aiti-11957	71	19	requiring	require	VERB
aiti-11957	71	20	the	the	DET
aiti-11957	71	21	user	user	NOUN
aiti-11957	71	22	to	to	PART
aiti-11957	71	23	learn	learn	VERB
aiti-11957	71	24	a	a	DET
aiti-11957	71	25	complex	complex	ADJ
aiti-11957	71	26	programming	programming	NOUN
aiti-11957	71	27	language	language	NOUN
aiti-11957	71	28	.	.	PUNCT
aiti-11957	72	1	given	give	VERB
aiti-11957	72	2	this	this	DET
aiti-11957	72	3	advantage	advantage	NOUN
aiti-11957	72	4	,	,	PUNCT
aiti-11957	72	5	it	it	PRON
aiti-11957	72	6	meets	meet	VERB
aiti-11957	72	7	the	the	DET
aiti-11957	72	8	various	various	ADJ
aiti-11957	72	9	requirements	requirement	NOUN
aiti-11957	72	10	of	of	ADP
aiti-11957	72	11	game	game	NOUN
aiti-11957	72	12	production	production	NOUN
aiti-11957	72	13	.	.	PUNCT
aiti-11957	73	1	thus	thus	ADV
aiti-11957	73	2	,	,	PUNCT
aiti-11957	73	3	the	the	DET
aiti-11957	73	4	launch	launch	NOUN
aiti-11957	73	5	of	of	ADP
aiti-11957	73	6	unity	unity	NOUN
aiti-11957	73	7	has	have	AUX
aiti-11957	73	8	lowered	lower	VERB
aiti-11957	73	9	the	the	DET
aiti-11957	73	10	threshold	threshold	NOUN
aiti-11957	73	11	for	for	ADP
aiti-11957	73	12	game	game	NOUN
aiti-11957	73	13	development	development	NOUN
aiti-11957	73	14	and	and	CCONJ
aiti-11957	73	15	made	make	VERB
aiti-11957	73	16	game	game	NOUN
aiti-11957	73	17	creation	creation	NOUN
aiti-11957	73	18	for	for	ADP
aiti-11957	73	19	individuals	individual	NOUN
aiti-11957	73	20	and	and	CCONJ
aiti-11957	73	21	small	small	ADJ
aiti-11957	73	22	teams	team	NOUN
aiti-11957	73	23	realistic	realistic	ADJ
aiti-11957	73	24	.	.	PUNCT
aiti-11957	74	1	2.2	2.2	NUM
aiti-11957	74	2	.	.	PUNCT
aiti-11957	74	3	industrial	industrial	ADJ
aiti-11957	74	4	robotic	robotic	ADJ
aiti-11957	74	5	arm	arm	NOUN
aiti-11957	74	6	model	model	NOUN
aiti-11957	74	7	preprocessing	preprocessing	NOUN
aiti-11957	74	8	before	before	ADP
aiti-11957	74	9	exporting	export	VERB
aiti-11957	74	10	the	the	DET
aiti-11957	74	11	model	model	NOUN
aiti-11957	74	12	to	to	ADP
aiti-11957	74	13	the	the	DET
aiti-11957	74	14	unity	unity	NOUN
aiti-11957	74	15	game	game	NOUN
aiti-11957	74	16	engine	engine	NOUN
aiti-11957	74	17	,	,	PUNCT
aiti-11957	74	18	the	the	DET
aiti-11957	74	19	industrial	industrial	ADJ
aiti-11957	74	20	robotic	robotic	ADJ
aiti-11957	74	21	arm	arm	NOUN
aiti-11957	74	22	model	model	NOUN
aiti-11957	74	23	must	must	AUX
aiti-11957	74	24	undergo	undergo	VERB
aiti-11957	74	25	preprocessing	preprocessing	NOUN
aiti-11957	74	26	.	.	PUNCT
aiti-11957	75	1	meanwhile	meanwhile	ADV
aiti-11957	75	2	,	,	PUNCT
aiti-11957	75	3	the	the	DET
aiti-11957	75	4	relationship	relationship	NOUN
aiti-11957	75	5	between	between	ADP
aiti-11957	75	6	the	the	DET
aiti-11957	75	7	joints	joint	NOUN
aiti-11957	75	8	and	and	CCONJ
aiti-11957	75	9	connecting	connect	VERB
aiti-11957	75	10	links	link	NOUN
aiti-11957	75	11	must	must	AUX
aiti-11957	75	12	be	be	AUX
aiti-11957	75	13	defined	define	VERB
aiti-11957	75	14	.	.	PUNCT
aiti-11957	76	1	the	the	DET
aiti-11957	76	2	staubli	staubli	PROPN
aiti-11957	76	3	tx60l	tx60l	PUNCT
aiti-11957	76	4	industrial	industrial	ADJ
aiti-11957	76	5	robotic	robotic	ADJ
aiti-11957	76	6	advances	advance	NOUN
aiti-11957	76	7	in	in	ADP
aiti-11957	76	8	technology	technology	NOUN
aiti-11957	76	9	innovation	innovation	NOUN
aiti-11957	76	10	,	,	PUNCT
aiti-11957	76	11	vol	vol	NOUN
aiti-11957	76	12	.	.	PROPN
aiti-11957	76	13	8	8	NUM
aiti-11957	76	14	,	,	PUNCT
aiti-11957	76	15	no	no	INTJ
aiti-11957	76	16	.	.	NOUN
aiti-11957	76	17	4	4	NUM
aiti-11957	76	18	,	,	PUNCT
aiti-11957	76	19	2023	2023	NUM
aiti-11957	76	20	,	,	PUNCT
aiti-11957	76	21	pp	pp	ADJ
aiti-11957	76	22	.	.	PUNCT
aiti-11957	77	1	267	267	NUM
aiti-11957	77	2	-	-	SYM
aiti-11957	77	3	277	277	NUM
aiti-11957	77	4	270	270	NUM
aiti-11957	77	5	arm	arm	NOUN
aiti-11957	77	6	used	use	VERB
aiti-11957	77	7	in	in	ADP
aiti-11957	77	8	this	this	DET
aiti-11957	77	9	study	study	NOUN
aiti-11957	77	10	has	have	VERB
aiti-11957	77	11	a	a	DET
aiti-11957	77	12	cad	cad	NOUN
aiti-11957	77	13	model	model	NOUN
aiti-11957	77	14	in	in	ADP
aiti-11957	77	15	the	the	DET
aiti-11957	77	16	standard	standard	ADJ
aiti-11957	77	17	triangulated	triangulate	VERB
aiti-11957	77	18	language	language	NOUN
aiti-11957	77	19	(	(	PUNCT
aiti-11957	77	20	stl	stl	PROPN
aiti-11957	77	21	)	)	PUNCT
aiti-11957	77	22	format	format	NOUN
aiti-11957	77	23	,	,	PUNCT
aiti-11957	77	24	which	which	PRON
aiti-11957	77	25	is	be	AUX
aiti-11957	77	26	the	the	DET
aiti-11957	77	27	output	output	NOUN
aiti-11957	77	28	from	from	ADP
aiti-11957	77	29	the	the	DET
aiti-11957	77	30	stp	stp	ADJ
aiti-11957	77	31	format	format	NOUN
aiti-11957	77	32	provided	provide	VERB
aiti-11957	77	33	by	by	ADP
aiti-11957	77	34	the	the	DET
aiti-11957	77	35	manufacturer	manufacturer	NOUN
aiti-11957	77	36	staubli	staubli	VERB
aiti-11957	77	37	through	through	ADP
aiti-11957	77	38	solidworks	solidworks	PROPN
aiti-11957	77	39	.	.	PUNCT
aiti-11957	78	1	this	this	DET
aiti-11957	78	2	format	format	NOUN
aiti-11957	78	3	can	can	AUX
aiti-11957	78	4	be	be	AUX
aiti-11957	78	5	used	use	VERB
aiti-11957	78	6	in	in	ADP
aiti-11957	78	7	blender	blender	NOUN
aiti-11957	78	8	computer	computer	NOUN
aiti-11957	78	9	graphics	graphic	NOUN
aiti-11957	78	10	software	software	PROPN
aiti-11957	78	11	.	.	PUNCT
aiti-11957	79	1	the	the	DET
aiti-11957	79	2	parent	parent	NOUN
aiti-11957	79	3	-	-	PUNCT
aiti-11957	79	4	child	child	NOUN
aiti-11957	79	5	relationship	relationship	NOUN
aiti-11957	79	6	must	must	AUX
aiti-11957	79	7	be	be	AUX
aiti-11957	79	8	defined	define	VERB
aiti-11957	79	9	in	in	ADP
aiti-11957	79	10	blender	blender	NOUN
aiti-11957	79	11	computer	computer	NOUN
aiti-11957	79	12	graphics	graphic	NOUN
aiti-11957	79	13	software	software	PROPN
aiti-11957	79	14	.	.	PUNCT
aiti-11957	80	1	therefore	therefore	ADV
aiti-11957	80	2	,	,	PUNCT
aiti-11957	80	3	by	by	ADP
aiti-11957	80	4	defining	define	VERB
aiti-11957	80	5	the	the	DET
aiti-11957	80	6	parent	parent	NOUN
aiti-11957	80	7	-	-	PUNCT
aiti-11957	80	8	child	child	NOUN
aiti-11957	80	9	relationship	relationship	NOUN
aiti-11957	80	10	of	of	ADP
aiti-11957	80	11	each	each	DET
aiti-11957	80	12	link	link	NOUN
aiti-11957	80	13	of	of	ADP
aiti-11957	80	14	the	the	DET
aiti-11957	80	15	industrial	industrial	ADJ
aiti-11957	80	16	robotic	robotic	ADJ
aiti-11957	80	17	arm	arm	NOUN
aiti-11957	80	18	,	,	PUNCT
aiti-11957	80	19	the	the	DET
aiti-11957	80	20	concept	concept	NOUN
aiti-11957	80	21	of	of	ADP
aiti-11957	80	22	this	this	DET
aiti-11957	80	23	relationship	relationship	NOUN
aiti-11957	80	24	can	can	AUX
aiti-11957	80	25	be	be	AUX
aiti-11957	80	26	controlled	control	VERB
aiti-11957	80	27	effectively	effectively	ADV
aiti-11957	80	28	,	,	PUNCT
aiti-11957	80	29	as	as	SCONJ
aiti-11957	80	30	shown	show	VERB
aiti-11957	80	31	in	in	ADP
aiti-11957	80	32	fig	fig	NOUN
aiti-11957	80	33	.	.	PUNCT
aiti-11957	81	1	3	3	X
aiti-11957	81	2	.	.	X
aiti-11957	81	3	for	for	ADP
aiti-11957	81	4	example	example	NOUN
aiti-11957	81	5	,	,	PUNCT
aiti-11957	81	6	when	when	SCONJ
aiti-11957	81	7	turning	turn	VERB
aiti-11957	81	8	“	"	PUNCT
aiti-11957	81	9	axis-1	axis-1	PROPN
aiti-11957	81	10	,	,	PUNCT
aiti-11957	81	11	”	"	PUNCT
aiti-11957	81	12	all	all	DET
aiti-11957	81	13	the	the	DET
aiti-11957	81	14	links	link	NOUN
aiti-11957	81	15	that	that	PRON
aiti-11957	81	16	have	have	VERB
aiti-11957	81	17	a	a	DET
aiti-11957	81	18	parent	parent	NOUN
aiti-11957	81	19	-	-	PUNCT
aiti-11957	81	20	child	child	NOUN
aiti-11957	81	21	relationship	relationship	NOUN
aiti-11957	81	22	will	will	AUX
aiti-11957	81	23	follow	follow	VERB
aiti-11957	81	24	because	because	SCONJ
aiti-11957	81	25	“	"	PUNCT
aiti-11957	81	26	axis-1	axis-1	X
aiti-11957	81	27	”	"	PUNCT
aiti-11957	81	28	is	be	AUX
aiti-11957	81	29	defined	define	VERB
aiti-11957	81	30	as	as	ADP
aiti-11957	81	31	the	the	DET
aiti-11957	81	32	parent	parent	NOUN
aiti-11957	81	33	of	of	ADP
aiti-11957	81	34	“	"	PUNCT
aiti-11957	81	35	axis-2	axis-2	PROPN
aiti-11957	81	36	”	"	PUNCT
aiti-11957	81	37	to	to	ADP
aiti-11957	81	38	“	"	PUNCT
aiti-11957	81	39	axis-6	axis-6	PROPN
aiti-11957	81	40	.	.	PUNCT
aiti-11957	81	41	”	"	PUNCT
aiti-11957	82	1	it	it	PRON
aiti-11957	82	2	does	do	AUX
aiti-11957	82	3	not	not	PART
aiti-11957	82	4	affect	affect	VERB
aiti-11957	82	5	the	the	DET
aiti-11957	82	6	base	base	NOUN
aiti-11957	82	7	,	,	PUNCT
aiti-11957	82	8	so	so	CCONJ
aiti-11957	82	9	the	the	DET
aiti-11957	82	10	base	base	NOUN
aiti-11957	82	11	will	will	AUX
aiti-11957	82	12	not	not	PART
aiti-11957	82	13	move	move	VERB
aiti-11957	82	14	.	.	PUNCT
aiti-11957	83	1	however	however	ADV
aiti-11957	83	2	,	,	PUNCT
aiti-11957	83	3	if	if	SCONJ
aiti-11957	83	4	the	the	DET
aiti-11957	83	5	base	base	NOUN
aiti-11957	83	6	is	be	AUX
aiti-11957	83	7	moved	move	VERB
aiti-11957	83	8	,	,	PUNCT
aiti-11957	83	9	the	the	DET
aiti-11957	83	10	entire	entire	ADJ
aiti-11957	83	11	model	model	NOUN
aiti-11957	83	12	will	will	AUX
aiti-11957	83	13	move	move	VERB
aiti-11957	83	14	along	along	ADV
aiti-11957	83	15	with	with	ADP
aiti-11957	83	16	it	it	PRON
aiti-11957	83	17	because	because	SCONJ
aiti-11957	83	18	the	the	DET
aiti-11957	83	19	base	base	NOUN
aiti-11957	83	20	is	be	AUX
aiti-11957	83	21	the	the	DET
aiti-11957	83	22	parent	parent	NOUN
aiti-11957	83	23	from	from	ADP
aiti-11957	83	24	“	"	PUNCT
aiti-11957	83	25	axis-1	axis-1	PROPN
aiti-11957	83	26	”	"	PUNCT
aiti-11957	83	27	to	to	ADP
aiti-11957	83	28	“	"	PUNCT
aiti-11957	83	29	axis-6	axis-6	NUM
aiti-11957	83	30	,	,	PUNCT
aiti-11957	83	31	”	"	PUNCT
aiti-11957	83	32	and	and	CCONJ
aiti-11957	83	33	it	it	PRON
aiti-11957	83	34	indicates	indicate	VERB
aiti-11957	83	35	the	the	DET
aiti-11957	83	36	relative	relative	ADJ
aiti-11957	83	37	relationship	relationship	NOUN
aiti-11957	83	38	of	of	ADP
aiti-11957	83	39	the	the	DET
aiti-11957	83	40	six	six	NUM
aiti-11957	83	41	axes	axis	NOUN
aiti-11957	83	42	(	(	PUNCT
aiti-11957	83	43	axis-1	axis-1	PROPN
aiti-11957	83	44	,	,	PUNCT
aiti-11957	83	45	axis-2	axis-2	PROPN
aiti-11957	83	46	,	,	PUNCT
aiti-11957	83	47	axis-3	axis-3	NOUN
aiti-11957	83	48	,	,	PUNCT
aiti-11957	83	49	axis-4	axis-4	PRON
aiti-11957	83	50	,	,	PUNCT
aiti-11957	83	51	axis-5	axis-5	PROPN
aiti-11957	83	52	,	,	PUNCT
aiti-11957	83	53	and	and	CCONJ
aiti-11957	83	54	axis-6	axis-6	NUM
aiti-11957	83	55	)	)	PUNCT
aiti-11957	83	56	as	as	SCONJ
aiti-11957	83	57	shown	show	VERB
aiti-11957	83	58	in	in	ADP
aiti-11957	83	59	fig	fig	NOUN
aiti-11957	83	60	.	.	PUNCT
aiti-11957	84	1	4	4	NUM
aiti-11957	85	1	[	[	SYM
aiti-11957	85	2	19	19	NUM
aiti-11957	85	3	]	]	PUNCT
aiti-11957	85	4	.	.	PUNCT
aiti-11957	86	1	fig	fig	NOUN
aiti-11957	86	2	.	.	PUNCT
aiti-11957	87	1	3	3	NUM
aiti-11957	87	2	parent	parent	NOUN
aiti-11957	87	3	-	-	PUNCT
aiti-11957	87	4	child	child	NOUN
aiti-11957	87	5	relationship	relationship	NOUN
aiti-11957	87	6	fig	fig	NOUN
aiti-11957	87	7	.	.	PUNCT
aiti-11957	88	1	4	4	NUM
aiti-11957	88	2	3d	3d	NUM
aiti-11957	88	3	model	model	NOUN
aiti-11957	88	4	and	and	CCONJ
aiti-11957	88	5	the	the	DET
aiti-11957	88	6	relationship	relationship	NOUN
aiti-11957	88	7	of	of	ADP
aiti-11957	88	8	each	each	DET
aiti-11957	88	9	axis	axis	NOUN
aiti-11957	88	10	in	in	ADP
aiti-11957	88	11	addition	addition	NOUN
aiti-11957	88	12	to	to	ADP
aiti-11957	88	13	the	the	DET
aiti-11957	88	14	above	above	ADJ
aiti-11957	88	15	settings	setting	NOUN
aiti-11957	88	16	,	,	PUNCT
aiti-11957	88	17	the	the	DET
aiti-11957	88	18	pivotal	pivotal	ADJ
aiti-11957	88	19	point	point	NOUN
aiti-11957	88	20	of	of	ADP
aiti-11957	88	21	each	each	DET
aiti-11957	88	22	link	link	NOUN
aiti-11957	88	23	must	must	AUX
aiti-11957	88	24	be	be	AUX
aiti-11957	88	25	specified	specify	VERB
aiti-11957	88	26	.	.	PUNCT
aiti-11957	89	1	the	the	DET
aiti-11957	89	2	pivot	pivot	NOUN
aiti-11957	89	3	point	point	NOUN
aiti-11957	89	4	,	,	PUNCT
aiti-11957	89	5	also	also	ADV
aiti-11957	89	6	known	know	VERB
aiti-11957	89	7	as	as	ADP
aiti-11957	89	8	the	the	DET
aiti-11957	89	9	joint	joint	ADJ
aiti-11957	89	10	center	center	NOUN
aiti-11957	89	11	point	point	NOUN
aiti-11957	89	12	,	,	PUNCT
aiti-11957	89	13	defines	define	VERB
aiti-11957	89	14	the	the	DET
aiti-11957	89	15	motion	motion	NOUN
aiti-11957	89	16	of	of	ADP
aiti-11957	89	17	the	the	DET
aiti-11957	89	18	links	link	NOUN
aiti-11957	89	19	[	[	X
aiti-11957	89	20	20	20	NUM
aiti-11957	89	21	]	]	PUNCT
aiti-11957	89	22	.	.	PUNCT
aiti-11957	90	1	the	the	DET
aiti-11957	90	2	parent	parent	NOUN
aiti-11957	90	3	-	-	PUNCT
aiti-11957	90	4	child	child	NOUN
aiti-11957	90	5	relationship	relationship	NOUN
aiti-11957	90	6	specifies	specify	VERB
aiti-11957	90	7	the	the	DET
aiti-11957	90	8	motion	motion	NOUN
aiti-11957	90	9	between	between	ADP
aiti-11957	90	10	the	the	DET
aiti-11957	90	11	links	link	NOUN
aiti-11957	90	12	and	and	CCONJ
aiti-11957	90	13	the	the	DET
aiti-11957	90	14	pivot	pivot	NOUN
aiti-11957	90	15	point	point	NOUN
aiti-11957	90	16	specifies	specify	VERB
aiti-11957	90	17	the	the	DET
aiti-11957	90	18	motion	motion	NOUN
aiti-11957	90	19	of	of	ADP
aiti-11957	90	20	the	the	DET
aiti-11957	90	21	joints	joint	NOUN
aiti-11957	90	22	,	,	PUNCT
aiti-11957	90	23	as	as	SCONJ
aiti-11957	90	24	shown	show	VERB
aiti-11957	90	25	in	in	ADP
aiti-11957	90	26	fig	fig	NOUN
aiti-11957	90	27	.	.	PUNCT
aiti-11957	91	1	5	5	NUM
aiti-11957	91	2	.	.	X
aiti-11957	91	3	fig	fig	NOUN
aiti-11957	91	4	.	.	PUNCT
aiti-11957	92	1	5	5	NUM
aiti-11957	92	2	axis-1	axis-1	NUM
aiti-11957	92	3	pivot	pivot	NOUN
aiti-11957	92	4	point	point	NOUN
aiti-11957	92	5	setup	setup	NOUN
aiti-11957	92	6	2.3	2.3	NUM
aiti-11957	92	7	.	.	PUNCT
aiti-11957	93	1	kinematics	kinematic	NOUN
aiti-11957	93	2	of	of	ADP
aiti-11957	93	3	the	the	DET
aiti-11957	93	4	industrial	industrial	ADJ
aiti-11957	93	5	robotic	robotic	ADJ
aiti-11957	93	6	arm	arm	NOUN
aiti-11957	93	7	there	there	PRON
aiti-11957	93	8	are	be	VERB
aiti-11957	93	9	several	several	ADJ
aiti-11957	93	10	methods	method	NOUN
aiti-11957	93	11	to	to	PART
aiti-11957	93	12	achieve	achieve	VERB
aiti-11957	93	13	the	the	DET
aiti-11957	93	14	movement	movement	NOUN
aiti-11957	93	15	of	of	ADP
aiti-11957	93	16	a	a	DET
aiti-11957	93	17	robotic	robotic	ADJ
aiti-11957	93	18	arm	arm	NOUN
aiti-11957	93	19	by	by	ADP
aiti-11957	93	20	dragging	drag	VERB
aiti-11957	93	21	the	the	DET
aiti-11957	93	22	end	end	NOUN
aiti-11957	93	23	effector	effector	NOUN
aiti-11957	93	24	in	in	ADP
aiti-11957	93	25	a	a	DET
aiti-11957	93	26	virtual	virtual	ADJ
aiti-11957	93	27	environment	environment	NOUN
aiti-11957	93	28	.	.	PUNCT
aiti-11957	94	1	one	one	NUM
aiti-11957	94	2	of	of	ADP
aiti-11957	94	3	the	the	DET
aiti-11957	94	4	most	most	ADV
aiti-11957	94	5	commonly	commonly	ADV
aiti-11957	94	6	used	use	VERB
aiti-11957	94	7	methods	method	NOUN
aiti-11957	94	8	is	be	AUX
aiti-11957	94	9	the	the	DET
aiti-11957	94	10	cyclic	cyclic	ADJ
aiti-11957	94	11	coordinate	coordinate	NOUN
aiti-11957	94	12	descent	descent	NOUN
aiti-11957	94	13	(	(	PUNCT
aiti-11957	94	14	ccd	ccd	NOUN
aiti-11957	94	15	)	)	PUNCT
aiti-11957	94	16	algorithm	algorithm	NOUN
aiti-11957	95	1	[	[	X
aiti-11957	95	2	21	21	NUM
aiti-11957	95	3	-	-	SYM
aiti-11957	95	4	22	22	NUM
aiti-11957	95	5	]	]	PUNCT
aiti-11957	95	6	.	.	PUNCT
aiti-11957	96	1	a	a	DET
aiti-11957	96	2	popular	popular	ADJ
aiti-11957	96	3	approach	approach	NOUN
aiti-11957	96	4	for	for	ADP
aiti-11957	96	5	implementation	implementation	NOUN
aiti-11957	96	6	is	be	AUX
aiti-11957	96	7	to	to	PART
aiti-11957	96	8	use	use	VERB
aiti-11957	96	9	bio	bio	NOUN
aiti-11957	96	10	ik	ik	PROPN
aiti-11957	97	1	[	[	X
aiti-11957	97	2	23	23	NUM
aiti-11957	97	3	]	]	PUNCT
aiti-11957	97	4	.	.	PUNCT
aiti-11957	98	1	bio	bio	PROPN
aiti-11957	98	2	ik	ik	PROPN
aiti-11957	98	3	is	be	AUX
aiti-11957	98	4	the	the	DET
aiti-11957	98	5	solution	solution	NOUN
aiti-11957	98	6	of	of	ADP
aiti-11957	98	7	inverse	inverse	NOUN
aiti-11957	98	8	kinematics	kinematic	NOUN
aiti-11957	98	9	problems	problem	NOUN
aiti-11957	98	10	by	by	ADP
aiti-11957	98	11	utilizing	utilize	VERB
aiti-11957	98	12	a	a	DET
aiti-11957	98	13	ccd	ccd	NOUN
aiti-11957	98	14	algorithm	algorithm	NOUN
aiti-11957	98	15	for	for	ADP
aiti-11957	98	16	calculations	calculation	NOUN
aiti-11957	98	17	.	.	PUNCT
aiti-11957	99	1	this	this	DET
aiti-11957	99	2	study	study	NOUN
aiti-11957	99	3	used	use	VERB
aiti-11957	99	4	the	the	DET
aiti-11957	99	5	ccd	ccd	NOUN
aiti-11957	99	6	algorithm	algorithm	NOUN
aiti-11957	99	7	for	for	ADP
aiti-11957	99	8	solving	solve	VERB
aiti-11957	99	9	inverse	inverse	NOUN
aiti-11957	99	10	kinematics	kinematic	NOUN
aiti-11957	99	11	problems	problem	NOUN
aiti-11957	99	12	and	and	CCONJ
aiti-11957	99	13	the	the	DET
aiti-11957	99	14	traditional	traditional	ADJ
aiti-11957	99	15	denavithartenberg	denavithartenberg	NOUN
aiti-11957	99	16	(	(	PUNCT
aiti-11957	99	17	dh	dh	NOUN
aiti-11957	99	18	)	)	PUNCT
aiti-11957	99	19	parameter	parameter	NOUN
aiti-11957	99	20	method	method	NOUN
aiti-11957	99	21	for	for	ADP
aiti-11957	99	22	solving	solve	VERB
aiti-11957	99	23	forward	forward	ADV
aiti-11957	99	24	kinematics	kinematic	NOUN
aiti-11957	99	25	.	.	PUNCT
aiti-11957	100	1	by	by	ADP
aiti-11957	100	2	using	use	VERB
aiti-11957	100	3	the	the	DET
aiti-11957	100	4	fast	fast	ADJ
aiti-11957	100	5	and	and	CCONJ
aiti-11957	100	6	less	less	ADV
aiti-11957	100	7	computationally	computationally	ADV
aiti-11957	100	8	intensive	intensive	ADJ
aiti-11957	100	9	ccd	ccd	NOUN
aiti-11957	100	10	algorithm	algorithm	NOUN
aiti-11957	100	11	and	and	CCONJ
aiti-11957	100	12	traditional	traditional	ADJ
aiti-11957	100	13	dh	dh	PROPN
aiti-11957	100	14	parameter	parameter	NOUN
aiti-11957	100	15	method	method	NOUN
aiti-11957	100	16	,	,	PUNCT
aiti-11957	100	17	this	this	DET
aiti-11957	100	18	study	study	NOUN
aiti-11957	100	19	aimed	aim	VERB
aiti-11957	100	20	to	to	PART
aiti-11957	100	21	solve	solve	VERB
aiti-11957	100	22	forward	forward	ADV
aiti-11957	100	23	and	and	CCONJ
aiti-11957	100	24	inverse	inverse	ADJ
aiti-11957	100	25	kinematics	kinematic	NOUN
aiti-11957	100	26	problems	problem	NOUN
aiti-11957	100	27	.	.	PUNCT
aiti-11957	101	1	advances	advance	NOUN
aiti-11957	101	2	in	in	ADP
aiti-11957	101	3	technology	technology	NOUN
aiti-11957	101	4	innovation	innovation	NOUN
aiti-11957	101	5	,	,	PUNCT
aiti-11957	101	6	vol	vol	NOUN
aiti-11957	101	7	.	.	PROPN
aiti-11957	101	8	8	8	NUM
aiti-11957	101	9	,	,	PUNCT
aiti-11957	101	10	no	no	INTJ
aiti-11957	101	11	.	.	NOUN
aiti-11957	101	12	4	4	NUM
aiti-11957	101	13	,	,	PUNCT
aiti-11957	101	14	2023	2023	NUM
aiti-11957	101	15	,	,	PUNCT
aiti-11957	101	16	pp	pp	ADJ
aiti-11957	101	17	.	.	PUNCT
aiti-11957	102	1	267	267	NUM
aiti-11957	102	2	-	-	SYM
aiti-11957	102	3	277	277	NUM
aiti-11957	102	4	271	271	NUM
aiti-11957	102	5	the	the	DET
aiti-11957	102	6	ccd	ccd	PROPN
aiti-11957	102	7	algorithm	algorithm	NOUN
aiti-11957	102	8	is	be	AUX
aiti-11957	102	9	currently	currently	ADV
aiti-11957	102	10	one	one	NUM
aiti-11957	102	11	of	of	ADP
aiti-11957	102	12	the	the	DET
aiti-11957	102	13	simplest	simple	ADJ
aiti-11957	102	14	and	and	CCONJ
aiti-11957	102	15	most	most	ADV
aiti-11957	102	16	popular	popular	ADJ
aiti-11957	102	17	methods	method	NOUN
aiti-11957	102	18	for	for	ADP
aiti-11957	102	19	solving	solve	VERB
aiti-11957	102	20	inverse	inverse	NOUN
aiti-11957	102	21	kinematics	kinematic	NOUN
aiti-11957	102	22	,	,	PUNCT
aiti-11957	102	23	and	and	CCONJ
aiti-11957	102	24	it	it	PRON
aiti-11957	102	25	has	have	AUX
aiti-11957	102	26	been	be	AUX
aiti-11957	102	27	widely	widely	ADV
aiti-11957	102	28	used	use	VERB
aiti-11957	102	29	in	in	ADP
aiti-11957	102	30	the	the	DET
aiti-11957	102	31	computer	computer	NOUN
aiti-11957	102	32	game	game	NOUN
aiti-11957	102	33	industry	industry	NOUN
aiti-11957	102	34	.	.	PUNCT
aiti-11957	103	1	the	the	DET
aiti-11957	103	2	ccd	ccd	PROPN
aiti-11957	103	3	algorithm	algorithm	NOUN
aiti-11957	103	4	calculates	calculate	VERB
aiti-11957	103	5	from	from	ADP
aiti-11957	103	6	one	one	NUM
aiti-11957	103	7	joint	joint	NOUN
aiti-11957	103	8	to	to	ADP
aiti-11957	103	9	another	another	DET
aiti-11957	103	10	joint	joint	ADJ
aiti-11957	103	11	angle	angle	NOUN
aiti-11957	103	12	such	such	ADJ
aiti-11957	103	13	that	that	SCONJ
aiti-11957	103	14	the	the	DET
aiti-11957	103	15	endpoint	endpoint	NOUN
aiti-11957	103	16	is	be	AUX
aiti-11957	103	17	as	as	ADV
aiti-11957	103	18	close	close	ADJ
aiti-11957	103	19	as	as	ADP
aiti-11957	103	20	possible	possible	ADJ
aiti-11957	103	21	to	to	ADP
aiti-11957	103	22	the	the	DET
aiti-11957	103	23	target	target	NOUN
aiti-11957	103	24	.	.	PUNCT
aiti-11957	104	1	after	after	ADP
aiti-11957	104	2	each	each	DET
aiti-11957	104	3	iteration	iteration	NOUN
aiti-11957	104	4	update	update	NOUN
aiti-11957	104	5	,	,	PUNCT
aiti-11957	104	6	the	the	DET
aiti-11957	104	7	algorithm	algorithm	NOUN
aiti-11957	104	8	measures	measure	VERB
aiti-11957	104	9	the	the	DET
aiti-11957	104	10	distance	distance	NOUN
aiti-11957	104	11	between	between	ADP
aiti-11957	104	12	the	the	DET
aiti-11957	104	13	endpoint	endpoint	NOUN
aiti-11957	104	14	and	and	CCONJ
aiti-11957	104	15	the	the	DET
aiti-11957	104	16	target	target	NOUN
aiti-11957	104	17	to	to	PART
aiti-11957	104	18	ensure	ensure	VERB
aiti-11957	104	19	that	that	SCONJ
aiti-11957	104	20	the	the	DET
aiti-11957	104	21	endpoint	endpoint	NOUN
aiti-11957	104	22	is	be	AUX
aiti-11957	104	23	far	far	ADV
aiti-11957	104	24	enough	enough	ADV
aiti-11957	104	25	from	from	ADP
aiti-11957	104	26	the	the	DET
aiti-11957	104	27	target	target	NOUN
aiti-11957	104	28	or	or	CCONJ
aiti-11957	104	29	already	already	ADV
aiti-11957	104	30	required	require	VERB
aiti-11957	104	31	to	to	PART
aiti-11957	104	32	stop	stop	VERB
aiti-11957	104	33	computing	compute	VERB
aiti-11957	104	34	.	.	PUNCT
aiti-11957	105	1	additionally	additionally	ADV
aiti-11957	105	2	,	,	PUNCT
aiti-11957	105	3	to	to	PART
aiti-11957	105	4	avoid	avoid	VERB
aiti-11957	105	5	infinite	infinite	ADJ
aiti-11957	105	6	recursive	recursive	ADJ
aiti-11957	105	7	loops	loop	NOUN
aiti-11957	105	8	caused	cause	VERB
aiti-11957	105	9	by	by	ADP
aiti-11957	105	10	unreachable	unreachable	ADJ
aiti-11957	105	11	and	and	CCONJ
aiti-11957	105	12	conflicting	conflicting	ADJ
aiti-11957	105	13	target	target	NOUN
aiti-11957	105	14	points	point	NOUN
aiti-11957	105	15	,	,	PUNCT
aiti-11957	105	16	the	the	DET
aiti-11957	105	17	algorithm	algorithm	NOUN
aiti-11957	105	18	must	must	AUX
aiti-11957	105	19	be	be	AUX
aiti-11957	105	20	limited	limit	VERB
aiti-11957	105	21	by	by	ADP
aiti-11957	105	22	setting	set	VERB
aiti-11957	105	23	a	a	DET
aiti-11957	105	24	maximum	maximum	ADJ
aiti-11957	105	25	number	number	NOUN
aiti-11957	105	26	of	of	ADP
aiti-11957	105	27	iterations	iteration	NOUN
aiti-11957	105	28	.	.	PUNCT
aiti-11957	106	1	essentially	essentially	ADV
aiti-11957	106	2	,	,	PUNCT
aiti-11957	106	3	the	the	DET
aiti-11957	106	4	base	base	NOUN
aiti-11957	106	5	of	of	ADP
aiti-11957	106	6	an	an	DET
aiti-11957	106	7	inverse	inverse	NOUN
aiti-11957	106	8	kinematic	kinematic	NOUN
aiti-11957	106	9	-	-	PUNCT
aiti-11957	106	10	driven	drive	VERB
aiti-11957	106	11	mechanism	mechanism	NOUN
aiti-11957	106	12	is	be	AUX
aiti-11957	106	13	immovable	immovable	ADJ
aiti-11957	106	14	,	,	PUNCT
aiti-11957	106	15	and	and	CCONJ
aiti-11957	106	16	the	the	DET
aiti-11957	106	17	axis	axis	NOUN
aiti-11957	106	18	and	and	CCONJ
aiti-11957	106	19	angle	angle	NOUN
aiti-11957	106	20	are	be	AUX
aiti-11957	106	21	calculated	calculate	VERB
aiti-11957	106	22	using	use	VERB
aiti-11957	106	23	the	the	DET
aiti-11957	106	24	formula	formula	NOUN
aiti-11957	106	25	,	,	PUNCT
aiti-11957	106	26	respectively	respectively	ADV
aiti-11957	106	27	,	,	PUNCT
aiti-11957	106	28	as	as	SCONJ
aiti-11957	106	29	shown	show	VERB
aiti-11957	106	30	in	in	ADP
aiti-11957	106	31	fig	fig	NOUN
aiti-11957	106	32	.	.	PUNCT
aiti-11957	107	1	6	6	NUM
aiti-11957	107	2	.	.	X
aiti-11957	107	3	1cos	1cos	NUM
aiti-11957	107	4	e	e	X
aiti-11957	107	5	c	c	NOUN
aiti-11957	107	6	t	t	NOUN
aiti-11957	107	7	c	c	NOUN
aiti-11957	107	8	e	e	X
aiti-11957	107	9	c	c	NOUN
aiti-11957	107	10	t	t	PROPN
aiti-11957	107	11	c	c	PROPN
aiti-11957	108	1	p	p	PROPN
aiti-11957	108	2	p	p	X
aiti-11957	108	3	p	p	X
aiti-11957	108	4	p	p	PROPN
aiti-11957	108	5	p	p	PROPN
aiti-11957	108	6	p	p	NOUN
aiti-11957	108	7	p	p	X
aiti-11957	108	8	p	p	PROPN
aiti-11957	108	9	θ	θ	PROPN
aiti-11957	108	10	−	−	PROPN
aiti-11957	109	1			NOUN
aiti-11957	109	2			PROPN
aiti-11957	109	3			PROPN
aiti-11957	110	1			PROPN
aiti-11957	111	1			PROPN
aiti-11957	111	2			PROPN
aiti-11957	112	1			PROPN
aiti-11957	112	2			NOUN
aiti-11957	112	3	−	−	VERB
aiti-11957	112	4	−	−	NOUN
aiti-11957	113	1	=	=	SYM
aiti-11957	113	2	•	•	NUM
aiti-11957	113	3	−	−	PROPN
aiti-11957	114	1	−	−	PROPN
aiti-11957	114	2	(	(	PUNCT
aiti-11957	114	3	1	1	NUM
aiti-11957	114	4	)	)	PUNCT
aiti-11957	114	5	e	e	NOUN
aiti-11957	114	6	c	c	NOUN
aiti-11957	114	7	t	t	NOUN
aiti-11957	114	8	c	c	NOUN
aiti-11957	114	9	e	e	X
aiti-11957	114	10	c	c	NOUN
aiti-11957	114	11	t	t	PROPN
aiti-11957	114	12	c	c	PROPN
aiti-11957	115	1	p	p	PROPN
aiti-11957	115	2	p	p	X
aiti-11957	115	3	p	p	X
aiti-11957	115	4	p	p	PROPN
aiti-11957	115	5	p	p	PROPN
aiti-11957	115	6	p	p	X
aiti-11957	115	7	p	p	X
aiti-11957	115	8	p	p	NOUN
aiti-11957	115	9	r	r	NOUN
aiti-11957	115	10	−	−	NOUN
aiti-11957	115	11	−	−	PROPN
aiti-11957	115	12	×	×	NOUN
aiti-11957	115	13	−	−	NOUN
aiti-11957	115	14	−	−	PROPN
aiti-11957	115	15	=	=	SYM
aiti-11957	115	16	�	�	PROPN
aiti-11957	115	17	(	(	PUNCT
aiti-11957	115	18	2	2	NUM
aiti-11957	115	19	)	)	PUNCT
aiti-11957	115	20	this	this	DET
aiti-11957	115	21	method	method	NOUN
aiti-11957	115	22	is	be	AUX
aiti-11957	115	23	also	also	ADV
aiti-11957	115	24	applicable	applicable	ADJ
aiti-11957	115	25	to	to	ADP
aiti-11957	115	26	2d	2d	NUM
aiti-11957	115	27	and	and	CCONJ
aiti-11957	115	28	3d	3d	NUM
aiti-11957	115	29	coordinates	coordinate	NOUN
aiti-11957	115	30	by	by	ADP
aiti-11957	115	31	aligning	align	VERB
aiti-11957	115	32	a	a	DET
aiti-11957	115	33	joint	joint	ADJ
aiti-11957	115	34	(	(	PUNCT
aiti-11957	115	35	pc	pc	NOUN
aiti-11957	115	36	)	)	PUNCT
aiti-11957	115	37	with	with	ADP
aiti-11957	115	38	the	the	DET
aiti-11957	115	39	endpoint	endpoint	NOUN
aiti-11957	115	40	(	(	PUNCT
aiti-11957	115	41	pe	pe	NOUN
aiti-11957	115	42	)	)	PUNCT
aiti-11957	115	43	and	and	CCONJ
aiti-11957	115	44	target	target	VERB
aiti-11957	115	45	,	,	PUNCT
aiti-11957	115	46	and	and	CCONJ
aiti-11957	115	47	the	the	DET
aiti-11957	115	48	endpoint	endpoint	NOUN
aiti-11957	115	49	is	be	AUX
aiti-11957	115	50	finally	finally	ADV
aiti-11957	115	51	approached	approach	VERB
aiti-11957	115	52	by	by	ADP
aiti-11957	115	53	reciprocating	reciprocate	VERB
aiti-11957	115	54	the	the	DET
aiti-11957	115	55	above	above	ADJ
aiti-11957	115	56	steps	step	NOUN
aiti-11957	115	57	towards	towards	ADP
aiti-11957	115	58	the	the	DET
aiti-11957	115	59	target	target	NOUN
aiti-11957	115	60	.	.	PUNCT
aiti-11957	116	1	to	to	PART
aiti-11957	116	2	solve	solve	VERB
aiti-11957	116	3	the	the	DET
aiti-11957	116	4	problem	problem	NOUN
aiti-11957	116	5	of	of	ADP
aiti-11957	116	6	forward	forward	ADJ
aiti-11957	116	7	kinematics	kinematic	NOUN
aiti-11957	117	1	[	[	X
aiti-11957	117	2	24	24	NUM
aiti-11957	117	3	]	]	PUNCT
aiti-11957	117	4	,	,	PUNCT
aiti-11957	117	5	this	this	DET
aiti-11957	117	6	study	study	NOUN
aiti-11957	117	7	used	use	VERB
aiti-11957	117	8	the	the	DET
aiti-11957	117	9	dh	dh	PROPN
aiti-11957	117	10	parameter	parameter	PROPN
aiti-11957	117	11	method	method	NOUN
aiti-11957	117	12	.	.	PUNCT
aiti-11957	118	1	the	the	DET
aiti-11957	118	2	dh	dh	PROPN
aiti-11957	118	3	parameter	parameter	PROPN
aiti-11957	118	4	method	method	NOUN
aiti-11957	118	5	designs	design	VERB
aiti-11957	118	6	a	a	DET
aiti-11957	118	7	coordinate	coordinate	NOUN
aiti-11957	118	8	system	system	NOUN
aiti-11957	118	9	for	for	ADP
aiti-11957	118	10	each	each	DET
aiti-11957	118	11	connecting	connect	VERB
aiti-11957	118	12	rod	rod	NOUN
aiti-11957	118	13	according	accord	VERB
aiti-11957	118	14	to	to	ADP
aiti-11957	118	15	set	set	ADJ
aiti-11957	118	16	rules	rule	NOUN
aiti-11957	118	17	,	,	PUNCT
aiti-11957	118	18	and	and	CCONJ
aiti-11957	118	19	then	then	ADV
aiti-11957	118	20	this	this	DET
aiti-11957	118	21	coordinate	coordinate	NOUN
aiti-11957	118	22	system	system	NOUN
aiti-11957	118	23	can	can	AUX
aiti-11957	118	24	be	be	AUX
aiti-11957	118	25	used	use	VERB
aiti-11957	118	26	to	to	PART
aiti-11957	118	27	describe	describe	VERB
aiti-11957	118	28	the	the	DET
aiti-11957	118	29	transformation	transformation	NOUN
aiti-11957	118	30	relationship	relationship	NOUN
aiti-11957	118	31	from	from	ADP
aiti-11957	118	32	one	one	NUM
aiti-11957	118	33	connecting	connect	VERB
aiti-11957	118	34	rod	rod	NOUN
aiti-11957	118	35	coordinate	coordinate	NOUN
aiti-11957	118	36	system	system	NOUN
aiti-11957	118	37	to	to	ADP
aiti-11957	118	38	the	the	DET
aiti-11957	118	39	adjacent	adjacent	ADJ
aiti-11957	118	40	connecting	connect	VERB
aiti-11957	118	41	rod	rod	NOUN
aiti-11957	118	42	coordinate	coordinate	NOUN
aiti-11957	118	43	system	system	NOUN
aiti-11957	118	44	.	.	PUNCT
aiti-11957	119	1	the	the	DET
aiti-11957	119	2	transformation	transformation	NOUN
aiti-11957	119	3	of	of	ADP
aiti-11957	119	4	the	the	DET
aiti-11957	119	5	adjacent	adjacent	ADJ
aiti-11957	119	6	coordinate	coordinate	NOUN
aiti-11957	119	7	system	system	NOUN
aiti-11957	119	8	is	be	AUX
aiti-11957	119	9	decomposed	decompose	VERB
aiti-11957	119	10	into	into	ADP
aiti-11957	119	11	several	several	ADJ
aiti-11957	119	12	steps	step	NOUN
aiti-11957	119	13	with	with	ADP
aiti-11957	119	14	only	only	ADV
aiti-11957	119	15	one	one	NUM
aiti-11957	119	16	parameter	parameter	NOUN
aiti-11957	119	17	respectively	respectively	ADV
aiti-11957	119	18	.	.	PUNCT
aiti-11957	120	1	the	the	DET
aiti-11957	120	2	combination	combination	NOUN
aiti-11957	120	3	of	of	ADP
aiti-11957	120	4	the	the	DET
aiti-11957	120	5	corresponding	corresponding	ADJ
aiti-11957	120	6	transformations	transformation	NOUN
aiti-11957	120	7	completes	complete	VERB
aiti-11957	120	8	the	the	DET
aiti-11957	120	9	transformation	transformation	NOUN
aiti-11957	120	10	of	of	ADP
aiti-11957	120	11	the	the	DET
aiti-11957	120	12	adjacent	adjacent	ADJ
aiti-11957	120	13	coordinate	coordinate	NOUN
aiti-11957	120	14	systems	system	NOUN
aiti-11957	120	15	.	.	PUNCT
aiti-11957	121	1	fig	fig	NOUN
aiti-11957	121	2	.	.	PUNCT
aiti-11957	122	1	6	6	NUM
aiti-11957	122	2	ccd	ccd	NOUN
aiti-11957	122	3	algorithm	algorithm	NOUN
aiti-11957	122	4	flow	flow	NOUN
aiti-11957	122	5	2.4	2.4	NUM
aiti-11957	122	6	.	.	PUNCT
aiti-11957	123	1	digital	digital	ADJ
aiti-11957	123	2	twin	twin	PROPN
aiti-11957	123	3	user	user	NOUN
aiti-11957	123	4	interface	interface	NOUN
aiti-11957	123	5	for	for	ADP
aiti-11957	123	6	the	the	DET
aiti-11957	123	7	industrial	industrial	ADJ
aiti-11957	123	8	robotic	robotic	ADJ
aiti-11957	123	9	arm	arm	NOUN
aiti-11957	123	10	two	two	NUM
aiti-11957	123	11	scenarios	scenario	NOUN
aiti-11957	123	12	were	be	AUX
aiti-11957	123	13	considered	consider	VERB
aiti-11957	123	14	in	in	ADP
aiti-11957	123	15	this	this	DET
aiti-11957	123	16	study	study	NOUN
aiti-11957	123	17	.	.	PUNCT
aiti-11957	124	1	the	the	DET
aiti-11957	124	2	first	first	ADJ
aiti-11957	124	3	scenario	scenario	NOUN
aiti-11957	124	4	used	use	VERB
aiti-11957	124	5	forward	forward	ADP
aiti-11957	124	6	kinematics	kinematic	NOUN
aiti-11957	124	7	to	to	PART
aiti-11957	124	8	control	control	VERB
aiti-11957	124	9	the	the	DET
aiti-11957	124	10	virtual	virtual	ADJ
aiti-11957	124	11	robotic	robotic	ADJ
aiti-11957	124	12	arm	arm	NOUN
aiti-11957	124	13	and	and	CCONJ
aiti-11957	124	14	synchronously	synchronously	ADV
aiti-11957	124	15	moved	move	VERB
aiti-11957	124	16	the	the	DET
aiti-11957	124	17	physical	physical	ADJ
aiti-11957	124	18	robotic	robotic	ADJ
aiti-11957	124	19	arm	arm	NOUN
aiti-11957	124	20	.	.	PUNCT
aiti-11957	125	1	when	when	SCONJ
aiti-11957	125	2	the	the	DET
aiti-11957	125	3	physical	physical	ADJ
aiti-11957	125	4	robotic	robotic	ADJ
aiti-11957	125	5	arm	arm	NOUN
aiti-11957	125	6	was	be	AUX
aiti-11957	125	7	controlled	control	VERB
aiti-11957	125	8	by	by	ADP
aiti-11957	125	9	the	the	DET
aiti-11957	125	10	robotic	robotic	ADJ
aiti-11957	125	11	arm	arm	NOUN
aiti-11957	125	12	user	user	NOUN
aiti-11957	125	13	interface	interface	NOUN
aiti-11957	125	14	,	,	PUNCT
aiti-11957	125	15	the	the	DET
aiti-11957	125	16	virtual	virtual	ADJ
aiti-11957	125	17	robotic	robotic	ADJ
aiti-11957	125	18	arm	arm	NOUN
aiti-11957	125	19	moved	move	VERB
aiti-11957	125	20	synchronously	synchronously	ADV
aiti-11957	125	21	.	.	PUNCT
aiti-11957	126	1	as	as	SCONJ
aiti-11957	126	2	shown	show	VERB
aiti-11957	126	3	in	in	ADP
aiti-11957	126	4	fig	fig	NOUN
aiti-11957	126	5	.	.	PUNCT
aiti-11957	127	1	7	7	NUM
aiti-11957	127	2	,	,	PUNCT
aiti-11957	127	3	after	after	ADP
aiti-11957	127	4	pressing	press	VERB
aiti-11957	127	5	the	the	DET
aiti-11957	127	6	start	start	NOUN
aiti-11957	127	7	received	receive	VERB
aiti-11957	127	8	button	button	NOUN
aiti-11957	127	9	(	(	PUNCT
aiti-11957	127	10	button	button	NOUN
aiti-11957	127	11	1	1	NUM
aiti-11957	127	12	)	)	PUNCT
aiti-11957	127	13	,	,	PUNCT
aiti-11957	127	14	the	the	DET
aiti-11957	127	15	arm	arm	NOUN
aiti-11957	127	16	begins	begin	VERB
aiti-11957	127	17	to	to	PART
aiti-11957	127	18	receive	receive	VERB
aiti-11957	127	19	the	the	DET
aiti-11957	127	20	six	six	NUM
aiti-11957	127	21	joint	joint	ADJ
aiti-11957	127	22	information	information	NOUN
aiti-11957	127	23	read	read	VERB
aiti-11957	127	24	from	from	ADP
aiti-11957	127	25	the	the	DET
aiti-11957	127	26	cs8c	cs8c	NOUN
aiti-11957	127	27	controller	controller	NOUN
aiti-11957	127	28	.	.	PUNCT
aiti-11957	128	1	this	this	DET
aiti-11957	128	2	information	information	NOUN
aiti-11957	128	3	was	be	AUX
aiti-11957	128	4	used	use	VERB
aiti-11957	128	5	to	to	PART
aiti-11957	128	6	move	move	VERB
aiti-11957	128	7	the	the	DET
aiti-11957	128	8	virtual	virtual	ADJ
aiti-11957	128	9	robotic	robotic	ADJ
aiti-11957	128	10	arm	arm	NOUN
aiti-11957	128	11	into	into	ADP
aiti-11957	128	12	a	a	DET
aiti-11957	128	13	physical	physical	ADJ
aiti-11957	128	14	robotic	robotic	ADJ
aiti-11957	128	15	arm	arm	NOUN
aiti-11957	128	16	.	.	PUNCT
aiti-11957	129	1	each	each	DET
aiti-11957	129	2	joint	joint	NOUN
aiti-11957	129	3	of	of	ADP
aiti-11957	129	4	the	the	DET
aiti-11957	129	5	virtual	virtual	ADJ
aiti-11957	129	6	robotic	robotic	ADJ
aiti-11957	129	7	arm	arm	NOUN
aiti-11957	129	8	can	can	AUX
aiti-11957	129	9	be	be	AUX
aiti-11957	129	10	rotated	rotate	VERB
aiti-11957	129	11	by	by	ADP
aiti-11957	129	12	controlling	control	VERB
aiti-11957	129	13	the	the	DET
aiti-11957	129	14	plus	plus	NOUN
aiti-11957	129	15	/	/	SYM
aiti-11957	129	16	minus	minus	NOUN
aiti-11957	129	17	advances	advance	NOUN
aiti-11957	129	18	in	in	ADP
aiti-11957	129	19	technology	technology	NOUN
aiti-11957	129	20	innovation	innovation	NOUN
aiti-11957	129	21	,	,	PUNCT
aiti-11957	129	22	vol	vol	NOUN
aiti-11957	129	23	.	.	PROPN
aiti-11957	129	24	8	8	NUM
aiti-11957	129	25	,	,	PUNCT
aiti-11957	129	26	no	no	INTJ
aiti-11957	129	27	.	.	NOUN
aiti-11957	129	28	4	4	NUM
aiti-11957	129	29	,	,	PUNCT
aiti-11957	129	30	2023	2023	NUM
aiti-11957	129	31	,	,	PUNCT
aiti-11957	129	32	pp	pp	ADJ
aiti-11957	129	33	.	.	PUNCT
aiti-11957	130	1	267	267	NUM
aiti-11957	130	2	-	-	SYM
aiti-11957	130	3	277	277	NUM
aiti-11957	130	4	272	272	NUM
aiti-11957	130	5	buttons	button	NOUN
aiti-11957	130	6	(	(	PUNCT
aiti-11957	130	7	button	button	NOUN
aiti-11957	130	8	2	2	NUM
aiti-11957	130	9	)	)	PUNCT
aiti-11957	130	10	of	of	ADP
aiti-11957	130	11	each	each	DET
aiti-11957	130	12	joint	joint	NOUN
aiti-11957	130	13	.	.	PUNCT
aiti-11957	131	1	the	the	DET
aiti-11957	131	2	rotation	rotation	NOUN
aiti-11957	131	3	angle	angle	NOUN
aiti-11957	131	4	information	information	NOUN
aiti-11957	131	5	was	be	AUX
aiti-11957	131	6	transmitted	transmit	VERB
aiti-11957	131	7	to	to	ADP
aiti-11957	131	8	the	the	DET
aiti-11957	131	9	physical	physical	ADJ
aiti-11957	131	10	robotic	robotic	ADJ
aiti-11957	131	11	arm	arm	NOUN
aiti-11957	131	12	which	which	PRON
aiti-11957	131	13	rotated	rotate	VERB
aiti-11957	131	14	accordingly	accordingly	ADV
aiti-11957	131	15	.	.	PUNCT
aiti-11957	132	1	after	after	ADP
aiti-11957	132	2	achieving	achieve	VERB
aiti-11957	132	3	the	the	DET
aiti-11957	132	4	goal	goal	NOUN
aiti-11957	132	5	of	of	ADP
aiti-11957	132	6	mutual	mutual	ADJ
aiti-11957	132	7	control	control	NOUN
aiti-11957	132	8	between	between	ADP
aiti-11957	132	9	the	the	DET
aiti-11957	132	10	two	two	NUM
aiti-11957	132	11	parties	party	NOUN
aiti-11957	132	12	,	,	PUNCT
aiti-11957	132	13	press	press	VERB
aiti-11957	132	14	the	the	DET
aiti-11957	132	15	quit	quit	ADJ
aiti-11957	132	16	game	game	NOUN
aiti-11957	132	17	button	button	NOUN
aiti-11957	132	18	(	(	PUNCT
aiti-11957	132	19	button	button	NOUN
aiti-11957	132	20	3	3	NUM
aiti-11957	132	21	)	)	PUNCT
aiti-11957	132	22	to	to	PART
aiti-11957	132	23	end	end	VERB
aiti-11957	132	24	the	the	DET
aiti-11957	132	25	currently	currently	ADV
aiti-11957	132	26	executing	execute	VERB
aiti-11957	132	27	scene	scene	NOUN
aiti-11957	132	28	.	.	PUNCT
aiti-11957	133	1	fig	fig	NOUN
aiti-11957	133	2	.	.	PUNCT
aiti-11957	134	1	7	7	NUM
aiti-11957	134	2	unity	unity	NOUN
aiti-11957	134	3	digital	digital	ADJ
aiti-11957	134	4	twin	twin	ADJ
aiti-11957	134	5	scene	scene	NOUN
aiti-11957	134	6	1	1	NUM
aiti-11957	134	7	the	the	DET
aiti-11957	134	8	second	second	ADJ
aiti-11957	134	9	scene	scene	NOUN
aiti-11957	134	10	primarily	primarily	ADV
aiti-11957	134	11	involves	involve	VERB
aiti-11957	134	12	moving	move	VERB
aiti-11957	134	13	the	the	DET
aiti-11957	134	14	virtual	virtual	ADJ
aiti-11957	134	15	robotic	robotic	ADJ
aiti-11957	134	16	arm	arm	NOUN
aiti-11957	134	17	through	through	ADP
aiti-11957	134	18	inverse	inverse	NOUN
aiti-11957	134	19	kinematics	kinematic	NOUN
aiti-11957	134	20	,	,	PUNCT
aiti-11957	134	21	as	as	SCONJ
aiti-11957	134	22	shown	show	VERB
aiti-11957	134	23	in	in	ADP
aiti-11957	134	24	fig	fig	NOUN
aiti-11957	134	25	.	.	PUNCT
aiti-11957	135	1	8	8	NUM
aiti-11957	135	2	.	.	X
aiti-11957	136	1	in	in	ADP
aiti-11957	136	2	this	this	DET
aiti-11957	136	3	scene	scene	NOUN
aiti-11957	136	4	,	,	PUNCT
aiti-11957	136	5	a	a	DET
aiti-11957	136	6	red	red	ADJ
aiti-11957	136	7	sphere	sphere	NOUN
aiti-11957	136	8	was	be	AUX
aiti-11957	136	9	designed	design	VERB
aiti-11957	136	10	as	as	ADP
aiti-11957	136	11	the	the	DET
aiti-11957	136	12	target	target	NOUN
aiti-11957	136	13	object	object	NOUN
aiti-11957	136	14	(	(	PUNCT
aiti-11957	136	15	target	target	NOUN
aiti-11957	136	16	)	)	PUNCT
aiti-11957	136	17	.	.	PUNCT
aiti-11957	137	1	the	the	DET
aiti-11957	137	2	end	end	NOUN
aiti-11957	137	3	effector	effector	NOUN
aiti-11957	137	4	moved	move	VERB
aiti-11957	137	5	with	with	ADP
aiti-11957	137	6	the	the	DET
aiti-11957	137	7	target	target	NOUN
aiti-11957	137	8	object	object	NOUN
aiti-11957	137	9	.	.	PUNCT
aiti-11957	138	1	the	the	DET
aiti-11957	138	2	movement	movement	NOUN
aiti-11957	138	3	of	of	ADP
aiti-11957	138	4	the	the	DET
aiti-11957	138	5	virtual	virtual	ADJ
aiti-11957	138	6	robotic	robotic	ADJ
aiti-11957	138	7	arm	arm	NOUN
aiti-11957	138	8	was	be	AUX
aiti-11957	138	9	controlled	control	VERB
aiti-11957	138	10	by	by	ADP
aiti-11957	138	11	dragging	drag	VERB
aiti-11957	138	12	the	the	DET
aiti-11957	138	13	target	target	NOUN
aiti-11957	138	14	object	object	NOUN
aiti-11957	138	15	.	.	PUNCT
aiti-11957	139	1	when	when	SCONJ
aiti-11957	139	2	it	it	PRON
aiti-11957	139	3	moved	move	VERB
aiti-11957	139	4	to	to	ADP
aiti-11957	139	5	a	a	DET
aiti-11957	139	6	position	position	NOUN
aiti-11957	139	7	,	,	PUNCT
aiti-11957	139	8	the	the	DET
aiti-11957	139	9	dragging	dragging	NOUN
aiti-11957	139	10	was	be	AUX
aiti-11957	139	11	stopped	stop	VERB
aiti-11957	139	12	,	,	PUNCT
aiti-11957	139	13	and	and	CCONJ
aiti-11957	139	14	the	the	DET
aiti-11957	139	15	angle	angle	NOUN
aiti-11957	139	16	of	of	ADP
aiti-11957	139	17	each	each	DET
aiti-11957	139	18	joint	joint	NOUN
aiti-11957	139	19	was	be	AUX
aiti-11957	139	20	calculated	calculate	VERB
aiti-11957	139	21	using	use	VERB
aiti-11957	139	22	the	the	DET
aiti-11957	139	23	ccd	ccd	NOUN
aiti-11957	139	24	script	script	NOUN
aiti-11957	139	25	designed	design	VERB
aiti-11957	139	26	in	in	ADP
aiti-11957	139	27	unity	unity	NOUN
aiti-11957	139	28	.	.	PUNCT
aiti-11957	140	1	this	this	DET
aiti-11957	140	2	angle	angle	NOUN
aiti-11957	140	3	information	information	NOUN
aiti-11957	140	4	was	be	AUX
aiti-11957	140	5	sent	send	VERB
aiti-11957	140	6	to	to	ADP
aiti-11957	140	7	the	the	DET
aiti-11957	140	8	physical	physical	ADJ
aiti-11957	140	9	robot	robot	NOUN
aiti-11957	140	10	arm	arm	VERB
aiti-11957	140	11	such	such	ADJ
aiti-11957	140	12	that	that	SCONJ
aiti-11957	140	13	it	it	PRON
aiti-11957	140	14	could	could	AUX
aiti-11957	140	15	move	move	VERB
aiti-11957	140	16	like	like	ADP
aiti-11957	140	17	a	a	DET
aiti-11957	140	18	virtual	virtual	ADJ
aiti-11957	140	19	robotic	robotic	ADJ
aiti-11957	140	20	arm	arm	NOUN
aiti-11957	140	21	.	.	PUNCT
aiti-11957	141	1	the	the	DET
aiti-11957	141	2	goal	goal	NOUN
aiti-11957	141	3	was	be	AUX
aiti-11957	141	4	to	to	PART
aiti-11957	141	5	control	control	VERB
aiti-11957	141	6	the	the	DET
aiti-11957	141	7	physical	physical	ADJ
aiti-11957	141	8	robot	robot	NOUN
aiti-11957	141	9	arm	arm	NOUN
aiti-11957	141	10	by	by	ADP
aiti-11957	141	11	dragging	drag	VERB
aiti-11957	141	12	the	the	DET
aiti-11957	141	13	dt	dt	PROPN
aiti-11957	141	14	end	end	NOUN
aiti-11957	141	15	effector	effector	NOUN
aiti-11957	141	16	.	.	PUNCT
aiti-11957	142	1	the	the	DET
aiti-11957	142	2	point	point	NOUN
aiti-11957	142	3	correction	correction	NOUN
aiti-11957	142	4	of	of	ADP
aiti-11957	142	5	a	a	DET
aiti-11957	142	6	traditional	traditional	ADJ
aiti-11957	142	7	industrial	industrial	ADJ
aiti-11957	142	8	robotic	robotic	ADJ
aiti-11957	142	9	arm	arm	NOUN
aiti-11957	142	10	was	be	AUX
aiti-11957	142	11	significantly	significantly	ADV
aiti-11957	142	12	reduced	reduce	VERB
aiti-11957	142	13	by	by	ADP
aiti-11957	142	14	dragging	drag	VERB
aiti-11957	142	15	the	the	DET
aiti-11957	142	16	dt	dt	PROPN
aiti-11957	142	17	end	end	NOUN
aiti-11957	142	18	effector	effector	NOUN
aiti-11957	142	19	to	to	ADP
aiti-11957	142	20	the	the	DET
aiti-11957	142	21	designated	designate	VERB
aiti-11957	142	22	target	target	NOUN
aiti-11957	142	23	point	point	NOUN
aiti-11957	142	24	for	for	ADP
aiti-11957	142	25	the	the	DET
aiti-11957	142	26	corresponding	corresponding	ADJ
aiti-11957	142	27	work	work	NOUN
aiti-11957	142	28	settings	setting	NOUN
aiti-11957	142	29	,	,	PUNCT
aiti-11957	142	30	which	which	PRON
aiti-11957	142	31	makes	make	VERB
aiti-11957	142	32	it	it	PRON
aiti-11957	142	33	more	more	ADV
aiti-11957	142	34	flexible	flexible	ADJ
aiti-11957	142	35	and	and	CCONJ
aiti-11957	142	36	can	can	AUX
aiti-11957	142	37	be	be	AUX
aiti-11957	142	38	used	use	VERB
aiti-11957	142	39	in	in	ADP
aiti-11957	142	40	complex	complex	ADJ
aiti-11957	142	41	environments	environment	NOUN
aiti-11957	142	42	.	.	PUNCT
aiti-11957	143	1	such	such	DET
aiti-11957	143	2	a	a	DET
aiti-11957	143	3	dt	dt	NOUN
aiti-11957	143	4	with	with	ADP
aiti-11957	143	5	a	a	DET
aiti-11957	143	6	user	user	NOUN
aiti-11957	143	7	interface	interface	NOUN
aiti-11957	143	8	can	can	AUX
aiti-11957	143	9	also	also	ADV
aiti-11957	143	10	be	be	AUX
aiti-11957	143	11	used	use	VERB
aiti-11957	143	12	to	to	PART
aiti-11957	143	13	establish	establish	VERB
aiti-11957	143	14	a	a	DET
aiti-11957	143	15	fully	fully	ADV
aiti-11957	143	16	realistic	realistic	ADJ
aiti-11957	143	17	workplace	workplace	NOUN
aiti-11957	143	18	and	and	CCONJ
aiti-11957	143	19	perform	perform	VERB
aiti-11957	143	20	path	path	NOUN
aiti-11957	143	21	planning	planning	NOUN
aiti-11957	143	22	and	and	CCONJ
aiti-11957	143	23	other	other	ADJ
aiti-11957	143	24	operations	operation	NOUN
aiti-11957	143	25	on	on	ADP
aiti-11957	143	26	the	the	DET
aiti-11957	143	27	robotic	robotic	ADJ
aiti-11957	143	28	arm	arm	NOUN
aiti-11957	143	29	through	through	ADP
aiti-11957	143	30	a	a	DET
aiti-11957	143	31	remote	remote	ADJ
aiti-11957	143	32	control	control	NOUN
aiti-11957	143	33	,	,	PUNCT
aiti-11957	143	34	thereby	thereby	ADV
aiti-11957	143	35	enabling	enable	VERB
aiti-11957	143	36	task	task	NOUN
aiti-11957	143	37	completion	completion	NOUN
aiti-11957	143	38	without	without	ADP
aiti-11957	143	39	entering	enter	VERB
aiti-11957	143	40	the	the	DET
aiti-11957	143	41	factory	factory	NOUN
aiti-11957	143	42	.	.	PUNCT
aiti-11957	144	1	fig	fig	NOUN
aiti-11957	144	2	.	.	PUNCT
aiti-11957	145	1	8	8	NUM
aiti-11957	145	2	unity	unity	NOUN
aiti-11957	145	3	digital	digital	ADJ
aiti-11957	145	4	twin	twin	ADJ
aiti-11957	145	5	scene	scene	NOUN
aiti-11957	145	6	2	2	NUM
aiti-11957	145	7	2.5	2.5	NUM
aiti-11957	145	8	.	.	PUNCT
aiti-11957	146	1	matlab	matlab	PROPN
aiti-11957	146	2	energy	energy	NOUN
aiti-11957	146	3	consumption	consumption	NOUN
aiti-11957	146	4	calculation	calculation	NOUN
aiti-11957	146	5	with	with	ADP
aiti-11957	146	6	the	the	DET
aiti-11957	146	7	gradual	gradual	ADJ
aiti-11957	146	8	advancement	advancement	NOUN
aiti-11957	146	9	of	of	ADP
aiti-11957	146	10	science	science	NOUN
aiti-11957	146	11	and	and	CCONJ
aiti-11957	146	12	technology	technology	NOUN
aiti-11957	146	13	and	and	CCONJ
aiti-11957	146	14	the	the	DET
aiti-11957	146	15	development	development	NOUN
aiti-11957	146	16	of	of	ADP
aiti-11957	146	17	digital	digital	ADJ
aiti-11957	146	18	avatar	avatar	ADJ
aiti-11957	146	19	-	-	PUNCT
aiti-11957	146	20	related	relate	VERB
aiti-11957	146	21	technologies	technology	NOUN
aiti-11957	146	22	,	,	PUNCT
aiti-11957	146	23	factories	factory	NOUN
aiti-11957	146	24	are	be	AUX
aiti-11957	146	25	moving	move	VERB
aiti-11957	146	26	towards	towards	ADP
aiti-11957	146	27	smart	smart	ADJ
aiti-11957	146	28	manufacturing	manufacturing	NOUN
aiti-11957	146	29	,	,	PUNCT
aiti-11957	146	30	and	and	CCONJ
aiti-11957	146	31	smart	smart	ADJ
aiti-11957	146	32	factories	factory	NOUN
aiti-11957	146	33	are	be	AUX
aiti-11957	146	34	becoming	become	VERB
aiti-11957	146	35	a	a	DET
aiti-11957	146	36	major	major	ADJ
aiti-11957	146	37	trend	trend	NOUN
aiti-11957	146	38	.	.	PUNCT
aiti-11957	147	1	through	through	ADP
aiti-11957	147	2	these	these	DET
aiti-11957	147	3	technologies	technology	NOUN
aiti-11957	147	4	,	,	PUNCT
aiti-11957	147	5	factory	factory	NOUN
aiti-11957	147	6	personnel	personnel	NOUN
aiti-11957	147	7	can	can	AUX
aiti-11957	147	8	monitor	monitor	VERB
aiti-11957	147	9	the	the	DET
aiti-11957	147	10	internal	internal	ADJ
aiti-11957	147	11	conditions	condition	NOUN
aiti-11957	147	12	of	of	ADP
aiti-11957	147	13	a	a	DET
aiti-11957	147	14	factory	factory	NOUN
aiti-11957	147	15	in	in	ADP
aiti-11957	147	16	real	real	ADJ
aiti-11957	147	17	-	-	PUNCT
aiti-11957	147	18	time	time	NOUN
aiti-11957	147	19	using	use	VERB
aiti-11957	147	20	computers	computer	NOUN
aiti-11957	147	21	and	and	CCONJ
aiti-11957	147	22	mobile	mobile	ADJ
aiti-11957	147	23	phones	phone	NOUN
aiti-11957	147	24	.	.	PUNCT
aiti-11957	148	1	with	with	ADP
aiti-11957	148	2	the	the	DET
aiti-11957	148	3	advances	advance	NOUN
aiti-11957	148	4	in	in	ADP
aiti-11957	148	5	technology	technology	NOUN
aiti-11957	148	6	innovation	innovation	NOUN
aiti-11957	148	7	,	,	PUNCT
aiti-11957	148	8	vol	vol	NOUN
aiti-11957	148	9	.	.	PROPN
aiti-11957	148	10	8	8	NUM
aiti-11957	148	11	,	,	PUNCT
aiti-11957	148	12	no	no	INTJ
aiti-11957	148	13	.	.	NOUN
aiti-11957	148	14	4	4	NUM
aiti-11957	148	15	,	,	PUNCT
aiti-11957	148	16	2023	2023	NUM
aiti-11957	148	17	,	,	PUNCT
aiti-11957	148	18	pp	pp	ADJ
aiti-11957	148	19	.	.	PUNCT
aiti-11957	149	1	267	267	NUM
aiti-11957	149	2	-	-	SYM
aiti-11957	149	3	277	277	NUM
aiti-11957	149	4	273	273	NUM
aiti-11957	149	5	rise	rise	NOUN
aiti-11957	149	6	of	of	ADP
aiti-11957	149	7	international	international	ADJ
aiti-11957	149	8	oil	oil	NOUN
aiti-11957	149	9	prices	price	NOUN
aiti-11957	149	10	and	and	CCONJ
aiti-11957	149	11	the	the	DET
aiti-11957	149	12	improvement	improvement	NOUN
aiti-11957	149	13	of	of	ADP
aiti-11957	149	14	green	green	ADJ
aiti-11957	149	15	energy	energy	NOUN
aiti-11957	149	16	-	-	PUNCT
aiti-11957	149	17	related	relate	VERB
aiti-11957	149	18	technologies	technology	NOUN
aiti-11957	149	19	,	,	PUNCT
aiti-11957	149	20	taiwan	taiwan	PROPN
aiti-11957	149	21	officially	officially	ADV
aiti-11957	149	22	announced	announce	VERB
aiti-11957	149	23	the	the	DET
aiti-11957	149	24	“	"	PUNCT
aiti-11957	149	25	taiwan	taiwan	PROPN
aiti-11957	149	26	2050	2050	NUM
aiti-11957	149	27	net	net	ADJ
aiti-11957	149	28	zero	zero	NUM
aiti-11957	149	29	emissions	emission	NOUN
aiti-11957	149	30	path	path	NOUN
aiti-11957	149	31	and	and	CCONJ
aiti-11957	149	32	strategy	strategy	NOUN
aiti-11957	149	33	general	general	ADJ
aiti-11957	149	34	description	description	NOUN
aiti-11957	149	35	”	"	PUNCT
aiti-11957	149	36	in	in	ADP
aiti-11957	149	37	march	march	PROPN
aiti-11957	149	38	2022	2022	NUM
aiti-11957	150	1	[	[	X
aiti-11957	150	2	25	25	NUM
aiti-11957	150	3	]	]	PUNCT
aiti-11957	150	4	.	.	PUNCT
aiti-11957	151	1	energy	energy	NOUN
aiti-11957	151	2	conversion	conversion	NOUN
aiti-11957	151	3	is	be	AUX
aiti-11957	151	4	a	a	DET
aiti-11957	151	5	critical	critical	ADJ
aiti-11957	151	6	issue	issue	NOUN
aiti-11957	151	7	for	for	ADP
aiti-11957	151	8	achieving	achieve	VERB
aiti-11957	151	9	the	the	DET
aiti-11957	151	10	goal	goal	NOUN
aiti-11957	151	11	of	of	ADP
aiti-11957	151	12	net	net	ADJ
aiti-11957	151	13	-	-	PUNCT
aiti-11957	151	14	zero	zero	NUM
aiti-11957	151	15	emissions	emission	NOUN
aiti-11957	151	16	.	.	PUNCT
aiti-11957	152	1	in	in	ADP
aiti-11957	152	2	the	the	DET
aiti-11957	152	3	current	current	ADJ
aiti-11957	152	4	situation	situation	NOUN
aiti-11957	152	5	,	,	PUNCT
aiti-11957	152	6	where	where	SCONJ
aiti-11957	152	7	green	green	ADJ
aiti-11957	152	8	energy	energy	NOUN
aiti-11957	152	9	and	and	CCONJ
aiti-11957	152	10	other	other	ADJ
aiti-11957	152	11	related	relate	VERB
aiti-11957	152	12	technologies	technology	NOUN
aiti-11957	152	13	are	be	AUX
aiti-11957	152	14	not	not	PART
aiti-11957	152	15	yet	yet	ADV
aiti-11957	152	16	mature	mature	ADJ
aiti-11957	152	17	,	,	PUNCT
aiti-11957	152	18	effective	effective	ADJ
aiti-11957	152	19	management	management	NOUN
aiti-11957	152	20	of	of	ADP
aiti-11957	152	21	equipment	equipment	NOUN
aiti-11957	152	22	energy	energy	NOUN
aiti-11957	152	23	consumption	consumption	NOUN
aiti-11957	152	24	in	in	ADP
aiti-11957	152	25	factories	factory	NOUN
aiti-11957	152	26	is	be	AUX
aiti-11957	152	27	crucial	crucial	ADJ
aiti-11957	152	28	.	.	PUNCT
aiti-11957	153	1	this	this	DET
aiti-11957	153	2	study	study	NOUN
aiti-11957	153	3	aimed	aim	VERB
aiti-11957	153	4	to	to	PART
aiti-11957	153	5	address	address	VERB
aiti-11957	153	6	this	this	DET
aiti-11957	153	7	issue	issue	NOUN
aiti-11957	153	8	using	use	VERB
aiti-11957	153	9	the	the	DET
aiti-11957	153	10	dt	dt	NOUN
aiti-11957	153	11	of	of	ADP
aiti-11957	153	12	the	the	DET
aiti-11957	153	13	robot	robot	NOUN
aiti-11957	153	14	arm	arm	NOUN
aiti-11957	153	15	in	in	ADP
aiti-11957	153	16	unity	unity	NOUN
aiti-11957	153	17	and	and	CCONJ
aiti-11957	153	18	inputting	inputte	VERB
aiti-11957	153	19	the	the	DET
aiti-11957	153	20	simulated	simulate	VERB
aiti-11957	153	21	robotic	robotic	ADJ
aiti-11957	153	22	arm	arm	NOUN
aiti-11957	153	23	path	path	NOUN
aiti-11957	153	24	into	into	ADP
aiti-11957	153	25	matlab	matlab	PROPN
aiti-11957	153	26	for	for	ADP
aiti-11957	153	27	energy	energy	NOUN
aiti-11957	153	28	consumption	consumption	NOUN
aiti-11957	153	29	estimation	estimation	NOUN
aiti-11957	153	30	.	.	PUNCT
aiti-11957	154	1	therefore	therefore	ADV
aiti-11957	154	2	,	,	PUNCT
aiti-11957	154	3	a	a	DET
aiti-11957	154	4	dynamic	dynamic	ADJ
aiti-11957	154	5	model	model	NOUN
aiti-11957	154	6	of	of	ADP
aiti-11957	154	7	a	a	DET
aiti-11957	154	8	robot	robot	NOUN
aiti-11957	154	9	arm	arm	NOUN
aiti-11957	154	10	,	,	PUNCT
aiti-11957	154	11	which	which	PRON
aiti-11957	154	12	is	be	AUX
aiti-11957	154	13	a	a	DET
aiti-11957	154	14	complicated	complicated	ADJ
aiti-11957	154	15	and	and	CCONJ
aiti-11957	154	16	nonlinear	nonlinear	ADJ
aiti-11957	154	17	system	system	NOUN
aiti-11957	154	18	,	,	PUNCT
aiti-11957	154	19	is	be	AUX
aiti-11957	154	20	required	require	VERB
aiti-11957	154	21	.	.	PUNCT
aiti-11957	155	1	this	this	DET
aiti-11957	155	2	study	study	NOUN
aiti-11957	155	3	used	use	VERB
aiti-11957	155	4	a	a	DET
aiti-11957	155	5	dynamic	dynamic	ADJ
aiti-11957	155	6	model	model	NOUN
aiti-11957	155	7	of	of	ADP
aiti-11957	155	8	the	the	DET
aiti-11957	155	9	robotic	robotic	ADJ
aiti-11957	155	10	arm	arm	NOUN
aiti-11957	155	11	to	to	PART
aiti-11957	155	12	calculate	calculate	VERB
aiti-11957	155	13	the	the	DET
aiti-11957	155	14	torque	torque	NOUN
aiti-11957	155	15	of	of	ADP
aiti-11957	155	16	each	each	DET
aiti-11957	155	17	joint	joint	ADJ
aiti-11957	155	18	motor	motor	NOUN
aiti-11957	155	19	through	through	ADP
aiti-11957	155	20	the	the	DET
aiti-11957	155	21	moving	move	VERB
aiti-11957	155	22	path	path	NOUN
aiti-11957	155	23	of	of	ADP
aiti-11957	155	24	the	the	DET
aiti-11957	155	25	robotic	robotic	ADJ
aiti-11957	155	26	arm	arm	NOUN
aiti-11957	155	27	dt	dt	PROPN
aiti-11957	155	28	environment	environment	PROPN
aiti-11957	155	29	established	establish	VERB
aiti-11957	155	30	above	above	ADV
aiti-11957	155	31	and	and	CCONJ
aiti-11957	155	32	computed	compute	VERB
aiti-11957	155	33	the	the	DET
aiti-11957	155	34	total	total	ADJ
aiti-11957	155	35	energy	energy	NOUN
aiti-11957	155	36	required	require	VERB
aiti-11957	155	37	for	for	ADP
aiti-11957	155	38	this	this	DET
aiti-11957	155	39	moving	move	VERB
aiti-11957	155	40	path	path	NOUN
aiti-11957	155	41	.	.	PUNCT
aiti-11957	156	1	the	the	DET
aiti-11957	156	2	purpose	purpose	NOUN
aiti-11957	156	3	was	be	AUX
aiti-11957	156	4	to	to	PART
aiti-11957	156	5	allow	allow	VERB
aiti-11957	156	6	users	user	NOUN
aiti-11957	156	7	to	to	PART
aiti-11957	156	8	use	use	VERB
aiti-11957	156	9	unity	unity	NOUN
aiti-11957	156	10	to	to	PART
aiti-11957	156	11	first	first	ADV
aiti-11957	156	12	perform	perform	VERB
aiti-11957	156	13	path	path	NOUN
aiti-11957	156	14	planning	planning	NOUN
aiti-11957	156	15	with	with	ADP
aiti-11957	156	16	the	the	DET
aiti-11957	156	17	dt	dt	PROPN
aiti-11957	156	18	of	of	ADP
aiti-11957	156	19	the	the	DET
aiti-11957	156	20	robotic	robotic	ADJ
aiti-11957	156	21	arm	arm	NOUN
aiti-11957	156	22	and	and	CCONJ
aiti-11957	156	23	then	then	ADV
aiti-11957	156	24	obtain	obtain	VERB
aiti-11957	156	25	the	the	DET
aiti-11957	156	26	total	total	ADJ
aiti-11957	156	27	energy	energy	NOUN
aiti-11957	156	28	consumption	consumption	NOUN
aiti-11957	156	29	of	of	ADP
aiti-11957	156	30	the	the	DET
aiti-11957	156	31	path	path	NOUN
aiti-11957	156	32	through	through	ADP
aiti-11957	156	33	matlab	matlab	PROPN
aiti-11957	156	34	calculations	calculation	NOUN
aiti-11957	156	35	.	.	PUNCT
aiti-11957	157	1	this	this	DET
aiti-11957	157	2	method	method	NOUN
aiti-11957	157	3	enabled	enable	VERB
aiti-11957	157	4	users	user	NOUN
aiti-11957	157	5	to	to	PART
aiti-11957	157	6	carry	carry	VERB
aiti-11957	157	7	out	out	ADP
aiti-11957	157	8	various	various	ADJ
aiti-11957	157	9	path	path	NOUN
aiti-11957	157	10	planning	plan	VERB
aiti-11957	157	11	through	through	ADP
aiti-11957	157	12	the	the	DET
aiti-11957	157	13	digital	digital	ADJ
aiti-11957	157	14	avatar	avatar	NOUN
aiti-11957	157	15	of	of	ADP
aiti-11957	157	16	the	the	DET
aiti-11957	157	17	robotic	robotic	ADJ
aiti-11957	157	18	arm	arm	NOUN
aiti-11957	157	19	and	and	CCONJ
aiti-11957	157	20	the	the	DET
aiti-11957	157	21	realistic	realistic	ADJ
aiti-11957	157	22	environment	environment	NOUN
aiti-11957	157	23	of	of	ADP
aiti-11957	157	24	the	the	DET
aiti-11957	157	25	actual	actual	ADJ
aiti-11957	157	26	scene	scene	NOUN
aiti-11957	157	27	.	.	PUNCT
aiti-11957	158	1	by	by	ADP
aiti-11957	158	2	analyzing	analyze	VERB
aiti-11957	158	3	different	different	ADJ
aiti-11957	158	4	paths	path	NOUN
aiti-11957	158	5	,	,	PUNCT
aiti-11957	158	6	users	user	NOUN
aiti-11957	158	7	can	can	AUX
aiti-11957	158	8	select	select	VERB
aiti-11957	158	9	and	and	CCONJ
aiti-11957	158	10	execute	execute	VERB
aiti-11957	158	11	the	the	DET
aiti-11957	158	12	path	path	NOUN
aiti-11957	158	13	that	that	PRON
aiti-11957	158	14	consumes	consume	VERB
aiti-11957	158	15	the	the	DET
aiti-11957	158	16	least	least	ADJ
aiti-11957	158	17	amount	amount	NOUN
aiti-11957	158	18	of	of	ADP
aiti-11957	158	19	energy	energy	NOUN
aiti-11957	158	20	.	.	PUNCT
aiti-11957	159	1	after	after	ADP
aiti-11957	159	2	obtaining	obtain	VERB
aiti-11957	159	3	the	the	DET
aiti-11957	159	4	path	path	NOUN
aiti-11957	159	5	that	that	PRON
aiti-11957	159	6	consumed	consume	VERB
aiti-11957	159	7	the	the	DET
aiti-11957	159	8	lowest	low	ADJ
aiti-11957	159	9	energy	energy	NOUN
aiti-11957	159	10	,	,	PUNCT
aiti-11957	159	11	the	the	DET
aiti-11957	159	12	physical	physical	ADJ
aiti-11957	159	13	robotic	robotic	ADJ
aiti-11957	159	14	arm	arm	NOUN
aiti-11957	159	15	could	could	AUX
aiti-11957	159	16	operate	operate	VERB
aiti-11957	159	17	according	accord	VERB
aiti-11957	159	18	to	to	ADP
aiti-11957	159	19	the	the	DET
aiti-11957	159	20	path	path	NOUN
aiti-11957	159	21	.	.	PUNCT
aiti-11957	160	1	in	in	ADP
aiti-11957	160	2	robotics	robotic	NOUN
aiti-11957	160	3	,	,	PUNCT
aiti-11957	160	4	the	the	DET
aiti-11957	160	5	euler	euler	NOUN
aiti-11957	160	6	-	-	PUNCT
aiti-11957	160	7	lagrange	lagrange	NOUN
aiti-11957	160	8	equation	equation	NOUN
aiti-11957	160	9	can	can	AUX
aiti-11957	160	10	be	be	AUX
aiti-11957	160	11	used	use	VERB
aiti-11957	160	12	to	to	PART
aiti-11957	160	13	calculate	calculate	VERB
aiti-11957	160	14	torque	torque	NOUN
aiti-11957	161	1	[	[	X
aiti-11957	161	2	26	26	NUM
aiti-11957	161	3	]	]	SYM
aiti-11957	161	4	.	.	PUNCT
aiti-11957	162	1	,	,	PUNCT
aiti-11957	162	2	1	1	NUM
aiti-11957	162	3	,	,	PUNCT
aiti-11957	162	4	,	,	PUNCT
aiti-11957	162	5	i	i	PRON
aiti-11957	163	1	i	i	PRON
aiti-11957	163	2	i	i	VERB
aiti-11957	164	1	d	d	X
aiti-11957	164	2	l	l	NOUN
aiti-11957	164	3	l	l	NOUN
aiti-11957	165	1	i	i	PRON
aiti-11957	165	2	m	m	VERB
aiti-11957	165	3	dt	dt	X
aiti-11957	165	4	q	q	X
aiti-11957	165	5	q	q	X
aiti-11957	165	6	τ	τ	PROPN
aiti-11957	165	7	∂	∂	NUM
aiti-11957	165	8	∂	∂	NOUN
aiti-11957	165	9	−	−	NOUN
aiti-11957	166	1	=	=	SYM
aiti-11957	167	1	=	=	SYM
aiti-11957	168	1	∂	∂	NUM
aiti-11957	169	1	∂	∂	NOUN
aiti-11957	169	2	…	…	PUNCT
aiti-11957	169	3	ɺ	ɺ	PROPN
aiti-11957	169	4	(	(	PUNCT
aiti-11957	169	5	3	3	NUM
aiti-11957	169	6	)	)	PUNCT
aiti-11957	169	7	the	the	DET
aiti-11957	169	8	lagrangian	lagrangian	ADJ
aiti-11957	169	9	,	,	PUNCT
aiti-11957	169	10	l	l	NOUN
aiti-11957	169	11	,	,	PUNCT
aiti-11957	169	12	is	be	AUX
aiti-11957	169	13	defined	define	VERB
aiti-11957	169	14	as	as	ADP
aiti-11957	169	15	the	the	DET
aiti-11957	169	16	kinetic	kinetic	ADJ
aiti-11957	169	17	energy	energy	NOUN
aiti-11957	169	18	minus	minus	ADP
aiti-11957	169	19	the	the	DET
aiti-11957	169	20	potential	potential	ADJ
aiti-11957	169	21	energy	energy	NOUN
aiti-11957	169	22	.	.	PUNCT
aiti-11957	170	1	l	l	X
aiti-11957	171	1	k	k	PROPN
aiti-11957	171	2	p=	p=	PROPN
aiti-11957	172	1	−	−	PROPN
aiti-11957	172	2	(	(	PUNCT
aiti-11957	172	3	4	4	NUM
aiti-11957	172	4	)	)	PUNCT
aiti-11957	172	5	the	the	DET
aiti-11957	172	6	kinetic	kinetic	ADJ
aiti-11957	172	7	and	and	CCONJ
aiti-11957	172	8	potential	potential	ADJ
aiti-11957	172	9	energy	energy	NOUN
aiti-11957	172	10	equations	equation	NOUN
aiti-11957	172	11	of	of	ADP
aiti-11957	172	12	the	the	DET
aiti-11957	172	13	n	n	CCONJ
aiti-11957	172	14	-	-	PUNCT
aiti-11957	172	15	link	link	NOUN
aiti-11957	172	16	robotic	robotic	ADJ
aiti-11957	172	17	arm	arm	NOUN
aiti-11957	172	18	are	be	AUX
aiti-11957	172	19	expressed	express	VERB
aiti-11957	172	20	in	in	ADP
aiti-11957	172	21	:	:	PUNCT
aiti-11957	172	22	(	(	PUNCT
aiti-11957	172	23	)	)	PUNCT
aiti-11957	172	24	(	(	PUNCT
aiti-11957	172	25	)	)	PUNCT
aiti-11957	172	26	(	(	PUNCT
aiti-11957	172	27	)	)	PUNCT
aiti-11957	172	28	(	(	PUNCT
aiti-11957	172	29	)	)	PUNCT
aiti-11957	172	30	(	(	PUNCT
aiti-11957	172	31	)	)	PUNCT
aiti-11957	172	32	(	(	PUNCT
aiti-11957	172	33	)	)	PUNCT
aiti-11957	172	34	1	1	NUM
aiti-11957	172	35	1	1	NUM
aiti-11957	172	36	2	2	NUM
aiti-11957	172	37	n	n	NUM
aiti-11957	172	38	t	t	NOUN
aiti-11957	172	39	t	t	X
aiti-11957	173	1	tt	tt	PROPN
aiti-11957	174	1	i	i	PROPN
aiti-11957	174	2	vi	vi	PROPN
aiti-11957	174	3	vi	vi	PROPN
aiti-11957	175	1	wi	wi	PROPN
aiti-11957	176	1	i	i	PRON
aiti-11957	176	2	i	i	PRON
aiti-11957	177	1	i	i	PRON
aiti-11957	177	2	wi	wi	PROPN
aiti-11957	178	1	i	i	PRON
aiti-11957	178	2	q	q	PROPN
aiti-11957	178	3	m	m	VERB
aiti-11957	178	4	j	j	PROPN
aiti-11957	178	5	q	q	X
aiti-11957	178	6	j	j	PROPN
aiti-11957	178	7	q	q	X
aiti-11957	178	8	j	j	PROPN
aiti-11957	178	9	q	q	X
aiti-11957	178	10	r	r	NOUN
aiti-11957	178	11	q	q	NOUN
aiti-11957	179	1	i	i	NOUN
aiti-11957	179	2	r	r	NOUN
aiti-11957	179	3	q	q	NOUN
aiti-11957	179	4	j	j	X
aiti-11957	179	5	q	q	X
aiti-11957	179	6	qk	qk	PROPN
aiti-11957	179	7	=	=	SYM
aiti-11957	179	8			PROPN
aiti-11957	179	9			NOUN
aiti-11957	179	10			NOUN
aiti-11957	179	11			PROPN
aiti-11957	179	12			PROPN
aiti-11957	180	1	+	+	PROPN
aiti-11957	180	2	=	=	PROPN
aiti-11957	180	3	ɺ	ɺ	ADJ
aiti-11957	180	4	ɺ	ɺ	PROPN
aiti-11957	180	5	(	(	PUNCT
aiti-11957	180	6	5	5	NUM
aiti-11957	180	7	)	)	SYM
aiti-11957	180	8	1	1	NUM
aiti-11957	180	9	1	1	NUM
aiti-11957	180	10	n	n	NUM
aiti-11957	180	11	n	n	NOUN
aiti-11957	180	12	t	t	NOUN
aiti-11957	181	1	i	i	PRON
aiti-11957	181	2	ci	ci	VERB
aiti-11957	182	1	i	i	PRON
aiti-11957	182	2	i	i	PRON
aiti-11957	183	1	i	i	PRON
aiti-11957	183	2	p	p	X
aiti-11957	183	3	p	p	X
aiti-11957	183	4	g	g	NOUN
aiti-11957	183	5	r	r	NOUN
aiti-11957	183	6	m	m	NOUN
aiti-11957	183	7	=	=	PUNCT
aiti-11957	184	1	=	=	PUNCT
aiti-11957	184	2	=	=	PUNCT
aiti-11957	184	3	=	=	NOUN
aiti-11957	184	4			X
aiti-11957	184	5			X
aiti-11957	184	6	(	(	PUNCT
aiti-11957	184	7	6	6	NUM
aiti-11957	184	8	)	)	PUNCT
aiti-11957	185	1	where	where	SCONJ
aiti-11957	185	2	�	�	PROPN
aiti-11957	185	3	�	�	PROPN
aiti-11957	185	4	and	and	CCONJ
aiti-11957	185	5	q	q	NOUN
aiti-11957	185	6	denote	denote	NOUN
aiti-11957	185	7	vectors	vector	NOUN
aiti-11957	185	8	of	of	ADP
aiti-11957	185	9	joint	joint	ADJ
aiti-11957	185	10	angular	angular	ADJ
aiti-11957	185	11	velocity	velocity	NOUN
aiti-11957	185	12	and	and	CCONJ
aiti-11957	185	13	position	position	NOUN
aiti-11957	185	14	,	,	PUNCT
aiti-11957	185	15	respectively	respectively	ADV
aiti-11957	185	16	,	,	PUNCT
aiti-11957	185	17	n	n	PRON
aiti-11957	185	18	denotes	denote	VERB
aiti-11957	185	19	the	the	DET
aiti-11957	185	20	total	total	ADJ
aiti-11957	185	21	number	number	NOUN
aiti-11957	185	22	of	of	ADP
aiti-11957	185	23	joints	joint	NOUN
aiti-11957	185	24	,	,	PUNCT
aiti-11957	185	25	�	�	PROPN
aiti-11957	185	26	�	�	PROPN
aiti-11957	185	27	denotes	denote	VERB
aiti-11957	185	28	the	the	DET
aiti-11957	185	29	torque	torque	NOUN
aiti-11957	185	30	of	of	ADP
aiti-11957	185	31	the	the	DET
aiti-11957	185	32	ith	ith	PROPN
aiti-11957	185	33	motor	motor	NOUN
aiti-11957	185	34	,	,	PUNCT
aiti-11957	185	35	�	�	PROPN
aiti-11957	185	36	�	�	PROPN
aiti-11957	185	37	denotes	denote	VERB
aiti-11957	185	38	the	the	DET
aiti-11957	185	39	mass	mass	NOUN
aiti-11957	185	40	of	of	ADP
aiti-11957	185	41	the	the	DET
aiti-11957	185	42	ith	ith	PROPN
aiti-11957	185	43	link	link	PROPN
aiti-11957	185	44	,	,	PUNCT
aiti-11957	185	45	�	�	PROPN
aiti-11957	185	46	�	�	PROPN
aiti-11957	185	47	�	�	PROPN
aiti-11957	185	48	�	�	PROPN
aiti-11957	185	49	and	and	CCONJ
aiti-11957	185	50	�	�	PROPN
aiti-11957	185	51	�	�	PROPN
aiti-11957	185	52	�	�	PROPN
aiti-11957	185	53	�	�	PROPN
aiti-11957	185	54	represent	represent	VERB
aiti-11957	185	55	the	the	DET
aiti-11957	185	56	jacobians	jacobian	NOUN
aiti-11957	185	57	of	of	ADP
aiti-11957	185	58	the	the	DET
aiti-11957	185	59	ith	ith	PROPN
aiti-11957	185	60	link	link	NOUN
aiti-11957	185	61	speed	speed	NOUN
aiti-11957	185	62	and	and	CCONJ
aiti-11957	185	63	angular	angular	ADJ
aiti-11957	185	64	velocity	velocity	NOUN
aiti-11957	185	65	,	,	PUNCT
aiti-11957	185	66	respectively	respectively	ADV
aiti-11957	185	67	,	,	PUNCT
aiti-11957	185	68	�	�	PROPN
aiti-11957	185	69	�	�	PROPN
aiti-11957	185	70	�	�	PROPN
aiti-11957	185	71	denotes	denote	VERB
aiti-11957	185	72	the	the	DET
aiti-11957	185	73	orientation	orientation	NOUN
aiti-11957	185	74	matrix	matrix	NOUN
aiti-11957	185	75	of	of	ADP
aiti-11957	185	76	the	the	DET
aiti-11957	185	77	ith	ith	PROPN
aiti-11957	185	78	link	link	PROPN
aiti-11957	185	79	,	,	PUNCT
aiti-11957	185	80	�	�	PROPN
aiti-11957	185	81	�	�	PROPN
aiti-11957	185	82	denotes	denote	VERB
aiti-11957	185	83	the	the	DET
aiti-11957	185	84	inertia	inertia	NOUN
aiti-11957	185	85	tensor	tensor	NOUN
aiti-11957	185	86	of	of	ADP
aiti-11957	185	87	the	the	DET
aiti-11957	185	88	ith	ith	PROPN
aiti-11957	185	89	link	link	NOUN
aiti-11957	185	90	,	,	PUNCT
aiti-11957	185	91	g	g	PROPN
aiti-11957	185	92	denotes	denote	VERB
aiti-11957	185	93	the	the	DET
aiti-11957	185	94	gravity	gravity	NOUN
aiti-11957	185	95	vector	vector	NOUN
aiti-11957	185	96	,	,	PUNCT
aiti-11957	185	97	and	and	CCONJ
aiti-11957	185	98	finally	finally	ADV
aiti-11957	185	99	�	�	PROPN
aiti-11957	185	100	�	�	PROPN
aiti-11957	185	101	�	�	PROPN
aiti-11957	185	102	denotes	denote	VERB
aiti-11957	185	103	the	the	DET
aiti-11957	185	104	mass	mass	ADJ
aiti-11957	185	105	center	center	NOUN
aiti-11957	185	106	vector	vector	NOUN
aiti-11957	185	107	of	of	ADP
aiti-11957	185	108	the	the	DET
aiti-11957	185	109	ith	ith	PROPN
aiti-11957	185	110	link	link	NOUN
aiti-11957	185	111	.	.	PUNCT
aiti-11957	186	1	after	after	ADP
aiti-11957	186	2	obtaining	obtain	VERB
aiti-11957	186	3	the	the	DET
aiti-11957	186	4	equations	equation	NOUN
aiti-11957	186	5	for	for	ADP
aiti-11957	186	6	kinetic	kinetic	ADJ
aiti-11957	186	7	and	and	CCONJ
aiti-11957	186	8	potential	potential	ADJ
aiti-11957	186	9	energies	energy	NOUN
aiti-11957	186	10	,	,	PUNCT
aiti-11957	186	11	eqs	eqs	X
aiti-11957	186	12	.	.	PUNCT
aiti-11957	186	13	(	(	PUNCT
aiti-11957	186	14	5	5	NUM
aiti-11957	186	15	)	)	PUNCT
aiti-11957	186	16	and	and	CCONJ
aiti-11957	186	17	(	(	PUNCT
aiti-11957	186	18	6	6	NUM
aiti-11957	186	19	)	)	PUNCT
aiti-11957	186	20	are	be	AUX
aiti-11957	186	21	substituted	substitute	VERB
aiti-11957	186	22	into	into	ADP
aiti-11957	186	23	eq	eq	PROPN
aiti-11957	186	24	.	.	PUNCT
aiti-11957	187	1	(	(	PUNCT
aiti-11957	187	2	4	4	NUM
aiti-11957	187	3	)	)	PUNCT
aiti-11957	187	4	,	,	PUNCT
aiti-11957	187	5	and	and	CCONJ
aiti-11957	187	6	eq	eq	NOUN
aiti-11957	187	7	.	.	PUNCT
aiti-11957	188	1	(	(	PUNCT
aiti-11957	188	2	4	4	X
aiti-11957	188	3	)	)	PUNCT
aiti-11957	188	4	is	be	AUX
aiti-11957	188	5	substituted	substitute	VERB
aiti-11957	188	6	into	into	ADP
aiti-11957	188	7	eq	eq	PROPN
aiti-11957	188	8	.	.	PUNCT
aiti-11957	189	1	(	(	PUNCT
aiti-11957	189	2	3	3	NUM
aiti-11957	189	3	)	)	PUNCT
aiti-11957	189	4	,	,	PUNCT
aiti-11957	189	5	which	which	PRON
aiti-11957	189	6	can	can	AUX
aiti-11957	189	7	be	be	AUX
aiti-11957	189	8	used	use	VERB
aiti-11957	189	9	to	to	PART
aiti-11957	189	10	obtain	obtain	VERB
aiti-11957	189	11	the	the	DET
aiti-11957	189	12	dynamic	dynamic	ADJ
aiti-11957	189	13	equation	equation	NOUN
aiti-11957	189	14	of	of	ADP
aiti-11957	189	15	the	the	DET
aiti-11957	189	16	robotic	robotic	ADJ
aiti-11957	189	17	arm	arm	NOUN
aiti-11957	189	18	in	in	ADP
aiti-11957	189	19	a	a	DET
aiti-11957	189	20	vector	vector	NOUN
aiti-11957	189	21	-	-	PUNCT
aiti-11957	189	22	matrix	matrix	NOUN
aiti-11957	189	23	form	form	NOUN
aiti-11957	189	24	.	.	PUNCT
aiti-11957	190	1	(	(	PUNCT
aiti-11957	190	2	)	)	PUNCT
aiti-11957	190	3	(	(	PUNCT
aiti-11957	190	4	)	)	PUNCT
aiti-11957	190	5	(	(	PUNCT
aiti-11957	190	6	)	)	PUNCT
aiti-11957	190	7	,	,	PUNCT
aiti-11957	190	8	q	q	X
aiti-11957	190	9	q	q	X
aiti-11957	190	10	c	c	X
aiti-11957	190	11	q	q	NOUN
aiti-11957	190	12	q	q	X
aiti-11957	190	13	q	q	PUNCT
aiti-11957	190	14	g	g	PROPN
aiti-11957	190	15	qm	qm	PROPN
aiti-11957	190	16	τ+	τ+	PUNCT
aiti-11957	190	17	+	+	PUNCT
aiti-11957	191	1	=	=	X
aiti-11957	191	2	ɺɺ	ɺɺ	NOUN
aiti-11957	191	3	ɺ	ɺ	PROPN
aiti-11957	191	4	ɺ	ɺ	PROPN
aiti-11957	191	5	(	(	PUNCT
aiti-11957	191	6	7	7	NUM
aiti-11957	191	7	)	)	PUNCT
aiti-11957	191	8	where	where	SCONJ
aiti-11957	191	9	�	�	PROPN
aiti-11957	191	10	�	�	PROPN
aiti-11957	191	11	represents	represent	VERB
aiti-11957	191	12	the	the	DET
aiti-11957	191	13	vector	vector	NOUN
aiti-11957	191	14	of	of	ADP
aiti-11957	191	15	joint	joint	ADJ
aiti-11957	191	16	angular	angular	ADJ
aiti-11957	191	17	acceleration	acceleration	NOUN
aiti-11957	191	18	.	.	PUNCT
aiti-11957	192	1	m	m	PROPN
aiti-11957	192	2	represents	represent	VERB
aiti-11957	192	3	the	the	DET
aiti-11957	192	4	n	n	NUM
aiti-11957	192	5	×	×	NOUN
aiti-11957	192	6	n	n	CCONJ
aiti-11957	192	7	inertia	inertia	NOUN
aiti-11957	192	8	matrix	matrix	NOUN
aiti-11957	192	9	,	,	PUNCT
aiti-11957	192	10	c	c	PROPN
aiti-11957	192	11	represents	represent	VERB
aiti-11957	192	12	the	the	DET
aiti-11957	192	13	n	n	NUM
aiti-11957	192	14	×	×	NOUN
aiti-11957	192	15	n	n	NOUN
aiti-11957	192	16	matrix	matrix	NOUN
aiti-11957	192	17	of	of	ADP
aiti-11957	192	18	the	the	DET
aiti-11957	192	19	coriolis	coriolis	PROPN
aiti-11957	192	20	force	force	NOUN
aiti-11957	192	21	and	and	CCONJ
aiti-11957	192	22	centrifugal	centrifugal	ADJ
aiti-11957	192	23	force	force	NOUN
aiti-11957	192	24	,	,	PUNCT
aiti-11957	192	25	and	and	CCONJ
aiti-11957	192	26	g	g	PROPN
aiti-11957	192	27	represents	represent	VERB
aiti-11957	192	28	the	the	DET
aiti-11957	192	29	gravity	gravity	NOUN
aiti-11957	192	30	of	of	ADP
aiti-11957	192	31	the	the	DET
aiti-11957	192	32	n	n	NUM
aiti-11957	192	33	×	×	NOUN
aiti-11957	192	34	1	1	NUM
aiti-11957	192	35	vector	vector	NOUN
aiti-11957	192	36	.	.	PUNCT
aiti-11957	193	1	parameters	parameter	NOUN
aiti-11957	193	2	in	in	ADP
aiti-11957	193	3	m	m	PROPN
aiti-11957	193	4	,	,	PUNCT
aiti-11957	193	5	c	c	NOUN
aiti-11957	193	6	,	,	PUNCT
aiti-11957	193	7	and	and	CCONJ
aiti-11957	193	8	g	g	NOUN
aiti-11957	193	9	in	in	ADP
aiti-11957	193	10	eq	eq	ADP
aiti-11957	193	11	.	.	PUNCT
aiti-11957	194	1	(	(	PUNCT
aiti-11957	194	2	7	7	X
aiti-11957	194	3	)	)	PUNCT
aiti-11957	194	4	will	will	AUX
aiti-11957	194	5	be	be	AUX
aiti-11957	194	6	identified	identify	VERB
aiti-11957	194	7	by	by	ADP
aiti-11957	194	8	the	the	DET
aiti-11957	194	9	cad	cad	PROPN
aiti-11957	194	10	model	model	NOUN
aiti-11957	194	11	provided	provide	VERB
aiti-11957	194	12	by	by	ADP
aiti-11957	194	13	the	the	DET
aiti-11957	194	14	manufacturer	manufacturer	NOUN
aiti-11957	194	15	staubli	staubli	VERB
aiti-11957	194	16	,	,	PUNCT
aiti-11957	194	17	such	such	ADJ
aiti-11957	194	18	as	as	ADP
aiti-11957	194	19	the	the	DET
aiti-11957	194	20	geometry	geometry	NOUN
aiti-11957	194	21	and	and	CCONJ
aiti-11957	194	22	property	property	NOUN
aiti-11957	194	23	of	of	ADP
aiti-11957	194	24	each	each	DET
aiti-11957	194	25	link	link	NOUN
aiti-11957	194	26	,	,	PUNCT
aiti-11957	194	27	the	the	DET
aiti-11957	194	28	link	link	NOUN
aiti-11957	194	29	’s	’s	PART
aiti-11957	194	30	moment	moment	NOUN
aiti-11957	194	31	of	of	ADP
aiti-11957	194	32	inertia	inertia	NOUN
aiti-11957	194	33	,	,	PUNCT
aiti-11957	194	34	etc	etc	X
aiti-11957	194	35	.	.	X
aiti-11957	195	1	the	the	DET
aiti-11957	195	2	joint	joint	ADJ
aiti-11957	195	3	variable	variable	NOUN
aiti-11957	195	4	q	q	NOUN
aiti-11957	195	5	can	can	AUX
aiti-11957	195	6	be	be	AUX
aiti-11957	195	7	obtained	obtain	VERB
aiti-11957	195	8	by	by	ADP
aiti-11957	195	9	applying	apply	VERB
aiti-11957	195	10	the	the	DET
aiti-11957	195	11	ccd	ccd	NOUN
aiti-11957	195	12	algorithm	algorithm	NOUN
aiti-11957	195	13	for	for	ADP
aiti-11957	195	14	the	the	DET
aiti-11957	195	15	inverse	inverse	NOUN
aiti-11957	195	16	problem	problem	NOUN
aiti-11957	195	17	.	.	PUNCT
aiti-11957	196	1	therefore	therefore	ADV
aiti-11957	196	2	,	,	PUNCT
aiti-11957	196	3	the	the	DET
aiti-11957	196	4	torque	torque	NOUN
aiti-11957	196	5	of	of	ADP
aiti-11957	196	6	each	each	DET
aiti-11957	196	7	link	link	NOUN
aiti-11957	196	8	executing	execute	VERB
aiti-11957	196	9	the	the	DET
aiti-11957	196	10	path	path	NOUN
aiti-11957	196	11	�	�	PROPN
aiti-11957	196	12	�	�	PROPN
aiti-11957	196	13	,	,	PUNCT
aiti-11957	196	14	�	�	PROPN
aiti-11957	196	15	�	�	PROPN
aiti-11957	196	16	,	,	PUNCT
aiti-11957	196	17	and	and	CCONJ
aiti-11957	196	18	q	q	PROPN
aiti-11957	196	19	can	can	AUX
aiti-11957	196	20	be	be	AUX
aiti-11957	196	21	computed	compute	VERB
aiti-11957	196	22	in	in	ADP
aiti-11957	196	23	eq	eq	ADP
aiti-11957	196	24	.	.	PUNCT
aiti-11957	197	1	(	(	PUNCT
aiti-11957	197	2	7	7	NUM
aiti-11957	197	3	)	)	PUNCT
aiti-11957	197	4	by	by	ADP
aiti-11957	197	5	summing	sum	VERB
aiti-11957	197	6	the	the	DET
aiti-11957	197	7	three	three	NUM
aiti-11957	197	8	terms	term	NOUN
aiti-11957	197	9	on	on	ADP
aiti-11957	197	10	the	the	DET
aiti-11957	197	11	left	left	ADJ
aiti-11957	197	12	-	-	PUNCT
aiti-11957	197	13	hand	hand	NOUN
aiti-11957	197	14	side	side	NOUN
aiti-11957	197	15	.	.	PUNCT
aiti-11957	198	1	the	the	DET
aiti-11957	198	2	total	total	ADJ
aiti-11957	198	3	power	power	NOUN
aiti-11957	198	4	required	require	VERB
aiti-11957	198	5	for	for	ADP
aiti-11957	198	6	the	the	DET
aiti-11957	198	7	robotic	robotic	ADJ
aiti-11957	198	8	arm	arm	NOUN
aiti-11957	198	9	is	be	AUX
aiti-11957	198	10	then	then	ADV
aiti-11957	198	11	estimated	estimate	VERB
aiti-11957	198	12	by	by	ADP
aiti-11957	198	13	1	1	NUM
aiti-11957	198	14	τ	τ	PROPN
aiti-11957	198	15	θ	θ	PROPN
aiti-11957	198	16	η	η	PROPN
aiti-11957	198	17	=	=	PUNCT
aiti-11957	198	18	=	=	X
aiti-11957	198	19			X
aiti-11957	198	20	ɺ	ɺ	NOUN
aiti-11957	199	1	n	n	INTJ
aiti-11957	200	1	i	i	PRON
aiti-11957	201	1	i	i	PRON
aiti-11957	202	1	i	i	PRON
aiti-11957	203	1	i	i	PRON
aiti-11957	203	2	p	p	X
aiti-11957	203	3	(	(	PUNCT
aiti-11957	203	4	8)	8)	NUM
aiti-11957	203	5	advances	advance	NOUN
aiti-11957	203	6	in	in	ADP
aiti-11957	203	7	technology	technology	NOUN
aiti-11957	203	8	innovation	innovation	NOUN
aiti-11957	203	9	,	,	PUNCT
aiti-11957	203	10	vol	vol	NOUN
aiti-11957	203	11	.	.	PROPN
aiti-11957	203	12	8	8	NUM
aiti-11957	203	13	,	,	PUNCT
aiti-11957	203	14	no	no	INTJ
aiti-11957	203	15	.	.	NOUN
aiti-11957	203	16	4	4	NUM
aiti-11957	203	17	,	,	PUNCT
aiti-11957	203	18	2023	2023	NUM
aiti-11957	203	19	,	,	PUNCT
aiti-11957	203	20	pp	pp	ADJ
aiti-11957	203	21	.	.	PUNCT
aiti-11957	204	1	267	267	NUM
aiti-11957	204	2	-	-	SYM
aiti-11957	204	3	277	277	NUM
aiti-11957	204	4	274	274	NUM
aiti-11957	204	5	where	where	SCONJ
aiti-11957	204	6	�	�	NOUN
aiti-11957	204	7	�	�	PROPN
aiti-11957	204	8	is	be	AUX
aiti-11957	204	9	the	the	DET
aiti-11957	204	10	transfer	transfer	NOUN
aiti-11957	204	11	efficiency	efficiency	NOUN
aiti-11957	204	12	of	of	ADP
aiti-11957	204	13	the	the	DET
aiti-11957	204	14	ith	ith	PROPN
aiti-11957	204	15	motor	motor	NOUN
aiti-11957	204	16	.	.	PUNCT
aiti-11957	205	1	the	the	DET
aiti-11957	205	2	resulting	result	VERB
aiti-11957	205	3	energy	energy	NOUN
aiti-11957	205	4	consumption	consumption	NOUN
aiti-11957	205	5	of	of	ADP
aiti-11957	205	6	the	the	DET
aiti-11957	205	7	robotic	robotic	ADJ
aiti-11957	205	8	arm	arm	NOUN
aiti-11957	205	9	for	for	ADP
aiti-11957	205	10	this	this	DET
aiti-11957	205	11	path	path	NOUN
aiti-11957	205	12	is	be	AUX
aiti-11957	205	13	determined	determine	VERB
aiti-11957	205	14	by	by	ADP
aiti-11957	205	15	integrating	integrate	VERB
aiti-11957	205	16	the	the	DET
aiti-11957	205	17	power	power	NOUN
aiti-11957	205	18	over	over	ADP
aiti-11957	205	19	time	time	NOUN
aiti-11957	205	20	,	,	PUNCT
aiti-11957	205	21	0	0	NUM
aiti-11957	205	22	ft	ft	PROPN
aiti-11957	205	23	t	t	PROPN
aiti-11957	205	24	w	w	PROPN
aiti-11957	205	25	pdt=	pdt=	PROPN
aiti-11957	205	26			PUNCT
aiti-11957	205	27	(	(	PUNCT
aiti-11957	205	28	9	9	NUM
aiti-11957	205	29	)	)	PUNCT
aiti-11957	205	30	where	where	SCONJ
aiti-11957	205	31	�	�	PROPN
aiti-11957	205	32	�	�	PROPN
aiti-11957	205	33	is	be	AUX
aiti-11957	205	34	the	the	DET
aiti-11957	205	35	final	final	ADJ
aiti-11957	205	36	time	time	NOUN
aiti-11957	205	37	;	;	PUNCT
aiti-11957	205	38	�	�	PROPN
aiti-11957	205	39	�	�	PROPN
aiti-11957	205	40	is	be	AUX
aiti-11957	205	41	the	the	DET
aiti-11957	205	42	initial	initial	ADJ
aiti-11957	205	43	time	time	NOUN
aiti-11957	205	44	.	.	PUNCT
aiti-11957	206	1	it	it	PRON
aiti-11957	206	2	is	be	AUX
aiti-11957	206	3	noted	note	VERB
aiti-11957	206	4	that	that	SCONJ
aiti-11957	206	5	the	the	DET
aiti-11957	206	6	dynamic	dynamic	ADJ
aiti-11957	206	7	equation	equation	NOUN
aiti-11957	206	8	in	in	ADP
aiti-11957	206	9	eq	eq	ADP
aiti-11957	206	10	.	.	PUNCT
aiti-11957	207	1	(	(	PUNCT
aiti-11957	207	2	7	7	NUM
aiti-11957	207	3	)	)	PUNCT
aiti-11957	207	4	,	,	PUNCT
aiti-11957	207	5	an	an	DET
aiti-11957	207	6	often	often	ADV
aiti-11957	207	7	-	-	PUNCT
aiti-11957	207	8	seen	see	VERB
aiti-11957	207	9	model	model	NOUN
aiti-11957	207	10	for	for	ADP
aiti-11957	207	11	a	a	DET
aiti-11957	207	12	robotic	robotic	ADJ
aiti-11957	207	13	arm	arm	NOUN
aiti-11957	207	14	in	in	ADP
aiti-11957	207	15	the	the	DET
aiti-11957	207	16	literature	literature	NOUN
aiti-11957	207	17	,	,	PUNCT
aiti-11957	207	18	does	do	AUX
aiti-11957	207	19	not	not	PART
aiti-11957	207	20	consider	consider	VERB
aiti-11957	207	21	friction	friction	NOUN
aiti-11957	207	22	between	between	ADP
aiti-11957	207	23	the	the	DET
aiti-11957	207	24	robots	robot	NOUN
aiti-11957	207	25	’	'	PUNCT
aiti-11957	207	26	joints	joint	NOUN
aiti-11957	207	27	.	.	PUNCT
aiti-11957	208	1	this	this	PRON
aiti-11957	208	2	is	be	AUX
aiti-11957	208	3	because	because	SCONJ
aiti-11957	208	4	friction	friction	NOUN
aiti-11957	208	5	in	in	ADP
aiti-11957	208	6	robot	robot	NOUN
aiti-11957	208	7	joints	joint	NOUN
aiti-11957	208	8	including	include	VERB
aiti-11957	208	9	coulomb	coulomb	NOUN
aiti-11957	208	10	friction	friction	NOUN
aiti-11957	208	11	and	and	CCONJ
aiti-11957	208	12	viscous	viscous	ADJ
aiti-11957	208	13	friction	friction	NOUN
aiti-11957	208	14	is	be	AUX
aiti-11957	208	15	difficult	difficult	ADJ
aiti-11957	208	16	to	to	PART
aiti-11957	208	17	exactly	exactly	ADV
aiti-11957	208	18	identify	identify	VERB
aiti-11957	208	19	the	the	DET
aiti-11957	208	20	power	power	NOUN
aiti-11957	208	21	it	it	PRON
aiti-11957	208	22	consumes	consume	VERB
aiti-11957	208	23	constitutes	constitute	VERB
aiti-11957	208	24	only	only	ADV
aiti-11957	208	25	a	a	DET
aiti-11957	208	26	small	small	ADJ
aiti-11957	208	27	part	part	NOUN
aiti-11957	208	28	of	of	ADP
aiti-11957	208	29	the	the	DET
aiti-11957	208	30	total	total	ADJ
aiti-11957	208	31	power	power	NOUN
aiti-11957	208	32	.	.	PUNCT
aiti-11957	209	1	here	here	ADV
aiti-11957	209	2	�	�	PROPN
aiti-11957	209	3	�	�	PROPN
aiti-11957	209	4	is	be	AUX
aiti-11957	209	5	used	use	VERB
aiti-11957	209	6	to	to	PART
aiti-11957	209	7	represent	represent	VERB
aiti-11957	209	8	the	the	DET
aiti-11957	209	9	transfer	transfer	NOUN
aiti-11957	209	10	efficiency	efficiency	NOUN
aiti-11957	209	11	of	of	ADP
aiti-11957	209	12	the	the	DET
aiti-11957	209	13	ith	ith	PROPN
aiti-11957	209	14	motor	motor	NOUN
aiti-11957	209	15	to	to	PART
aiti-11957	209	16	reflect	reflect	VERB
aiti-11957	209	17	this	this	DET
aiti-11957	209	18	friction	friction	NOUN
aiti-11957	209	19	power	power	NOUN
aiti-11957	209	20	loss	loss	NOUN
aiti-11957	209	21	.	.	PUNCT
aiti-11957	210	1	by	by	ADP
aiti-11957	210	2	performing	perform	VERB
aiti-11957	210	3	these	these	DET
aiti-11957	210	4	calculations	calculation	NOUN
aiti-11957	210	5	in	in	ADP
aiti-11957	210	6	eqs	eqs	PROPN
aiti-11957	210	7	.	.	PUNCT
aiti-11957	210	8	(	(	PUNCT
aiti-11957	210	9	7)-(9	7)-(9	NOUN
aiti-11957	210	10	)	)	PUNCT
aiti-11957	210	11	,	,	PUNCT
aiti-11957	210	12	it	it	PRON
aiti-11957	210	13	can	can	AUX
aiti-11957	210	14	determine	determine	VERB
aiti-11957	210	15	the	the	DET
aiti-11957	210	16	energy	energy	NOUN
aiti-11957	210	17	consumption	consumption	NOUN
aiti-11957	210	18	required	require	VERB
aiti-11957	210	19	for	for	ADP
aiti-11957	210	20	different	different	ADJ
aiti-11957	210	21	paths	path	NOUN
aiti-11957	210	22	and	and	CCONJ
aiti-11957	210	23	hence	hence	ADV
aiti-11957	210	24	select	select	VERB
aiti-11957	210	25	the	the	DET
aiti-11957	210	26	path	path	NOUN
aiti-11957	210	27	with	with	ADP
aiti-11957	210	28	the	the	DET
aiti-11957	210	29	lowest	low	ADJ
aiti-11957	210	30	energy	energy	NOUN
aiti-11957	210	31	consumption	consumption	NOUN
aiti-11957	210	32	to	to	PART
aiti-11957	210	33	perform	perform	VERB
aiti-11957	210	34	the	the	DET
aiti-11957	210	35	work	work	NOUN
aiti-11957	210	36	.	.	PUNCT
aiti-11957	211	1	3	3	X
aiti-11957	211	2	.	.	X
aiti-11957	211	3	exmental	exmental	ADJ
aiti-11957	211	4	and	and	CCONJ
aiti-11957	211	5	result	result	VERB
aiti-11957	211	6	this	this	DET
aiti-11957	211	7	study	study	NOUN
aiti-11957	211	8	moved	move	VERB
aiti-11957	211	9	the	the	DET
aiti-11957	211	10	end	end	NOUN
aiti-11957	211	11	effector	effector	NOUN
aiti-11957	211	12	in	in	ADP
aiti-11957	211	13	four	four	NUM
aiti-11957	211	14	different	different	ADJ
aiti-11957	211	15	scenarios	scenario	NOUN
aiti-11957	211	16	,	,	PUNCT
aiti-11957	211	17	as	as	SCONJ
aiti-11957	211	18	shown	show	VERB
aiti-11957	211	19	in	in	ADP
aiti-11957	211	20	fig	fig	NOUN
aiti-11957	211	21	.	.	PUNCT
aiti-11957	212	1	9	9	NUM
aiti-11957	212	2	:	:	PUNCT
aiti-11957	212	3	case	case	NOUN
aiti-11957	212	4	1	1	NUM
aiti-11957	212	5	involved	involve	VERB
aiti-11957	212	6	moving	move	VERB
aiti-11957	212	7	in	in	ADP
aiti-11957	212	8	a	a	DET
aiti-11957	212	9	straight	straight	ADJ
aiti-11957	212	10	line	line	NOUN
aiti-11957	212	11	,	,	PUNCT
aiti-11957	212	12	case	case	NOUN
aiti-11957	212	13	2	2	NUM
aiti-11957	212	14	involved	involve	VERB
aiti-11957	212	15	moving	move	VERB
aiti-11957	212	16	twice	twice	DET
aiti-11957	212	17	the	the	DET
aiti-11957	212	18	distance	distance	NOUN
aiti-11957	212	19	of	of	ADP
aiti-11957	212	20	case	case	NOUN
aiti-11957	212	21	1	1	NUM
aiti-11957	212	22	,	,	PUNCT
aiti-11957	212	23	case	case	NOUN
aiti-11957	212	24	3	3	NUM
aiti-11957	212	25	involved	involve	VERB
aiti-11957	212	26	moving	move	VERB
aiti-11957	212	27	in	in	ADP
aiti-11957	212	28	a	a	DET
aiti-11957	212	29	small	small	ADJ
aiti-11957	212	30	circle	circle	NOUN
aiti-11957	212	31	,	,	PUNCT
aiti-11957	212	32	and	and	CCONJ
aiti-11957	212	33	case	case	NOUN
aiti-11957	212	34	4	4	NUM
aiti-11957	212	35	involved	involved	ADJ
aiti-11957	212	36	moving	move	VERB
aiti-11957	212	37	in	in	ADP
aiti-11957	212	38	a	a	DET
aiti-11957	212	39	large	large	ADJ
aiti-11957	212	40	circle	circle	NOUN
aiti-11957	212	41	.	.	PUNCT
aiti-11957	213	1	these	these	DET
aiti-11957	213	2	scenarios	scenario	NOUN
aiti-11957	213	3	allowed	allow	VERB
aiti-11957	213	4	us	we	PRON
aiti-11957	213	5	to	to	PART
aiti-11957	213	6	compare	compare	VERB
aiti-11957	213	7	the	the	DET
aiti-11957	213	8	energy	energy	NOUN
aiti-11957	213	9	consumption	consumption	NOUN
aiti-11957	213	10	of	of	ADP
aiti-11957	213	11	cases	case	NOUN
aiti-11957	213	12	1	1	NUM
aiti-11957	213	13	and	and	CCONJ
aiti-11957	213	14	2	2	NUM
aiti-11957	213	15	,	,	PUNCT
aiti-11957	213	16	where	where	SCONJ
aiti-11957	213	17	the	the	DET
aiti-11957	213	18	moving	move	VERB
aiti-11957	213	19	path	path	NOUN
aiti-11957	213	20	of	of	ADP
aiti-11957	213	21	case	case	NOUN
aiti-11957	213	22	2	2	NUM
aiti-11957	213	23	was	be	AUX
aiti-11957	213	24	twice	twice	ADV
aiti-11957	213	25	that	that	PRON
aiti-11957	213	26	of	of	ADP
aiti-11957	213	27	case	case	NOUN
aiti-11957	213	28	1	1	NUM
aiti-11957	213	29	,	,	PUNCT
aiti-11957	213	30	resulting	result	VERB
aiti-11957	213	31	in	in	ADP
aiti-11957	213	32	higher	high	ADJ
aiti-11957	213	33	energy	energy	NOUN
aiti-11957	213	34	consumption	consumption	NOUN
aiti-11957	213	35	.	.	PUNCT
aiti-11957	214	1	similarly	similarly	ADV
aiti-11957	214	2	,	,	PUNCT
aiti-11957	214	3	the	the	DET
aiti-11957	214	4	energy	energy	NOUN
aiti-11957	214	5	consumption	consumption	NOUN
aiti-11957	214	6	in	in	ADP
aiti-11957	214	7	case	case	NOUN
aiti-11957	214	8	3	3	NUM
aiti-11957	214	9	was	be	AUX
aiti-11957	214	10	expected	expect	VERB
aiti-11957	214	11	to	to	PART
aiti-11957	214	12	be	be	AUX
aiti-11957	214	13	lower	low	ADJ
aiti-11957	214	14	than	than	ADP
aiti-11957	214	15	that	that	PRON
aiti-11957	214	16	in	in	ADP
aiti-11957	214	17	case	case	NOUN
aiti-11957	214	18	4	4	NUM
aiti-11957	214	19	.	.	PUNCT
aiti-11957	215	1	(	(	PUNCT
aiti-11957	215	2	a	a	X
aiti-11957	215	3	)	)	PUNCT
aiti-11957	215	4	case	case	NOUN
aiti-11957	215	5	1	1	NUM
aiti-11957	215	6	(	(	PUNCT
aiti-11957	215	7	b	b	NOUN
aiti-11957	215	8	)	)	PUNCT
aiti-11957	215	9	case	case	NOUN
aiti-11957	215	10	2	2	NUM
aiti-11957	215	11	(	(	PUNCT
aiti-11957	215	12	c	c	NOUN
aiti-11957	215	13	)	)	PUNCT
aiti-11957	215	14	case	case	NOUN
aiti-11957	215	15	3	3	NUM
aiti-11957	215	16	(	(	PUNCT
aiti-11957	215	17	d	d	NOUN
aiti-11957	215	18	)	)	PUNCT
aiti-11957	215	19	case	case	NOUN
aiti-11957	215	20	4	4	NUM
aiti-11957	215	21	fig	fig	NOUN
aiti-11957	215	22	.	.	PUNCT
aiti-11957	216	1	9	9	NUM
aiti-11957	216	2	different	different	ADJ
aiti-11957	216	3	cases	case	NOUN
aiti-11957	216	4	of	of	ADP
aiti-11957	216	5	the	the	DET
aiti-11957	216	6	simulation	simulation	NOUN
aiti-11957	216	7	for	for	ADP
aiti-11957	216	8	energy	energy	NOUN
aiti-11957	216	9	consumption	consumption	NOUN
aiti-11957	216	10	advances	advance	NOUN
aiti-11957	216	11	in	in	ADP
aiti-11957	216	12	technology	technology	NOUN
aiti-11957	216	13	innovation	innovation	NOUN
aiti-11957	216	14	,	,	PUNCT
aiti-11957	216	15	vol	vol	NOUN
aiti-11957	216	16	.	.	PROPN
aiti-11957	216	17	8	8	NUM
aiti-11957	216	18	,	,	PUNCT
aiti-11957	216	19	no	no	INTJ
aiti-11957	216	20	.	.	NOUN
aiti-11957	216	21	4	4	NUM
aiti-11957	216	22	,	,	PUNCT
aiti-11957	216	23	2023	2023	NUM
aiti-11957	216	24	,	,	PUNCT
aiti-11957	216	25	pp	pp	ADJ
aiti-11957	216	26	.	.	PUNCT
aiti-11957	217	1	267	267	NUM
aiti-11957	217	2	-	-	SYM
aiti-11957	217	3	277	277	NUM
aiti-11957	217	4	275	275	NUM
aiti-11957	217	5	in	in	ADP
aiti-11957	217	6	case	case	NOUN
aiti-11957	217	7	1	1	NUM
aiti-11957	217	8	,	,	PUNCT
aiti-11957	217	9	the	the	DET
aiti-11957	217	10	distance	distance	NOUN
aiti-11957	217	11	between	between	ADP
aiti-11957	217	12	a	a	PRON
aiti-11957	217	13	and	and	CCONJ
aiti-11957	217	14	b	b	NOUN
aiti-11957	217	15	was	be	AUX
aiti-11957	217	16	0.5	0.5	NUM
aiti-11957	217	17	m.	m.	NOUN
aiti-11957	217	18	in	in	ADP
aiti-11957	217	19	case	case	NOUN
aiti-11957	217	20	2	2	NUM
aiti-11957	217	21	,	,	PUNCT
aiti-11957	217	22	it	it	PRON
aiti-11957	217	23	was	be	AUX
aiti-11957	217	24	1.0	1.0	NUM
aiti-11957	217	25	m.	m.	NOUN
aiti-11957	217	26	in	in	ADP
aiti-11957	217	27	the	the	DET
aiti-11957	217	28	case	case	NOUN
aiti-11957	217	29	of	of	ADP
aiti-11957	217	30	circular	circular	ADJ
aiti-11957	217	31	motion	motion	NOUN
aiti-11957	217	32	,	,	PUNCT
aiti-11957	217	33	the	the	DET
aiti-11957	217	34	large	large	ADJ
aiti-11957	217	35	circle	circle	NOUN
aiti-11957	217	36	had	have	VERB
aiti-11957	217	37	a	a	DET
aiti-11957	217	38	radius	radius	NOUN
aiti-11957	217	39	of	of	ADP
aiti-11957	217	40	0.5	0.5	NUM
aiti-11957	217	41	m	m	NOUN
aiti-11957	217	42	,	,	PUNCT
aiti-11957	217	43	and	and	CCONJ
aiti-11957	217	44	the	the	DET
aiti-11957	217	45	small	small	ADJ
aiti-11957	217	46	circle	circle	NOUN
aiti-11957	217	47	had	have	VERB
aiti-11957	217	48	a	a	DET
aiti-11957	217	49	radius	radius	NOUN
aiti-11957	217	50	of	of	ADP
aiti-11957	217	51	0.25	0.25	NUM
aiti-11957	217	52	m.	m.	NOUN
aiti-11957	217	53	the	the	DET
aiti-11957	217	54	movement	movement	NOUN
aiti-11957	217	55	speed	speed	NOUN
aiti-11957	217	56	was	be	AUX
aiti-11957	217	57	set	set	VERB
aiti-11957	217	58	to	to	ADP
aiti-11957	217	59	4	4	NUM
aiti-11957	217	60	cm	cm	NOUN
aiti-11957	217	61	/	/	SYM
aiti-11957	217	62	sec	sec	PROPN
aiti-11957	217	63	for	for	ADP
aiti-11957	217	64	case	case	NOUN
aiti-11957	217	65	1	1	NUM
aiti-11957	217	66	,	,	PUNCT
aiti-11957	217	67	where	where	SCONJ
aiti-11957	217	68	case	case	NOUN
aiti-11957	217	69	2	2	NUM
aiti-11957	217	70	had	have	VERB
aiti-11957	217	71	twice	twice	DET
aiti-11957	217	72	the	the	DET
aiti-11957	217	73	speed	speed	NOUN
aiti-11957	217	74	of	of	ADP
aiti-11957	217	75	case	case	NOUN
aiti-11957	217	76	1	1	NUM
aiti-11957	217	77	.	.	PUNCT
aiti-11957	218	1	the	the	DET
aiti-11957	218	2	movement	movement	NOUN
aiti-11957	218	3	speed	speed	NOUN
aiti-11957	218	4	was	be	AUX
aiti-11957	218	5	set	set	VERB
aiti-11957	218	6	to	to	ADP
aiti-11957	218	7	11	11	NUM
aiti-11957	218	8	cm	cm	NOUN
aiti-11957	218	9	/	/	SYM
aiti-11957	218	10	sec	sec	PROPN
aiti-11957	218	11	for	for	ADP
aiti-11957	218	12	case	case	NOUN
aiti-11957	218	13	3	3	NUM
aiti-11957	218	14	,	,	PUNCT
aiti-11957	218	15	where	where	SCONJ
aiti-11957	218	16	case	case	NOUN
aiti-11957	218	17	4	4	NUM
aiti-11957	218	18	had	have	VERB
aiti-11957	218	19	twice	twice	DET
aiti-11957	218	20	the	the	DET
aiti-11957	218	21	speed	speed	NOUN
aiti-11957	218	22	of	of	ADP
aiti-11957	218	23	case	case	NOUN
aiti-11957	218	24	3	3	NUM
aiti-11957	218	25	.	.	PUNCT
aiti-11957	219	1	the	the	DET
aiti-11957	219	2	reason	reason	NOUN
aiti-11957	219	3	for	for	ADP
aiti-11957	219	4	choosing	choose	VERB
aiti-11957	219	5	low	low	ADJ
aiti-11957	219	6	speed	speed	NOUN
aiti-11957	219	7	in	in	ADP
aiti-11957	219	8	experiments	experiment	NOUN
aiti-11957	219	9	was	be	AUX
aiti-11957	219	10	to	to	PART
aiti-11957	219	11	facilitate	facilitate	VERB
aiti-11957	219	12	the	the	DET
aiti-11957	219	13	integration	integration	NOUN
aiti-11957	219	14	of	of	ADP
aiti-11957	219	15	the	the	DET
aiti-11957	219	16	virtual	virtual	ADJ
aiti-11957	219	17	and	and	CCONJ
aiti-11957	219	18	physical	physical	ADJ
aiti-11957	219	19	environments	environment	NOUN
aiti-11957	219	20	,	,	PUNCT
aiti-11957	219	21	which	which	PRON
aiti-11957	219	22	made	make	VERB
aiti-11957	219	23	it	it	PRON
aiti-11957	219	24	easier	easy	ADJ
aiti-11957	219	25	to	to	PART
aiti-11957	219	26	control	control	VERB
aiti-11957	219	27	the	the	DET
aiti-11957	219	28	robotic	robotic	ADJ
aiti-11957	219	29	arm	arm	NOUN
aiti-11957	219	30	and	and	CCONJ
aiti-11957	219	31	avoid	avoid	VERB
aiti-11957	219	32	collisions	collision	NOUN
aiti-11957	219	33	and	and	CCONJ
aiti-11957	219	34	other	other	ADJ
aiti-11957	219	35	factors	factor	NOUN
aiti-11957	219	36	.	.	PUNCT
aiti-11957	220	1	as	as	SCONJ
aiti-11957	220	2	shown	show	VERB
aiti-11957	220	3	in	in	ADP
aiti-11957	220	4	fig	fig	NOUN
aiti-11957	220	5	.	.	PUNCT
aiti-11957	221	1	10	10	NUM
aiti-11957	221	2	,	,	PUNCT
aiti-11957	221	3	the	the	DET
aiti-11957	221	4	total	total	ADJ
aiti-11957	221	5	power	power	NOUN
aiti-11957	221	6	diagram	diagram	NOUN
aiti-11957	221	7	was	be	AUX
aiti-11957	221	8	calculated	calculate	VERB
aiti-11957	221	9	using	use	VERB
aiti-11957	221	10	eqs	eqs	PROPN
aiti-11957	221	11	.	.	PUNCT
aiti-11957	222	1	(	(	PUNCT
aiti-11957	222	2	7	7	NUM
aiti-11957	222	3	)	)	PUNCT
aiti-11957	222	4	and	and	CCONJ
aiti-11957	222	5	(	(	PUNCT
aiti-11957	222	6	8)	8)	NUM
aiti-11957	222	7	,	,	PUNCT
aiti-11957	222	8	while	while	SCONJ
aiti-11957	222	9	eq	eq	ADJ
aiti-11957	222	10	.	.	PUNCT
aiti-11957	223	1	(	(	PUNCT
aiti-11957	223	2	9	9	NUM
aiti-11957	223	3	)	)	PUNCT
aiti-11957	223	4	was	be	AUX
aiti-11957	223	5	used	use	VERB
aiti-11957	223	6	to	to	PART
aiti-11957	223	7	compute	compute	VERB
aiti-11957	223	8	the	the	DET
aiti-11957	223	9	resulting	result	VERB
aiti-11957	223	10	energy	energy	NOUN
aiti-11957	223	11	consumption	consumption	NOUN
aiti-11957	223	12	.	.	PUNCT
aiti-11957	224	1	table	table	NOUN
aiti-11957	224	2	1	1	NUM
aiti-11957	224	3	listed	list	VERB
aiti-11957	224	4	the	the	DET
aiti-11957	224	5	final	final	ADJ
aiti-11957	224	6	energy	energy	NOUN
aiti-11957	224	7	consumption	consumption	NOUN
aiti-11957	224	8	for	for	ADP
aiti-11957	224	9	each	each	DET
aiti-11957	224	10	case	case	NOUN
aiti-11957	224	11	,	,	PUNCT
aiti-11957	224	12	which	which	PRON
aiti-11957	224	13	agreed	agree	VERB
aiti-11957	224	14	with	with	ADP
aiti-11957	224	15	the	the	DET
aiti-11957	224	16	predictions	prediction	NOUN
aiti-11957	224	17	.	.	PUNCT
aiti-11957	225	1	specifically	specifically	ADV
aiti-11957	225	2	,	,	PUNCT
aiti-11957	225	3	when	when	SCONJ
aiti-11957	225	4	the	the	DET
aiti-11957	225	5	robotic	robotic	ADJ
aiti-11957	225	6	arm	arm	NOUN
aiti-11957	225	7	’s	’s	PART
aiti-11957	225	8	travel	travel	NOUN
aiti-11957	225	9	distance	distance	NOUN
aiti-11957	225	10	and	and	CCONJ
aiti-11957	225	11	travel	travel	NOUN
aiti-11957	225	12	speed	speed	NOUN
aiti-11957	225	13	were	be	AUX
aiti-11957	225	14	doubled	double	VERB
aiti-11957	225	15	,	,	PUNCT
aiti-11957	225	16	the	the	DET
aiti-11957	225	17	corresponding	correspond	VERB
aiti-11957	225	18	energy	energy	NOUN
aiti-11957	225	19	consumption	consumption	NOUN
aiti-11957	225	20	was	be	AUX
aiti-11957	225	21	also	also	ADV
aiti-11957	225	22	more	more	ADV
aiti-11957	225	23	than	than	ADP
aiti-11957	225	24	doubled	double	VERB
aiti-11957	225	25	(	(	PUNCT
aiti-11957	225	26	nonlinear	nonlinear	NOUN
aiti-11957	225	27	)	)	PUNCT
aiti-11957	225	28	,	,	PUNCT
aiti-11957	225	29	as	as	SCONJ
aiti-11957	225	30	seen	see	VERB
aiti-11957	225	31	in	in	ADP
aiti-11957	225	32	case	case	NOUN
aiti-11957	225	33	2	2	NUM
aiti-11957	225	34	over	over	ADP
aiti-11957	225	35	case	case	NOUN
aiti-11957	225	36	1	1	NUM
aiti-11957	225	37	and	and	CCONJ
aiti-11957	225	38	case	case	NOUN
aiti-11957	225	39	4	4	NUM
aiti-11957	225	40	over	over	ADP
aiti-11957	225	41	case	case	NOUN
aiti-11957	225	42	3	3	NUM
aiti-11957	225	43	.	.	PUNCT
aiti-11957	226	1	moreover	moreover	ADV
aiti-11957	226	2	,	,	PUNCT
aiti-11957	226	3	the	the	DET
aiti-11957	226	4	ratio	ratio	NOUN
aiti-11957	226	5	of	of	ADP
aiti-11957	226	6	energy	energy	NOUN
aiti-11957	226	7	consumption	consumption	NOUN
aiti-11957	226	8	of	of	ADP
aiti-11957	226	9	case	case	NOUN
aiti-11957	226	10	2	2	NUM
aiti-11957	226	11	over	over	ADP
aiti-11957	226	12	case	case	NOUN
aiti-11957	226	13	1	1	NUM
aiti-11957	226	14	(	(	PUNCT
aiti-11957	226	15	2.9	2.9	NUM
aiti-11957	226	16	)	)	PUNCT
aiti-11957	226	17	was	be	AUX
aiti-11957	226	18	slightly	slightly	ADV
aiti-11957	226	19	larger	large	ADJ
aiti-11957	226	20	than	than	ADP
aiti-11957	226	21	that	that	PRON
aiti-11957	226	22	of	of	ADP
aiti-11957	226	23	case	case	NOUN
aiti-11957	226	24	4	4	NUM
aiti-11957	226	25	over	over	ADP
aiti-11957	226	26	case	case	NOUN
aiti-11957	226	27	3	3	NUM
aiti-11957	226	28	(	(	PUNCT
aiti-11957	226	29	2.4	2.4	NUM
aiti-11957	226	30	)	)	PUNCT
aiti-11957	226	31	.	.	PUNCT
aiti-11957	227	1	this	this	PRON
aiti-11957	227	2	can	can	AUX
aiti-11957	227	3	be	be	AUX
aiti-11957	227	4	attributed	attribute	VERB
aiti-11957	227	5	to	to	ADP
aiti-11957	227	6	the	the	DET
aiti-11957	227	7	fact	fact	NOUN
aiti-11957	227	8	that	that	SCONJ
aiti-11957	227	9	a	a	DET
aiti-11957	227	10	straight	straight	ADJ
aiti-11957	227	11	-	-	PUNCT
aiti-11957	227	12	line	line	NOUN
aiti-11957	227	13	trajectory	trajectory	NOUN
aiti-11957	227	14	(	(	PUNCT
aiti-11957	227	15	cases	case	NOUN
aiti-11957	227	16	1	1	NUM
aiti-11957	227	17	and	and	CCONJ
aiti-11957	227	18	2	2	NUM
aiti-11957	227	19	)	)	PUNCT
aiti-11957	227	20	requires	require	VERB
aiti-11957	227	21	more	more	ADJ
aiti-11957	227	22	joints	joint	NOUN
aiti-11957	227	23	to	to	PART
aiti-11957	227	24	execute	execute	VERB
aiti-11957	227	25	compared	compare	VERB
aiti-11957	227	26	to	to	ADP
aiti-11957	227	27	a	a	DET
aiti-11957	227	28	circular	circular	ADJ
aiti-11957	227	29	trajectory	trajectory	NOUN
aiti-11957	227	30	(	(	PUNCT
aiti-11957	227	31	cases	case	NOUN
aiti-11957	227	32	3	3	NUM
aiti-11957	227	33	and	and	CCONJ
aiti-11957	227	34	4	4	NUM
aiti-11957	227	35	)	)	PUNCT
aiti-11957	227	36	for	for	ADP
aiti-11957	227	37	an	an	DET
aiti-11957	227	38	articulated	articulated	ADJ
aiti-11957	227	39	robotic	robotic	ADJ
aiti-11957	227	40	arm	arm	NOUN
aiti-11957	227	41	.	.	PUNCT
aiti-11957	228	1	additionally	additionally	ADV
aiti-11957	228	2	,	,	PUNCT
aiti-11957	228	3	in	in	ADP
aiti-11957	228	4	eq	eq	ADP
aiti-11957	228	5	.	.	PUNCT
aiti-11957	229	1	(	(	PUNCT
aiti-11957	229	2	9	9	NUM
aiti-11957	229	3	)	)	PUNCT
aiti-11957	229	4	,	,	PUNCT
aiti-11957	229	5	it	it	PRON
aiti-11957	229	6	was	be	AUX
aiti-11957	229	7	evident	evident	ADJ
aiti-11957	229	8	that	that	SCONJ
aiti-11957	229	9	the	the	DET
aiti-11957	229	10	energy	energy	NOUN
aiti-11957	229	11	consumption	consumption	NOUN
aiti-11957	229	12	was	be	AUX
aiti-11957	229	13	highly	highly	ADV
aiti-11957	229	14	nonlinear	nonlinear	ADJ
aiti-11957	229	15	concerning	concern	VERB
aiti-11957	229	16	the	the	DET
aiti-11957	229	17	operational	operational	ADJ
aiti-11957	229	18	conditions	condition	NOUN
aiti-11957	229	19	.	.	PUNCT
aiti-11957	230	1	to	to	PART
aiti-11957	230	2	verify	verify	VERB
aiti-11957	230	3	and	and	CCONJ
aiti-11957	230	4	validate	validate	VERB
aiti-11957	230	5	the	the	DET
aiti-11957	230	6	accuracy	accuracy	NOUN
aiti-11957	230	7	of	of	ADP
aiti-11957	230	8	the	the	DET
aiti-11957	230	9	energy	energy	NOUN
aiti-11957	230	10	consumption	consumption	NOUN
aiti-11957	230	11	model	model	NOUN
aiti-11957	230	12	,	,	PUNCT
aiti-11957	230	13	appropriate	appropriate	ADJ
aiti-11957	230	14	sensors	sensor	NOUN
aiti-11957	230	15	such	such	ADJ
aiti-11957	230	16	as	as	ADP
aiti-11957	230	17	torque	torque	NOUN
aiti-11957	230	18	and	and	CCONJ
aiti-11957	230	19	angular	angular	ADJ
aiti-11957	230	20	speed	speed	NOUN
aiti-11957	230	21	sensors	sensor	NOUN
aiti-11957	230	22	can	can	AUX
aiti-11957	230	23	be	be	AUX
aiti-11957	230	24	installed	instal	VERB
aiti-11957	230	25	on	on	ADP
aiti-11957	230	26	the	the	DET
aiti-11957	230	27	robotic	robotic	ADJ
aiti-11957	230	28	arm	arm	NOUN
aiti-11957	230	29	to	to	PART
aiti-11957	230	30	compute	compute	VERB
aiti-11957	230	31	the	the	DET
aiti-11957	230	32	true	true	ADJ
aiti-11957	230	33	energy	energy	NOUN
aiti-11957	230	34	consumption	consumption	NOUN
aiti-11957	230	35	values	value	NOUN
aiti-11957	230	36	.	.	PUNCT
aiti-11957	231	1	however	however	ADV
aiti-11957	231	2	,	,	PUNCT
aiti-11957	231	3	it	it	PRON
aiti-11957	231	4	remains	remain	VERB
aiti-11957	231	5	a	a	DET
aiti-11957	231	6	task	task	NOUN
aiti-11957	231	7	for	for	ADP
aiti-11957	231	8	future	future	ADJ
aiti-11957	231	9	work	work	NOUN
aiti-11957	231	10	.	.	PUNCT
aiti-11957	232	1	(	(	PUNCT
aiti-11957	232	2	a	a	X
aiti-11957	232	3	)	)	PUNCT
aiti-11957	232	4	case	case	NOUN
aiti-11957	232	5	1	1	NUM
aiti-11957	232	6	(	(	PUNCT
aiti-11957	232	7	b	b	NOUN
aiti-11957	232	8	)	)	PUNCT
aiti-11957	232	9	case	case	NOUN
aiti-11957	232	10	2	2	NUM
aiti-11957	232	11	(	(	PUNCT
aiti-11957	232	12	c	c	NOUN
aiti-11957	232	13	)	)	PUNCT
aiti-11957	232	14	case	case	NOUN
aiti-11957	232	15	3	3	NUM
aiti-11957	232	16	(	(	PUNCT
aiti-11957	232	17	d	d	NOUN
aiti-11957	232	18	)	)	PUNCT
aiti-11957	232	19	case	case	NOUN
aiti-11957	232	20	4	4	NUM
aiti-11957	232	21	fig	fig	NOUN
aiti-11957	232	22	.	.	PUNCT
aiti-11957	233	1	10	10	NUM
aiti-11957	233	2	power	power	NOUN
aiti-11957	233	3	response	response	NOUN
aiti-11957	233	4	for	for	ADP
aiti-11957	233	5	each	each	DET
aiti-11957	233	6	case	case	NOUN
aiti-11957	233	7	table	table	NOUN
aiti-11957	233	8	1	1	NUM
aiti-11957	233	9	energy	energy	NOUN
aiti-11957	233	10	consumption	consumption	NOUN
aiti-11957	233	11	of	of	ADP
aiti-11957	233	12	each	each	DET
aiti-11957	233	13	case	case	NOUN
aiti-11957	233	14	case	case	NOUN
aiti-11957	233	15	energy	energy	NOUN
aiti-11957	233	16	consumption	consumption	NOUN
aiti-11957	233	17	(	(	PUNCT
aiti-11957	233	18	j	j	NOUN
aiti-11957	233	19	)	)	PUNCT
aiti-11957	233	20	1	1	NUM
aiti-11957	233	21	38	38	NUM
aiti-11957	233	22	2	2	NUM
aiti-11957	233	23	91	91	NUM
aiti-11957	233	24	3	3	NUM
aiti-11957	233	25	95	95	NUM
aiti-11957	233	26	4	4	NUM
aiti-11957	233	27	195	195	NUM
aiti-11957	233	28	advances	advance	NOUN
aiti-11957	233	29	in	in	ADP
aiti-11957	233	30	technology	technology	NOUN
aiti-11957	233	31	innovation	innovation	NOUN
aiti-11957	233	32	,	,	PUNCT
aiti-11957	233	33	vol	vol	NOUN
aiti-11957	233	34	.	.	PROPN
aiti-11957	233	35	8	8	NUM
aiti-11957	233	36	,	,	PUNCT
aiti-11957	233	37	no	no	INTJ
aiti-11957	233	38	.	.	NOUN
aiti-11957	233	39	4	4	NUM
aiti-11957	233	40	,	,	PUNCT
aiti-11957	233	41	2023	2023	NUM
aiti-11957	233	42	,	,	PUNCT
aiti-11957	233	43	pp	pp	ADJ
aiti-11957	233	44	.	.	PUNCT
aiti-11957	234	1	267	267	NUM
aiti-11957	234	2	-	-	SYM
aiti-11957	234	3	277	277	NUM
aiti-11957	234	4	276	276	NUM
aiti-11957	234	5	4	4	NUM
aiti-11957	234	6	.	.	PUNCT
aiti-11957	234	7	conclusions	conclusion	NOUN
aiti-11957	234	8	and	and	CCONJ
aiti-11957	234	9	future	future	ADJ
aiti-11957	234	10	work	work	NOUN
aiti-11957	234	11	the	the	DET
aiti-11957	234	12	research	research	NOUN
aiti-11957	234	13	utilizes	utilize	VERB
aiti-11957	234	14	the	the	DET
aiti-11957	234	15	unity	unity	NOUN
aiti-11957	234	16	game	game	NOUN
aiti-11957	234	17	engine	engine	NOUN
aiti-11957	234	18	and	and	CCONJ
aiti-11957	234	19	the	the	DET
aiti-11957	234	20	robotic	robotic	ADJ
aiti-11957	234	21	principle	principle	NOUN
aiti-11957	234	22	of	of	ADP
aiti-11957	234	23	the	the	DET
aiti-11957	234	24	euler	euler	NOUN
aiti-11957	234	25	-	-	PUNCT
aiti-11957	234	26	lagrange	lagrange	NOUN
aiti-11957	234	27	equation	equation	NOUN
aiti-11957	234	28	to	to	PART
aiti-11957	234	29	establish	establish	VERB
aiti-11957	234	30	a	a	DET
aiti-11957	234	31	digital	digital	ADJ
aiti-11957	234	32	twin	twin	ADJ
aiti-11957	234	33	and	and	CCONJ
aiti-11957	234	34	energy	energy	NOUN
aiti-11957	234	35	consumption	consumption	NOUN
aiti-11957	234	36	model	model	NOUN
aiti-11957	234	37	for	for	ADP
aiti-11957	234	38	an	an	DET
aiti-11957	234	39	industrial	industrial	ADJ
aiti-11957	234	40	robot	robot	NOUN
aiti-11957	234	41	arm	arm	NOUN
aiti-11957	234	42	.	.	PUNCT
aiti-11957	235	1	the	the	DET
aiti-11957	235	2	final	final	ADJ
aiti-11957	235	3	energy	energy	NOUN
aiti-11957	235	4	performance	performance	NOUN
aiti-11957	235	5	is	be	AUX
aiti-11957	235	6	described	describe	VERB
aiti-11957	235	7	through	through	ADP
aiti-11957	235	8	four	four	NUM
aiti-11957	235	9	case	case	NOUN
aiti-11957	235	10	studies	study	NOUN
aiti-11957	235	11	.	.	PUNCT
aiti-11957	236	1	it	it	PRON
aiti-11957	236	2	was	be	AUX
aiti-11957	236	3	observed	observe	VERB
aiti-11957	236	4	that	that	SCONJ
aiti-11957	236	5	the	the	DET
aiti-11957	236	6	motion	motion	NOUN
aiti-11957	236	7	length	length	NOUN
aiti-11957	236	8	also	also	ADV
aiti-11957	236	9	influenced	influence	VERB
aiti-11957	236	10	the	the	DET
aiti-11957	236	11	calculated	calculated	ADJ
aiti-11957	236	12	energy	energy	NOUN
aiti-11957	236	13	expenditure	expenditure	NOUN
aiti-11957	236	14	accordingly	accordingly	ADV
aiti-11957	236	15	.	.	PUNCT
aiti-11957	237	1	by	by	ADP
aiti-11957	237	2	directly	directly	ADV
aiti-11957	237	3	manipulating	manipulate	VERB
aiti-11957	237	4	the	the	DET
aiti-11957	237	5	end	end	NOUN
aiti-11957	237	6	effector	effector	NOUN
aiti-11957	237	7	of	of	ADP
aiti-11957	237	8	the	the	DET
aiti-11957	237	9	dt	dt	PROPN
aiti-11957	237	10	model	model	PROPN
aiti-11957	237	11	,	,	PUNCT
aiti-11957	237	12	the	the	DET
aiti-11957	237	13	industrial	industrial	ADJ
aiti-11957	237	14	arm	arm	NOUN
aiti-11957	237	15	can	can	AUX
aiti-11957	237	16	be	be	AUX
aiti-11957	237	17	easily	easily	ADV
aiti-11957	237	18	controlled	control	VERB
aiti-11957	237	19	remotely	remotely	ADV
aiti-11957	237	20	for	for	ADP
aiti-11957	237	21	task	task	NOUN
aiti-11957	237	22	scheduling	scheduling	NOUN
aiti-11957	237	23	without	without	ADP
aiti-11957	237	24	the	the	DET
aiti-11957	237	25	need	need	NOUN
aiti-11957	237	26	to	to	PART
aiti-11957	237	27	physically	physically	ADV
aiti-11957	237	28	enter	enter	VERB
aiti-11957	237	29	the	the	DET
aiti-11957	237	30	factory	factory	NOUN
aiti-11957	237	31	,	,	PUNCT
aiti-11957	237	32	introducing	introduce	VERB
aiti-11957	237	33	a	a	DET
aiti-11957	237	34	new	new	ADJ
aiti-11957	237	35	form	form	NOUN
aiti-11957	237	36	of	of	ADP
aiti-11957	237	37	control	control	NOUN
aiti-11957	237	38	.	.	PUNCT
aiti-11957	238	1	additionally	additionally	ADV
aiti-11957	238	2	,	,	PUNCT
aiti-11957	238	3	the	the	DET
aiti-11957	238	4	digital	digital	ADJ
aiti-11957	238	5	twins	twin	NOUN
aiti-11957	238	6	and	and	CCONJ
aiti-11957	238	7	energy	energy	NOUN
aiti-11957	238	8	consumption	consumption	NOUN
aiti-11957	238	9	models	model	NOUN
aiti-11957	238	10	have	have	AUX
aiti-11957	238	11	demonstrated	demonstrate	VERB
aiti-11957	238	12	a	a	DET
aiti-11957	238	13	reasonable	reasonable	ADJ
aiti-11957	238	14	level	level	NOUN
aiti-11957	238	15	of	of	ADP
aiti-11957	238	16	accuracy	accuracy	NOUN
aiti-11957	238	17	.	.	PUNCT
aiti-11957	239	1	in	in	ADP
aiti-11957	239	2	future	future	ADJ
aiti-11957	239	3	studies	study	NOUN
aiti-11957	239	4	,	,	PUNCT
aiti-11957	239	5	dt	dt	PROPN
aiti-11957	239	6	models	model	NOUN
aiti-11957	239	7	of	of	ADP
aiti-11957	239	8	robotic	robotic	ADJ
aiti-11957	239	9	arms	arm	NOUN
aiti-11957	239	10	capable	capable	ADJ
aiti-11957	239	11	of	of	ADP
aiti-11957	239	12	handling	handle	VERB
aiti-11957	239	13	various	various	ADJ
aiti-11957	239	14	loads	load	NOUN
aiti-11957	239	15	in	in	ADP
aiti-11957	239	16	real	real	ADJ
aiti-11957	239	17	-	-	PUNCT
aiti-11957	239	18	world	world	NOUN
aiti-11957	239	19	applications	application	NOUN
aiti-11957	239	20	will	will	AUX
aiti-11957	239	21	be	be	AUX
aiti-11957	239	22	considered	consider	VERB
aiti-11957	239	23	.	.	PUNCT
aiti-11957	240	1	to	to	PART
aiti-11957	240	2	enhance	enhance	VERB
aiti-11957	240	3	the	the	DET
aiti-11957	240	4	accuracy	accuracy	NOUN
aiti-11957	240	5	of	of	ADP
aiti-11957	240	6	the	the	DET
aiti-11957	240	7	energy	energy	NOUN
aiti-11957	240	8	consumption	consumption	NOUN
aiti-11957	240	9	model	model	NOUN
aiti-11957	240	10	,	,	PUNCT
aiti-11957	240	11	installing	instal	VERB
aiti-11957	240	12	torque	torque	NOUN
aiti-11957	240	13	,	,	PUNCT
aiti-11957	240	14	comparing	compare	VERB
aiti-11957	240	15	the	the	DET
aiti-11957	240	16	results	result	NOUN
aiti-11957	240	17	with	with	ADP
aiti-11957	240	18	the	the	DET
aiti-11957	240	19	model	model	NOUN
aiti-11957	240	20	’s	’s	PART
aiti-11957	240	21	estimated	estimate	VERB
aiti-11957	240	22	energy	energy	NOUN
aiti-11957	240	23	consumption	consumption	NOUN
aiti-11957	240	24	,	,	PUNCT
aiti-11957	240	25	and	and	CCONJ
aiti-11957	240	26	the	the	DET
aiti-11957	240	27	angular	angular	ADJ
aiti-11957	240	28	velocity	velocity	NOUN
aiti-11957	240	29	sensors	sensor	NOUN
aiti-11957	240	30	on	on	ADP
aiti-11957	240	31	the	the	DET
aiti-11957	240	32	physical	physical	ADJ
aiti-11957	240	33	industrial	industrial	ADJ
aiti-11957	240	34	robotic	robotic	ADJ
aiti-11957	240	35	arm	arm	NOUN
aiti-11957	240	36	to	to	PART
aiti-11957	240	37	measure	measure	VERB
aiti-11957	240	38	its	its	PRON
aiti-11957	240	39	energy	energy	NOUN
aiti-11957	240	40	consumption	consumption	NOUN
aiti-11957	240	41	are	be	AUX
aiti-11957	240	42	required	require	VERB
aiti-11957	240	43	.	.	PUNCT
aiti-11957	241	1	conflicts	conflict	NOUN
aiti-11957	241	2	of	of	ADP
aiti-11957	241	3	interest	interest	NOUN
aiti-11957	241	4	the	the	DET
aiti-11957	241	5	authors	author	NOUN
aiti-11957	241	6	declare	declare	VERB
aiti-11957	241	7	no	no	DET
aiti-11957	241	8	conflict	conflict	NOUN
aiti-11957	241	9	of	of	ADP
aiti-11957	241	10	interest	interest	NOUN
aiti-11957	241	11	.	.	PUNCT
aiti-11957	242	1	references	reference	NOUN
aiti-11957	242	2	[	[	X
aiti-11957	242	3	1	1	NUM
aiti-11957	242	4	]	]	PUNCT
aiti-11957	242	5	a.	a.	NOUN
aiti-11957	242	6	mazumder	mazumder	NOUN
aiti-11957	242	7	,	,	PUNCT
aiti-11957	242	8	m.	m.	PROPN
aiti-11957	242	9	f.	f.	PROPN
aiti-11957	242	10	sahed	sahe	VERB
aiti-11957	242	11	,	,	PUNCT
aiti-11957	242	12	z.	z.	PROPN
aiti-11957	242	13	tasneem	tasneem	PROPN
aiti-11957	242	14	,	,	PUNCT
aiti-11957	242	15	p.	p.	PROPN
aiti-11957	242	16	das	das	PROPN
aiti-11957	242	17	,	,	PUNCT
aiti-11957	242	18	f.	f.	PROPN
aiti-11957	242	19	r.	r.	PROPN
aiti-11957	242	20	badal	badal	PROPN
aiti-11957	242	21	,	,	PUNCT
aiti-11957	242	22	m.	m.	PROPN
aiti-11957	242	23	f.	f.	PROPN
aiti-11957	242	24	ali	ali	PROPN
aiti-11957	242	25	,	,	PUNCT
aiti-11957	242	26	et	et	PROPN
aiti-11957	242	27	al	al	PROPN
aiti-11957	242	28	.	.	PROPN
aiti-11957	242	29	,	,	PUNCT
aiti-11957	242	30	“	"	PUNCT
aiti-11957	242	31	towards	towards	ADP
aiti-11957	242	32	next	next	ADJ
aiti-11957	242	33	generation	generation	NOUN
aiti-11957	242	34	digital	digital	ADJ
aiti-11957	242	35	twin	twin	NOUN
aiti-11957	242	36	in	in	ADP
aiti-11957	242	37	robotics	robotic	NOUN
aiti-11957	242	38	:	:	PUNCT
aiti-11957	242	39	trends	trend	NOUN
aiti-11957	242	40	,	,	PUNCT
aiti-11957	242	41	scopes	scope	NOUN
aiti-11957	242	42	,	,	PUNCT
aiti-11957	242	43	challenges	challenge	NOUN
aiti-11957	242	44	,	,	PUNCT
aiti-11957	242	45	and	and	CCONJ
aiti-11957	242	46	future	future	ADJ
aiti-11957	242	47	,	,	PUNCT
aiti-11957	242	48	”	"	PUNCT
aiti-11957	242	49	heliyon	heliyon	NOUN
aiti-11957	242	50	,	,	PUNCT
aiti-11957	242	51	vol	vol	NOUN
aiti-11957	242	52	.	.	PROPN
aiti-11957	243	1	9	9	NUM
aiti-11957	243	2	,	,	PUNCT
aiti-11957	243	3	no	no	INTJ
aiti-11957	243	4	.	.	NOUN
aiti-11957	243	5	2	2	NUM
aiti-11957	243	6	,	,	PUNCT
aiti-11957	243	7	article	article	NOUN
aiti-11957	243	8	no	no	NOUN
aiti-11957	243	9	.	.	PUNCT
aiti-11957	243	10	e13359	e13359	PROPN
aiti-11957	243	11	,	,	PUNCT
aiti-11957	243	12	february	february	PROPN
aiti-11957	243	13	2023	2023	NUM
aiti-11957	243	14	.	.	PUNCT
aiti-11957	244	1	[	[	X
aiti-11957	244	2	2	2	NUM
aiti-11957	244	3	]	]	X
aiti-11957	244	4	d.	d.	PROPN
aiti-11957	244	5	zhong	zhong	PROPN
aiti-11957	244	6	,	,	PUNCT
aiti-11957	244	7	z.	z.	PROPN
aiti-11957	244	8	xia	xia	PROPN
aiti-11957	244	9	,	,	PUNCT
aiti-11957	244	10	y.	y.	PROPN
aiti-11957	244	11	zhu	zhu	PROPN
aiti-11957	244	12	,	,	PUNCT
aiti-11957	244	13	and	and	CCONJ
aiti-11957	244	14	j.	j.	PROPN
aiti-11957	244	15	duan	duan	PROPN
aiti-11957	244	16	,	,	PUNCT
aiti-11957	244	17	“	"	PUNCT
aiti-11957	244	18	overview	overview	NOUN
aiti-11957	244	19	of	of	ADP
aiti-11957	244	20	predictive	predictive	ADJ
aiti-11957	244	21	maintenance	maintenance	NOUN
aiti-11957	244	22	based	base	VERB
aiti-11957	244	23	on	on	ADP
aiti-11957	244	24	digital	digital	ADJ
aiti-11957	244	25	twin	twin	ADJ
aiti-11957	244	26	technology	technology	NOUN
aiti-11957	244	27	,	,	PUNCT
aiti-11957	244	28	”	"	PUNCT
aiti-11957	244	29	heliyon	heliyon	NOUN
aiti-11957	244	30	,	,	PUNCT
aiti-11957	244	31	vol	vol	NOUN
aiti-11957	244	32	.	.	PROPN
aiti-11957	244	33	9	9	NUM
aiti-11957	244	34	,	,	PUNCT
aiti-11957	244	35	no	no	INTJ
aiti-11957	244	36	.	.	NOUN
aiti-11957	244	37	4	4	NUM
aiti-11957	244	38	,	,	PUNCT
aiti-11957	244	39	article	article	NOUN
aiti-11957	244	40	no	no	NOUN
aiti-11957	244	41	.	.	PUNCT
aiti-11957	245	1	e14534	e14534	NOUN
aiti-11957	245	2	,	,	PUNCT
aiti-11957	245	3	april	april	PROPN
aiti-11957	245	4	2023	2023	NUM
aiti-11957	245	5	.	.	PUNCT
aiti-11957	246	1	[	[	X
aiti-11957	246	2	3	3	X
aiti-11957	246	3	]	]	PUNCT
aiti-11957	246	4	s.	s.	PROPN
aiti-11957	246	5	liu	liu	PROPN
aiti-11957	246	6	,	,	PUNCT
aiti-11957	246	7	j.	j.	PROPN
aiti-11957	246	8	bao	bao	PROPN
aiti-11957	246	9	,	,	PUNCT
aiti-11957	246	10	and	and	CCONJ
aiti-11957	246	11	p.	p.	PROPN
aiti-11957	246	12	zheng	zheng	PROPN
aiti-11957	246	13	,	,	PUNCT
aiti-11957	246	14	“	"	PUNCT
aiti-11957	246	15	a	a	DET
aiti-11957	246	16	review	review	NOUN
aiti-11957	246	17	of	of	ADP
aiti-11957	246	18	digital	digital	ADJ
aiti-11957	246	19	twin	twin	ADJ
aiti-11957	246	20	-	-	PUNCT
aiti-11957	246	21	driven	drive	VERB
aiti-11957	246	22	machining	machining	NOUN
aiti-11957	246	23	:	:	PUNCT
aiti-11957	246	24	from	from	ADP
aiti-11957	246	25	digitization	digitization	NOUN
aiti-11957	246	26	to	to	ADP
aiti-11957	246	27	intellectualization	intellectualization	NOUN
aiti-11957	246	28	,	,	PUNCT
aiti-11957	246	29	”	"	PUNCT
aiti-11957	246	30	journal	journal	NOUN
aiti-11957	246	31	of	of	ADP
aiti-11957	246	32	manufacturing	manufacturing	NOUN
aiti-11957	246	33	systems	system	NOUN
aiti-11957	246	34	,	,	PUNCT
aiti-11957	246	35	vol	vol	NOUN
aiti-11957	246	36	.	.	PROPN
aiti-11957	246	37	67	67	NUM
aiti-11957	246	38	,	,	PUNCT
aiti-11957	246	39	pp	pp	ADJ
aiti-11957	246	40	.	.	PUNCT
aiti-11957	247	1	361	361	NUM
aiti-11957	247	2	-	-	SYM
aiti-11957	247	3	378	378	NUM
aiti-11957	247	4	,	,	PUNCT
aiti-11957	247	5	april	april	PROPN
aiti-11957	247	6	2023	2023	NUM
aiti-11957	247	7	.	.	PUNCT
aiti-11957	248	1	[	[	X
aiti-11957	248	2	4	4	NUM
aiti-11957	248	3	]	]	X
aiti-11957	248	4	y.	y.	PROPN
aiti-11957	248	5	cui	cui	PROPN
aiti-11957	248	6	,	,	PUNCT
aiti-11957	248	7	s.	s.	PROPN
aiti-11957	248	8	kara	kara	PROPN
aiti-11957	248	9	,	,	PUNCT
aiti-11957	248	10	and	and	CCONJ
aiti-11957	248	11	k.	k.	PROPN
aiti-11957	248	12	c.	c.	PROPN
aiti-11957	248	13	chan	chan	PROPN
aiti-11957	248	14	,	,	PUNCT
aiti-11957	248	15	“	"	PUNCT
aiti-11957	248	16	manufacturing	manufacture	VERB
aiti-11957	248	17	big	big	ADJ
aiti-11957	248	18	data	datum	NOUN
aiti-11957	248	19	ecosystem	ecosystem	NOUN
aiti-11957	248	20	:	:	PUNCT
aiti-11957	248	21	a	a	DET
aiti-11957	248	22	systematic	systematic	ADJ
aiti-11957	248	23	literature	literature	NOUN
aiti-11957	248	24	review	review	NOUN
aiti-11957	248	25	,	,	PUNCT
aiti-11957	248	26	”	"	PUNCT
aiti-11957	248	27	robotics	robotic	NOUN
aiti-11957	248	28	and	and	CCONJ
aiti-11957	248	29	computer	computer	NOUN
aiti-11957	248	30	-	-	PUNCT
aiti-11957	248	31	integrated	integrate	VERB
aiti-11957	248	32	manufacturing	manufacturing	NOUN
aiti-11957	248	33	,	,	PUNCT
aiti-11957	248	34	vol	vol	NOUN
aiti-11957	248	35	.	.	PROPN
aiti-11957	248	36	62	62	NUM
aiti-11957	248	37	,	,	PUNCT
aiti-11957	248	38	article	article	NOUN
aiti-11957	248	39	no	no	NOUN
aiti-11957	248	40	.	.	PROPN
aiti-11957	248	41	101861	101861	NUM
aiti-11957	248	42	,	,	PUNCT
aiti-11957	248	43	april	april	PROPN
aiti-11957	248	44	2020	2020	NUM
aiti-11957	248	45	.	.	PUNCT
aiti-11957	249	1	[	[	X
aiti-11957	249	2	5	5	X
aiti-11957	249	3	]	]	PUNCT
aiti-11957	249	4	m.	m.	NOUN
aiti-11957	249	5	a.	a.	PROPN
aiti-11957	249	6	m.	m.	PROPN
aiti-11957	249	7	s.	s.	PROPN
aiti-11957	249	8	lemstra	lemstra	PROPN
aiti-11957	249	9	and	and	CCONJ
aiti-11957	249	10	m.	m.	PROPN
aiti-11957	249	11	a.	a.	PROPN
aiti-11957	249	12	de	de	PROPN
aiti-11957	249	13	mesquita	mesquita	PROPN
aiti-11957	249	14	,	,	PUNCT
aiti-11957	249	15	“	"	PUNCT
aiti-11957	249	16	industry	industry	NOUN
aiti-11957	249	17	4.0	4.0	NUM
aiti-11957	249	18	:	:	PUNCT
aiti-11957	249	19	a	a	DET
aiti-11957	249	20	tertiary	tertiary	ADJ
aiti-11957	249	21	literature	literature	NOUN
aiti-11957	249	22	review	review	NOUN
aiti-11957	249	23	,	,	PUNCT
aiti-11957	249	24	”	"	PUNCT
aiti-11957	249	25	technological	technological	ADJ
aiti-11957	249	26	forecasting	forecasting	NOUN
aiti-11957	249	27	and	and	CCONJ
aiti-11957	249	28	social	social	ADJ
aiti-11957	249	29	change	change	NOUN
aiti-11957	249	30	,	,	PUNCT
aiti-11957	249	31	vol	vol	NOUN
aiti-11957	249	32	.	.	PROPN
aiti-11957	249	33	186	186	NUM
aiti-11957	249	34	,	,	PUNCT
aiti-11957	249	35	no	no	INTJ
aiti-11957	249	36	.	.	PUNCT
aiti-11957	250	1	part	part	NOUN
aiti-11957	250	2	b	b	NOUN
aiti-11957	250	3	,	,	PUNCT
aiti-11957	250	4	article	article	NOUN
aiti-11957	250	5	no	no	NOUN
aiti-11957	250	6	.	.	PROPN
aiti-11957	250	7	122204	122204	NUM
aiti-11957	250	8	,	,	PUNCT
aiti-11957	250	9	january	january	PROPN
aiti-11957	250	10	2023	2023	NUM
aiti-11957	250	11	.	.	PUNCT
aiti-11957	251	1	[	[	X
aiti-11957	251	2	6	6	NUM
aiti-11957	251	3	]	]	PUNCT
aiti-11957	251	4	j.	j.	PROPN
aiti-11957	251	5	cheng	cheng	PROPN
aiti-11957	251	6	,	,	PUNCT
aiti-11957	251	7	h.	h.	PROPN
aiti-11957	251	8	zhang	zhang	PROPN
aiti-11957	251	9	,	,	PUNCT
aiti-11957	251	10	f.	f.	PROPN
aiti-11957	251	11	tao	tao	PROPN
aiti-11957	251	12	,	,	PUNCT
aiti-11957	251	13	and	and	CCONJ
aiti-11957	251	14	c.	c.	PROPN
aiti-11957	251	15	f.	f.	PROPN
aiti-11957	251	16	juang	juang	PROPN
aiti-11957	251	17	,	,	PUNCT
aiti-11957	251	18	“	"	PUNCT
aiti-11957	251	19	dt	dt	PROPN
aiti-11957	251	20	-	-	PUNCT
aiti-11957	251	21	ii	ii	NOUN
aiti-11957	251	22	:	:	PUNCT
aiti-11957	251	23	digital	digital	ADJ
aiti-11957	251	24	twin	twin	ADJ
aiti-11957	251	25	enhanced	enhance	VERB
aiti-11957	251	26	industrial	industrial	ADJ
aiti-11957	251	27	internet	internet	NOUN
aiti-11957	251	28	reference	reference	NOUN
aiti-11957	251	29	framework	framework	NOUN
aiti-11957	251	30	towards	towards	ADP
aiti-11957	251	31	smart	smart	ADJ
aiti-11957	251	32	manufacturing	manufacturing	NOUN
aiti-11957	251	33	,	,	PUNCT
aiti-11957	251	34	”	"	PUNCT
aiti-11957	251	35	robotics	robotic	NOUN
aiti-11957	251	36	and	and	CCONJ
aiti-11957	251	37	computer	computer	NOUN
aiti-11957	251	38	-	-	PUNCT
aiti-11957	251	39	integrated	integrate	VERB
aiti-11957	251	40	manufacturing	manufacturing	NOUN
aiti-11957	251	41	,	,	PUNCT
aiti-11957	251	42	vol	vol	NOUN
aiti-11957	251	43	.	.	PROPN
aiti-11957	251	44	62	62	NUM
aiti-11957	251	45	,	,	PUNCT
aiti-11957	251	46	article	article	NOUN
aiti-11957	251	47	no	no	NOUN
aiti-11957	251	48	.	.	PROPN
aiti-11957	251	49	101881	101881	NUM
aiti-11957	251	50	,	,	PUNCT
aiti-11957	251	51	april	april	PROPN
aiti-11957	251	52	2020	2020	NUM
aiti-11957	251	53	.	.	PUNCT
aiti-11957	252	1	[	[	X
aiti-11957	252	2	7	7	X
aiti-11957	252	3	]	]	PUNCT
aiti-11957	252	4	m.	m.	NOUN
aiti-11957	252	5	liu	liu	PROPN
aiti-11957	252	6	,	,	PUNCT
aiti-11957	252	7	s.	s.	PROPN
aiti-11957	252	8	fang	fang	PROPN
aiti-11957	252	9	,	,	PUNCT
aiti-11957	252	10	h.	h.	PROPN
aiti-11957	252	11	dong	dong	PROPN
aiti-11957	252	12	,	,	PUNCT
aiti-11957	252	13	and	and	CCONJ
aiti-11957	252	14	c.	c.	PROPN
aiti-11957	252	15	xu	xu	PROPN
aiti-11957	252	16	,	,	PUNCT
aiti-11957	252	17	“	"	PUNCT
aiti-11957	252	18	review	review	NOUN
aiti-11957	252	19	of	of	ADP
aiti-11957	252	20	digital	digital	ADJ
aiti-11957	252	21	twin	twin	NOUN
aiti-11957	252	22	about	about	ADP
aiti-11957	252	23	concepts	concept	NOUN
aiti-11957	252	24	,	,	PUNCT
aiti-11957	252	25	technologies	technology	NOUN
aiti-11957	252	26	,	,	PUNCT
aiti-11957	252	27	and	and	CCONJ
aiti-11957	252	28	industrial	industrial	ADJ
aiti-11957	252	29	applications	application	NOUN
aiti-11957	252	30	,	,	PUNCT
aiti-11957	252	31	”	"	PUNCT
aiti-11957	252	32	journal	journal	NOUN
aiti-11957	252	33	of	of	ADP
aiti-11957	252	34	manufacturing	manufacturing	NOUN
aiti-11957	252	35	systems	system	NOUN
aiti-11957	252	36	,	,	PUNCT
aiti-11957	252	37	vol	vol	NOUN
aiti-11957	252	38	.	.	PROPN
aiti-11957	252	39	58	58	NUM
aiti-11957	252	40	,	,	PUNCT
aiti-11957	252	41	no	no	INTJ
aiti-11957	252	42	.	.	PUNCT
aiti-11957	253	1	part	part	NOUN
aiti-11957	253	2	b	b	PROPN
aiti-11957	253	3	,	,	PUNCT
aiti-11957	253	4	pp	pp	ADJ
aiti-11957	253	5	.	.	PUNCT
aiti-11957	254	1	346	346	NUM
aiti-11957	254	2	-	-	SYM
aiti-11957	254	3	361	361	NUM
aiti-11957	254	4	,	,	PUNCT
aiti-11957	254	5	january	january	NOUN
aiti-11957	254	6	2021	2021	NUM
aiti-11957	254	7	.	.	PUNCT
aiti-11957	255	1	[	[	X
aiti-11957	255	2	8	8	NUM
aiti-11957	255	3	]	]	X
aiti-11957	255	4	y.	y.	PROPN
aiti-11957	255	5	lu	lu	PROPN
aiti-11957	255	6	,	,	PUNCT
aiti-11957	255	7	c.	c.	PROPN
aiti-11957	255	8	liu	liu	PROPN
aiti-11957	255	9	,	,	PUNCT
aiti-11957	255	10	k.	k.	PROPN
aiti-11957	255	11	i.	i.	PROPN
aiti-11957	255	12	k.	k.	PROPN
aiti-11957	255	13	wang	wang	PROPN
aiti-11957	255	14	,	,	PUNCT
aiti-11957	255	15	h.	h.	PROPN
aiti-11957	255	16	huang	huang	PROPN
aiti-11957	255	17	,	,	PUNCT
aiti-11957	255	18	and	and	CCONJ
aiti-11957	255	19	x.	x.	PROPN
aiti-11957	255	20	xu	xu	PROPN
aiti-11957	255	21	,	,	PUNCT
aiti-11957	255	22	“	"	PUNCT
aiti-11957	255	23	digital	digital	ADJ
aiti-11957	255	24	twin	twin	NOUN
aiti-11957	255	25	-	-	PUNCT
aiti-11957	255	26	driven	drive	VERB
aiti-11957	255	27	smart	smart	ADJ
aiti-11957	255	28	manufacturing	manufacturing	NOUN
aiti-11957	255	29	:	:	PUNCT
aiti-11957	255	30	connotation	connotation	NOUN
aiti-11957	255	31	,	,	PUNCT
aiti-11957	255	32	reference	reference	NOUN
aiti-11957	255	33	model	model	NOUN
aiti-11957	255	34	,	,	PUNCT
aiti-11957	255	35	applications	application	NOUN
aiti-11957	255	36	and	and	CCONJ
aiti-11957	255	37	research	research	NOUN
aiti-11957	255	38	issues	issue	NOUN
aiti-11957	255	39	,	,	PUNCT
aiti-11957	255	40	”	"	PUNCT
aiti-11957	255	41	robotics	robotic	NOUN
aiti-11957	255	42	and	and	CCONJ
aiti-11957	255	43	computer	computer	NOUN
aiti-11957	255	44	-	-	PUNCT
aiti-11957	255	45	integrated	integrate	VERB
aiti-11957	255	46	manufacturing	manufacturing	NOUN
aiti-11957	255	47	,	,	PUNCT
aiti-11957	255	48	vol	vol	NOUN
aiti-11957	255	49	.	.	PROPN
aiti-11957	255	50	61	61	NUM
aiti-11957	255	51	,	,	PUNCT
aiti-11957	255	52	article	article	NOUN
aiti-11957	255	53	no	no	NOUN
aiti-11957	255	54	.	.	PROPN
aiti-11957	255	55	101837	101837	NUM
aiti-11957	255	56	,	,	PUNCT
aiti-11957	255	57	february	february	PROPN
aiti-11957	255	58	2020	2020	NUM
aiti-11957	255	59	.	.	PUNCT
aiti-11957	256	1	[	[	X
aiti-11957	256	2	9	9	NUM
aiti-11957	256	3	]	]	SYM
aiti-11957	256	4	a.	a.	NOUN
aiti-11957	256	5	v.	v.	PROPN
aiti-11957	256	6	barenji	barenji	PROPN
aiti-11957	256	7	,	,	PUNCT
aiti-11957	256	8	x.	x.	PROPN
aiti-11957	256	9	liu	liu	PROPN
aiti-11957	256	10	,	,	PUNCT
aiti-11957	256	11	h.	h.	PROPN
aiti-11957	256	12	guo	guo	PROPN
aiti-11957	256	13	,	,	PUNCT
aiti-11957	256	14	and	and	CCONJ
aiti-11957	256	15	z.	z.	PROPN
aiti-11957	256	16	li	li	PROPN
aiti-11957	257	1	“	"	PUNCT
aiti-11957	257	2	a	a	DET
aiti-11957	257	3	digital	digital	ADJ
aiti-11957	257	4	twin	twin	NOUN
aiti-11957	257	5	-	-	PUNCT
aiti-11957	257	6	driven	drive	VERB
aiti-11957	257	7	approach	approach	NOUN
aiti-11957	257	8	towards	towards	ADP
aiti-11957	257	9	smart	smart	ADJ
aiti-11957	257	10	manufacturing	manufacturing	NOUN
aiti-11957	257	11	:	:	PUNCT
aiti-11957	257	12	reduced	reduce	VERB
aiti-11957	257	13	energy	energy	NOUN
aiti-11957	257	14	consumption	consumption	NOUN
aiti-11957	257	15	for	for	ADP
aiti-11957	257	16	a	a	DET
aiti-11957	257	17	robotic	robotic	ADJ
aiti-11957	257	18	cell	cell	NOUN
aiti-11957	257	19	,	,	PUNCT
aiti-11957	257	20	”	"	PUNCT
aiti-11957	257	21	international	international	ADJ
aiti-11957	257	22	journal	journal	NOUN
aiti-11957	257	23	of	of	ADP
aiti-11957	257	24	computer	computer	NOUN
aiti-11957	257	25	integrated	integrate	VERB
aiti-11957	257	26	manufacturing	manufacturing	NOUN
aiti-11957	257	27	,	,	PUNCT
aiti-11957	257	28	vol	vol	NOUN
aiti-11957	257	29	.	.	PROPN
aiti-11957	258	1	34	34	NUM
aiti-11957	258	2	,	,	PUNCT
aiti-11957	258	3	no	no	INTJ
aiti-11957	258	4	.	.	NOUN
aiti-11957	258	5	7	7	NUM
aiti-11957	258	6	-	-	SYM
aiti-11957	258	7	8	8	NUM
aiti-11957	258	8	,	,	PUNCT
aiti-11957	258	9	pp	pp	ADJ
aiti-11957	258	10	.	.	PUNCT
aiti-11957	258	11	844	844	NUM
aiti-11957	258	12	-	-	SYM
aiti-11957	258	13	859	859	NUM
aiti-11957	258	14	,	,	PUNCT
aiti-11957	258	15	2021	2021	NUM
aiti-11957	258	16	.	.	PUNCT
aiti-11957	259	1	[	[	X
aiti-11957	259	2	10	10	NUM
aiti-11957	259	3	]	]	X
aiti-11957	259	4	c.	c.	PROPN
aiti-11957	259	5	constantinescu	constantinescu	PROPN
aiti-11957	259	6	,	,	PUNCT
aiti-11957	259	7	s.	s.	PROPN
aiti-11957	259	8	giosan	giosan	PROPN
aiti-11957	259	9	,	,	PUNCT
aiti-11957	259	10	r.	r.	PROPN
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aiti-11957	259	12	,	,	PUNCT
aiti-11957	259	13	and	and	CCONJ
aiti-11957	259	14	d.	d.	PROPN
aiti-11957	259	15	wohlfeld	wohlfeld	VERB
aiti-11957	259	16	,	,	PUNCT
aiti-11957	259	17	“	"	PUNCT
aiti-11957	259	18	a	a	DET
aiti-11957	259	19	holistic	holistic	ADJ
aiti-11957	259	20	methodology	methodology	NOUN
aiti-11957	259	21	for	for	ADP
aiti-11957	259	22	development	development	NOUN
aiti-11957	259	23	of	of	ADP
aiti-11957	259	24	real	real	ADJ
aiti-11957	259	25	-	-	PUNCT
aiti-11957	259	26	time	time	NOUN
aiti-11957	259	27	digital	digital	ADJ
aiti-11957	259	28	twins	twin	NOUN
aiti-11957	259	29	,	,	PUNCT
aiti-11957	259	30	”	"	PUNCT
aiti-11957	259	31	procedia	procedia	NOUN
aiti-11957	259	32	cirp	cirp	NOUN
aiti-11957	259	33	,	,	PUNCT
aiti-11957	259	34	vol	vol	NOUN
aiti-11957	259	35	.	.	PROPN
aiti-11957	259	36	88	88	NUM
aiti-11957	259	37	,	,	PUNCT
aiti-11957	259	38	pp	pp	ADJ
aiti-11957	259	39	.	.	PUNCT
aiti-11957	260	1	163	163	NUM
aiti-11957	260	2	-	-	SYM
aiti-11957	260	3	166	166	NUM
aiti-11957	260	4	,	,	PUNCT
aiti-11957	260	5	2020	2020	NUM
aiti-11957	260	6	.	.	PUNCT
aiti-11957	261	1	[	[	X
aiti-11957	261	2	11	11	NUM
aiti-11957	261	3	]	]	PUNCT
aiti-11957	261	4	a.	a.	NOUN
aiti-11957	261	5	gallala	gallala	NOUN
aiti-11957	261	6	,	,	PUNCT
aiti-11957	261	7	a.	a.	NOUN
aiti-11957	261	8	a.	a.	NOUN
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aiti-11957	261	10	,	,	PUNCT
aiti-11957	261	11	b.	b.	PROPN
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aiti-11957	261	13	,	,	PUNCT
aiti-11957	261	14	and	and	CCONJ
aiti-11957	261	15	p.	p.	NOUN
aiti-11957	261	16	plapper	plapper	NOUN
aiti-11957	261	17	,	,	PUNCT
aiti-11957	261	18	“	"	PUNCT
aiti-11957	261	19	digital	digital	ADJ
aiti-11957	261	20	twin	twin	NOUN
aiti-11957	261	21	for	for	ADP
aiti-11957	261	22	human	human	ADJ
aiti-11957	261	23	–	–	PUNCT
aiti-11957	261	24	robot	robot	NOUN
aiti-11957	261	25	interactions	interaction	NOUN
aiti-11957	261	26	by	by	ADP
aiti-11957	261	27	means	mean	NOUN
aiti-11957	261	28	of	of	ADP
aiti-11957	261	29	industry	industry	NOUN
aiti-11957	261	30	4.0	4.0	NUM
aiti-11957	261	31	enabling	enable	VERB
aiti-11957	261	32	technologies	technology	NOUN
aiti-11957	261	33	,	,	PUNCT
aiti-11957	261	34	”	"	PUNCT
aiti-11957	261	35	sensors	sensor	NOUN
aiti-11957	261	36	,	,	PUNCT
aiti-11957	261	37	vol	vol	NOUN
aiti-11957	261	38	.	.	PROPN
aiti-11957	261	39	22	22	NUM
aiti-11957	261	40	,	,	PUNCT
aiti-11957	261	41	no	no	INTJ
aiti-11957	261	42	.	.	NOUN
aiti-11957	261	43	13	13	NUM
aiti-11957	261	44	,	,	PUNCT
aiti-11957	261	45	article	article	NOUN
aiti-11957	261	46	no	no	NOUN
aiti-11957	261	47	.	.	PROPN
aiti-11957	261	48	4950	4950	NUM
aiti-11957	261	49	,	,	PUNCT
aiti-11957	261	50	july	july	PROPN
aiti-11957	261	51	2022	2022	NUM
aiti-11957	261	52	.	.	PUNCT
aiti-11957	262	1	[	[	X
aiti-11957	262	2	12	12	NUM
aiti-11957	262	3	]	]	X
aiti-11957	262	4	y.	y.	PROPN
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aiti-11957	262	6	,	,	PUNCT
aiti-11957	262	7	v.	v.	CCONJ
aiti-11957	262	8	shendryk	shendryk	PROPN
aiti-11957	262	9	,	,	PUNCT
aiti-11957	262	10	and	and	CCONJ
aiti-11957	262	11	s.	s.	PROPN
aiti-11957	262	12	shendryk	shendryk	PROPN
aiti-11957	262	13	,	,	PUNCT
aiti-11957	262	14	“	"	PUNCT
aiti-11957	262	15	digital	digital	ADJ
aiti-11957	262	16	twins	twin	NOUN
aiti-11957	262	17	data	data	NOUN
aiti-11957	262	18	visualization	visualization	NOUN
aiti-11957	262	19	methods	method	NOUN
aiti-11957	262	20	.	.	PUNCT
aiti-11957	263	1	problems	problem	NOUN
aiti-11957	263	2	of	of	ADP
aiti-11957	263	3	human	human	ADJ
aiti-11957	263	4	interaction	interaction	NOUN
aiti-11957	263	5	:	:	PUNCT
aiti-11957	263	6	a	a	DET
aiti-11957	263	7	review	review	NOUN
aiti-11957	263	8	,	,	PUNCT
aiti-11957	263	9	”	"	PUNCT
aiti-11957	263	10	in	in	ADP
aiti-11957	263	11	international	international	ADJ
aiti-11957	263	12	conference	conference	NOUN
aiti-11957	263	13	“	"	PUNCT
aiti-11957	263	14	new	new	ADJ
aiti-11957	263	15	technologies	technology	NOUN
aiti-11957	263	16	,	,	PUNCT
aiti-11957	263	17	development	development	NOUN
aiti-11957	263	18	and	and	CCONJ
aiti-11957	263	19	applications	application	NOUN
aiti-11957	263	20	”	"	PUNCT
aiti-11957	263	21	,	,	PUNCT
aiti-11957	263	22	pp	pp	ADP
aiti-11957	263	23	.	.	PUNCT
aiti-11957	264	1	478	478	NUM
aiti-11957	264	2	-	-	SYM
aiti-11957	264	3	485	485	NUM
aiti-11957	264	4	,	,	PUNCT
aiti-11957	264	5	may	may	AUX
aiti-11957	264	6	2023	2023	NUM
aiti-11957	264	7	.	.	PUNCT
aiti-11957	265	1	[	[	X
aiti-11957	265	2	13	13	NUM
aiti-11957	265	3	]	]	PUNCT
aiti-11957	265	4	statcounter	statcounter	NOUN
aiti-11957	265	5	globalstats	globalstat	NOUN
aiti-11957	265	6	,	,	PUNCT
aiti-11957	265	7	“	"	PUNCT
aiti-11957	265	8	desktop	desktop	NOUN
aiti-11957	265	9	operating	operating	NOUN
aiti-11957	265	10	system	system	NOUN
aiti-11957	265	11	market	market	NOUN
aiti-11957	265	12	share	share	NOUN
aiti-11957	265	13	worldwide	worldwide	ADV
aiti-11957	265	14	,	,	PUNCT
aiti-11957	265	15	”	"	PUNCT
aiti-11957	265	16	https://gs.statcounter.com/os-marketshare/desktop/worldwide	https://gs.statcounter.com/os-marketshare/desktop/worldwide	ADV
aiti-11957	265	17	,	,	PUNCT
aiti-11957	265	18	september	september	PROPN
aiti-11957	265	19	30	30	NUM
aiti-11957	265	20	,	,	PUNCT
aiti-11957	265	21	2022	2022	NUM
aiti-11957	265	22	.	.	PUNCT
aiti-11957	266	1	advances	advance	NOUN
aiti-11957	266	2	in	in	ADP
aiti-11957	266	3	technology	technology	NOUN
aiti-11957	266	4	innovation	innovation	NOUN
aiti-11957	266	5	,	,	PUNCT
aiti-11957	266	6	vol	vol	NOUN
aiti-11957	266	7	.	.	PROPN
aiti-11957	266	8	8	8	NUM
aiti-11957	266	9	,	,	PUNCT
aiti-11957	266	10	no	no	INTJ
aiti-11957	266	11	.	.	NOUN
aiti-11957	266	12	4	4	NUM
aiti-11957	266	13	,	,	PUNCT
aiti-11957	266	14	2023	2023	NUM
aiti-11957	266	15	,	,	PUNCT
aiti-11957	266	16	pp	pp	ADJ
aiti-11957	266	17	.	.	PUNCT
aiti-11957	267	1	267	267	NUM
aiti-11957	267	2	-	-	SYM
aiti-11957	267	3	277	277	NUM
aiti-11957	267	4	277	277	NUM
aiti-11957	267	5	[	[	X
aiti-11957	267	6	14	14	NUM
aiti-11957	267	7	]	]	PUNCT
aiti-11957	267	8	j.	j.	PROPN
aiti-11957	267	9	oyekan	oyekan	PROPN
aiti-11957	267	10	,	,	PUNCT
aiti-11957	267	11	m.	m.	NOUN
aiti-11957	267	12	farnsworth	farnsworth	PROPN
aiti-11957	267	13	,	,	PUNCT
aiti-11957	267	14	w.	w.	PROPN
aiti-11957	267	15	hutabarat	hutabarat	PROPN
aiti-11957	267	16	,	,	PUNCT
aiti-11957	267	17	d.	d.	PROPN
aiti-11957	267	18	miller	miller	PROPN
aiti-11957	267	19	,	,	PUNCT
aiti-11957	267	20	and	and	CCONJ
aiti-11957	267	21	a.	a.	NOUN
aiti-11957	267	22	tiwari	tiwari	PROPN
aiti-11957	267	23	,	,	PUNCT
aiti-11957	267	24	“	"	PUNCT
aiti-11957	267	25	applying	apply	VERB
aiti-11957	267	26	a	a	DET
aiti-11957	267	27	6	6	NUM
aiti-11957	267	28	dof	dof	NOUN
aiti-11957	267	29	robotic	robotic	ADJ
aiti-11957	267	30	arm	arm	NOUN
aiti-11957	267	31	and	and	CCONJ
aiti-11957	267	32	digital	digital	ADJ
aiti-11957	267	33	twin	twin	NOUN
aiti-11957	267	34	to	to	PART
aiti-11957	267	35	automate	automate	VERB
aiti-11957	267	36	fan	fan	NOUN
aiti-11957	267	37	-	-	PUNCT
aiti-11957	267	38	blade	blade	NOUN
aiti-11957	267	39	reconditioning	reconditioning	NOUN
aiti-11957	267	40	for	for	ADP
aiti-11957	267	41	aerospace	aerospace	NOUN
aiti-11957	267	42	maintenance	maintenance	NOUN
aiti-11957	267	43	,	,	PUNCT
aiti-11957	267	44	repair	repair	NOUN
aiti-11957	267	45	,	,	PUNCT
aiti-11957	267	46	and	and	CCONJ
aiti-11957	267	47	overhaul	overhaul	NOUN
aiti-11957	267	48	,	,	PUNCT
aiti-11957	267	49	”	"	PUNCT
aiti-11957	267	50	sensors	sensor	NOUN
aiti-11957	267	51	,	,	PUNCT
aiti-11957	267	52	vol	vol	NOUN
aiti-11957	267	53	.	.	PROPN
aiti-11957	267	54	20	20	NUM
aiti-11957	267	55	,	,	PUNCT
aiti-11957	267	56	no	no	INTJ
aiti-11957	267	57	.	.	NOUN
aiti-11957	267	58	16	16	NUM
aiti-11957	267	59	,	,	PUNCT
aiti-11957	267	60	article	article	NOUN
aiti-11957	267	61	no	no	NOUN
aiti-11957	267	62	.	.	PROPN
aiti-11957	267	63	4637	4637	NUM
aiti-11957	267	64	,	,	PUNCT
aiti-11957	267	65	august	august	PROPN
aiti-11957	267	66	2020	2020	NUM
aiti-11957	267	67	.	.	PUNCT
aiti-11957	268	1	[	[	X
aiti-11957	268	2	15	15	NUM
aiti-11957	268	3	]	]	X
aiti-11957	268	4	m.	m.	NOUN
aiti-11957	268	5	gadaleta	gadaleta	NOUN
aiti-11957	268	6	,	,	PUNCT
aiti-11957	268	7	g.	g.	PROPN
aiti-11957	268	8	berselli	berselli	PROPN
aiti-11957	268	9	,	,	PUNCT
aiti-11957	268	10	m.	m.	NOUN
aiti-11957	268	11	pellicciari	pellicciari	PROPN
aiti-11957	268	12	,	,	PUNCT
aiti-11957	268	13	and	and	CCONJ
aiti-11957	268	14	f.	f.	PROPN
aiti-11957	268	15	grassia	grassia	PROPN
aiti-11957	268	16	,	,	PUNCT
aiti-11957	268	17	“	"	PUNCT
aiti-11957	268	18	extensive	extensive	ADJ
aiti-11957	268	19	experimental	experimental	ADJ
aiti-11957	268	20	investigation	investigation	NOUN
aiti-11957	268	21	for	for	ADP
aiti-11957	268	22	the	the	DET
aiti-11957	268	23	optimization	optimization	NOUN
aiti-11957	268	24	of	of	ADP
aiti-11957	268	25	the	the	DET
aiti-11957	268	26	energy	energy	NOUN
aiti-11957	268	27	consumption	consumption	NOUN
aiti-11957	268	28	of	of	ADP
aiti-11957	268	29	a	a	DET
aiti-11957	268	30	high	high	ADJ
aiti-11957	268	31	payload	payload	NOUN
aiti-11957	268	32	industrial	industrial	ADJ
aiti-11957	268	33	robot	robot	NOUN
aiti-11957	268	34	with	with	ADP
aiti-11957	268	35	open	open	ADJ
aiti-11957	268	36	research	research	NOUN
aiti-11957	268	37	dataset	dataset	NOUN
aiti-11957	268	38	,	,	PUNCT
aiti-11957	268	39	”	"	PUNCT
aiti-11957	268	40	robotics	robotic	NOUN
aiti-11957	268	41	and	and	CCONJ
aiti-11957	268	42	computerintegrated	computerintegrate	VERB
aiti-11957	268	43	manufacturing	manufacturing	NOUN
aiti-11957	268	44	,	,	PUNCT
aiti-11957	268	45	vol	vol	NOUN
aiti-11957	268	46	.	.	PROPN
aiti-11957	268	47	68	68	NUM
aiti-11957	268	48	,	,	PUNCT
aiti-11957	268	49	article	article	NOUN
aiti-11957	268	50	no	no	NOUN
aiti-11957	268	51	.	.	PROPN
aiti-11957	268	52	102046	102046	NUM
aiti-11957	268	53	,	,	PUNCT
aiti-11957	268	54	april	april	PROPN
aiti-11957	268	55	2021	2021	NUM
aiti-11957	268	56	.	.	PUNCT
aiti-11957	269	1	[	[	X
aiti-11957	269	2	16	16	NUM
aiti-11957	269	3	]	]	X
aiti-11957	269	4	j.	j.	PROPN
aiti-11957	269	5	heredia	heredia	PROPN
aiti-11957	269	6	,	,	PUNCT
aiti-11957	269	7	c.	c.	PROPN
aiti-11957	269	8	schlette	schlette	PROPN
aiti-11957	269	9	,	,	PUNCT
aiti-11957	269	10	and	and	CCONJ
aiti-11957	269	11	m.	m.	PROPN
aiti-11957	269	12	b.	b.	PROPN
aiti-11957	269	13	kjærgaard	kjærgaard	PROPN
aiti-11957	269	14	,	,	PUNCT
aiti-11957	269	15	“	"	PUNCT
aiti-11957	269	16	data	data	NOUN
aiti-11957	269	17	-	-	PUNCT
aiti-11957	269	18	driven	drive	VERB
aiti-11957	269	19	energy	energy	NOUN
aiti-11957	269	20	estimation	estimation	NOUN
aiti-11957	269	21	of	of	ADP
aiti-11957	269	22	individual	individual	ADJ
aiti-11957	269	23	instructions	instruction	NOUN
aiti-11957	269	24	in	in	ADP
aiti-11957	269	25	userdefined	userdefined	ADJ
aiti-11957	269	26	robot	robot	NOUN
aiti-11957	269	27	programs	program	NOUN
aiti-11957	269	28	for	for	ADP
aiti-11957	269	29	collaborative	collaborative	ADJ
aiti-11957	269	30	robots	robot	NOUN
aiti-11957	269	31	,	,	PUNCT
aiti-11957	269	32	”	"	PUNCT
aiti-11957	269	33	ieee	ieee	NOUN
aiti-11957	269	34	robotics	robotic	NOUN
aiti-11957	269	35	and	and	CCONJ
aiti-11957	269	36	automation	automation	NOUN
aiti-11957	269	37	letters	letter	NOUN
aiti-11957	269	38	,	,	PUNCT
aiti-11957	269	39	vol	vol	NOUN
aiti-11957	269	40	.	.	PROPN
aiti-11957	269	41	6	6	NUM
aiti-11957	269	42	,	,	PUNCT
aiti-11957	269	43	no	no	INTJ
aiti-11957	269	44	.	.	NOUN
aiti-11957	269	45	4	4	NUM
aiti-11957	269	46	,	,	PUNCT
aiti-11957	269	47	pp	pp	ADJ
aiti-11957	269	48	.	.	PUNCT
aiti-11957	270	1	68366843	68366843	NUM
aiti-11957	270	2	,	,	PUNCT
aiti-11957	270	3	october	october	PROPN
aiti-11957	270	4	2021	2021	NUM
aiti-11957	270	5	.	.	PUNCT
aiti-11957	271	1	[	[	X
aiti-11957	271	2	17	17	NUM
aiti-11957	271	3	]	]	PUNCT
aiti-11957	271	4	j.	j.	PROPN
aiti-11957	271	5	yan	yan	PROPN
aiti-11957	271	6	and	and	CCONJ
aiti-11957	271	7	m.	m.	PROPN
aiti-11957	271	8	zhang	zhang	PROPN
aiti-11957	271	9	,	,	PUNCT
aiti-11957	271	10	“	"	PUNCT
aiti-11957	271	11	a	a	DET
aiti-11957	271	12	transfer	transfer	NOUN
aiti-11957	271	13	-	-	PUNCT
aiti-11957	271	14	learning	learn	VERB
aiti-11957	271	15	based	base	VERB
aiti-11957	271	16	energy	energy	NOUN
aiti-11957	271	17	consumption	consumption	NOUN
aiti-11957	271	18	modeling	modeling	NOUN
aiti-11957	271	19	method	method	NOUN
aiti-11957	271	20	for	for	ADP
aiti-11957	271	21	industrial	industrial	ADJ
aiti-11957	271	22	robots	robot	NOUN
aiti-11957	271	23	,	,	PUNCT
aiti-11957	271	24	”	"	PUNCT
aiti-11957	271	25	journal	journal	NOUN
aiti-11957	271	26	of	of	ADP
aiti-11957	271	27	cleaner	clean	ADJ
aiti-11957	271	28	production	production	NOUN
aiti-11957	271	29	,	,	PUNCT
aiti-11957	271	30	vol	vol	NOUN
aiti-11957	271	31	.	.	PROPN
aiti-11957	271	32	325	325	NUM
aiti-11957	271	33	,	,	PUNCT
aiti-11957	271	34	article	article	NOUN
aiti-11957	271	35	no	no	NOUN
aiti-11957	271	36	.	.	PROPN
aiti-11957	271	37	129299	129299	NUM
aiti-11957	271	38	,	,	PUNCT
aiti-11957	271	39	november	november	PROPN
aiti-11957	271	40	2021	2021	NUM
aiti-11957	271	41	.	.	PUNCT
aiti-11957	272	1	[	[	X
aiti-11957	272	2	18	18	NUM
aiti-11957	272	3	]	]	PUNCT
aiti-11957	272	4	m.	m.	NOUN
aiti-11957	272	5	yao	yao	PROPN
aiti-11957	272	6	,	,	PUNCT
aiti-11957	272	7	q.	q.	PROPN
aiti-11957	272	8	zhao	zhao	PROPN
aiti-11957	272	9	,	,	PUNCT
aiti-11957	272	10	z.	z.	PROPN
aiti-11957	272	11	shao	shao	PROPN
aiti-11957	272	12	,	,	PUNCT
aiti-11957	272	13	and	and	CCONJ
aiti-11957	272	14	y.	y.	PROPN
aiti-11957	272	15	zhao	zhao	PROPN
aiti-11957	272	16	,	,	PUNCT
aiti-11957	272	17	“	"	PUNCT
aiti-11957	272	18	research	research	NOUN
aiti-11957	272	19	on	on	ADP
aiti-11957	272	20	power	power	NOUN
aiti-11957	272	21	modeling	modeling	NOUN
aiti-11957	272	22	of	of	ADP
aiti-11957	272	23	the	the	DET
aiti-11957	272	24	industrial	industrial	ADJ
aiti-11957	272	25	robot	robot	NOUN
aiti-11957	272	26	based	base	VERB
aiti-11957	272	27	on	on	ADP
aiti-11957	272	28	resnet	resnet	NOUN
aiti-11957	272	29	,	,	PUNCT
aiti-11957	272	30	”	"	PUNCT
aiti-11957	272	31	7th	7th	ADJ
aiti-11957	272	32	international	international	ADJ
aiti-11957	272	33	conference	conference	NOUN
aiti-11957	272	34	on	on	ADP
aiti-11957	272	35	automation	automation	NOUN
aiti-11957	272	36	,	,	PUNCT
aiti-11957	272	37	control	control	NOUN
aiti-11957	272	38	and	and	CCONJ
aiti-11957	272	39	robotics	robotic	NOUN
aiti-11957	272	40	engineering	engineering	NOUN
aiti-11957	272	41	,	,	PUNCT
aiti-11957	272	42	pp	pp	ADJ
aiti-11957	272	43	.	.	PUNCT
aiti-11957	273	1	87	87	NUM
aiti-11957	273	2	-	-	SYM
aiti-11957	273	3	92	92	NUM
aiti-11957	273	4	,	,	PUNCT
aiti-11957	273	5	july	july	PROPN
aiti-11957	273	6	2022	2022	NUM
aiti-11957	273	7	.	.	PUNCT
aiti-11957	274	1	[	[	X
aiti-11957	274	2	19	19	NUM
aiti-11957	274	3	]	]	X
aiti-11957	274	4	g.	g.	PROPN
aiti-11957	274	5	garg	garg	PROPN
aiti-11957	274	6	,	,	PUNCT
aiti-11957	274	7	“	"	PUNCT
aiti-11957	274	8	digital	digital	ADJ
aiti-11957	274	9	twin	twin	NOUN
aiti-11957	274	10	for	for	ADP
aiti-11957	274	11	industrial	industrial	ADJ
aiti-11957	274	12	robotics	robotic	NOUN
aiti-11957	274	13	,	,	PUNCT
aiti-11957	274	14	”	"	PUNCT
aiti-11957	274	15	m.s	m.s	PROPN
aiti-11957	274	16	.	.	PROPN
aiti-11957	274	17	thesis	thesis	PROPN
aiti-11957	274	18	,	,	PUNCT
aiti-11957	274	19	department	department	NOUN
aiti-11957	274	20	of	of	ADP
aiti-11957	274	21	robotics	robotic	NOUN
aiti-11957	274	22	and	and	CCONJ
aiti-11957	274	23	computer	computer	NOUN
aiti-11957	274	24	engineering	engineering	NOUN
aiti-11957	274	25	,	,	PUNCT
aiti-11957	274	26	university	university	NOUN
aiti-11957	274	27	of	of	ADP
aiti-11957	274	28	tartu	tartu	PROPN
aiti-11957	274	29	,	,	PUNCT
aiti-11957	274	30	tartu	tartu	NOUN
aiti-11957	274	31	,	,	PUNCT
aiti-11957	274	32	2021	2021	NUM
aiti-11957	274	33	.	.	PUNCT
aiti-11957	275	1	[	[	X
aiti-11957	275	2	20	20	NUM
aiti-11957	275	3	]	]	X
aiti-11957	275	4	g.	g.	PROPN
aiti-11957	275	5	garg	garg	PROPN
aiti-11957	275	6	,	,	PUNCT
aiti-11957	275	7	v.	v.	CCONJ
aiti-11957	275	8	kuts	kuts	PROPN
aiti-11957	275	9	,	,	PUNCT
aiti-11957	275	10	and	and	CCONJ
aiti-11957	275	11	g.	g.	PROPN
aiti-11957	275	12	anbarjafari	anbarjafari	PROPN
aiti-11957	275	13	,	,	PUNCT
aiti-11957	275	14	“	"	PUNCT
aiti-11957	275	15	digital	digital	ADJ
aiti-11957	275	16	twin	twin	NOUN
aiti-11957	275	17	for	for	ADP
aiti-11957	275	18	fanuc	fanuc	NOUN
aiti-11957	275	19	robots	robot	NOUN
aiti-11957	275	20	:	:	PUNCT
aiti-11957	275	21	industrial	industrial	ADJ
aiti-11957	275	22	robot	robot	NOUN
aiti-11957	275	23	programming	programming	NOUN
aiti-11957	275	24	and	and	CCONJ
aiti-11957	275	25	simulation	simulation	NOUN
aiti-11957	275	26	using	use	VERB
aiti-11957	275	27	virtual	virtual	ADJ
aiti-11957	275	28	reality	reality	NOUN
aiti-11957	275	29	,	,	PUNCT
aiti-11957	275	30	”	"	PUNCT
aiti-11957	275	31	sustainability	sustainability	NOUN
aiti-11957	275	32	,	,	PUNCT
aiti-11957	275	33	vol	vol	NOUN
aiti-11957	275	34	.	.	PROPN
aiti-11957	275	35	13	13	NUM
aiti-11957	275	36	,	,	PUNCT
aiti-11957	275	37	no	no	INTJ
aiti-11957	275	38	.	.	NOUN
aiti-11957	275	39	18	18	NUM
aiti-11957	275	40	,	,	PUNCT
aiti-11957	275	41	article	article	NOUN
aiti-11957	275	42	no	no	NOUN
aiti-11957	275	43	.	.	PROPN
aiti-11957	275	44	10336	10336	NUM
aiti-11957	275	45	,	,	PUNCT
aiti-11957	275	46	september	september	PROPN
aiti-11957	275	47	2021	2021	NUM
aiti-11957	275	48	.	.	PUNCT
aiti-11957	276	1	[	[	X
aiti-11957	276	2	21	21	NUM
aiti-11957	276	3	]	]	PUNCT
aiti-11957	276	4	p.	p.	NOUN
aiti-11957	276	5	yotchon	yotchon	NOUN
aiti-11957	276	6	and	and	CCONJ
aiti-11957	276	7	y.	y.	PROPN
aiti-11957	276	8	jewajinda	jewajinda	ADV
aiti-11957	276	9	,	,	PUNCT
aiti-11957	276	10	“	"	PUNCT
aiti-11957	276	11	combining	combine	VERB
aiti-11957	276	12	a	a	DET
aiti-11957	276	13	differential	differential	ADJ
aiti-11957	276	14	evolution	evolution	NOUN
aiti-11957	276	15	algorithm	algorithm	NOUN
aiti-11957	276	16	with	with	ADP
aiti-11957	276	17	cyclic	cyclic	ADJ
aiti-11957	276	18	coordinate	coordinate	NOUN
aiti-11957	276	19	descent	descent	NOUN
aiti-11957	276	20	for	for	ADP
aiti-11957	276	21	inverse	inverse	ADJ
aiti-11957	276	22	kinematics	kinematic	NOUN
aiti-11957	276	23	of	of	ADP
aiti-11957	276	24	manipulator	manipulator	NOUN
aiti-11957	276	25	robot	robot	NOUN
aiti-11957	276	26	,	,	PUNCT
aiti-11957	276	27	”	"	PUNCT
aiti-11957	276	28	3rd	3rd	ADJ
aiti-11957	276	29	international	international	ADJ
aiti-11957	276	30	conference	conference	NOUN
aiti-11957	276	31	on	on	ADP
aiti-11957	276	32	electronics	electronic	NOUN
aiti-11957	276	33	representation	representation	NOUN
aiti-11957	276	34	and	and	CCONJ
aiti-11957	276	35	algorithm	algorithm	NOUN
aiti-11957	276	36	pp	pp	PROPN
aiti-11957	276	37	.	.	PUNCT
aiti-11957	277	1	35	35	NUM
aiti-11957	277	2	-	-	SYM
aiti-11957	277	3	40	40	NUM
aiti-11957	277	4	,	,	PUNCT
aiti-11957	277	5	july	july	PROPN
aiti-11957	277	6	2021	2021	NUM
aiti-11957	277	7	.	.	PUNCT
aiti-11957	278	1	[	[	X
aiti-11957	278	2	22	22	NUM
aiti-11957	278	3	]	]	X
aiti-11957	278	4	c.	c.	PROPN
aiti-11957	278	5	jacob	jacob	PROPN
aiti-11957	278	6	,	,	PUNCT
aiti-11957	278	7	f.	f.	PROPN
aiti-11957	278	8	espinosa	espinosa	PROPN
aiti-11957	278	9	,	,	PUNCT
aiti-11957	278	10	a.	a.	PROPN
aiti-11957	278	11	luxenburger	luxenburger	PROPN
aiti-11957	278	12	,	,	PUNCT
aiti-11957	278	13	d.	d.	PROPN
aiti-11957	278	14	merkel	merkel	PROPN
aiti-11957	278	15	,	,	PUNCT
aiti-11957	278	16	j.	j.	PROPN
aiti-11957	278	17	mohr	mohr	PROPN
aiti-11957	278	18	,	,	PUNCT
aiti-11957	278	19	t.	t.	PROPN
aiti-11957	278	20	schwartz	schwartz	PROPN
aiti-11957	278	21	,	,	PUNCT
aiti-11957	278	22	et	et	PROPN
aiti-11957	278	23	al	al	PROPN
aiti-11957	278	24	.	.	PROPN
aiti-11957	278	25	,	,	PUNCT
aiti-11957	278	26	“	"	PUNCT
aiti-11957	278	27	digital	digital	ADJ
aiti-11957	278	28	twins	twin	NOUN
aiti-11957	278	29	for	for	ADP
aiti-11957	278	30	distributed	distribute	VERB
aiti-11957	278	31	collaborative	collaborative	ADJ
aiti-11957	278	32	work	work	NOUN
aiti-11957	278	33	in	in	ADP
aiti-11957	278	34	shared	shared	ADJ
aiti-11957	278	35	production	production	NOUN
aiti-11957	278	36	,	,	PUNCT
aiti-11957	278	37	”	"	PUNCT
aiti-11957	278	38	ieee	ieee	NOUN
aiti-11957	278	39	international	international	ADJ
aiti-11957	278	40	conference	conference	NOUN
aiti-11957	278	41	on	on	ADP
aiti-11957	278	42	artificial	artificial	ADJ
aiti-11957	278	43	intelligence	intelligence	NOUN
aiti-11957	278	44	and	and	CCONJ
aiti-11957	278	45	virtual	virtual	ADJ
aiti-11957	278	46	reality	reality	NOUN
aiti-11957	278	47	,	,	PUNCT
aiti-11957	278	48	pp	pp	ADJ
aiti-11957	278	49	.	.	PUNCT
aiti-11957	278	50	210	210	NUM
aiti-11957	278	51	-	-	SYM
aiti-11957	278	52	212	212	NUM
aiti-11957	278	53	,	,	PUNCT
aiti-11957	278	54	december	december	PROPN
aiti-11957	278	55	2022	2022	NUM
aiti-11957	278	56	.	.	PUNCT
aiti-11957	279	1	[	[	X
aiti-11957	279	2	23	23	NUM
aiti-11957	279	3	]	]	X
aiti-11957	279	4	g.	g.	PROPN
aiti-11957	279	5	gheorghe	gheorghe	PROPN
aiti-11957	279	6	,	,	PUNCT
aiti-11957	279	7	“	"	PUNCT
aiti-11957	279	8	mathematical	mathematical	ADJ
aiti-11957	279	9	modeling	modeling	NOUN
aiti-11957	279	10	of	of	ADP
aiti-11957	279	11	the	the	DET
aiti-11957	279	12	walking	walk	VERB
aiti-11957	279	13	hexapod	hexapod	NOUN
aiti-11957	279	14	robot	robot	NOUN
aiti-11957	279	15	using	use	VERB
aiti-11957	279	16	denavit	denavit	PROPN
aiti-11957	279	17	-	-	PUNCT
aiti-11957	279	18	hartenberg	hartenberg	PROPN
aiti-11957	279	19	parameters	parameter	NOUN
aiti-11957	279	20	,	,	PUNCT
aiti-11957	279	21	”	"	PUNCT
aiti-11957	279	22	annals	annals	NOUN
aiti-11957	279	23	of	of	ADP
aiti-11957	279	24	‘	'	PUNCT
aiti-11957	279	25	constantin	constantin	NOUN
aiti-11957	279	26	brancusi	brancusi	NOUN
aiti-11957	279	27	’	'	PUNCT
aiti-11957	279	28	university	university	PROPN
aiti-11957	279	29	of	of	ADP
aiti-11957	279	30	targu	targu	PROPN
aiti-11957	279	31	-	-	PUNCT
aiti-11957	279	32	jiu	jiu	PROPN
aiti-11957	279	33	.	.	PUNCT
aiti-11957	280	1	engineering	engineering	NOUN
aiti-11957	280	2	series	series	NOUN
aiti-11957	280	3	,	,	PUNCT
aiti-11957	280	4	no	no	INTJ
aiti-11957	280	5	.	.	NOUN
aiti-11957	280	6	1	1	NUM
aiti-11957	280	7	,	,	PUNCT
aiti-11957	280	8	pp	pp	ADJ
aiti-11957	280	9	.	.	PUNCT
aiti-11957	281	1	64	64	NUM
aiti-11957	281	2	-	-	SYM
aiti-11957	281	3	69	69	NUM
aiti-11957	281	4	,	,	PUNCT
aiti-11957	281	5	2021	2021	NUM
aiti-11957	281	6	.	.	PUNCT
aiti-11957	282	1	[	[	X
aiti-11957	282	2	24	24	NUM
aiti-11957	282	3	]	]	PUNCT
aiti-11957	282	4	a.	a.	NOUN
aiti-11957	282	5	vatankhah	vatankhah	PROPN
aiti-11957	282	6	barenji	barenji	PROPN
aiti-11957	282	7	,	,	PUNCT
aiti-11957	282	8	x.	x.	PROPN
aiti-11957	282	9	liu	liu	PROPN
aiti-11957	282	10	,	,	PUNCT
aiti-11957	282	11	h.	h.	PROPN
aiti-11957	282	12	guo	guo	PROPN
aiti-11957	282	13	,	,	PUNCT
aiti-11957	282	14	and	and	CCONJ
aiti-11957	282	15	z.	z.	PROPN
aiti-11957	282	16	li	li	PROPN
aiti-11957	282	17	,	,	PUNCT
aiti-11957	282	18	“	"	PUNCT
aiti-11957	282	19	a	a	DET
aiti-11957	282	20	digital	digital	ADJ
aiti-11957	282	21	twin	twin	NOUN
aiti-11957	282	22	-	-	PUNCT
aiti-11957	282	23	driven	drive	VERB
aiti-11957	282	24	approach	approach	NOUN
aiti-11957	282	25	towards	towards	ADP
aiti-11957	282	26	smart	smart	ADJ
aiti-11957	282	27	manufacturing	manufacturing	NOUN
aiti-11957	282	28	:	:	PUNCT
aiti-11957	282	29	reduced	reduce	VERB
aiti-11957	282	30	energy	energy	NOUN
aiti-11957	282	31	consumption	consumption	NOUN
aiti-11957	282	32	for	for	ADP
aiti-11957	282	33	a	a	DET
aiti-11957	282	34	robotic	robotic	ADJ
aiti-11957	282	35	cell	cell	NOUN
aiti-11957	282	36	,	,	PUNCT
aiti-11957	282	37	”	"	PUNCT
aiti-11957	282	38	international	international	ADJ
aiti-11957	282	39	journal	journal	NOUN
aiti-11957	282	40	of	of	ADP
aiti-11957	282	41	computer	computer	NOUN
aiti-11957	282	42	integrated	integrate	VERB
aiti-11957	282	43	manufacturing	manufacturing	NOUN
aiti-11957	282	44	,	,	PUNCT
aiti-11957	282	45	vol	vol	NOUN
aiti-11957	282	46	.	.	PROPN
aiti-11957	283	1	34	34	NUM
aiti-11957	283	2	,	,	PUNCT
aiti-11957	283	3	no	no	INTJ
aiti-11957	283	4	.	.	NOUN
aiti-11957	283	5	7	7	NUM
aiti-11957	283	6	-	-	SYM
aiti-11957	283	7	8	8	NUM
aiti-11957	283	8	,	,	PUNCT
aiti-11957	283	9	pp	pp	ADJ
aiti-11957	283	10	.	.	PUNCT
aiti-11957	283	11	844	844	NUM
aiti-11957	283	12	-	-	SYM
aiti-11957	283	13	859	859	NUM
aiti-11957	283	14	,	,	PUNCT
aiti-11957	283	15	2021	2021	NUM
aiti-11957	283	16	.	.	PUNCT
aiti-11957	284	1	[	[	X
aiti-11957	284	2	25	25	NUM
aiti-11957	284	3	]	]	X
aiti-11957	284	4	national	national	PROPN
aiti-11957	284	5	development	development	PROPN
aiti-11957	284	6	council	council	PROPN
aiti-11957	284	7	,	,	PUNCT
aiti-11957	284	8	“	"	PUNCT
aiti-11957	284	9	taiwan	taiwan	PROPN
aiti-11957	284	10	’s	’s	PART
aiti-11957	284	11	2050	2050	NUM
aiti-11957	284	12	net	net	ADJ
aiti-11957	284	13	-	-	PUNCT
aiti-11957	284	14	zero	zero	NUM
aiti-11957	284	15	emission	emission	NOUN
aiti-11957	284	16	,	,	PUNCT
aiti-11957	284	17	”	"	PUNCT
aiti-11957	284	18	https://www.ndc.gov.tw/content_list.aspx?n=fd76ecbae77d9811	https://www.ndc.gov.tw/content_list.aspx?n=fd76ecbae77d9811	NOUN
aiti-11957	284	19	,	,	PUNCT
aiti-11957	284	20	march	march	PROPN
aiti-11957	284	21	30	30	NUM
aiti-11957	284	22	,	,	PUNCT
aiti-11957	284	23	2022	2022	NUM
aiti-11957	284	24	[	[	X
aiti-11957	284	25	26	26	NUM
aiti-11957	284	26	]	]	PUNCT
aiti-11957	284	27	m.	m.	PROPN
aiti-11957	284	28	w.	w.	PROPN
aiti-11957	284	29	spong	spong	PROPN
aiti-11957	284	30	,	,	PUNCT
aiti-11957	284	31	s.	s.	PROPN
aiti-11957	284	32	hutchinson	hutchinson	PROPN
aiti-11957	284	33	,	,	PUNCT
aiti-11957	284	34	and	and	CCONJ
aiti-11957	284	35	m.	m.	NOUN
aiti-11957	284	36	vidyasagar	vidyasagar	NOUN
aiti-11957	284	37	,	,	PUNCT
aiti-11957	284	38	robot	robot	NOUN
aiti-11957	284	39	modeling	modeling	NOUN
aiti-11957	284	40	and	and	CCONJ
aiti-11957	284	41	control	control	NOUN
aiti-11957	284	42	,	,	PUNCT
aiti-11957	284	43	1st	1st	ADJ
aiti-11957	284	44	ed	ed	NOUN
aiti-11957	284	45	.	.	PROPN
aiti-11957	284	46	,	,	PUNCT
aiti-11957	284	47	new	new	PROPN
aiti-11957	284	48	jersey	jersey	PROPN
aiti-11957	284	49	:	:	PUNCT
aiti-11957	284	50	wiley	wiley	PROPN
aiti-11957	284	51	,	,	PUNCT
aiti-11957	284	52	2005	2005	NUM
aiti-11957	284	53	.	.	PUNCT
aiti-11957	285	1	copyright	copyright	NOUN
aiti-11957	285	2	©	©	PROPN
aiti-11957	285	3	by	by	ADP
aiti-11957	285	4	the	the	DET
aiti-11957	285	5	authors	author	NOUN
aiti-11957	285	6	.	.	PUNCT
aiti-11957	286	1	licensee	licensee	PROPN
aiti-11957	286	2	taeti	taeti	PROPN
aiti-11957	286	3	,	,	PUNCT
aiti-11957	286	4	taiwan	taiwan	PROPN
aiti-11957	286	5	.	.	PUNCT
aiti-11957	287	1	this	this	DET
aiti-11957	287	2	article	article	NOUN
aiti-11957	287	3	is	be	AUX
aiti-11957	287	4	an	an	DET
aiti-11957	287	5	open	open	ADJ
aiti-11957	287	6	-	-	PUNCT
aiti-11957	287	7	access	access	NOUN
aiti-11957	287	8	article	article	NOUN
aiti-11957	287	9	distributed	distribute	VERB
aiti-11957	287	10	under	under	ADP
aiti-11957	287	11	the	the	DET
aiti-11957	287	12	terms	term	NOUN
aiti-11957	287	13	and	and	CCONJ
aiti-11957	287	14	conditions	condition	NOUN
aiti-11957	287	15	of	of	ADP
aiti-11957	287	16	the	the	DET
aiti-11957	287	17	creative	creative	ADJ
aiti-11957	287	18	commons	common	NOUN
aiti-11957	287	19	attribution	attribution	NOUN
aiti-11957	287	20	(	(	PUNCT
aiti-11957	287	21	cc	cc	NOUN
aiti-11957	287	22	by	by	ADP
aiti-11957	287	23	-	-	PUNCT
aiti-11957	287	24	nc	nc	NOUN
aiti-11957	287	25	)	)	PUNCT
aiti-11957	287	26	license	license	NOUN
aiti-11957	287	27	(	(	PUNCT
aiti-11957	287	28	https://creativecommons.org/licenses/by-nc/4.0/	https://creativecommons.org/licenses/by-nc/4.0/	NOUN
aiti-11957	287	29	)	)	PUNCT
aiti-11957	287	30	.	.	PUNCT