id sid tid token lemma pos aiti-274 1 1 advances advance NOUN aiti-274 1 2 in in ADP aiti-274 1 3 technology technology NOUN aiti-274 1 4 innovation innovation NOUN aiti-274 1 5 , , PUNCT aiti-274 1 6 vol vol NOUN aiti-274 1 7 . . PROPN aiti-274 2 1 2 2 NUM aiti-274 2 2 , , PUNCT aiti-274 2 3 no no INTJ aiti-274 2 4 . . NOUN aiti-274 2 5 2 2 NUM aiti-274 2 6 , , PUNCT aiti-274 2 7 2017 2017 NUM aiti-274 2 8 , , PUNCT aiti-274 2 9 pp pp ADJ aiti-274 2 10 . . PUNCT aiti-274 3 1 40 40 NUM aiti-274 3 2 45 45 NUM aiti-274 3 3 40 40 NUM aiti-274 3 4 position position NOUN aiti-274 3 5 control control NOUN aiti-274 3 6 and and CCONJ aiti-274 3 7 novel novel ADJ aiti-274 3 8 application application NOUN aiti-274 3 9 of of ADP aiti-274 3 10 scara scara NOUN aiti-274 3 11 robot robot NOUN aiti-274 3 12 with with ADP aiti-274 3 13 vision vision PROPN aiti-274 3 14 system system PROPN aiti-274 3 15 hsiang hsiang PROPN aiti-274 3 16 - - PUNCT aiti-274 3 17 chen chen PROPN aiti-274 3 18 hsu1,2 hsu1,2 PROPN aiti-274 3 19 , , PUNCT aiti-274 3 20 * * PROPN aiti-274 3 21 , , PUNCT aiti-274 3 22 li li PROPN aiti-274 3 23 - - PUNCT aiti-274 3 24 ming ming PROPN aiti-274 3 25 chu3 chu3 PROPN aiti-274 3 26 , , PUNCT aiti-274 3 27 zong zong PROPN aiti-274 3 28 - - PUNCT aiti-274 3 29 kun kun PROPN aiti-274 3 30 wang2 wang2 PROPN aiti-274 3 31 and and CCONJ aiti-274 3 32 shu shu NOUN aiti-274 3 33 - - PUNCT aiti-274 3 34 chi chi ADJ aiti-274 3 35 tsao2 tsao2 NOUN aiti-274 3 36 1 1 NUM aiti-274 3 37 department department NOUN aiti-274 3 38 of of ADP aiti-274 3 39 industrial industrial ADJ aiti-274 3 40 management management NOUN aiti-274 3 41 , , PUNCT aiti-274 3 42 i i PROPN aiti-274 3 43 - - PUNCT aiti-274 3 44 shou shou PROPN aiti-274 3 45 university university PROPN aiti-274 3 46 , , PUNCT aiti-274 3 47 kaohsiung kaohsiung PROPN aiti-274 3 48 , , PUNCT aiti-274 3 49 taiwan taiwan PROPN aiti-274 3 50 . . PUNCT aiti-274 4 1 2 2 NUM aiti-274 4 2 department department NOUN aiti-274 4 3 of of ADP aiti-274 4 4 mechanical mechanical ADJ aiti-274 4 5 and and CCONJ aiti-274 4 6 automation automation NOUN aiti-274 4 7 engineering engineering NOUN aiti-274 4 8 , , PUNCT aiti-274 4 9 i i PROPN aiti-274 4 10 - - PUNCT aiti-274 4 11 shou shou PROPN aiti-274 4 12 university university PROPN aiti-274 4 13 , , PUNCT aiti-274 4 14 kaohsiung kaohsiung PROPN aiti-274 4 15 , , PUNCT aiti-274 4 16 taiwan taiwan PROPN aiti-274 4 17 . . PUNCT aiti-274 5 1 3 3 NUM aiti-274 5 2 department department NOUN aiti-274 5 3 of of ADP aiti-274 5 4 mechanical mechanical ADJ aiti-274 5 5 engineering engineering NOUN aiti-274 5 6 , , PUNCT aiti-274 5 7 southern southern PROPN aiti-274 5 8 taiwan taiwan PROPN aiti-274 5 9 university university PROPN aiti-274 5 10 of of ADP aiti-274 5 11 science science NOUN aiti-274 5 12 and and CCONJ aiti-274 5 13 technology technology NOUN aiti-274 5 14 , , PUNCT aiti-274 5 15 tainan tainan PROPN aiti-274 5 16 , , PUNCT aiti-274 5 17 taiwan taiwan PROPN aiti-274 5 18 . . PUNCT aiti-274 5 19 received receive VERB aiti-274 5 20 02 02 NUM aiti-274 5 21 february february NOUN aiti-274 5 22 2016 2016 NUM aiti-274 5 23 ; ; PUNCT aiti-274 5 24 received receive VERB aiti-274 5 25 in in ADP aiti-274 5 26 revised revise VERB aiti-274 5 27 form form NOUN aiti-274 5 28 27 27 NUM aiti-274 5 29 april april PROPN aiti-274 5 30 2016 2016 NUM aiti-274 5 31 accepted accept VERB aiti-274 5 32 02 02 NUM aiti-274 5 33 may may PROPN aiti-274 5 34 2016 2016 NUM aiti-274 5 35 abstract abstract ADV aiti-274 5 36 in in ADP aiti-274 5 37 this this DET aiti-274 5 38 paper paper NOUN aiti-274 5 39 , , PUNCT aiti-274 5 40 a a DET aiti-274 5 41 scara scara NOUN aiti-274 5 42 robot robot NOUN aiti-274 5 43 arm arm NOUN aiti-274 5 44 with with ADP aiti-274 5 45 vision vision NOUN aiti-274 5 46 system system NOUN aiti-274 5 47 has have AUX aiti-274 5 48 been be AUX aiti-274 5 49 developed develop VERB aiti-274 5 50 to to PART aiti-274 5 51 improve improve VERB aiti-274 5 52 the the DET aiti-274 5 53 accuracy accuracy NOUN aiti-274 5 54 of of ADP aiti-274 5 55 pick pick NOUN aiti-274 5 56 - - PUNCT aiti-274 5 57 and and CCONJ aiti-274 5 58 - - PUNCT aiti-274 5 59 place place NOUN aiti-274 5 60 the the DET aiti-274 5 61 surface surface NOUN aiti-274 5 62 mount mount NOUN aiti-274 5 63 device device NOUN aiti-274 5 64 ( ( PUNCT aiti-274 5 65 smd smd NOUN aiti-274 5 66 ) ) PUNCT aiti-274 5 67 on on ADP aiti-274 5 68 pcb pcb NOUN aiti-274 5 69 during during ADP aiti-274 5 70 surface surface NOUN aiti-274 5 71 mount mount PROPN aiti-274 5 72 process process NOUN aiti-274 5 73 . . PUNCT aiti-274 6 1 position position NOUN aiti-274 6 2 of of ADP aiti-274 6 3 the the DET aiti-274 6 4 scara scara NOUN aiti-274 6 5 robot robot NOUN aiti-274 6 6 can can AUX aiti-274 6 7 be be AUX aiti-274 6 8 controlled control VERB aiti-274 6 9 by by ADP aiti-274 6 10 using use VERB aiti-274 6 11 coordinate coordinate NOUN aiti-274 6 12 autocompensation autocompensation NOUN aiti-274 6 13 technique technique NOUN aiti-274 6 14 . . PUNCT aiti-274 7 1 robotic robotic ADJ aiti-274 7 2 movement movement NOUN aiti-274 7 3 and and CCONJ aiti-274 7 4 position position NOUN aiti-274 7 5 control control NOUN aiti-274 7 6 are be AUX aiti-274 7 7 auto auto NOUN aiti-274 7 8 - - PUNCT aiti-274 7 9 calculated calculate VERB aiti-274 7 10 based base VERB aiti-274 7 11 on on ADP aiti-274 7 12 forward forward ADV aiti-274 7 13 and and CCONJ aiti-274 7 14 inverse inverse NOUN aiti-274 7 15 kinemat kinemat NOUN aiti-274 7 16 ics ics PROPN aiti-274 7 17 with with ADP aiti-274 7 18 enhanced enhance VERB aiti-274 7 19 the the DET aiti-274 7 20 intelligent intelligent ADJ aiti-274 7 21 image image NOUN aiti-274 7 22 vision vision NOUN aiti-274 7 23 system system NOUN aiti-274 7 24 . . PUNCT aiti-274 8 1 the the DET aiti-274 8 2 determined determined ADJ aiti-274 8 3 x x NOUN aiti-274 8 4 - - ADJ aiti-274 8 5 y y ADJ aiti-274 8 6 position position NOUN aiti-274 8 7 and and CCONJ aiti-274 8 8 rotation rotation NOUN aiti-274 8 9 angle angle NOUN aiti-274 8 10 can can AUX aiti-274 8 11 then then ADV aiti-274 8 12 be be AUX aiti-274 8 13 applied apply VERB aiti-274 8 14 to to ADP aiti-274 8 15 the the DET aiti-274 8 16 desired desire VERB aiti-274 8 17 pick pick NOUN aiti-274 8 18 & & CCONJ aiti-274 8 19 p p NOUN aiti-274 8 20 lace lace NOUN aiti-274 8 21 location location NOUN aiti-274 8 22 for for ADP aiti-274 8 23 the the DET aiti-274 8 24 scara scara NOUN aiti-274 8 25 robot robot NOUN aiti-274 8 26 . . PUNCT aiti-274 9 1 a a DET aiti-274 9 2 series series NOUN aiti-274 9 3 of of ADP aiti-274 9 4 experiments experiment NOUN aiti-274 9 5 has have AUX aiti-274 9 6 been be AUX aiti-274 9 7 conducted conduct VERB aiti-274 9 8 to to PART aiti-274 9 9 improve improve VERB aiti-274 9 10 the the DET aiti-274 9 11 accuracy accuracy NOUN aiti-274 9 12 of of ADP aiti-274 9 13 pick pick NOUN aiti-274 9 14 - - PUNCT aiti-274 9 15 and and CCONJ aiti-274 9 16 - - PUNCT aiti-274 9 17 place place NOUN aiti-274 9 18 smds smds NOUN aiti-274 9 19 on on ADP aiti-274 9 20 pcb pcb PROPN aiti-274 9 21 . . PUNCT aiti-274 10 1 keywords keyword NOUN aiti-274 10 2 : : PUNCT aiti-274 10 3 scara scara NOUN aiti-274 10 4 , , PUNCT aiti-274 10 5 pick pick NOUN aiti-274 10 6 - - PUNCT aiti-274 10 7 and and CCONJ aiti-274 10 8 - - PUNCT aiti-274 10 9 place place NOUN aiti-274 10 10 , , PUNCT aiti-274 10 11 forward forward ADV aiti-274 10 12 and and CCONJ aiti-274 10 13 inverse inverse NOUN aiti-274 10 14 kinematics kinematic NOUN aiti-274 10 15 , , PUNCT aiti-274 10 16 vision vision NOUN aiti-274 10 17 system system NOUN aiti-274 10 18 1 1 NUM aiti-274 10 19 . . PUNCT aiti-274 11 1 introduction introduction NOUN aiti-274 11 2 industrial industrial ADJ aiti-274 11 3 heavy heavy ADJ aiti-274 11 4 duty duty NOUN aiti-274 11 5 manipulator manipulator NOUN aiti-274 11 6 such such ADJ aiti-274 11 7 as as ADP aiti-274 11 8 selective selective ADJ aiti-274 11 9 compliance compliance NOUN aiti-274 11 10 assembly assembly NOUN aiti-274 11 11 robot robot NOUN aiti-274 11 12 arm arm NOUN aiti-274 11 13 ( ( PUNCT aiti-274 11 14 scara scara NOUN aiti-274 11 15 ) ) PUNCT aiti-274 11 16 is be AUX aiti-274 11 17 an an DET aiti-274 11 18 automatic automatic ADJ aiti-274 11 19 device device NOUN aiti-274 11 20 which which PRON aiti-274 11 21 is be AUX aiti-274 11 22 capable capable ADJ aiti-274 11 23 to to PART aiti-274 11 24 carry carry VERB aiti-274 11 25 and and CCONJ aiti-274 11 26 move move VERB aiti-274 11 27 components component NOUN aiti-274 11 28 /devices/ /devices/ NOUN aiti-274 11 29 parts part NOUN aiti-274 11 30 in in ADP aiti-274 11 31 the the DET aiti-274 11 32 manufacturing manufacturing NOUN aiti-274 11 33 process process NOUN aiti-274 11 34 . . PUNCT aiti-274 12 1 the the DET aiti-274 12 2 first first ADJ aiti-274 12 3 scara scara NOUN aiti-274 12 4 robot robot NOUN aiti-274 12 5 was be AUX aiti-274 12 6 invented invent VERB aiti-274 12 7 by by ADP aiti-274 12 8 professor professor NOUN aiti-274 12 9 hiroshi hiroshi PROPN aiti-274 12 10 makino makino PROPN aiti-274 12 11 from from ADP aiti-274 12 12 university university NOUN aiti-274 12 13 o o PROPN aiti-274 12 14 f f PROPN aiti-274 12 15 yamanashi yamanashi PROPN aiti-274 12 16 , , PUNCT aiti-274 12 17 japan japan PROPN aiti-274 12 18 in in ADP aiti-274 12 19 1978 1978 NUM aiti-274 12 20 [ [ X aiti-274 12 21 1 1 NUM aiti-274 12 22 ] ] PUNCT aiti-274 12 23 . . PUNCT aiti-274 13 1 fig.1 fig.1 PROPN aiti-274 13 2 demonstrates demonstrate VERB aiti-274 13 3 the the DET aiti-274 13 4 basic basic ADJ aiti-274 13 5 structure structure NOUN aiti-274 13 6 includes include VERB aiti-274 13 7 kinetic kinetic ADJ aiti-274 13 8 4 4 NUM aiti-274 13 9 - - PUNCT aiti-274 13 10 axis axis NOUN aiti-274 13 11 and and CCONJ aiti-274 13 12 4 4 NUM aiti-274 13 13 - - PUNCT aiti-274 13 14 dof dof ADJ aiti-274 13 15 , , PUNCT aiti-274 13 16 translation translation NOUN aiti-274 13 17 on on ADP aiti-274 13 18 x x PROPN aiti-274 13 19 , , PUNCT aiti-274 13 20 y y PROPN aiti-274 13 21 , , PUNCT aiti-274 13 22 z z NOUN aiti-274 13 23 and and CCONJ aiti-274 13 24 rotation rotation NOUN aiti-274 13 25 about about ADP aiti-274 13 26 vertical vertical ADJ aiti-274 13 27 z z NOUN aiti-274 13 28 - - PUNCT aiti-274 13 29 axis axis ADJ aiti-274 13 30 . . PUNCT aiti-274 14 1 two two NUM aiti-274 14 2 - - PUNCT aiti-274 14 3 link link NOUN aiti-274 14 4 compliant compliant ADJ aiti-274 14 5 arms arm NOUN aiti-274 14 6 with with ADP aiti-274 14 7 rotated rotate VERB aiti-274 14 8 wrist wrist NOUN aiti-274 14 9 behave behave VERB aiti-274 14 10 somewhat somewhat ADV aiti-274 14 11 like like ADP aiti-274 14 12 the the DET aiti-274 14 13 human human ADJ aiti-274 14 14 arm arm NOUN aiti-274 14 15 that that PRON aiti-274 14 16 joints joint NOUN aiti-274 14 17 allow allow VERB aiti-274 14 18 the the DET aiti-274 14 19 arm arm NOUN aiti-274 14 20 to to PART aiti-274 14 21 move move VERB aiti-274 14 22 vertically vertically ADV aiti-274 14 23 and and CCONJ aiti-274 14 24 horizontally horizontally ADV aiti-274 14 25 in in ADP aiti-274 14 26 a a DET aiti-274 14 27 limited limited ADJ aiti-274 14 28 space space NOUN aiti-274 14 29 . . PUNCT aiti-274 15 1 scara scara NOUN aiti-274 15 2 was be AUX aiti-274 15 3 specially specially ADV aiti-274 15 4 designed design VERB aiti-274 15 5 for for ADP aiti-274 15 6 precision precision NOUN aiti-274 15 7 devices device NOUN aiti-274 15 8 fig fig NOUN aiti-274 15 9 . . PUNCT aiti-274 16 1 1 1 NUM aiti-274 16 2 the the DET aiti-274 16 3 first first ADJ aiti-274 16 4 scara scara NOUN aiti-274 16 5 robot robot NOUN aiti-274 16 6 by by ADP aiti-274 16 7 hiroshi hiroshi PROPN aiti-274 16 8 makino makino PROPN aiti-274 17 1 [ [ X aiti-274 17 2 1 1 NUM aiti-274 17 3 ] ] PUNCT aiti-274 17 4 assembly assembly NOUN aiti-274 17 5 , , PUNCT aiti-274 17 6 especially especially ADV aiti-274 17 7 place place VERB aiti-274 17 8 a a DET aiti-274 17 9 pinned pin VERB aiti-274 17 10 component component NOUN aiti-274 17 11 in in ADP aiti-274 17 12 a a DET aiti-274 17 13 hole hole NOUN aiti-274 17 14 . . PUNCT aiti-274 18 1 a a DET aiti-274 18 2 typical typical ADJ aiti-274 18 3 scara scara NOUN aiti-274 18 4 robot robot NOUN aiti-274 18 5 is be AUX aiti-274 18 6 a a DET aiti-274 18 7 stationary stationary ADJ aiti-274 18 8 robot robot NOUN aiti-274 18 9 arm arm NOUN aiti-274 18 10 including include VERB aiti-274 18 11 base base NOUN aiti-274 18 12 , , PUNCT aiti-274 18 13 elbow elbow NOUN aiti-274 18 14 , , PUNCT aiti-274 18 15 vertical vertical ADJ aiti-274 18 16 extension extension NOUN aiti-274 18 17 and and CCONJ aiti-274 18 18 tool tool NOUN aiti-274 18 19 roll roll NOUN aiti-274 18 20 and and CCONJ aiti-274 18 21 comprising comprise VERB aiti-274 18 22 both both CCONJ aiti-274 18 23 rotary rotary NOUN aiti-274 18 24 and and CCONJ aiti-274 18 25 prismat prismat PROPN aiti-274 18 26 ic ic PROPN aiti-274 18 27 joints joints PROPN aiti-274 18 28 . . PUNCT aiti-274 19 1 scara scara NOUN aiti-274 19 2 robots robot NOUN aiti-274 19 3 may may AUX aiti-274 19 4 vary vary VERB aiti-274 19 5 in in ADP aiti-274 19 6 size size NOUN aiti-274 19 7 and and CCONJ aiti-274 19 8 shape shape NOUN aiti-274 19 9 but but CCONJ aiti-274 19 10 they they PRON aiti-274 19 11 all all PRON aiti-274 19 12 are be AUX aiti-274 19 13 consistent consistent ADJ aiti-274 19 14 in in ADP aiti-274 19 15 a a DET aiti-274 19 16 unique unique ADJ aiti-274 19 17 4 4 NUM aiti-274 19 18 - - PUNCT aiti-274 19 19 axis axis NOUN aiti-274 19 20 motion motion NOUN aiti-274 19 21 [ [ X aiti-274 19 22 2 2 NUM aiti-274 19 23 ] ] PUNCT aiti-274 19 24 . . PUNCT aiti-274 20 1 w w PROPN aiti-274 20 2 ith ith PROPN aiti-274 20 3 this this DET aiti-274 20 4 distinguished distinguished ADJ aiti-274 20 5 feature feature NOUN aiti-274 20 6 , , PUNCT aiti-274 20 7 scara scara NOUN aiti-274 20 8 particularly particularly ADV aiti-274 20 9 fits fit VERB aiti-274 20 10 the the DET aiti-274 20 11 pick pick VERB aiti-274 20 12 - - PUNCT aiti-274 20 13 and and CCONJ aiti-274 20 14 - - PUNCT aiti-274 20 15 place place NOUN aiti-274 20 16 surface surface NOUN aiti-274 20 17 mount mount PROPN aiti-274 20 18 devices device NOUN aiti-274 20 19 on on ADP aiti-274 20 20 pcb pcb NOUN aiti-274 20 21 ( ( PUNCT aiti-274 20 22 printing printing NOUN aiti-274 20 23 circuit circuit NOUN aiti-274 20 24 board board NOUN aiti-274 20 25 ) ) PUNCT aiti-274 20 26 and and CCONJ aiti-274 20 27 move move VERB aiti-274 20 28 - - PUNCT aiti-274 20 29 to to PART aiti-274 20 30 - - PUNCT aiti-274 20 31 take take VERB aiti-274 20 32 delicate delicate ADJ aiti-274 20 33 silicon silicon NOUN aiti-274 20 34 wafers wafer NOUN aiti-274 20 35 or or CCONJ aiti-274 20 36 glass glass NOUN aiti-274 20 37 panels panel NOUN aiti-274 20 38 on on ADP aiti-274 20 39 magazine magazine NOUN aiti-274 20 40 . . PUNCT aiti-274 21 1 scara scara PROPN aiti-274 21 2 robot robot PROPN aiti-274 21 3 was be AUX aiti-274 21 4 introduced introduce VERB aiti-274 21 5 in in ADP aiti-274 21 6 seiko seiko PROPN aiti-274 21 7 watch watch PROPN aiti-274 21 8 assembling assemble VERB aiti-274 21 9 lines line NOUN aiti-274 21 10 in in ADP aiti-274 21 11 1981 1981 NUM aiti-274 21 12 and and CCONJ aiti-274 21 13 since since SCONJ aiti-274 21 14 then then ADV aiti-274 21 15 industrial industrial ADJ aiti-274 21 16 scara scara NOUN aiti-274 21 17 robot robot NOUN aiti-274 21 18 has have AUX aiti-274 21 19 been be AUX aiti-274 21 20 widely widely ADV aiti-274 21 21 used use VERB aiti-274 21 22 in in ADP aiti-274 21 23 electronic electronic ADJ aiti-274 21 24 , , PUNCT aiti-274 21 25 semiconductor semiconductor NOUN aiti-274 21 26 , , PUNCT aiti-274 21 27 automobile automobile NOUN aiti-274 21 28 , , PUNCT aiti-274 21 29 electronic electronic ADJ aiti-274 21 30 , , PUNCT aiti-274 21 31 plastic plastic NOUN aiti-274 21 32 , , PUNCT aiti-274 21 33 food food NOUN aiti-274 21 34 and and CCONJ aiti-274 21 35 pharmaceutical pharmaceutical NOUN aiti-274 21 36 factories factory NOUN aiti-274 22 1 [ [ X aiti-274 22 2 3 3 X aiti-274 22 3 ] ] PUNCT aiti-274 22 4 all all PRON aiti-274 22 5 over over ADP aiti-274 22 6 the the DET aiti-274 22 7 world world NOUN aiti-274 22 8 . . PUNCT aiti-274 23 1 scara scara PROPN aiti-274 23 2 robot robot PROPN aiti-274 23 3 is be AUX aiti-274 23 4 the the DET aiti-274 23 5 principle principle ADJ aiti-274 23 6 use use NOUN aiti-274 23 7 of of ADP aiti-274 23 8 robotics robotic NOUN aiti-274 23 9 field field NOUN aiti-274 23 10 and and CCONJ aiti-274 23 11 most most ADJ aiti-274 23 12 of of ADP aiti-274 23 13 the the DET aiti-274 23 14 domain domain NOUN aiti-274 23 15 of of ADP aiti-274 23 16 robotics robotic NOUN aiti-274 23 17 field field NOUN aiti-274 23 18 is be AUX aiti-274 23 19 on on ADP aiti-274 23 20 industry industry NOUN aiti-274 23 21 and and CCONJ aiti-274 23 22 academia academia NOUN aiti-274 23 23 . . PUNCT aiti-274 24 1 the the DET aiti-274 24 2 control control NOUN aiti-274 24 3 system system NOUN aiti-274 24 4 of of ADP aiti-274 24 5 industrial industrial ADJ aiti-274 24 6 scara scara NOUN aiti-274 24 7 robot robot NOUN aiti-274 24 8 is be AUX aiti-274 24 9 a a DET aiti-274 24 10 highly highly ADV aiti-274 24 11 non non ADJ aiti-274 24 12 - - ADJ aiti-274 24 13 linear linear ADJ aiti-274 24 14 , , PUNCT aiti-274 24 15 * * PUNCT aiti-274 24 16 corresponding correspond VERB aiti-274 24 17 author author NOUN aiti-274 24 18 , , PUNCT aiti-274 24 19 email email NOUN aiti-274 24 20 : : PUNCT aiti-274 24 21 hchsu@isu.edu.tw hchsu@isu.edu.tw NOUN aiti-274 24 22 advances advance VERB aiti-274 24 23 in in ADP aiti-274 24 24 technology technology NOUN aiti-274 24 25 innovation innovation NOUN aiti-274 24 26 , , PUNCT aiti-274 24 27 vol vol NOUN aiti-274 24 28 . . PROPN aiti-274 24 29 2 2 NUM aiti-274 24 30 , , PUNCT aiti-274 24 31 no no INTJ aiti-274 24 32 . . NOUN aiti-274 24 33 2 2 NUM aiti-274 24 34 , , PUNCT aiti-274 24 35 2017 2017 NUM aiti-274 24 36 , , PUNCT aiti-274 24 37 pp pp ADJ aiti-274 24 38 . . PUNCT aiti-274 25 1 40 40 NUM aiti-274 25 2 45 45 NUM aiti-274 25 3 41 41 NUM aiti-274 25 4 copyright copyright NOUN aiti-274 25 5 Β© Β© PROPN aiti-274 25 6 taeti taeti PROPN aiti-274 25 7 strong strong ADJ aiti-274 25 8 coupling coupling NOUN aiti-274 25 9 and and CCONJ aiti-274 25 10 time time NOUN aiti-274 25 11 - - PUNCT aiti-274 25 12 vary vary VERB aiti-274 25 13 ing ing ADJ aiti-274 25 14 systems system NOUN aiti-274 25 15 [ [ X aiti-274 25 16 4 4 NUM aiti-274 25 17 ] ] PUNCT aiti-274 25 18 . . PUNCT aiti-274 25 19 kinemat kinemat PROPN aiti-274 25 20 ics ics PROPN aiti-274 25 21 modeling modeling NOUN aiti-274 25 22 is be AUX aiti-274 25 23 one one NUM aiti-274 25 24 of of ADP aiti-274 25 25 the the DET aiti-274 25 26 key key ADJ aiti-274 25 27 technologies technology NOUN aiti-274 25 28 to to PART aiti-274 25 29 verify verify VERB aiti-274 25 30 the the DET aiti-274 25 31 model model NOUN aiti-274 25 32 . . PUNCT aiti-274 26 1 many many ADJ aiti-274 26 2 researchers researcher NOUN aiti-274 26 3 and and CCONJ aiti-274 26 4 engineers engineer NOUN aiti-274 26 5 [ [ X aiti-274 26 6 5 5 NUM aiti-274 26 7 - - SYM aiti-274 26 8 6 6 NUM aiti-274 26 9 ] ] PUNCT aiti-274 26 10 have have AUX aiti-274 26 11 presented present VERB aiti-274 26 12 the the DET aiti-274 26 13 manipulating manipulate VERB aiti-274 26 14 ability ability NOUN aiti-274 26 15 of of ADP aiti-274 26 16 robotic robotic ADJ aiti-274 26 17 mechanis mechani NOUN aiti-274 26 18 ms ms NOUN aiti-274 26 19 in in ADP aiti-274 26 20 pos pos NOUN aiti-274 26 21 itioning itione VERB aiti-274 26 22 and and CCONJ aiti-274 26 23 orienting orient VERB aiti-274 26 24 end end NOUN aiti-274 26 25 - - PUNCT aiti-274 26 26 effectors effector NOUN aiti-274 26 27 and and CCONJ aiti-274 26 28 propose propose VERB aiti-274 26 29 a a DET aiti-274 26 30 measure measure NOUN aiti-274 26 31 of of ADP aiti-274 26 32 manipulability manipulability NOUN aiti-274 26 33 . . PUNCT aiti-274 27 1 the the DET aiti-274 27 2 motion motion NOUN aiti-274 27 3 trajectory trajectory NOUN aiti-274 27 4 of of ADP aiti-274 27 5 a a DET aiti-274 27 6 robot robot NOUN aiti-274 27 7 arm arm NOUN aiti-274 27 8 is be AUX aiti-274 27 9 calcu calcu NOUN aiti-274 27 10 lated late VERB aiti-274 27 11 using use VERB aiti-274 27 12 the the DET aiti-274 27 13 geometric geometric ADJ aiti-274 27 14 analysis analysis NOUN aiti-274 27 15 . . PUNCT aiti-274 28 1 the the DET aiti-274 28 2 pid pid NOUN aiti-274 28 3 control control NOUN aiti-274 28 4 techniques technique NOUN aiti-274 28 5 [ [ X aiti-274 28 6 7 7 X aiti-274 28 7 ] ] PUNCT aiti-274 28 8 have have AUX aiti-274 28 9 been be AUX aiti-274 28 10 proposed propose VERB aiti-274 28 11 to to PART aiti-274 28 12 solve solve VERB aiti-274 28 13 the the DET aiti-274 28 14 nonlinearity nonlinearity NOUN aiti-274 28 15 issue issue NOUN aiti-274 28 16 with with ADP aiti-274 28 17 acceptable acceptable ADJ aiti-274 28 18 results result NOUN aiti-274 28 19 to to PART aiti-274 28 20 control control VERB aiti-274 28 21 the the DET aiti-274 28 22 movement movement NOUN aiti-274 28 23 of of ADP aiti-274 28 24 robot robot NOUN aiti-274 28 25 arms arm NOUN aiti-274 28 26 . . PUNCT aiti-274 29 1 the the DET aiti-274 29 2 motion motion NOUN aiti-274 29 3 trajectory trajectory NOUN aiti-274 29 4 of of ADP aiti-274 29 5 a a DET aiti-274 29 6 robot robot NOUN aiti-274 29 7 arms arm NOUN aiti-274 29 8 is be AUX aiti-274 29 9 calcu calcu NOUN aiti-274 29 10 lated late VERB aiti-274 29 11 using use VERB aiti-274 29 12 the the DET aiti-274 29 13 geometric geometric ADJ aiti-274 29 14 analysis analysis NOUN aiti-274 29 15 with with ADP aiti-274 29 16 matlab matlab PROPN aiti-274 29 17 software software NOUN aiti-274 29 18 . . PUNCT aiti-274 30 1 the the DET aiti-274 30 2 performance performance NOUN aiti-274 30 3 of of ADP aiti-274 30 4 industrial industrial ADJ aiti-274 30 5 heavy heavy ADJ aiti-274 30 6 duty duty NOUN aiti-274 30 7 robots robot NOUN aiti-274 30 8 working work VERB aiti-274 30 9 in in ADP aiti-274 30 10 unstructured unstructured ADJ aiti-274 30 11 environments environment NOUN aiti-274 30 12 can can AUX aiti-274 30 13 be be AUX aiti-274 30 14 improved improve VERB aiti-274 30 15 using use VERB aiti-274 30 16 visual visual ADJ aiti-274 30 17 perception perception NOUN aiti-274 30 18 and and CCONJ aiti-274 30 19 learning learn VERB aiti-274 30 20 techniques technique NOUN aiti-274 30 21 [ [ X aiti-274 30 22 7 7 NUM aiti-274 30 23 - - SYM aiti-274 30 24 10 10 NUM aiti-274 30 25 ] ] PUNCT aiti-274 30 26 . . PUNCT aiti-274 31 1 the the DET aiti-274 31 2 object object NOUN aiti-274 31 3 recognition recognition NOUN aiti-274 31 4 is be AUX aiti-274 31 5 accomplished accomplish VERB aiti-274 31 6 using use VERB aiti-274 31 7 an an DET aiti-274 31 8 artificial artificial ADJ aiti-274 31 9 neural neural ADJ aiti-274 31 10 network network NOUN aiti-274 31 11 ( ( PUNCT aiti-274 31 12 ann ann PROPN aiti-274 31 13 ) ) PUNCT aiti-274 31 14 arch arch ADJ aiti-274 31 15 itecture itecture NOUN aiti-274 31 16 . . PUNCT aiti-274 32 1 a a DET aiti-274 32 2 novel novel ADJ aiti-274 32 3 technique technique NOUN aiti-274 32 4 used use VERB aiti-274 32 5 in in ADP aiti-274 32 6 the the DET aiti-274 32 7 assembly assembly NOUN aiti-274 32 8 lines line NOUN aiti-274 32 9 integrates integrate VERB aiti-274 32 10 computer computer NOUN aiti-274 32 11 vision vision NOUN aiti-274 32 12 to to PART aiti-274 32 13 capture capture VERB aiti-274 32 14 the the DET aiti-274 32 15 shape shape NOUN aiti-274 32 16 of of ADP aiti-274 32 17 the the DET aiti-274 32 18 objects object NOUN aiti-274 32 19 , , PUNCT aiti-274 32 20 online online ADJ aiti-274 32 21 grasp grasp NOUN aiti-274 32 22 determination determination NOUN aiti-274 32 23 based base VERB aiti-274 32 24 on on ADP aiti-274 32 25 that that DET aiti-274 32 26 shape shape NOUN aiti-274 32 27 , , PUNCT aiti-274 32 28 and and CCONJ aiti-274 32 29 image image NOUN aiti-274 32 30 - - PUNCT aiti-274 32 31 based base VERB aiti-274 32 32 control control NOUN aiti-274 32 33 for for ADP aiti-274 32 34 grasp grasp NOUN aiti-274 32 35 execution execution NOUN aiti-274 32 36 . . PUNCT aiti-274 33 1 visual visual ADJ aiti-274 33 2 servoing servoe VERB aiti-274 33 3 system system NOUN aiti-274 33 4 [ [ X aiti-274 33 5 8 8 NUM aiti-274 33 6 ] ] PUNCT aiti-274 33 7 consists consist VERB aiti-274 33 8 of of ADP aiti-274 33 9 high high ADJ aiti-274 33 10 - - PUNCT aiti-274 33 11 speed speed NOUN aiti-274 33 12 image image NOUN aiti-274 33 13 processing processing NOUN aiti-274 33 14 , , PUNCT aiti-274 33 15 kinematics kinematic NOUN aiti-274 33 16 , , PUNCT aiti-274 33 17 dynamics dynamic NOUN aiti-274 33 18 , , PUNCT aiti-274 33 19 control control NOUN aiti-274 33 20 theory theory NOUN aiti-274 33 21 , , PUNCT aiti-274 33 22 and and CCONJ aiti-274 33 23 real real ADJ aiti-274 33 24 - - PUNCT aiti-274 33 25 time time NOUN aiti-274 33 26 computing computing NOUN aiti-274 33 27 to to PART aiti-274 33 28 control control VERB aiti-274 33 29 the the DET aiti-274 33 30 position position NOUN aiti-274 33 31 and and CCONJ aiti-274 33 32 orientation orientation NOUN aiti-274 33 33 of of ADP aiti-274 33 34 a a DET aiti-274 33 35 robot robot NOUN aiti-274 33 36 with with ADP aiti-274 33 37 respect respect NOUN aiti-274 33 38 to to ADP aiti-274 33 39 an an DET aiti-274 33 40 object object NOUN aiti-274 33 41 . . PUNCT aiti-274 34 1 furthermore furthermore ADV aiti-274 34 2 , , PUNCT aiti-274 34 3 the the DET aiti-274 34 4 color color NOUN aiti-274 34 5 of of ADP aiti-274 34 6 objects object NOUN aiti-274 34 7 could could AUX aiti-274 34 8 also also ADV aiti-274 34 9 be be AUX aiti-274 34 10 considered consider VERB aiti-274 34 11 and and CCONJ aiti-274 34 12 included include VERB aiti-274 34 13 in in ADP aiti-274 34 14 the the DET aiti-274 34 15 image image NOUN aiti-274 34 16 - - PUNCT aiti-274 34 17 base base NOUN aiti-274 34 18 system system NOUN aiti-274 34 19 . . PUNCT aiti-274 35 1 the the DET aiti-274 35 2 developed develop VERB aiti-274 35 3 image image NOUN aiti-274 35 4 processing processing NOUN aiti-274 35 5 and and CCONJ aiti-274 35 6 workpiece workpiece NOUN aiti-274 35 7 recognition recognition NOUN aiti-274 35 8 algorithm algorithm NOUN aiti-274 35 9 is be AUX aiti-274 35 10 based base VERB aiti-274 35 11 on on ADP aiti-274 35 12 labview labview PROPN aiti-274 35 13 vision vision PROPN aiti-274 35 14 development development NOUN aiti-274 35 15 module module NOUN aiti-274 35 16 [ [ X aiti-274 35 17 9 9 NUM aiti-274 35 18 ] ] PUNCT aiti-274 35 19 . . PUNCT aiti-274 36 1 later later ADV aiti-274 36 2 , , PUNCT aiti-274 36 3 like like ADP aiti-274 36 4 two two NUM aiti-274 36 5 eyes eye NOUN aiti-274 36 6 on on ADP aiti-274 36 7 human human ADJ aiti-274 36 8 , , PUNCT aiti-274 36 9 two two NUM aiti-274 36 10 cameras camera NOUN aiti-274 36 11 are be AUX aiti-274 36 12 developed develop VERB aiti-274 36 13 to to PART aiti-274 36 14 detect detect VERB aiti-274 36 15 the the DET aiti-274 36 16 robotic robotic ADJ aiti-274 36 17 arm arm NOUN aiti-274 36 18 movement movement NOUN aiti-274 36 19 in in ADP aiti-274 36 20 3 3 NUM aiti-274 36 21 - - PUNCT aiti-274 36 22 d d NOUN aiti-274 36 23 space space NOUN aiti-274 36 24 . . PUNCT aiti-274 37 1 in in ADP aiti-274 37 2 this this DET aiti-274 37 3 system system NOUN aiti-274 37 4 , , PUNCT aiti-274 37 5 the the DET aiti-274 37 6 robotic robotic ADJ aiti-274 37 7 arm arm NOUN aiti-274 37 8 is be AUX aiti-274 37 9 controlled control VERB aiti-274 37 10 and and CCONJ aiti-274 37 11 moved move VERB aiti-274 37 12 , , PUNCT aiti-274 37 13 and and CCONJ aiti-274 37 14 after after SCONJ aiti-274 37 15 mathematic mathematic ADJ aiti-274 37 16 calcu calcu NOUN aiti-274 37 17 lations lation VERB aiti-274 37 18 the the DET aiti-274 37 19 precise precise ADJ aiti-274 37 20 position position NOUN aiti-274 37 21 of of ADP aiti-274 37 22 the the DET aiti-274 37 23 motors motor NOUN aiti-274 37 24 is be AUX aiti-274 37 25 calculated calculate VERB aiti-274 37 26 to to PART aiti-274 37 27 reach reach VERB aiti-274 37 28 the the DET aiti-274 37 29 designated designate VERB aiti-274 37 30 position position NOUN aiti-274 37 31 [ [ X aiti-274 37 32 10 10 NUM aiti-274 37 33 ] ] PUNCT aiti-274 37 34 . . PUNCT aiti-274 38 1 the the DET aiti-274 38 2 automation automation NOUN aiti-274 38 3 in in ADP aiti-274 38 4 surface surface NOUN aiti-274 38 5 mount mount PROPN aiti-274 38 6 precision precision PROPN aiti-274 38 7 assembly assembly NOUN aiti-274 38 8 lines line NOUN aiti-274 38 9 often often ADV aiti-274 38 10 consists consist VERB aiti-274 38 11 of of ADP aiti-274 38 12 scara scara NOUN aiti-274 38 13 robots robot NOUN aiti-274 38 14 equipped equip VERB aiti-274 38 15 with with ADP aiti-274 38 16 grippers gripper NOUN aiti-274 38 17 , , PUNCT aiti-274 38 18 image image NOUN aiti-274 38 19 v v ADP aiti-274 38 20 ision ision NOUN aiti-274 38 21 system system NOUN aiti-274 38 22 and and CCONJ aiti-274 38 23 linked link VERB aiti-274 38 24 by by ADP aiti-274 38 25 motorized motorized ADJ aiti-274 38 26 conveyances conveyance NOUN aiti-274 38 27 . . PUNCT aiti-274 39 1 in in ADP aiti-274 39 2 this this DET aiti-274 39 3 system system NOUN aiti-274 39 4 , , PUNCT aiti-274 39 5 the the DET aiti-274 39 6 combination combination NOUN aiti-274 39 7 of of ADP aiti-274 39 8 high high ADJ aiti-274 39 9 performance performance NOUN aiti-274 39 10 motion motion NOUN aiti-274 39 11 control control NOUN aiti-274 39 12 with with ADP aiti-274 39 13 integrated integrate VERB aiti-274 39 14 vision vision NOUN aiti-274 39 15 guidance guidance NOUN aiti-274 39 16 and and CCONJ aiti-274 39 17 conveyor conveyor NOUN aiti-274 39 18 tracking tracking NOUN aiti-274 39 19 are be AUX aiti-274 39 20 demonstrated demonstrate VERB aiti-274 39 21 . . PUNCT aiti-274 40 1 the the DET aiti-274 40 2 robotic robotic ADJ aiti-274 40 3 arms arm NOUN aiti-274 40 4 are be AUX aiti-274 40 5 used use VERB aiti-274 40 6 for for ADP aiti-274 40 7 the the DET aiti-274 40 8 pick pick VERB aiti-274 40 9 - - PUNCT aiti-274 40 10 and and CCONJ aiti-274 40 11 - - PUNCT aiti-274 40 12 place place NOUN aiti-274 40 13 of of ADP aiti-274 40 14 the the DET aiti-274 40 15 smt smt PROPN aiti-274 40 16 components component NOUN aiti-274 40 17 . . PUNCT aiti-274 41 1 the the DET aiti-274 41 2 placement placement NOUN aiti-274 41 3 system system NOUN aiti-274 41 4 on on ADP aiti-274 41 5 printed print VERB aiti-274 41 6 circuit circuit NOUN aiti-274 41 7 board board NOUN aiti-274 41 8 ( ( PUNCT aiti-274 41 9 pcb pcb PROPN aiti-274 41 10 ) ) PUNCT aiti-274 41 11 is be AUX aiti-274 41 12 mainly mainly ADV aiti-274 41 13 influenced influence VERB aiti-274 41 14 by by ADP aiti-274 41 15 the the DET aiti-274 41 16 surface surface NOUN aiti-274 41 17 mount mount NOUN aiti-274 41 18 device device NOUN aiti-274 41 19 ( ( PUNCT aiti-274 41 20 smd smd NOUN aiti-274 41 21 ) ) PUNCT aiti-274 41 22 robots robot NOUN aiti-274 41 23 and and CCONJ aiti-274 41 24 the the DET aiti-274 41 25 production production NOUN aiti-274 41 26 environment environment NOUN aiti-274 41 27 in in ADP aiti-274 41 28 assembly assembly NOUN aiti-274 41 29 line line NOUN aiti-274 41 30 . . PUNCT aiti-274 42 1 temperature temperature NOUN aiti-274 42 2 on on ADP aiti-274 42 3 the the DET aiti-274 42 4 reflow reflow NOUN aiti-274 42 5 process process NOUN aiti-274 42 6 is be AUX aiti-274 42 7 often often ADV aiti-274 42 8 above above ADP aiti-274 42 9 250 250 NUM aiti-274 42 10 o o NOUN aiti-274 42 11 c c NOUN aiti-274 42 12 which which PRON aiti-274 42 13 easily easily ADV aiti-274 42 14 distorts distort VERB aiti-274 42 15 the the DET aiti-274 42 16 tray tray NOUN aiti-274 42 17 . . PUNCT aiti-274 43 1 the the DET aiti-274 43 2 deformed deform VERB aiti-274 43 3 tray tray NOUN aiti-274 43 4 would would AUX aiti-274 43 5 result result VERB aiti-274 43 6 in in ADP aiti-274 43 7 misalignment misalignment NOUN aiti-274 43 8 of of ADP aiti-274 43 9 the the DET aiti-274 43 10 placement placement NOUN aiti-274 43 11 system system NOUN aiti-274 43 12 . . PUNCT aiti-274 44 1 the the DET aiti-274 44 2 yield yield NOUN aiti-274 44 3 rate rate NOUN aiti-274 44 4 is be AUX aiti-274 44 5 consequently consequently ADV aiti-274 44 6 descended descend VERB aiti-274 44 7 and and CCONJ aiti-274 44 8 the the DET aiti-274 44 9 cost cost NOUN aiti-274 44 10 would would AUX aiti-274 44 11 be be AUX aiti-274 44 12 enormous enormous ADJ aiti-274 44 13 . . PUNCT aiti-274 45 1 the the DET aiti-274 45 2 purpose purpose NOUN aiti-274 45 3 of of ADP aiti-274 45 4 this this DET aiti-274 45 5 paper paper NOUN aiti-274 45 6 is be AUX aiti-274 45 7 to to PART aiti-274 45 8 improve improve VERB aiti-274 45 9 the the DET aiti-274 45 10 accuracy accuracy NOUN aiti-274 45 11 of of ADP aiti-274 45 12 the the DET aiti-274 45 13 placement placement NOUN aiti-274 45 14 system system NOUN aiti-274 45 15 on on ADP aiti-274 45 16 pcb pcb NOUN aiti-274 45 17 during during ADP aiti-274 45 18 surface surface NOUN aiti-274 45 19 mount mount PROPN aiti-274 45 20 process process NOUN aiti-274 45 21 . . PUNCT aiti-274 46 1 coordinate coordinate VERB aiti-274 46 2 auto auto NOUN aiti-274 46 3 - - PUNCT aiti-274 46 4 compensation compensation NOUN aiti-274 46 5 technique technique NOUN aiti-274 46 6 on on ADP aiti-274 46 7 deformed deform VERB aiti-274 46 8 t t PROPN aiti-274 46 9 ray ray NOUN aiti-274 46 10 is be AUX aiti-274 46 11 developed develop VERB aiti-274 46 12 to to PART aiti-274 46 13 control control VERB aiti-274 46 14 the the DET aiti-274 46 15 position position NOUN aiti-274 46 16 of of ADP aiti-274 46 17 scara scara NOUN aiti-274 46 18 robots robot NOUN aiti-274 46 19 equipped equip VERB aiti-274 46 20 with with ADP aiti-274 46 21 image image NOUN aiti-274 46 22 vision vision NOUN aiti-274 46 23 system system NOUN aiti-274 46 24 . . PUNCT aiti-274 47 1 robotic robotic ADJ aiti-274 47 2 movement movement NOUN aiti-274 47 3 and and CCONJ aiti-274 47 4 position position NOUN aiti-274 47 5 control control NOUN aiti-274 47 6 are be AUX aiti-274 47 7 calculated calculate VERB aiti-274 47 8 based base VERB aiti-274 47 9 on on ADP aiti-274 47 10 forward forward ADV aiti-274 47 11 and and CCONJ aiti-274 47 12 inverse inverse ADJ aiti-274 47 13 kinematics kinematic NOUN aiti-274 47 14 . . PUNCT aiti-274 48 1 2 2 X aiti-274 48 2 . . X aiti-274 48 3 theoretical theoretical ADJ aiti-274 48 4 development development NOUN aiti-274 48 5 fig fig NOUN aiti-274 48 6 . . PUNCT aiti-274 49 1 2 2 NUM aiti-274 49 2 illustrates illustrate VERB aiti-274 49 3 the the DET aiti-274 49 4 coordinate coordinate NOUN aiti-274 49 5 system system NOUN aiti-274 49 6 of of ADP aiti-274 49 7 random random ADJ aiti-274 49 8 point point NOUN aiti-274 49 9 located locate VERB aiti-274 49 10 on on ADP aiti-274 49 11 pcb pcb PROPN aiti-274 49 12 ( ( PUNCT aiti-274 49 13 x x X aiti-274 49 14 , , PUNCT aiti-274 49 15 y y PROPN aiti-274 49 16 ) ) PUNCT aiti-274 49 17 with with ADP aiti-274 49 18 respect respect NOUN aiti-274 49 19 to to ADP aiti-274 49 20 robotic robotic ADJ aiti-274 49 21 arm arm NOUN aiti-274 49 22 . . PUNCT aiti-274 50 1 fig fig NOUN aiti-274 50 2 . . PUNCT aiti-274 51 1 2 2 NUM aiti-274 51 2 random random ADJ aiti-274 51 3 point point NOUN aiti-274 51 4 ( ( PUNCT aiti-274 51 5 x x NOUN aiti-274 51 6 , , PUNCT aiti-274 51 7 y y NOUN aiti-274 51 8 ) ) PUNCT aiti-274 51 9 on on ADP aiti-274 51 10 pcb pcb PROPN aiti-274 51 11 2.1 2.1 NUM aiti-274 51 12 . . PUNCT aiti-274 52 1 forward forward ADJ aiti-274 52 2 kinematics kinematic NOUN aiti-274 52 3 location location NOUN aiti-274 52 4 of of ADP aiti-274 52 5 end end NOUN aiti-274 52 6 effector effector NOUN aiti-274 52 7 can can AUX aiti-274 52 8 be be AUX aiti-274 52 9 determined determine VERB aiti-274 52 10 by by ADP aiti-274 52 11 the the DET aiti-274 52 12 length length NOUN aiti-274 52 13 of of ADP aiti-274 52 14 robotic robotic ADJ aiti-274 52 15 arm arm NOUN aiti-274 52 16 and and CCONJ aiti-274 52 17 rotation rotation NOUN aiti-274 52 18 angle angle NOUN aiti-274 52 19 of of ADP aiti-274 52 20 each each DET aiti-274 52 21 axis axis NOUN aiti-274 52 22 𝑋 𝑋 NOUN aiti-274 52 23 = = SYM aiti-274 52 24 𝐿1π‘π‘œπ‘ πœƒ1 𝐿1π‘π‘œπ‘ πœƒ1 NOUN aiti-274 52 25 + + CCONJ aiti-274 52 26 𝐿2π‘π‘œπ‘ (πœƒ1 𝐿2π‘π‘œπ‘ (πœƒ1 ADJ aiti-274 52 27 + + CCONJ aiti-274 52 28 πœƒ2 πœƒ2 NOUN aiti-274 52 29 ) ) PUNCT aiti-274 52 30 ( ( PUNCT aiti-274 52 31 1 1 X aiti-274 52 32 ) ) PUNCT aiti-274 52 33 π‘Œ π‘Œ PROPN aiti-274 52 34 = = PUNCT aiti-274 52 35 𝐿1π‘ π‘–π‘›πœƒ1 𝐿1π‘ π‘–π‘›πœƒ1 ADJ aiti-274 52 36 + + CCONJ aiti-274 52 37 𝐿2𝑠𝑖𝑛(πœƒ1 𝐿2𝑠𝑖𝑛(πœƒ1 ADV aiti-274 52 38 + + CCONJ aiti-274 52 39 πœƒ2 πœƒ2 NOUN aiti-274 52 40 ) ) PUNCT aiti-274 52 41 ( ( PUNCT aiti-274 52 42 2 2 X aiti-274 52 43 ) ) PUNCT aiti-274 52 44 where where SCONJ aiti-274 52 45 l1 l1 PROPN aiti-274 52 46 , , PUNCT aiti-274 52 47 l2 l2 NOUN aiti-274 52 48 are be AUX aiti-274 52 49 robotic robotic ADJ aiti-274 52 50 arm arm NOUN aiti-274 52 51 length length NOUN aiti-274 52 52 , , PUNCT aiti-274 52 53 and and CCONJ aiti-274 52 54 1 1 NOUN aiti-274 52 55 , , PUNCT aiti-274 52 56 2 2 NOUN aiti-274 52 57 are be AUX aiti-274 52 58 rotation rotation NOUN aiti-274 52 59 angle angle NOUN aiti-274 52 60 of of ADP aiti-274 52 61 each each DET aiti-274 52 62 axis axis NOUN aiti-274 52 63 advances advance NOUN aiti-274 52 64 in in ADP aiti-274 52 65 technology technology NOUN aiti-274 52 66 innovation innovation NOUN aiti-274 52 67 , , PUNCT aiti-274 52 68 vol vol NOUN aiti-274 52 69 . . PROPN aiti-274 53 1 2 2 NUM aiti-274 53 2 , , PUNCT aiti-274 53 3 no no INTJ aiti-274 53 4 . . NOUN aiti-274 53 5 2 2 NUM aiti-274 53 6 , , PUNCT aiti-274 53 7 2017 2017 NUM aiti-274 53 8 , , PUNCT aiti-274 53 9 pp pp ADJ aiti-274 53 10 . . PUNCT aiti-274 54 1 40 40 NUM aiti-274 54 2 45 45 NUM aiti-274 54 3 42 42 NUM aiti-274 54 4 copyright copyright NOUN aiti-274 54 5 Β© Β© PROPN aiti-274 54 6 taeti taeti PROPN aiti-274 54 7 2.2 2.2 NUM aiti-274 54 8 . . PUNCT aiti-274 55 1 inverse inverse PROPN aiti-274 55 2 kinematics kinematics PROPN aiti-274 55 3 rotation rotation NOUN aiti-274 55 4 angle angle NOUN aiti-274 55 5 of of ADP aiti-274 55 6 each each DET aiti-274 55 7 axis axis NOUN aiti-274 55 8 can can AUX aiti-274 55 9 be be AUX aiti-274 55 10 determined determine VERB aiti-274 55 11 by by ADP aiti-274 55 12 the the DET aiti-274 55 13 coordinate coordinate NOUN aiti-274 55 14 system system NOUN aiti-274 55 15 of of ADP aiti-274 55 16 end end NOUN aiti-274 55 17 point point NOUN aiti-274 55 18 . . PUNCT aiti-274 56 1 2 2 NUM aiti-274 56 2 2 2 NUM aiti-274 56 3 2 2 NUM aiti-274 56 4 2 2 NUM aiti-274 56 5 1 1 NUM aiti-274 56 6 1 1 NUM aiti-274 56 7 2 2 NUM aiti-274 56 8 2 2 NUM aiti-274 56 9 1 1 NUM aiti-274 56 10 2 2 NUM aiti-274 56 11 cos cos ADP aiti-274 56 12 2 2 NUM aiti-274 56 13 x x SYM aiti-274 56 14 y y NOUN aiti-274 56 15 l l NOUN aiti-274 56 16 l l NOUN aiti-274 56 17 l l X aiti-274 56 18 l l X aiti-274 56 19   X aiti-274 56 20 ο€­ ο€­ PROPN aiti-274 56 21   VERB aiti-274 56 22 ο€­ ο€­ PROPN aiti-274 56 23 ο€­ ο€­ PROPN aiti-274 56 24 ο€½ ο€½ NUM aiti-274 56 25 ( ( PUNCT aiti-274 56 26 3 3 NUM aiti-274 56 27 ) ) PUNCT aiti-274 56 28   NOUN aiti-274 56 29   SYM aiti-274 56 30   NOUN aiti-274 56 31   NOUN aiti-274 56 32 1 1 NUM aiti-274 56 33 2 2 NUM aiti-274 56 34 21 21 NUM aiti-274 56 35 1 1 NUM aiti-274 56 36 1 1 NUM aiti-274 56 37 2 2 NUM aiti-274 56 38 2 2 NUM aiti-274 56 39 Β  Β  SPACE aiti-274 56 40 tan tan PROPN aiti-274 56 41 tan tan PROPN aiti-274 56 42 l l PROPN aiti-274 56 43 siny siny ADJ aiti-274 56 44 x x X aiti-274 56 45 l l NOUN aiti-274 56 46 l l X aiti-274 56 47 cos cos PROPN aiti-274 56 48   PROPN aiti-274 56 49   PROPN aiti-274 56 50   X aiti-274 56 51   PROPN aiti-274 56 52   PROPN aiti-274 56 53 ο€­ ο€­ PROPN aiti-274 56 54 ο€­ ο€­ PROPN aiti-274 56 55 ο€½ ο€½ NUM aiti-274 56 56 ο€­ ο€­ PROPN aiti-274 56 57   NOUN aiti-274 57 1   PROPN aiti-274 57 2 οƒΆ οƒΆ PROPN aiti-274 57 3 ο€½ ο€½ PROPN aiti-274 57 4 ο€­ ο€­ PROPN aiti-274 57 5   PROPN aiti-274 57 6   NOUN aiti-274 58 1 οƒ· οƒ· PROPN aiti-274 58 2   ADJ aiti-274 58 3   PROPN aiti-274 58 4 οƒΈ οƒΈ NOUN aiti-274 58 5   PROPN aiti-274 58 6 οƒΈ οƒΈ NOUN aiti-274 58 7 ( ( PUNCT aiti-274 58 8 4 4 NUM aiti-274 58 9 ) ) PUNCT aiti-274 58 10 2.3 2.3 NUM aiti-274 58 11 . . PUNCT aiti-274 59 1 compensation compensation NOUN aiti-274 59 2 for for ADP aiti-274 59 3 image image NOUN aiti-274 59 4 and and CCONJ aiti-274 59 5 distance distance NOUN aiti-274 59 6 coordinate coordinate NOUN aiti-274 59 7 fig fig NOUN aiti-274 59 8 . . PUNCT aiti-274 60 1 3 3 NUM aiti-274 60 2 demonstrates demonstrate VERB aiti-274 60 3 the the DET aiti-274 60 4 captured capture VERB aiti-274 60 5 image image NOUN aiti-274 60 6 of of ADP aiti-274 60 7 pixel pixel NOUN aiti-274 60 8 with with ADP aiti-274 60 9 respect respect NOUN aiti-274 60 10 to to ADP aiti-274 60 11 distance distance NOUN aiti-274 60 12 ( ( PUNCT aiti-274 60 13 1 1 NUM aiti-274 60 14 pixel pixel NOUN aiti-274 60 15 equals equal VERB aiti-274 60 16 to to ADP aiti-274 60 17 0.01 0.01 NUM aiti-274 60 18 mm mm NOUN aiti-274 60 19 ) ) PUNCT aiti-274 60 20 . . PUNCT aiti-274 61 1 the the DET aiti-274 61 2 origin origin NOUN aiti-274 61 3 o o NOUN aiti-274 61 4 f f PROPN aiti-274 61 5 d d X aiti-274 61 6 istance istance PROPN aiti-274 61 7 coordinate coordinate NOUN aiti-274 61 8 is be AUX aiti-274 61 9 located locate VERB aiti-274 61 10 in in ADP aiti-274 61 11 the the DET aiti-274 61 12 center center NOUN aiti-274 61 13 of of ADP aiti-274 61 14 image image NOUN aiti-274 61 15 coordinate coordinate NOUN aiti-274 61 16 and and CCONJ aiti-274 61 17 then then ADV aiti-274 61 18 pixel pixel PROPN aiti-274 61 19 ( ( PUNCT aiti-274 61 20 320 320 NUM aiti-274 61 21 , , PUNCT aiti-274 61 22 240 240 NUM aiti-274 61 23 ) ) PUNCT aiti-274 61 24 would would AUX aiti-274 61 25 be be AUX aiti-274 61 26 the the DET aiti-274 61 27 same same ADJ aiti-274 61 28 as as ADP aiti-274 61 29 distance distance NOUN aiti-274 61 30 ( ( PUNCT aiti-274 61 31 3.2 3.2 NUM aiti-274 61 32 mm mm NOUN aiti-274 61 33 , , PUNCT aiti-274 61 34 2.4 2.4 NUM aiti-274 61 35 mm mm NOUN aiti-274 61 36 ) ) PUNCT aiti-274 61 37 . . PUNCT aiti-274 62 1 fig fig NOUN aiti-274 62 2 . . PUNCT aiti-274 63 1 3 3 NUM aiti-274 63 2 image image NOUN aiti-274 63 3 / / SYM aiti-274 63 4 distance distance NOUN aiti-274 63 5 coordinate coordinate NOUN aiti-274 63 6 system system NOUN aiti-274 63 7 2.4 2.4 NUM aiti-274 63 8 . . PUNCT aiti-274 64 1 compensation compensation NOUN aiti-274 64 2 for for ADP aiti-274 64 3 deformed deform VERB aiti-274 64 4 pcb pcb NOUN aiti-274 64 5 tray tray NOUN aiti-274 64 6 coordinate coordinate NOUN aiti-274 64 7 fig fig NOUN aiti-274 64 8 . . PUNCT aiti-274 65 1 4 4 NUM aiti-274 65 2 presents present VERB aiti-274 65 3 the the DET aiti-274 65 4 compensation compensation NOUN aiti-274 65 5 for for ADP aiti-274 65 6 deformed deform VERB aiti-274 65 7 pcb pcb NOUN aiti-274 65 8 tray tray NOUN aiti-274 65 9 coordinate coordinate NOUN aiti-274 65 10 . . PUNCT aiti-274 66 1 assuming assume VERB aiti-274 66 2 the the DET aiti-274 66 3 pcb pcb NOUN aiti-274 66 4 tray tray NOUN aiti-274 66 5 offset offset VERB aiti-274 66 6 1 1 NUM aiti-274 66 7 mm mm NOUN aiti-274 66 8 due due ADP aiti-274 66 9 to to ADP aiti-274 66 10 thermal thermal ADJ aiti-274 66 11 induced induced ADJ aiti-274 66 12 warpage warpage NOUN aiti-274 66 13 , , PUNCT aiti-274 66 14 the the DET aiti-274 66 15 coordinate coordinate NOUN aiti-274 66 16 of of ADP aiti-274 66 17 random random ADJ aiti-274 66 18 point point NOUN aiti-274 66 19 in in ADP aiti-274 66 20 image image NOUN aiti-274 66 21 capture capture NOUN aiti-274 66 22 system system NOUN aiti-274 66 23 is be AUX aiti-274 66 24 determined determine VERB aiti-274 66 25 . . PUNCT aiti-274 67 1 𝑋2 𝑋2 PROPN aiti-274 67 2 = = PUNCT aiti-274 68 1 𝑃𝐢𝐡 𝑃𝐢𝐡 PROPN aiti-274 68 2 𝑋 𝑋 PROPN aiti-274 68 3 + + CCONJ aiti-274 68 4 𝑃𝑖π‘₯𝑒𝑙 𝑃𝑖π‘₯𝑒𝑙 PROPN aiti-274 68 5 𝑋 𝑋 NOUN aiti-274 68 6 ( ( PUNCT aiti-274 68 7 5 5 NUM aiti-274 68 8 ) ) PUNCT aiti-274 68 9 π‘Œ2 π‘Œ2 NOUN aiti-274 68 10 = = PUNCT aiti-274 68 11 𝑃𝐢𝐡 𝑃𝐢𝐡 PROPN aiti-274 68 12 π‘Œ π‘Œ PROPN aiti-274 68 13 + + CCONJ aiti-274 68 14 𝑃𝑖π‘₯𝑒𝑙 𝑃𝑖π‘₯𝑒𝑙 PROPN aiti-274 68 15 π‘Œ π‘Œ PROPN aiti-274 68 16 ( ( PUNCT aiti-274 68 17 6 6 NUM aiti-274 68 18 ) ) PUNCT aiti-274 68 19 where where SCONJ aiti-274 68 20 x1=28.2 x1=28.2 NOUN aiti-274 68 21 , , PUNCT aiti-274 68 22 y1=52.4 y1=52.4 PROPN aiti-274 68 23 are be AUX aiti-274 68 24 system system NOUN aiti-274 68 25 default default NOUN aiti-274 68 26 parameters parameter NOUN aiti-274 68 27 . . PUNCT aiti-274 69 1 after after ADP aiti-274 69 2 mathemat mathemat PROPN aiti-274 69 3 ical ical PROPN aiti-274 69 4 calculation calculation NOUN aiti-274 69 5 , , PUNCT aiti-274 69 6 the the DET aiti-274 69 7 placement placement NOUN aiti-274 69 8 coordinates coordinate NOUN aiti-274 69 9 are be AUX aiti-274 69 10 𝑋 𝑋 PROPN aiti-274 69 11 = = PUNCT aiti-274 69 12 𝑋2 𝑋2 VERB aiti-274 69 13 βˆ’ βˆ’ PROPN aiti-274 69 14 𝑋1 𝑋1 PROPN aiti-274 69 15 ( ( PUNCT aiti-274 69 16 7 7 NUM aiti-274 69 17 ) ) PUNCT aiti-274 69 18 π‘Œ π‘Œ PROPN aiti-274 69 19 = = PUNCT aiti-274 69 20 π‘Œ2 π‘Œ2 NOUN aiti-274 69 21 βˆ’ βˆ’ PROPN aiti-274 70 1 π‘Œ1 π‘Œ1 PROPN aiti-274 70 2 ( ( PUNCT aiti-274 70 3 8) 8) NUM aiti-274 70 4 fig fig NOUN aiti-274 70 5 . . PUNCT aiti-274 71 1 4 4 NUM aiti-274 71 2 schematic schematic ADJ aiti-274 71 3 illustration illustration NOUN aiti-274 71 4 of of ADP aiti-274 71 5 pcb pcb NOUN aiti-274 71 6 coordinate coordinate NOUN aiti-274 71 7 system system NOUN aiti-274 71 8 2.5 2.5 NUM aiti-274 71 9 . . PUNCT aiti-274 72 1 image image NOUN aiti-274 72 2 processing processing NOUN aiti-274 72 3 grayscale grayscale NOUN aiti-274 72 4 dig dig X aiti-274 72 5 ital ital ADJ aiti-274 72 6 image image NOUN aiti-274 72 7 is be AUX aiti-274 72 8 a a DET aiti-274 72 9 range range NOUN aiti-274 72 10 of of ADP aiti-274 72 11 shades shade NOUN aiti-274 72 12 of of ADP aiti-274 72 13 gray gray ADJ aiti-274 72 14 without without ADP aiti-274 72 15 apparent apparent ADJ aiti-274 72 16 color color NOUN aiti-274 72 17 . . PUNCT aiti-274 73 1 the the DET aiti-274 73 2 reason reason NOUN aiti-274 73 3 for for ADP aiti-274 73 4 differentiating differentiate VERB aiti-274 73 5 gray gray ADJ aiti-274 73 6 images image NOUN aiti-274 73 7 is be AUX aiti-274 73 8 that that SCONJ aiti-274 73 9 only only ADV aiti-274 73 10 specify specify VERB aiti-274 73 11 a a DET aiti-274 73 12 single single ADJ aiti-274 73 13 intensity intensity NOUN aiti-274 73 14 value value NOUN aiti-274 73 15 for for ADP aiti-274 73 16 each each DET aiti-274 73 17 pixel pixel NOUN aiti-274 73 18 , , PUNCT aiti-274 73 19 i.e. i.e. X aiti-274 73 20 less less ADJ aiti-274 73 21 informat informat ADJ aiti-274 73 22 ion ion NOUN aiti-274 73 23 for for ADP aiti-274 73 24 each each DET aiti-274 73 25 pixel pixel NOUN aiti-274 73 26 . . PUNCT aiti-274 74 1 in in ADP aiti-274 74 2 order order NOUN aiti-274 74 3 to to PART aiti-274 74 4 reduce reduce VERB aiti-274 74 5 the the DET aiti-274 74 6 complexity complexity NOUN aiti-274 74 7 of of ADP aiti-274 74 8 post post ADJ aiti-274 74 9 - - ADJ aiti-274 74 10 processing processing ADJ aiti-274 74 11 grayscale grayscale NOUN aiti-274 74 12 image image NOUN aiti-274 74 13 scheme scheme NOUN aiti-274 74 14 is be AUX aiti-274 74 15 applied apply VERB aiti-274 74 16 to to PART aiti-274 74 17 capture capture VERB aiti-274 74 18 the the DET aiti-274 74 19 characteristic characteristic ADJ aiti-274 74 20 image image NOUN aiti-274 74 21 . . PUNCT aiti-274 75 1 the the DET aiti-274 75 2 hough hough PROPN aiti-274 75 3 transform transform NOUN aiti-274 75 4 is be AUX aiti-274 75 5 a a DET aiti-274 75 6 technique technique NOUN aiti-274 75 7 which which PRON aiti-274 75 8 can can AUX aiti-274 75 9 be be AUX aiti-274 75 10 used use VERB aiti-274 75 11 to to PART aiti-274 75 12 isolate isolate VERB aiti-274 75 13 features feature NOUN aiti-274 75 14 of of ADP aiti-274 75 15 a a DET aiti-274 75 16 particular particular ADJ aiti-274 75 17 shape shape NOUN aiti-274 75 18 , , PUNCT aiti-274 75 19 such such ADJ aiti-274 75 20 as as ADP aiti-274 75 21 line line NOUN aiti-274 75 22 , , PUNCT aiti-274 75 23 circle circle NOUN aiti-274 75 24 , , PUNCT aiti-274 75 25 ellipse ellipse NOUN aiti-274 75 26 , , PUNCT aiti-274 75 27 etc etc X aiti-274 75 28 . . X aiti-274 75 29 , , PUNCT aiti-274 75 30 within within ADP aiti-274 75 31 an an DET aiti-274 75 32 image image NOUN aiti-274 75 33 . . PUNCT aiti-274 76 1 based base VERB aiti-274 76 2 on on ADP aiti-274 76 3 hough hough PROPN aiti-274 76 4 transform transform PROPN aiti-274 76 5 , , PUNCT aiti-274 76 6 circular circular ADJ aiti-274 76 7 detection detection NOUN aiti-274 76 8 on on ADP aiti-274 76 9 labview labview NOUN aiti-274 76 10 vision vision NOUN aiti-274 76 11 assistant assistant NOUN aiti-274 76 12 is be AUX aiti-274 76 13 applied apply VERB aiti-274 76 14 to to PART aiti-274 76 15 determine determine VERB aiti-274 76 16 the the DET aiti-274 76 17 p p ADJ aiti-274 76 18 recise recise NOUN aiti-274 76 19 position position NOUN aiti-274 76 20 on on ADP aiti-274 76 21 deformed deformed ADJ aiti-274 76 22 pcb pcb NOUN aiti-274 76 23 . . PUNCT aiti-274 77 1 3 3 X aiti-274 77 2 . . X aiti-274 77 3 structure structure NOUN aiti-274 77 4 of of ADP aiti-274 77 5 improved improved ADJ aiti-274 77 6 placement placement NOUN aiti-274 77 7 system system NOUN aiti-274 77 8 3.1 3.1 NUM aiti-274 77 9 . . PUNCT aiti-274 77 10 hardware hardware NOUN aiti-274 77 11 description description NOUN aiti-274 77 12 a a DET aiti-274 77 13 toshiba toshiba PROPN aiti-274 77 14 scara scara PROPN aiti-274 77 15 robot robot NOUN aiti-274 77 16 ( ( PUNCT aiti-274 77 17 # # SYM aiti-274 77 18 sr-424shp sr-424shp NOUN aiti-274 77 19 ) ) PUNCT aiti-274 77 20 with with ADP aiti-274 77 21 control control NOUN aiti-274 77 22 card card NOUN aiti-274 77 23 ( ( PUNCT aiti-274 77 24 # # SYM aiti-274 77 25 piso piso NOUN aiti-274 77 26 - - PUNCT aiti-274 77 27 ps400 ps400 NOUN aiti-274 77 28 ) ) PUNCT aiti-274 77 29 shown show VERB aiti-274 77 30 in in ADP aiti-274 77 31 fig.5 fig.5 PROPN aiti-274 77 32 is be AUX aiti-274 77 33 employed employ VERB aiti-274 77 34 in in ADP aiti-274 77 35 this this DET aiti-274 77 36 study study NOUN aiti-274 77 37 . . PUNCT aiti-274 78 1 fig fig NOUN aiti-274 78 2 . . PUNCT aiti-274 79 1 6 6 NUM aiti-274 79 2 illustrates illustrate VERB aiti-274 79 3 smd smd NOUN aiti-274 79 4 components component NOUN aiti-274 79 5 placed place VERB aiti-274 79 6 on on ADP aiti-274 79 7 pcb pcb NOUN aiti-274 79 8 with with ADP aiti-274 79 9 tray tray NOUN aiti-274 79 10 ( ( PUNCT aiti-274 79 11 carrier carrier NOUN aiti-274 79 12 ) ) PUNCT aiti-274 79 13 . . PUNCT aiti-274 80 1 the the DET aiti-274 80 2 placement placement NOUN aiti-274 80 3 system system NOUN aiti-274 80 4 on on ADP aiti-274 80 5 trial trial NOUN aiti-274 80 6 run run NOUN aiti-274 80 7 conveyer conveyer NOUN aiti-274 80 8 is be AUX aiti-274 80 9 presented present VERB aiti-274 80 10 in in ADP aiti-274 80 11 fig fig NOUN aiti-274 80 12 . . PUNCT aiti-274 81 1 7 7 X aiti-274 81 2 . . X aiti-274 81 3 advances advance NOUN aiti-274 81 4 in in ADP aiti-274 81 5 technology technology NOUN aiti-274 81 6 innovation innovation NOUN aiti-274 81 7 , , PUNCT aiti-274 81 8 vol vol NOUN aiti-274 81 9 . . PROPN aiti-274 81 10 2 2 NUM aiti-274 81 11 , , PUNCT aiti-274 81 12 no no INTJ aiti-274 81 13 . . NOUN aiti-274 81 14 2 2 NUM aiti-274 81 15 , , PUNCT aiti-274 81 16 2017 2017 NUM aiti-274 81 17 , , PUNCT aiti-274 81 18 pp pp ADJ aiti-274 81 19 . . PUNCT aiti-274 82 1 40 40 NUM aiti-274 82 2 45 45 NUM aiti-274 82 3 43 43 NUM aiti-274 82 4 copyright copyright NOUN aiti-274 82 5 Β© Β© PROPN aiti-274 82 6 taeti taeti PROPN aiti-274 82 7 fig fig NOUN aiti-274 82 8 . . PUNCT aiti-274 83 1 5 5 NUM aiti-274 83 2 toshiba toshiba PROPN aiti-274 83 3 scara scara NOUN aiti-274 83 4 robot robot NOUN aiti-274 83 5 ( ( PUNCT aiti-274 83 6 # # SYM aiti-274 83 7 sr-424shp sr-424shp NOUN aiti-274 83 8 ) ) PUNCT aiti-274 83 9 fig fig NOUN aiti-274 83 10 . . PUNCT aiti-274 84 1 6 6 NUM aiti-274 84 2 smd smd NOUN aiti-274 84 3 components component NOUN aiti-274 84 4 on on ADP aiti-274 84 5 pcb pcb NOUN aiti-274 84 6 with with ADP aiti-274 84 7 tray tray NOUN aiti-274 84 8 ( ( PUNCT aiti-274 84 9 carrier carrier NOUN aiti-274 84 10 ) ) PUNCT aiti-274 84 11 fig fig NOUN aiti-274 84 12 . . PUNCT aiti-274 85 1 7 7 NUM aiti-274 85 2 placement placement NOUN aiti-274 85 3 system system NOUN aiti-274 85 4 on on ADP aiti-274 85 5 trial trial NOUN aiti-274 85 6 run run VERB aiti-274 85 7 conveyor conveyor NOUN aiti-274 85 8 the the DET aiti-274 85 9 overall overall ADJ aiti-274 85 10 placement placement NOUN aiti-274 85 11 system system NOUN aiti-274 85 12 also also ADV aiti-274 85 13 consists consist VERB aiti-274 85 14 of of ADP aiti-274 85 15 trial trial NOUN aiti-274 85 16 run run VERB aiti-274 85 17 conveyor conveyor NOUN aiti-274 85 18 for for ADP aiti-274 85 19 pcb pcb NOUN aiti-274 85 20 tray tray NOUN aiti-274 85 21 , , PUNCT aiti-274 85 22 smd smd X aiti-274 85 23 co co NOUN aiti-274 85 24 mponents mponent NOUN aiti-274 85 25 feeder feeder NOUN aiti-274 85 26 , , PUNCT aiti-274 85 27 buzzer buzzer NOUN aiti-274 85 28 , , PUNCT aiti-274 85 29 3 3 NUM aiti-274 85 30 cylinders cylinder NOUN aiti-274 85 31 ( ( PUNCT aiti-274 85 32 baffle baffle ADJ aiti-274 85 33 , , PUNCT aiti-274 85 34 push push VERB aiti-274 85 35 and and CCONJ aiti-274 85 36 charge charge NOUN aiti-274 85 37 - - PUNCT aiti-274 85 38 in in ADP aiti-274 85 39 ) ) PUNCT aiti-274 85 40 . . PUNCT aiti-274 86 1 2 2 NUM aiti-274 86 2 cameras camera NOUN aiti-274 86 3 ( ( PUNCT aiti-274 86 4 coordinate coordinate VERB aiti-274 86 5 auto auto NOUN aiti-274 86 6 - - PUNCT aiti-274 86 7 compensation compensation NOUN aiti-274 86 8 and and CCONJ aiti-274 86 9 poka poka NOUN aiti-274 86 10 - - NOUN aiti-274 86 11 yoke yoke NOUN aiti-274 86 12 ) ) PUNCT aiti-274 86 13 , , PUNCT aiti-274 86 14 3 3 NUM aiti-274 86 15 sensors sensor NOUN aiti-274 86 16 with with ADP aiti-274 86 17 arduino arduino NOUN aiti-274 86 18 uno uno PROPN aiti-274 86 19 and and CCONJ aiti-274 86 20 a a DET aiti-274 86 21 lighting lighting NOUN aiti-274 86 22 system system NOUN aiti-274 86 23 ( ( PUNCT aiti-274 86 24 top top NOUN aiti-274 86 25 and and CCONJ aiti-274 86 26 broadside broadside NOUN aiti-274 86 27 ) ) PUNCT aiti-274 86 28 . . PUNCT aiti-274 87 1 all all DET aiti-274 87 2 smd smd NOUN aiti-274 87 3 components component NOUN aiti-274 87 4 are be AUX aiti-274 87 5 held hold VERB aiti-274 87 6 in in ADP aiti-274 87 7 specific specific ADJ aiti-274 87 8 trays tray NOUN aiti-274 87 9 which which PRON aiti-274 87 10 are be AUX aiti-274 87 11 loaded load VERB aiti-274 87 12 in in ADP aiti-274 87 13 upstream upstream ADJ aiti-274 87 14 vibratory vibratory ADJ aiti-274 87 15 parts part NOUN aiti-274 87 16 feeding feeding NOUN aiti-274 87 17 stations station NOUN aiti-274 87 18 . . PUNCT aiti-274 88 1 3.2 3.2 NUM aiti-274 88 2 . . PUNCT aiti-274 88 3 software software NOUN aiti-274 88 4 development development NOUN aiti-274 88 5 the the DET aiti-274 88 6 control control NOUN aiti-274 88 7 software software NOUN aiti-274 88 8 used use VERB aiti-274 88 9 in in ADP aiti-274 88 10 this this DET aiti-274 88 11 study study NOUN aiti-274 88 12 is be AUX aiti-274 88 13 labview labview NOUN aiti-274 88 14 2012 2012 NUM aiti-274 88 15 and and CCONJ aiti-274 88 16 labview labview NOUN aiti-274 88 17 vision vision NOUN aiti-274 88 18 assistant assistant PROPN aiti-274 88 19 2012 2012 NUM aiti-274 88 20 . . PUNCT aiti-274 89 1 4 4 X aiti-274 89 2 . . NOUN aiti-274 89 3 results result NOUN aiti-274 89 4 and and CCONJ aiti-274 89 5 discussion discussion NOUN aiti-274 89 6 coordinate coordinate NOUN aiti-274 89 7 compensation compensation NOUN aiti-274 89 8 system system NOUN aiti-274 89 9 for for ADP aiti-274 89 10 smd smd NOUN aiti-274 89 11 placement placement NOUN aiti-274 89 12 and and CCONJ aiti-274 89 13 starved starve VERB aiti-274 89 14 feeding feeding NOUN aiti-274 89 15 ( ( PUNCT aiti-274 89 16 queliao queliao ADJ aiti-274 89 17 ) ) PUNCT aiti-274 89 18 auto auto NOUN aiti-274 89 19 - - PUNCT aiti-274 89 20 detection detection NOUN aiti-274 89 21 system system NOUN aiti-274 89 22 have have AUX aiti-274 89 23 been be AUX aiti-274 89 24 developed develop VERB aiti-274 89 25 in in ADP aiti-274 89 26 this this DET aiti-274 89 27 paper paper NOUN aiti-274 89 28 . . PUNCT aiti-274 90 1 in in ADP aiti-274 90 2 the the DET aiti-274 90 3 first first ADJ aiti-274 90 4 , , PUNCT aiti-274 90 5 anchor anchor NOUN aiti-274 90 6 point point NOUN aiti-274 90 7 on on ADP aiti-274 90 8 pcb pcb NOUN aiti-274 90 9 was be AUX aiti-274 90 10 shot shoot VERB aiti-274 90 11 by by ADP aiti-274 90 12 camera camera NOUN aiti-274 90 13 and and CCONJ aiti-274 90 14 the the DET aiti-274 90 15 offset offset NOUN aiti-274 90 16 amount amount NOUN aiti-274 90 17 on on ADP aiti-274 90 18 pcb pcb NOUN aiti-274 90 19 was be AUX aiti-274 90 20 then then ADV aiti-274 90 21 calculated calculate VERB aiti-274 90 22 by by ADP aiti-274 90 23 compensation compensation NOUN aiti-274 90 24 of of ADP aiti-274 90 25 the the DET aiti-274 90 26 image image NOUN aiti-274 90 27 and and CCONJ aiti-274 90 28 distance distance NOUN aiti-274 90 29 coordinate coordinate NOUN aiti-274 90 30 . . PUNCT aiti-274 91 1 the the DET aiti-274 91 2 precise precise ADJ aiti-274 91 3 location location NOUN aiti-274 91 4 on on ADP aiti-274 91 5 pcb pcb NOUN aiti-274 91 6 for for ADP aiti-274 91 7 components component NOUN aiti-274 91 8 placement placement NOUN aiti-274 91 9 was be AUX aiti-274 91 10 then then ADV aiti-274 91 11 determined determine VERB aiti-274 91 12 . . PUNCT aiti-274 92 1 for for ADP aiti-274 92 2 queliao queliao NOUN aiti-274 92 3 and and CCONJ aiti-274 92 4 those those DET aiti-274 92 5 parts part NOUN aiti-274 92 6 did do AUX aiti-274 92 7 not not PART aiti-274 92 8 place place VERB aiti-274 92 9 in in ADP aiti-274 92 10 the the DET aiti-274 92 11 desired desire VERB aiti-274 92 12 position position NOUN aiti-274 92 13 , , PUNCT aiti-274 92 14 the the DET aiti-274 92 15 developed develop VERB aiti-274 92 16 system system NOUN aiti-274 92 17 can can AUX aiti-274 92 18 also also ADV aiti-274 92 19 sound sound VERB aiti-274 92 20 a a DET aiti-274 92 21 buzzer buzzer NOUN aiti-274 92 22 signal signal NOUN aiti-274 92 23 on on ADP aiti-274 92 24 the the DET aiti-274 92 25 control control NOUN aiti-274 92 26 annunciator annunciator NOUN aiti-274 92 27 panel panel NOUN aiti-274 92 28 and and CCONJ aiti-274 92 29 warn warn VERB aiti-274 92 30 the the DET aiti-274 92 31 upstream upstream ADJ aiti-274 92 32 feeding feeding NOUN aiti-274 92 33 stations station NOUN aiti-274 92 34 to to PART aiti-274 92 35 load load VERB aiti-274 92 36 smd smd NOUN aiti-274 92 37 components component NOUN aiti-274 92 38 . . PUNCT aiti-274 93 1 fig fig NOUN aiti-274 93 2 . . PUNCT aiti-274 94 1 8 8 NUM aiti-274 94 2 flow flow NOUN aiti-274 94 3 chart chart NOUN aiti-274 94 4 of of ADP aiti-274 94 5 coordinate coordinate NOUN aiti-274 94 6 compensation compensation NOUN aiti-274 94 7 system system NOUN aiti-274 94 8 for for ADP aiti-274 94 9 smd smd NOUN aiti-274 94 10 placement placement NOUN aiti-274 94 11 fig fig NOUN aiti-274 94 12 . . PUNCT aiti-274 94 13 8 8 NUM aiti-274 94 14 and and CCONJ aiti-274 94 15 fig fig NOUN aiti-274 94 16 . . PUNCT aiti-274 95 1 9 9 NUM aiti-274 95 2 present present VERB aiti-274 95 3 the the DET aiti-274 95 4 flow flow NOUN aiti-274 95 5 chart chart NOUN aiti-274 95 6 for for ADP aiti-274 95 7 coordinate coordinate NOUN aiti-274 95 8 compensation compensation NOUN aiti-274 95 9 system system NOUN aiti-274 95 10 and and CCONJ aiti-274 95 11 queliao queliao ADJ aiti-274 95 12 auto auto NOUN aiti-274 95 13 - - PUNCT aiti-274 95 14 detection detection NOUN aiti-274 95 15 system system NOUN aiti-274 95 16 , , PUNCT aiti-274 95 17 respectively respectively ADV aiti-274 95 18 . . PUNCT aiti-274 96 1 fig fig NOUN aiti-274 96 2 . . PUNCT aiti-274 97 1 10 10 NUM aiti-274 97 2 demonstrates demonstrate VERB aiti-274 97 3 the the DET aiti-274 97 4 accuracy accuracy NOUN aiti-274 97 5 of of ADP aiti-274 97 6 smd smd PROPN aiti-274 97 7 components component NOUN aiti-274 97 8 pick pick VERB aiti-274 97 9 - - PUNCT aiti-274 97 10 and and CCONJ aiti-274 97 11 - - PUNCT aiti-274 97 12 place place NOUN aiti-274 97 13 improved improve VERB aiti-274 97 14 by by ADP aiti-274 97 15 the the DET aiti-274 97 16 developed develop VERB aiti-274 97 17 algorithm algorithm NOUN aiti-274 97 18 . . PUNCT aiti-274 98 1 the the DET aiti-274 98 2 accuracy accuracy NOUN aiti-274 98 3 on on ADP aiti-274 98 4 auto auto NOUN aiti-274 98 5 assembly assembly NOUN aiti-274 98 6 ( ( PUNCT aiti-274 98 7 99.73 99.73 NUM aiti-274 98 8 % % NOUN aiti-274 98 9 ) ) PUNCT aiti-274 98 10 has have AUX aiti-274 98 11 been be AUX aiti-274 98 12 dramatically dramatically ADV aiti-274 98 13 improved improve VERB aiti-274 98 14 after after ADP aiti-274 98 15 teaching teach VERB aiti-274 98 16 mode mode NOUN aiti-274 98 17 ( ( PUNCT aiti-274 98 18 78.66 78.66 NUM aiti-274 98 19 % % NOUN aiti-274 98 20 ) ) PUNCT aiti-274 98 21 . . PUNCT aiti-274 99 1 start start VERB aiti-274 99 2 capture capture NOUN aiti-274 99 3 smd smd NOUN aiti-274 99 4 image image NOUN aiti-274 99 5 grayscale grayscale NOUN aiti-274 99 6 digital digital ADJ aiti-274 99 7 image image NOUN aiti-274 99 8 hough hough PROPN aiti-274 99 9 transform transform VERB aiti-274 99 10 calculation calculation NOUN aiti-274 99 11 pixel pixel NOUN aiti-274 99 12 position position NOUN aiti-274 99 13 for for ADP aiti-274 99 14 point point NOUN aiti-274 99 15 ( ( PUNCT aiti-274 99 16 x x NOUN aiti-274 99 17 , , PUNCT aiti-274 99 18 y y NOUN aiti-274 99 19 ) ) PUNCT aiti-274 99 20 stop stop VERB aiti-274 99 21 advances advance NOUN aiti-274 99 22 in in ADP aiti-274 99 23 technology technology NOUN aiti-274 99 24 innovation innovation NOUN aiti-274 99 25 , , PUNCT aiti-274 99 26 vol vol NOUN aiti-274 99 27 . . PROPN aiti-274 100 1 2 2 NUM aiti-274 100 2 , , PUNCT aiti-274 100 3 no no INTJ aiti-274 100 4 . . NOUN aiti-274 100 5 2 2 NUM aiti-274 100 6 , , PUNCT aiti-274 100 7 2017 2017 NUM aiti-274 100 8 , , PUNCT aiti-274 100 9 pp pp ADJ aiti-274 100 10 . . PUNCT aiti-274 101 1 40 40 NUM aiti-274 101 2 45 45 NUM aiti-274 101 3 44 44 NUM aiti-274 101 4 copyright copyright NOUN aiti-274 101 5 Β© Β© PROPN aiti-274 101 6 taeti taeti PROPN aiti-274 101 7 fig fig NOUN aiti-274 101 8 . . PUNCT aiti-274 102 1 9 9 NUM aiti-274 102 2 flow flow NOUN aiti-274 102 3 chart chart NOUN aiti-274 102 4 of of ADP aiti-274 102 5 queliao queliao ADJ aiti-274 102 6 auto auto NOUN aiti-274 102 7 - - PUNCT aiti-274 102 8 detectionsystem detectionsystem NOUN aiti-274 102 9 fig fig NOUN aiti-274 102 10 . . PUNCT aiti-274 103 1 10 10 NUM aiti-274 103 2 accuracy accuracy NOUN aiti-274 103 3 of of ADP aiti-274 103 4 smd smd PROPN aiti-274 103 5 components component NOUN aiti-274 103 6 pick pick VERB aiti-274 103 7 - - PUNCT aiti-274 103 8 and and CCONJ aiti-274 103 9 - - PUNCT aiti-274 103 10 place place NOUN aiti-274 103 11 5 5 NUM aiti-274 103 12 . . PUNCT aiti-274 103 13 conclusions conclusion NOUN aiti-274 103 14 in in ADP aiti-274 103 15 this this DET aiti-274 103 16 paper paper NOUN aiti-274 103 17 , , PUNCT aiti-274 103 18 an an DET aiti-274 103 19 improved improved ADJ aiti-274 103 20 pick pick NOUN aiti-274 103 21 - - PUNCT aiti-274 103 22 and and CCONJ aiti-274 103 23 - - PUNCT aiti-274 103 24 place place NOUN aiti-274 103 25 smd smd NOUN aiti-274 103 26 on on ADP aiti-274 103 27 pcb pcb NOUN aiti-274 103 28 system system NOUN aiti-274 103 29 has have AUX aiti-274 103 30 been be AUX aiti-274 103 31 accomplished accomplish VERB aiti-274 103 32 by by ADP aiti-274 103 33 using use VERB aiti-274 103 34 scara scara NOUN aiti-274 103 35 robot robot NOUN aiti-274 103 36 and and CCONJ aiti-274 103 37 machine machine NOUN aiti-274 103 38 v v ADP aiti-274 103 39 ision ision NOUN aiti-274 103 40 . . PUNCT aiti-274 104 1 the the DET aiti-274 104 2 result result NOUN aiti-274 104 3 has have AUX aiti-274 104 4 shown show VERB aiti-274 104 5 that that SCONJ aiti-274 104 6 97.33 97.33 NUM aiti-274 104 7 % % NOUN aiti-274 104 8 yield yield NOUN aiti-274 104 9 rate rate NOUN aiti-274 104 10 was be AUX aiti-274 104 11 achieved achieve VERB aiti-274 104 12 and and CCONJ aiti-274 104 13 more more ADJ aiti-274 104 14 than than ADP aiti-274 104 15 2 2 NUM aiti-274 104 16 % % NOUN aiti-274 104 17 of of ADP aiti-274 104 18 erro erro NOUN aiti-274 104 19 r r NOUN aiti-274 104 20 could could AUX aiti-274 104 21 be be AUX aiti-274 104 22 eliminated eliminate VERB aiti-274 104 23 by by ADP aiti-274 104 24 improving improve VERB aiti-274 104 25 the the DET aiti-274 104 26 hardware hardware NOUN aiti-274 104 27 of of ADP aiti-274 104 28 system system NOUN aiti-274 104 29 . . 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