id	sid	tid	token	lemma	pos
alkej-122	1	1	microsoft	microsoft	PROPN
alkej-122	1	2	word	word	PROPN
alkej-122	1	3	\345\344\317	\345\344\317	PROPN
alkej-122	1	4	\322\345\355\321136	\322\345\355\321136	PROPN
alkej-122	1	5	-	-	SYM
alkej-122	1	6	144	144	NUM
alkej-122	1	7	)	)	PUNCT
alkej-122	1	8	al	al	PROPN
alkej-122	1	9	-	-	PUNCT
alkej-122	1	10	khwarizmi	khwarizmi	PROPN
alkej-122	1	11	engineering	engineering	PROPN
alkej-122	1	12	journal	journal	PROPN
alkej-122	1	13	al	al	PROPN
alkej-122	1	14	-	-	PUNCT
alkej-122	1	15	khwarizmi	khwarizmi	PROPN
alkej-122	1	16	engineering	engineering	NOUN
alkej-122	1	17	journal	journal	PROPN
alkej-122	1	18	,	,	PUNCT
alkej-122	1	19	vol	vol	NOUN
alkej-122	1	20	.	.	PROPN
alkej-122	1	21	14	14	NUM
alkej-122	1	22	,	,	PUNCT
alkej-122	1	23	no	no	INTJ
alkej-122	1	24	.	.	NOUN
alkej-122	1	25	1	1	NUM
alkej-122	1	26	,	,	PUNCT
alkej-122	1	27	march	march	PROPN
alkej-122	1	28	,	,	PUNCT
alkej-122	1	29	(	(	PUNCT
alkej-122	1	30	2018	2018	NUM
alkej-122	1	31	)	)	PUNCT
alkej-122	2	1	p.p	p.p	PROPN
alkej-122	2	2	.	.	NOUN
alkej-122	2	3	136	136	NUM
alkej-122	2	4	-	-	SYM
alkej-122	2	5	144	144	NUM
alkej-122	2	6	inverse	inverse	NOUN
alkej-122	2	7	kinematics	kinematic	NOUN
alkej-122	2	8	solution	solution	NOUN
alkej-122	2	9	for	for	ADP
alkej-122	2	10	redundant	redundant	ADJ
alkej-122	2	11	robot	robot	NOUN
alkej-122	2	12	manipulator	manipulator	NOUN
alkej-122	2	13	using	use	VERB
alkej-122	2	14	combination	combination	NOUN
alkej-122	2	15	of	of	ADP
alkej-122	2	16	ga	ga	PROPN
alkej-122	2	17	and	and	CCONJ
alkej-122	2	18	nn	nn	PROPN
alkej-122	2	19	hind	hind	PROPN
alkej-122	2	20	z.	z.	PROPN
alkej-122	2	21	khaleel	khaleel	PROPN
alkej-122	2	22	department	department	PROPN
alkej-122	2	23	of	of	ADP
alkej-122	2	24	control	control	PROPN
alkej-122	2	25	and	and	CCONJ
alkej-122	2	26	systems	system	NOUN
alkej-122	2	27	engineering/	engineering/	NUM
alkej-122	2	28	university	university	NOUN
alkej-122	2	29	of	of	ADP
alkej-122	2	30	technology/	technology/	NUM
alkej-122	2	31	baghdad/	baghdad/	NUM
alkej-122	2	32	iraq	iraq	PROPN
alkej-122	2	33	email	email	NOUN
alkej-122	2	34	:	:	PUNCT
alkej-122	2	35	hhindzuhair@yahoo.com	hhindzuhair@yahoo.com	X
alkej-122	2	36	(	(	PUNCT
alkej-122	2	37	received	receive	VERB
alkej-122	2	38	8	8	NUM
alkej-122	2	39	august	august	PROPN
alkej-122	2	40	2016	2016	NUM
alkej-122	2	41	;	;	PUNCT
alkej-122	2	42	accepted	accept	VERB
alkej-122	2	43	15	15	NUM
alkej-122	2	44	october	october	NOUN
alkej-122	2	45	2017	2017	NUM
alkej-122	2	46	)	)	PUNCT
alkej-122	2	47	https://doi.org/10.22153/kej.2018.10.008	https://doi.org/10.22153/kej.2018.10.008	PRON
alkej-122	2	48	abstract	abstract	ADJ
alkej-122	2	49	a	a	DET
alkej-122	2	50	demonstration	demonstration	NOUN
alkej-122	2	51	of	of	ADP
alkej-122	2	52	the	the	DET
alkej-122	2	53	inverse	inverse	NOUN
alkej-122	2	54	kinematics	kinematic	NOUN
alkej-122	2	55	is	be	AUX
alkej-122	2	56	a	a	DET
alkej-122	2	57	very	very	ADV
alkej-122	2	58	complex	complex	ADJ
alkej-122	2	59	problem	problem	NOUN
alkej-122	2	60	for	for	ADP
alkej-122	2	61	redundant	redundant	ADJ
alkej-122	2	62	robot	robot	NOUN
alkej-122	2	63	manipulator	manipulator	NOUN
alkej-122	2	64	.	.	PUNCT
alkej-122	3	1	this	this	DET
alkej-122	3	2	paper	paper	NOUN
alkej-122	3	3	presents	present	VERB
alkej-122	3	4	the	the	DET
alkej-122	3	5	solution	solution	NOUN
alkej-122	3	6	of	of	ADP
alkej-122	3	7	inverse	inverse	ADJ
alkej-122	3	8	kinematics	kinematic	NOUN
alkej-122	3	9	for	for	ADP
alkej-122	3	10	one	one	NUM
alkej-122	3	11	of	of	ADP
alkej-122	3	12	redundant	redundant	ADJ
alkej-122	3	13	robots	robot	NOUN
alkej-122	3	14	manipulator	manipulator	NOUN
alkej-122	3	15	(	(	PUNCT
alkej-122	3	16	three	three	NUM
alkej-122	3	17	link	link	NOUN
alkej-122	3	18	robot	robot	NOUN
alkej-122	3	19	)	)	PUNCT
alkej-122	3	20	by	by	ADP
alkej-122	3	21	combing	comb	VERB
alkej-122	3	22	of	of	ADP
alkej-122	3	23	two	two	NUM
alkej-122	3	24	intelligent	intelligent	ADJ
alkej-122	3	25	algorithms	algorithm	NOUN
alkej-122	3	26	ga	ga	PROPN
alkej-122	3	27	(	(	PUNCT
alkej-122	3	28	genetic	genetic	ADJ
alkej-122	3	29	algorithm	algorithm	NOUN
alkej-122	3	30	)	)	PUNCT
alkej-122	3	31	and	and	CCONJ
alkej-122	3	32	nn	nn	PROPN
alkej-122	3	33	(	(	PUNCT
alkej-122	3	34	neural	neural	ADJ
alkej-122	3	35	network	network	NOUN
alkej-122	3	36	)	)	PUNCT
alkej-122	3	37	.	.	PUNCT
alkej-122	4	1	the	the	DET
alkej-122	4	2	inputs	input	NOUN
alkej-122	4	3	are	be	AUX
alkej-122	4	4	position	position	NOUN
alkej-122	4	5	and	and	CCONJ
alkej-122	4	6	orientation	orientation	NOUN
alkej-122	4	7	of	of	ADP
alkej-122	4	8	three	three	NUM
alkej-122	4	9	link	link	NOUN
alkej-122	4	10	robot	robot	NOUN
alkej-122	4	11	.	.	PUNCT
alkej-122	5	1	these	these	DET
alkej-122	5	2	inputs	input	NOUN
alkej-122	5	3	are	be	AUX
alkej-122	5	4	entering	enter	VERB
alkej-122	5	5	to	to	PART
alkej-122	5	6	back	back	VERB
alkej-122	5	7	propagation	propagation	NOUN
alkej-122	5	8	neural	neural	ADJ
alkej-122	5	9	network	network	NOUN
alkej-122	5	10	(	(	PUNCT
alkej-122	5	11	bpnn	bpnn	NOUN
alkej-122	5	12	)	)	PUNCT
alkej-122	5	13	.	.	PUNCT
alkej-122	6	1	the	the	DET
alkej-122	6	2	weights	weight	NOUN
alkej-122	6	3	of	of	ADP
alkej-122	6	4	bpnn	bpnn	NOUN
alkej-122	6	5	are	be	AUX
alkej-122	6	6	optimized	optimize	VERB
alkej-122	6	7	using	use	VERB
alkej-122	6	8	continuous	continuous	ADJ
alkej-122	6	9	ga	ga	PROPN
alkej-122	6	10	.	.	PUNCT
alkej-122	7	1	the	the	DET
alkej-122	7	2	(	(	PUNCT
alkej-122	7	3	mean	mean	ADJ
alkej-122	7	4	square	square	ADJ
alkej-122	7	5	error	error	NOUN
alkej-122	7	6	)	)	PUNCT
alkej-122	7	7	mse	mse	NOUN
alkej-122	7	8	is	be	AUX
alkej-122	7	9	also	also	ADV
alkej-122	7	10	computed	compute	VERB
alkej-122	7	11	between	between	ADP
alkej-122	7	12	the	the	DET
alkej-122	7	13	estimated	estimate	VERB
alkej-122	7	14	and	and	CCONJ
alkej-122	7	15	desired	desire	VERB
alkej-122	7	16	outputs	output	NOUN
alkej-122	7	17	of	of	ADP
alkej-122	7	18	joint	joint	ADJ
alkej-122	7	19	angles	angle	NOUN
alkej-122	7	20	.	.	PUNCT
alkej-122	8	1	in	in	ADP
alkej-122	8	2	this	this	DET
alkej-122	8	3	paper	paper	NOUN
alkej-122	8	4	,	,	PUNCT
alkej-122	8	5	the	the	DET
alkej-122	8	6	fitness	fitness	NOUN
alkej-122	8	7	function	function	NOUN
alkej-122	8	8	in	in	ADP
alkej-122	8	9	ga	ga	PROPN
alkej-122	8	10	is	be	AUX
alkej-122	8	11	proposed	propose	VERB
alkej-122	8	12	.	.	PUNCT
alkej-122	9	1	the	the	DET
alkej-122	9	2	sinwave	sinwave	NOUN
alkej-122	9	3	and	and	CCONJ
alkej-122	9	4	circular	circular	ADJ
alkej-122	9	5	for	for	ADP
alkej-122	9	6	three	three	NUM
alkej-122	9	7	link	link	NOUN
alkej-122	9	8	robot	robot	NOUN
alkej-122	9	9	end	end	VERB
alkej-122	9	10	effecter	effecter	NOUN
alkej-122	9	11	and	and	CCONJ
alkej-122	9	12	desired	desire	VERB
alkej-122	9	13	trajectories	trajectory	NOUN
alkej-122	9	14	are	be	AUX
alkej-122	9	15	simulated	simulate	VERB
alkej-122	9	16	by	by	ADP
alkej-122	9	17	matlab	matlab	PROPN
alkej-122	9	18	program	program	PROPN
alkej-122	9	19	.	.	PUNCT
alkej-122	10	1	joint	joint	ADJ
alkej-122	10	2	angles	angle	NOUN
alkej-122	10	3	and	and	CCONJ
alkej-122	10	4	end	end	VERB
alkej-122	10	5	effecter	effecter	NOUN
alkej-122	10	6	positions	position	NOUN
alkej-122	10	7	of	of	ADP
alkej-122	10	8	robot	robot	NOUN
alkej-122	10	9	results	result	VERB
alkej-122	10	10	values	value	NOUN
alkej-122	10	11	of	of	ADP
alkej-122	10	12	circular	circular	ADJ
alkej-122	10	13	trajectory	trajectory	NOUN
alkej-122	10	14	are	be	AUX
alkej-122	10	15	better	well	ADJ
alkej-122	10	16	than	than	SCONJ
alkej-122	10	17	joint	joint	ADJ
alkej-122	10	18	angles	angle	NOUN
alkej-122	10	19	end	end	VERB
alkej-122	10	20	effecter	effecter	NOUN
alkej-122	10	21	positions	position	NOUN
alkej-122	10	22	of	of	ADP
alkej-122	10	23	robot	robot	NOUN
alkej-122	10	24	results	result	VERB
alkej-122	10	25	values	value	NOUN
alkej-122	10	26	of	of	ADP
alkej-122	10	27	nn	nn	X
alkej-122	10	28	work	work	NOUN
alkej-122	10	29	in	in	ADP
alkej-122	10	30	another	another	DET
alkej-122	10	31	paper	paper	NOUN
alkej-122	10	32	.	.	PUNCT
alkej-122	11	1	three	three	NUM
alkej-122	11	2	link	link	NOUN
alkej-122	11	3	redundant	redundant	ADJ
alkej-122	11	4	robot	robot	NOUN
alkej-122	11	5	workspace	workspace	NOUN
alkej-122	11	6	is	be	AUX
alkej-122	11	7	also	also	ADV
alkej-122	11	8	simulated	simulate	VERB
alkej-122	11	9	.	.	PUNCT
alkej-122	12	1	the	the	DET
alkej-122	12	2	outputs	output	NOUN
alkej-122	12	3	results	result	NOUN
alkej-122	12	4	of	of	ADP
alkej-122	12	5	best	good	ADJ
alkej-122	12	6	three	three	NUM
alkej-122	12	7	joint	joint	ADJ
alkej-122	12	8	angles	angle	NOUN
alkej-122	12	9	are	be	AUX
alkej-122	12	10	evaluated	evaluate	VERB
alkej-122	12	11	for	for	ADP
alkej-122	12	12	two	two	NUM
alkej-122	12	13	trajectories	trajectory	NOUN
alkej-122	12	14	sinwave	sinwave	VERB
alkej-122	12	15	and	and	CCONJ
alkej-122	12	16	circular	circular	ADJ
alkej-122	12	17	,	,	PUNCT
alkej-122	12	18	with	with	ADP
alkej-122	12	19	50	50	NUM
alkej-122	12	20	generations	generation	NOUN
alkej-122	12	21	the	the	DET
alkej-122	12	22	algorithm	algorithm	NOUN
alkej-122	12	23	is	be	AUX
alkej-122	12	24	fast	fast	ADJ
alkej-122	12	25	.	.	PUNCT
alkej-122	13	1	this	this	DET
alkej-122	13	2	paper	paper	NOUN
alkej-122	13	3	presents	present	VERB
alkej-122	13	4	the	the	DET
alkej-122	13	5	simulations	simulation	NOUN
alkej-122	13	6	results	result	NOUN
alkej-122	13	7	that	that	PRON
alkej-122	13	8	are	be	AUX
alkej-122	13	9	obtained	obtain	VERB
alkej-122	13	10	based	base	VERB
alkej-122	13	11	on	on	ADP
alkej-122	13	12	matlab	matlab	PROPN
alkej-122	13	13	r2010b	r2010b	NOUN
alkej-122	13	14	program	program	NOUN
alkej-122	13	15	.	.	PUNCT
alkej-122	14	1	keywords	keyword	NOUN
alkej-122	14	2	:	:	PUNCT
alkej-122	14	3	redundant	redundant	ADJ
alkej-122	14	4	robot	robot	NOUN
alkej-122	14	5	,	,	PUNCT
alkej-122	14	6	genetic	genetic	ADJ
alkej-122	14	7	algorithm	algorithm	NOUN
alkej-122	14	8	,	,	PUNCT
alkej-122	14	9	neural	neural	ADJ
alkej-122	14	10	network	network	NOUN
alkej-122	14	11	,	,	PUNCT
alkej-122	14	12	inverse	inverse	NOUN
alkej-122	14	13	kinematics	kinematic	NOUN
alkej-122	14	14	.	.	PUNCT
alkej-122	15	1	1	1	X
alkej-122	15	2	.	.	X
alkej-122	15	3	introduction	introduction	NOUN
alkej-122	15	4	one	one	NUM
alkej-122	15	5	of	of	ADP
alkej-122	15	6	the	the	DET
alkej-122	15	7	main	main	ADJ
alkej-122	15	8	problems	problem	NOUN
alkej-122	15	9	for	for	ADP
alkej-122	15	10	serial	serial	NOUN
alkej-122	15	11	-	-	PUNCT
alkej-122	15	12	chain	chain	NOUN
alkej-122	15	13	manipulators	manipulator	NOUN
alkej-122	15	14	robots	robot	NOUN
alkej-122	15	15	is	be	AUX
alkej-122	15	16	the	the	DET
alkej-122	15	17	inverse	inverse	ADJ
alkej-122	15	18	kinematics	kinematic	NOUN
alkej-122	15	19	problem	problem	NOUN
alkej-122	15	20	,	,	PUNCT
alkej-122	15	21	where	where	SCONJ
alkej-122	15	22	,	,	PUNCT
alkej-122	15	23	it	it	PRON
alkej-122	15	24	needs	need	VERB
alkej-122	15	25	to	to	PART
alkej-122	15	26	find	find	VERB
alkej-122	15	27	the	the	DET
alkej-122	15	28	values	value	NOUN
alkej-122	15	29	of	of	ADP
alkej-122	15	30	the	the	DET
alkej-122	15	31	joint	joint	ADJ
alkej-122	15	32	positions	position	NOUN
alkej-122	15	33	given	give	VERB
alkej-122	15	34	the	the	DET
alkej-122	15	35	position	position	NOUN
alkej-122	15	36	and	and	CCONJ
alkej-122	15	37	orientation	orientation	NOUN
alkej-122	15	38	of	of	ADP
alkej-122	15	39	the	the	DET
alkej-122	15	40	end	end	NOUN
alkej-122	15	41	-	-	PUNCT
alkej-122	15	42	effector	effector	NOUN
alkej-122	15	43	relative	relative	NOUN
alkej-122	15	44	to	to	ADP
alkej-122	15	45	the	the	DET
alkej-122	15	46	base	base	NOUN
alkej-122	15	47	.	.	PUNCT
alkej-122	16	1	for	for	ADP
alkej-122	16	2	solving	solve	VERB
alkej-122	16	3	the	the	DET
alkej-122	16	4	inverse	inverse	NOUN
alkej-122	16	5	kinematics	kinematic	NOUN
alkej-122	16	6	problem	problem	NOUN
alkej-122	16	7	,	,	PUNCT
alkej-122	16	8	there	there	PRON
alkej-122	16	9	are	be	VERB
alkej-122	16	10	many	many	ADJ
alkej-122	16	11	solutions	solution	NOUN
alkej-122	16	12	[	[	X
alkej-122	16	13	1	1	NUM
alkej-122	16	14	]	]	PUNCT
alkej-122	16	15	.	.	PUNCT
alkej-122	17	1	neural	neural	ADJ
alkej-122	17	2	networks	network	NOUN
alkej-122	17	3	have	have	AUX
alkej-122	17	4	been	be	AUX
alkej-122	17	5	widely	widely	ADV
alkej-122	17	6	applied	apply	VERB
alkej-122	17	7	to	to	PART
alkej-122	17	8	solve	solve	VERB
alkej-122	17	9	the	the	DET
alkej-122	17	10	robot	robot	NOUN
alkej-122	17	11	manipulator	manipulator	NOUN
alkej-122	17	12	inverse	inverse	NOUN
alkej-122	17	13	kinematics	kinematic	NOUN
alkej-122	17	14	problems	problem	NOUN
alkej-122	17	15	.	.	PUNCT
alkej-122	18	1	the	the	DET
alkej-122	18	2	proposed	propose	VERB
alkej-122	18	3	hybrid	hybrid	NOUN
alkej-122	18	4	approach	approach	NOUN
alkej-122	18	5	combined	combine	VERB
alkej-122	18	6	the	the	DET
alkej-122	18	7	electromagnetismlike	electromagnetismlike	ADJ
alkej-122	18	8	method	method	NOUN
alkej-122	18	9	and	and	CCONJ
alkej-122	18	10	the	the	DET
alkej-122	18	11	neural	neural	ADJ
alkej-122	18	12	network	network	NOUN
alkej-122	18	13	to	to	PART
alkej-122	18	14	solve	solve	VERB
alkej-122	18	15	the	the	DET
alkej-122	18	16	inverse	inverse	NOUN
alkej-122	18	17	kinematics	kinematic	NOUN
alkej-122	18	18	problem	problem	NOUN
alkej-122	18	19	.	.	PUNCT
alkej-122	19	1	extreme	extreme	ADJ
alkej-122	19	2	learning	learning	NOUN
alkej-122	19	3	machine	machine	NOUN
alkej-122	19	4	(	(	PUNCT
alkej-122	19	5	elm	elm	PROPN
alkej-122	19	6	)	)	PUNCT
alkej-122	19	7	is	be	AUX
alkej-122	19	8	used	use	VERB
alkej-122	19	9	to	to	PART
alkej-122	19	10	train	train	VERB
alkej-122	19	11	the	the	DET
alkej-122	19	12	neural	neural	ADJ
alkej-122	19	13	network	network	NOUN
alkej-122	19	14	[	[	X
alkej-122	19	15	2	2	NUM
alkej-122	19	16	]	]	PUNCT
alkej-122	19	17	.	.	PUNCT
alkej-122	20	1	another	another	DET
alkej-122	20	2	neural	neural	ADJ
alkej-122	20	3	network	network	NOUN
alkej-122	20	4	solution	solution	NOUN
alkej-122	20	5	of	of	ADP
alkej-122	20	6	the	the	DET
alkej-122	20	7	inverse	inverse	NOUN
alkej-122	20	8	kinematics	kinematic	NOUN
alkej-122	20	9	problem	problem	NOUN
alkej-122	20	10	is	be	AUX
alkej-122	20	11	used	use	VERB
alkej-122	20	12	for	for	ADP
alkej-122	20	13	a	a	DET
alkej-122	20	14	threejoint	threejoint	NOUN
alkej-122	20	15	robotic	robotic	ADJ
alkej-122	20	16	manipulator	manipulator	NOUN
alkej-122	20	17	where	where	SCONJ
alkej-122	20	18	,	,	PUNCT
alkej-122	20	19	the	the	DET
alkej-122	20	20	neural	neural	ADJ
alkej-122	20	21	network	network	NOUN
alkej-122	20	22	is	be	AUX
alkej-122	20	23	trained	train	VERB
alkej-122	20	24	until	until	SCONJ
alkej-122	20	25	the	the	DET
alkej-122	20	26	error	error	NOUN
alkej-122	20	27	is	be	AUX
alkej-122	20	28	acceptable	acceptable	ADJ
alkej-122	20	29	[	[	X
alkej-122	20	30	3	3	NUM
alkej-122	20	31	]	]	PUNCT
alkej-122	20	32	.	.	PUNCT
alkej-122	21	1	in	in	ADP
alkej-122	21	2	addition	addition	NOUN
alkej-122	21	3	,	,	PUNCT
alkej-122	21	4	an	an	DET
alkej-122	21	5	artificial	artificial	ADJ
alkej-122	21	6	neural	neural	ADJ
alkej-122	21	7	network	network	NOUN
alkej-122	21	8	(	(	PUNCT
alkej-122	21	9	ann	ann	PROPN
alkej-122	21	10	)	)	PUNCT
alkej-122	21	11	model	model	NOUN
alkej-122	21	12	is	be	AUX
alkej-122	21	13	presented	present	VERB
alkej-122	21	14	to	to	PART
alkej-122	21	15	find	find	VERB
alkej-122	21	16	the	the	DET
alkej-122	21	17	inverse	inverse	NOUN
alkej-122	21	18	kinematics	kinematic	NOUN
alkej-122	21	19	solution	solution	NOUN
alkej-122	21	20	of	of	ADP
alkej-122	21	21	a	a	DET
alkej-122	21	22	scara	scara	NOUN
alkej-122	21	23	manipulator	manipulator	NOUN
alkej-122	21	24	[	[	X
alkej-122	21	25	4	4	NUM
alkej-122	21	26	]	]	PUNCT
alkej-122	21	27	.	.	PUNCT
alkej-122	22	1	the	the	DET
alkej-122	22	2	genetic	genetic	ADJ
alkej-122	22	3	algorithm	algorithm	NOUN
alkej-122	22	4	is	be	AUX
alkej-122	22	5	determined	determine	VERB
alkej-122	22	6	the	the	DET
alkej-122	22	7	optimal	optimal	ADJ
alkej-122	22	8	joint	joint	ADJ
alkej-122	22	9	angles	angle	NOUN
alkej-122	22	10	in	in	ADP
alkej-122	22	11	a	a	DET
alkej-122	22	12	given	give	VERB
alkej-122	22	13	search	search	NOUN
alkej-122	22	14	space	space	NOUN
alkej-122	22	15	for	for	ADP
alkej-122	22	16	three	three	NUM
alkej-122	22	17	planar	planar	ADJ
alkej-122	22	18	manipulator	manipulator	NOUN
alkej-122	22	19	robot	robot	NOUN
alkej-122	22	20	that	that	PRON
alkej-122	22	21	would	would	AUX
alkej-122	22	22	contribute	contribute	VERB
alkej-122	22	23	to	to	ADP
alkej-122	22	24	a	a	DET
alkej-122	22	25	productive	productive	NOUN
alkej-122	22	26	and	and	CCONJ
alkej-122	22	27	a	a	DET
alkej-122	22	28	quality	quality	NOUN
alkej-122	22	29	way	way	NOUN
alkej-122	22	30	of	of	ADP
alkej-122	22	31	material	material	NOUN
alkej-122	22	32	handling	handling	NOUN
alkej-122	22	33	and	and	CCONJ
alkej-122	22	34	processing	processing	NOUN
alkej-122	22	35	[	[	X
alkej-122	22	36	5	5	NUM
alkej-122	22	37	]	]	PUNCT
alkej-122	22	38	.	.	PUNCT
alkej-122	23	1	the	the	DET
alkej-122	23	2	only	only	ADJ
alkej-122	23	3	genetic	genetic	ADJ
alkej-122	23	4	algorithm	algorithm	NOUN
alkej-122	23	5	is	be	AUX
alkej-122	23	6	used	use	VERB
alkej-122	23	7	to	to	PART
alkej-122	23	8	optimization	optimization	VERB
alkej-122	23	9	the	the	DET
alkej-122	23	10	inverse	inverse	ADJ
alkej-122	23	11	kinematics	kinematic	NOUN
alkej-122	23	12	of	of	ADP
alkej-122	23	13	three	three	NUM
alkej-122	23	14	degrees	degree	NOUN
alkej-122	23	15	of	of	ADP
alkej-122	23	16	freedom	freedom	NOUN
alkej-122	23	17	model	model	NOUN
alkej-122	23	18	industrial	industrial	PROPN
alkej-122	23	19	robot	robot	NOUN
alkej-122	23	20	manipulator	manipulator	NOUN
alkej-122	23	21	and	and	CCONJ
alkej-122	23	22	improving	improve	VERB
alkej-122	23	23	the	the	DET
alkej-122	23	24	efficiency	efficiency	NOUN
alkej-122	23	25	of	of	ADP
alkej-122	23	26	the	the	DET
alkej-122	23	27	model	model	NOUN
alkej-122	24	1	[	[	X
alkej-122	24	2	6	6	NUM
alkej-122	24	3	]	]	PUNCT
alkej-122	24	4	.	.	PUNCT
alkej-122	25	1	2	2	X
alkej-122	25	2	.	.	X
alkej-122	25	3	related	relate	VERB
alkej-122	25	4	work	work	NOUN
alkej-122	25	5	1	1	NUM
alkej-122	25	6	.	.	PUNCT
alkej-122	26	1	the	the	DET
alkej-122	26	2	combing	combing	NOUN
alkej-122	26	3	of	of	ADP
alkej-122	26	4	ga	ga	PROPN
alkej-122	26	5	and	and	CCONJ
alkej-122	26	6	bpnn	bpnn	PROPN
alkej-122	26	7	algorithm	algorithm	NOUN
alkej-122	26	8	of	of	ADP
alkej-122	26	9	the	the	DET
alkej-122	26	10	end	end	NOUN
alkej-122	26	11	effecter	effecter	NOUN
alkej-122	26	12	positions	position	NOUN
alkej-122	26	13	(	(	PUNCT
alkej-122	26	14	x	x	X
alkej-122	26	15	,	,	PUNCT
alkej-122	26	16	y	y	PROPN
alkej-122	26	17	)	)	PUNCT
alkej-122	26	18	and	and	CCONJ
alkej-122	26	19	joint	joint	ADJ
alkej-122	26	20	angles	angle	NOUN
alkej-122	26	21	of	of	ADP
alkej-122	26	22	circular	circular	ADJ
alkej-122	26	23	trajectory	trajectory	NOUN
alkej-122	26	24	are	be	AUX
alkej-122	26	25	evaluated	evaluate	VERB
alkej-122	26	26	as	as	SCONJ
alkej-122	26	27	shown	show	VERB
alkej-122	26	28	in	in	ADP
alkej-122	26	29	figure	figure	NOUN
alkej-122	26	30	7	7	NUM
alkej-122	26	31	.	.	PUNCT
alkej-122	27	1	these	these	DET
alkej-122	27	2	positions	position	NOUN
alkej-122	27	3	and	and	CCONJ
alkej-122	27	4	joint	joint	ADJ
alkej-122	27	5	angles	angle	NOUN
alkej-122	27	6	of	of	ADP
alkej-122	27	7	circular	circular	ADJ
alkej-122	27	8	trajectory	trajectory	NOUN
alkej-122	27	9	are	be	AUX
alkej-122	27	10	better	well	ADJ
alkej-122	27	11	than	than	ADP
alkej-122	27	12	the	the	DET
alkej-122	27	13	positions	position	NOUN
alkej-122	27	14	and	and	CCONJ
alkej-122	27	15	joint	joint	ADJ
alkej-122	27	16	angles	angle	NOUN
alkej-122	27	17	of	of	ADP
alkej-122	27	18	circular	circular	ADJ
alkej-122	27	19	trajectory	trajectory	NOUN
alkej-122	27	20	of	of	ADP
alkej-122	27	21	the	the	DET
alkej-122	27	22	adrian	adrian	PROPN
alkej-122	27	23	's	's	PART
alkej-122	27	24	work	work	NOUN
alkej-122	27	25	[	[	X
alkej-122	27	26	7	7	NUM
alkej-122	27	27	]	]	PUNCT
alkej-122	27	28	.	.	PUNCT
alkej-122	28	1	adrian	adrian	PROPN
alkej-122	28	2	's	's	PART
alkej-122	28	3	work	work	NOUN
alkej-122	28	4	[	[	X
alkej-122	28	5	7	7	X
alkej-122	28	6	]	]	PUNCT
alkej-122	28	7	is	be	AUX
alkej-122	28	8	just	just	ADV
alkej-122	28	9	used	use	VERB
alkej-122	28	10	nn	nn	PROPN
alkej-122	28	11	hind	hind	PROPN
alkej-122	28	12	z.	z.	PROPN
alkej-122	28	13	khaleel	khaleel	PROPN
alkej-122	28	14	al	al	PROPN
alkej-122	28	15	-	-	PUNCT
alkej-122	28	16	khwarizmi	khwarizmi	PROPN
alkej-122	28	17	engineering	engineering	NOUN
alkej-122	28	18	journal	journal	PROPN
alkej-122	28	19	,	,	PUNCT
alkej-122	28	20	vol	vol	NOUN
alkej-122	28	21	.	.	PROPN
alkej-122	28	22	14	14	NUM
alkej-122	28	23	,	,	PUNCT
alkej-122	28	24	no	no	INTJ
alkej-122	28	25	.	.	NOUN
alkej-122	28	26	1	1	NUM
alkej-122	28	27	,	,	PUNCT
alkej-122	28	28	p.p	p.p	PROPN
alkej-122	28	29	.	.	PROPN
alkej-122	28	30	136144	136144	NUM
alkej-122	28	31	(	(	PUNCT
alkej-122	28	32	2018	2018	NUM
alkej-122	28	33	)	)	PUNCT
alkej-122	28	34	137	137	NUM
alkej-122	28	35	algorithm	algorithm	NOUN
alkej-122	28	36	without	without	ADP
alkej-122	28	37	ga	ga	PROPN
alkej-122	28	38	.	.	PUNCT
alkej-122	29	1	in	in	ADP
alkej-122	29	2	addition	addition	NOUN
alkej-122	29	3	,	,	PUNCT
alkej-122	29	4	in	in	ADP
alkej-122	29	5	this	this	DET
alkej-122	29	6	paper	paper	NOUN
alkej-122	29	7	,	,	PUNCT
alkej-122	29	8	the	the	DET
alkej-122	29	9	end	end	NOUN
alkej-122	29	10	effecter	effecter	NOUN
alkej-122	29	11	positions	position	NOUN
alkej-122	29	12	(	(	PUNCT
alkej-122	29	13	x	x	X
alkej-122	29	14	,	,	PUNCT
alkej-122	29	15	y	y	PROPN
alkej-122	29	16	)	)	PUNCT
alkej-122	29	17	and	and	CCONJ
alkej-122	29	18	joint	joint	ADJ
alkej-122	29	19	angles	angle	NOUN
alkej-122	29	20	of	of	ADP
alkej-122	29	21	the	the	DET
alkej-122	29	22	sinwave	sinwave	PROPN
alkej-122	29	23	trajectory	trajectory	NOUN
alkej-122	29	24	are	be	AUX
alkej-122	29	25	demonstrated	demonstrate	VERB
alkej-122	29	26	and	and	CCONJ
alkej-122	29	27	simulated	simulate	VERB
alkej-122	29	28	as	as	SCONJ
alkej-122	29	29	shown	show	VERB
alkej-122	29	30	in	in	ADP
alkej-122	29	31	figure	figure	NOUN
alkej-122	29	32	8	8	NUM
alkej-122	29	33	,	,	PUNCT
alkej-122	29	34	while	while	SCONJ
alkej-122	29	35	in	in	ADP
alkej-122	29	36	adrian	adrian	PROPN
alkej-122	29	37	's	's	PART
alkej-122	29	38	work	work	NOUN
alkej-122	29	39	,	,	PUNCT
alkej-122	29	40	the	the	DET
alkej-122	29	41	only	only	ADJ
alkej-122	29	42	circular	circular	ADJ
alkej-122	29	43	trajectory	trajectory	NOUN
alkej-122	29	44	is	be	AUX
alkej-122	29	45	presented	present	VERB
alkej-122	29	46	.	.	PUNCT
alkej-122	30	1	2	2	X
alkej-122	30	2	.	.	X
alkej-122	30	3	the	the	DET
alkej-122	30	4	proposed	propose	VERB
alkej-122	30	5	flowchart	flowchart	NOUN
alkej-122	30	6	of	of	ADP
alkej-122	30	7	ga	ga	PROPN
alkej-122	30	8	and	and	CCONJ
alkej-122	30	9	bpnn	bpnn	PROPN
alkej-122	30	10	algorithm	algorithm	NOUN
alkej-122	30	11	is	be	AUX
alkej-122	30	12	illustrated	illustrate	VERB
alkej-122	30	13	as	as	SCONJ
alkej-122	30	14	shown	show	VERB
alkej-122	30	15	in	in	ADP
alkej-122	30	16	figure	figure	NOUN
alkej-122	30	17	6	6	NUM
alkej-122	30	18	and	and	CCONJ
alkej-122	30	19	the	the	DET
alkej-122	30	20	two	two	NUM
alkej-122	30	21	difficult	difficult	ADJ
alkej-122	30	22	trajectories	trajectory	NOUN
alkej-122	30	23	results	result	NOUN
alkej-122	30	24	are	be	AUX
alkej-122	30	25	simulated	simulate	VERB
alkej-122	30	26	,	,	PUNCT
alkej-122	30	27	one	one	NUM
alkej-122	30	28	for	for	ADP
alkej-122	30	29	the	the	DET
alkej-122	30	30	sinwave	sinwave	PROPN
alkej-122	30	31	trajectory	trajectory	NOUN
alkej-122	30	32	and	and	CCONJ
alkej-122	30	33	the	the	DET
alkej-122	30	34	second	second	ADJ
alkej-122	30	35	for	for	ADP
alkej-122	30	36	the	the	DET
alkej-122	30	37	circular	circular	ADJ
alkej-122	30	38	trajectory	trajectory	NOUN
alkej-122	30	39	,	,	PUNCT
alkej-122	30	40	but	but	CCONJ
alkej-122	30	41	the	the	DET
alkej-122	30	42	researchers	researcher	NOUN
alkej-122	30	43	md	md	PROPN
alkej-122	30	44	and	and	CCONJ
alkej-122	30	45	tania	tania	PROPN
alkej-122	30	46	[	[	X
alkej-122	30	47	10	10	NUM
alkej-122	30	48	]	]	PUNCT
alkej-122	30	49	are	be	AUX
alkej-122	30	50	just	just	ADV
alkej-122	30	51	presented	present	VERB
alkej-122	30	52	ga	ga	PROPN
alkej-122	30	53	and	and	CCONJ
alkej-122	30	54	nn	nn	X
alkej-122	30	55	algorithm	algorithm	NOUN
alkej-122	30	56	but	but	CCONJ
alkej-122	30	57	they	they	PRON
alkej-122	30	58	did	do	AUX
alkej-122	30	59	not	not	PART
alkej-122	30	60	evaluated	evaluate	VERB
alkej-122	30	61	any	any	DET
alkej-122	30	62	results	result	NOUN
alkej-122	30	63	of	of	ADP
alkej-122	30	64	any	any	DET
alkej-122	30	65	trajectory	trajectory	NOUN
alkej-122	30	66	.	.	PUNCT
alkej-122	31	1	3	3	X
alkej-122	31	2	.	.	X
alkej-122	31	3	modeling	modeling	NOUN
alkej-122	31	4	of	of	ADP
alkej-122	31	5	redundant	redundant	ADJ
alkej-122	31	6	robot	robot	NOUN
alkej-122	31	7	manipulator	manipulator	NOUN
alkej-122	31	8	the	the	DET
alkej-122	31	9	modeling	modeling	NOUN
alkej-122	31	10	of	of	ADP
alkej-122	31	11	three	three	NUM
alkej-122	31	12	link	link	NOUN
alkej-122	31	13	redundant	redundant	ADJ
alkej-122	31	14	robot	robot	NOUN
alkej-122	31	15	is	be	AUX
alkej-122	31	16	presented	present	VERB
alkej-122	31	17	as	as	ADP
alkej-122	31	18	the	the	DET
alkej-122	31	19	following	following	NOUN
alkej-122	31	20	:	:	PUNCT
alkej-122	31	21	3.1	3.1	NUM
alkej-122	31	22	.	.	PUNCT
alkej-122	31	23	forward	forward	ADJ
alkej-122	31	24	kinematics	kinematic	NOUN
alkej-122	31	25	for	for	ADP
alkej-122	31	26	three	three	NUM
alkej-122	31	27	link	link	NOUN
alkej-122	31	28	manipulator	manipulator	NOUN
alkej-122	31	29	the	the	DET
alkej-122	31	30	forward	forward	ADJ
alkej-122	31	31	kinematics	kinematic	NOUN
alkej-122	31	32	means	mean	VERB
alkej-122	31	33	that	that	SCONJ
alkej-122	31	34	using	use	VERB
alkej-122	31	35	the	the	DET
alkej-122	31	36	kinematic	kinematic	ADJ
alkej-122	31	37	equations	equation	NOUN
alkej-122	31	38	of	of	ADP
alkej-122	31	39	the	the	DET
alkej-122	31	40	three	three	NUM
alkej-122	31	41	link	link	NOUN
alkej-122	31	42	robot	robot	NOUN
alkej-122	31	43	manipulator	manipulator	NOUN
alkej-122	31	44	in	in	ADP
alkej-122	31	45	order	order	NOUN
alkej-122	31	46	to	to	PART
alkej-122	31	47	evaluate	evaluate	VERB
alkej-122	31	48	the	the	DET
alkej-122	31	49	position	position	NOUN
alkej-122	31	50	of	of	ADP
alkej-122	31	51	the	the	DET
alkej-122	31	52	end	end	NOUN
alkej-122	31	53	-	-	PUNCT
alkej-122	31	54	effecter	effecter	NOUN
alkej-122	31	55	from	from	ADP
alkej-122	31	56	the	the	DET
alkej-122	31	57	joint	joint	ADJ
alkej-122	31	58	values	value	NOUN
alkej-122	32	1	[	[	X
alkej-122	32	2	7][8	7][8	X
alkej-122	32	3	]	]	X
alkej-122	32	4	.	.	PUNCT
alkej-122	33	1	the	the	DET
alkej-122	33	2	three	three	NUM
alkej-122	33	3	link	link	NOUN
alkej-122	33	4	manipulator	manipulator	NOUN
alkej-122	33	5	robot	robot	NOUN
alkej-122	33	6	configuration	configuration	NOUN
alkej-122	33	7	with	with	ADP
alkej-122	33	8	all	all	DET
alkej-122	33	9	parameters	parameter	NOUN
alkej-122	33	10	is	be	AUX
alkej-122	33	11	as	as	SCONJ
alkej-122	33	12	shown	show	VERB
alkej-122	33	13	in	in	ADP
alkej-122	33	14	figure	figure	NOUN
alkej-122	33	15	1	1	NUM
alkej-122	33	16	.	.	PUNCT
alkej-122	33	17	fig	fig	NOUN
alkej-122	33	18	.	.	PUNCT
alkej-122	34	1	1	1	NUM
alkej-122	34	2	.	.	X
alkej-122	34	3	three	three	NUM
alkej-122	34	4	link	link	NOUN
alkej-122	34	5	planner	planner	NOUN
alkej-122	34	6	manipulator	manipulator	NOUN
alkej-122	34	7	robot	robot	NOUN
alkej-122	34	8	configuration	configuration	NOUN
alkej-122	35	1	[	[	X
alkej-122	35	2	7	7	NUM
alkej-122	35	3	]	]	PUNCT
alkej-122	35	4	.	.	PUNCT
alkej-122	36	1	where	where	SCONJ
alkej-122	36	2	a	a	DET
alkej-122	36	3	�	�	PROPN
alkej-122	36	4	,	,	PUNCT
alkej-122	36	5	a	a	DET
alkej-122	36	6	�	�	PROPN
alkej-122	36	7	,	,	PUNCT
alkej-122	36	8	a	a	DET
alkej-122	36	9	�	�	PROPN
alkej-122	36	10	are	be	AUX
alkej-122	36	11	the	the	DET
alkej-122	36	12	three	three	NUM
alkej-122	36	13	link	link	NOUN
alkej-122	36	14	of	of	ADP
alkej-122	36	15	robot	robot	NOUN
alkej-122	36	16	respectively	respectively	ADV
alkej-122	36	17	and	and	CCONJ
alkej-122	36	18	th1	th1	PROPN
alkej-122	36	19	,	,	PUNCT
alkej-122	36	20	th2	th2	PROPN
alkej-122	36	21	,	,	PUNCT
alkej-122	36	22	th3	th3	PROPN
alkej-122	36	23	are	be	AUX
alkej-122	36	24	the	the	DET
alkej-122	36	25	joint	joint	ADJ
alkej-122	36	26	angles	angle	NOUN
alkej-122	36	27	.	.	PUNCT
alkej-122	37	1	three	three	NUM
alkej-122	37	2	links	link	NOUN
alkej-122	37	3	are	be	AUX
alkej-122	37	4	connected	connect	VERB
alkej-122	37	5	by	by	ADP
alkej-122	37	6	joints	joint	NOUN
alkej-122	37	7	whose	whose	DET
alkej-122	37	8	all	all	DET
alkej-122	37	9	axes	axis	NOUN
alkej-122	37	10	are	be	AUX
alkej-122	37	11	perpendicular	perpendicular	ADJ
alkej-122	37	12	to	to	ADP
alkej-122	37	13	the	the	DET
alkej-122	37	14	plane	plane	NOUN
alkej-122	37	15	of	of	ADP
alkej-122	37	16	the	the	DET
alkej-122	37	17	links	link	NOUN
alkej-122	37	18	.	.	PUNCT
alkej-122	38	1	the	the	DET
alkej-122	38	2	forward	forward	ADJ
alkej-122	38	3	kinematics	kinematic	NOUN
alkej-122	38	4	of	of	ADP
alkej-122	38	5	the	the	DET
alkej-122	38	6	robot	robot	NOUN
alkej-122	38	7	equations	equation	NOUN
alkej-122	38	8	are	be	AUX
alkej-122	38	9	illustrated	illustrate	VERB
alkej-122	38	10	below	below	ADP
alkej-122	38	11	[	[	X
alkej-122	38	12	7][8	7][8	NOUN
alkej-122	38	13	]	]	PUNCT
alkej-122	38	14	.	.	PUNCT
alkej-122	39	1	x	x	PRON
alkej-122	39	2	�	�	PROPN
alkej-122	39	3	�	�	PROPN
alkej-122	39	4	a	a	DET
alkej-122	39	5	�	�	PROPN
alkej-122	39	6	cos	cos	PROPN
alkej-122	39	7	�	�	PROPN
alkej-122	39	8	th	th	NOUN
alkej-122	39	9	�	�	PROPN
alkej-122	39	10	�	�	PROPN
alkej-122	39	11	�	�	PROPN
alkej-122	39	12	a	a	DET
alkej-122	39	13	�	�	PROPN
alkej-122	39	14	cos	cos	PROPN
alkej-122	39	15	�	�	PROPN
alkej-122	39	16	th	th	VERB
alkej-122	39	17	�	�	PROPN
alkej-122	39	18	�	�	PROPN
alkej-122	39	19	th	th	NUM
alkej-122	39	20	�	�	PROPN
alkej-122	39	21	�	�	PROPN
alkej-122	39	22	�	�	PROPN
alkej-122	39	23	a	a	DET
alkej-122	39	24	�	�	PROPN
alkej-122	39	25	cos	cos	PROPN
alkej-122	39	26	�	�	PROPN
alkej-122	39	27	th	th	VERB
alkej-122	39	28	�	�	PROPN
alkej-122	39	29	�	�	PROPN
alkej-122	39	30	th	th	NUM
alkej-122	39	31	�	�	PROPN
alkej-122	39	32	�	�	PROPN
alkej-122	39	33	th	th	NUM
alkej-122	39	34	�	�	PROPN
alkej-122	39	35	�	�	PROPN
alkej-122	39	36	y	y	PROPN
alkej-122	39	37	�	�	PROPN
alkej-122	39	38	�	�	PROPN
alkej-122	39	39	a	a	DET
alkej-122	39	40	�	�	PROPN
alkej-122	39	41	sin	sin	PROPN
alkej-122	39	42	�	�	PROPN
alkej-122	39	43	th	th	NOUN
alkej-122	39	44	�	�	PROPN
alkej-122	39	45	�	�	PROPN
alkej-122	39	46	�	�	PROPN
alkej-122	39	47	a	a	DET
alkej-122	39	48	�	�	PROPN
alkej-122	39	49	sin	sin	PROPN
alkej-122	39	50	�	�	PROPN
alkej-122	39	51	th	th	NUM
alkej-122	39	52	�	�	PROPN
alkej-122	39	53	�	�	PROPN
alkej-122	39	54	th	th	NUM
alkej-122	39	55	�	�	PROPN
alkej-122	39	56	�	�	PROPN
alkej-122	39	57	�	�	PROPN
alkej-122	39	58	a	a	DET
alkej-122	39	59	�	�	PROPN
alkej-122	39	60	sin	sin	NOUN
alkej-122	39	61	�	�	PROPN
alkej-122	39	62	th	th	NUM
alkej-122	39	63	�	�	PROPN
alkej-122	39	64	�	�	PROPN
alkej-122	39	65	th	th	NUM
alkej-122	39	66	�	�	PROPN
alkej-122	39	67	�	�	PROPN
alkej-122	39	68	th	th	NUM
alkej-122	39	69	�	�	PROPN
alkej-122	39	70	�	�	PROPN
alkej-122	39	71	…	…	PUNCT
alkej-122	39	72	(	(	PUNCT
alkej-122	39	73	1	1	NUM
alkej-122	39	74	)	)	PUNCT
alkej-122	39	75	where	where	SCONJ
alkej-122	39	76	,	,	PUNCT
alkej-122	39	77	(	(	PUNCT
alkej-122	39	78	x	x	X
alkej-122	39	79	�	�	PROPN
alkej-122	39	80	,	,	PUNCT
alkej-122	39	81	y	y	PROPN
alkej-122	39	82	�	�	PROPN
alkej-122	39	83	)	)	PUNCT
alkej-122	39	84	are	be	AUX
alkej-122	39	85	the	the	DET
alkej-122	39	86	coordinates	coordinate	NOUN
alkej-122	39	87	(	(	PUNCT
alkej-122	39	88	position	position	NOUN
alkej-122	39	89	)	)	PUNCT
alkej-122	39	90	of	of	ADP
alkej-122	39	91	end	end	NOUN
alkej-122	39	92	effecter	effecter	NOUN
alkej-122	39	93	for	for	ADP
alkej-122	39	94	the	the	DET
alkej-122	39	95	three	three	NUM
alkej-122	39	96	link	link	NOUN
alkej-122	39	97	robot	robot	NOUN
alkej-122	39	98	and	and	CCONJ
alkej-122	39	99	the	the	DET
alkej-122	39	100	orientation	orientation	NOUN
alkej-122	39	101	is	be	AUX
alkej-122	39	102	�	�	PROPN
alkej-122	39	103	th	th	NUM
alkej-122	39	104	�	�	NOUN
alkej-122	39	105	)	)	PUNCT
alkej-122	39	106	as	as	ADP
alkej-122	39	107	in	in	ADP
alkej-122	39	108	eq	eq	NOUN
alkej-122	39	109	.	.	PROPN
alkej-122	39	110	2	2	NUM
alkej-122	39	111	th	th	NUM
alkej-122	39	112	�	�	PROPN
alkej-122	39	113	�	�	PROPN
alkej-122	39	114	th	th	NUM
alkej-122	39	115	�	�	PROPN
alkej-122	39	116	�	�	PROPN
alkej-122	39	117	th	th	NUM
alkej-122	39	118	�	�	PROPN
alkej-122	39	119	�	�	PROPN
alkej-122	39	120	th	th	NUM
alkej-122	39	121	�	�	PROPN
alkej-122	39	122	…	…	PUNCT
alkej-122	39	123	(	(	PUNCT
alkej-122	39	124	2	2	NUM
alkej-122	39	125	)	)	PUNCT
alkej-122	39	126	the	the	DET
alkej-122	39	127	link	link	NOUN
alkej-122	39	128	parameter	parameter	NOUN
alkej-122	39	129	table	table	NOUN
alkej-122	39	130	of	of	ADP
alkej-122	39	131	forward	forward	ADJ
alkej-122	39	132	kinematics	kinematic	NOUN
alkej-122	39	133	for	for	ADP
alkej-122	39	134	three	three	NUM
alkej-122	39	135	link	link	NOUN
alkej-122	39	136	robot	robot	NOUN
alkej-122	39	137	is	be	AUX
alkej-122	39	138	presented	present	VERB
alkej-122	39	139	in	in	ADP
alkej-122	39	140	the	the	DET
alkej-122	39	141	table	table	NOUN
alkej-122	39	142	1	1	NUM
alkej-122	39	143	.	.	PUNCT
alkej-122	39	144	table	table	NOUN
alkej-122	39	145	1	1	NUM
alkej-122	39	146	.	.	PUNCT
alkej-122	39	147	link	link	NOUN
alkej-122	39	148	parameter	parameter	NOUN
alkej-122	39	149	table	table	NOUN
alkej-122	39	150	of	of	ADP
alkej-122	39	151	forward	forward	ADJ
alkej-122	39	152	kinematics	kinematic	NOUN
alkej-122	39	153	for	for	ADP
alkej-122	39	154	three	three	NUM
alkej-122	39	155	link	link	NOUN
alkej-122	39	156	robot	robot	NOUN
alkej-122	39	157	link	link	PROPN
alkej-122	39	158	�	�	PROPN
alkej-122	39	159	�	�	PROPN
alkej-122	39	160	(	(	PUNCT
alkej-122	39	161	m	m	NOUN
alkej-122	39	162	)	)	PUNCT
alkej-122	39	163	�	�	PROPN
alkej-122	39	164	�	�	PROPN
alkej-122	39	165	(	(	PUNCT
alkej-122	39	166	deg	deg	PROPN
alkej-122	39	167	.	.	PUNCT
alkej-122	39	168	)	)	PUNCT
alkej-122	39	169	�	�	PROPN
alkej-122	39	170	�	�	PROPN
alkej-122	39	171	(	(	PUNCT
alkej-122	39	172	m	m	NOUN
alkej-122	39	173	)	)	PUNCT
alkej-122	39	174	�	�	PROPN
alkej-122	39	175	�	�	PROPN
alkej-122	39	176	(	(	PUNCT
alkej-122	39	177	deg	deg	PROPN
alkej-122	39	178	.	.	PUNCT
alkej-122	39	179	)	)	PUNCT
alkej-122	40	1	1	1	NUM
alkej-122	41	1	2	2	NUM
alkej-122	41	2	0	0	NUM
alkej-122	41	3	0	0	NUM
alkej-122	41	4	θ	θ	PROPN
alkej-122	41	5	�	�	PROPN
alkej-122	41	6	∗	∗	VERB
alkej-122	41	7	2	2	NUM
alkej-122	41	8	2	2	NUM
alkej-122	41	9	0	0	NUM
alkej-122	41	10	0	0	NUM
alkej-122	41	11	θ	θ	PROPN
alkej-122	41	12	�	�	PROPN
alkej-122	41	13	∗	∗	VERB
alkej-122	41	14	3	3	NUM
alkej-122	42	1	2	2	NUM
alkej-122	42	2	0	0	NUM
alkej-122	42	3	0	0	NUM
alkej-122	42	4	θ	θ	PROPN
alkej-122	42	5	�	�	PROPN
alkej-122	42	6	∗	∗	NOUN
alkej-122	42	7	where	where	SCONJ
alkej-122	42	8	,	,	PUNCT
alkej-122	42	9	di	di	NOUN
alkej-122	42	10	is	be	AUX
alkej-122	42	11	distance	distance	NOUN
alkej-122	42	12	,	,	PUNCT
alkej-122	42	13	θi	θi	PROPN
alkej-122	42	14	is	be	AUX
alkej-122	42	15	angle	angle	NOUN
alkej-122	42	16	,	,	PUNCT
alkej-122	42	17	ai	ai	VERB
alkej-122	42	18	is	be	AUX
alkej-122	42	19	length	length	NOUN
alkej-122	42	20	and	and	CCONJ
alkej-122	42	21	αi	αi	PRON
alkej-122	42	22	is	be	AUX
alkej-122	42	23	twist	twist	NOUN
alkej-122	42	24	angle	angle	NOUN
alkej-122	42	25	,	,	PUNCT
alkej-122	42	26	θ	θ	NOUN
alkej-122	42	27	�	�	PROPN
alkej-122	42	28	∗=	∗=	PROPN
alkej-122	42	29	th	th	PROPN
alkej-122	42	30	�	�	PROPN
alkej-122	42	31	,	,	PUNCT
alkej-122	42	32	θ	θ	NOUN
alkej-122	42	33	�	�	PROPN
alkej-122	42	34	∗=	∗=	NOUN
alkej-122	42	35	th	th	X
alkej-122	42	36	�	�	PROPN
alkej-122	42	37	and	and	CCONJ
alkej-122	42	38	θ	θ	PROPN
alkej-122	42	39	�	�	PROPN
alkej-122	42	40	∗=	∗=	NOUN
alkej-122	42	41	th	th	NOUN
alkej-122	42	42	�	�	PROPN
alkej-122	42	43	the	the	DET
alkej-122	42	44	ranges	range	NOUN
alkej-122	42	45	of	of	ADP
alkej-122	42	46	three	three	NUM
alkej-122	42	47	joint	joint	ADJ
alkej-122	42	48	movements	movement	NOUN
alkej-122	42	49	are	be	AUX
alkej-122	42	50	:	:	PUNCT
alkej-122	42	51	0	0	NUM
alkej-122	42	52	<	<	X
alkej-122	42	53	th	th	X
alkej-122	42	54	�	�	SYM
alkej-122	42	55	<	<	X
alkej-122	42	56	π	π	PROPN
alkej-122	42	57	,	,	PUNCT
alkej-122	42	58	π	π	PROPN
alkej-122	42	59	<	<	X
alkej-122	42	60	th	th	X
alkej-122	42	61	�	�	PROPN
alkej-122	42	62	<	<	X
alkej-122	42	63	0	0	NUM
alkej-122	42	64	,	,	PUNCT
alkej-122	42	65	-π/2	-π/2	X
alkej-122	42	66	<	<	X
alkej-122	42	67	th	th	X
alkej-122	42	68	�	�	SYM
alkej-122	42	69	<	<	X
alkej-122	42	70	π/2	π/2	NUM
alkej-122	42	71	the	the	DET
alkej-122	42	72	three	three	NUM
alkej-122	42	73	link	link	NOUN
alkej-122	42	74	robot	robot	NOUN
alkej-122	42	75	is	be	AUX
alkej-122	42	76	required	require	VERB
alkej-122	42	77	to	to	PART
alkej-122	42	78	move	move	VERB
alkej-122	42	79	along	along	ADP
alkej-122	42	80	the	the	DET
alkej-122	42	81	circular	circular	ADJ
alkej-122	42	82	trajectory	trajectory	NOUN
alkej-122	42	83	in	in	ADP
alkej-122	42	84	its	its	PRON
alkej-122	42	85	workspace	workspace	NOUN
alkej-122	42	86	.	.	PUNCT
alkej-122	43	1	the	the	DET
alkej-122	43	2	coordinates	coordinate	NOUN
alkej-122	43	3	of	of	ADP
alkej-122	43	4	the	the	DET
alkej-122	43	5	circle	circle	NOUN
alkej-122	43	6	equation	equation	NOUN
alkej-122	43	7	are	be	AUX
alkej-122	43	8	demonstrated	demonstrate	VERB
alkej-122	43	9	as	as	ADP
alkej-122	43	10	below	below	ADV
alkej-122	43	11	:	:	PUNCT
alkej-122	43	12	x	x	PUNCT
alkej-122	43	13	�	�	PROPN
alkej-122	43	14	�	�	PROPN
alkej-122	43	15	x	x	SYM
alkej-122	43	16	�	�	PROPN
alkej-122	43	17	�	�	PROPN
alkej-122	43	18	r	r	NOUN
alkej-122	43	19	cosφ	cosφ	NOUN
alkej-122	43	20	y	y	PROPN
alkej-122	43	21	�	�	PROPN
alkej-122	43	22	�	�	PROPN
alkej-122	43	23	y	y	PROPN
alkej-122	43	24	�	�	PROPN
alkej-122	43	25	�	�	PROPN
alkej-122	43	26	r	r	NOUN
alkej-122	43	27	sinφ	sinφ	NOUN
alkej-122	43	28	...	...	PUNCT
alkej-122	43	29	(	(	PUNCT
alkej-122	43	30	3	3	X
alkej-122	43	31	)	)	PUNCT
alkej-122	43	32	where	where	SCONJ
alkej-122	43	33	,	,	PUNCT
alkej-122	43	34	(	(	PUNCT
alkej-122	43	35	x	x	X
alkej-122	43	36	�	�	PROPN
alkej-122	43	37	,	,	PUNCT
alkej-122	43	38	y	y	PROPN
alkej-122	43	39	�	�	PROPN
alkej-122	43	40	)	)	PUNCT
alkej-122	43	41	are	be	AUX
alkej-122	43	42	the	the	DET
alkej-122	43	43	desired	desire	VERB
alkej-122	43	44	position	position	NOUN
alkej-122	43	45	of	of	ADP
alkej-122	43	46	the	the	DET
alkej-122	43	47	end	end	NOUN
alkej-122	43	48	-	-	PUNCT
alkej-122	43	49	effecter	effecter	NOUN
alkej-122	43	50	,	,	PUNCT
alkej-122	43	51	(	(	PUNCT
alkej-122	43	52	x	x	X
alkej-122	43	53	�	�	PROPN
alkej-122	43	54	,	,	PUNCT
alkej-122	43	55	y	y	PROPN
alkej-122	43	56	�	�	PROPN
alkej-122	43	57	)	)	PUNCT
alkej-122	43	58	are	be	AUX
alkej-122	43	59	the	the	DET
alkej-122	43	60	coordinates	coordinate	NOUN
alkej-122	43	61	of	of	ADP
alkej-122	43	62	the	the	DET
alkej-122	43	63	circle	circle	NOUN
alkej-122	43	64	's	's	PART
alkej-122	43	65	center	center	NOUN
alkej-122	43	66	,	,	PUNCT
alkej-122	43	67	r	r	NOUN
alkej-122	43	68	is	be	AUX
alkej-122	43	69	the	the	DET
alkej-122	43	70	circle	circle	NOUN
alkej-122	43	71	's	's	PART
alkej-122	43	72	radius	radius	NOUN
alkej-122	43	73	.	.	PUNCT
alkej-122	44	1	the	the	DET
alkej-122	44	2	angle	angle	NOUN
alkej-122	44	3	(	(	PUNCT
alkej-122	44	4	φ	φ	NOUN
alkej-122	44	5	)	)	PUNCT
alkej-122	44	6	ranges	range	VERB
alkej-122	44	7	between	between	ADP
alkej-122	44	8	0	0	NUM
alkej-122	44	9	and	and	CCONJ
alkej-122	44	10	2π	2π	NOUN
alkej-122	44	11	.	.	PUNCT
alkej-122	45	1	the	the	DET
alkej-122	45	2	desired	desire	VERB
alkej-122	45	3	orientation	orientation	NOUN
alkej-122	45	4	of	of	ADP
alkej-122	45	5	the	the	DET
alkej-122	45	6	end	end	NOUN
alkej-122	45	7	-	-	PUNCT
alkej-122	45	8	effecter	effecter	NOUN
alkej-122	45	9	is	be	AUX
alkej-122	45	10	expressed	express	VERB
alkej-122	45	11	by	by	ADP
alkej-122	45	12	:	:	PUNCT
alkej-122	45	13	th	th	X
alkej-122	45	14	!	!	PUNCT
alkej-122	45	15	�	�	PROPN
alkej-122	45	16	tan	tan	PROPN
alkej-122	45	17	#	#	SYM
alkej-122	45	18	�	�	PROPN
alkej-122	45	19	�	�	PROPN
alkej-122	45	20	y	y	PROPN
alkej-122	45	21	�	�	PROPN
alkej-122	45	22	/x	/x	SYM
alkej-122	45	23	�	�	PROPN
alkej-122	45	24	�	�	PROPN
alkej-122	45	25	...	...	PUNCT
alkej-122	45	26	(	(	PUNCT
alkej-122	45	27	4	4	X
alkej-122	45	28	)	)	PUNCT
alkej-122	45	29	the	the	DET
alkej-122	45	30	three	three	NUM
alkej-122	45	31	link	link	NOUN
alkej-122	45	32	robot	robot	NOUN
alkej-122	45	33	is	be	AUX
alkej-122	45	34	also	also	ADV
alkej-122	45	35	move	move	VERB
alkej-122	45	36	along	along	ADP
alkej-122	45	37	the	the	DET
alkej-122	45	38	sinwave	sinwave	ADJ
alkej-122	45	39	trajectory	trajectory	NOUN
alkej-122	45	40	in	in	ADP
alkej-122	45	41	its	its	PRON
alkej-122	45	42	workspace	workspace	NOUN
alkej-122	45	43	.	.	PUNCT
alkej-122	46	1	the	the	DET
alkej-122	46	2	coordinates	coordinate	NOUN
alkej-122	46	3	and	and	CCONJ
alkej-122	46	4	the	the	DET
alkej-122	46	5	desired	desire	VERB
alkej-122	46	6	orientation	orientation	NOUN
alkej-122	46	7	of	of	ADP
alkej-122	46	8	the	the	DET
alkej-122	46	9	endeffecter	endeffecter	NOUN
alkej-122	46	10	are	be	AUX
alkej-122	46	11	expressed	express	VERB
alkej-122	46	12	as	as	ADP
alkej-122	46	13	:	:	PUNCT
alkej-122	46	14	x	x	X
alkej-122	46	15	�	�	PROPN
alkej-122	46	16	�	�	PROPN
alkej-122	46	17	0	0	NUM
alkej-122	46	18	:	:	PUNCT
alkej-122	46	19	2π	2π	NOUN
alkej-122	46	20	,	,	PUNCT
alkej-122	46	21	y	y	PROPN
alkej-122	46	22	�	�	PROPN
alkej-122	46	23	�	�	PROPN
alkej-122	46	24	sinx	sinx	PROPN
alkej-122	46	25	�	�	PROPN
alkej-122	46	26	…	…	PUNCT
alkej-122	46	27	(	(	PUNCT
alkej-122	46	28	5	5	NUM
alkej-122	46	29	)	)	PUNCT
alkej-122	46	30	ph	ph	PROPN
alkej-122	46	31	*	*	PROPN
alkej-122	46	32	�	�	PROPN
alkej-122	46	33	tan	tan	PROPN
alkej-122	46	34	#	#	SYM
alkej-122	46	35	�	�	PROPN
alkej-122	46	36	�	�	PROPN
alkej-122	46	37	y	y	PROPN
alkej-122	46	38	�	�	PROPN
alkej-122	46	39	/x	/x	SYM
alkej-122	46	40	�	�	PROPN
alkej-122	46	41	�	�	PROPN
alkej-122	46	42	…	…	PUNCT
alkej-122	46	43	(	(	PUNCT
alkej-122	46	44	6	6	NUM
alkej-122	46	45	)	)	PUNCT
alkej-122	46	46	by	by	ADP
alkej-122	46	47	using	use	VERB
alkej-122	46	48	the	the	DET
alkej-122	46	49	forward	forward	ADJ
alkej-122	46	50	kinematics	kinematic	NOUN
alkej-122	46	51	eq	eq	NOUN
alkej-122	46	52	.	.	PROPN
alkej-122	46	53	1	1	NUM
alkej-122	46	54	and	and	CCONJ
alkej-122	46	55	eq	eq	NOUN
alkej-122	46	56	.	.	PROPN
alkej-122	46	57	2	2	NUM
alkej-122	46	58	the	the	DET
alkej-122	46	59	workspace	workspace	NOUN
alkej-122	46	60	of	of	ADP
alkej-122	46	61	redundant	redundant	ADJ
alkej-122	46	62	three	three	NUM
alkej-122	46	63	link	link	NOUN
alkej-122	46	64	robot	robot	NOUN
alkej-122	46	65	are	be	AUX
alkej-122	46	66	simulated	simulate	VERB
alkej-122	46	67	for	for	ADP
alkej-122	46	68	1000	1000	NUM
alkej-122	46	69	random	random	ADJ
alkej-122	46	70	points	point	NOUN
alkej-122	46	71	as	as	SCONJ
alkej-122	46	72	shown	show	VERB
alkej-122	46	73	in	in	ADP
alkej-122	46	74	figure	figure	NOUN
alkej-122	46	75	2	2	NUM
alkej-122	46	76	:	:	PUNCT
alkej-122	46	77	hind	hind	PROPN
alkej-122	46	78	z.	z.	PROPN
alkej-122	46	79	khaleel	khaleel	PROPN
alkej-122	46	80	al	al	PROPN
alkej-122	46	81	-	-	PUNCT
alkej-122	46	82	khwarizmi	khwarizmi	PROPN
alkej-122	46	83	engineering	engineering	NOUN
alkej-122	46	84	journal	journal	PROPN
alkej-122	46	85	,	,	PUNCT
alkej-122	46	86	vol	vol	NOUN
alkej-122	46	87	.	.	PROPN
alkej-122	47	1	14	14	NUM
alkej-122	47	2	,	,	PUNCT
alkej-122	47	3	no	no	INTJ
alkej-122	47	4	.	.	NOUN
alkej-122	47	5	1	1	NUM
alkej-122	47	6	,	,	PUNCT
alkej-122	47	7	p.p	p.p	PROPN
alkej-122	47	8	.	.	PROPN
alkej-122	47	9	136144	136144	NUM
alkej-122	47	10	(	(	PUNCT
alkej-122	47	11	2018	2018	NUM
alkej-122	47	12	)	)	PUNCT
alkej-122	47	13	138	138	NUM
alkej-122	47	14	fig	fig	NOUN
alkej-122	47	15	.	.	PUNCT
alkej-122	48	1	2	2	X
alkej-122	48	2	.	.	X
alkej-122	48	3	simulation	simulation	NOUN
alkej-122	48	4	results	result	NOUN
alkej-122	48	5	of	of	ADP
alkej-122	48	6	three	three	NUM
alkej-122	48	7	joints	joint	NOUN
alkej-122	48	8	for	for	ADP
alkej-122	48	9	threelink	threelink	NOUN
alkej-122	48	10	robot	robot	NOUN
alkej-122	48	11	workspace	workspace	NOUN
alkej-122	48	12	.	.	PUNCT
alkej-122	49	1	where	where	SCONJ
alkej-122	49	2	the	the	DET
alkej-122	49	3	black	black	ADJ
alkej-122	49	4	line	line	NOUN
alkej-122	49	5	is	be	AUX
alkej-122	49	6	the	the	DET
alkej-122	49	7	first	first	ADJ
alkej-122	49	8	link	link	NOUN
alkej-122	49	9	,	,	PUNCT
alkej-122	49	10	the	the	DET
alkej-122	49	11	red	red	ADJ
alkej-122	49	12	line	line	NOUN
alkej-122	49	13	is	be	AUX
alkej-122	49	14	the	the	DET
alkej-122	49	15	second	second	ADJ
alkej-122	49	16	link	link	NOUN
alkej-122	49	17	and	and	CCONJ
alkej-122	49	18	the	the	DET
alkej-122	49	19	blue	blue	ADJ
alkej-122	49	20	line	line	NOUN
alkej-122	49	21	is	be	AUX
alkej-122	49	22	the	the	DET
alkej-122	49	23	third	third	ADJ
alkej-122	49	24	link	link	NOUN
alkej-122	49	25	of	of	ADP
alkej-122	49	26	redundant	redundant	ADJ
alkej-122	49	27	robot	robot	NOUN
alkej-122	49	28	.	.	PUNCT
alkej-122	50	1	4	4	X
alkej-122	50	2	.	.	X
alkej-122	50	3	combination	combination	NOUN
alkej-122	50	4	of	of	ADP
alkej-122	50	5	ga	ga	PROPN
alkej-122	50	6	and	and	CCONJ
alkej-122	50	7	nn	nn	X
alkej-122	50	8	algorithm	algorithm	NOUN
alkej-122	50	9	in	in	ADP
alkej-122	50	10	this	this	DET
alkej-122	50	11	paper	paper	NOUN
alkej-122	50	12	,	,	PUNCT
alkej-122	50	13	the	the	DET
alkej-122	50	14	ga	ga	PROPN
alkej-122	50	15	is	be	AUX
alkej-122	50	16	used	use	VERB
alkej-122	50	17	in	in	ADP
alkej-122	50	18	order	order	NOUN
alkej-122	50	19	to	to	PART
alkej-122	50	20	optimize	optimize	VERB
alkej-122	50	21	the	the	DET
alkej-122	50	22	weights	weight	NOUN
alkej-122	50	23	of	of	ADP
alkej-122	50	24	nn	nn	INTJ
alkej-122	50	25	as	as	SCONJ
alkej-122	50	26	explained	explain	VERB
alkej-122	50	27	in	in	ADP
alkej-122	50	28	below	below	ADV
alkej-122	50	29	:	:	PUNCT
alkej-122	50	30	1the	1the	ADJ
alkej-122	50	31	initialize	initialize	NOUN
alkej-122	50	32	inputs	input	NOUN
alkej-122	50	33	are	be	AUX
alkej-122	50	34	end	end	NOUN
alkej-122	50	35	effecter	effecter	NOUN
alkej-122	50	36	position	position	NOUN
alkej-122	50	37	and	and	CCONJ
alkej-122	50	38	orientation	orientation	NOUN
alkej-122	50	39	�	�	PROPN
alkej-122	50	40	x	x	SYM
alkej-122	50	41	�	�	PROPN
alkej-122	50	42	,	,	PUNCT
alkej-122	50	43	y	y	PROPN
alkej-122	50	44	�	�	PROPN
alkej-122	50	45	,	,	PUNCT
alkej-122	50	46	th	th	X
alkej-122	50	47	�	�	NOUN
alkej-122	50	48	)	)	PUNCT
alkej-122	50	49	from	from	ADP
alkej-122	50	50	eq	eq	ADP
alkej-122	50	51	.	.	PROPN
alkej-122	50	52	1	1	NUM
alkej-122	50	53	and	and	CCONJ
alkej-122	50	54	eq	eq	NOUN
alkej-122	50	55	.	.	PROPN
alkej-122	50	56	2	2	NUM
alkej-122	50	57	and	and	CCONJ
alkej-122	50	58	initialization	initialization	VERB
alkej-122	50	59	the	the	DET
alkej-122	50	60	weights	weight	NOUN
alkej-122	50	61	and	and	CCONJ
alkej-122	50	62	biases	bias	NOUN
alkej-122	50	63	values	value	NOUN
alkej-122	50	64	randomly	randomly	ADV
alkej-122	50	65	.	.	PUNCT
alkej-122	51	1	2	2	NUM
alkej-122	51	2	bpnn	bpnn	NOUN
alkej-122	51	3	algorithm	algorithm	NOUN
alkej-122	51	4	is	be	AUX
alkej-122	51	5	divided	divide	VERB
alkej-122	51	6	into	into	ADP
alkej-122	51	7	three	three	NUM
alkej-122	51	8	programs	program	NOUN
alkej-122	51	9	in	in	ADP
alkej-122	51	10	order	order	NOUN
alkej-122	51	11	to	to	PART
alkej-122	51	12	evaluate	evaluate	VERB
alkej-122	51	13	each	each	DET
alkej-122	51	14	target	target	NOUN
alkej-122	51	15	output	output	NOUN
alkej-122	51	16	so	so	SCONJ
alkej-122	51	17	that	that	SCONJ
alkej-122	51	18	we	we	PRON
alkej-122	51	19	have	have	VERB
alkej-122	51	20	three	three	NUM
alkej-122	51	21	programs	program	NOUN
alkej-122	51	22	one	one	NUM
alkej-122	51	23	for	for	ADP
alkej-122	51	24	th	th	NOUN
alkej-122	51	25	�	�	PROPN
alkej-122	51	26	,	,	PUNCT
alkej-122	51	27	second	second	ADJ
alkej-122	51	28	for	for	ADP
alkej-122	51	29	th	th	X
alkej-122	51	30	�	�	PROPN
alkej-122	51	31	and	and	CCONJ
alkej-122	51	32	third	third	ADJ
alkej-122	51	33	for	for	ADP
alkej-122	51	34	th	th	NOUN
alkej-122	51	35	�	�	NOUN
alkej-122	51	36	.	.	PUNCT
alkej-122	52	1	3the	3the	DET
alkej-122	52	2	multilayer	multilayer	NOUN
alkej-122	52	3	feed	feed	NOUN
alkej-122	52	4	forward	forward	ADV
alkej-122	52	5	neural	neural	ADJ
alkej-122	52	6	networks	network	NOUN
alkej-122	52	7	consist	consist	VERB
alkej-122	52	8	of	of	ADP
alkej-122	52	9	three	three	NUM
alkej-122	52	10	layers	layer	NOUN
alkej-122	52	11	.	.	PUNCT
alkej-122	53	1	there	there	PRON
alkej-122	53	2	are	be	VERB
alkej-122	53	3	three	three	NUM
alkej-122	53	4	programs	program	NOUN
alkej-122	53	5	,	,	PUNCT
alkej-122	53	6	in	in	ADP
alkej-122	53	7	each	each	DET
alkej-122	53	8	program	program	NOUN
alkej-122	53	9	the	the	DET
alkej-122	53	10	number	number	NOUN
alkej-122	53	11	of	of	ADP
alkej-122	53	12	these	these	DET
alkej-122	53	13	layers	layer	NOUN
alkej-122	53	14	is	be	AUX
alkej-122	53	15	:	:	PUNCT
alkej-122	53	16	input	input	NOUN
alkej-122	53	17	layer=	layer=	NUM
alkej-122	53	18	3	3	NUM
alkej-122	53	19	,	,	PUNCT
alkej-122	53	20	hidden=3	hidden=3	PRON
alkej-122	53	21	and	and	CCONJ
alkej-122	53	22	output=1	output=1	PROPN
alkej-122	53	23	for	for	ADP
alkej-122	53	24	neuron=30	neuron=30	NOUN
alkej-122	53	25	so	so	SCONJ
alkej-122	53	26	that	that	SCONJ
alkej-122	53	27	finally	finally	ADV
alkej-122	53	28	there	there	PRON
alkej-122	53	29	are	be	VERB
alkej-122	53	30	three	three	NUM
alkej-122	53	31	outputs	output	NOUN
alkej-122	53	32	of	of	ADP
alkej-122	53	33	joint	joint	ADJ
alkej-122	53	34	angles	angle	NOUN
alkej-122	53	35	.	.	PUNCT
alkej-122	54	1	4	4	NUM
alkej-122	54	2	the	the	DET
alkej-122	54	3	back	back	ADJ
alkej-122	54	4	propagation	propagation	NOUN
alkej-122	54	5	neural	neural	ADJ
alkej-122	54	6	network	network	NOUN
alkej-122	54	7	(	(	PUNCT
alkej-122	54	8	bpnn	bpnn	NOUN
alkej-122	54	9	)	)	PUNCT
alkej-122	54	10	is	be	AUX
alkej-122	54	11	used	use	VERB
alkej-122	54	12	and	and	CCONJ
alkej-122	54	13	the	the	DET
alkej-122	54	14	epoch=1000	epoch=1000	PROPN
alkej-122	54	15	as	as	SCONJ
alkej-122	54	16	shown	show	VERB
alkej-122	54	17	in	in	ADP
alkej-122	54	18	figures	figure	NOUN
alkej-122	54	19	(	(	PUNCT
alkej-122	54	20	3	3	NUM
alkej-122	54	21	,	,	PUNCT
alkej-122	54	22	4	4	NUM
alkej-122	54	23	,	,	PUNCT
alkej-122	54	24	5	5	NUM
alkej-122	54	25	)	)	PUNCT
alkej-122	54	26	.	.	PUNCT
alkej-122	55	1	fig	fig	NOUN
alkej-122	55	2	.	.	PUNCT
alkej-122	56	1	3	3	X
alkej-122	56	2	.	.	X
alkej-122	56	3	bpnn	bpnn	NOUN
alkej-122	56	4	structure	structure	NOUN
alkej-122	56	5	for	for	ADP
alkej-122	56	6	three	three	NUM
alkej-122	56	7	-	-	PUNCT
alkej-122	56	8	link	link	NOUN
alkej-122	56	9	robot	robot	NOUN
alkej-122	56	10	of	of	ADP
alkej-122	56	11	th1	th1	PROPN
alkej-122	56	12	output	output	NOUN
alkej-122	56	13	.	.	PUNCT
alkej-122	57	1	fig	fig	NOUN
alkej-122	57	2	.	.	PUNCT
alkej-122	58	1	4	4	X
alkej-122	58	2	.	.	X
alkej-122	58	3	bpnn	bpnn	NOUN
alkej-122	58	4	structure	structure	NOUN
alkej-122	58	5	for	for	ADP
alkej-122	58	6	three	three	NUM
alkej-122	58	7	-	-	PUNCT
alkej-122	58	8	link	link	NOUN
alkej-122	58	9	robot	robot	NOUN
alkej-122	58	10	of	of	ADP
alkej-122	58	11	th2	th2	PROPN
alkej-122	58	12	output	output	PROPN
alkej-122	58	13	.	.	PUNCT
alkej-122	59	1	fig	fig	NOUN
alkej-122	59	2	.	.	PUNCT
alkej-122	60	1	5	5	NUM
alkej-122	60	2	.	.	X
alkej-122	60	3	bpnn	bpnn	NOUN
alkej-122	60	4	structure	structure	NOUN
alkej-122	60	5	for	for	ADP
alkej-122	60	6	three	three	NUM
alkej-122	60	7	-	-	PUNCT
alkej-122	60	8	link	link	NOUN
alkej-122	60	9	robot	robot	NOUN
alkej-122	60	10	of	of	ADP
alkej-122	60	11	th3	th3	PROPN
alkej-122	60	12	output	output	NOUN
alkej-122	60	13	.	.	PUNCT
alkej-122	61	1	5the	5the	DET
alkej-122	61	2	performance	performance	NOUN
alkej-122	61	3	of	of	ADP
alkej-122	61	4	the	the	DET
alkej-122	61	5	neural	neural	ADJ
alkej-122	61	6	network	network	NOUN
alkej-122	61	7	is	be	AUX
alkej-122	61	8	evaluated	evaluate	VERB
alkej-122	61	9	by	by	ADP
alkej-122	61	10	the	the	DET
alkej-122	61	11	general	general	ADJ
alkej-122	61	12	form	form	NOUN
alkej-122	61	13	of	of	ADP
alkej-122	61	14	mean	mean	ADJ
alkej-122	61	15	square	square	ADJ
alkej-122	61	16	error	error	NOUN
alkej-122	61	17	(	(	PUNCT
alkej-122	61	18	mse	mse	NOUN
alkej-122	61	19	)	)	PUNCT
alkej-122	61	20	for	for	ADP
alkej-122	61	21	output	output	NOUN
alkej-122	61	22	is	be	AUX
alkej-122	61	23	:	:	PUNCT
alkej-122	61	24	mse	mse	PROPN
alkej-122	61	25	�	�	PROPN
alkej-122	61	26	�	�	PROPN
alkej-122	61	27	.	.	PUNCT
alkej-122	61	28	/	/	SYM
alkej-122	61	29	�	�	PROPN
alkej-122	61	30	desired2	desired2	NOUN
alkej-122	61	31	3	3	NUM
alkej-122	61	32	estimated2	estimated2	ADJ
alkej-122	61	33	�	�	PROPN
alkej-122	61	34	�	�	PROPN
alkej-122	61	35	.	.	PROPN
alkej-122	61	36	25	25	NUM
alkej-122	61	37	�	�	PROPN
alkej-122	61	38	…	…	PUNCT
alkej-122	61	39	(	(	PUNCT
alkej-122	61	40	7	7	X
alkej-122	61	41	)	)	PUNCT
alkej-122	61	42	hind	hind	NOUN
alkej-122	61	43	z.	z.	PROPN
alkej-122	61	44	khaleel	khaleel	PROPN
alkej-122	61	45	al	al	PROPN
alkej-122	61	46	-	-	PUNCT
alkej-122	61	47	khwarizmi	khwarizmi	PROPN
alkej-122	61	48	engineering	engineering	NOUN
alkej-122	61	49	journal	journal	PROPN
alkej-122	61	50	,	,	PUNCT
alkej-122	61	51	vol	vol	NOUN
alkej-122	61	52	.	.	PROPN
alkej-122	61	53	14	14	NUM
alkej-122	61	54	,	,	PUNCT
alkej-122	61	55	no	no	INTJ
alkej-122	61	56	.	.	NOUN
alkej-122	61	57	1	1	NUM
alkej-122	61	58	,	,	PUNCT
alkej-122	61	59	p.p	p.p	PROPN
alkej-122	61	60	.	.	PROPN
alkej-122	61	61	136144	136144	NUM
alkej-122	61	62	(	(	PUNCT
alkej-122	61	63	2018	2018	NUM
alkej-122	61	64	)	)	PUNCT
alkej-122	61	65	139	139	NUM
alkej-122	62	1	where	where	SCONJ
alkej-122	62	2	,	,	PUNCT
alkej-122	62	3	n	n	CCONJ
alkej-122	62	4	:	:	PUNCT
alkej-122	62	5	total	total	ADJ
alkej-122	62	6	number	number	NOUN
alkej-122	62	7	of	of	ADP
alkej-122	62	8	samples	sample	NOUN
alkej-122	62	9	.	.	PUNCT
alkej-122	63	1	6if	6if	NOUN
alkej-122	63	2	the	the	DET
alkej-122	63	3	mse	mse	NOUN
alkej-122	63	4	<	<	X
alkej-122	63	5	minimum	minimum	NOUN
alkej-122	63	6	error	error	NOUN
alkej-122	63	7	then	then	ADV
alkej-122	63	8	go	go	VERB
alkej-122	63	9	to	to	PART
alkej-122	63	10	optimise	optimise	VERB
alkej-122	63	11	the	the	DET
alkej-122	63	12	weights	weight	NOUN
alkej-122	63	13	and	and	CCONJ
alkej-122	63	14	biases	bias	NOUN
alkej-122	63	15	values	value	NOUN
alkej-122	63	16	by	by	ADP
alkej-122	63	17	using	use	VERB
alkej-122	63	18	continuous	continuous	ADJ
alkej-122	63	19	ga	ga	PROPN
alkej-122	63	20	.	.	PUNCT
alkej-122	64	1	7the	7the	PROPN
alkej-122	64	2	continuous	continuous	ADJ
alkej-122	64	3	ga	ga	PROPN
alkej-122	64	4	is	be	AUX
alkej-122	64	5	programmed	program	VERB
alkej-122	64	6	using	use	VERB
alkej-122	64	7	toolbox	toolbox	NOUN
alkej-122	65	1	[	[	X
alkej-122	65	2	9	9	NUM
alkej-122	65	3	]	]	PUNCT
alkej-122	65	4	and	and	CCONJ
alkej-122	65	5	the	the	DET
alkej-122	65	6	parameters	parameter	NOUN
alkej-122	65	7	are	be	AUX
alkej-122	65	8	shown	show	VERB
alkej-122	65	9	in	in	ADP
alkej-122	65	10	table	table	NOUN
alkej-122	65	11	2	2	NUM
alkej-122	65	12	:	:	PUNCT
alkej-122	65	13	table	table	NOUN
alkej-122	65	14	2	2	NUM
alkej-122	65	15	.	.	PUNCT
alkej-122	66	1	the	the	DET
alkej-122	66	2	specifications	specification	NOUN
alkej-122	66	3	of	of	ADP
alkej-122	66	4	ga	ga	PROPN
alkej-122	66	5	simulation	simulation	PROPN
alkej-122	66	6	parameter	parameter	PROPN
alkej-122	66	7	value	value	NOUN
alkej-122	66	8	population	population	NOUN
alkej-122	66	9	30	30	NUM
alkej-122	66	10	number	number	NOUN
alkej-122	66	11	of	of	ADP
alkej-122	66	12	generations	generation	NOUN
alkej-122	66	13	50	50	NUM
alkej-122	66	14	crossover	crossover	NOUN
alkej-122	66	15	rate	rate	NOUN
alkej-122	66	16	80	80	NUM
alkej-122	66	17	%	%	NOUN
alkej-122	66	18	mutation	mutation	NOUN
alkej-122	66	19	rate	rate	NOUN
alkej-122	66	20	5	5	NUM
alkej-122	66	21	%	%	NOUN
alkej-122	66	22	8the	8the	DET
alkej-122	66	23	fitness	fitness	NOUN
alkej-122	66	24	function	function	NOUN
alkej-122	66	25	is	be	AUX
alkej-122	66	26	proposed	propose	VERB
alkej-122	66	27	as	as	ADP
alkej-122	66	28	minimization	minimization	NOUN
alkej-122	66	29	the	the	DET
alkej-122	66	30	following	follow	VERB
alkej-122	66	31	form	form	NOUN
alkej-122	66	32	:	:	PUNCT
alkej-122	66	33	fitness	fitness	PROPN
alkej-122	66	34	�	�	PROPN
alkej-122	66	35	�	�	PROPN
alkej-122	66	36	�	�	PROPN
alkej-122	66	37	789	789	NUM
alkej-122	66	38	�	�	NOUN
alkej-122	66	39	…	…	PUNCT
alkej-122	66	40	(	(	PUNCT
alkej-122	66	41	8)	8)	NUM
alkej-122	66	42	according	accord	VERB
alkej-122	66	43	to	to	ADP
alkej-122	66	44	the	the	DET
alkej-122	66	45	step	step	NOUN
alkej-122	66	46	2	2	NUM
alkej-122	66	47	there	there	PRON
alkej-122	66	48	are	be	VERB
alkej-122	66	49	three	three	NUM
alkej-122	66	50	programs	program	NOUN
alkej-122	66	51	so	so	SCONJ
alkej-122	66	52	that	that	SCONJ
alkej-122	66	53	the	the	DET
alkej-122	66	54	eq	eq	NOUN
alkej-122	66	55	.	.	PROPN
alkej-122	66	56	8	8	NUM
alkej-122	66	57	is	be	AUX
alkej-122	66	58	applied	apply	VERB
alkej-122	66	59	once	once	SCONJ
alkej-122	66	60	time	time	NOUN
alkej-122	66	61	in	in	ADP
alkej-122	66	62	each	each	DET
alkej-122	66	63	program	program	NOUN
alkej-122	66	64	in	in	ADP
alkej-122	66	65	order	order	NOUN
alkej-122	66	66	to	to	PART
alkej-122	66	67	get	get	VERB
alkej-122	66	68	the	the	DET
alkej-122	66	69	optimal	optimal	ADJ
alkej-122	66	70	angles	angle	NOUN
alkej-122	66	71	outputs	output	NOUN
alkej-122	66	72	(	(	PUNCT
alkej-122	66	73	th1	th1	PROPN
alkej-122	66	74	,	,	PUNCT
alkej-122	66	75	th2	th2	PROPN
alkej-122	66	76	,	,	PUNCT
alkej-122	66	77	th3	th3	X
alkej-122	66	78	)	)	PUNCT
alkej-122	66	79	by	by	ADP
alkej-122	66	80	optimization	optimization	NOUN
alkej-122	66	81	the	the	DET
alkej-122	66	82	nn	nn	PROPN
alkej-122	66	83	weight	weight	NOUN
alkej-122	66	84	values	value	NOUN
alkej-122	66	85	.	.	PUNCT
alkej-122	67	1	figure	figure	VERB
alkej-122	67	2	6	6	NUM
alkej-122	67	3	shows	show	VERB
alkej-122	67	4	that	that	SCONJ
alkej-122	67	5	the	the	DET
alkej-122	67	6	proposed	propose	VERB
alkej-122	67	7	flowchart	flowchart	NOUN
alkej-122	67	8	of	of	ADP
alkej-122	67	9	the	the	DET
alkej-122	67	10	combination	combination	NOUN
alkej-122	67	11	ga	ga	NOUN
alkej-122	67	12	and	and	CCONJ
alkej-122	67	13	bpnn	bpnn	NOUN
alkej-122	67	14	algorithm	algorithm	NOUN
alkej-122	67	15	as	as	SCONJ
alkej-122	67	16	compared	compare	VERB
alkej-122	67	17	with	with	ADP
alkej-122	67	18	[	[	X
alkej-122	67	19	10	10	NUM
alkej-122	67	20	]	]	PUNCT
alkej-122	67	21	.	.	PUNCT
alkej-122	68	1	in	in	ADP
alkej-122	68	2	this	this	DET
alkej-122	68	3	paper	paper	NOUN
alkej-122	68	4	,	,	PUNCT
alkej-122	68	5	the	the	DET
alkej-122	68	6	proposed	propose	VERB
alkej-122	68	7	equation	equation	NOUN
alkej-122	68	8	is	be	AUX
alkej-122	68	9	used	use	VERB
alkej-122	68	10	as	as	ADP
alkej-122	68	11	a	a	DET
alkej-122	68	12	fitness	fitness	NOUN
alkej-122	68	13	function	function	NOUN
alkej-122	68	14	as	as	ADP
alkej-122	68	15	in	in	ADP
alkej-122	68	16	eq	eq	NOUN
alkej-122	68	17	.	.	PROPN
alkej-122	68	18	8	8	NUM
alkej-122	68	19	and	and	CCONJ
alkej-122	68	20	also	also	ADV
alkej-122	68	21	,	,	PUNCT
alkej-122	68	22	the	the	DET
alkej-122	68	23	continues	continue	NOUN
alkej-122	68	24	ga	ga	PROPN
alkej-122	68	25	is	be	AUX
alkej-122	68	26	used	use	VERB
alkej-122	68	27	in	in	ADP
alkej-122	68	28	order	order	NOUN
alkej-122	68	29	to	to	PART
alkej-122	68	30	optimize	optimize	VERB
alkej-122	68	31	the	the	DET
alkej-122	68	32	weights	weight	NOUN
alkej-122	68	33	values	value	NOUN
alkej-122	68	34	.	.	PUNCT
alkej-122	69	1	the	the	DET
alkej-122	69	2	continues	continues	PROPN
alkej-122	69	3	ga	ga	PROPN
alkej-122	69	4	is	be	AUX
alkej-122	69	5	used	use	VERB
alkej-122	69	6	because	because	SCONJ
alkej-122	69	7	is	be	AUX
alkej-122	69	8	faster	fast	ADJ
alkej-122	69	9	than	than	ADP
alkej-122	69	10	the	the	DET
alkej-122	69	11	binary	binary	PROPN
alkej-122	69	12	ga	ga	PROPN
alkej-122	69	13	.	.	PUNCT
alkej-122	70	1	the	the	DET
alkej-122	70	2	two	two	NUM
alkej-122	70	3	difficult	difficult	ADJ
alkej-122	70	4	trajectories	trajectory	NOUN
alkej-122	70	5	are	be	AUX
alkej-122	70	6	presented	present	VERB
alkej-122	70	7	,	,	PUNCT
alkej-122	70	8	one	one	NUM
alkej-122	70	9	for	for	ADP
alkej-122	70	10	sinwave	sinwave	ADJ
alkej-122	70	11	trajectory	trajectory	NOUN
alkej-122	70	12	and	and	CCONJ
alkej-122	70	13	second	second	ADJ
alkej-122	70	14	for	for	ADP
alkej-122	70	15	circular	circular	ADJ
alkej-122	70	16	trajectory	trajectory	NOUN
alkej-122	70	17	.	.	PUNCT
alkej-122	71	1	the	the	DET
alkej-122	71	2	results	result	NOUN
alkej-122	71	3	of	of	ADP
alkej-122	71	4	this	this	DET
alkej-122	71	5	paper	paper	NOUN
alkej-122	71	6	are	be	AUX
alkej-122	71	7	demonstrated	demonstrate	VERB
alkej-122	71	8	the	the	DET
alkej-122	71	9	best	good	ADJ
alkej-122	71	10	results	result	NOUN
alkej-122	71	11	of	of	ADP
alkej-122	71	12	joint	joint	ADJ
alkej-122	71	13	angles	angle	NOUN
alkej-122	71	14	for	for	ADP
alkej-122	71	15	three	three	NUM
alkej-122	71	16	link	link	NOUN
alkej-122	71	17	redundant	redundant	ADJ
alkej-122	71	18	robot	robot	NOUN
alkej-122	71	19	.	.	PUNCT
alkej-122	72	1	as	as	SCONJ
alkej-122	72	2	compared	compare	VERB
alkej-122	72	3	with	with	ADP
alkej-122	72	4	another	another	DET
alkej-122	72	5	work	work	NOUN
alkej-122	72	6	of	of	ADP
alkej-122	72	7	the	the	DET
alkej-122	72	8	researchers	researcher	NOUN
alkej-122	72	9	md	md	PROPN
alkej-122	72	10	and	and	CCONJ
alkej-122	72	11	tania	tania	PROPN
alkej-122	72	12	[	[	X
alkej-122	72	13	10	10	NUM
alkej-122	72	14	]	]	PUNCT
alkej-122	72	15	where	where	SCONJ
alkej-122	72	16	,	,	PUNCT
alkej-122	72	17	they	they	PRON
alkej-122	72	18	did	do	AUX
alkej-122	72	19	not	not	PART
alkej-122	72	20	have	have	VERB
alkej-122	72	21	any	any	DET
alkej-122	72	22	results	result	NOUN
alkej-122	72	23	of	of	ADP
alkej-122	72	24	any	any	DET
alkej-122	72	25	trajectory	trajectory	NOUN
alkej-122	72	26	.	.	PUNCT
alkej-122	73	1	fig	fig	NOUN
alkej-122	73	2	.	.	PUNCT
alkej-122	74	1	6	6	X
alkej-122	74	2	.	.	X
alkej-122	74	3	flowchart	flowchart	NOUN
alkej-122	74	4	of	of	ADP
alkej-122	74	5	bpnn	bpnn	PROPN
alkej-122	74	6	optimization	optimization	NOUN
alkej-122	74	7	by	by	ADP
alkej-122	74	8	ga	ga	PROPN
alkej-122	74	9	.	.	PROPN
alkej-122	74	10	5	5	NUM
alkej-122	74	11	.	.	X
alkej-122	74	12	simulation	simulation	NOUN
alkej-122	74	13	and	and	CCONJ
alkej-122	74	14	discussion	discussion	NOUN
alkej-122	74	15	results	result	VERB
alkej-122	74	16	matlab	matlab	PROPN
alkej-122	74	17	program	program	NOUN
alkej-122	74	18	version	version	NOUN
alkej-122	74	19	r2010b	r2010b	NOUN
alkej-122	74	20	is	be	AUX
alkej-122	74	21	used	use	VERB
alkej-122	74	22	in	in	ADP
alkej-122	74	23	this	this	DET
alkej-122	74	24	work	work	NOUN
alkej-122	74	25	in	in	ADP
alkej-122	74	26	order	order	NOUN
alkej-122	74	27	to	to	PART
alkej-122	74	28	simulate	simulate	VERB
alkej-122	74	29	the	the	DET
alkej-122	74	30	results	result	NOUN
alkej-122	74	31	of	of	ADP
alkej-122	74	32	three	three	NUM
alkej-122	74	33	link	link	NOUN
alkej-122	74	34	redundant	redundant	ADJ
alkej-122	74	35	robot	robot	NOUN
alkej-122	74	36	by	by	ADP
alkej-122	74	37	using	use	VERB
alkej-122	74	38	combination	combination	NOUN
alkej-122	74	39	of	of	ADP
alkej-122	74	40	ga	ga	PROPN
alkej-122	74	41	and	and	CCONJ
alkej-122	74	42	nn	nn	PROPN
alkej-122	74	43	algorithm	algorithm	NOUN
alkej-122	74	44	.	.	PUNCT
alkej-122	75	1	in	in	ADP
alkej-122	75	2	this	this	DET
alkej-122	75	3	paper	paper	NOUN
alkej-122	75	4	the	the	DET
alkej-122	75	5	outputs	output	NOUN
alkej-122	75	6	results	result	NOUN
alkej-122	75	7	is	be	AUX
alkej-122	75	8	evaluated	evaluate	VERB
alkej-122	75	9	of	of	ADP
alkej-122	75	10	best	good	ADJ
alkej-122	75	11	three	three	NUM
alkej-122	75	12	joints	joint	NOUN
alkej-122	75	13	angles	angles	ADP
alkej-122	75	14	�	�	PROPN
alkej-122	75	15	th	th	NUM
alkej-122	75	16	�	�	PROPN
alkej-122	75	17	,	,	PUNCT
alkej-122	75	18	th	th	X
alkej-122	75	19	�	�	PROPN
alkej-122	75	20	,	,	PUNCT
alkej-122	75	21	th	th	X
alkej-122	75	22	�	�	NOUN
alkej-122	75	23	�	�	PROPN
alkej-122	75	24	in	in	ADP
alkej-122	75	25	radians	radian	NOUN
alkej-122	75	26	of	of	ADP
alkej-122	75	27	the	the	DET
alkej-122	75	28	sinwave	sinwave	NOUN
alkej-122	75	29	and	and	CCONJ
alkej-122	75	30	the	the	DET
alkej-122	75	31	circular	circular	ADJ
alkej-122	75	32	trajectory	trajectory	NOUN
alkej-122	75	33	for	for	ADP
alkej-122	75	34	the	the	DET
alkej-122	75	35	redundant	redundant	ADJ
alkej-122	75	36	three	three	NUM
alkej-122	75	37	link	link	NOUN
alkej-122	75	38	robot	robot	NOUN
alkej-122	75	39	as	as	SCONJ
alkej-122	75	40	shown	show	VERB
alkej-122	75	41	in	in	ADP
alkej-122	75	42	the	the	DET
alkej-122	75	43	following	follow	VERB
alkej-122	75	44	table	table	NOUN
alkej-122	75	45	3	3	NUM
alkej-122	75	46	and	and	CCONJ
alkej-122	75	47	table	table	NOUN
alkej-122	75	48	4	4	NUM
alkej-122	75	49	:	:	PUNCT
alkej-122	75	50	hind	hind	PROPN
alkej-122	75	51	z.	z.	PROPN
alkej-122	75	52	khaleel	khaleel	PROPN
alkej-122	75	53	al	al	PROPN
alkej-122	75	54	-	-	PUNCT
alkej-122	75	55	khwarizmi	khwarizmi	PROPN
alkej-122	75	56	engineering	engineering	NOUN
alkej-122	75	57	journal	journal	PROPN
alkej-122	75	58	,	,	PUNCT
alkej-122	75	59	vol	vol	NOUN
alkej-122	75	60	.	.	PROPN
alkej-122	75	61	14	14	NUM
alkej-122	75	62	,	,	PUNCT
alkej-122	75	63	no	no	INTJ
alkej-122	75	64	.	.	NOUN
alkej-122	75	65	1	1	NUM
alkej-122	75	66	,	,	PUNCT
alkej-122	75	67	p.p	p.p	PROPN
alkej-122	75	68	.	.	PROPN
alkej-122	75	69	136144	136144	NUM
alkej-122	75	70	(	(	PUNCT
alkej-122	75	71	2018	2018	NUM
alkej-122	75	72	)	)	PUNCT
alkej-122	75	73	140	140	NUM
alkej-122	75	74	table	table	NOUN
alkej-122	75	75	3	3	NUM
alkej-122	75	76	.	.	PUNCT
alkej-122	76	1	best	good	ADJ
alkej-122	76	2	three	three	NUM
alkej-122	76	3	joints	joint	NOUN
alkej-122	76	4	angles	angle	VERB
alkej-122	76	5	results	result	NOUN
alkej-122	76	6	of	of	ADP
alkej-122	76	7	the	the	DET
alkej-122	76	8	sinwave	sinwave	ADJ
alkej-122	76	9	trajectory	trajectory	NOUN
alkej-122	76	10	for	for	ADP
alkej-122	76	11	three	three	NUM
alkej-122	76	12	link	link	NOUN
alkej-122	76	13	redundant	redundant	ADJ
alkej-122	76	14	robot	robot	NOUN
alkej-122	76	15	.	.	PUNCT
alkej-122	77	1	table	table	NOUN
alkej-122	77	2	4	4	NUM
alkej-122	77	3	,	,	PUNCT
alkej-122	77	4	best	good	ADJ
alkej-122	77	5	three	three	NUM
alkej-122	77	6	joints	joint	NOUN
alkej-122	77	7	angles	angle	VERB
alkej-122	77	8	results	result	NOUN
alkej-122	77	9	of	of	ADP
alkej-122	77	10	the	the	DET
alkej-122	77	11	circular	circular	ADJ
alkej-122	77	12	trajectory	trajectory	NOUN
alkej-122	77	13	for	for	ADP
alkej-122	77	14	three	three	NUM
alkej-122	77	15	link	link	NOUN
alkej-122	77	16	redundant	redundant	ADJ
alkej-122	77	17	robot	robot	NOUN
alkej-122	77	18	.	.	PUNCT
alkej-122	78	1	th1(rad	th1(rad	PROPN
alkej-122	78	2	.	.	PUNCT
alkej-122	78	3	)	)	PUNCT
alkej-122	79	1	th2(rad	th2(rad	PROPN
alkej-122	79	2	.	.	PUNCT
alkej-122	79	3	)	)	PUNCT
alkej-122	80	1	th3(rad	th3(rad	PROPN
alkej-122	80	2	.	.	PUNCT
alkej-122	80	3	)	)	PUNCT
alkej-122	81	1	1	1	NUM
alkej-122	81	2	2.09439510239320	2.09439510239320	NUM
alkej-122	81	3	2.09439510239320	2.09439510239320	NUM
alkej-122	81	4	-4.18879020478639	-4.18879020478639	NOUN
alkej-122	81	5	2	2	NUM
alkej-122	81	6	2.79682251513915	2.79682251513915	NUM
alkej-122	81	7	2.25366107507819	2.25366107507819	NUM
alkej-122	81	8	-4.26842319112889	-4.26842319112889	NOUN
alkej-122	81	9	3	3	NUM
alkej-122	81	10	2.71152693748771	2.71152693748771	NUM
alkej-122	81	11	2.40412061902860	2.40412061902860	NUM
alkej-122	81	12	-4.34365296310410	-4.34365296310410	NOUN
alkej-122	81	13	4	4	NUM
alkej-122	81	14	2.62427838158158	2.62427838158158	NUM
alkej-122	81	15	2.54472526439636	2.54472526439636	NUM
alkej-122	81	16	-4.41395528578797	-4.41395528578797	NOUN
alkej-122	81	17	5	5	NUM
alkej-122	81	18	2.53526739838127	2.53526739838127	NUM
alkej-122	81	19	2.67462289897448	2.67462289897448	NUM
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alkej-122	89	8	's	's	PART
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alkej-122	89	10	is	be	AUX
alkej-122	89	11	just	just	ADV
alkej-122	89	12	used	use	VERB
alkej-122	89	13	nn	nn	PROPN
alkej-122	89	14	algorithm	algorithm	PROPN
alkej-122	89	15	.	.	PUNCT
alkej-122	90	1	fig	fig	NOUN
alkej-122	90	2	.	.	PUNCT
alkej-122	91	1	7	7	X
alkej-122	91	2	.	.	X
alkej-122	91	3	the	the	DET
alkej-122	91	4	three	three	NUM
alkej-122	91	5	link	link	NOUN
alkej-122	91	6	robot	robot	NOUN
alkej-122	91	7	end	end	VERB
alkej-122	91	8	effecter	effecter	NOUN
alkej-122	91	9	and	and	CCONJ
alkej-122	91	10	the	the	DET
alkej-122	91	11	desired	desire	VERB
alkej-122	91	12	circular	circular	ADJ
alkej-122	91	13	trajectories	trajectory	NOUN
alkej-122	91	14	.	.	PUNCT
alkej-122	92	1	in	in	ADP
alkej-122	92	2	figure	figure	NOUN
alkej-122	92	3	8	8	NUM
alkej-122	92	4	the	the	DET
alkej-122	92	5	three	three	NUM
alkej-122	92	6	link	link	NOUN
alkej-122	92	7	robot	robot	NOUN
alkej-122	92	8	sinwave	sinwave	AUX
alkej-122	92	9	end	end	VERB
alkej-122	92	10	effecter	effecter	PROPN
alkej-122	92	11	trajectory	trajectory	NOUN
alkej-122	92	12	is	be	AUX
alkej-122	92	13	simulated	simulate	VERB
alkej-122	92	14	according	accord	VERB
alkej-122	92	15	to	to	ADP
alkej-122	92	16	combine	combine	NOUN
alkej-122	92	17	of	of	ADP
alkej-122	92	18	ga	ga	PROPN
alkej-122	92	19	and	and	CCONJ
alkej-122	92	20	bpnn	bpnn	PROPN
alkej-122	92	21	algorithm	algorithm	NOUN
alkej-122	92	22	,	,	PUNCT
alkej-122	92	23	while	while	SCONJ
alkej-122	92	24	,	,	PUNCT
alkej-122	92	25	the	the	DET
alkej-122	92	26	desired	desire	VERB
alkej-122	92	27	sinwave	sinwave	PROPN
alkej-122	92	28	trajectory	trajectory	NOUN
alkej-122	92	29	is	be	AUX
alkej-122	92	30	simulated	simulate	VERB
alkej-122	92	31	according	accord	VERB
alkej-122	92	32	to	to	ADP
alkej-122	92	33	the	the	DET
alkej-122	92	34	eq	eq	NOUN
alkej-122	92	35	.	.	PROPN
alkej-122	92	36	5	5	NUM
alkej-122	92	37	and	and	CCONJ
alkej-122	92	38	eq	eq	NOUN
alkej-122	92	39	.	.	PROPN
alkej-122	92	40	6	6	NUM
alkej-122	92	41	.	.	X
alkej-122	92	42	fig	fig	NOUN
alkej-122	92	43	.	.	PUNCT
alkej-122	93	1	8	8	NUM
alkej-122	93	2	.	.	PUNCT
alkej-122	94	1	the	the	DET
alkej-122	94	2	three	three	NUM
alkej-122	94	3	link	link	NOUN
alkej-122	94	4	robot	robot	NOUN
alkej-122	94	5	end	end	VERB
alkej-122	94	6	effecter	effecter	NOUN
alkej-122	94	7	and	and	CCONJ
alkej-122	94	8	the	the	DET
alkej-122	94	9	desired	desire	VERB
alkej-122	94	10	sinwave	sinwave	ADJ
alkej-122	94	11	trajectories	trajectory	NOUN
alkej-122	94	12	.	.	PUNCT
alkej-122	95	1	in	in	ADP
alkej-122	95	2	each	each	DET
alkej-122	95	3	trajectory	trajectory	NOUN
alkej-122	95	4	there	there	PRON
alkej-122	95	5	are	be	VERB
alkej-122	95	6	three	three	NUM
alkej-122	95	7	fitness	fitness	NOUN
alkej-122	95	8	functions	function	NOUN
alkej-122	95	9	are	be	AUX
alkej-122	95	10	evaluated	evaluate	VERB
alkej-122	95	11	according	accord	VERB
alkej-122	95	12	to	to	ADP
alkej-122	95	13	the	the	DET
alkej-122	95	14	eq	eq	NOUN
alkej-122	95	15	.	.	PROPN
alkej-122	95	16	8	8	NUM
alkej-122	95	17	as	as	SCONJ
alkej-122	95	18	shown	show	VERB
alkej-122	95	19	in	in	ADP
alkej-122	95	20	figures	figure	NOUN
alkej-122	95	21	(	(	PUNCT
alkej-122	95	22	9	9	NUM
alkej-122	95	23	,	,	PUNCT
alkej-122	95	24	10	10	NUM
alkej-122	95	25	,	,	PUNCT
alkej-122	95	26	11	11	NUM
alkej-122	95	27	,	,	PUNCT
alkej-122	95	28	12	12	NUM
alkej-122	95	29	,	,	PUNCT
alkej-122	95	30	13	13	NUM
alkej-122	95	31	,	,	PUNCT
alkej-122	95	32	14	14	NUM
alkej-122	95	33	)	)	PUNCT
alkej-122	95	34	,	,	PUNCT
alkej-122	95	35	where	where	SCONJ
alkej-122	95	36	the	the	DET
alkej-122	95	37	black	black	ADJ
alkej-122	95	38	color	color	NOUN
alkej-122	95	39	is	be	AUX
alkej-122	95	40	the	the	DET
alkej-122	95	41	best	good	ADJ
alkej-122	95	42	fitness	fitness	NOUN
alkej-122	95	43	values	value	NOUN
alkej-122	95	44	and	and	CCONJ
alkej-122	95	45	the	the	DET
alkej-122	95	46	blue	blue	ADJ
alkej-122	95	47	color	color	NOUN
alkej-122	95	48	is	be	AUX
alkej-122	95	49	mean	mean	ADJ
alkej-122	95	50	fitness	fitness	NOUN
alkej-122	95	51	:	:	PUNCT
alkej-122	95	52	fig	fig	NOUN
alkej-122	95	53	.	.	PUNCT
alkej-122	96	1	9	9	X
alkej-122	96	2	.	.	X
alkej-122	96	3	best	good	ADJ
alkej-122	96	4	fitness	fitness	NOUN
alkej-122	96	5	value	value	NOUN
alkej-122	96	6	for	for	ADP
alkej-122	96	7	:	:	PUNCT
alkej-122	96	8	;	;	PUNCT
alkej-122	96	9	<	<	X
alkej-122	96	10	output	output	NOUN
alkej-122	96	11	of	of	ADP
alkej-122	96	12	sinwave	sinwave	ADJ
alkej-122	96	13	trajectory	trajectory	NOUN
alkej-122	96	14	and	and	CCONJ
alkej-122	96	15	average	average	ADJ
alkej-122	96	16	distance	distance	NOUN
alkej-122	96	17	between	between	ADP
alkej-122	96	18	individuals	individual	NOUN
alkej-122	96	19	.	.	PUNCT
alkej-122	97	1	fig	fig	NOUN
alkej-122	97	2	.	.	PUNCT
alkej-122	98	1	10	10	NUM
alkej-122	98	2	.	.	PUNCT
alkej-122	99	1	best	good	ADJ
alkej-122	99	2	fitness	fitness	NOUN
alkej-122	99	3	value	value	NOUN
alkej-122	99	4	for	for	ADP
alkej-122	99	5	:	:	PUNCT
alkej-122	99	6	;	;	PUNCT
alkej-122	99	7	=	=	SYM
alkej-122	99	8	output	output	NOUN
alkej-122	99	9	of	of	ADP
alkej-122	99	10	sinwave	sinwave	ADJ
alkej-122	99	11	trajectory	trajectory	NOUN
alkej-122	99	12	and	and	CCONJ
alkej-122	99	13	average	average	ADJ
alkej-122	99	14	distance	distance	NOUN
alkej-122	99	15	between	between	ADP
alkej-122	99	16	individuals	individual	NOUN
alkej-122	99	17	.	.	PUNCT
alkej-122	100	1	hind	hind	PROPN
alkej-122	100	2	z.	z.	PROPN
alkej-122	100	3	khaleel	khaleel	PROPN
alkej-122	100	4	al	al	PROPN
alkej-122	100	5	-	-	PUNCT
alkej-122	100	6	khwarizmi	khwarizmi	PROPN
alkej-122	100	7	engineering	engineering	NOUN
alkej-122	100	8	journal	journal	PROPN
alkej-122	100	9	,	,	PUNCT
alkej-122	100	10	vol	vol	NOUN
alkej-122	100	11	.	.	PROPN
alkej-122	100	12	14	14	NUM
alkej-122	100	13	,	,	PUNCT
alkej-122	100	14	no	no	INTJ
alkej-122	100	15	.	.	NOUN
alkej-122	100	16	1	1	NUM
alkej-122	100	17	,	,	PUNCT
alkej-122	100	18	p.p	p.p	PROPN
alkej-122	100	19	.	.	PROPN
alkej-122	100	20	136144	136144	NUM
alkej-122	100	21	(	(	PUNCT
alkej-122	100	22	2018	2018	NUM
alkej-122	100	23	)	)	PUNCT
alkej-122	100	24	142	142	NUM
alkej-122	100	25	fig	fig	NOUN
alkej-122	100	26	.	.	PUNCT
alkej-122	101	1	11	11	NUM
alkej-122	101	2	.	.	PUNCT
alkej-122	102	1	best	good	ADJ
alkej-122	102	2	fitness	fitness	NOUN
alkej-122	102	3	value	value	NOUN
alkej-122	102	4	for	for	ADP
alkej-122	102	5	:	:	PUNCT
alkej-122	102	6	;	;	PUNCT
alkej-122	102	7	>	>	X
alkej-122	102	8	output	output	NOUN
alkej-122	102	9	of	of	ADP
alkej-122	102	10	sinwave	sinwave	ADJ
alkej-122	102	11	trajectory	trajectory	NOUN
alkej-122	102	12	and	and	CCONJ
alkej-122	102	13	average	average	ADJ
alkej-122	102	14	distance	distance	NOUN
alkej-122	102	15	between	between	ADP
alkej-122	102	16	individuals	individual	NOUN
alkej-122	102	17	.	.	PUNCT
alkej-122	103	1	fig	fig	NOUN
alkej-122	103	2	.	.	PUNCT
alkej-122	104	1	12	12	NUM
alkej-122	104	2	.	.	PUNCT
alkej-122	105	1	best	good	ADJ
alkej-122	105	2	fitness	fitness	NOUN
alkej-122	105	3	value	value	NOUN
alkej-122	105	4	for	for	ADP
alkej-122	105	5	:	:	PUNCT
alkej-122	105	6	;	;	PUNCT
alkej-122	105	7	<	<	X
alkej-122	105	8	output	output	NOUN
alkej-122	105	9	of	of	ADP
alkej-122	105	10	circular	circular	ADJ
alkej-122	105	11	trajectory	trajectory	NOUN
alkej-122	105	12	and	and	CCONJ
alkej-122	105	13	average	average	ADJ
alkej-122	105	14	distance	distance	NOUN
alkej-122	105	15	between	between	ADP
alkej-122	105	16	individuals	individual	NOUN
alkej-122	105	17	.	.	PUNCT
alkej-122	106	1	fig	fig	NOUN
alkej-122	106	2	.	.	PUNCT
alkej-122	107	1	13	13	NUM
alkej-122	107	2	.	.	PUNCT
alkej-122	108	1	best	good	ADJ
alkej-122	108	2	fitness	fitness	NOUN
alkej-122	108	3	value	value	NOUN
alkej-122	108	4	for	for	ADP
alkej-122	108	5	:	:	PUNCT
alkej-122	108	6	;	;	PUNCT
alkej-122	108	7	=	=	SYM
alkej-122	108	8	output	output	NOUN
alkej-122	108	9	of	of	ADP
alkej-122	108	10	circular	circular	ADJ
alkej-122	108	11	trajectory	trajectory	NOUN
alkej-122	108	12	and	and	CCONJ
alkej-122	108	13	average	average	ADJ
alkej-122	108	14	distance	distance	NOUN
alkej-122	108	15	between	between	ADP
alkej-122	108	16	individuals	individual	NOUN
alkej-122	108	17	.	.	PUNCT
alkej-122	109	1	fig	fig	NOUN
alkej-122	109	2	.	.	PUNCT
alkej-122	110	1	14	14	NUM
alkej-122	110	2	.	.	PUNCT
alkej-122	111	1	best	good	ADJ
alkej-122	111	2	fitness	fitness	NOUN
alkej-122	111	3	value	value	NOUN
alkej-122	111	4	for	for	ADP
alkej-122	111	5	:	:	PUNCT
alkej-122	111	6	;	;	PUNCT
alkej-122	111	7	>	>	X
alkej-122	111	8	output	output	NOUN
alkej-122	111	9	of	of	ADP
alkej-122	111	10	circular	circular	ADJ
alkej-122	111	11	trajectory	trajectory	NOUN
alkej-122	111	12	and	and	CCONJ
alkej-122	111	13	average	average	ADJ
alkej-122	111	14	distance	distance	NOUN
alkej-122	111	15	between	between	ADP
alkej-122	111	16	individuals	individual	NOUN
alkej-122	111	17	.	.	PUNCT
alkej-122	112	1	6	6	X
alkej-122	112	2	.	.	X
alkej-122	112	3	conclusions	conclusion	NOUN
alkej-122	112	4	in	in	ADP
alkej-122	112	5	this	this	DET
alkej-122	112	6	paper	paper	NOUN
alkej-122	112	7	the	the	DET
alkej-122	112	8	combing	combing	NOUN
alkej-122	112	9	of	of	ADP
alkej-122	112	10	ga	ga	PROPN
alkej-122	112	11	and	and	CCONJ
alkej-122	112	12	nn	nn	PROPN
alkej-122	112	13	algorithm	algorithm	NOUN
alkej-122	112	14	is	be	AUX
alkej-122	112	15	presented	present	VERB
alkej-122	112	16	in	in	ADP
alkej-122	112	17	order	order	NOUN
alkej-122	112	18	to	to	PART
alkej-122	112	19	solve	solve	VERB
alkej-122	112	20	the	the	DET
alkej-122	112	21	problem	problem	NOUN
alkej-122	112	22	of	of	ADP
alkej-122	112	23	inverse	inverse	NOUN
alkej-122	112	24	kinematics	kinematic	NOUN
alkej-122	112	25	for	for	ADP
alkej-122	112	26	three	three	NUM
alkej-122	112	27	link	link	NOUN
alkej-122	112	28	redundant	redundant	ADJ
alkej-122	112	29	robot	robot	NOUN
alkej-122	112	30	.	.	PUNCT
alkej-122	113	1	the	the	DET
alkej-122	113	2	inputs	input	NOUN
alkej-122	113	3	(	(	PUNCT
alkej-122	113	4	x	x	X
alkej-122	113	5	�	�	PROPN
alkej-122	113	6	,	,	PUNCT
alkej-122	113	7	y	y	PROPN
alkej-122	113	8	�	�	PROPN
alkej-122	113	9	,	,	PUNCT
alkej-122	113	10	th	th	X
alkej-122	113	11	�	�	NOUN
alkej-122	113	12	)	)	PUNCT
alkej-122	113	13	are	be	AUX
alkej-122	113	14	end	end	NOUN
alkej-122	113	15	effecter	effecter	NOUN
alkej-122	113	16	position	position	NOUN
alkej-122	113	17	and	and	CCONJ
alkej-122	113	18	orientation	orientation	NOUN
alkej-122	113	19	of	of	ADP
alkej-122	113	20	the	the	DET
alkej-122	113	21	three	three	NUM
alkej-122	113	22	link	link	NOUN
alkej-122	113	23	robot	robot	NOUN
alkej-122	113	24	.	.	PUNCT
alkej-122	114	1	the	the	DET
alkej-122	114	2	back	back	ADJ
alkej-122	114	3	propagation	propagation	NOUN
alkej-122	114	4	neural	neural	ADJ
alkej-122	114	5	network	network	NOUN
alkej-122	114	6	(	(	PUNCT
alkej-122	114	7	bpnn	bpnn	NOUN
alkej-122	114	8	)	)	PUNCT
alkej-122	114	9	is	be	AUX
alkej-122	114	10	used	use	VERB
alkej-122	114	11	for	for	ADP
alkej-122	114	12	training	train	VERB
alkej-122	114	13	the	the	DET
alkej-122	114	14	data	datum	NOUN
alkej-122	114	15	.	.	PUNCT
alkej-122	115	1	the	the	DET
alkej-122	115	2	outputs	output	NOUN
alkej-122	115	3	of	of	ADP
alkej-122	115	4	bpnn	bpnn	NOUN
alkej-122	115	5	are	be	AUX
alkej-122	115	6	computed	compute	VERB
alkej-122	115	7	then	then	ADV
alkej-122	115	8	the	the	DET
alkej-122	115	9	mse	mse	NOUN
alkej-122	115	10	is	be	AUX
alkej-122	115	11	evaluated	evaluate	VERB
alkej-122	115	12	between	between	ADP
alkej-122	115	13	the	the	DET
alkej-122	115	14	estimated	estimate	VERB
alkej-122	115	15	and	and	CCONJ
alkej-122	115	16	desired	desire	VERB
alkej-122	115	17	outputs	output	NOUN
alkej-122	115	18	.	.	PUNCT
alkej-122	116	1	the	the	DET
alkej-122	116	2	proposed	propose	VERB
alkej-122	116	3	fitness	fitness	NOUN
alkej-122	116	4	function	function	NOUN
alkej-122	116	5	is	be	AUX
alkej-122	116	6	computed	compute	VERB
alkej-122	116	7	with	with	ADP
alkej-122	116	8	ga	ga	PROPN
alkej-122	116	9	.	.	PUNCT
alkej-122	117	1	the	the	DET
alkej-122	117	2	continues	continues	PROPN
alkej-122	117	3	ga	ga	PROPN
alkej-122	117	4	is	be	AUX
alkej-122	117	5	used	use	VERB
alkej-122	117	6	in	in	ADP
alkej-122	117	7	order	order	NOUN
alkej-122	117	8	to	to	PART
alkej-122	117	9	optimize	optimize	VERB
alkej-122	117	10	the	the	DET
alkej-122	117	11	weights	weight	NOUN
alkej-122	117	12	values	value	NOUN
alkej-122	117	13	with	with	ADP
alkej-122	117	14	training	train	VERB
alkej-122	117	15	the	the	DET
alkej-122	117	16	data	datum	NOUN
alkej-122	117	17	in	in	ADP
alkej-122	117	18	bpnn	bpnn	NOUN
alkej-122	117	19	by	by	ADP
alkej-122	117	20	combing	comb	VERB
alkej-122	117	21	ga	ga	PROPN
alkej-122	117	22	and	and	CCONJ
alkej-122	117	23	nn	nn	PROPN
alkej-122	117	24	algorithm	algorithm	NOUN
alkej-122	117	25	.	.	PUNCT
alkej-122	118	1	this	this	DET
alkej-122	118	2	algorithm	algorithm	NOUN
alkej-122	118	3	is	be	AUX
alkej-122	118	4	presented	present	VERB
alkej-122	118	5	in	in	ADP
alkej-122	118	6	order	order	NOUN
alkej-122	118	7	to	to	PART
alkej-122	118	8	solve	solve	VERB
alkej-122	118	9	the	the	DET
alkej-122	118	10	inverse	inverse	NOUN
alkej-122	118	11	kinematics	kinematic	NOUN
alkej-122	118	12	problem	problem	NOUN
alkej-122	118	13	and	and	CCONJ
alkej-122	118	14	to	to	PART
alkej-122	118	15	compute	compute	VERB
alkej-122	118	16	the	the	DET
alkej-122	118	17	best	good	ADJ
alkej-122	118	18	values	value	NOUN
alkej-122	118	19	of	of	ADP
alkej-122	118	20	three	three	NUM
alkej-122	118	21	joint	joint	ADJ
alkej-122	118	22	angles	angle	NOUN
alkej-122	118	23	.	.	PUNCT
alkej-122	119	1	the	the	DET
alkej-122	119	2	continues	continues	PROPN
alkej-122	119	3	ga	ga	PROPN
alkej-122	119	4	is	be	AUX
alkej-122	119	5	so	so	ADV
alkej-122	119	6	fast	fast	ADJ
alkej-122	119	7	with	with	ADP
alkej-122	119	8	50	50	NUM
alkej-122	119	9	generations	generation	NOUN
alkej-122	119	10	.	.	PUNCT
alkej-122	120	1	the	the	DET
alkej-122	120	2	best	good	ADJ
alkej-122	120	3	joint	joint	ADJ
alkej-122	120	4	angles	angle	NOUN
alkej-122	120	5	outputs	output	NOUN
alkej-122	120	6	results	result	NOUN
alkej-122	120	7	(	(	PUNCT
alkej-122	120	8	th1	th1	PROPN
alkej-122	120	9	,	,	PUNCT
alkej-122	120	10	th2	th2	PROPN
alkej-122	120	11	,	,	PUNCT
alkej-122	120	12	th3	th3	X
alkej-122	120	13	)	)	PUNCT
alkej-122	120	14	of	of	ADP
alkej-122	120	15	sinwave	sinwave	ADJ
alkej-122	120	16	and	and	CCONJ
alkej-122	120	17	circular	circular	ADJ
alkej-122	120	18	trajectories	trajectory	NOUN
alkej-122	120	19	are	be	AUX
alkej-122	120	20	evaluated	evaluate	VERB
alkej-122	120	21	from	from	ADP
alkej-122	120	22	the	the	DET
alkej-122	120	23	combing	comb	VERB
alkej-122	120	24	ga	ga	PROPN
alkej-122	120	25	and	and	CCONJ
alkej-122	120	26	nn	nn	PROPN
alkej-122	120	27	algorithm	algorithm	NOUN
alkej-122	120	28	.	.	PUNCT
alkej-122	121	1	in	in	ADP
alkej-122	121	2	addition	addition	NOUN
alkej-122	121	3	,	,	PUNCT
alkej-122	121	4	the	the	DET
alkej-122	121	5	simulation	simulation	NOUN
alkej-122	121	6	of	of	ADP
alkej-122	121	7	three	three	NUM
alkej-122	121	8	link	link	NOUN
alkej-122	121	9	redundant	redundant	ADJ
alkej-122	121	10	robot	robot	NOUN
alkej-122	121	11	workspace	workspace	NOUN
alkej-122	121	12	is	be	AUX
alkej-122	121	13	presented	present	VERB
alkej-122	121	14	.	.	PUNCT
alkej-122	122	1	notation	notation	NOUN
alkej-122	122	2	x	x	SYM
alkej-122	122	3	�	�	PROPN
alkej-122	122	4	,y	,y	SYM
alkej-122	122	5	�	�	PROPN
alkej-122	122	6	position	position	NOUN
alkej-122	122	7	of	of	ADP
alkej-122	122	8	end	end	NOUN
alkej-122	122	9	effector	effector	NOUN
alkej-122	122	10	three	three	NUM
alkej-122	122	11	link	link	NOUN
alkej-122	122	12	robot	robot	NOUN
alkej-122	122	13	th	th	NOUN
alkej-122	122	14	�	�	PROPN
alkej-122	122	15	,	,	PUNCT
alkej-122	122	16	th	th	NUM
alkej-122	122	17	�	�	PROPN
alkej-122	122	18	,	,	PUNCT
alkej-122	122	19	th	th	X
alkej-122	122	20	�	�	PROPN
alkej-122	122	21	three	three	NUM
alkej-122	122	22	joint	joint	ADJ
alkej-122	122	23	angles	angle	NOUN
alkej-122	122	24	of	of	ADP
alkej-122	122	25	three	three	NUM
alkej-122	122	26	link	link	NOUN
alkej-122	122	27	robot	robot	NOUN
alkej-122	122	28	th	th	NUM
alkej-122	122	29	�	�	PROPN
alkej-122	122	30	orientation	orientation	NOUN
alkej-122	122	31	of	of	ADP
alkej-122	122	32	three	three	NUM
alkej-122	122	33	link	link	NOUN
alkej-122	122	34	robot	robot	NOUN
alkej-122	122	35	x	x	PROPN
alkej-122	122	36	�	�	PROPN
alkej-122	122	37	,	,	PUNCT
alkej-122	122	38	y	y	PROPN
alkej-122	122	39	�	�	PROPN
alkej-122	122	40	desired	desire	VERB
alkej-122	122	41	position	position	NOUN
alkej-122	122	42	of	of	ADP
alkej-122	122	43	the	the	DET
alkej-122	122	44	end	end	NOUN
alkej-122	122	45	-	-	PUNCT
alkej-122	122	46	effecter	effecter	NOUN
alkej-122	122	47	of	of	ADP
alkej-122	122	48	the	the	PRON
alkej-122	122	49	and	and	CCONJ
alkej-122	122	50	sinwave	sinwave	ADJ
alkej-122	122	51	circle	circle	PROPN
alkej-122	122	52	trajectories	trajectory	NOUN
alkej-122	122	53	hind	hind	NOUN
alkej-122	122	54	z.	z.	PROPN
alkej-122	122	55	khaleel	khaleel	PROPN
alkej-122	122	56	al	al	PROPN
alkej-122	122	57	-	-	PUNCT
alkej-122	122	58	khwarizmi	khwarizmi	PROPN
alkej-122	122	59	engineering	engineering	NOUN
alkej-122	122	60	journal	journal	PROPN
alkej-122	122	61	,	,	PUNCT
alkej-122	122	62	vol	vol	NOUN
alkej-122	122	63	.	.	PROPN
alkej-122	122	64	14	14	NUM
alkej-122	122	65	,	,	PUNCT
alkej-122	122	66	no	no	INTJ
alkej-122	122	67	.	.	NOUN
alkej-122	122	68	1	1	NUM
alkej-122	122	69	,	,	PUNCT
alkej-122	122	70	p.p	p.p	PROPN
alkej-122	122	71	.	.	PROPN
alkej-122	122	72	136144	136144	NUM
alkej-122	122	73	(	(	PUNCT
alkej-122	122	74	2018	2018	NUM
alkej-122	122	75	)	)	PUNCT
alkej-122	123	1	143	143	NUM
alkej-122	123	2	x	x	SYM
alkej-122	123	3	�	�	PROPN
alkej-122	123	4	,	,	PUNCT
alkej-122	123	5	y	y	PROPN
alkej-122	123	6	�	�	PROPN
alkej-122	123	7	coordinates	coordinate	VERB
alkej-122	123	8	circle	circle	PROPN
alkej-122	123	9	's	's	PART
alkej-122	123	10	center	center	NOUN
alkej-122	123	11	r	r	NOUN
alkej-122	123	12	circle	circle	NOUN
alkej-122	123	13	's	's	PART
alkej-122	123	14	radius	radius	NOUN
alkej-122	123	15	th	th	X
alkej-122	123	16	!	!	PUNCT
alkej-122	124	1	desired	desire	VERB
alkej-122	124	2	orientation	orientation	NOUN
alkej-122	124	3	of	of	ADP
alkej-122	124	4	the	the	DET
alkej-122	124	5	end	end	NOUN
alkej-122	124	6	-	-	PUNCT
alkej-122	124	7	effecter	effecter	NOUN
alkej-122	124	8	of	of	ADP
alkej-122	124	9	the	the	DET
alkej-122	124	10	circle	circle	NOUN
alkej-122	124	11	trajectory	trajectory	NOUN
alkej-122	124	12	ph	ph	PROPN
alkej-122	124	13	*	*	VERB
alkej-122	124	14	desired	desire	VERB
alkej-122	124	15	orientation	orientation	NOUN
alkej-122	124	16	of	of	ADP
alkej-122	124	17	the	the	DET
alkej-122	124	18	end	end	NOUN
alkej-122	124	19	-	-	PUNCT
alkej-122	124	20	effecter	effecter	NOUN
alkej-122	124	21	of	of	ADP
alkej-122	124	22	the	the	DET
alkej-122	124	23	sinwave	sinwave	PROPN
alkej-122	124	24	trajectory	trajectory	PROPN
alkej-122	124	25	ga	ga	PROPN
alkej-122	124	26	genetic	genetic	ADJ
alkej-122	124	27	algorithm	algorithm	PROPN
alkej-122	124	28	nn	nn	PROPN
alkej-122	124	29	neural	neural	ADJ
alkej-122	124	30	network	network	NOUN
alkej-122	124	31	bpnn	bpnn	PROPN
alkej-122	124	32	back	back	ADJ
alkej-122	124	33	propagation	propagation	NOUN
alkej-122	124	34	neural	neural	ADJ
alkej-122	124	35	network	network	NOUN
alkej-122	124	36	mse	mse	PROPN
alkej-122	124	37	mean	mean	VERB
alkej-122	124	38	square	square	ADJ
alkej-122	124	39	error	error	NOUN
alkej-122	124	40	m	m	NOUN
alkej-122	124	41	meter	meter	NOUN
alkej-122	124	42	di	di	PROPN
alkej-122	124	43	distance	distance	PROPN
alkej-122	124	44	θi	θi	ADP
alkej-122	124	45	angle	angle	PROPN
alkej-122	124	46	ai	ai	VERB
alkej-122	125	1	length	length	NOUN
alkej-122	125	2	αi	αi	ADP
alkej-122	125	3	twist	twist	PROPN
alkej-122	125	4	angle	angle	PROPN
alkej-122	125	5	deg	deg	PROPN
alkej-122	125	6	.	.	PUNCT
alkej-122	125	7	degree	degree	PROPN
alkej-122	125	8	rad	rad	PROPN
alkej-122	125	9	.	.	PROPN
alkej-122	126	1	radian	radian	PROPN
alkej-122	126	2	greek	greek	PROPN
alkej-122	126	3	letters	letter	NOUN
alkej-122	126	4	φ	φ	PROPN
alkej-122	126	5	circle	circle	PROPN
alkej-122	126	6	's	's	PART
alkej-122	126	7	angle	angle	NOUN
alkej-122	126	8	θ	θ	PROPN
alkej-122	126	9	*	*	PUNCT
alkej-122	126	10	joint	joint	ADJ
alkej-122	126	11	angle	angle	NOUN
alkej-122	126	12	7	7	NUM
alkej-122	126	13	.	.	PUNCT
alkej-122	127	1	references	reference	NOUN
alkej-122	127	2	[	[	X
alkej-122	127	3	1	1	NUM
alkej-122	127	4	]	]	PUNCT
alkej-122	127	5	bruno	bruno	PROPN
alkej-122	127	6	siciliano	siciliano	PROPN
alkej-122	127	7	,	,	PUNCT
alkej-122	127	8	oussama	oussama	PROPN
alkej-122	127	9	khatib	khatib	PROPN
alkej-122	127	10	,	,	PUNCT
alkej-122	127	11	springer	springer	NOUN
alkej-122	127	12	handbook	handbook	NOUN
alkej-122	127	13	of	of	ADP
alkej-122	127	14	robotic	robotic	ADJ
alkej-122	127	15	,	,	PUNCT
alkej-122	127	16	springer	springer	NOUN
alkej-122	127	17	-	-	PUNCT
alkej-122	127	18	verlag	verlag	PROPN
alkej-122	127	19	berlin	berlin	PROPN
alkej-122	127	20	heidelberg	heidelberg	PROPN
alkej-122	127	21	,	,	PUNCT
alkej-122	127	22	2008	2008	NUM
alkej-122	127	23	.	.	PUNCT
alkej-122	128	1	[	[	X
alkej-122	128	2	2	2	X
alkej-122	128	3	]	]	X
alkej-122	128	4	y.	y.	PROPN
alkej-122	128	5	feng	feng	PROPN
alkej-122	128	6	,	,	PUNCT
alkej-122	128	7	w.	w.	PROPN
alkej-122	128	8	yao	yao	PROPN
alkej-122	128	9	-	-	PUNCT
alkej-122	128	10	nan	nan	PROPN
alkej-122	128	11	and	and	CCONJ
alkej-122	128	12	y.	y.	PROPN
alkej-122	128	13	yi	yi	PROPN
alkej-122	128	14	-	-	PUNCT
alkej-122	128	15	min	min	NOUN
alkej-122	128	16	,	,	PUNCT
alkej-122	128	17	inverse	inverse	ADJ
alkej-122	128	18	kinematics	kinematic	NOUN
alkej-122	128	19	solution	solution	NOUN
alkej-122	128	20	for	for	ADP
alkej-122	128	21	robot	robot	NOUN
alkej-122	128	22	manipulator	manipulator	NOUN
alkej-122	128	23	based	base	VERB
alkej-122	128	24	on	on	ADP
alkej-122	128	25	neural	neural	ADJ
alkej-122	128	26	network	network	NOUN
alkej-122	128	27	under	under	ADP
alkej-122	128	28	joint	joint	ADJ
alkej-122	128	29	subspace	subspace	NOUN
alkej-122	128	30	,	,	PUNCT
alkej-122	128	31	int	int	PROPN
alkej-122	128	32	j	j	PROPN
alkej-122	128	33	comput	comput	PROPN
alkej-122	128	34	commun	commun	PROPN
alkej-122	128	35	,	,	PUNCT
alkej-122	128	36	issn	issn	PROPN
alkej-122	128	37	1841	1841	NUM
alkej-122	128	38	-	-	SYM
alkej-122	128	39	9836	9836	NUM
alkej-122	128	40	,	,	PUNCT
alkej-122	128	41	vol.7	vol.7	PROPN
alkej-122	128	42	,	,	PUNCT
alkej-122	128	43	no	no	INTJ
alkej-122	128	44	.	.	NOUN
alkej-122	128	45	3	3	NUM
alkej-122	128	46	september	september	PROPN
alkej-122	128	47	,	,	PUNCT
alkej-122	128	48	pp	pp	ADJ
alkej-122	128	49	.	.	PUNCT
alkej-122	128	50	459	459	NUM
alkej-122	128	51	-	-	SYM
alkej-122	128	52	472	472	NUM
alkej-122	128	53	,	,	PUNCT
alkej-122	128	54	2012	2012	NUM
alkej-122	128	55	.	.	PUNCT
alkej-122	129	1	[	[	X
alkej-122	129	2	3	3	X
alkej-122	129	3	]	]	PUNCT
alkej-122	129	4	raşit	raşit	NOUN
alkej-122	129	5	köker	köker	NOUN
alkej-122	129	6	,	,	PUNCT
alkej-122	129	7	cemil	cemil	NOUN
alkej-122	129	8	oz	oz	NOUN
alkej-122	129	9	,	,	PUNCT
alkej-122	129	10	tarık	tarık	VERB
alkej-122	129	11	c¸	c¸	PROPN
alkej-122	129	12	akarb	akarb	ADJ
alkej-122	129	13	and	and	CCONJ
alkej-122	129	14	hüseyin	hüseyin	PROPN
alkej-122	129	15	ekiz	ekiz	NOUN
alkej-122	129	16	,	,	PUNCT
alkej-122	129	17	a	a	DET
alkej-122	129	18	study	study	NOUN
alkej-122	129	19	of	of	ADP
alkej-122	129	20	neural	neural	ADJ
alkej-122	129	21	network	network	NOUN
alkej-122	129	22	based	base	VERB
alkej-122	129	23	inverse	inverse	NOUN
alkej-122	129	24	kinematics	kinematic	NOUN
alkej-122	129	25	solution	solution	NOUN
alkej-122	129	26	for	for	ADP
alkej-122	129	27	a	a	DET
alkej-122	129	28	threejoint	threejoint	NOUN
alkej-122	129	29	robot	robot	NOUN
alkej-122	129	30	,	,	PUNCT
alkej-122	129	31	elsevier	elsevier	NOUN
alkej-122	129	32	,	,	PUNCT
alkej-122	129	33	robotics	robotic	NOUN
alkej-122	129	34	and	and	CCONJ
alkej-122	129	35	autonomous	autonomous	ADJ
alkej-122	129	36	systems	system	NOUN
alkej-122	129	37	49	49	NUM
alkej-122	129	38	-227–234	-227–234	PROPN
alkej-122	129	39	,	,	PUNCT
alkej-122	129	40	2004	2004	NUM
alkej-122	129	41	.	.	PUNCT
alkej-122	130	1	[	[	X
alkej-122	130	2	4	4	X
alkej-122	130	3	]	]	PUNCT
alkej-122	130	4	panchanand	panchanand	PROPN
alkej-122	130	5	jha	jha	PROPN
alkej-122	130	6	,	,	PUNCT
alkej-122	130	7	bb	bb	PROPN
alkej-122	130	8	biswal	biswal	NOUN
alkej-122	130	9	,	,	PUNCT
alkej-122	130	10	a	a	DET
alkej-122	130	11	neural	neural	ADJ
alkej-122	130	12	network	network	NOUN
alkej-122	130	13	approach	approach	NOUN
alkej-122	130	14	for	for	ADP
alkej-122	130	15	inverse	inverse	NOUN
alkej-122	130	16	kinematic	kinematic	NOUN
alkej-122	130	17	of	of	ADP
alkej-122	130	18	a	a	DET
alkej-122	130	19	scara	scara	NOUN
alkej-122	130	20	manipulator	manipulator	NOUN
alkej-122	130	21	,	,	PUNCT
alkej-122	130	22	international	international	ADJ
alkej-122	130	23	journal	journal	NOUN
alkej-122	130	24	of	of	ADP
alkej-122	130	25	robotics	robotic	NOUN
alkej-122	130	26	and	and	CCONJ
alkej-122	130	27	automation	automation	NOUN
alkej-122	130	28	(	(	PUNCT
alkej-122	130	29	ijra	ijra	PROPN
alkej-122	130	30	)	)	PUNCT
alkej-122	130	31	,	,	PUNCT
alkej-122	130	32	vol	vol	NOUN
alkej-122	130	33	.	.	PROPN
alkej-122	131	1	3	3	NUM
alkej-122	131	2	,	,	PUNCT
alkej-122	131	3	no	no	INTJ
alkej-122	131	4	.	.	NOUN
alkej-122	131	5	1	1	NUM
alkej-122	131	6	,	,	PUNCT
alkej-122	131	7	issn	issn	PROPN
alkej-122	131	8	:	:	PUNCT
alkej-122	131	9	2089	2089	NUM
alkej-122	131	10	-	-	SYM
alkej-122	131	11	4856	4856	NUM
alkej-122	131	12	,	,	PUNCT
alkej-122	131	13	march	march	PROPN
alkej-122	131	14	,	,	PUNCT
alkej-122	131	15	2014	2014	NUM
alkej-122	131	16	.	.	PUNCT
alkej-122	132	1	[	[	X
alkej-122	132	2	5	5	NUM
alkej-122	132	3	]	]	SYM
alkej-122	132	4	f.y.c	f.y.c	NOUN
alkej-122	132	5	.	.	PUNCT
alkej-122	132	6	albert	albert	PROPN
alkej-122	132	7	,	,	PUNCT
alkej-122	132	8	s.p	s.p	PROPN
alkej-122	132	9	.	.	PROPN
alkej-122	132	10	koh	koh	PROPN
alkej-122	132	11	,	,	PUNCT
alkej-122	132	12	c.p	c.p	PROPN
alkej-122	132	13	.	.	PROPN
alkej-122	132	14	chen	chen	PROPN
alkej-122	132	15	,	,	PUNCT
alkej-122	132	16	s.k.tiong	s.k.tiong	NOUN
alkej-122	132	17	and	and	CCONJ
alkej-122	132	18	s.y.s	s.y.s	PROPN
alkej-122	132	19	.	.	PUNCT
alkej-122	133	1	edwin	edwin	PROPN
alkej-122	133	2	,	,	PUNCT
alkej-122	133	3	optimizing	optimize	VERB
alkej-122	133	4	joint	joint	ADJ
alkej-122	133	5	angles	angle	NOUN
alkej-122	133	6	of	of	ADP
alkej-122	133	7	robotic	robotic	ADJ
alkej-122	133	8	manipulator	manipulator	NOUN
alkej-122	133	9	using	use	VERB
alkej-122	133	10	genetic	genetic	ADJ
alkej-122	133	11	algorithm	algorithm	NOUN
alkej-122	133	12	,	,	PUNCT
alkej-122	133	13	iacsit	iacsit	PROPN
alkej-122	133	14	press	press	PROPN
alkej-122	133	15	,	,	PUNCT
alkej-122	133	16	singapore	singapore	PROPN
alkej-122	133	17	,	,	PUNCT
alkej-122	133	18	8ipcsit	8ipcsit	PROPN
alkej-122	133	19	vol.2	vol.2	PROPN
alkej-122	133	20	,	,	PUNCT
alkej-122	133	21	2011	2011	NUM
alkej-122	133	22	.	.	PUNCT
alkej-122	134	1	[	[	X
alkej-122	134	2	6	6	X
alkej-122	134	3	]	]	PUNCT
alkej-122	134	4	j.	j.	PROPN
alkej-122	134	5	ramirez	ramirez	PROPN
alkej-122	134	6	a.	a.	PROPN
alkej-122	134	7	,	,	PUNCT
alkej-122	134	8	and	and	CCONJ
alkej-122	134	9	a.	a.	PROPN
alkej-122	134	10	rubiano	rubiano	PROPN
alkej-122	134	11	f.	f.	PROPN
alkej-122	134	12	,	,	PUNCT
alkej-122	134	13	optimization	optimization	NOUN
alkej-122	134	14	of	of	ADP
alkej-122	134	15	inverse	inverse	NOUN
alkej-122	134	16	kinematics	kinematic	NOUN
alkej-122	134	17	of	of	ADP
alkej-122	134	18	a	a	DET
alkej-122	134	19	3r	3r	NUM
alkej-122	134	20	robotic	robotic	ADJ
alkej-122	134	21	manipulator	manipulator	NOUN
alkej-122	134	22	using	use	VERB
alkej-122	134	23	genetic	genetic	ADJ
alkej-122	134	24	algorithms	algorithm	NOUN
alkej-122	134	25	,	,	PUNCT
alkej-122	134	26	international	international	ADJ
alkej-122	134	27	journal	journal	NOUN
alkej-122	134	28	of	of	ADP
alkej-122	134	29	mechanical	mechanical	ADJ
alkej-122	134	30	,	,	PUNCT
alkej-122	134	31	aerospace	aerospace	NOUN
alkej-122	134	32	,	,	PUNCT
alkej-122	134	33	industrial	industrial	ADJ
alkej-122	134	34	,	,	PUNCT
alkej-122	134	35	mechatronic	mechatronic	ADJ
alkej-122	134	36	and	and	CCONJ
alkej-122	134	37	manufacturing	manufacturing	NOUN
alkej-122	134	38	engineering	engineering	NOUN
alkej-122	134	39	vol:5	vol:5	NOUN
alkej-122	134	40	,	,	PUNCT
alkej-122	134	41	no:11	no:11	PROPN
alkej-122	134	42	,	,	PUNCT
alkej-122	134	43	2011	2011	NUM
alkej-122	134	44	.	.	PUNCT
alkej-122	135	1	[	[	X
alkej-122	135	2	7	7	NUM
alkej-122	135	3	]	]	X
alkej-122	135	4	adrian	adrian	PROPN
alkej-122	135	5	-	-	PUNCT
alkej-122	135	6	vasile	vasile	PROPN
alkej-122	135	7	duka	duka	PROPN
alkej-122	135	8	,	,	PUNCT
alkej-122	135	9	neural	neural	ADJ
alkej-122	135	10	network	network	NOUN
alkej-122	135	11	based	base	VERB
alkej-122	135	12	inverse	inverse	NOUN
alkej-122	135	13	kinematics	kinematic	NOUN
alkej-122	135	14	solution	solution	NOUN
alkej-122	135	15	for	for	ADP
alkej-122	135	16	trajectory	trajectory	NOUN
alkej-122	135	17	tracking	tracking	NOUN
alkej-122	135	18	of	of	ADP
alkej-122	135	19	a	a	DET
alkej-122	135	20	robotic	robotic	ADJ
alkej-122	135	21	arm	arm	NOUN
alkej-122	135	22	,	,	PUNCT
alkej-122	135	23	elsevier	elsevier	NOUN
alkej-122	135	24	,	,	PUNCT
alkej-122	135	25	the	the	DET
alkej-122	135	26	7th	7th	ADJ
alkej-122	135	27	international	international	ADJ
alkej-122	135	28	conference	conference	NOUN
alkej-122	135	29	interdisciplinarity	interdisciplinarity	NOUN
alkej-122	135	30	in	in	ADP
alkej-122	135	31	engineering	engineering	NOUN
alkej-122	135	32	,	,	PUNCT
alkej-122	135	33	2014	2014	NUM
alkej-122	135	34	.	.	PUNCT
alkej-122	136	1	[	[	X
alkej-122	136	2	8	8	NUM
alkej-122	136	3	]	]	PUNCT
alkej-122	136	4	adri`a	adri`a	X
alkej-122	136	5	colom	colom	PROPN
alkej-122	136	6	´	´	PROPN
alkej-122	136	7	,	,	PUNCT
alkej-122	136	8	smooth	smooth	ADJ
alkej-122	136	9	inverse	inverse	NOUN
alkej-122	136	10	kinematics	kinematic	NOUN
alkej-122	136	11	algorithms	algorithm	NOUN
alkej-122	136	12	for	for	ADP
alkej-122	136	13	serial	serial	ADJ
alkej-122	136	14	redundant	redundant	ADJ
alkej-122	136	15	robots	robot	NOUN
alkej-122	136	16	,	,	PUNCT
alkej-122	136	17	master	master	NOUN
alkej-122	136	18	thesis	thesis	NOUN
alkej-122	136	19	,	,	PUNCT
alkej-122	136	20	institut	institut	PROPN
alkej-122	136	21	de	de	PROPN
alkej-122	136	22	rob`otica	rob`otica	PROPN
alkej-122	136	23	i	i	PRON
alkej-122	136	24	inform`atica	inform`atica	PROPN
alkej-122	136	25	industrial	industrial	ADJ
alkej-122	136	26	,	,	PUNCT
alkej-122	136	27	2011	2011	NUM
alkej-122	136	28	.	.	PUNCT
alkej-122	137	1	[	[	X
alkej-122	137	2	9	9	NUM
alkej-122	137	3	]	]	SYM
alkej-122	137	4	http://www.mathworks.com/help/pdf_doc/ga	http://www.mathworks.com/help/pdf_doc/ga	NOUN
alkej-122	137	5	ds	ds	ADJ
alkej-122	137	6	/	/	SYM
alkej-122	137	7	gads_tb.pdf	gads_tb.pdf	NOUN
alkej-122	137	8	.	.	PUNCT
alkej-122	137	9	accessed	access	VERB
alkej-122	137	10	on	on	ADP
alkej-122	137	11	1/08/2016	1/08/2016	NUM
alkej-122	137	12	.	.	PUNCT
alkej-122	138	1	[	[	X
alkej-122	138	2	10	10	NUM
alkej-122	138	3	]	]	X
alkej-122	138	4	md	md	PROPN
alkej-122	138	5	.	.	PROPN
alkej-122	138	6	mijanur	mijanur	PROPN
alkej-122	138	7	rahman	rahman	PROPN
alkej-122	138	8	,	,	PUNCT
alkej-122	138	9	tania	tania	PROPN
alkej-122	138	10	akter	akter	PROPN
alkej-122	138	11	setu	setu	PROPN
alkej-122	138	12	,	,	PUNCT
alkej-122	138	13	an	an	DET
alkej-122	138	14	implementation	implementation	NOUN
alkej-122	138	15	for	for	ADP
alkej-122	138	16	combining	combine	VERB
alkej-122	138	17	neural	neural	ADJ
alkej-122	138	18	networks	network	NOUN
alkej-122	138	19	and	and	CCONJ
alkej-122	138	20	genetic	genetic	ADJ
alkej-122	138	21	algorithms	algorithm	NOUN
alkej-122	138	22	,	,	PUNCT
alkej-122	138	23	ijcst	ijcst	ADJ
alkej-122	138	24	vol	vol	NOUN
alkej-122	138	25	.	.	PROPN
alkej-122	138	26	6	6	NUM
alkej-122	138	27	,	,	PUNCT
alkej-122	138	28	iss	iss	PROPN
alkej-122	138	29	ue	ue	PROPN
alkej-122	138	30	3	3	NUM
alkej-122	138	31	,	,	PUNCT
alkej-122	138	32	july	july	PROPN
alkej-122	138	33	–	–	PUNCT
alkej-122	138	34	sept	sept	PROPN
alkej-122	138	35	.	.	PROPN
alkej-122	138	36	,	,	PUNCT
alkej-122	138	37	2015	2015	NUM
alkej-122	138	38	.	.	PUNCT
alkej-122	138	39	)	)	PUNCT
alkej-122	138	40	2018	2018	NUM
alkej-122	138	41	(	(	PUNCT
alkej-122	138	42	136	136	NUM
alkej-122	138	43	-	-	SYM
alkej-122	138	44	144	144	NUM
alkej-122	138	45	،	،	X
alkej-122	138	46	صفحة1د	صفحة1د	PROPN
alkej-122	138	47	،	،	PROPN
alkej-122	138	48	العد14دجلة	العد14دجلة	PROPN
alkej-122	138	49	الخوارزمي	الخوارزمي	PROPN
alkej-122	138	50	الهندسية	الهندسية	NOUN
alkej-122	138	51	المجلمهند	المجلمهند	VERB
alkej-122	138	52	زهير	زهير	NOUN
alkej-122	138	53	خليل	خليل	NOUN
alkej-122	138	54	144	144	NUM
alkej-122	138	55	nnو	nnو	NOUN
alkej-122	138	56	ga	ga	PROPN
alkej-122	138	57	لـ	لـ	PROPN
alkej-122	138	58	دمجمناور	دمجمناور	NOUN
alkej-122	138	59	باستخدام	باستخدام	PROPN
alkej-122	138	60	المتعدد	المتعدد	PROPN
alkej-122	138	61	الروبوت	الروبوت	PROPN
alkej-122	138	62	لل	لل	PROPN
alkej-122	138	63	العكسيةالكينماتيكا	العكسيةالكينماتيكا	PROPN
alkej-122	138	64	حل	حل	PROPN
alkej-122	138	65	هند	هند	PROPN
alkej-122	138	66	زهير	زهير	NOUN
alkej-122	138	67	خليل	خليل	PROPN
alkej-122	138	68	قسم	قسم	PROPN
alkej-122	138	69	هندسة	هندسة	NOUN
alkej-122	138	70	السيطرة	السيطرة	PROPN
alkej-122	138	71	والنظم	والنظم	PROPN
alkej-122	138	72	/	/	PUNCT
alkej-122	138	73	الجامعة	الجامعة	NOUN
alkej-122	138	74	التكنولوجية	التكنولوجية	NOUN
alkej-122	138	75	/	/	SYM
alkej-122	138	76	العراق/	العراق/	NUM
alkej-122	138	77	بغداد	بغداد	NOUN
alkej-122	138	78	hhindzuhair@yahoo.com	hhindzuhair@yahoo.com	NOUN
alkej-122	138	79	:	:	PUNCT
alkej-122	138	80	البريد	البريد	VERB
alkej-122	138	81	االلكتروني	االلكتروني	NOUN
alkej-122	138	82	_	_	PUNCT
alkej-122	139	1	_	_	PUNCT
alkej-122	140	1	_	_	PUNCT
alkej-122	141	1	_	_	PUNCT
alkej-122	142	1	_	_	PUNCT
alkej-122	143	1	_	_	PUNCT
alkej-122	144	1	_	_	PUNCT
alkej-122	145	1	_	_	PUNCT
alkej-122	146	1	_	_	PUNCT
alkej-122	147	1	_	_	PUNCT
alkej-122	148	1	_	_	PUNCT
alkej-122	149	1	_	_	PUNCT
alkej-122	150	1	_	_	PUNCT
alkej-122	151	1	_	_	PUNCT
alkej-122	152	1	_	_	PUNCT
alkej-122	153	1	_	_	PUNCT
alkej-122	154	1	_	_	PUNCT
alkej-122	155	1	_	_	PUNCT
alkej-122	156	1	_	_	PUNCT
alkej-122	157	1	_	_	PUNCT
alkej-122	158	1	_	_	PUNCT
alkej-122	159	1	_	_	PUNCT
alkej-122	160	1	_	_	PUNCT
alkej-122	161	1	_	_	PUNCT
alkej-122	162	1	_	_	PUNCT
alkej-122	163	1	_	_	PUNCT
alkej-122	164	1	_	_	PUNCT
alkej-122	165	1	_	_	PUNCT
alkej-122	166	1	_	_	PUNCT
alkej-122	167	1	_	_	PUNCT
alkej-122	168	1	_	_	PUNCT
alkej-122	169	1	_	_	PUNCT
alkej-122	170	1	_	_	PUNCT
alkej-122	171	1	_	_	PUNCT
alkej-122	172	1	_	_	PUNCT
alkej-122	173	1	_	_	PUNCT
alkej-122	174	1	_	_	PUNCT
alkej-122	175	1	_	_	PUNCT
alkej-122	176	1	_	_	PUNCT
alkej-122	177	1	_	_	PUNCT
alkej-122	178	1	_	_	PUNCT
alkej-122	179	1	_	_	PUNCT
alkej-122	180	1	_	_	PUNCT
alkej-122	181	1	_	_	PUNCT
alkej-122	182	1	_	_	PUNCT
alkej-122	183	1	_	_	PUNCT
alkej-122	184	1	_	_	PUNCT
alkej-122	185	1	_	_	PUNCT
alkej-122	186	1	_	_	PUNCT
alkej-122	187	1	_	_	PUNCT
alkej-122	188	1	_	_	PUNCT
alkej-122	189	1	_	_	PUNCT
alkej-122	190	1	_	_	PUNCT
alkej-122	191	1	_	_	PUNCT
alkej-122	192	1	_	_	PUNCT
alkej-122	193	1	_	_	PUNCT
alkej-122	193	2	الخالصة	الخالصة	PROPN
alkej-122	193	3	ةالمتعدد	ةالمتعدد	NOUN
alkej-122	193	4	ةالمناور	ةالمناور	NOUN
alkej-122	193	5	اتروبوتالكينماتيكا	اتروبوتالكينماتيكا	VERB
alkej-122	193	6	العكسية	العكسية	PROPN
alkej-122	193	7	ألحد	ألحد	PROPN
alkej-122	193	8	لل	لل	PROPN
alkej-122	193	9	تقدم	تقدم	PROPN
alkej-122	193	10	حال	حال	PROPN
alkej-122	193	11	.	.	PUNCT
alkej-122	194	1	هذه	هذه	PROPN
alkej-122	194	2	المقالة	المقالة	PROPN
alkej-122	194	3	المتعدد	المتعدد	PROPN
alkej-122	194	4	المناورللروبوت	المناورللروبوت	VERB
alkej-122	194	5	جداً	جداً	PROPN
alkej-122	194	6	ة	ة	ADV
alkej-122	194	7	معقدةالعكسية	معقدةالعكسية	PROPN
alkej-122	194	8	هي	هي	PROPN
alkej-122	194	9	مشكل	مشكل	PROPN
alkej-122	194	10	الكينيماتيكاحساب	الكينيماتيكاحساب	PROPN
alkej-122	194	11	اتجاه	اتجاه	PROPN
alkej-122	194	12	الروبوت	الروبوت	PROPN
alkej-122	195	1	و	و	PRON
alkej-122	195	2	عالمدخالت	عالمدخالت	ADV
alkej-122	195	3	هي	هي	PROPN
alkej-122	195	4	موق	موق	NOUN
alkej-122	195	5	.	.	PUNCT
alkej-122	196	1	nn	nn	PROPN
alkej-122	196	2	(	(	PUNCT
alkej-122	196	3	الشبكة	الشبكة	PROPN
alkej-122	196	4	العصبية)و	العصبية)و	PROPN
alkej-122	196	5	gaة	gaة	NOUN
alkej-122	196	6	الجينية	الجينية	NOUN
alkej-122	196	7	)	)	PUNCT
alkej-122	196	8	خوارزمي(ال	خوارزمي(ال	PROPN
alkej-122	196	9	ذكيةال	ذكيةال	ADJ
alkej-122	196	10	خوارزمياتالاثنين	خوارزمياتالاثنين	PROPN
alkej-122	196	11	من	من	PROPN
alkej-122	196	12	دمجطة	دمجطة	NOUN
alkej-122	196	13	سابو	سابو	NOUN
alkej-122	196	14	(	(	PUNCT
alkej-122	196	15	الروبوت	الروبوت	PROPN
alkej-122	196	16	الثالثي	الثالثي	PROPN
alkej-122	196	17	)	)	PUNCT
alkej-122	197	1	ة	ة	NOUN
alkej-122	197	2	الجينية	الجينية	VERB
alkej-122	197	3	خوارزميال	خوارزميال	ADJ
alkej-122	197	4	باستخدام	باستخدام	NOUN
alkej-122	197	5	االفضل	االفضل	NOUN
alkej-122	197	6	تعد	تعد	NOUN
alkej-122	197	7	bpnnوزان	bpnnوزان	NOUN
alkej-122	197	8	اال	اال	X
alkej-122	197	9	)	)	PUNCT
alkej-122	197	10	.bpnn(المنشورة	.bpnn(المنشورة	PUNCT
alkej-122	198	1	العكسية	العكسية	PROPN
alkej-122	198	2	.	.	PUNCT
alkej-122	199	1	تدخل	تدخل	PROPN
alkej-122	199	2	هذه	هذه	PROPN
alkej-122	199	3	المدخالت	المدخالت	PROPN
alkej-122	199	4	إلى	إلى	PROPN
alkej-122	199	5	الشبكات	الشبكات	PROPN
alkej-122	199	6	العصبيةالروابط	العصبيةالروابط	PROPN
alkej-122	199	7	الثالثي	الثالثي	PROPN
alkej-122	199	8	زوايا	زوايا	PROPN
alkej-122	200	1	المشتركة.للطلوبة	المشتركة.للطلوبة	PROPN
alkej-122	201	1	مخرجات	مخرجات	PROPN
alkej-122	202	1	المقدرة	المقدرة	NOUN
alkej-122	203	1	والمالأيضا	والمالأيضا	NOUN
alkej-122	203	2	بين	بين	AUX
alkej-122	203	3	mseيتم	mseيتم	NOUN
alkej-122	203	4	احتساب	احتساب	ADV
alkej-122	203	5	(	(	PUNCT
alkej-122	203	6	متوسط	متوسط	PROPN
alkej-122	203	7	مربع	مربع	PROPN
alkej-122	203	8	الخطأ	الخطأ	PROPN
alkej-122	203	9	)	)	PUNCT
alkej-122	203	10	.ga	.ga	PROPN
alkej-122	203	11	ةمستمرال	ةمستمرال	VERB
alkej-122	203	12	محاكاتها	محاكاتها	NOUN
alkej-122	203	13	ببرنامج	ببرنامج	PROPN
alkej-122	203	14	وتمطلوبة	وتمطلوبة	PROPN
alkej-122	203	15	الم	الم	VERB
alkej-122	203	16	الروابطروبوت	الروابطروبوت	PROPN
alkej-122	203	17	ثالثي	ثالثي	PROPN
alkej-122	203	18	ال	ال	PROPN
alkej-122	203	19	لنهاية	لنهاية	PROPN
alkej-122	203	20	طرف	طرف	PROPN
alkej-122	203	21	يةو	يةو	PROPN
alkej-122	203	22	الدائر	الدائر	PROPN
alkej-122	203	23	ةالموج	ةالموج	PROPN
alkej-122	203	24	اتتم	اتتم	PROPN
alkej-122	203	25	اقتراحها	اقتراحها	PROPN
alkej-122	203	26	.	.	PUNCT
alkej-122	204	1	مسار	مسار	PROPN
alkej-122	204	2	gaدالة	gaدالة	NOUN
alkej-122	204	3	الفتنس	الفتنس	NOUN
alkej-122	204	4	في	في	PRON
alkej-122	204	5	،	،	X
alkej-122	204	6	في	في	ADP
alkej-122	204	7	هذه	هذه	PROPN
alkej-122	204	8	المقالة	المقالة	PROPN
alkej-122	204	9	matlab	matlab	PROPN
alkej-122	204	10	.	.	PUNCT
alkej-122	205	1	نهاية	نهاية	PROPN
alkej-122	205	2	الطرف	الطرف	PROPN
alkej-122	205	3	للروبوت	للروبوت	PROPN
alkej-122	205	4	و	و	PRON
alkej-122	205	5	مواقع	مواقع	VERB
alkej-122	205	6	زوايا	زوايا	NOUN
alkej-122	205	7	المشتركةالنتائج	المشتركةالنتائج	NOUN
alkej-122	205	8	للمسار	للمسار	PROPN
alkej-122	205	9	الدائري	الدائري	PROPN
alkej-122	205	10	افضل	افضل	PROPN
alkej-122	205	11	من	من	PROPN
alkej-122	205	12	نهاية	نهاية	PROPN
alkej-122	205	13	الطرف	الطرف	NOUN
alkej-122	205	14	للروبوتو	للروبوتو	VERB
alkej-122	205	15	مواقع	مواقع	VERB
alkej-122	206	1	زوايا	زوايا	NOUN
alkej-122	206	2	المشتركةالنتائج	المشتركةالنتائج	NOUN
alkej-122	206	3	ان	ان	ADP
alkej-122	206	4	نتائج	نتائج	PROPN
alkej-122	206	5	المخرجات	المخرجات	PROPN
alkej-122	206	6	الفضل	الفضل	PROPN
alkej-122	206	7	ان	ان	PROPN
alkej-122	206	8	.الروابطمتعدد	.الروابطمتعدد	PROPN
alkej-122	206	9	الروبوت	الروبوت	PROPN
alkej-122	206	10	الثالثي	الثالثي	PROPN
alkej-122	206	11	مساحة	مساحة	VERB
alkej-122	206	12	كما	كما	PROPN
alkej-122	206	13	تم	تم	NOUN
alkej-122	206	14	محاكاة	محاكاة	PROPN
alkej-122	206	15	.	.	PUNCT
alkej-122	207	1	nnحيث	nnحيث	PROPN
alkej-122	207	2	فقط	فقط	NOUN
alkej-122	208	1	في	في	ADP
alkej-122	208	2	العمل	العمل	ADJ
alkej-122	208	3	االخر	االخر	PROPN
alkej-122	208	4	تم	تم	NOUN
alkej-122	208	5	استخدام	استخدام	PROPN
alkej-122	208	6	عمل	عمل	PROPN
alkej-122	208	7	اخر	اخر	PROPN
alkej-122	208	8	لللمسار	لللمسار	PROPN
alkej-122	208	9	الدائري	الدائري	PROPN
alkej-122	208	10	باالعتماد	باالعتماد	PROPN
alkej-122	208	11	ة	ة	ADP
alkej-122	208	12	التي	التي	PROPN
alkej-122	208	13	يتم	يتم	PROPN
alkej-122	208	14	الحصول	الحصول	PROPN
alkej-122	208	15	عليها	عليها	PROPN
alkej-122	208	16	نتائج	نتائج	PROPN
alkej-122	208	17	المحاكا	المحاكا	PROPN
alkej-122	208	18	مقالةسريعة	مقالةسريعة	PROPN
alkej-122	208	19	.	.	PUNCT
alkej-122	209	1	تقدم	تقدم	PROPN
alkej-122	209	2	هذه	هذه	PROPN
alkej-122	209	3	ال	ال	ADP
alkej-122	209	4	فانها	فانها	NOUN
alkej-122	209	5	خوارزميةلل	خوارزميةلل	VERB
alkej-122	209	6	جيل	جيل	NOUN
alkej-122	209	7	٥٠.	٥٠.	NOUN
alkej-122	209	8	ب	ب	PRON
alkej-122	209	9	والدائري	والدائري	NOUN
alkej-122	209	10	يمساريين	يمساريين	PROPN
alkej-122	209	11	الموجلتم	الموجلتم	ADJ
alkej-122	209	12	حسابها	حسابها	NOUN
alkej-122	209	13	لزوايا	لزوايا	ADJ
alkej-122	209	14	ثالث	ثالث	PROPN
alkej-122	209	15	.matlab	.matlab	NUM
alkej-122	209	16	r2010bبرنامج	r2010bبرنامج	PROPN
alkej-122	209	17	على	على	NOUN