id	sid	tid	token	lemma	pos
alkej-230	1	1	11	11	NUM
alkej-230	1	2	-	-	SYM
alkej-230	1	3	19	19	NUM
alkej-230	1	4	al	al	PROPN
alkej-230	1	5	-	-	PUNCT
alkej-230	1	6	khwarizmi	khwarizmi	PROPN
alkej-230	1	7	engineering	engineering	NOUN
alkej-230	1	8	journal	journal	NOUN
alkej-230	1	9	,	,	PUNCT
alkej-230	1	10	vol	vol	NOUN
alkej-230	1	11	.	.	PROPN
alkej-230	1	12	11	11	NUM
alkej-230	1	13	,	,	PUNCT
alkej-230	1	14	no	no	INTJ
alkej-230	1	15	.	.	PUNCT
alkej-230	2	1	deflection	deflection	NOUN
alkej-230	2	2	analysis	analysis	NOUN
alkej-230	2	3	of	of	ADP
alkej-230	2	4	an	an	DET
alkej-230	2	5	elastic	elastic	ADJ
alkej-230	2	6	single	single	ADJ
alkej-230	2	7	link	link	NOUN
alkej-230	2	8	robotic	robotic	ADJ
alkej-230	2	9	manipulator	manipulator	NOUN
alkej-230	2	10	rafal	rafal	X
alkej-230	2	11	m.	m.	PROPN
alkej-230	2	12	*	*	PROPN
alkej-230	2	13	department	department	PROPN
alkej-230	2	14	of	of	ADP
alkej-230	2	15	automated	automate	VERB
alkej-230	2	16	manufacturing	manufacturing	NOUN
alkej-230	2	17	engineering	engineering	NOUN
alkej-230	2	18	*	*	PUNCT
alkej-230	2	19	*	*	PROPN
alkej-230	2	20	department	department	PROPN
alkej-230	2	21	of	of	ADP
alkej-230	2	22	biomedical	biomedical	ADJ
alkej-230	2	23	engineering	engineering	NOUN
alkej-230	2	24	(	(	PUNCT
alkej-230	2	25	received	receive	VERB
alkej-230	2	26	abstract	abstract	ADJ
alkej-230	2	27	robotics	robotic	NOUN
alkej-230	2	28	manipulators	manipulator	NOUN
alkej-230	2	29	with	with	ADP
alkej-230	2	30	structural	structural	ADJ
alkej-230	2	31	flexibility	flexibility	NOUN
alkej-230	2	32	provide	provide	VERB
alkej-230	2	33	an	an	DET
alkej-230	2	34	attractive	attractive	ADJ
alkej-230	2	35	alternative	alternative	NOUN
alkej-230	2	36	to	to	ADP
alkej-230	2	37	rigid	rigid	ADJ
alkej-230	2	38	robotics	robotic	NOUN
alkej-230	2	39	manipulators	manipulator	NOUN
alkej-230	2	40	for	for	ADP
alkej-230	2	41	many	many	ADJ
alkej-230	2	42	of	of	ADP
alkej-230	2	43	the	the	DET
alkej-230	2	44	new	new	ADJ
alkej-230	2	45	and	and	CCONJ
alkej-230	2	46	evolving	evolve	VERB
alkej-230	2	47	applications	application	NOUN
alkej-230	2	48	in	in	ADP
alkej-230	2	49	robotics	robotic	NOUN
alkej-230	2	50	.	.	PUNCT
alkej-230	3	1	in	in	ADP
alkej-230	3	2	certain	certain	ADJ
alkej-230	3	3	applications	application	NOUN
alkej-230	3	4	their	their	PRON
alkej-230	3	5	use	use	NOUN
alkej-230	3	6	is	be	AUX
alkej-230	3	7	unavoidable	unavoidable	ADJ
alkej-230	3	8	.	.	PUNCT
alkej-230	4	1	the	the	DET
alkej-230	4	2	increased	increase	VERB
alkej-230	4	3	complexity	complexity	NOUN
alkej-230	4	4	in	in	ADP
alkej-230	4	5	modeling	modeling	NOUN
alkej-230	4	6	and	and	CCONJ
alkej-230	4	7	control	control	NOUN
alkej-230	4	8	of	of	ADP
alkej-230	4	9	such	such	ADJ
alkej-230	4	10	manipulators	manipulator	NOUN
alkej-230	4	11	is	be	AUX
alkej-230	4	12	offset	offset	VERB
alkej-230	4	13	by	by	ADP
alkej-230	4	14	desirable	desirable	ADJ
alkej-230	4	15	performance	performance	NOUN
alkej-230	4	16	enhancements	enhancement	NOUN
alkej-230	4	17	in	in	ADP
alkej-230	4	18	some	some	DET
alkej-230	4	19	respects	respect	NOUN
alkej-230	4	20	.	.	PUNCT
alkej-230	5	1	in	in	ADP
alkej-230	5	2	this	this	DET
alkej-230	5	3	paperthe	paperthe	ADJ
alkej-230	5	4	singlelink	singlelink	NOUN
alkej-230	5	5	flexible	flexible	ADJ
alkej-230	5	6	robotics	robotic	NOUN
alkej-230	5	7	manipulator	manipulator	NOUN
alkej-230	5	8	designed	design	VERB
alkej-230	5	9	with	with	ADP
alkej-230	5	10	0.5	0.5	NUM
alkej-230	5	11	m	m	NOUN
alkej-230	5	12	length	length	NOUN
alkej-230	5	13	,	,	PUNCT
alkej-230	5	14	0.02	0.02	NUM
alkej-230	5	15	m	m	NOUN
alkej-230	5	16	width	width	ADJ
alkej-230	5	17	and	and	CCONJ
alkej-230	5	18	with	with	ADP
alkej-230	5	19	0.004	0.004	NUM
alkej-230	5	20	m	m	NOUN
alkej-230	5	21	thickness	thickness	NOUN
alkej-230	5	22	with	with	ADP
alkej-230	5	23	mass	mass	NOUN
alkej-230	5	24	located	locate	VERB
alkej-230	5	25	at	at	ADP
alkej-230	5	26	the	the	DET
alkej-230	5	27	tip	tip	NOUN
alkej-230	5	28	.	.	PUNCT
alkej-230	6	1	there	there	PRON
alkej-230	6	2	are	be	VERB
alkej-230	6	3	four	four	NUM
alkej-230	6	4	subsystems	subsystem	NOUN
alkej-230	6	5	;	;	PUNCT
alkej-230	6	6	motion	motion	NOUN
alkej-230	6	7	,	,	PUNCT
alkej-230	6	8	control	control	NOUN
alkej-230	6	9	,	,	PUNCT
alkej-230	6	10	accelerometer	accelerometer	NOUN
alkej-230	6	11	and	and	CCONJ
alkej-230	6	12	robotics	robotic	NOUN
alkej-230	6	13	manipulator	manipulator	NOUN
alkej-230	6	14	is	be	AUX
alkej-230	6	15	the	the	DET
alkej-230	6	16	base	base	NOUN
alkej-230	6	17	servomotor	servomotor	NOUN
alkej-230	6	18	.	.	PUNCT
alkej-230	7	1	it	it	PRON
alkej-230	7	2	rotates	rotate	VERB
alkej-230	7	3	a	a	DET
alkej-230	7	4	hub	hub	NOUN
alkej-230	7	5	with	with	ADP
alkej-230	7	6	the	the	DET
alkej-230	7	7	link	link	NOUN
alkej-230	7	8	on	on	ADP
alkej-230	7	9	it	it	PRON
alkej-230	7	10	and	and	CCONJ
alkej-230	7	11	measure	measure	VERB
alkej-230	7	12	the	the	DET
alkej-230	7	13	tip	tip	NOUN
alkej-230	7	14	deflection	deflection	NOUN
alkej-230	7	15	.	.	PUNCT
alkej-230	8	1	the	the	DET
alkej-230	8	2	deflection	deflection	NOUN
alkej-230	8	3	was	be	AUX
alkej-230	8	4	measured	measure	VERB
alkej-230	8	5	for	for	ADP
alkej-230	8	6	three	three	NUM
alkej-230	8	7	cases	case	NOUN
alkej-230	8	8	without	without	ADP
alkej-230	8	9	load	load	NOUN
alkej-230	8	10	,	,	PUNCT
alkej-230	8	11	with	with	ADP
alkej-230	8	12	27.5	27.5	NUM
alkej-230	8	13	and	and	CCONJ
alkej-230	8	14	with	with	ADP
alkej-230	8	15	59.4	59.4	NUM
alkej-230	8	16	gram	gram	NOUN
alkej-230	8	17	at	at	ADP
alkej-230	8	18	the	the	DET
alkej-230	8	19	end	end	NOUN
alkej-230	8	20	of	of	ADP
alkej-230	8	21	the	the	DET
alkej-230	8	22	flexible	flexible	ADJ
alkej-230	8	23	link	link	NOUN
alkej-230	8	24	.	.	PUNCT
alkej-230	9	1	during	during	ADP
alkej-230	9	2	each	each	PRON
alkej-230	9	3	of	of	ADP
alkej-230	9	4	the	the	DET
alkej-230	9	5	above	above	ADJ
alkej-230	9	6	cases	case	NOUN
alkej-230	9	7	i	i	PRON
alkej-230	9	8	rotated	rotate	VERB
alkej-230	9	9	the	the	DET
alkej-230	9	10	base	base	NOUN
alkej-230	9	11	servo	servo	NOUN
alkej-230	9	12	motor	motor	NOUN
alkej-230	9	13	at	at	ADP
alkej-230	9	14	card	card	NOUN
alkej-230	9	15	based	base	VERB
alkej-230	9	16	on	on	ADP
alkej-230	9	17	atmega640	atmega640	PROPN
alkej-230	9	18	microcontroller	microcontroller	NOUN
alkej-230	9	19	.	.	PUNCT
alkej-230	10	1	measured	measure	VERB
alkej-230	10	2	by	by	ADP
alkej-230	10	3	mma7631	mma7631	PROPN
alkej-230	10	4	accelerometer	accelerometer	PROPN
alkej-230	10	5	then	then	ADV
alkej-230	10	6	the	the	DET
alkej-230	10	7	datai	datai	NOUN
alkej-230	10	8	collected	collect	VERB
alkej-230	10	9	collected	collect	VERB
alkej-230	10	10	from	from	ADP
alkej-230	10	11	accelerometer	accelerometer	NOUN
alkej-230	10	12	and	and	CCONJ
alkej-230	10	13	plot	plot	NOUN
alkej-230	10	14	it	it	PRON
alkej-230	10	15	using	use	VERB
alkej-230	10	16	matlab	matlab	PROPN
alkej-230	10	17	software	software	NOUN
alkej-230	10	18	and	and	CCONJ
alkej-230	10	19	compared	compare	VERB
alkej-230	10	20	between	between	ADP
alkej-230	10	21	theoretical	theoretical	ADJ
alkej-230	10	22	results	result	NOUN
alkej-230	10	23	obtained	obtain	VERB
alkej-230	10	24	from	from	ADP
alkej-230	10	25	matlab	matlab	PROPN
alkej-230	10	26	program	program	NOUN
alkej-230	10	27	that	that	SCONJ
alkej-230	10	28	based	base	VERB
alkej-230	10	29	on	on	ADP
alkej-230	10	30	lagrange	lagrange	NOUN
alkej-230	10	31	equation	equation	NOUN
alkej-230	10	32	of	of	ADP
alkej-230	10	33	motion	motion	NOUN
alkej-230	10	34	and	and	CCONJ
alkej-230	10	35	experimental	experimental	ADJ
alkej-230	10	36	results	result	NOUN
alkej-230	10	37	and	and	CCONJ
alkej-230	10	38	we	we	PRON
alkej-230	10	39	found	find	VERB
alkej-230	10	40	the	the	DET
alkej-230	10	41	maximum	maximum	ADJ
alkej-230	10	42	deflection	deflection	NOUN
alkej-230	10	43	occurred	occur	VERB
alkej-230	10	44	when	when	SCONJ
alkej-230	10	45	v=180	v=180	X
alkej-230	10	46	deg	deg	PROPN
alkej-230	10	47	/	/	SYM
alkej-230	10	48	sec	sec	PROPN
alkej-230	10	49	a	a	DET
alkej-230	10	50	keywords	keyword	NOUN
alkej-230	10	51	:	:	PUNCT
alkej-230	10	52	flexible	flexible	ADJ
alkej-230	10	53	link	link	NOUN
alkej-230	10	54	manipulator	manipulator	NOUN
alkej-230	10	55	,	,	PUNCT
alkej-230	10	56	industrial	industrial	ADJ
alkej-230	10	57	robotics	robotic	NOUN
alkej-230	10	58	,	,	PUNCT
alkej-230	11	1	1	1	X
alkej-230	11	2	.	.	X
alkej-230	12	1	introduction	introduction	NOUN
alkej-230	12	2	robotic	robotic	ADJ
alkej-230	12	3	manipulators	manipulator	NOUN
alkej-230	12	4	are	be	AUX
alkej-230	12	5	used	use	VERB
alkej-230	12	6	widely	widely	ADV
alkej-230	12	7	in	in	ADP
alkej-230	12	8	dangerous	dangerous	ADJ
alkej-230	12	9	,	,	PUNCT
alkej-230	12	10	monotonous	monotonous	ADJ
alkej-230	12	11	,	,	PUNCT
alkej-230	12	12	and	and	CCONJ
alkej-230	12	13	boring	boring	NOUN
alkej-230	12	14	of	of	ADP
alkej-230	12	15	these	these	DET
alkej-230	12	16	robotic	robotic	ADJ
alkej-230	12	17	manipulators	manipulator	NOUN
alkej-230	12	18	are	be	AUX
alkej-230	12	19	build	build	VERB
alkej-230	12	20	and	and	CCONJ
alkej-230	12	21	manner	manner	VERB
alkej-230	12	22	to	to	PART
alkej-230	12	23	maximize	maximize	VERB
alkej-230	12	24	stiffness	stiffness	NOUN
alkej-230	12	25	and	and	CCONJ
alkej-230	12	26	to	to	PART
alkej-230	12	27	minimize	minimize	VERB
alkej-230	12	28	the	the	DET
alkej-230	12	29	vibration	vibration	NOUN
alkej-230	12	30	of	of	ADP
alkej-230	12	31	the	the	DET
alkej-230	12	32	end	end	NOUN
alkej-230	12	33	effectors	effector	NOUN
alkej-230	12	34	to	to	PART
alkej-230	12	35	achi	achi	VERB
alkej-230	12	36	position	position	NOUN
alkej-230	12	37	accuracy	accuracy	NOUN
alkej-230	12	38	.	.	PUNCT
alkej-230	13	1	the	the	DET
alkej-230	13	2	design	design	NOUN
alkej-230	13	3	of	of	ADP
alkej-230	13	4	manipulator	manipulator	NOUN
alkej-230	13	5	is	be	AUX
alkej-230	13	6	achieved	achieve	VERB
alkej-230	13	7	by	by	ADP
alkej-230	13	8	using	use	VERB
alkej-230	13	9	heavy	heavy	ADJ
alkej-230	13	10	material	material	NOUN
alkej-230	13	11	and	and	CCONJ
alkej-230	13	12	a	a	DET
alkej-230	13	13	bulky	bulky	ADJ
alkej-230	13	14	design	design	NOUN
alkej-230	13	15	.	.	PUNCT
alkej-230	14	1	the	the	DET
alkej-230	14	2	existing	exist	VERB
alkej-230	14	3	heavy	heavy	ADJ
alkej-230	14	4	manipulators	manipulator	NOUN
alkej-230	14	5	are	be	AUX
alkej-230	14	6	known	know	VERB
alkej-230	14	7	to	to	PART
alkej-230	14	8	be	be	AUX
alkej-230	14	9	insufficient	insufficient	ADJ
alkej-230	14	10	in	in	ADP
alkej-230	14	11	te	te	PROPN
alkej-230	14	12	of	of	ADP
alkej-230	14	13	speed	speed	NOUN
alkej-230	14	14	and	and	CCONJ
alkej-230	14	15	power	power	NOUN
alkej-230	14	16	consumption	consumption	NOUN
alkej-230	14	17	with	with	ADP
alkej-230	14	18	respect	respect	NOUN
alkej-230	14	19	to	to	ADP
alkej-230	14	20	the	the	DET
alkej-230	14	21	operating	operate	VERB
alkej-230	14	22	payload	payload	NOUN
alkej-230	15	1	[	[	X
alkej-230	15	2	1	1	NUM
alkej-230	15	3	]	]	PUNCT
alkej-230	15	4	.	.	PUNCT
alkej-230	16	1	to	to	PART
alkej-230	16	2	improve	improve	VERB
alkej-230	16	3	industrial	industrial	ADJ
alkej-230	16	4	productivity	productivity	NOUN
alkej-230	16	5	robotics	robotic	NOUN
alkej-230	16	6	,	,	PUNCT
alkej-230	16	7	it	it	PRON
alkej-230	16	8	is	be	AUX
alkej-230	16	9	required	require	VERB
alkej-230	16	10	to	to	PART
alkej-230	16	11	increase	increase	VERB
alkej-230	16	12	the	the	DET
alkej-230	16	13	operation	operation	NOUN
alkej-230	16	14	speed	speed	NOUN
alkej-230	16	15	of	of	ADP
alkej-230	16	16	the	the	DET
alkej-230	16	17	link	link	NOUN
alkej-230	16	18	and/or	and/or	CCONJ
alkej-230	16	19	reduce	reduce	VERB
alkej-230	16	20	the	the	DET
alkej-230	16	21	weight	weight	NOUN
alkej-230	16	22	of	of	ADP
alkej-230	16	23	the	the	DET
alkej-230	16	24	links	link	NOUN
alkej-230	16	25	.	.	PUNCT
alkej-230	17	1	due	due	ADP
alkej-230	17	2	to	to	ADP
alkej-230	17	3	high	high	ADJ
alkej-230	17	4	speed	speed	NOUN
alkej-230	17	5	operation	operation	NOUN
alkej-230	17	6	and	and	CCONJ
alkej-230	17	7	requirements	requirement	NOUN
alkej-230	17	8	,	,	PUNCT
alkej-230	17	9	a	a	DET
alkej-230	17	10	dynamic	dynamic	ADJ
alkej-230	17	11	model	model	NOUN
alkej-230	17	12	that	that	PRON
alkej-230	17	13	includes	include	VERB
alkej-230	17	14	the	the	DET
alkej-230	17	15	joint	joint	ADJ
alkej-230	17	16	and	and	CCONJ
alkej-230	17	17	/	/	SYM
alkej-230	17	18	or	or	CCONJ
alkej-230	17	19	link	link	VERB
alkej-230	17	20	flexibilities	flexibility	NOUN
alkej-230	17	21	is	be	AUX
alkej-230	17	22	needed	need	VERB
alkej-230	17	23	.	.	PUNCT
alkej-230	18	1	khwarizmi	khwarizmi	PROPN
alkej-230	18	2	engineering	engineering	PROPN
alkej-230	18	3	journal	journal	PROPN
alkej-230	18	4	,	,	PUNCT
alkej-230	18	5	vol	vol	NOUN
alkej-230	18	6	.	.	PROPN
alkej-230	18	7	11	11	NUM
alkej-230	18	8	,	,	PUNCT
alkej-230	18	9	no	no	INTJ
alkej-230	18	10	.	.	NOUN
alkej-230	18	11	3	3	NUM
alkej-230	18	12	,	,	PUNCT
alkej-230	18	13	p.p	p.p	PROPN
alkej-230	18	14	.	.	PROPN
alkej-230	18	15	11	11	NUM
alkej-230	18	16	-	-	SYM
alkej-230	18	17	19	19	NUM
alkej-230	18	18	(	(	PUNCT
alkej-230	18	19	2015	2015	NUM
alkej-230	18	20	)	)	PUNCT
alkej-230	18	21	deflection	deflection	NOUN
alkej-230	18	22	analysis	analysis	NOUN
alkej-230	18	23	of	of	ADP
alkej-230	18	24	an	an	DET
alkej-230	18	25	elastic	elastic	ADJ
alkej-230	18	26	single	single	ADJ
alkej-230	18	27	link	link	NOUN
alkej-230	18	28	robotic	robotic	ADJ
alkej-230	18	29	manipulator	manipulator	NOUN
alkej-230	18	30	rafal	rafal	PROPN
alkej-230	18	31	m.	m.	PROPN
alkej-230	18	32	khalil	khalil	PROPN
alkej-230	18	33	*	*	PROPN
alkej-230	18	34	somer	somer	PROPN
alkej-230	18	35	m.	m.	PROPN
alkej-230	18	36	nacy	nacy	PROPN
alkej-230	18	37	*	*	PROPN
alkej-230	18	38	*	*	PROPN
alkej-230	18	39	department	department	PROPN
alkej-230	18	40	of	of	ADP
alkej-230	18	41	automated	automate	VERB
alkej-230	18	42	manufacturing	manufacturing	NOUN
alkej-230	18	43	engineering/	engineering/	NUM
alkej-230	18	44	al	al	PROPN
alkej-230	18	45	-	-	PUNCT
alkej-230	18	46	khwarizmi	khwarizmi	PROPN
alkej-230	18	47	college	college	PROPN
alkej-230	18	48	of	of	ADP
alkej-230	18	49	engineering	engineering	PROPN
alkej-230	18	50	department	department	PROPN
alkej-230	18	51	of	of	ADP
alkej-230	18	52	biomedical	biomedical	ADJ
alkej-230	18	53	engineering/	engineering/	NUM
alkej-230	18	54	al	al	PROPN
alkej-230	18	55	-	-	PUNCT
alkej-230	18	56	khwarizmi	khwarizmi	PROPN
alkej-230	18	57	college	college	PROPN
alkej-230	18	58	of	of	ADP
alkej-230	18	59	engineering/	engineering/	NUM
alkej-230	18	60	university	university	NOUN
alkej-230	18	61	of	of	ADP
alkej-230	18	62	*	*	PROPN
alkej-230	18	63	e-mail:rafalalazzawi90@gmail.com	e-mail:rafalalazzawi90@gmail.com	X
alkej-230	18	64	*	*	PUNCT
alkej-230	18	65	*	*	PUNCT
alkej-230	18	66	e	e	NOUN
alkej-230	18	67	-	-	NOUN
alkej-230	18	68	mail	mail	NOUN
alkej-230	18	69	:	:	PUNCT
alkej-230	18	70	somernacy@yahoo.com	somernacy@yahoo.com	X
alkej-230	18	71	(	(	PUNCT
alkej-230	18	72	received	receive	VERB
alkej-230	18	73	22	22	NUM
alkej-230	18	74	june	june	PROPN
alkej-230	18	75	2014	2014	NUM
alkej-230	18	76	;	;	PUNCT
alkej-230	18	77	accepted	accept	VERB
alkej-230	18	78	7	7	NUM
alkej-230	18	79	may	may	PROPN
alkej-230	18	80	2015	2015	NUM
alkej-230	18	81	)	)	PUNCT
alkej-230	18	82	robotics	robotic	NOUN
alkej-230	18	83	manipulators	manipulator	NOUN
alkej-230	18	84	with	with	ADP
alkej-230	18	85	structural	structural	ADJ
alkej-230	18	86	flexibility	flexibility	NOUN
alkej-230	18	87	provide	provide	VERB
alkej-230	18	88	an	an	DET
alkej-230	18	89	attractive	attractive	ADJ
alkej-230	18	90	alternative	alternative	NOUN
alkej-230	18	91	to	to	ADP
alkej-230	18	92	rigid	rigid	ADJ
alkej-230	18	93	robotics	robotic	NOUN
alkej-230	18	94	manipulators	manipulator	NOUN
alkej-230	18	95	for	for	ADP
alkej-230	18	96	many	many	ADJ
alkej-230	18	97	of	of	ADP
alkej-230	18	98	the	the	DET
alkej-230	18	99	new	new	ADJ
alkej-230	18	100	and	and	CCONJ
alkej-230	18	101	evolving	evolve	VERB
alkej-230	18	102	applications	application	NOUN
alkej-230	18	103	in	in	ADP
alkej-230	18	104	robotics	robotic	NOUN
alkej-230	18	105	.	.	PUNCT
alkej-230	19	1	in	in	ADP
alkej-230	19	2	certain	certain	ADJ
alkej-230	19	3	applications	application	NOUN
alkej-230	19	4	their	their	PRON
alkej-230	19	5	use	use	NOUN
alkej-230	19	6	is	be	AUX
alkej-230	19	7	unavoidable	unavoidable	ADJ
alkej-230	19	8	.	.	PUNCT
alkej-230	20	1	the	the	DET
alkej-230	20	2	increased	increase	VERB
alkej-230	20	3	ling	ling	NOUN
alkej-230	20	4	and	and	CCONJ
alkej-230	20	5	control	control	NOUN
alkej-230	20	6	of	of	ADP
alkej-230	20	7	such	such	ADJ
alkej-230	20	8	manipulators	manipulator	NOUN
alkej-230	20	9	is	be	AUX
alkej-230	20	10	offset	offset	VERB
alkej-230	20	11	by	by	ADP
alkej-230	20	12	desirable	desirable	ADJ
alkej-230	20	13	performance	performance	NOUN
alkej-230	20	14	enhancements	enhancement	NOUN
alkej-230	20	15	in	in	ADP
alkej-230	20	16	some	some	DET
alkej-230	20	17	link	link	NOUN
alkej-230	20	18	flexible	flexible	ADJ
alkej-230	20	19	robotics	robotic	NOUN
alkej-230	20	20	manipulator	manipulator	NOUN
alkej-230	20	21	was	be	AUX
alkej-230	20	22	designed	design	VERB
alkej-230	20	23	and	and	CCONJ
alkej-230	20	24	implemented	implement	VERB
alkej-230	20	25	designed	design	VERB
alkej-230	20	26	with	with	ADP
alkej-230	20	27	0.5	0.5	NUM
alkej-230	20	28	m	m	NOUN
alkej-230	20	29	length	length	NOUN
alkej-230	20	30	,	,	PUNCT
alkej-230	20	31	0.02	0.02	NUM
alkej-230	20	32	m	m	NOUN
alkej-230	20	33	width	width	ADJ
alkej-230	20	34	and	and	CCONJ
alkej-230	20	35	with	with	ADP
alkej-230	20	36	0.004	0.004	NUM
alkej-230	20	37	m	m	NOUN
alkej-230	20	38	thickness	thickness	NOUN
alkej-230	20	39	with	with	ADP
alkej-230	20	40	mass	mass	NOUN
alkej-230	20	41	located	locate	VERB
alkej-230	20	42	at	at	ADP
alkej-230	20	43	the	the	DET
alkej-230	20	44	tip	tip	NOUN
alkej-230	20	45	.	.	PUNCT
alkej-230	21	1	there	there	PRON
alkej-230	21	2	are	be	VERB
alkej-230	21	3	four	four	NUM
alkej-230	21	4	motion	motion	NOUN
alkej-230	21	5	,	,	PUNCT
alkej-230	21	6	control	control	NOUN
alkej-230	21	7	,	,	PUNCT
alkej-230	21	8	accelerometer	accelerometer	NOUN
alkej-230	21	9	and	and	CCONJ
alkej-230	21	10	gyro	gyro	NOUN
alkej-230	21	11	and	and	CCONJ
alkej-230	21	12	a	a	DET
alkej-230	21	13	host	host	NOUN
alkej-230	21	14	computer	computer	NOUN
alkej-230	21	15	subsystem	subsystem	NOUN
alkej-230	21	16	.	.	PUNCT
alkej-230	22	1	the	the	DET
alkej-230	22	2	work	work	NOUN
alkej-230	22	3	principle	principle	NOUN
alkej-230	22	4	of	of	ADP
alkej-230	22	5	single	single	ADJ
alkej-230	22	6	s	s	NOUN
alkej-230	22	7	manipulator	manipulator	NOUN
alkej-230	22	8	is	be	AUX
alkej-230	22	9	the	the	DET
alkej-230	22	10	base	base	NOUN
alkej-230	22	11	servomotor	servomotor	NOUN
alkej-230	22	12	.	.	PUNCT
alkej-230	23	1	it	it	PRON
alkej-230	23	2	rotates	rotate	VERB
alkej-230	23	3	a	a	DET
alkej-230	23	4	hub	hub	NOUN
alkej-230	23	5	with	with	ADP
alkej-230	23	6	the	the	DET
alkej-230	23	7	link	link	NOUN
alkej-230	23	8	on	on	ADP
alkej-230	23	9	it	it	PRON
alkej-230	23	10	and	and	CCONJ
alkej-230	23	11	measure	measure	VERB
alkej-230	23	12	the	the	DET
alkej-230	23	13	tip	tip	NOUN
alkej-230	23	14	deflection	deflection	NOUN
alkej-230	23	15	.	.	PUNCT
alkej-230	24	1	the	the	PRON
alkej-230	24	2	for	for	ADP
alkej-230	24	3	three	three	NUM
alkej-230	24	4	cases	case	NOUN
alkej-230	24	5	without	without	ADP
alkej-230	24	6	load	load	NOUN
alkej-230	24	7	,	,	PUNCT
alkej-230	24	8	with	with	ADP
alkej-230	24	9	27.5	27.5	NUM
alkej-230	24	10	and	and	CCONJ
alkej-230	24	11	with	with	ADP
alkej-230	24	12	59.4	59.4	NUM
alkej-230	24	13	gram	gram	NOUN
alkej-230	24	14	at	at	ADP
alkej-230	24	15	the	the	DET
alkej-230	24	16	end	end	NOUN
alkej-230	24	17	of	of	ADP
alkej-230	24	18	the	the	DET
alkej-230	24	19	flexible	flexible	ADJ
alkej-230	24	20	link	link	NOUN
alkej-230	24	21	.	.	PUNCT
alkej-230	25	1	rotated	rotate	VERB
alkej-230	25	2	the	the	DET
alkej-230	25	3	base	base	NOUN
alkej-230	25	4	servo	servo	NOUN
alkej-230	25	5	motor	motor	NOUN
alkej-230	25	6	at	at	ADP
alkej-230	25	7	an	an	DET
alkej-230	25	8	angular	angular	ADJ
alkej-230	25	9	velocity	velocity	NOUN
alkej-230	25	10	equals	equal	VERB
alkej-230	25	11	to	to	ADP
alkej-230	25	12	90	90	NUM
alkej-230	25	13	deg./s	deg./s	PROPN
alkej-230	25	14	using	use	VERB
alkej-230	25	15	control	control	NOUN
alkej-230	25	16	atmega640	atmega640	ADJ
alkej-230	25	17	microcontroller	microcontroller	NOUN
alkej-230	25	18	.	.	PUNCT
alkej-230	26	1	the	the	DET
alkej-230	26	2	deflection	deflection	NOUN
alkej-230	26	3	was	be	AUX
alkej-230	26	4	measured	measure	VERB
alkej-230	26	5	for	for	ADP
alkej-230	26	6	the	the	DET
alkej-230	26	7	three	three	NUM
alkej-230	26	8	cases	case	NOUN
alkej-230	26	9	and	and	CCONJ
alkej-230	26	10	the	the	DET
alkej-230	26	11	deflection	deflection	NOUN
alkej-230	26	12	measured	measure	VERB
alkej-230	26	13	by	by	ADP
alkej-230	26	14	mma7631	mma7631	PROPN
alkej-230	26	15	accelerometer	accelerometer	NOUN
alkej-230	26	16	and	and	CCONJ
alkej-230	26	17	gyro	gyro	NOUN
alkej-230	26	18	.	.	PUNCT
alkej-230	27	1	this	this	DET
alkej-230	27	2	accelerometer	accelerometer	NOUN
alkej-230	27	3	controlled	control	VERB
alkej-230	27	4	by	by	ADP
alkej-230	27	5	using	use	VERB
alkej-230	27	6	mega	mega	ADJ
alkej-230	27	7	arduino	arduino	NOUN
alkej-230	27	8	board	board	NOUN
alkej-230	27	9	.	.	PUNCT
alkej-230	28	1	from	from	ADP
alkej-230	28	2	accelerometer	accelerometer	NOUN
alkej-230	28	3	and	and	CCONJ
alkej-230	28	4	plot	plot	NOUN
alkej-230	28	5	it	it	PRON
alkej-230	28	6	using	use	VERB
alkej-230	28	7	matlab	matlab	PROPN
alkej-230	28	8	software	software	NOUN
alkej-230	28	9	and	and	CCONJ
alkej-230	28	10	compared	compare	VERB
alkej-230	28	11	between	between	ADP
alkej-230	28	12	theoretical	theoretical	ADJ
alkej-230	28	13	results	result	NOUN
alkej-230	28	14	obtained	obtain	VERB
alkej-230	28	15	from	from	ADP
alkej-230	28	16	matlab	matlab	PROPN
alkej-230	28	17	program	program	NOUN
alkej-230	28	18	that	that	SCONJ
alkej-230	28	19	based	base	VERB
alkej-230	28	20	on	on	ADP
alkej-230	28	21	lagrange	lagrange	NOUN
alkej-230	28	22	equation	equation	NOUN
alkej-230	28	23	of	of	ADP
alkej-230	28	24	motion	motion	NOUN
alkej-230	28	25	and	and	CCONJ
alkej-230	28	26	experimental	experimental	ADJ
alkej-230	28	27	and	and	CCONJ
alkej-230	28	28	we	we	PRON
alkej-230	28	29	found	find	VERB
alkej-230	28	30	the	the	DET
alkej-230	28	31	maximum	maximum	ADJ
alkej-230	28	32	deflection	deflection	NOUN
alkej-230	28	33	occurred	occur	VERB
alkej-230	28	34	when	when	SCONJ
alkej-230	28	35	v=180	v=180	NUM
alkej-230	28	36	deg	deg	PROPN
alkej-230	28	37	/	/	SYM
alkej-230	28	38	sec	sec	PROPN
alkej-230	28	39	and	and	CCONJ
alkej-230	28	40	tip	tip	PROPN
alkej-230	28	41	load=59.5	load=59.5	VERB
alkej-230	28	42	gram	gram	NOUN
alkej-230	28	43	anipulator	anipulator	NOUN
alkej-230	28	44	,	,	PUNCT
alkej-230	28	45	industrial	industrial	ADJ
alkej-230	28	46	robotics	robotic	NOUN
alkej-230	28	47	,	,	PUNCT
alkej-230	28	48	robotics	robotic	NOUN
alkej-230	28	49	manipulator	manipulator	NOUN
alkej-230	28	50	,	,	PUNCT
alkej-230	28	51	beam	beam	NOUN
alkej-230	28	52	deflection	deflection	NOUN
alkej-230	28	53	widely	widely	ADV
alkej-230	28	54	to	to	PART
alkej-230	28	55	help	help	VERB
alkej-230	28	56	boring	boring	ADJ
alkej-230	28	57	jobs	job	NOUN
alkej-230	28	58	.	.	PUNCT
alkej-230	29	1	most	most	ADJ
alkej-230	29	2	build	build	VERB
alkej-230	29	3	and	and	CCONJ
alkej-230	29	4	in	in	ADP
alkej-230	29	5	a	a	PRON
alkej-230	29	6	to	to	PART
alkej-230	29	7	minimize	minimize	VERB
alkej-230	29	8	the	the	DET
alkej-230	29	9	vibration	vibration	NOUN
alkej-230	29	10	of	of	ADP
alkej-230	29	11	the	the	DET
alkej-230	29	12	end	end	NOUN
alkej-230	29	13	effectors	effector	NOUN
alkej-230	29	14	to	to	PART
alkej-230	29	15	achieve	achieve	VERB
alkej-230	29	16	good	good	ADJ
alkej-230	29	17	position	position	NOUN
alkej-230	29	18	accuracy	accuracy	NOUN
alkej-230	29	19	.	.	PUNCT
alkej-230	30	1	the	the	DET
alkej-230	30	2	design	design	NOUN
alkej-230	30	3	of	of	ADP
alkej-230	30	4	high	high	ADJ
alkej-230	30	5	stiffness	stiffness	NOUN
alkej-230	30	6	is	be	AUX
alkej-230	30	7	achieved	achieve	VERB
alkej-230	30	8	by	by	ADP
alkej-230	30	9	using	use	VERB
alkej-230	30	10	heavy	heavy	ADJ
alkej-230	30	11	material	material	NOUN
alkej-230	30	12	existing	exist	VERB
alkej-230	30	13	heavy	heavy	ADJ
alkej-230	30	14	and	and	CCONJ
alkej-230	30	15	rigid	rigid	ADJ
alkej-230	30	16	manipulators	manipulator	NOUN
alkej-230	30	17	are	be	AUX
alkej-230	30	18	known	know	VERB
alkej-230	30	19	to	to	PART
alkej-230	30	20	be	be	AUX
alkej-230	30	21	insufficient	insufficient	ADJ
alkej-230	30	22	in	in	ADP
alkej-230	30	23	terms	term	NOUN
alkej-230	30	24	with	with	ADP
alkej-230	30	25	respect	respect	NOUN
alkej-230	30	26	to	to	PART
alkej-230	30	27	improve	improve	VERB
alkej-230	30	28	industrial	industrial	ADJ
alkej-230	30	29	productivity	productivity	NOUN
alkej-230	30	30	of	of	ADP
alkej-230	30	31	the	the	DET
alkej-230	30	32	increase	increase	NOUN
alkej-230	30	33	the	the	DET
alkej-230	30	34	operation	operation	NOUN
alkej-230	30	35	reduce	reduce	VERB
alkej-230	30	36	the	the	DET
alkej-230	30	37	weight	weight	NOUN
alkej-230	30	38	of	of	ADP
alkej-230	30	39	the	the	DET
alkej-230	30	40	to	to	PART
alkej-230	30	41	high	high	ADJ
alkej-230	30	42	speed	speed	NOUN
alkej-230	30	43	operation	operation	NOUN
alkej-230	30	44	and	and	CCONJ
alkej-230	30	45	lightweight	lightweight	ADJ
alkej-230	30	46	dynamic	dynamic	ADJ
alkej-230	30	47	model	model	NOUN
alkej-230	30	48	that	that	PRON
alkej-230	30	49	includes	include	VERB
alkej-230	30	50	the	the	PRON
alkej-230	30	51	is	be	AUX
alkej-230	30	52	needed	need	VERB
alkej-230	30	53	.	.	PUNCT
alkej-230	31	1	the	the	DET
alkej-230	31	2	link	link	NOUN
alkej-230	31	3	flexibility	flexibility	NOUN
alkej-230	31	4	is	be	AUX
alkej-230	31	5	a	a	DET
alkej-230	31	6	consequence	consequence	NOUN
alkej-230	31	7	of	of	ADP
alkej-230	31	8	the	the	DET
alkej-230	31	9	lightweight	lightweight	ADJ
alkej-230	31	10	structure	structure	NOUN
alkej-230	31	11	in	in	ADP
alkej-230	31	12	manipulator	manipulator	NOUN
alkej-230	31	13	arms	arm	NOUN
alkej-230	31	14	that	that	PRON
alkej-230	31	15	are	be	AUX
alkej-230	31	16	modeled	model	VERB
alkej-230	31	17	and	and	CCONJ
alkej-230	31	18	designed	design	VERB
alkej-230	31	19	to	to	PART
alkej-230	31	20	operate	operate	VERB
alkej-230	31	21	at	at	ADP
alkej-230	31	22	high	high	ADJ
alkej-230	31	23	speeds	speed	NOUN
alkej-230	31	24	with	with	ADP
alkej-230	31	25	low	low	ADJ
alkej-230	31	26	inertia	inertia	NOUN
alkej-230	31	27	.	.	PUNCT
alkej-230	32	1	compared	compare	VERB
alkej-230	32	2	conventional	conventional	ADJ
alkej-230	32	3	heavy	heavy	ADJ
alkej-230	32	4	and	and	CCONJ
alkej-230	32	5	bulky	bulky	ADJ
alkej-230	32	6	robots	robot	NOUN
alkej-230	32	7	weight	weight	NOUN
alkej-230	32	8	robot	robot	NOUN
alkej-230	32	9	,	,	PUNCT
alkej-230	32	10	by	by	ADP
alkej-230	32	11	introducing	introduce	VERB
alkej-230	32	12	flexibility	flexibility	NOUN
alkej-230	32	13	on	on	ADP
alkej-230	32	14	the	the	DET
alkej-230	32	15	mechanical	mechanical	ADJ
alkej-230	32	16	system	system	NOUN
alkej-230	32	17	of	of	ADP
alkej-230	32	18	robots	robot	NOUN
alkej-230	32	19	,	,	PUNCT
alkej-230	32	20	it	it	PRON
alkej-230	32	21	has	have	VERB
alkej-230	32	22	a	a	DET
alkej-230	32	23	great	great	ADJ
alkej-230	32	24	advantages	advantage	NOUN
alkej-230	32	25	of	of	ADP
alkej-230	32	26	larger	large	ADJ
alkej-230	32	27	work	work	NOUN
alkej-230	32	28	volume	volume	NOUN
alkej-230	32	29	,	,	PUNCT
alkej-230	32	30	and	and	CCONJ
alkej-230	32	31	lower	low	ADJ
alkej-230	32	32	cost	cost	NOUN
alkej-230	32	33	,	,	PUNCT
alkej-230	32	34	payload	payload	NOUN
alkej-230	32	35	-	-	PUNCT
alkej-230	32	36	to	to	ADP
alkej-230	32	37	-	-	PUNCT
alkej-230	32	38	manipulator	manipulator	NOUN
alkej-230	32	39	-	-	PUNCT
alkej-230	32	40	weight	weight	NOUN
alkej-230	32	41	ratio	ratio	NOUN
alkej-230	32	42	,	,	PUNCT
alkej-230	32	43	lower	low	ADJ
alkej-230	32	44	energy	energy	NOUN
alkej-230	32	45	consumption	consumption	NOUN
alkej-230	32	46	,	,	PUNCT
alkej-230	32	47	smaller	small	ADJ
alkej-230	32	48	actuators	actuator	NOUN
alkej-230	32	49	,	,	PUNCT
alkej-230	32	50	better	well	ADJ
alkej-230	32	51	transportability	transportability	NOUN
alkej-230	32	52	,	,	PUNCT
alkej-230	32	53	better	well	ADJ
alkej-230	32	54	maneuver	maneuver	NOUN
alkej-230	32	55	ability	ability	NOUN
alkej-230	32	56	end	end	NOUN
alkej-230	32	57	of	of	ADP
alkej-230	32	58	these	these	DET
alkej-230	32	59	advantages	advantage	NOUN
alkej-230	32	60	its	its	PRON
alkej-230	32	61	reduced	reduce	VERB
alkej-230	32	62	inertia	inertia	NOUN
alkej-230	32	63	[	[	X
alkej-230	32	64	2	2	NUM
alkej-230	32	65	]	]	PUNCT
alkej-230	32	66	.	.	PUNCT
alkej-230	33	1	these	these	DET
alkej-230	33	2	great	great	ADJ
alkej-230	33	3	disadvantage	disadvantage	NOUN
alkej-230	33	4	obtained	obtain	VERB
alkej-230	33	5	by	by	ADP
alkej-230	33	6	introducing	introduce	VERB
alkej-230	33	7	joint	joint	ADJ
alkej-230	33	8	and	and	CCONJ
alkej-230	33	9	/	/	SYM
alkej-230	33	10	or	or	CCONJ
alkej-230	33	11	link	link	VERB
alkej-230	33	12	robotics	robotic	NOUN
alkej-230	33	13	mechanical	mechanical	ADJ
alkej-230	33	14	system	system	NOUN
alkej-230	33	15	,	,	PUNCT
alkej-230	33	16	vibration	vibration	NOUN
alkej-230	33	17	due	due	ADP
alkej-230	33	18	to	to	ADP
alkej-230	33	19	low	low	ADJ
alkej-230	33	20	stiffness	stiffness	NOUN
alkej-230	33	21	.	.	PUNCT
alkej-230	34	1	if	if	SCONJ
alkej-230	34	2	can	can	AUX
alkej-230	34	3	not	not	PART
alkej-230	34	4	be	be	AUX
alkej-230	34	5	solved	solve	VERB
alkej-230	34	6	,	,	PUNCT
alkej-230	34	7	then	then	ADV
alkej-230	34	8	the	the	DET
alkej-230	34	9	al	al	PROPN
alkej-230	34	10	-	-	PUNCT
alkej-230	34	11	khwarizmi	khwarizmi	PROPN
alkej-230	34	12	engineering	engineering	NOUN
alkej-230	34	13	journal	journal	PROPN
alkej-230	34	14	(	(	PUNCT
alkej-230	34	15	2015	2015	NUM
alkej-230	34	16	)	)	PUNCT
alkej-230	34	17	deflection	deflection	NOUN
alkej-230	34	18	analysis	analysis	NOUN
alkej-230	34	19	of	of	ADP
alkej-230	34	20	an	an	DET
alkej-230	34	21	elastic	elastic	ADJ
alkej-230	34	22	single	single	ADJ
alkej-230	34	23	link	link	NOUN
alkej-230	34	24	robotic	robotic	ADJ
alkej-230	34	25	manipulator	manipulator	NOUN
alkej-230	34	26	khwarizmi	khwarizmi	PROPN
alkej-230	34	27	college	college	PROPN
alkej-230	34	28	of	of	ADP
alkej-230	34	29	engineering/	engineering/	NUM
alkej-230	34	30	university	university	NOUN
alkej-230	34	31	of	of	ADP
alkej-230	34	32	baghdad	baghdad	PROPN
alkej-230	34	33	university	university	PROPN
alkej-230	34	34	of	of	ADP
alkej-230	34	35	baghdad	baghdad	PROPN
alkej-230	34	36	robotics	robotic	NOUN
alkej-230	34	37	manipulators	manipulator	NOUN
alkej-230	34	38	with	with	ADP
alkej-230	34	39	structural	structural	ADJ
alkej-230	34	40	flexibility	flexibility	NOUN
alkej-230	34	41	provide	provide	VERB
alkej-230	34	42	an	an	DET
alkej-230	34	43	attractive	attractive	ADJ
alkej-230	34	44	alternative	alternative	NOUN
alkej-230	34	45	to	to	ADP
alkej-230	34	46	rigid	rigid	ADJ
alkej-230	34	47	robotics	robotic	NOUN
alkej-230	34	48	manipulators	manipulator	NOUN
alkej-230	34	49	for	for	ADP
alkej-230	34	50	many	many	ADJ
alkej-230	34	51	of	of	ADP
alkej-230	34	52	the	the	DET
alkej-230	34	53	new	new	ADJ
alkej-230	34	54	and	and	CCONJ
alkej-230	34	55	evolving	evolve	VERB
alkej-230	34	56	applications	application	NOUN
alkej-230	34	57	in	in	ADP
alkej-230	34	58	robotics	robotic	NOUN
alkej-230	34	59	.	.	PUNCT
alkej-230	35	1	in	in	ADP
alkej-230	35	2	certain	certain	ADJ
alkej-230	35	3	applications	application	NOUN
alkej-230	35	4	their	their	PRON
alkej-230	35	5	use	use	NOUN
alkej-230	35	6	is	be	AUX
alkej-230	35	7	unavoidable	unavoidable	ADJ
alkej-230	35	8	.	.	PUNCT
alkej-230	36	1	the	the	DET
alkej-230	36	2	increased	increase	VERB
alkej-230	36	3	ling	ling	NOUN
alkej-230	36	4	and	and	CCONJ
alkej-230	36	5	control	control	NOUN
alkej-230	36	6	of	of	ADP
alkej-230	36	7	such	such	ADJ
alkej-230	36	8	manipulators	manipulator	NOUN
alkej-230	36	9	is	be	AUX
alkej-230	36	10	offset	offset	VERB
alkej-230	36	11	by	by	ADP
alkej-230	36	12	desirable	desirable	ADJ
alkej-230	36	13	performance	performance	NOUN
alkej-230	36	14	enhancements	enhancement	NOUN
alkej-230	36	15	in	in	ADP
alkej-230	36	16	some	some	PRON
alkej-230	36	17	designed	design	VERB
alkej-230	36	18	and	and	CCONJ
alkej-230	36	19	implemented	implement	VERB
alkej-230	36	20	from	from	ADP
alkej-230	36	21	perspex	perspex	PROPN
alkej-230	36	22	and	and	CCONJ
alkej-230	36	23	designed	design	VERB
alkej-230	36	24	with	with	ADP
alkej-230	36	25	0.5	0.5	NUM
alkej-230	36	26	m	m	NOUN
alkej-230	36	27	length	length	NOUN
alkej-230	36	28	,	,	PUNCT
alkej-230	36	29	0.02	0.02	NUM
alkej-230	36	30	m	m	NOUN
alkej-230	36	31	width	width	ADJ
alkej-230	36	32	and	and	CCONJ
alkej-230	36	33	with	with	ADP
alkej-230	36	34	0.004	0.004	NUM
alkej-230	36	35	m	m	NOUN
alkej-230	36	36	thickness	thickness	NOUN
alkej-230	36	37	with	with	ADP
alkej-230	36	38	mass	mass	NOUN
alkej-230	36	39	located	locate	VERB
alkej-230	36	40	at	at	ADP
alkej-230	36	41	the	the	DET
alkej-230	36	42	tip	tip	NOUN
alkej-230	36	43	.	.	PUNCT
alkej-230	37	1	there	there	PRON
alkej-230	37	2	are	be	VERB
alkej-230	37	3	four	four	NUM
alkej-230	37	4	gyro	gyro	NOUN
alkej-230	37	5	and	and	CCONJ
alkej-230	37	6	a	a	DET
alkej-230	37	7	host	host	NOUN
alkej-230	37	8	computer	computer	NOUN
alkej-230	37	9	subsystem	subsystem	NOUN
alkej-230	37	10	.	.	PUNCT
alkej-230	38	1	the	the	DET
alkej-230	38	2	work	work	NOUN
alkej-230	38	3	principle	principle	NOUN
alkej-230	38	4	of	of	ADP
alkej-230	38	5	single	single	ADJ
alkej-230	38	6	-	-	PUNCT
alkej-230	38	7	link	link	NOUN
alkej-230	38	8	s	s	NOUN
alkej-230	38	9	manipulator	manipulator	NOUN
alkej-230	38	10	is	be	AUX
alkej-230	38	11	the	the	DET
alkej-230	38	12	base	base	NOUN
alkej-230	38	13	servomotor	servomotor	NOUN
alkej-230	38	14	.	.	PUNCT
alkej-230	39	1	it	it	PRON
alkej-230	39	2	rotates	rotate	VERB
alkej-230	39	3	a	a	DET
alkej-230	39	4	hub	hub	NOUN
alkej-230	39	5	with	with	ADP
alkej-230	39	6	the	the	DET
alkej-230	39	7	link	link	NOUN
alkej-230	39	8	on	on	ADP
alkej-230	39	9	it	it	PRON
alkej-230	39	10	and	and	CCONJ
alkej-230	39	11	measure	measure	VERB
alkej-230	39	12	the	the	DET
alkej-230	39	13	tip	tip	NOUN
alkej-230	39	14	deflection	deflection	NOUN
alkej-230	39	15	.	.	PUNCT
alkej-230	40	1	the	the	PRON
alkej-230	40	2	for	for	ADP
alkej-230	40	3	three	three	NUM
alkej-230	40	4	cases	case	NOUN
alkej-230	40	5	without	without	ADP
alkej-230	40	6	load	load	NOUN
alkej-230	40	7	,	,	PUNCT
alkej-230	40	8	with	with	ADP
alkej-230	40	9	27.5	27.5	NUM
alkej-230	40	10	and	and	CCONJ
alkej-230	40	11	with	with	ADP
alkej-230	40	12	59.4	59.4	NUM
alkej-230	40	13	gram	gram	NOUN
alkej-230	40	14	at	at	ADP
alkej-230	40	15	the	the	DET
alkej-230	40	16	end	end	NOUN
alkej-230	40	17	of	of	ADP
alkej-230	40	18	the	the	DET
alkej-230	40	19	flexible	flexible	ADJ
alkej-230	40	20	link	link	NOUN
alkej-230	40	21	.	.	PUNCT
alkej-230	40	22	equals	equal	VERB
alkej-230	40	23	to	to	ADP
alkej-230	40	24	90	90	NUM
alkej-230	40	25	deg./s	deg./s	PROPN
alkej-230	40	26	using	use	VERB
alkej-230	40	27	control	control	NOUN
alkej-230	40	28	for	for	ADP
alkej-230	40	29	the	the	DET
alkej-230	40	30	three	three	NUM
alkej-230	40	31	cases	case	NOUN
alkej-230	40	32	and	and	CCONJ
alkej-230	40	33	the	the	DET
alkej-230	40	34	deflection	deflection	NOUN
alkej-230	40	35	by	by	ADP
alkej-230	40	36	using	use	VERB
alkej-230	40	37	mega	mega	ADJ
alkej-230	40	38	arduino	arduino	NOUN
alkej-230	40	39	board	board	NOUN
alkej-230	40	40	.	.	PUNCT
alkej-230	41	1	from	from	ADP
alkej-230	41	2	accelerometer	accelerometer	NOUN
alkej-230	41	3	and	and	CCONJ
alkej-230	41	4	plot	plot	NOUN
alkej-230	41	5	it	it	PRON
alkej-230	41	6	using	use	VERB
alkej-230	41	7	matlab	matlab	PROPN
alkej-230	41	8	software	software	NOUN
alkej-230	41	9	and	and	CCONJ
alkej-230	41	10	compared	compare	VERB
alkej-230	41	11	between	between	ADP
alkej-230	41	12	theoretical	theoretical	ADJ
alkej-230	41	13	results	result	NOUN
alkej-230	41	14	obtained	obtain	VERB
alkej-230	41	15	from	from	ADP
alkej-230	41	16	matlab	matlab	PROPN
alkej-230	41	17	program	program	NOUN
alkej-230	41	18	that	that	SCONJ
alkej-230	41	19	based	base	VERB
alkej-230	41	20	on	on	ADP
alkej-230	41	21	lagrange	lagrange	NOUN
alkej-230	41	22	equation	equation	NOUN
alkej-230	41	23	of	of	ADP
alkej-230	41	24	motion	motion	NOUN
alkej-230	41	25	and	and	CCONJ
alkej-230	41	26	experimental	experimental	ADJ
alkej-230	41	27	nd	nd	PRON
alkej-230	41	28	tip	tip	NOUN
alkej-230	41	29	load=59.5	load=59.5	PROPN
alkej-230	41	30	gram	gram	PROPN
alkej-230	41	31	.	.	PUNCT
alkej-230	42	1	beam	beam	NOUN
alkej-230	42	2	deflection	deflection	NOUN
alkej-230	42	3	.	.	PUNCT
alkej-230	43	1	link	link	NOUN
alkej-230	43	2	flexibility	flexibility	NOUN
alkej-230	43	3	is	be	AUX
alkej-230	43	4	a	a	DET
alkej-230	43	5	consequence	consequence	NOUN
alkej-230	43	6	of	of	ADP
alkej-230	43	7	the	the	PRON
alkej-230	43	8	in	in	ADP
alkej-230	43	9	manipulator	manipulator	NOUN
alkej-230	43	10	arms	arm	NOUN
alkej-230	43	11	that	that	PRON
alkej-230	43	12	are	be	AUX
alkej-230	43	13	operate	operate	ADJ
alkej-230	43	14	at	at	ADP
alkej-230	43	15	high	high	ADJ
alkej-230	43	16	operation	operation	NOUN
alkej-230	43	17	speeds	speed	NOUN
alkej-230	43	18	with	with	ADP
alkej-230	43	19	low	low	ADJ
alkej-230	43	20	inertia	inertia	NOUN
alkej-230	43	21	.	.	PUNCT
alkej-230	44	1	compared	compare	VERB
alkej-230	44	2	between	between	ADP
alkej-230	44	3	the	the	DET
alkej-230	44	4	conventional	conventional	ADJ
alkej-230	44	5	heavy	heavy	ADJ
alkej-230	44	6	and	and	CCONJ
alkej-230	44	7	bulky	bulky	ADJ
alkej-230	44	8	robots	robot	NOUN
alkej-230	44	9	and	and	CCONJ
alkej-230	44	10	light	light	NOUN
alkej-230	44	11	by	by	ADP
alkej-230	44	12	introducing	introduce	VERB
alkej-230	44	13	joints	joint	NOUN
alkej-230	44	14	and	and	CCONJ
alkej-230	44	15	/or	/or	ADP
alkej-230	44	16	link	link	VERB
alkej-230	44	17	the	the	DET
alkej-230	44	18	mechanical	mechanical	ADJ
alkej-230	44	19	system	system	NOUN
alkej-230	44	20	of	of	ADP
alkej-230	44	21	robots	robot	NOUN
alkej-230	44	22	,	,	PUNCT
alkej-230	44	23	it	it	PRON
alkej-230	44	24	advantages	advantage	NOUN
alkej-230	44	25	of	of	ADP
alkej-230	44	26	higher	high	ADJ
alkej-230	44	27	operation	operation	NOUN
alkej-230	44	28	speed	speed	NOUN
alkej-230	44	29	,	,	PUNCT
alkej-230	44	30	and	and	CCONJ
alkej-230	44	31	lower	low	ADJ
alkej-230	44	32	cost	cost	NOUN
alkej-230	44	33	,	,	PUNCT
alkej-230	44	34	greater	great	ADJ
alkej-230	44	35	weight	weight	NOUN
alkej-230	44	36	ratio	ratio	NOUN
alkej-230	44	37	,	,	PUNCT
alkej-230	44	38	lower	low	ADJ
alkej-230	44	39	smaller	small	ADJ
alkej-230	44	40	actuators	actuator	NOUN
alkej-230	44	41	,	,	PUNCT
alkej-230	44	42	better	well	ADV
alkej-230	44	43	better	well	ADJ
alkej-230	44	44	maneuver	maneuver	NOUN
alkej-230	44	45	ability	ability	NOUN
alkej-230	44	46	and	and	CCONJ
alkej-230	44	47	at	at	ADP
alkej-230	44	48	the	the	DET
alkej-230	44	49	end	end	NOUN
alkej-230	44	50	of	of	ADP
alkej-230	44	51	these	these	DET
alkej-230	44	52	advantages	advantage	NOUN
alkej-230	44	53	its	its	PRON
alkej-230	44	54	safer	safe	ADJ
alkej-230	44	55	operation	operation	NOUN
alkej-230	44	56	due	due	ADP
alkej-230	44	57	to	to	ADP
alkej-230	44	58	disadvantage	disadvantage	NOUN
alkej-230	44	59	obtained	obtain	VERB
alkej-230	44	60	by	by	ADP
alkej-230	44	61	and	and	CCONJ
alkej-230	44	62	/	/	SYM
alkej-230	44	63	or	or	CCONJ
alkej-230	44	64	link	link	VERB
alkej-230	44	65	flexibilities	flexibility	NOUN
alkej-230	44	66	to	to	ADP
alkej-230	44	67	system	system	NOUN
alkej-230	44	68	,	,	PUNCT
alkej-230	44	69	that	that	DET
alkej-230	44	70	system	system	NOUN
alkej-230	44	71	has	have	VERB
alkej-230	44	72	high	high	ADJ
alkej-230	44	73	vibration	vibration	NOUN
alkej-230	44	74	due	due	ADP
alkej-230	44	75	to	to	ADP
alkej-230	44	76	low	low	ADJ
alkej-230	44	77	stiffness	stiffness	NOUN
alkej-230	44	78	.	.	PUNCT
alkej-230	45	1	if	if	SCONJ
alkej-230	45	2	that	that	PRON
alkej-230	45	3	problem	problem	VERB
alkej-230	45	4	the	the	DET
alkej-230	45	5	mechanical	mechanical	ADJ
alkej-230	45	6	system	system	NOUN
alkej-230	45	7	of	of	ADP
alkej-230	45	8	rafal	rafal	PROPN
alkej-230	45	9	m.	m.	PROPN
alkej-230	45	10	khalil	khalil	PROPN
alkej-230	45	11	the	the	DET
alkej-230	45	12	robot	robot	NOUN
alkej-230	45	13	will	will	AUX
alkej-230	45	14	not	not	PART
alkej-230	45	15	been	be	AUX
alkej-230	45	16	favored	favor	VERB
alkej-230	45	17	in	in	ADP
alkej-230	45	18	industries	industry	NOUN
alkej-230	45	19	will	will	AUX
alkej-230	45	20	affect	affect	VERB
alkej-230	45	21	the	the	DET
alkej-230	45	22	repeatability	repeatability	NOUN
alkej-230	45	23	and	and	CCONJ
alkej-230	45	24	accuracy	accuracy	NOUN
alkej-230	45	25	of	of	ADP
alkej-230	45	26	end	end	NOUN
alkej-230	45	27	point	point	NOUN
alkej-230	45	28	of	of	ADP
alkej-230	45	29	manipulator	manipulator	NOUN
alkej-230	45	30	in	in	ADP
alkej-230	45	31	response	response	NOUN
alkej-230	45	32	to	to	ADP
alkej-230	45	33	input	input	NOUN
alkej-230	45	34	commands	command	NOUN
alkej-230	45	35	.	.	PUNCT
alkej-230	46	1	to	to	PART
alkej-230	46	2	overcome	overcome	VERB
alkej-230	46	3	this	this	DET
alkej-230	46	4	problem	problem	NOUN
alkej-230	46	5	,	,	PUNCT
alkej-230	46	6	an	an	DET
alkej-230	46	7	accurate	accurate	ADJ
alkej-230	46	8	dynamic	dynamic	ADJ
alkej-230	46	9	model	model	NOUN
alkej-230	46	10	of	of	ADP
alkej-230	46	11	the	the	DET
alkej-230	46	12	manipulator	manipulator	NOUN
alkej-230	46	13	characterize	characterize	VERB
alkej-230	46	14	with	with	ADP
alkej-230	46	15	joint	joint	ADJ
alkej-230	46	16	and/or	and/or	CCONJ
alkej-230	46	17	link	link	NOUN
alkej-230	46	18	to	to	PART
alkej-230	46	19	be	be	AUX
alkej-230	46	20	developed	develop	VERB
alkej-230	46	21	.	.	PUNCT
alkej-230	47	1	this	this	PRON
alkej-230	47	2	is	be	AUX
alkej-230	47	3	a	a	DET
alkej-230	47	4	first	first	ADJ
alkej-230	47	5	step	step	NOUN
alkej-230	47	6	modeling	modeling	NOUN
alkej-230	47	7	and	and	CCONJ
alkej-230	47	8	designing	design	VERB
alkej-230	47	9	an	an	DET
alkej-230	47	10	efficient	efficient	ADJ
alkej-230	47	11	control	control	NOUN
alkej-230	47	12	strategies	strategy	NOUN
alkej-230	47	13	for	for	ADP
alkej-230	47	14	these	these	DET
alkej-230	47	15	manipulators	manipulator	NOUN
alkej-230	47	16	[	[	X
alkej-230	47	17	3	3	NUM
alkej-230	47	18	]	]	PUNCT
alkej-230	47	19	.	.	PUNCT
alkej-230	48	1	before	before	SCONJ
alkej-230	48	2	study	study	NOUN
alkej-230	48	3	of	of	ADP
alkej-230	48	4	flexible	flexible	ADJ
alkej-230	48	5	manipulator	manipulator	NOUN
alkej-230	48	6	construction	construction	NOUN
alkej-230	48	7	materials	material	NOUN
alkej-230	48	8	must	must	AUX
alkej-230	48	9	be	be	AUX
alkej-230	48	10	focused	focus	VERB
alkej-230	48	11	on	on	ADP
alkej-230	48	12	efficient	efficient	ADJ
alkej-230	48	13	actuation	actuation	NOUN
alkej-230	48	14	and	and	CCONJ
alkej-230	48	15	sensing	sense	VERB
alkej-230	48	16	technologies	technology	NOUN
alkej-230	48	17	,	,	PUNCT
alkej-230	48	18	and	and	CCONJ
alkej-230	48	19	simple	simple	ADJ
alkej-230	48	20	and	and	CCONJ
alkej-230	48	21	effective	effective	ADJ
alkej-230	48	22	controller	controller	NOUN
alkej-230	48	23	designs	design	NOUN
alkej-230	48	24	.	.	PUNCT
alkej-230	49	1	flexible	flexible	ADJ
alkej-230	49	2	robot	robot	NOUN
alkej-230	49	3	manipulators	manipulator	NOUN
alkej-230	49	4	are	be	AUX
alkej-230	49	5	in	in	ADP
alkej-230	49	6	use	use	NOUN
alkej-230	49	7	in	in	ADP
alkej-230	49	8	some	some	DET
alkej-230	49	9	extent	extent	NOUN
alkej-230	49	10	in	in	ADP
alkej-230	49	11	space	space	NOUN
alkej-230	49	12	applications	application	NOUN
alkej-230	49	13	.	.	PUNCT
alkej-230	50	1	this	this	PRON
alkej-230	50	2	is	be	AUX
alkej-230	50	3	because	because	SCONJ
alkej-230	50	4	of	of	ADP
alkej-230	50	5	the	the	DET
alkej-230	50	6	weight	weight	NOUN
alkej-230	50	7	resurrection	resurrection	NOUN
alkej-230	50	8	for	for	ADP
alkej-230	50	9	a	a	DET
alkej-230	50	10	spacecraft	spacecraft	NOUN
alkej-230	50	11	,	,	PUNCT
alkej-230	50	12	other	other	ADJ
alkej-230	50	13	potential	potential	ADJ
alkej-230	50	14	areas	area	NOUN
alkej-230	50	15	of	of	ADP
alkej-230	50	16	application	application	NOUN
alkej-230	50	17	are	be	AUX
alkej-230	50	18	manipulation	manipulation	NOUN
alkej-230	50	19	in	in	ADP
alkej-230	50	20	nuclear	nuclear	ADJ
alkej-230	50	21	and	and	CCONJ
alkej-230	50	22	other	other	ADJ
alkej-230	50	23	hazardous	hazardous	ADJ
alkej-230	50	24	environment	environment	NOUN
alkej-230	50	25	,	,	PUNCT
alkej-230	50	26	car	car	NOUN
alkej-230	50	27	painting	painting	NOUN
alkej-230	50	28	,	,	PUNCT
alkej-230	50	29	manufacturing	manufacturing	NOUN
alkej-230	50	30	of	of	ADP
alkej-230	50	31	electronic	electronic	ADJ
alkej-230	50	32	hardware	hardware	NOUN
alkej-230	50	33	and	and	CCONJ
alkej-230	50	34	food	food	NOUN
alkej-230	50	35	industry[4	industry[4	PROPN
alkej-230	50	36	]	]	PUNCT
alkej-230	50	37	.	.	PUNCT
alkej-230	51	1	cannon	cannon	NOUN
alkej-230	51	2	and	and	CCONJ
alkej-230	51	3	schmitz	schmitz	PROPN
alkej-230	52	1	[	[	X
alkej-230	52	2	5	5	NUM
alkej-230	52	3	]	]	PUNCT
alkej-230	52	4	,	,	PUNCT
alkej-230	52	5	studied	study	VERB
alkej-230	52	6	single	single	ADJ
alkej-230	52	7	flexible	flexible	ADJ
alkej-230	52	8	manipulators	manipulator	NOUN
alkej-230	52	9	shown	show	VERB
alkej-230	52	10	in	in	ADP
alkej-230	52	11	fig.1	fig.1	PROPN
alkej-230	52	12	lagrange	lagrange	NOUN
alkej-230	52	13	’s	’s	PART
alkej-230	52	14	equation	equation	NOUN
alkej-230	52	15	and	and	CCONJ
alkej-230	52	16	the	the	DET
alkej-230	52	17	assumed	assumed	ADJ
alkej-230	52	18	mode	mode	NOUN
alkej-230	52	19	method	method	NOUN
alkej-230	52	20	for	for	ADP
alkej-230	52	21	modeling	model	VERB
alkej-230	52	22	the	the	DET
alkej-230	52	23	single	single	ADJ
alkej-230	52	24	link	link	NOUN
alkej-230	52	25	manipulator	manipulator	NOUN
alkej-230	52	26	and	and	CCONJ
alkej-230	52	27	the	the	DET
alkej-230	52	28	vibration	vibration	NOUN
alkej-230	52	29	is	be	AUX
alkej-230	52	30	controlled	control	VERB
alkej-230	52	31	by	by	ADP
alkej-230	52	32	measuring	measure	VERB
alkej-230	52	33	the	the	DET
alkej-230	52	34	position	position	NOUN
alkej-230	52	35	and	and	CCONJ
alkej-230	52	36	using	use	VERB
alkej-230	52	37	strain	strain	NOUN
alkej-230	52	38	gauges	gauge	NOUN
alkej-230	52	39	have	have	VERB
alkej-230	52	40	to	to	PART
alkej-230	52	41	be	be	AUX
alkej-230	52	42	very	very	ADV
alkej-230	52	43	useful	useful	ADJ
alkej-230	52	44	for	for	ADP
alkej-230	52	45	achieving	achieve	VERB
alkej-230	52	46	good	good	ADJ
alkej-230	52	47	fig	fig	NOUN
alkej-230	52	48	.	.	PUNCT
alkej-230	53	1	1	1	NUM
alkej-230	53	2	.	.	X
alkej-230	53	3	flexible	flexible	ADJ
alkej-230	53	4	link	link	NOUN
alkej-230	53	5	manipulator	manipulator	NOUN
alkej-230	53	6	.	.	PUNCT
alkej-230	54	1	nagarajan	nagarajan	NOUN
alkej-230	54	2	and	and	CCONJ
alkej-230	54	3	turcic	turcic	NOUN
alkej-230	55	1	[	[	X
alkej-230	55	2	6	6	NUM
alkej-230	55	3	]	]	PUNCT
alkej-230	55	4	,	,	PUNCT
alkej-230	55	5	derived	derive	VERB
alkej-230	55	6	motion	motion	NOUN
alkej-230	55	7	using	use	VERB
alkej-230	55	8	lagrange	lagrange	NOUN
alkej-230	55	9	’s	’s	PART
alkej-230	55	10	equation	equation	NOUN
alkej-230	55	11	for	for	ADP
alkej-230	55	12	elastic	elastic	ADJ
alkej-230	55	13	mechanism	mechanism	NOUN
alkej-230	55	14	systems	system	NOUN
alkej-230	55	15	.	.	PUNCT
alkej-230	56	1	the	the	DET
alkej-230	56	2	elastic	elastic	ADJ
alkej-230	56	3	links	link	NOUN
alkej-230	56	4	are	be	AUX
alkej-230	56	5	modeled	model	VERB
alkej-230	56	6	using	use	VERB
alkej-230	56	7	the	the	DET
alkej-230	56	8	finite	finite	ADJ
alkej-230	56	9	element	element	NOUN
alkej-230	56	10	method	method	NOUN
alkej-230	56	11	.	.	PUNCT
alkej-230	57	1	both	both	DET
alkej-230	57	2	rigid	rigid	ADJ
alkej-230	57	3	body	body	NOUN
alkej-230	57	4	degrees	degree	NOUN
alkej-230	57	5	of	of	ADP
alkej-230	57	6	freedom	freedom	NOUN
alkej-230	57	7	and	and	CCONJ
alkej-230	57	8	the	the	DET
alkej-230	57	9	elastic	elastic	ADJ
alkej-230	57	10	degrees	degree	NOUN
alkej-230	57	11	of	of	ADP
alkej-230	57	12	freedom	freedom	NOUN
alkej-230	57	13	are	be	AUX
alkej-230	57	14	considered	consider	VERB
alkej-230	57	15	as	as	ADP
alkej-230	57	16	generalized	generalized	ADJ
alkej-230	57	17	coordinates	coordinate	NOUN
alkej-230	57	18	in	in	ADP
alkej-230	57	19	the	the	DET
alkej-230	57	20	derivation	derivation	NOUN
alkej-230	57	21	.	.	PUNCT
alkej-230	58	1	choi	choi	NOUN
alkej-230	58	2	et	et	PROPN
alkej-230	58	3	al	al	PROPN
alkej-230	58	4	.	.	PUNCT
alkej-230	59	1	[	[	X
alkej-230	59	2	7	7	NUM
alkej-230	59	3	]	]	PUNCT
alkej-230	59	4	,	,	PUNCT
alkej-230	59	5	”	"	PUNCT
alkej-230	59	6	addressed	address	VERB
alkej-230	59	7	the	the	DET
alkej-230	59	8	control	control	NOUN
alkej-230	59	9	dynamic	dynamic	ADJ
alkej-230	59	10	modeling	modeling	NOUN
alkej-230	59	11	of	of	ADP
alkej-230	59	12	a	a	DET
alkej-230	59	13	single	single	ADJ
alkej-230	59	14	manipulator	manipulator	NOUN
alkej-230	59	15	fabricated	fabricate	VERB
alkej-230	59	16	from	from	ADP
alkej-230	59	17	composite	composite	ADJ
alkej-230	59	18	laminates	laminate	NOUN
alkej-230	59	19	(	(	PUNCT
alkej-230	59	20	nonmetallic	nonmetallic	ADJ
alkej-230	59	21	)	)	PUNCT
alkej-230	59	22	and	and	CCONJ
alkej-230	59	23	compared	compare	VERB
alkej-230	59	24	the	the	DET
alkej-230	59	25	results	result	NOUN
alkej-230	59	26	with	with	ADP
alkej-230	59	27	that	that	PRON
alkej-230	59	28	of	of	ADP
alkej-230	59	29	aluminum	aluminum	NOUN
alkej-230	59	30	.	.	PUNCT
alkej-230	60	1	they	they	PRON
alkej-230	60	2	have	have	AUX
alkej-230	60	3	shown	show	VERB
alkej-230	60	4	that	that	SCONJ
alkej-230	60	5	the	the	DET
alkej-230	60	6	manipulator	manipulator	NOUN
alkej-230	60	7	fabricated	fabricate	VERB
alkej-230	60	8	from	from	ADP
alkej-230	60	9	composite	composite	ADJ
alkej-230	60	10	laminates	laminate	NOUN
alkej-230	60	11	has	have	VERB
alkej-230	60	12	superior	superior	ADJ
alkej-230	60	13	performance	performance	NOUN
alkej-230	60	14	characteristics	characteristic	NOUN
alkej-230	60	15	such	such	ADJ
alkej-230	60	16	as	as	ADP
alkej-230	60	17	al	al	PROPN
alkej-230	60	18	-	-	PUNCT
alkej-230	60	19	khwarizmi	khwarizmi	PROPN
alkej-230	60	20	engineering	engineering	NOUN
alkej-230	60	21	journal	journal	PROPN
alkej-230	60	22	,	,	PUNCT
alkej-230	60	23	vol	vol	NOUN
alkej-230	60	24	.	.	PROPN
alkej-230	61	1	11	11	NUM
alkej-230	61	2	,	,	PUNCT
alkej-230	61	3	no	no	NOUN
alkej-230	61	4	.	.	NOUN
alkej-230	61	5	12	12	NUM
alkej-230	61	6	industries	industry	NOUN
alkej-230	61	7	.	.	PUNCT
alkej-230	62	1	this	this	DET
alkej-230	62	2	accuracy	accuracy	NOUN
alkej-230	62	3	of	of	ADP
alkej-230	62	4	the	the	PRON
alkej-230	62	5	in	in	ADP
alkej-230	62	6	response	response	NOUN
alkej-230	62	7	to	to	ADP
alkej-230	62	8	input	input	NOUN
alkej-230	62	9	overcome	overcome	VERB
alkej-230	62	10	this	this	DET
alkej-230	62	11	problem	problem	NOUN
alkej-230	62	12	,	,	PUNCT
alkej-230	62	13	an	an	DET
alkej-230	62	14	accurate	accurate	ADJ
alkej-230	62	15	manipulator	manipulator	NOUN
alkej-230	62	16	that	that	PRON
alkej-230	62	17	can	can	AUX
alkej-230	62	18	flexibility	flexibility	NOUN
alkej-230	62	19	has	have	VERB
alkej-230	62	20	to	to	PART
alkej-230	62	21	be	be	AUX
alkej-230	62	22	developed	develop	VERB
alkej-230	62	23	.	.	PUNCT
alkej-230	63	1	this	this	PRON
alkej-230	63	2	is	be	AUX
alkej-230	63	3	a	a	DET
alkej-230	63	4	first	first	ADJ
alkej-230	63	5	step	step	NOUN
alkej-230	63	6	towards	towards	ADP
alkej-230	63	7	designing	design	VERB
alkej-230	63	8	an	an	DET
alkej-230	63	9	efficient	efficient	ADJ
alkej-230	63	10	controlling	controlling	NOUN
alkej-230	63	11	for	for	ADP
alkej-230	63	12	these	these	DET
alkej-230	63	13	manipulators	manipulator	NOUN
alkej-230	63	14	[	[	X
alkej-230	63	15	3	3	NUM
alkej-230	63	16	]	]	PUNCT
alkej-230	63	17	.	.	PUNCT
alkej-230	64	1	before	before	ADP
alkej-230	64	2	study	study	NOUN
alkej-230	64	3	of	of	ADP
alkej-230	64	4	flexible	flexible	ADJ
alkej-230	64	5	manipulator	manipulator	NOUN
alkej-230	64	6	the	the	PRON
alkej-230	64	7	must	must	AUX
alkej-230	64	8	be	be	AUX
alkej-230	64	9	focused	focus	VERB
alkej-230	64	10	on	on	ADP
alkej-230	64	11	,	,	PUNCT
alkej-230	64	12	actuation	actuation	NOUN
alkej-230	64	13	and	and	CCONJ
alkej-230	64	14	sensing	sense	VERB
alkej-230	64	15	technologies	technology	NOUN
alkej-230	64	16	,	,	PUNCT
alkej-230	64	17	and	and	CCONJ
alkej-230	64	18	simple	simple	ADJ
alkej-230	64	19	and	and	CCONJ
alkej-230	64	20	effective	effective	ADJ
alkej-230	64	21	controller	controller	NOUN
alkej-230	64	22	designs	design	NOUN
alkej-230	64	23	.	.	PUNCT
alkej-230	65	1	flexible	flexible	ADJ
alkej-230	65	2	are	be	AUX
alkej-230	65	3	in	in	ADP
alkej-230	65	4	use	use	NOUN
alkej-230	65	5	in	in	ADP
alkej-230	65	6	some	some	DET
alkej-230	65	7	extent	extent	NOUN
alkej-230	65	8	in	in	ADP
alkej-230	65	9	space	space	NOUN
alkej-230	65	10	applications	application	NOUN
alkej-230	65	11	.	.	PUNCT
alkej-230	66	1	this	this	PRON
alkej-230	66	2	is	be	AUX
alkej-230	66	3	because	because	SCONJ
alkej-230	66	4	of	of	ADP
alkej-230	66	5	the	the	DET
alkej-230	66	6	weight	weight	NOUN
alkej-230	66	7	resurrection	resurrection	NOUN
alkej-230	66	8	for	for	ADP
alkej-230	66	9	a	a	DET
alkej-230	66	10	spacecraft	spacecraft	NOUN
alkej-230	66	11	,	,	PUNCT
alkej-230	66	12	other	other	ADJ
alkej-230	66	13	potential	potential	ADJ
alkej-230	66	14	areas	area	NOUN
alkej-230	66	15	are	be	AUX
alkej-230	66	16	manipulation	manipulation	NOUN
alkej-230	66	17	in	in	ADP
alkej-230	66	18	nuclear	nuclear	ADJ
alkej-230	66	19	and	and	CCONJ
alkej-230	66	20	other	other	ADJ
alkej-230	66	21	hazardous	hazardous	ADJ
alkej-230	66	22	environment	environment	NOUN
alkej-230	66	23	,	,	PUNCT
alkej-230	66	24	car	car	NOUN
alkej-230	66	25	/	/	SYM
alkej-230	66	26	vehicle	vehicle	NOUN
alkej-230	66	27	painting	painting	NOUN
alkej-230	66	28	,	,	PUNCT
alkej-230	66	29	manufacturing	manufacturing	NOUN
alkej-230	66	30	of	of	ADP
alkej-230	66	31	electronic	electronic	ADJ
alkej-230	66	32	hardware	hardware	NOUN
alkej-230	66	33	,	,	PUNCT
alkej-230	66	34	studied	study	VERB
alkej-230	66	35	single	single	ADJ
alkej-230	66	36	-	-	PUNCT
alkej-230	66	37	link	link	NOUN
alkej-230	66	38	shown	show	VERB
alkej-230	66	39	in	in	ADP
alkej-230	66	40	fig.1	fig.1	PROPN
alkej-230	66	41	using	use	VERB
alkej-230	66	42	the	the	DET
alkej-230	66	43	lagrange	lagrange	NOUN
alkej-230	66	44	’s	’s	PART
alkej-230	66	45	equation	equation	NOUN
alkej-230	66	46	and	and	CCONJ
alkej-230	66	47	the	the	DET
alkej-230	66	48	assumed	assumed	ADJ
alkej-230	66	49	mode	mode	NOUN
alkej-230	66	50	method	method	NOUN
alkej-230	66	51	for	for	ADP
alkej-230	66	52	modeling	model	VERB
alkej-230	66	53	the	the	DET
alkej-230	66	54	single	single	ADJ
alkej-230	66	55	link	link	NOUN
alkej-230	66	56	manipulator	manipulator	NOUN
alkej-230	66	57	s	s	AUX
alkej-230	66	58	controlled	control	VERB
alkej-230	66	59	by	by	ADP
alkej-230	66	60	measuring	measure	VERB
alkej-230	66	61	the	the	DET
alkej-230	66	62	ave	ave	NOUN
alkej-230	66	63	been	be	AUX
alkej-230	66	64	found	find	VERB
alkej-230	66	65	good	good	ADJ
alkej-230	66	66	performance	performance	NOUN
alkej-230	66	67	.	.	PUNCT
alkej-230	67	1	flexible	flexible	ADJ
alkej-230	67	2	link	link	NOUN
alkej-230	67	3	manipulator	manipulator	NOUN
alkej-230	67	4	.	.	PUNCT
alkej-230	68	1	[	[	X
alkej-230	68	2	1	1	X
alkej-230	68	3	]	]	PUNCT
alkej-230	68	4	derived	derived	ADJ
alkej-230	68	5	equations	equation	NOUN
alkej-230	68	6	of	of	ADP
alkej-230	68	7	motion	motion	NOUN
alkej-230	68	8	using	use	VERB
alkej-230	68	9	lagrange	lagrange	NOUN
alkej-230	68	10	’s	’s	PART
alkej-230	68	11	equation	equation	NOUN
alkej-230	68	12	for	for	ADP
alkej-230	68	13	elastic	elastic	ADJ
alkej-230	68	14	the	the	DET
alkej-230	68	15	elastic	elastic	ADJ
alkej-230	68	16	links	link	NOUN
alkej-230	68	17	are	be	AUX
alkej-230	68	18	modeled	model	VERB
alkej-230	68	19	using	use	VERB
alkej-230	68	20	the	the	DET
alkej-230	68	21	finite	finite	ADJ
alkej-230	68	22	element	element	NOUN
alkej-230	68	23	method	method	NOUN
alkej-230	68	24	.	.	PUNCT
alkej-230	69	1	both	both	DET
alkej-230	69	2	rigid	rigid	ADJ
alkej-230	69	3	body	body	NOUN
alkej-230	69	4	degrees	degree	NOUN
alkej-230	69	5	of	of	ADP
alkej-230	69	6	elastic	elastic	ADJ
alkej-230	69	7	degrees	degree	NOUN
alkej-230	69	8	of	of	ADP
alkej-230	69	9	freedom	freedom	NOUN
alkej-230	69	10	are	be	AUX
alkej-230	69	11	considered	consider	VERB
alkej-230	69	12	as	as	ADP
alkej-230	69	13	generalized	generalized	ADJ
alkej-230	69	14	coordinates	coordinate	NOUN
alkej-230	69	15	in	in	ADP
alkej-230	69	16	the	the	DET
alkej-230	69	17	control	control	NOUN
alkej-230	69	18	and	and	CCONJ
alkej-230	69	19	the	the	DET
alkej-230	69	20	dynamic	dynamic	ADJ
alkej-230	69	21	modeling	modeling	NOUN
alkej-230	69	22	of	of	ADP
alkej-230	69	23	a	a	DET
alkej-230	69	24	single	single	ADJ
alkej-230	69	25	-	-	PUNCT
alkej-230	69	26	link	link	NOUN
alkej-230	69	27	flexible	flexible	ADJ
alkej-230	69	28	manipulator	manipulator	NOUN
alkej-230	69	29	fabricated	fabricate	VERB
alkej-230	69	30	from	from	ADP
alkej-230	69	31	composite	composite	ADJ
alkej-230	69	32	laminates	laminate	NOUN
alkej-230	69	33	the	the	DET
alkej-230	69	34	results	result	NOUN
alkej-230	69	35	with	with	ADP
alkej-230	69	36	that	that	PRON
alkej-230	69	37	of	of	ADP
alkej-230	69	38	aluminum	aluminum	NOUN
alkej-230	69	39	.	.	PUNCT
alkej-230	70	1	they	they	PRON
alkej-230	70	2	have	have	AUX
alkej-230	70	3	shown	show	VERB
alkej-230	70	4	that	that	SCONJ
alkej-230	70	5	the	the	DET
alkej-230	70	6	manipulator	manipulator	NOUN
alkej-230	70	7	fabricated	fabricate	VERB
alkej-230	70	8	from	from	ADP
alkej-230	70	9	composite	composite	ADJ
alkej-230	70	10	laminates	laminate	NOUN
alkej-230	70	11	characteristics	characteristic	NOUN
alkej-230	70	12	such	such	ADJ
alkej-230	70	13	as	as	ADP
alkej-230	70	14	faster	fast	ADJ
alkej-230	70	15	settling	settling	NOUN
alkej-230	70	16	time	time	NOUN
alkej-230	70	17	,	,	PUNCT
alkej-230	70	18	smaller	small	ADJ
alkej-230	70	19	input	input	NOUN
alkej-230	70	20	torque	torque	NOUN
alkej-230	70	21	and	and	CCONJ
alkej-230	70	22	smaller	small	ADJ
alkej-230	70	23	overshoot	overshoot	NOUN
alkej-230	70	24	relative	relative	ADJ
alkej-230	70	25	to	to	ADP
alkej-230	70	26	the	the	DET
alkej-230	70	27	manipulator	manipulator	NOUN
alkej-230	70	28	fabricated	fabricate	VERB
alkej-230	70	29	from	from	ADP
alkej-230	70	30	aluminum	aluminum	NOUN
alkej-230	70	31	discussed	discuss	VERB
alkej-230	70	32	the	the	DET
alkej-230	70	33	utilization	utilization	NOUN
alkej-230	70	34	of	of	ADP
alkej-230	70	35	composite	composite	ADJ
alkej-230	70	36	materials	material	NOUN
alkej-230	70	37	in	in	ADP
alkej-230	70	38	the	the	DET
alkej-230	70	39	construction	construction	NOUN
alkej-230	70	40	of	of	ADP
alkej-230	70	41	a	a	DET
alkej-230	70	42	flexible	flexible	ADJ
alkej-230	70	43	manipulator	manipulator	NOUN
alkej-230	70	44	to	to	PART
alkej-230	70	45	provide	provide	VERB
alkej-230	70	46	higher	high	ADJ
alkej-230	70	47	strength	strength	NOUN
alkej-230	70	48	and	and	CCONJ
alkej-230	70	49	stiffness	stiffness	ADJ
alkej-230	70	50	ratio	ratio	NOUN
alkej-230	70	51	and	and	CCONJ
alkej-230	70	52	larger	large	ADJ
alkej-230	70	53	structural	structural	ADJ
alkej-230	70	54	damping	damping	NOUN
alkej-230	70	55	than	than	ADP
alkej-230	70	56	a	a	DET
alkej-230	70	57	metallic	metallic	ADJ
alkej-230	70	58	flexible	flexible	ADJ
alkej-230	70	59	manipulator	manipulator	NOUN
alkej-230	70	60	.	.	PUNCT
alkej-230	71	1	krishnamurthy	krishnamurthy	PROPN
alkej-230	71	2	et	et	PROPN
alkej-230	71	3	al	al	PROPN
alkej-230	71	4	.	.	PUNCT
alkej-230	72	1	[	[	X
alkej-230	72	2	9	9	NUM
alkej-230	72	3	]	]	PUNCT
alkej-230	72	4	,	,	PUNCT
alkej-230	72	5	model	model	NOUN
alkej-230	72	6	for	for	ADP
alkej-230	72	7	single	single	ADJ
alkej-230	72	8	-	-	PUNCT
alkej-230	72	9	link	link	NOUN
alkej-230	72	10	robotic	robotic	ADJ
alkej-230	72	11	arms	arm	NOUN
alkej-230	72	12	fabricated	fabricate	VERB
alkej-230	72	13	from	from	ADP
alkej-230	72	14	orthotropic	orthotropic	ADJ
alkej-230	72	15	composite	composite	ADJ
alkej-230	72	16	materials	material	NOUN
alkej-230	72	17	.	.	PUNCT
alkej-230	73	1	the	the	DET
alkej-230	73	2	equations	equation	NOUN
alkej-230	73	3	of	of	ADP
alkej-230	73	4	motion	motion	NOUN
alkej-230	73	5	are	be	AUX
alkej-230	73	6	derived	derive	VERB
alkej-230	73	7	using	use	VERB
alkej-230	73	8	hamilton	hamilton	PROPN
alkej-230	73	9	's	's	PART
alkej-230	73	10	principle	principle	NOUN
alkej-230	73	11	and	and	CCONJ
alkej-230	73	12	include	include	VERB
alkej-230	73	13	the	the	DET
alkej-230	73	14	coupling	coupling	NOUN
alkej-230	73	15	between	between	ADP
alkej-230	73	16	the	the	DET
alkej-230	73	17	rigid	rigid	ADJ
alkej-230	73	18	body	body	NOUN
alkej-230	73	19	motion	motion	NOUN
alkej-230	73	20	and	and	CCONJ
alkej-230	73	21	elastic	elastic	ADJ
alkej-230	73	22	motion	motion	NOUN
alkej-230	73	23	results	result	NOUN
alkej-230	73	24	presented	present	VERB
alkej-230	73	25	for	for	ADP
alkej-230	73	26	aluminum	aluminum	NOUN
alkej-230	73	27	,	,	PUNCT
alkej-230	73	28	steel	steel	NOUN
alkej-230	73	29	,	,	PUNCT
alkej-230	73	30	graphite	graphite	NOUN
alkej-230	73	31	/	/	SYM
alkej-230	73	32	epoxy	epoxy	NOUN
alkej-230	73	33	,	,	PUNCT
alkej-230	73	34	and	and	CCONJ
alkej-230	73	35	boron	boron	NOUN
alkej-230	73	36	/	/	SYM
alkej-230	73	37	epoxy	epoxy	NOUN
alkej-230	73	38	indicate	indicate	VERB
alkej-230	73	39	that	that	SCONJ
alkej-230	73	40	the	the	DET
alkej-230	73	41	motion	motion	NOUN
alkej-230	73	42	-	-	PUNCT
alkej-230	73	43	induced	induce	VERB
alkej-230	73	44	vibration	vibration	NOUN
alkej-230	73	45	is	be	AUX
alkej-230	73	46	significantly	significantly	ADV
alkej-230	73	47	less	less	ADJ
alkej-230	73	48	for	for	ADP
alkej-230	73	49	the	the	DET
alkej-230	73	50	composite	composite	ADJ
alkej-230	73	51	robotic	robotic	ADJ
alkej-230	73	52	arms	arm	NOUN
alkej-230	73	53	as	as	ADV
alkej-230	73	54	well	well	ADV
alkej-230	73	55	as	as	ADP
alkej-230	73	56	substantial	substantial	ADJ
alkej-230	73	57	savings	saving	NOUN
alkej-230	73	58	in	in	ADP
alkej-230	73	59	energy	energy	NOUN
alkej-230	73	60	”	"	PUNCT
alkej-230	73	61	.	.	PUNCT
alkej-230	74	1	so	so	ADV
alkej-230	74	2	i	i	PRON
alkej-230	74	3	made	make	VERB
alkej-230	74	4	our	our	PRON
alkej-230	74	5	flexible	flexible	ADJ
alkej-230	74	6	link	link	NOUN
alkej-230	74	7	manipulator	manipulator	NOUN
alkej-230	74	8	from	from	ADP
alkej-230	74	9	composite	composite	ADJ
alkej-230	74	10	material	material	NOUN
alkej-230	74	11	its	its	PRON
alkej-230	74	12	most	most	ADV
alkej-230	74	13	preferred	prefer	VERB
alkej-230	74	14	because	because	SCONJ
alkej-230	74	15	of	of	ADP
alkej-230	74	16	its	its	PRON
alkej-230	74	17	light	light	ADJ
alkej-230	74	18	weight	weight	NOUN
alkej-230	74	19	and	and	CCONJ
alkej-230	74	20	high	high	ADJ
alkej-230	74	21	strength	strength	NOUN
alkej-230	74	22	and	and	CCONJ
alkej-230	74	23	large	large	ADJ
alkej-230	74	24	structural	structural	ADJ
alkej-230	74	25	damping	damp	VERB
alkej-230	74	26	2	2	NUM
alkej-230	74	27	.	.	PUNCT
alkej-230	75	1	characteristics	characteristic	NOUN
alkej-230	75	2	of	of	ADP
alkej-230	75	3	the	the	DET
alkej-230	75	4	physical	physical	ADJ
alkej-230	75	5	arm	arm	NOUN
alkej-230	75	6	the	the	DET
alkej-230	75	7	schematic	schematic	ADJ
alkej-230	75	8	of	of	ADP
alkej-230	75	9	a	a	DET
alkej-230	75	10	planar	planar	ADJ
alkej-230	75	11	manipulator	manipulator	NOUN
alkej-230	75	12	is	be	AUX
alkej-230	75	13	shown	show	VERB
alkej-230	75	14	in	in	ADP
alkej-230	75	15	fig	fig	NOUN
alkej-230	75	16	.	.	PUNCT
alkej-230	76	1	inertial	inertial	ADJ
alkej-230	76	2	coordinate	coordinate	NOUN
alkej-230	76	3	frame	frame	NOUN
alkej-230	76	4	,	,	PUNCT
alkej-230	76	5	and	and	CCONJ
alkej-230	76	6	coordinate	coordinate	VERB
alkej-230	76	7	assigned	assign	VERB
alkej-230	76	8	for	for	ADP
alkej-230	76	9	a	a	DET
alkej-230	76	10	flexible	flexible	ADJ
alkej-230	76	11	link	link	NOUN
alkej-230	76	12	.	.	PUNCT
alkej-230	77	1	an	an	DET
alkej-230	77	2	d	d	NOUN
alkej-230	77	3	τ	τ	PROPN
alkej-230	77	4	represent	represent	VERB
alkej-230	77	5	the	the	DET
alkej-230	77	6	hub	hub	NOUN
alkej-230	77	7	position	position	NOUN
alkej-230	77	8	,	,	PUNCT
alkej-230	77	9	the	the	DET
alkej-230	77	10	deflection	deflection	NOUN
alkej-230	77	11	do	do	VERB
alkej-230	77	12	in	in	ADP
alkej-230	77	13	the	the	DET
alkej-230	77	14	arm	arm	NOUN
alkej-230	77	15	,	,	PUNCT
alkej-230	77	16	and	and	CCONJ
alkej-230	77	17	the	the	DET
alkej-230	77	18	torque	torque	NOUN
alkej-230	77	19	applied	apply	VERB
alkej-230	77	20	to	to	ADP
alkej-230	77	21	respectively	respectively	ADV
alkej-230	77	22	.	.	PUNCT
alkej-230	78	1	the	the	DET
alkej-230	78	2	existing	exist	VERB
alkej-230	78	3	experimental	experimental	ADJ
alkej-230	78	4	single	single	ADJ
alkej-230	78	5	link	link	NOUN
alkej-230	78	6	flexible	flexible	ADJ
alkej-230	78	7	manipulator	manipulator	NOUN
alkej-230	78	8	is	be	AUX
alkej-230	78	9	a	a	DET
alkej-230	78	10	0.5	0.5	NUM
alkej-230	78	11	flexible	flexible	ADJ
alkej-230	78	12	structure	structure	NOUN
alkej-230	78	13	that	that	PRON
alkej-230	78	14	can	can	AUX
alkej-230	78	15	plane	plane	VERB
alkej-230	78	16	but	but	CCONJ
alkej-230	78	17	it	it	PRON
alkej-230	78	18	ca	can	AUX
alkej-230	78	19	n’t	not	PART
alkej-230	78	20	bend	bend	VERB
alkej-230	78	21	the	the	DET
alkej-230	78	22	vertical	vertical	ADJ
alkej-230	78	23	plane	plane	NOUN
alkej-230	78	24	.	.	PUNCT
alkej-230	79	1	at	at	ADP
alkej-230	79	2	end	end	NOUN
alkej-230	79	3	of	of	ADP
alkej-230	79	4	the	the	DET
alkej-230	79	5	arm	arm	NOUN
alkej-230	79	6	the	the	DET
alkej-230	79	7	different	different	ADJ
alkej-230	79	8	load	load	NOUN
alkej-230	79	9	was	be	AUX
alkej-230	79	10	putted	putt	VERB
alkej-230	79	11	and	and	CCONJ
alkej-230	79	12	at	at	ADP
alkej-230	79	13	the	the	DET
alkej-230	79	14	other	other	ADJ
alkej-230	79	15	end	end	NOUN
alkej-230	79	16	was	be	AUX
alkej-230	79	17	clamped	clamp	VERB
alkej-230	79	18	on	on	ADP
alkej-230	79	19	a	a	DET
alkej-230	79	20	rigid	rigid	ADJ
alkej-230	79	21	hub	hub	NOUN
alkej-230	79	22	from	from	ADP
alkej-230	79	23	teflon	teflon	NOUN
alkej-230	79	24	material	material	NOUN
alkej-230	79	25	mounted	mount	VERB
alkej-230	79	26	directly	directly	ADV
alkej-230	79	27	on	on	ADP
alkej-230	79	28	the	the	DET
alkej-230	79	29	haft	haft	NOUN
alkej-230	79	30	of	of	ADP
alkej-230	79	31	a	a	DET
alkej-230	79	32	dc	dc	PROPN
alkej-230	79	33	servo	servo	NOUN
alkej-230	79	34	motor	motor	NOUN
alkej-230	79	35	.	.	PUNCT
alkej-230	80	1	a	a	DET
alkej-230	80	2	torque	torque	NOUN
alkej-230	80	3	applied	apply	VERB
alkej-230	80	4	by	by	ADP
alkej-230	80	5	the	the	DET
alkej-230	80	6	dc	dc	PROPN
alkej-230	80	7	servo	servo	PROPN
alkej-230	80	8	motor	motor	NOUN
alkej-230	80	9	rotates	rotate	VERB
alkej-230	80	10	the	the	DET
alkej-230	80	11	arm	arm	NOUN
alkej-230	80	12	in	in	ADP
alkej-230	80	13	a	a	DET
alkej-230	80	14	horizontal	horizontal	ADJ
alkej-230	80	15	plane	plane	NOUN
alkej-230	80	16	.	.	PUNCT
alkej-230	81	1	the	the	DET
alkej-230	81	2	other	other	ADJ
alkej-230	81	3	end	end	NOUN
alkej-230	81	4	of	of	ADP
alkej-230	81	5	the	the	DET
alkej-230	81	6	arm	arm	NOUN
alkej-230	81	7	with	with	ADP
alkej-230	81	8	payload	payload	NOUN
alkej-230	81	9	mass	mass	NOUN
alkej-230	81	10	attached	attach	VERB
alkej-230	81	11	is	be	AUX
alkej-230	81	12	free	free	ADJ
alkej-230	81	13	.	.	PUNCT
alkej-230	82	1	the	the	DET
alkej-230	82	2	beam	beam	NOUN
alkej-230	82	3	of	of	ADP
alkej-230	82	4	the	the	DET
alkej-230	82	5	manipulator	manipulator	NOUN
alkej-230	82	6	is	be	AUX
alkej-230	82	7	made	make	VERB
alkej-230	82	8	of	of	ADP
alkej-230	82	9	perspex	perspex	ADJ
alkej-230	82	10	fig	fig	NOUN
alkej-230	82	11	.	.	PUNCT
alkej-230	83	1	2	2	X
alkej-230	83	2	.	.	X
alkej-230	83	3	a	a	DET
alkej-230	83	4	planar	planar	ADJ
alkej-230	83	5	single	single	ADJ
alkej-230	83	6	-	-	PUNCT
alkej-230	83	7	link	link	NOUN
alkej-230	83	8	flexible	flexible	ADJ
alkej-230	83	9	manipulator	manipulator	NOUN
alkej-230	83	10	.	.	PUNCT
alkej-230	84	1	khwarizmi	khwarizmi	PROPN
alkej-230	84	2	engineering	engineering	PROPN
alkej-230	84	3	journal	journal	PROPN
alkej-230	84	4	,	,	PUNCT
alkej-230	84	5	vol	vol	NOUN
alkej-230	84	6	.	.	PROPN
alkej-230	84	7	11	11	NUM
alkej-230	84	8	,	,	PUNCT
alkej-230	84	9	no	no	INTJ
alkej-230	84	10	.	.	NOUN
alkej-230	84	11	3	3	NUM
alkej-230	84	12	,	,	PUNCT
alkej-230	84	13	p.p	p.p	PROPN
alkej-230	84	14	.	.	NOUN
alkej-230	84	15	1119(2015	1119(2015	NUM
alkej-230	84	16	)	)	PUNCT
alkej-230	84	17	faster	fast	ADV
alkej-230	84	18	settling	settle	VERB
alkej-230	84	19	time	time	NOUN
alkej-230	84	20	,	,	PUNCT
alkej-230	84	21	smaller	small	ADJ
alkej-230	84	22	input	input	NOUN
alkej-230	84	23	torque	torque	NOUN
alkej-230	84	24	and	and	CCONJ
alkej-230	84	25	smaller	small	ADJ
alkej-230	84	26	overshoot	overshoot	NOUN
alkej-230	84	27	relative	relative	ADJ
alkej-230	84	28	to	to	ADP
alkej-230	84	29	the	the	DET
alkej-230	84	30	manipulator	manipulator	NOUN
alkej-230	84	31	cated	cat	VERB
alkej-230	84	32	from	from	ADP
alkej-230	84	33	aluminum	aluminum	NOUN
alkej-230	84	34	“	"	PUNCT
alkej-230	84	35	.	.	PUNCT
alkej-230	85	1	choi	choi	PROPN
alkej-230	85	2	et	et	PROPN
alkej-230	85	3	al.[8	al.[8	PROPN
alkej-230	85	4	]	]	PUNCT
alkej-230	85	5	,	,	PUNCT
alkej-230	85	6	discussed	discuss	VERB
alkej-230	85	7	the	the	DET
alkej-230	85	8	utilization	utilization	NOUN
alkej-230	85	9	of	of	ADP
alkej-230	85	10	composite	composite	ADJ
alkej-230	85	11	materials	material	NOUN
alkej-230	85	12	in	in	ADP
alkej-230	85	13	the	the	DET
alkej-230	85	14	construction	construction	NOUN
alkej-230	85	15	of	of	ADP
alkej-230	85	16	a	a	DET
alkej-230	85	17	flexible	flexible	ADJ
alkej-230	85	18	manipulator	manipulator	NOUN
alkej-230	85	19	to	to	PART
alkej-230	85	20	provide	provide	VERB
alkej-230	85	21	higher	high	ADJ
alkej-230	85	22	strength	strength	NOUN
alkej-230	85	23	and	and	CCONJ
alkej-230	85	24	stiffness	stiffness	NOUN
alkej-230	85	25	-	-	PUNCT
alkej-230	85	26	to	to	ADP
alkej-230	85	27	-	-	PUNCT
alkej-230	85	28	weight	weight	NOUN
alkej-230	85	29	ratio	ratio	NOUN
alkej-230	85	30	and	and	CCONJ
alkej-230	85	31	larger	large	ADJ
alkej-230	85	32	structural	structural	ADJ
alkej-230	85	33	damping	damping	NOUN
alkej-230	85	34	than	than	ADP
alkej-230	85	35	a	a	DET
alkej-230	85	36	metallic	metallic	NOUN
alkej-230	86	1	[	[	X
alkej-230	86	2	9	9	NUM
alkej-230	86	3	]	]	PUNCT
alkej-230	86	4	,	,	PUNCT
alkej-230	86	5	“	"	PUNCT
alkej-230	86	6	present	present	VERB
alkej-230	86	7	a	a	DET
alkej-230	86	8	dynamic	dynamic	ADJ
alkej-230	86	9	link	link	NOUN
alkej-230	86	10	robotic	robotic	ADJ
alkej-230	86	11	arms	arm	NOUN
alkej-230	86	12	fabricated	fabricate	VERB
alkej-230	86	13	from	from	ADP
alkej-230	86	14	orthotropic	orthotropic	ADJ
alkej-230	86	15	composite	composite	ADJ
alkej-230	86	16	materials	material	NOUN
alkej-230	86	17	.	.	PUNCT
alkej-230	87	1	the	the	DET
alkej-230	87	2	equations	equation	NOUN
alkej-230	87	3	of	of	ADP
alkej-230	87	4	motion	motion	NOUN
alkej-230	87	5	are	be	AUX
alkej-230	87	6	derived	derive	VERB
alkej-230	87	7	using	use	VERB
alkej-230	87	8	hamilton	hamilton	PROPN
alkej-230	87	9	's	's	PART
alkej-230	87	10	principle	principle	NOUN
alkej-230	87	11	and	and	CCONJ
alkej-230	87	12	include	include	VERB
alkej-230	87	13	the	the	DET
alkej-230	87	14	coupling	coupling	NOUN
alkej-230	87	15	between	between	ADP
alkej-230	87	16	the	the	DET
alkej-230	87	17	rigid	rigid	ADJ
alkej-230	87	18	body	body	NOUN
alkej-230	87	19	otion	otion	NOUN
alkej-230	87	20	and	and	CCONJ
alkej-230	87	21	elastic	elastic	ADJ
alkej-230	87	22	motion	motion	NOUN
alkej-230	87	23	.	.	PUNCT
alkej-230	88	1	computer	computer	NOUN
alkej-230	88	2	simulated	simulate	VERB
alkej-230	88	3	results	result	NOUN
alkej-230	88	4	presented	present	VERB
alkej-230	88	5	for	for	ADP
alkej-230	88	6	aluminum	aluminum	NOUN
alkej-230	88	7	,	,	PUNCT
alkej-230	88	8	steel	steel	NOUN
alkej-230	88	9	,	,	PUNCT
alkej-230	88	10	graphite	graphite	NOUN
alkej-230	88	11	/	/	SYM
alkej-230	88	12	epoxy	epoxy	NOUN
alkej-230	88	13	,	,	PUNCT
alkej-230	88	14	and	and	CCONJ
alkej-230	88	15	boron	boron	NOUN
alkej-230	88	16	/	/	SYM
alkej-230	88	17	epoxy	epoxy	NOUN
alkej-230	88	18	indicate	indicate	VERB
alkej-230	88	19	that	that	SCONJ
alkej-230	88	20	the	the	DET
alkej-230	88	21	induced	induced	ADJ
alkej-230	88	22	vibration	vibration	NOUN
alkej-230	88	23	is	be	AUX
alkej-230	88	24	significantly	significantly	ADV
alkej-230	88	25	less	less	ADJ
alkej-230	88	26	for	for	ADP
alkej-230	88	27	the	the	DET
alkej-230	88	28	composite	composite	ADJ
alkej-230	88	29	robotic	robotic	ADJ
alkej-230	88	30	arms	arm	NOUN
alkej-230	88	31	as	as	ADV
alkej-230	88	32	well	well	ADV
alkej-230	88	33	as	as	ADV
alkej-230	88	34	substantial	substantial	ADJ
alkej-230	88	35	o	o	NOUN
alkej-230	89	1	i	i	PRON
alkej-230	89	2	made	make	VERB
alkej-230	89	3	our	our	PRON
alkej-230	89	4	flexible	flexible	ADJ
alkej-230	89	5	link	link	NOUN
alkej-230	89	6	manipulator	manipulator	NOUN
alkej-230	89	7	from	from	ADP
alkej-230	89	8	composite	composite	ADJ
alkej-230	89	9	material	material	NOUN
alkej-230	89	10	its	its	PRON
alkej-230	89	11	most	most	ADV
alkej-230	89	12	preferred	prefer	VERB
alkej-230	89	13	because	because	SCONJ
alkej-230	89	14	of	of	ADP
alkej-230	89	15	its	its	PRON
alkej-230	89	16	light	light	ADJ
alkej-230	89	17	weight	weight	NOUN
alkej-230	89	18	and	and	CCONJ
alkej-230	89	19	high	high	ADJ
alkej-230	89	20	strength	strength	NOUN
alkej-230	89	21	and	and	CCONJ
alkej-230	89	22	large	large	ADJ
alkej-230	89	23	structural	structural	ADJ
alkej-230	89	24	damping	damping	NOUN
alkej-230	89	25	.	.	PUNCT
alkej-230	90	1	characteristics	characteristic	NOUN
alkej-230	90	2	of	of	ADP
alkej-230	90	3	the	the	DET
alkej-230	90	4	physical	physical	ADJ
alkej-230	90	5	arm	arm	NOUN
alkej-230	90	6	the	the	DET
alkej-230	90	7	schematic	schematic	ADJ
alkej-230	90	8	of	of	ADP
alkej-230	90	9	a	a	DET
alkej-230	90	10	planar	planar	ADJ
alkej-230	90	11	single	single	ADJ
alkej-230	90	12	-	-	PUNCT
alkej-230	90	13	link	link	NOUN
alkej-230	90	14	flexible	flexible	ADJ
alkej-230	90	15	manipulator	manipulator	NOUN
alkej-230	90	16	is	be	AUX
alkej-230	90	17	shown	show	VERB
alkej-230	90	18	in	in	ADP
alkej-230	90	19	fig	fig	NOUN
alkej-230	90	20	.	.	PUNCT
alkej-230	91	1	2	2	NUM
alkej-230	91	2	,	,	PUNCT
alkej-230	91	3	(	(	PUNCT
alkej-230	91	4	x0,y	x0,y	PROPN
alkej-230	91	5	0	0	NUM
alkej-230	91	6	)	)	PUNCT
alkej-230	91	7	is	be	AUX
alkej-230	91	8	an	an	DET
alkej-230	91	9	inertial	inertial	ADJ
alkej-230	91	10	coordinate	coordinate	NOUN
alkej-230	91	11	frame	frame	NOUN
alkej-230	91	12	,	,	PUNCT
alkej-230	91	13	and	and	CCONJ
alkej-230	91	14	(	(	PUNCT
alkej-230	91	15	x	x	SYM
alkej-230	91	16	1	1	NUM
alkej-230	91	17	,	,	PUNCT
alkej-230	91	18	y	y	PROPN
alkej-230	91	19	1)is	1)is	NUM
alkej-230	91	20	the	the	DET
alkej-230	91	21	coordinate	coordinate	NOUN
alkej-230	91	22	assigned	assign	VERB
alkej-230	91	23	for	for	ADP
alkej-230	91	24	a	a	DET
alkej-230	91	25	flexible	flexible	ADJ
alkej-230	91	26	link	link	NOUN
alkej-230	91	27	.	.	PUNCT
alkej-230	92	1	θ	θ	NOUN
alkej-230	92	2	,	,	PUNCT
alkej-230	92	3	ψ(x	ψ(x	PROPN
alkej-230	92	4	,	,	PUNCT
alkej-230	92	5	t	t	PROPN
alkej-230	92	6	)	)	PUNCT
alkej-230	92	7	,	,	PUNCT
alkej-230	92	8	represent	represent	VERB
alkej-230	92	9	the	the	DET
alkej-230	92	10	hub	hub	NOUN
alkej-230	92	11	position	position	NOUN
alkej-230	92	12	,	,	PUNCT
alkej-230	92	13	the	the	DET
alkej-230	92	14	deflection	deflection	NOUN
alkej-230	92	15	do	do	AUX
alkej-230	92	16	the	the	DET
alkej-230	92	17	torque	torque	NOUN
alkej-230	92	18	applied	apply	VERB
alkej-230	92	19	to	to	ADP
alkej-230	92	20	the	the	DET
alkej-230	92	21	hub	hub	NOUN
alkej-230	92	22	,	,	PUNCT
alkej-230	92	23	the	the	DET
alkej-230	92	24	existing	exist	VERB
alkej-230	92	25	experimental	experimental	ADJ
alkej-230	92	26	singlelink	singlelink	NOUN
alkej-230	92	27	flexible	flexible	ADJ
alkej-230	92	28	manipulator	manipulator	NOUN
alkej-230	92	29	is	be	AUX
alkej-230	92	30	a	a	DET
alkej-230	92	31	0.5	0.5	NUM
alkej-230	92	32	m	m	NOUN
alkej-230	92	33	long	long	ADJ
alkej-230	92	34	,	,	PUNCT
alkej-230	92	35	a	a	DET
alkej-230	92	36	flexible	flexible	ADJ
alkej-230	92	37	structure	structure	NOUN
alkej-230	92	38	that	that	PRON
alkej-230	92	39	can	can	AUX
alkej-230	92	40	bend	bend	VERB
alkej-230	92	41	in	in	ADP
alkej-230	92	42	the	the	DET
alkej-230	92	43	horizontal	horizontal	ADJ
alkej-230	92	44	the	the	DET
alkej-230	92	45	vertical	vertical	ADJ
alkej-230	92	46	plane	plane	NOUN
alkej-230	92	47	.	.	PUNCT
alkej-230	93	1	at	at	ADP
alkej-230	93	2	the	the	DET
alkej-230	93	3	the	the	DET
alkej-230	93	4	different	different	ADJ
alkej-230	93	5	load	load	NOUN
alkej-230	93	6	was	be	AUX
alkej-230	93	7	putted	putt	VERB
alkej-230	93	8	and	and	CCONJ
alkej-230	93	9	at	at	ADP
alkej-230	93	10	clamped	clamp	VERB
alkej-230	93	11	on	on	ADP
alkej-230	93	12	a	a	DET
alkej-230	93	13	rigid	rigid	ADJ
alkej-230	93	14	hub	hub	NOUN
alkej-230	93	15	made	make	VERB
alkej-230	93	16	mounted	mount	VERB
alkej-230	93	17	directly	directly	ADV
alkej-230	93	18	on	on	ADP
alkej-230	93	19	the	the	DET
alkej-230	93	20	haft	haft	NOUN
alkej-230	93	21	torque	torque	NOUN
alkej-230	93	22	applied	apply	VERB
alkej-230	93	23	by	by	ADP
alkej-230	93	24	the	the	DET
alkej-230	93	25	dc	dc	PROPN
alkej-230	93	26	servo	servo	PROPN
alkej-230	93	27	motor	motor	NOUN
alkej-230	93	28	rotates	rotate	VERB
alkej-230	93	29	the	the	DET
alkej-230	93	30	arm	arm	NOUN
alkej-230	93	31	in	in	ADP
alkej-230	93	32	a	a	DET
alkej-230	93	33	horizontal	horizontal	ADJ
alkej-230	93	34	plane	plane	NOUN
alkej-230	93	35	.	.	PUNCT
alkej-230	94	1	the	the	DET
alkej-230	94	2	other	other	ADJ
alkej-230	94	3	end	end	NOUN
alkej-230	94	4	of	of	ADP
alkej-230	94	5	the	the	DET
alkej-230	94	6	arm	arm	NOUN
alkej-230	94	7	with	with	ADP
alkej-230	94	8	payload	payload	NOUN
alkej-230	94	9	mass	mass	NOUN
alkej-230	94	10	attached	attach	VERB
alkej-230	94	11	is	be	AUX
alkej-230	94	12	free	free	ADJ
alkej-230	94	13	.	.	PUNCT
alkej-230	95	1	manipulator	manipulator	NOUN
alkej-230	95	2	is	be	AUX
alkej-230	95	3	made	make	VERB
alkej-230	95	4	of	of	ADP
alkej-230	95	5	perspex	perspex	NOUN
alkej-230	95	6	.	.	PUNCT
alkej-230	96	1	link	link	VERB
alkej-230	96	2	flexible	flexible	ADJ
alkej-230	96	3	manipulator	manipulator	NOUN
alkej-230	96	4	.	.	PUNCT
alkej-230	97	1	rafal	rafal	PROPN
alkej-230	97	2	m.	m.	PROPN
alkej-230	97	3	khalil	khalil	PROPN
alkej-230	97	4	al	al	PROPN
alkej-230	97	5	-	-	PUNCT
alkej-230	97	6	khwarizmi	khwarizmi	PROPN
alkej-230	97	7	engineering	engineering	NOUN
alkej-230	97	8	journal	journal	PROPN
alkej-230	97	9	,	,	PUNCT
alkej-230	97	10	vol	vol	NOUN
alkej-230	97	11	.	.	PROPN
alkej-230	97	12	11	11	NUM
alkej-230	97	13	,	,	PUNCT
alkej-230	97	14	no	no	INTJ
alkej-230	97	15	.	.	NOUN
alkej-230	97	16	3	3	NUM
alkej-230	97	17	,	,	PUNCT
alkej-230	97	18	p.p	p.p	PROPN
alkej-230	97	19	.	.	NOUN
alkej-230	97	20	1119(2015	1119(2015	NUM
alkej-230	97	21	)	)	PUNCT
alkej-230	97	22	13	13	NUM
alkej-230	97	23	3	3	NUM
alkej-230	97	24	.	.	PUNCT
alkej-230	97	25	mechanical	mechanical	ADJ
alkej-230	97	26	system	system	NOUN
alkej-230	97	27	modeling	model	VERB
alkej-230	97	28	the	the	DET
alkej-230	97	29	equations	equation	NOUN
alkej-230	97	30	of	of	ADP
alkej-230	97	31	motion	motion	NOUN
alkej-230	97	32	of	of	ADP
alkej-230	97	33	this	this	DET
alkej-230	97	34	system	system	NOUN
alkej-230	97	35	involving	involve	VERB
alkej-230	97	36	a	a	DET
alkej-230	97	37	rotary	rotary	ADJ
alkej-230	97	38	flexible	flexible	ADJ
alkej-230	97	39	link	link	NOUN
alkej-230	97	40	manipulator	manipulator	NOUN
alkej-230	97	41	,	,	PUNCT
alkej-230	97	42	involves	involve	VERB
alkej-230	97	43	modeling	model	VERB
alkej-230	97	44	the	the	DET
alkej-230	97	45	rigid	rigid	ADJ
alkej-230	97	46	rotational	rotational	ADJ
alkej-230	97	47	base	base	NOUN
alkej-230	97	48	and	and	CCONJ
alkej-230	97	49	the	the	DET
alkej-230	97	50	flexible	flexible	ADJ
alkej-230	97	51	link	link	NOUN
alkej-230	97	52	together	together	ADV
alkej-230	97	53	as	as	ADP
alkej-230	97	54	rigid	rigid	ADJ
alkej-230	97	55	bodies	body	NOUN
alkej-230	97	56	.	.	PUNCT
alkej-230	98	1	a	a	DET
alkej-230	98	2	simplification	simplification	NOUN
alkej-230	98	3	of	of	ADP
alkej-230	98	4	the	the	DET
alkej-230	98	5	partial	partial	ADJ
alkej-230	98	6	differential	differential	NOUN
alkej-230	98	7	equation	equation	NOUN
alkej-230	98	8	describe	describe	VERB
alkej-230	98	9	the	the	DET
alkej-230	98	10	motion	motion	NOUN
alkej-230	98	11	of	of	ADP
alkej-230	98	12	a	a	DET
alkej-230	98	13	the	the	DET
alkej-230	98	14	flexible	flexible	ADJ
alkej-230	98	15	link	link	NOUN
alkej-230	98	16	,	,	PUNCT
alkej-230	98	17	a	a	DET
alkej-230	98	18	single	single	ADJ
alkej-230	98	19	degree	degree	NOUN
alkej-230	98	20	of	of	ADP
alkej-230	98	21	freedom	freedom	NOUN
alkej-230	98	22	approximation	approximation	NOUN
alkej-230	98	23	in	in	ADP
alkej-230	98	24	this	this	DET
alkej-230	98	25	system	system	NOUN
alkej-230	98	26	is	be	AUX
alkej-230	98	27	used	use	VERB
alkej-230	98	28	.	.	PUNCT
alkej-230	99	1	at	at	ADP
alkej-230	99	2	the	the	DET
alkej-230	99	3	first	first	ADJ
alkej-230	99	4	start	start	NOUN
alkej-230	99	5	with	with	ADP
alkej-230	99	6	the	the	DET
alkej-230	99	7	derivation	derivation	NOUN
alkej-230	99	8	of	of	ADP
alkej-230	99	9	the	the	DET
alkej-230	99	10	dynamic	dynamic	ADJ
alkej-230	99	11	model	model	NOUN
alkej-230	99	12	of	of	ADP
alkej-230	99	13	the	the	DET
alkej-230	99	14	system	system	NOUN
alkej-230	99	15	by	by	ADP
alkej-230	99	16	computing	compute	VERB
alkej-230	99	17	various	various	ADJ
alkej-230	99	18	rotational	rotational	ADJ
alkej-230	99	19	moments	moment	NOUN
alkej-230	99	20	of	of	ADP
alkej-230	99	21	inertia	inertia	NOUN
alkej-230	99	22	terms	term	NOUN
alkej-230	99	23	.	.	PUNCT
alkej-230	100	1	the	the	DET
alkej-230	100	2	rotational	rotational	ADJ
alkej-230	100	3	inertia	inertia	NOUN
alkej-230	100	4	for	for	ADP
alkej-230	100	5	a	a	DET
alkej-230	100	6	flexible	flexible	ADJ
alkej-230	100	7	link	link	NOUN
alkej-230	100	8	is	be	AUX
alkej-230	100	9	given	give	VERB
alkej-230	100	10	by	by	ADP
alkej-230	100	11	:	:	PUNCT
alkej-230	100	12	j	j	PROPN
alkej-230	100	13	�	�	PROPN
alkej-230	100	14	�	�	PROPN
alkej-230	100	15	�	�	PROPN
alkej-230	100	16	�	�	PROPN
alkej-230	100	17	=	=	SYM
alkej-230	100	18	�	�	PROPN
alkej-230	100	19	�	�	PROPN
alkej-230	100	20	m	m	PROPN
alkej-230	100	21	�	�	PROPN
alkej-230	100	22	�	�	PROPN
alkej-230	100	23	�	�	PROPN
alkej-230	100	24	�	�	PROPN
alkej-230	100	25	l	l	NOUN
alkej-230	100	26	�	�	NOUN
alkej-230	100	27	…	…	PUNCT
alkej-230	100	28	(	(	PUNCT
alkej-230	100	29	1	1	NUM
alkej-230	100	30	)	)	PUNCT
alkej-230	100	31	where	where	SCONJ
alkej-230	100	32	:	:	PUNCT
alkej-230	100	33	l	l	NOUN
alkej-230	100	34	is	be	AUX
alkej-230	100	35	the	the	DET
alkej-230	100	36	total	total	ADJ
alkej-230	100	37	flexible	flexible	ADJ
alkej-230	100	38	link	link	NOUN
alkej-230	100	39	length	length	NOUN
alkej-230	100	40	,	,	PUNCT
alkej-230	100	41	and	and	CCONJ
alkej-230	100	42	mlink	mlink	VERB
alkej-230	100	43	is	be	AUX
alkej-230	100	44	the	the	DET
alkej-230	100	45	total	total	ADJ
alkej-230	100	46	mass	mass	NOUN
alkej-230	100	47	of	of	ADP
alkej-230	100	48	the	the	DET
alkej-230	100	49	flexible	flexible	ADJ
alkej-230	100	50	link	link	NOUN
alkej-230	100	51	,	,	PUNCT
alkej-230	100	52	for	for	ADP
alkej-230	100	53	a	a	DET
alkej-230	100	54	single	single	ADJ
alkej-230	100	55	degree	degree	NOUN
alkej-230	100	56	of	of	ADP
alkej-230	100	57	freedom	freedom	NOUN
alkej-230	100	58	of	of	ADP
alkej-230	100	59	this	this	DET
alkej-230	100	60	system	system	NOUN
alkej-230	100	61	,	,	PUNCT
alkej-230	100	62	the	the	DET
alkej-230	100	63	natural	natural	ADJ
alkej-230	100	64	frequency	frequency	NOUN
alkej-230	100	65	is	be	AUX
alkej-230	100	66	related	relate	VERB
alkej-230	100	67	with	with	ADP
alkej-230	100	68	torsional	torsional	ADJ
alkej-230	100	69	stiffness	stiffness	NOUN
alkej-230	100	70	of	of	ADP
alkej-230	100	71	the	the	DET
alkej-230	100	72	link	link	NOUN
alkej-230	100	73	and	and	CCONJ
alkej-230	100	74	rotational	rotational	ADJ
alkej-230	100	75	inertia	inertia	NOUN
alkej-230	100	76	in	in	ADP
alkej-230	100	77	the	the	DET
alkej-230	100	78	following	following	ADJ
alkej-230	100	79	manner	manner	NOUN
alkej-230	100	80	:	:	PUNCT
alkej-230	100	81	ω	ω	PROPN
alkej-230	100	82	�	�	PROPN
alkej-230	100	83	�	�	PROPN
alkej-230	100	84	�	�	PROPN
alkej-230	100	85	�	�	PROPN
alkej-230	100	86	�	�	PROPN
alkej-230	100	87	�	�	PROPN
alkej-230	100	88	�	�	PROPN
alkej-230	100	89	�	�	PROPN
alkej-230	100	90	�	�	PROPN
alkej-230	100	91	�	�	PROPN
alkej-230	100	92	�	�	PROPN
alkej-230	100	93	�	�	PROPN
alkej-230	100	94	…	…	PUNCT
alkej-230	100	95	(	(	PUNCT
alkej-230	100	96	2	2	NUM
alkej-230	100	97	)	)	PUNCT
alkej-230	101	1	where	where	SCONJ
alkej-230	101	2	:	:	PUNCT
alkej-230	101	3	�	�	PROPN
alkej-230	101	4	�	�	PROPN
alkej-230	101	5	n	n	PART
alkej-230	101	6	was	be	AUX
alkej-230	101	7	found	find	VERB
alkej-230	101	8	experimentally	experimentally	ADV
alkej-230	101	9	and	and	CCONJ
alkej-230	101	10	kstiff	kstiff	NOUN
alkej-230	101	11	is	be	AUX
alkej-230	101	12	the	the	DET
alkej-230	101	13	lateral	lateral	ADJ
alkej-230	101	14	stiffness	stiffness	NOUN
alkej-230	101	15	constant	constant	ADJ
alkej-230	101	16	of	of	ADP
alkej-230	101	17	the	the	DET
alkej-230	101	18	link	link	NOUN
alkej-230	101	19	,	,	PUNCT
alkej-230	101	20	defined	define	VERB
alkej-230	101	21	as	as	ADP
alkej-230	101	22	:	:	PUNCT
alkej-230	101	23	�	�	PROPN
alkej-230	101	24	�	�	PROPN
alkej-230	101	25	�	�	PROPN
alkej-230	101	26	�	�	PROPN
alkej-230	101	27	�	�	PROPN
alkej-230	101	28	�	�	PROPN
alkej-230	101	29	=	=	SYM
alkej-230	101	30	�	�	PROPN
alkej-230	101	31	�	�	PROPN
alkej-230	101	32	…	…	PUNCT
alkej-230	101	33	(	(	PUNCT
alkej-230	101	34	3	3	NUM
alkej-230	101	35	)	)	PUNCT
alkej-230	101	36	where	where	SCONJ
alkej-230	101	37	:	:	PUNCT
alkej-230	101	38	f	f	PROPN
alkej-230	101	39	is	be	AUX
alkej-230	101	40	the	the	DET
alkej-230	101	41	force	force	NOUN
alkej-230	101	42	applied	apply	VERB
alkej-230	101	43	at	at	ADP
alkej-230	101	44	the	the	DET
alkej-230	101	45	tip	tip	NOUN
alkej-230	101	46	of	of	ADP
alkej-230	101	47	the	the	DET
alkej-230	101	48	link	link	NOUN
alkej-230	101	49	and	and	CCONJ
alkej-230	101	50	is	be	AUX
alkej-230	101	51	the	the	DET
alkej-230	101	52	tip	tip	NOUN
alkej-230	101	53	deflection	deflection	NOUN
alkej-230	101	54	.	.	PUNCT
alkej-230	102	1	=	=	PUNCT
alkej-230	102	2	�	�	PROPN
alkej-230	102	3	!	!	PUNCT
alkej-230	102	4	"	"	PUNCT
alkej-230	102	5	�	�	PROPN
alkej-230	102	6	#	#	SYM
alkej-230	102	7	$	$	SYM
alkej-230	102	8	…	…	PUNCT
alkej-230	102	9	(	(	PUNCT
alkej-230	102	10	4	4	NUM
alkej-230	102	11	)	)	PUNCT
alkej-230	102	12	and	and	CCONJ
alkej-230	102	13	substitutes	substitute	VERB
alkej-230	102	14	equation	equation	NOUN
alkej-230	102	15	(	(	PUNCT
alkej-230	102	16	4	4	NUM
alkej-230	102	17	)	)	PUNCT
alkej-230	102	18	into	into	ADP
alkej-230	102	19	equation	equation	NOUN
alkej-230	102	20	(	(	PUNCT
alkej-230	102	21	3	3	X
alkej-230	102	22	)	)	PUNCT
alkej-230	102	23	yields	yield	VERB
alkej-230	102	24	the	the	DET
alkej-230	102	25	flexural	flexural	ADJ
alkej-230	102	26	stiffness	stiffness	NOUN
alkej-230	102	27	of	of	ADP
alkej-230	102	28	cantilever	cantilever	NOUN
alkej-230	102	29	beam	beam	NOUN
alkej-230	102	30	:	:	PUNCT
alkej-230	102	31	�	�	PROPN
alkej-230	102	32	�	�	PROPN
alkej-230	102	33	�	�	PROPN
alkej-230	102	34	�	�	PROPN
alkej-230	102	35	�	�	PROPN
alkej-230	102	36	�	�	PROPN
alkej-230	102	37	=	=	SYM
alkej-230	102	38	�	�	PROPN
alkej-230	102	39	#	#	SYM
alkej-230	102	40	$	$	SYM
alkej-230	102	41	!	!	PUNCT
alkej-230	102	42	"	"	PUNCT
alkej-230	103	1	…	…	PUNCT
alkej-230	103	2	(	(	PUNCT
alkej-230	103	3	5	5	NUM
alkej-230	103	4	)	)	PUNCT
alkej-230	103	5	where	where	SCONJ
alkej-230	103	6	i	i	PRON
alkej-230	103	7	is	be	AUX
alkej-230	103	8	the	the	DET
alkej-230	103	9	moment	moment	NOUN
alkej-230	103	10	of	of	ADP
alkej-230	103	11	area	area	NOUN
alkej-230	103	12	of	of	ADP
alkej-230	103	13	the	the	DET
alkej-230	103	14	link	link	NOUN
alkej-230	103	15	and	and	CCONJ
alkej-230	103	16	e	e	NOUN
alkej-230	103	17	is	be	AUX
alkej-230	103	18	the	the	DET
alkej-230	103	19	young	young	ADJ
alkej-230	103	20	modules	module	NOUN
alkej-230	103	21	of	of	ADP
alkej-230	103	22	elasticity	elasticity	NOUN
alkej-230	103	23	of	of	ADP
alkej-230	103	24	the	the	DET
alkej-230	103	25	link	link	NOUN
alkej-230	103	26	.	.	PUNCT
alkej-230	104	1	in	in	ADP
alkej-230	104	2	addition	addition	NOUN
alkej-230	104	3	,	,	PUNCT
alkej-230	104	4	any	any	DET
alkej-230	104	5	frictional	frictional	ADJ
alkej-230	104	6	damping	damp	VERB
alkej-230	104	7	effects	effect	NOUN
alkej-230	104	8	between	between	ADP
alkej-230	104	9	the	the	DET
alkej-230	104	10	flexible	flexible	ADJ
alkej-230	104	11	link	link	NOUN
alkej-230	104	12	and	and	CCONJ
alkej-230	104	13	the	the	DET
alkej-230	104	14	rotary	rotary	ADJ
alkej-230	104	15	base	base	NOUN
alkej-230	104	16	was	be	AUX
alkej-230	104	17	neglected	neglect	VERB
alkej-230	104	18	.	.	PUNCT
alkej-230	105	1	next	next	ADV
alkej-230	105	2	,	,	PUNCT
alkej-230	105	3	the	the	DET
alkej-230	105	4	generalized	generalized	ADJ
alkej-230	105	5	dynamic	dynamic	ADJ
alkej-230	105	6	equation	equation	NOUN
alkej-230	105	7	of	of	ADP
alkej-230	105	8	the	the	DET
alkej-230	105	9	system	system	NOUN
alkej-230	105	10	was	be	AUX
alkej-230	105	11	driven	drive	VERB
alkej-230	105	12	for	for	ADP
alkej-230	105	13	the	the	DET
alkej-230	105	14	tip	tip	NOUN
alkej-230	105	15	and	and	CCONJ
alkej-230	105	16	base	base	NOUN
alkej-230	105	17	using	use	VERB
alkej-230	105	18	the	the	DET
alkej-230	105	19	lagrange	lagrange	NOUN
alkej-230	105	20	’s	’s	PART
alkej-230	105	21	energy	energy	NOUN
alkej-230	105	22	equations	equation	NOUN
alkej-230	105	23	of	of	ADP
alkej-230	105	24	motion	motion	NOUN
alkej-230	105	25	in	in	ADP
alkej-230	105	26	terms	term	NOUN
alkej-230	105	27	of	of	ADP
alkej-230	105	28	a	a	DET
alkej-230	105	29	set	set	NOUN
alkej-230	105	30	of	of	ADP
alkej-230	105	31	generalized	generalized	ADJ
alkej-230	105	32	variables	variable	NOUN
alkej-230	105	33	phi	phi	NOUN
alkej-230	105	34	θ	θ	NOUN
alkej-230	105	35	and	and	CCONJ
alkej-230	105	36	alpha	alpha	NOUN
alkej-230	105	37	α	α	NOUN
alkej-230	105	38	,	,	PUNCT
alkej-230	105	39	where	where	SCONJ
alkej-230	105	40	α	α	NOUN
alkej-230	105	41	is	be	AUX
alkej-230	105	42	the	the	DET
alkej-230	105	43	angle	angle	NOUN
alkej-230	105	44	of	of	ADP
alkej-230	105	45	tip	tip	NOUN
alkej-230	105	46	deflection	deflection	NOUN
alkej-230	105	47	and	and	CCONJ
alkej-230	105	48	θ	θ	PROPN
alkej-230	105	49	is	be	AUX
alkej-230	105	50	the	the	DET
alkej-230	105	51	base	base	ADJ
alkej-230	105	52	rotation	rotation	NOUN
alkej-230	105	53	given	give	VERB
alkej-230	105	54	in	in	ADP
alkej-230	105	55	the	the	DET
alkej-230	105	56	following:%%	following:%%	PROPN
alkej-230	105	57	�	�	PROPN
alkej-230	105	58	&	&	CCONJ
alkej-230	105	59	%	%	NOUN
alkej-230	105	60	'	'	PUNCT
alkej-230	105	61	%	%	INTJ
alkej-230	105	62	(	(	PUNCT
alkej-230	105	63	′	′	NOUN
alkej-230	105	64	)	)	PUNCT
alkej-230	106	1	−	−	NUM
alkej-230	106	2	%	%	INTJ
alkej-230	106	3	'	'	PUNCT
alkej-230	106	4	%	%	INTJ
alkej-230	106	5	(	(	PUNCT
alkej-230	106	6	+	+	NUM
alkej-230	106	7	%	%	INTJ
alkej-230	106	8	,	,	PUNCT
alkej-230	106	9	%	%	INTJ
alkej-230	106	10	(	(	PUNCT
alkej-230	106	11	=	=	NOUN
alkej-230	106	12	-	-	PUNCT
alkej-230	106	13	(	(	PUNCT
alkej-230	106	14	…	…	PUNCT
alkej-230	106	15	(	(	PUNCT
alkej-230	106	16	6	6	NUM
alkej-230	106	17	)	)	PUNCT
alkej-230	106	18	where	where	SCONJ
alkej-230	106	19	:	:	PUNCT
alkej-230	106	20	p	p	PRON
alkej-230	106	21	is	be	AUX
alkej-230	106	22	the	the	DET
alkej-230	106	23	total	total	ADJ
alkej-230	106	24	potential	potential	ADJ
alkej-230	106	25	energy	energy	NOUN
alkej-230	106	26	of	of	ADP
alkej-230	106	27	the	the	DET
alkej-230	106	28	system	system	NOUN
alkej-230	106	29	and	and	CCONJ
alkej-230	106	30	t	t	PROPN
alkej-230	106	31	is	be	AUX
alkej-230	106	32	the	the	DET
alkej-230	106	33	total	total	ADJ
alkej-230	106	34	kinetic	kinetic	ADJ
alkej-230	106	35	energy	energy	NOUN
alkej-230	106	36	of	of	ADP
alkej-230	106	37	the	the	DET
alkej-230	106	38	system	system	NOUN
alkej-230	106	39	,	,	PUNCT
alkej-230	106	40	and	and	CCONJ
alkej-230	106	41	qi	qi	PROPN
alkej-230	106	42	is	be	AUX
alkej-230	106	43	the	the	DET
alkej-230	106	44	ith	ith	PROPN
alkej-230	106	45	generalized	generalized	ADJ
alkej-230	106	46	force	force	NOUN
alkej-230	106	47	within	within	ADP
alkej-230	106	48	the	the	DET
alkej-230	106	49	ith	ith	NOUN
alkej-230	106	50	degree	degree	NOUN
alkej-230	106	51	of	of	ADP
alkej-230	106	52	freedom	freedom	NOUN
alkej-230	106	53	.	.	PUNCT
alkej-230	107	1	the	the	DET
alkej-230	107	2	virtual	virtual	ADJ
alkej-230	107	3	forces	force	NOUN
alkej-230	107	4	that	that	PRON
alkej-230	107	5	applied	apply	VERB
alkej-230	107	6	onto	onto	ADP
alkej-230	107	7	the	the	DET
alkej-230	107	8	generalized	generalized	ADJ
alkej-230	107	9	coordinates	coordinate	NOUN
alkej-230	107	10	obtained	obtain	VERB
alkej-230	107	11	from	from	ADP
alkej-230	107	12	qθand	qθand	NOUN
alkej-230	107	13	qα	qα	PROPN
alkej-230	107	14	,	,	PUNCT
alkej-230	107	15	be	be	AUX
alkej-230	107	16	:	:	PUNCT
alkej-230	107	17	-(./	-(./	PUNCT
alkej-230	107	18	…	…	PUNCT
alkej-230	107	19	(	(	PUNCT
alkej-230	107	20	7	7	NUM
alkej-230	107	21	)	)	PUNCT
alkej-230	107	22	-0	-0	PUNCT
alkej-230	108	1	=	=	SYM
alkej-230	108	2	0	0	NUM
alkej-230	108	3	…	…	PUNCT
alkej-230	108	4	(	(	PUNCT
alkej-230	108	5	8)	8)	NUM
alkej-230	108	6	the	the	DET
alkej-230	108	7	dynamic	dynamic	ADJ
alkej-230	108	8	equations	equation	NOUN
alkej-230	108	9	was	be	AUX
alkej-230	108	10	driven	drive	VERB
alkej-230	108	11	for	for	ADP
alkej-230	108	12	the	the	DET
alkej-230	108	13	mechanical	mechanical	ADJ
alkej-230	108	14	subsystem	subsystem	NOUN
alkej-230	108	15	from	from	ADP
alkej-230	108	16	:	:	SYM
alkej-230	108	17	2	2	NUM
alkej-230	108	18	..	..	PUNCT
alkej-230	108	19	=	=	SYM
alkej-230	109	1	−	−	PUNCT
alkej-230	109	2	4567889:;5	4567889:;5	NUM
alkej-230	109	3	<	<	X
alkej-230	109	4	=	=	SYM
alkej-230	109	5	+	+	NUM
alkej-230	109	6	�	�	PROPN
alkej-230	109	7	9:;5	9:;5	NOUN
alkej-230	109	8	<	<	X
alkej-230	109	9	/	/	SYM
alkej-230	109	10	…	…	PUNCT
alkej-230	109	11	(	(	PUNCT
alkej-230	109	12	9	9	NUM
alkej-230	109	13	)	)	PUNCT
alkej-230	109	14	=	=	X
alkej-230	109	15	..	..	PUNCT
alkej-230	110	1	=	=	PUNCT
alkej-230	110	2	−	−	NUM
alkej-230	110	3	�	�	PROPN
alkej-230	110	4	�	�	PROPN
alkej-230	110	5	�	�	PROPN
alkej-230	110	6	�	�	PROPN
alkej-230	110	7	�	�	PROPN
alkej-230	110	8	�	�	PROPN
alkej-230	110	9	&	&	CCONJ
alkej-230	110	10	�	�	PROPN
alkej-230	110	11	9:;5	9:;5	PROPN
alkej-230	110	12	<	<	X
alkej-230	110	13	+	+	ADJ
alkej-230	110	14	�	�	PROPN
alkej-230	110	15	9:;5	9:;5	NOUN
alkej-230	110	16	<	<	X
alkej-230	110	17	)	)	PUNCT
alkej-230	110	18	=	=	PUNCT
alkej-230	111	1	+	+	NUM
alkej-230	111	2	�	�	PROPN
alkej-230	111	3	9:;5	9:;5	NOUN
alkej-230	111	4	<	<	X
alkej-230	111	5	/	/	SYM
alkej-230	111	6	…	…	PUNCT
alkej-230	111	7	(	(	PUNCT
alkej-230	111	8	10	10	NUM
alkej-230	111	9	)	)	PUNCT
alkej-230	111	10	next	next	ADV
alkej-230	111	11	,	,	PUNCT
alkej-230	111	12	rewriting	rewrite	VERB
alkej-230	111	13	equations	equation	NOUN
alkej-230	111	14	(	(	PUNCT
alkej-230	111	15	9	9	NUM
alkej-230	111	16	)	)	PUNCT
alkej-230	111	17	and	and	CCONJ
alkej-230	111	18	(	(	PUNCT
alkej-230	111	19	10	10	NUM
alkej-230	111	20	)	)	PUNCT
alkej-230	111	21	into	into	ADP
alkej-230	111	22	a	a	DET
alkej-230	111	23	state	state	NOUN
alkej-230	111	24	space	space	NOUN
alkej-230	111	25	form	form	NOUN
alkej-230	111	26	that	that	PRON
alkej-230	111	27	gives	give	VERB
alkej-230	111	28	the	the	DET
alkej-230	111	29	following	follow	VERB
alkej-230	111	30	equation[10	equation[10	NOUN
alkej-230	111	31	]	]	X
alkej-230	111	32	:	:	PUNCT
alkej-230	111	33	>	>	PUNCT
alkej-230	111	34	2?=?2@=@	2?=?2@=@	NUM
alkej-230	111	35	a	a	DET
alkej-230	111	36	=	=	SYM
alkej-230	111	37	bc	bc	PROPN
alkej-230	111	38	cc	cc	PROPN
alkej-230	111	39	d00	d00	PROPN
alkej-230	111	40	00	00	NUM
alkej-230	111	41	1	1	NUM
alkej-230	111	42	00	00	NUM
alkej-230	111	43	10	10	NUM
alkej-230	111	44	−	−	PROPN
alkej-230	111	45	4567889:;5	4567889:;5	NUM
alkej-230	111	46	<	<	X
alkej-230	111	47	0	0	NUM
alkej-230	111	48	00	00	NUM
alkej-230	112	1	−	−	NUM
alkej-230	112	2	�	�	PROPN
alkej-230	112	3	�	�	PROPN
alkej-230	112	4	�	�	PROPN
alkej-230	112	5	�	�	PROPN
alkej-230	112	6	�	�	PROPN
alkej-230	112	7	�	�	PROPN
alkej-230	112	8	&	&	CCONJ
alkej-230	112	9	�	�	PROPN
alkej-230	112	10	9:;5	9:;5	PROPN
alkej-230	112	11	<	<	X
alkej-230	112	12	+	+	ADJ
alkej-230	112	13	�	�	PROPN
alkej-230	112	14	9:;5	9:;5	NOUN
alkej-230	112	15	<	<	NOUN
alkej-230	112	16	)	)	PUNCT
alkej-230	112	17	0	0	NUM
alkej-230	113	1	0fg	0fg	ADJ
alkej-230	113	2	gg	gg	NOUN
alkej-230	113	3	h	h	NOUN
alkej-230	113	4	>	>	NOUN
alkej-230	113	5	2=2?=	2=2?=	NUM
alkej-230	113	6	?	?	PUNCT
alkej-230	114	1	a	a	DET
alkej-230	114	2	+	+	ADJ
alkej-230	114	3	bcc	bcc	PROPN
alkej-230	114	4	cd	cd	PROPN
alkej-230	114	5	00	00	NUM
alkej-230	114	6	�	�	PROPN
alkej-230	114	7	9:;5<	9:;5<	PROPN
alkej-230	114	8	�	�	PROPN
alkej-230	114	9	9:;5	9:;5	NOUN
alkej-230	114	10	<	<	X
alkej-230	114	11	fgg	fgg	PROPN
alkej-230	114	12	gh	gh	PROPN
alkej-230	114	13	/	/	PUNCT
alkej-230	114	14	…	…	PUNCT
alkej-230	114	15	(	(	PUNCT
alkej-230	114	16	11	11	NUM
alkej-230	114	17	)	)	SYM
alkej-230	114	18	4	4	NUM
alkej-230	114	19	.	.	X
alkej-230	114	20	mathematical	mathematical	ADJ
alkej-230	114	21	design	design	NOUN
alkej-230	114	22	table	table	NOUN
alkej-230	114	23	1	1	NUM
alkej-230	114	24	,	,	PUNCT
alkej-230	114	25	physical	physical	ADJ
alkej-230	114	26	parameters	parameter	NOUN
alkej-230	114	27	of	of	ADP
alkej-230	114	28	the	the	DET
alkej-230	114	29	system	system	NOUN
alkej-230	114	30	.	.	PUNCT
alkej-230	115	1	parameter	parameter	NOUN
alkej-230	115	2	values	value	NOUN
alkej-230	115	3	l	l	X
alkej-230	115	4	*	*	PUNCT
alkej-230	115	5	h	h	PROPN
alkej-230	115	6	*	*	PUNCT
alkej-230	115	7	b	b	PROPN
alkej-230	115	8	(	(	PUNCT
alkej-230	115	9	arm	arm	NOUN
alkej-230	115	10	dim	dim	NOUN
alkej-230	115	11	.	.	PUNCT
alkej-230	115	12	)	)	PUNCT
alkej-230	115	13	0.5	0.5	NUM
alkej-230	116	1	*	*	NUM
alkej-230	116	2	0.02	0.02	NUM
alkej-230	116	3	*	*	NUM
alkej-230	116	4	0.004	0.004	NUM
alkej-230	116	5	m	m	NOUN
alkej-230	116	6	e	e	NOUN
alkej-230	116	7	(	(	PUNCT
alkej-230	116	8	modules	module	NOUN
alkej-230	116	9	of	of	ADP
alkej-230	116	10	elasticity	elasticity	NOUN
alkej-230	116	11	)	)	PUNCT
alkej-230	116	12	2.1	2.1	NUM
alkej-230	116	13	gpa	gpa	PROPN
alkej-230	116	14	m	m	VERB
alkej-230	116	15	(	(	PUNCT
alkej-230	116	16	link	link	PROPN
alkej-230	116	17	mass	mass	PROPN
alkej-230	116	18	)	)	PUNCT
alkej-230	116	19	0.041	0.041	NUM
alkej-230	116	20	kg	kg	PROPN
alkej-230	116	21	mt	mt	PROPN
alkej-230	116	22	(	(	PUNCT
alkej-230	116	23	tip	tip	NOUN
alkej-230	116	24	payload	payload	NOUN
alkej-230	116	25	)	)	PUNCT
alkej-230	116	26	0	0	NUM
alkej-230	116	27	,	,	PUNCT
alkej-230	116	28	0.0595,0.0274	0.0595,0.0274	NUM
alkej-230	116	29	kg	kg	X
alkej-230	116	30	jb(inertia	jb(inertia	PROPN
alkej-230	116	31	of	of	ADP
alkej-230	116	32	the	the	DET
alkej-230	116	33	base	base	NOUN
alkej-230	116	34	)	)	PUNCT
alkej-230	116	35	0.0229	0.0229	NUM
alkej-230	117	1	kg.m2	kg.m2	NOUN
alkej-230	117	2	t	t	PROPN
alkej-230	117	3	(	(	PUNCT
alkej-230	117	4	motor	motor	NOUN
alkej-230	117	5	torque	torque	NOUN
alkej-230	117	6	const	const	PROPN
alkej-230	117	7	.	.	PUNCT
alkej-230	117	8	)	)	PUNCT
alkej-230	117	9	7,15.5	7,15.5	NUM
alkej-230	118	1	kg	kg	NOUN
alkej-230	118	2	-	-	PUNCT
alkej-230	118	3	cm	cm	PROPN
alkej-230	118	4	•	•	NUM
alkej-230	118	5	t	t	NOUN
alkej-230	118	6	(	(	PUNCT
alkej-230	118	7	torque	torque	NOUN
alkej-230	118	8	)	)	PUNCT
alkej-230	118	9	=	=	SYM
alkej-230	118	10	1.520	1.520	NUM
alkej-230	118	11	n	n	CCONJ
alkej-230	118	12	-	-	PUNCT
alkej-230	118	13	m	m	NOUN
alkej-230	118	14	•	•	NUM
alkej-230	118	15	kg	kg	NOUN
alkej-230	118	16	(	(	PUNCT
alkej-230	118	17	motor	motor	NOUN
alkej-230	118	18	gear	gear	NOUN
alkej-230	118	19	ration	ration	NOUN
alkej-230	118	20	)	)	PUNCT
alkej-230	118	21	=	=	SYM
alkej-230	119	1	2:1	2:1	NUM
alkej-230	119	2	•	•	NUM
alkej-230	119	3	vf=	vf=	NOUN
alkej-230	119	4	(	(	PUNCT
alkej-230	119	5	feed	feed	NOUN
alkej-230	119	6	voltage)=6	voltage)=6	NOUN
alkej-230	119	7	,	,	PUNCT
alkej-230	119	8	12	12	NUM
alkej-230	119	9	v	v	ADP
alkej-230	119	10	the	the	DET
alkej-230	119	11	matlab	matlab	PROPN
alkej-230	119	12	program	program	NOUN
alkej-230	119	13	built	build	VERB
alkej-230	119	14	to	to	PART
alkej-230	119	15	find	find	VERB
alkej-230	119	16	the	the	DET
alkej-230	119	17	tip	tip	NOUN
alkej-230	119	18	deflection	deflection	NOUN
alkej-230	119	19	based	base	VERB
alkej-230	119	20	on	on	ADP
alkej-230	119	21	lagrange	lagrange	NOUN
alkej-230	119	22	equation	equation	NOUN
alkej-230	119	23	[	[	X
alkej-230	119	24	10	10	NUM
alkej-230	119	25	]	]	PUNCT
alkej-230	119	26	of	of	ADP
alkej-230	119	27	motion	motion	NOUN
alkej-230	119	28	as	as	ADP
alkej-230	119	29	mention	mention	NOUN
alkej-230	119	30	above	above	ADV
alkej-230	119	31	and	and	CCONJ
alkej-230	119	32	derived	derive	VERB
alkej-230	119	33	using	use	VERB
alkej-230	119	34	my	my	PRON
alkej-230	119	35	parameter	parameter	NOUN
alkej-230	119	36	shown	show	VERB
alkej-230	119	37	in	in	ADP
alkej-230	119	38	table	table	NOUN
alkej-230	119	39	1.1	1.1	NUM
alkej-230	119	40	.the	.the	PRON
alkej-230	119	41	ordinary	ordinary	ADJ
alkej-230	119	42	differential	differential	ADJ
alkej-230	119	43	equation	equation	NOUN
alkej-230	119	44	(	(	PUNCT
alkej-230	119	45	eq.11	eq.11	PROPN
alkej-230	119	46	)	)	PUNCT
alkej-230	119	47	solved	solve	VERB
alkej-230	119	48	using	use	VERB
alkej-230	119	49	laplace	laplace	NOUN
alkej-230	119	50	inverse	inverse	NOUN
alkej-230	119	51	to	to	PART
alkej-230	119	52	find	find	VERB
alkej-230	119	53	the	the	DET
alkej-230	119	54	tip	tip	NOUN
alkej-230	119	55	deflection	deflection	NOUN
alkej-230	119	56	.	.	PUNCT
alkej-230	120	1	5	5	X
alkej-230	120	2	.	.	X
alkej-230	120	3	experimental	experimental	ADJ
alkej-230	120	4	work	work	NOUN
alkej-230	120	5	5.1	5.1	NUM
alkej-230	120	6	.	.	PUNCT
alkej-230	121	1	design	design	NOUN
alkej-230	121	2	and	and	CCONJ
alkej-230	121	3	implementation	implementation	NOUN
alkej-230	121	4	of	of	ADP
alkej-230	121	5	single	single	ADJ
alkej-230	121	6	link	link	NOUN
alkej-230	121	7	flexible	flexible	ADJ
alkej-230	121	8	manipulator	manipulator	NOUN
alkej-230	121	9	the	the	DET
alkej-230	121	10	single	single	ADJ
alkej-230	121	11	link	link	PROPN
alkej-230	121	12	flexible	flexible	ADJ
alkej-230	121	13	manipulator	manipulator	NOUN
alkej-230	121	14	has	have	AUX
alkej-230	121	15	been	be	AUX
alkej-230	121	16	designed	design	VERB
alkej-230	121	17	and	and	CCONJ
alkej-230	121	18	manufactured	manufacture	VERB
alkej-230	121	19	in	in	ADP
alkej-230	121	20	the	the	DET
alkej-230	121	21	al	al	PROPN
alkej-230	121	22	-	-	PUNCT
alkej-230	121	23	khwarizmi	khwarizmi	PROPN
alkej-230	121	24	engineering	engineering	PROPN
alkej-230	121	25	college	college	NOUN
alkej-230	121	26	workshop	workshop	NOUN
alkej-230	121	27	;	;	PUNCT
alkej-230	121	28	the	the	DET
alkej-230	121	29	basic	basic	ADJ
alkej-230	121	30	components	component	NOUN
alkej-230	121	31	that	that	PRON
alkej-230	121	32	have	have	AUX
alkej-230	121	33	been	be	AUX
alkej-230	121	34	used	use	VERB
alkej-230	121	35	to	to	PART
alkej-230	121	36	form	form	VERB
alkej-230	121	37	the	the	DET
alkej-230	121	38	flexible	flexible	ADJ
alkej-230	121	39	manipulator	manipulator	NOUN
alkej-230	121	40	illustrated	illustrate	VERB
alkej-230	121	41	as	as	ADP
alkej-230	121	42	following	follow	VERB
alkej-230	121	43	:	:	PUNCT
alkej-230	121	44	(	(	PUNCT
alkej-230	121	45	1	1	X
alkej-230	121	46	)	)	PUNCT
alkej-230	121	47	high	high	ADJ
alkej-230	121	48	torque	torque	NOUN
alkej-230	121	49	servo	servo	NOUN
alkej-230	121	50	motor	motor	NOUN
alkej-230	121	51	(	(	PUNCT
alkej-230	121	52	changeable	changeable	ADJ
alkej-230	121	53	velocities	velocity	NOUN
alkej-230	121	54	)	)	PUNCT
alkej-230	121	55	,	,	PUNCT
alkej-230	121	56	(	(	PUNCT
alkej-230	121	57	2	2	X
alkej-230	121	58	)	)	PUNCT
alkej-230	121	59	teflon	teflon	NOUN
alkej-230	121	60	hub	hub	NOUN
alkej-230	121	61	with	with	ADP
alkej-230	121	62	radius	radius	NOUN
alkej-230	121	63	(	(	PUNCT
alkej-230	121	64	0.0615	0.0615	NUM
alkej-230	121	65	m	m	NOUN
alkej-230	121	66	)	)	PUNCT
alkej-230	121	67	,	,	PUNCT
alkej-230	121	68	with	with	ADP
alkej-230	121	69	a	a	DET
alkej-230	121	70	width	width	NOUN
alkej-230	121	71	of	of	ADP
alkej-230	121	72	(	(	PUNCT
alkej-230	121	73	0.09	0.09	NUM
alkej-230	121	74	m	m	NOUN
alkej-230	121	75	)	)	PUNCT
alkej-230	121	76	,	,	PUNCT
alkej-230	121	77	(	(	PUNCT
alkej-230	121	78	3	3	X
alkej-230	121	79	)	)	PUNCT
alkej-230	121	80	rotating	rotate	VERB
alkej-230	121	81	base	base	NOUN
alkej-230	121	82	two	two	NUM
alkej-230	121	83	layer	layer	NOUN
alkej-230	121	84	with	with	ADP
alkej-230	121	85	radius	radius	NOUN
alkej-230	121	86	(	(	PUNCT
alkej-230	121	87	0.2	0.2	NUM
alkej-230	121	88	m	m	NOUN
alkej-230	121	89	)	)	PUNCT
alkej-230	121	90	,	,	PUNCT
alkej-230	121	91	with	with	ADP
alkej-230	121	92	a	a	DET
alkej-230	121	93	space	space	NOUN
alkej-230	121	94	between	between	ADP
alkej-230	121	95	them	they	PRON
alkej-230	121	96	equal	equal	ADJ
alkej-230	121	97	(	(	PUNCT
alkej-230	121	98	0.05	0.05	NUM
alkej-230	121	99	m	m	NOUN
alkej-230	121	100	)	)	PUNCT
alkej-230	121	101	and	and	CCONJ
alkej-230	121	102	thickness	thickness	NOUN
alkej-230	121	103	equal	equal	ADJ
alkej-230	121	104	rafal	rafal	PROPN
alkej-230	121	105	m.	m.	PROPN
alkej-230	121	106	khalil	khalil	PROPN
alkej-230	121	107	al	al	PROPN
alkej-230	121	108	-	-	PUNCT
alkej-230	121	109	khwarizmi	khwarizmi	PROPN
alkej-230	121	110	engineering	engineering	NOUN
alkej-230	121	111	journal	journal	PROPN
alkej-230	121	112	,	,	PUNCT
alkej-230	121	113	vol	vol	NOUN
alkej-230	121	114	.	.	PROPN
alkej-230	121	115	11	11	NUM
alkej-230	121	116	,	,	PUNCT
alkej-230	121	117	no	no	INTJ
alkej-230	121	118	.	.	NOUN
alkej-230	121	119	3	3	NUM
alkej-230	121	120	,	,	PUNCT
alkej-230	121	121	p.p	p.p	PROPN
alkej-230	121	122	.	.	NOUN
alkej-230	121	123	1119(2015	1119(2015	NUM
alkej-230	121	124	)	)	PUNCT
alkej-230	121	125	14	14	NUM
alkej-230	121	126	(	(	PUNCT
alkej-230	121	127	0.005	0.005	NUM
alkej-230	121	128	m	m	NOUN
alkej-230	121	129	)	)	PUNCT
alkej-230	121	130	.	.	PUNCT
alkej-230	122	1	(	(	PUNCT
alkej-230	122	2	4	4	X
alkej-230	122	3	)	)	PUNCT
alkej-230	122	4	two	two	NUM
alkej-230	122	5	aluminum	aluminum	NOUN
alkej-230	122	6	fixed	fix	VERB
alkej-230	122	7	plate	plate	NOUN
alkej-230	122	8	,	,	PUNCT
alkej-230	122	9	(	(	PUNCT
alkej-230	122	10	5	5	X
alkej-230	122	11	)	)	PUNCT
alkej-230	122	12	perspex	perspex	NOUN
alkej-230	122	13	link	link	NOUN
alkej-230	122	14	with	with	ADP
alkej-230	122	15	length	length	NOUN
alkej-230	122	16	(	(	PUNCT
alkej-230	122	17	0.520	0.520	NUM
alkej-230	122	18	m	m	NOUN
alkej-230	122	19	)	)	PUNCT
alkej-230	122	20	,	,	PUNCT
alkej-230	122	21	with	with	ADP
alkej-230	122	22	width	width	NOUN
alkej-230	122	23	of	of	ADP
alkej-230	122	24	(	(	PUNCT
alkej-230	122	25	0.042	0.042	NUM
alkej-230	122	26	m	m	NOUN
alkej-230	122	27	)	)	PUNCT
alkej-230	122	28	and	and	CCONJ
alkej-230	122	29	with	with	ADP
alkej-230	122	30	thickness	thickness	NOUN
alkej-230	122	31	(	(	PUNCT
alkej-230	122	32	0.004	0.004	NUM
alkej-230	122	33	m	m	NOUN
alkej-230	122	34	)	)	PUNCT
alkej-230	122	35	.	.	PUNCT
alkej-230	123	1	(	(	PUNCT
alkej-230	123	2	6	6	X
alkej-230	123	3	)	)	PUNCT
alkej-230	123	4	power	power	NOUN
alkej-230	123	5	supply	supply	NOUN
alkej-230	123	6	to	to	PART
alkej-230	123	7	control	control	VERB
alkej-230	123	8	the	the	DET
alkej-230	123	9	velocity	velocity	NOUN
alkej-230	123	10	of	of	ADP
alkej-230	123	11	servo	servo	NOUN
alkej-230	123	12	motors,(7	motors,(7	NOUN
alkej-230	123	13	)	)	PUNCT
alkej-230	123	14	mma	mma	PROPN
alkej-230	123	15	7631	7631	NUM
alkej-230	123	16	accelerometer	accelerometer	NOUN
alkej-230	123	17	+	+	NUM
alkej-230	123	18	gyro	gyro	NOUN
alkej-230	123	19	sensor	sensor	NOUN
alkej-230	123	20	to	to	PART
alkej-230	123	21	measure	measure	VERB
alkej-230	123	22	the	the	DET
alkej-230	123	23	tip	tip	NOUN
alkej-230	123	24	deflection	deflection	NOUN
alkej-230	123	25	of	of	ADP
alkej-230	123	26	the	the	DET
alkej-230	123	27	flexible	flexible	ADJ
alkej-230	123	28	link	link	NOUN
alkej-230	123	29	,	,	PUNCT
alkej-230	123	30	(	(	PUNCT
alkej-230	123	31	8)	8)	NUM
alkej-230	123	32	arduino	arduino	NOUN
alkej-230	123	33	mega	mega	ADJ
alkej-230	123	34	2560	2560	NUM
alkej-230	123	35	board	board	NOUN
alkej-230	123	36	to	to	PART
alkej-230	123	37	control	control	VERB
alkej-230	123	38	the	the	DET
alkej-230	123	39	accelerometer	accelerometer	NOUN
alkej-230	123	40	+	+	NUM
alkej-230	123	41	gyro	gyro	NOUN
alkej-230	123	42	,	,	PUNCT
alkej-230	123	43	(	(	PUNCT
alkej-230	123	44	9	9	X
alkej-230	123	45	)	)	PUNCT
alkej-230	123	46	servo	servo	NOUN
alkej-230	123	47	motor	motor	NOUN
alkej-230	123	48	control	control	NOUN
alkej-230	123	49	card	card	NOUN
alkej-230	123	50	to	to	PART
alkej-230	123	51	control	control	VERB
alkej-230	123	52	the	the	DET
alkej-230	123	53	angle	angle	NOUN
alkej-230	123	54	and	and	CCONJ
alkej-230	123	55	velocity	velocity	NOUN
alkej-230	123	56	of	of	ADP
alkej-230	123	57	the	the	DET
alkej-230	123	58	base	base	NOUN
alkej-230	123	59	servo	servo	NOUN
alkej-230	123	60	motor	motor	NOUN
alkej-230	123	61	.	.	PUNCT
alkej-230	124	1	the	the	DET
alkej-230	124	2	manufacturing	manufacturing	NOUN
alkej-230	124	3	of	of	ADP
alkej-230	124	4	the	the	DET
alkej-230	124	5	flexible	flexible	ADJ
alkej-230	124	6	link	link	NOUN
alkej-230	124	7	has	have	AUX
alkej-230	124	8	been	be	AUX
alkej-230	124	9	done	do	VERB
alkej-230	124	10	by	by	ADP
alkej-230	124	11	the	the	DET
alkej-230	124	12	following	follow	VERB
alkej-230	124	13	steps	step	NOUN
alkej-230	124	14	:	:	PUNCT
alkej-230	124	15	(	(	PUNCT
alkej-230	124	16	a	a	X
alkej-230	124	17	)	)	PUNCT
alkej-230	124	18	the	the	DET
alkej-230	124	19	hub	hub	NOUN
alkej-230	124	20	was	be	AUX
alkej-230	124	21	turning	turn	VERB
alkej-230	124	22	to	to	ADP
alkej-230	124	23	cylindrical	cylindrical	ADJ
alkej-230	124	24	shape	shape	NOUN
alkej-230	124	25	with	with	ADP
alkej-230	124	26	6.15	6.15	NUM
alkej-230	124	27	mm	mm	NOUN
alkej-230	124	28	radius	radius	NOUN
alkej-230	124	29	.	.	PUNCT
alkej-230	125	1	(	(	PUNCT
alkej-230	125	2	b	b	X
alkej-230	125	3	)	)	PUNCT
alkej-230	125	4	the	the	DET
alkej-230	125	5	perspex	perspex	ADJ
alkej-230	125	6	plate	plate	NOUN
alkej-230	125	7	was	be	AUX
alkej-230	125	8	cutting	cut	VERB
alkej-230	125	9	using	use	VERB
alkej-230	125	10	laser	laser	NOUN
alkej-230	125	11	beam	beam	NOUN
alkej-230	125	12	cutting	cutting	NOUN
alkej-230	125	13	to	to	ADP
alkej-230	125	14	the	the	DET
alkej-230	125	15	dimension	dimension	NOUN
alkej-230	125	16	mention	mention	VERB
alkej-230	125	17	previously	previously	ADV
alkej-230	125	18	.	.	PUNCT
alkej-230	126	1	(	(	PUNCT
alkej-230	126	2	c	c	X
alkej-230	126	3	)	)	PUNCT
alkej-230	126	4	the	the	DET
alkej-230	126	5	aluminum	aluminum	NOUN
alkej-230	126	6	plate	plate	NOUN
alkej-230	126	7	shaped	shape	VERB
alkej-230	126	8	to	to	PART
alkej-230	126	9	fix	fix	VERB
alkej-230	126	10	the	the	DET
alkej-230	126	11	perspex	perspex	ADJ
alkej-230	126	12	link	link	NOUN
alkej-230	126	13	with	with	ADP
alkej-230	126	14	the	the	DET
alkej-230	126	15	teflon	teflon	NOUN
alkej-230	126	16	hub	hub	NOUN
alkej-230	126	17	.	.	PUNCT
alkej-230	127	1	(	(	PUNCT
alkej-230	127	2	d	d	X
alkej-230	127	3	)	)	PUNCT
alkej-230	127	4	the	the	DET
alkej-230	127	5	teflon	teflon	NOUN
alkej-230	127	6	hub	hub	NOUN
alkej-230	127	7	with	with	ADP
alkej-230	127	8	the	the	DET
alkej-230	127	9	flexible	flexible	ADJ
alkej-230	127	10	link	link	NOUN
alkej-230	127	11	mounted	mount	VERB
alkej-230	127	12	above	above	ADP
alkej-230	127	13	the	the	DET
alkej-230	127	14	rotating	rotate	VERB
alkej-230	127	15	base	base	NOUN
alkej-230	127	16	and	and	CCONJ
alkej-230	127	17	the	the	DET
alkej-230	127	18	base	base	NOUN
alkej-230	127	19	servo	servo	NOUN
alkej-230	127	20	motor	motor	NOUN
alkej-230	127	21	inside	inside	ADP
alkej-230	127	22	the	the	DET
alkej-230	127	23	rotating	rotate	VERB
alkej-230	127	24	base	base	NOUN
alkej-230	127	25	.	.	PUNCT
alkej-230	128	1	(	(	PUNCT
alkej-230	128	2	e	e	X
alkej-230	128	3	)	)	PUNCT
alkej-230	128	4	put	put	VERB
alkej-230	128	5	the	the	DET
alkej-230	128	6	load	load	NOUN
alkej-230	128	7	at	at	ADP
alkej-230	128	8	the	the	DET
alkej-230	128	9	end	end	NOUN
alkej-230	128	10	the	the	DET
alkej-230	128	11	flexible	flexible	ADJ
alkej-230	128	12	link	link	NOUN
alkej-230	128	13	and	and	CCONJ
alkej-230	128	14	stick	stick	VERB
alkej-230	128	15	the	the	DET
alkej-230	128	16	accelerometer	accelerometer	NOUN
alkej-230	128	17	on	on	ADP
alkej-230	128	18	it	it	PRON
alkej-230	128	19	.	.	PUNCT
alkej-230	129	1	the	the	DET
alkej-230	129	2	single	single	ADJ
alkej-230	129	3	link	link	PROPN
alkej-230	129	4	flexible	flexible	ADJ
alkej-230	129	5	manipulator	manipulator	NOUN
alkej-230	129	6	shown	show	VERB
alkej-230	129	7	in	in	ADP
alkej-230	129	8	figures	figure	NOUN
alkej-230	129	9	below	below	ADP
alkej-230	129	10	:	:	PUNCT
alkej-230	129	11	fig	fig	NOUN
alkej-230	129	12	.	.	PUNCT
alkej-230	130	1	3	3	X
alkej-230	130	2	.	.	X
alkej-230	130	3	hub	hub	NOUN
alkej-230	130	4	with	with	ADP
alkej-230	130	5	rotating	rotate	VERB
alkej-230	130	6	base	base	NOUN
alkej-230	130	7	.	.	PUNCT
alkej-230	131	1	the	the	DET
alkej-230	131	2	side	side	NOUN
alkej-230	131	3	,	,	PUNCT
alkej-230	131	4	front	front	ADJ
alkej-230	131	5	and	and	CCONJ
alkej-230	131	6	top	top	ADJ
alkej-230	131	7	view	view	NOUN
alkej-230	131	8	was	be	AUX
alkej-230	131	9	drawn	draw	VERB
alkej-230	131	10	using	use	VERB
alkej-230	131	11	autocad	autocad	PROPN
alkej-230	131	12	software	software	NOUN
alkej-230	131	13	as	as	SCONJ
alkej-230	131	14	shown	show	VERB
alkej-230	131	15	in	in	ADP
alkej-230	131	16	figure	figure	NOUN
alkej-230	131	17	4,5,and	4,5,and	PROPN
alkej-230	131	18	6	6	NUM
alkej-230	131	19	:	:	PUNCT
alkej-230	131	20	fig	fig	NOUN
alkej-230	131	21	.	.	PUNCT
alkej-230	132	1	4	4	X
alkej-230	132	2	.	.	X
alkej-230	132	3	flexible	flexible	ADJ
alkej-230	132	4	link	link	NOUN
alkej-230	132	5	manipulator	manipulator	NOUN
alkej-230	132	6	.	.	PUNCT
alkej-230	133	1	fig	fig	NOUN
alkej-230	133	2	.	.	PUNCT
alkej-230	134	1	5	5	NUM
alkej-230	134	2	.	.	X
alkej-230	134	3	flexible	flexible	ADJ
alkej-230	134	4	link	link	NOUN
alkej-230	134	5	manipulator	manipulator	NOUN
alkej-230	134	6	(	(	PUNCT
alkej-230	134	7	side	side	NOUN
alkej-230	134	8	view	view	NOUN
alkej-230	134	9	)	)	PUNCT
alkej-230	134	10	.	.	PUNCT
alkej-230	135	1	fig	fig	NOUN
alkej-230	135	2	.	.	PUNCT
alkej-230	136	1	5	5	NUM
alkej-230	136	2	.	.	X
alkej-230	136	3	flexible	flexible	ADJ
alkej-230	136	4	link	link	NOUN
alkej-230	136	5	manipulator	manipulator	NOUN
alkej-230	136	6	(	(	PUNCT
alkej-230	136	7	side	side	NOUN
alkej-230	136	8	view	view	NOUN
alkej-230	136	9	)	)	PUNCT
alkej-230	136	10	.	.	PUNCT
alkej-230	137	1	fig	fig	NOUN
alkej-230	137	2	.	.	PUNCT
alkej-230	138	1	6	6	NUM
alkej-230	138	2	.	.	X
alkej-230	138	3	(	(	PUNCT
alkej-230	138	4	a	a	X
alkej-230	138	5	)	)	PUNCT
alkej-230	138	6	flexible	flexible	ADJ
alkej-230	138	7	link	link	NOUN
alkej-230	138	8	manipulator	manipulator	NOUN
alkej-230	138	9	(	(	PUNCT
alkej-230	138	10	front	front	ADJ
alkej-230	138	11	view	view	NOUN
alkej-230	138	12	)	)	PUNCT
alkej-230	138	13	,	,	PUNCT
alkej-230	138	14	(	(	PUNCT
alkej-230	138	15	b	b	X
alkej-230	138	16	)	)	PUNCT
alkej-230	138	17	aluminum	aluminum	NOUN
alkej-230	138	18	fix	fix	NOUN
alkej-230	138	19	plate	plate	NOUN
alkej-230	138	20	.	.	PUNCT
alkej-230	139	1	fig	fig	NOUN
alkej-230	139	2	.	.	PUNCT
alkej-230	140	1	7	7	X
alkej-230	140	2	.	.	X
alkej-230	140	3	flexible	flexible	ADJ
alkej-230	140	4	link	link	NOUN
alkej-230	140	5	manipulator	manipulator	NOUN
alkej-230	140	6	(	(	PUNCT
alkej-230	140	7	top	top	ADJ
alkej-230	140	8	view	view	NOUN
alkej-230	140	9	)	)	PUNCT
alkej-230	140	10	.	.	PUNCT
alkej-230	141	1	hub	hub	PROPN
alkej-230	141	2	perspex	perspex	PROPN
alkej-230	141	3	link	link	PROPN
alkej-230	141	4	load	load	NOUN
alkej-230	141	5	rotating	rotate	VERB
alkej-230	141	6	base	base	NOUN
alkej-230	141	7	base	base	NOUN
alkej-230	141	8	servo	servo	NOUN
alkej-230	141	9	motor	motor	NOUN
alkej-230	141	10	(	(	PUNCT
alkej-230	141	11	a	a	NOUN
alkej-230	141	12	)	)	PUNCT
alkej-230	141	13	(	(	PUNCT
alkej-230	141	14	b	b	X
alkej-230	141	15	)	)	PUNCT
alkej-230	141	16	rafal	rafal	PROPN
alkej-230	141	17	m.	m.	PROPN
alkej-230	141	18	khalil	khalil	PROPN
alkej-230	141	19	al	al	PROPN
alkej-230	141	20	-	-	PUNCT
alkej-230	141	21	khwarizmi	khwarizmi	PROPN
alkej-230	141	22	engineering	engineering	NOUN
alkej-230	141	23	journal	journal	PROPN
alkej-230	141	24	,	,	PUNCT
alkej-230	141	25	vol	vol	NOUN
alkej-230	141	26	.	.	PROPN
alkej-230	141	27	11	11	NUM
alkej-230	141	28	,	,	PUNCT
alkej-230	141	29	no	no	INTJ
alkej-230	141	30	.	.	NOUN
alkej-230	141	31	3	3	NUM
alkej-230	141	32	,	,	PUNCT
alkej-230	141	33	p.p	p.p	PROPN
alkej-230	141	34	.	.	NOUN
alkej-230	141	35	1119(2015	1119(2015	NUM
alkej-230	141	36	)	)	PUNCT
alkej-230	141	37	15	15	NUM
alkej-230	141	38	5.2	5.2	NUM
alkej-230	141	39	.	.	PUNCT
alkej-230	142	1	control	control	VERB
alkej-230	142	2	part	part	NOUN
alkej-230	142	3	the	the	DET
alkej-230	142	4	single	single	ADJ
alkej-230	142	5	link	link	NOUN
alkej-230	142	6	flexible	flexible	ADJ
alkej-230	142	7	manipulator	manipulator	NOUN
alkej-230	142	8	rotate	rotate	VERB
alkej-230	142	9	horizontally	horizontally	ADV
alkej-230	142	10	using	use	VERB
alkej-230	142	11	high	high	ADJ
alkej-230	142	12	torque	torque	NOUN
alkej-230	142	13	servo	servo	NOUN
alkej-230	142	14	motor	motor	NOUN
alkej-230	142	15	and	and	CCONJ
alkej-230	142	16	this	this	PRON
alkej-230	142	17	is	be	AUX
alkej-230	142	18	motor	motor	NOUN
alkej-230	142	19	was	be	AUX
alkej-230	142	20	controlled	control	VERB
alkej-230	142	21	by	by	ADP
alkej-230	142	22	servo	servo	NOUN
alkej-230	142	23	motor	motor	NOUN
alkej-230	142	24	control	control	NOUN
alkej-230	142	25	card	card	NOUN
alkej-230	142	26	based	base	VERB
alkej-230	142	27	on	on	ADP
alkej-230	142	28	atmega640	atmega640	PROPN
alkej-230	142	29	.	.	PUNCT
alkej-230	143	1	the	the	DET
alkej-230	143	2	velocity	velocity	NOUN
alkej-230	143	3	and	and	CCONJ
alkej-230	143	4	the	the	DET
alkej-230	143	5	angle	angle	NOUN
alkej-230	143	6	of	of	ADP
alkej-230	143	7	the	the	DET
alkej-230	143	8	servo	servo	NOUN
alkej-230	143	9	motor	motor	NOUN
alkej-230	143	10	controlled	control	VERB
alkej-230	143	11	through	through	ADP
alkej-230	143	12	graphical	graphical	ADJ
alkej-230	143	13	user	user	NOUN
alkej-230	143	14	interface	interface	NOUN
alkej-230	143	15	gui	gui	NOUN
alkej-230	143	16	of	of	ADP
alkej-230	143	17	servo	servo	NOUN
alkej-230	143	18	motion	motion	NOUN
alkej-230	143	19	software	software	NOUN
alkej-230	143	20	built	build	VERB
alkej-230	143	21	in	in	ADP
alkej-230	143	22	with	with	ADP
alkej-230	143	23	this	this	PRON
alkej-230	143	24	card.the	card.the	DET
alkej-230	143	25	mma7631	mma7631	NOUN
alkej-230	143	26	accelerometer	accelerometer	NOUN
alkej-230	143	27	+	+	SYM
alkej-230	143	28	gyro	gyro	NOUN
alkej-230	143	29	sensor	sensor	NOUN
alkej-230	143	30	,	,	PUNCT
alkej-230	143	31	its	its	PRON
alkej-230	143	32	block	block	NOUN
alkej-230	143	33	diagram	diagram	NOUN
alkej-230	143	34	shown	show	VERB
alkej-230	143	35	in	in	ADP
alkej-230	143	36	(	(	PUNCT
alkej-230	143	37	fig	fig	NOUN
alkej-230	143	38	.	.	PUNCT
alkej-230	143	39	8).stick	8).stick	NUM
alkej-230	143	40	at	at	ADP
alkej-230	143	41	the	the	DET
alkej-230	143	42	tip	tip	NOUN
alkej-230	143	43	of	of	ADP
alkej-230	143	44	the	the	DET
alkej-230	143	45	link	link	NOUN
alkej-230	143	46	and	and	CCONJ
alkej-230	143	47	this	this	PRON
alkej-230	143	48	is	be	AUX
alkej-230	143	49	sensor	sensor	NOUN
alkej-230	143	50	controlled	control	VERB
alkej-230	143	51	by	by	ADP
alkej-230	143	52	arduino	arduino	NOUN
alkej-230	143	53	mega	mega	PROPN
alkej-230	143	54	2560	2560	NUM
alkej-230	143	55	board	board	NOUN
alkej-230	143	56	.	.	PUNCT
alkej-230	144	1	the	the	DET
alkej-230	144	2	program	program	NOUN
alkej-230	144	3	built	build	VERB
alkej-230	144	4	using	use	VERB
alkej-230	144	5	arduino	arduino	NOUN
alkej-230	144	6	language	language	NOUN
alkej-230	144	7	and	and	CCONJ
alkej-230	144	8	this	this	PRON
alkej-230	144	9	is	be	AUX
alkej-230	144	10	language	language	NOUN
alkej-230	144	11	based	base	VERB
alkej-230	144	12	on	on	ADP
alkej-230	144	13	c++language	c++language	NOUN
alkej-230	144	14	.	.	PUNCT
alkej-230	145	1	fig	fig	NOUN
alkej-230	145	2	.	.	PUNCT
alkej-230	146	1	8	8	NUM
alkej-230	146	2	.	.	PUNCT
alkej-230	146	3	simplified	simplify	VERB
alkej-230	146	4	accelerometer	accelerometer	ADJ
alkej-230	146	5	functional	functional	ADJ
alkej-230	146	6	block	block	NOUN
alkej-230	146	7	diagram	diagram	NOUN
alkej-230	146	8	.	.	PUNCT
alkej-230	147	1	6	6	NUM
alkej-230	147	2	.	.	X
alkej-230	147	3	results	result	NOUN
alkej-230	147	4	and	and	CCONJ
alkej-230	147	5	discussion	discussion	NOUN
alkej-230	147	6	6.1	6.1	NUM
alkej-230	147	7	.	.	PUNCT
alkej-230	148	1	theoretical	theoretical	ADJ
alkej-230	148	2	results	result	NOUN
alkej-230	148	3	the	the	DET
alkej-230	148	4	theoretical	theoretical	ADJ
alkej-230	148	5	results	result	NOUN
alkej-230	148	6	obtained	obtain	VERB
alkej-230	148	7	from	from	ADP
alkej-230	148	8	matlab	matlab	PROPN
alkej-230	148	9	software	software	PROPN
alkej-230	148	10	..	..	PUNCT
alkej-230	149	1	the	the	DET
alkej-230	149	2	matlab	matlab	PROPN
alkej-230	149	3	program	program	NOUN
alkej-230	149	4	was	be	AUX
alkej-230	149	5	built	build	VERB
alkej-230	149	6	based	base	VERB
alkej-230	149	7	on	on	ADP
alkej-230	149	8	lagrange	lagrange	NOUN
alkej-230	149	9	equation	equation	NOUN
alkej-230	149	10	.	.	PUNCT
alkej-230	150	1	the	the	DET
alkej-230	150	2	tip	tip	NOUN
alkej-230	150	3	load	load	NOUN
alkej-230	150	4	was	be	AUX
alkej-230	150	5	changed	change	VERB
alkej-230	150	6	and	and	CCONJ
alkej-230	150	7	the	the	DET
alkej-230	150	8	motor	motor	NOUN
alkej-230	150	9	velocity	velocity	NOUN
alkej-230	150	10	also	also	ADV
alkej-230	150	11	changed	change	VERB
alkej-230	150	12	and	and	CCONJ
alkej-230	150	13	measured	measure	VERB
alkej-230	150	14	the	the	DET
alkej-230	150	15	deflection	deflection	NOUN
alkej-230	150	16	,	,	PUNCT
alkej-230	150	17	as	as	SCONJ
alkej-230	150	18	shown	show	VERB
alkej-230	150	19	in	in	ADP
alkej-230	150	20	the	the	DET
alkej-230	150	21	results	result	NOUN
alkej-230	150	22	below	below	ADP
alkej-230	150	23	:	:	PUNCT
alkej-230	150	24	fig	fig	NOUN
alkej-230	150	25	.	.	PUNCT
alkej-230	151	1	9	9	X
alkej-230	151	2	.	.	X
alkej-230	151	3	tip	tip	NOUN
alkej-230	151	4	deflection	deflection	NOUN
alkej-230	151	5	at	at	ADP
alkej-230	151	6	tip	tip	NOUN
alkej-230	151	7	load=0	load=0	PROPN
alkej-230	152	1	gram	gram	PROPN
alkej-230	152	2	.	.	PUNCT
alkej-230	153	1	fig	fig	NOUN
alkej-230	153	2	.	.	PUNCT
alkej-230	154	1	9	9	NUM
alkej-230	154	2	shows	show	VERB
alkej-230	154	3	the	the	DET
alkej-230	154	4	variation	variation	NOUN
alkej-230	154	5	of	of	ADP
alkej-230	154	6	tip	tip	NOUN
alkej-230	154	7	deflection	deflection	NOUN
alkej-230	154	8	with	with	ADP
alkej-230	154	9	time	time	NOUN
alkej-230	154	10	for	for	ADP
alkej-230	154	11	two	two	NUM
alkej-230	154	12	velocity	velocity	NOUN
alkej-230	154	13	(	(	PUNCT
alkej-230	154	14	90	90	NUM
alkej-230	154	15	and	and	CCONJ
alkej-230	154	16	180	180	NUM
alkej-230	154	17	)	)	PUNCT
alkej-230	154	18	degree	degree	NOUN
alkej-230	154	19	/	/	SYM
alkej-230	154	20	sec	sec	PROPN
alkej-230	154	21	.	.	PROPN
alkej-230	155	1	and	and	CCONJ
alkej-230	155	2	for	for	ADP
alkej-230	155	3	tip	tip	NOUN
alkej-230	155	4	attached	attach	VERB
alkej-230	155	5	mass	mass	NOUN
alkej-230	155	6	equals	equal	VERB
alkej-230	155	7	zero	zero	NUM
alkej-230	155	8	gram	gram	NOUN
alkej-230	155	9	.	.	PUNCT
alkej-230	156	1	it	it	PRON
alkej-230	156	2	shows	show	VERB
alkej-230	156	3	that	that	SCONJ
alkej-230	156	4	a	a	DET
alkej-230	156	5	time	time	NOUN
alkej-230	156	6	passes	pass	VERB
alkej-230	156	7	,	,	PUNCT
alkej-230	156	8	the	the	DET
alkej-230	156	9	deflection	deflection	NOUN
alkej-230	156	10	fluctuates	fluctuate	VERB
alkej-230	156	11	between	between	ADP
alkej-230	156	12	a	a	DET
alkej-230	156	13	values	value	NOUN
alkej-230	156	14	.	.	PUNCT
alkej-230	157	1	for	for	ADP
alkej-230	157	2	v=90	v=90	PROPN
alkej-230	157	3	degree	degree	NOUN
alkej-230	157	4	/	/	SYM
alkej-230	157	5	sec	sec	PROPN
alkej-230	157	6	.	.	PUNCT
alkej-230	157	7	blue	blue	ADJ
alkej-230	157	8	curve	curve	NOUN
alkej-230	157	9	,	,	PUNCT
alkej-230	157	10	maximum	maximum	ADJ
alkej-230	157	11	value	value	NOUN
alkej-230	157	12	was	be	AUX
alkej-230	157	13	found	find	VERB
alkej-230	157	14	to	to	PART
alkej-230	157	15	be	be	AUX
alkej-230	157	16	(	(	PUNCT
alkej-230	157	17	4.6	4.6	NUM
alkej-230	157	18	mm	mm	NOUN
alkej-230	157	19	)	)	PUNCT
alkej-230	157	20	.	.	PUNCT
alkej-230	158	1	for	for	ADP
alkej-230	158	2	v=180	v=180	NUM
alkej-230	158	3	degree	degree	NOUN
alkej-230	158	4	/	/	SYM
alkej-230	158	5	sec	sec	PROPN
alkej-230	158	6	.	.	PROPN
alkej-230	158	7	red	red	PROPN
alkej-230	158	8	curve	curve	PROPN
alkej-230	158	9	,	,	PUNCT
alkej-230	158	10	maximum	maximum	ADJ
alkej-230	158	11	value	value	NOUN
alkej-230	158	12	was	be	AUX
alkej-230	158	13	found	find	VERB
alkej-230	158	14	to	to	PART
alkej-230	158	15	be	be	AUX
alkej-230	158	16	(	(	PUNCT
alkej-230	158	17	9.9	9.9	NUM
alkej-230	158	18	mm).this	mm).this	PRON
alkej-230	158	19	figure	figure	NOUN
alkej-230	158	20	also	also	ADV
alkej-230	158	21	shows	show	VERB
alkej-230	158	22	that	that	SCONJ
alkej-230	158	23	the	the	DET
alkej-230	158	24	maximum	maximum	ADJ
alkej-230	158	25	tip	tip	NOUN
alkej-230	158	26	deflection	deflection	NOUN
alkej-230	158	27	values	value	NOUN
alkej-230	158	28	decreases	decrease	VERB
alkej-230	158	29	as	as	ADP
alkej-230	158	30	the	the	DET
alkej-230	158	31	velocity	velocity	NOUN
alkej-230	158	32	of	of	ADP
alkej-230	158	33	the	the	DET
alkej-230	158	34	servo	servo	NOUN
alkej-230	158	35	motor	motor	NOUN
alkej-230	158	36	decrease	decrease	NOUN
alkej-230	158	37	from	from	ADP
alkej-230	158	38	180	180	NUM
alkej-230	158	39	to	to	PART
alkej-230	158	40	90	90	NUM
alkej-230	158	41	degrees	degree	NOUN
alkej-230	158	42	/	/	SYM
alkej-230	158	43	sec	sec	PROPN
alkej-230	158	44	.	.	PUNCT
alkej-230	158	45	fig	fig	NOUN
alkej-230	158	46	.	.	PUNCT
alkej-230	159	1	10	10	NUM
alkej-230	159	2	.	.	X
alkej-230	159	3	tip	tip	NOUN
alkej-230	159	4	deflection	deflection	NOUN
alkej-230	159	5	at	at	ADP
alkej-230	159	6	tip	tip	NOUN
alkej-230	159	7	load=27.4	load=27.4	PROPN
alkej-230	159	8	gram	gram	PROPN
alkej-230	159	9	.	.	PUNCT
alkej-230	160	1	fig	fig	NOUN
alkej-230	160	2	.	.	PUNCT
alkej-230	161	1	10	10	NUM
alkej-230	161	2	shows	show	VERB
alkej-230	161	3	the	the	DET
alkej-230	161	4	variation	variation	NOUN
alkej-230	161	5	of	of	ADP
alkej-230	161	6	tip	tip	NOUN
alkej-230	161	7	deflection	deflection	NOUN
alkej-230	161	8	with	with	ADP
alkej-230	161	9	time	time	NOUN
alkej-230	161	10	for	for	ADP
alkej-230	161	11	two	two	NUM
alkej-230	161	12	velocity	velocity	NOUN
alkej-230	161	13	(	(	PUNCT
alkej-230	161	14	90	90	NUM
alkej-230	161	15	and	and	CCONJ
alkej-230	161	16	180	180	NUM
alkej-230	161	17	)	)	PUNCT
alkej-230	161	18	degree	degree	NOUN
alkej-230	161	19	/	/	SYM
alkej-230	161	20	sec	sec	PROPN
alkej-230	161	21	.	.	PROPN
alkej-230	162	1	and	and	CCONJ
alkej-230	162	2	for	for	ADP
alkej-230	162	3	tip	tip	NOUN
alkej-230	162	4	attached	attach	VERB
alkej-230	162	5	mass	mass	NOUN
alkej-230	162	6	equals	equal	VERB
alkej-230	162	7	27.4	27.4	NUM
alkej-230	162	8	gram	gram	NOUN
alkej-230	162	9	.	.	PUNCT
alkej-230	163	1	it	it	PRON
alkej-230	163	2	shows	show	VERB
alkej-230	163	3	that	that	SCONJ
alkej-230	163	4	a	a	DET
alkej-230	163	5	time	time	NOUN
alkej-230	163	6	passes	pass	VERB
alkej-230	163	7	,	,	PUNCT
alkej-230	163	8	the	the	DET
alkej-230	163	9	deflection	deflection	NOUN
alkej-230	163	10	fluctuates	fluctuate	VERB
alkej-230	163	11	between	between	ADP
alkej-230	163	12	a	a	DET
alkej-230	163	13	values	value	NOUN
alkej-230	163	14	.	.	PUNCT
alkej-230	164	1	for	for	ADP
alkej-230	164	2	v=90	v=90	PROPN
alkej-230	164	3	degree	degree	NOUN
alkej-230	164	4	/	/	SYM
alkej-230	164	5	sec	sec	PROPN
alkej-230	164	6	.	.	PROPN
alkej-230	164	7	rafal	rafal	PROPN
alkej-230	164	8	m.	m.	PROPN
alkej-230	164	9	khalil	khalil	PROPN
alkej-230	164	10	al	al	PROPN
alkej-230	164	11	-	-	PUNCT
alkej-230	164	12	khwarizmi	khwarizmi	PROPN
alkej-230	164	13	engineering	engineering	NOUN
alkej-230	164	14	journal	journal	PROPN
alkej-230	164	15	,	,	PUNCT
alkej-230	164	16	vol	vol	NOUN
alkej-230	164	17	.	.	PROPN
alkej-230	164	18	11	11	NUM
alkej-230	164	19	,	,	PUNCT
alkej-230	164	20	no	no	INTJ
alkej-230	164	21	.	.	NOUN
alkej-230	164	22	3	3	NUM
alkej-230	164	23	,	,	PUNCT
alkej-230	164	24	p.p	p.p	PROPN
alkej-230	164	25	.	.	NOUN
alkej-230	164	26	1119(2015	1119(2015	NUM
alkej-230	164	27	)	)	PUNCT
alkej-230	164	28	16	16	NUM
alkej-230	164	29	blue	blue	ADJ
alkej-230	164	30	curve	curve	NOUN
alkej-230	164	31	,	,	PUNCT
alkej-230	164	32	maximum	maximum	ADJ
alkej-230	164	33	value	value	NOUN
alkej-230	164	34	was	be	AUX
alkej-230	164	35	found	find	VERB
alkej-230	164	36	to	to	PART
alkej-230	164	37	be	be	AUX
alkej-230	164	38	(	(	PUNCT
alkej-230	164	39	6.1	6.1	NUM
alkej-230	164	40	mm	mm	NOUN
alkej-230	164	41	)	)	PUNCT
alkej-230	164	42	.	.	PUNCT
alkej-230	165	1	for	for	ADP
alkej-230	165	2	v=180	v=180	NUM
alkej-230	165	3	degree	degree	NOUN
alkej-230	165	4	/	/	SYM
alkej-230	165	5	sec	sec	PROPN
alkej-230	165	6	.red	.re	VERB
alkej-230	165	7	curve	curve	NOUN
alkej-230	165	8	,	,	PUNCT
alkej-230	165	9	maximum	maximum	ADJ
alkej-230	165	10	value	value	NOUN
alkej-230	165	11	was	be	AUX
alkej-230	165	12	found	find	VERB
alkej-230	165	13	to	to	PART
alkej-230	165	14	be	be	AUX
alkej-230	165	15	(	(	PUNCT
alkej-230	165	16	1.31cm).this	1.31cm).this	NUM
alkej-230	165	17	figure	figure	NOUN
alkej-230	165	18	also	also	ADV
alkej-230	165	19	shows	show	VERB
alkej-230	165	20	that	that	SCONJ
alkej-230	165	21	the	the	DET
alkej-230	165	22	maximum	maximum	ADJ
alkej-230	165	23	tip	tip	NOUN
alkej-230	165	24	deflection	deflection	NOUN
alkej-230	165	25	values	value	NOUN
alkej-230	165	26	decreases	decrease	VERB
alkej-230	165	27	as	as	ADP
alkej-230	165	28	the	the	DET
alkej-230	165	29	velocity	velocity	NOUN
alkej-230	165	30	of	of	ADP
alkej-230	165	31	the	the	DET
alkej-230	165	32	servo	servo	NOUN
alkej-230	165	33	motor	motor	NOUN
alkej-230	165	34	decrease	decrease	NOUN
alkej-230	165	35	from	from	ADP
alkej-230	165	36	180	180	NUM
alkej-230	165	37	to	to	PART
alkej-230	165	38	90	90	NUM
alkej-230	165	39	degrees	degree	NOUN
alkej-230	165	40	/	/	SYM
alkej-230	165	41	sec	sec	PROPN
alkej-230	165	42	.	.	PUNCT
alkej-230	165	43	fig	fig	NOUN
alkej-230	165	44	.	.	PUNCT
alkej-230	166	1	11	11	NUM
alkej-230	166	2	.	.	X
alkej-230	166	3	tip	tip	NOUN
alkej-230	166	4	deflection	deflection	NOUN
alkej-230	166	5	at	at	ADP
alkej-230	166	6	tip	tip	NOUN
alkej-230	166	7	load=59.5	load=59.5	PROPN
alkej-230	166	8	gram	gram	PROPN
alkej-230	166	9	.	.	PUNCT
alkej-230	167	1	fig	fig	NOUN
alkej-230	167	2	.	.	PUNCT
alkej-230	168	1	11	11	NUM
alkej-230	168	2	shows	show	VERB
alkej-230	168	3	the	the	DET
alkej-230	168	4	variation	variation	NOUN
alkej-230	168	5	of	of	ADP
alkej-230	168	6	tip	tip	NOUN
alkej-230	168	7	deflection	deflection	NOUN
alkej-230	168	8	with	with	ADP
alkej-230	168	9	time	time	NOUN
alkej-230	168	10	for	for	ADP
alkej-230	168	11	two	two	NUM
alkej-230	168	12	velocity	velocity	NOUN
alkej-230	168	13	(	(	PUNCT
alkej-230	168	14	90	90	NUM
alkej-230	168	15	and	and	CCONJ
alkej-230	168	16	180)degree	180)degree	NUM
alkej-230	168	17	/	/	SYM
alkej-230	168	18	sec	sec	PROPN
alkej-230	168	19	.	.	PROPN
alkej-230	169	1	and	and	CCONJ
alkej-230	169	2	for	for	ADP
alkej-230	169	3	tip	tip	NOUN
alkej-230	169	4	attached	attach	VERB
alkej-230	169	5	mass	mass	NOUN
alkej-230	169	6	equals	equal	VERB
alkej-230	169	7	59.5	59.5	NUM
alkej-230	169	8	gram	gram	NOUN
alkej-230	169	9	.	.	PUNCT
alkej-230	170	1	it	it	PRON
alkej-230	170	2	shows	show	VERB
alkej-230	170	3	that	that	SCONJ
alkej-230	170	4	a	a	DET
alkej-230	170	5	time	time	NOUN
alkej-230	170	6	passes	pass	VERB
alkej-230	170	7	,	,	PUNCT
alkej-230	170	8	the	the	DET
alkej-230	170	9	deflection	deflection	NOUN
alkej-230	170	10	fluctuates	fluctuate	VERB
alkej-230	170	11	between	between	ADP
alkej-230	170	12	a	a	DET
alkej-230	170	13	values	value	NOUN
alkej-230	170	14	.	.	PUNCT
alkej-230	171	1	for	for	ADP
alkej-230	171	2	v=90	v=90	PROPN
alkej-230	171	3	degree	degree	NOUN
alkej-230	171	4	/	/	SYM
alkej-230	171	5	sec	sec	PROPN
alkej-230	171	6	.	.	PUNCT
alkej-230	171	7	blue	blue	ADJ
alkej-230	171	8	curve	curve	NOUN
alkej-230	171	9	,	,	PUNCT
alkej-230	171	10	maximum	maximum	ADJ
alkej-230	171	11	value	value	NOUN
alkej-230	171	12	was	be	AUX
alkej-230	171	13	found	find	VERB
alkej-230	171	14	to	to	PART
alkej-230	171	15	be	be	AUX
alkej-230	171	16	(	(	PUNCT
alkej-230	171	17	7.8	7.8	NUM
alkej-230	171	18	mm	mm	NOUN
alkej-230	171	19	)	)	PUNCT
alkej-230	171	20	.	.	PUNCT
alkej-230	172	1	for	for	ADP
alkej-230	172	2	v=180	v=180	NUM
alkej-230	172	3	degree	degree	NOUN
alkej-230	172	4	/	/	SYM
alkej-230	172	5	sec	sec	PROPN
alkej-230	172	6	.	.	PROPN
alkej-230	172	7	red	red	PROPN
alkej-230	172	8	curve	curve	PROPN
alkej-230	172	9	,	,	PUNCT
alkej-230	172	10	maximum	maximum	ADJ
alkej-230	172	11	value	value	NOUN
alkej-230	172	12	was	be	AUX
alkej-230	172	13	found	find	VERB
alkej-230	172	14	to	to	PART
alkej-230	172	15	be	be	AUX
alkej-230	172	16	(	(	PUNCT
alkej-230	172	17	1.67cm).this	1.67cm).this	NUM
alkej-230	172	18	figure	figure	NOUN
alkej-230	172	19	also	also	ADV
alkej-230	172	20	shows	show	VERB
alkej-230	172	21	that	that	SCONJ
alkej-230	172	22	the	the	DET
alkej-230	172	23	maximum	maximum	ADJ
alkej-230	172	24	tip	tip	NOUN
alkej-230	172	25	deflection	deflection	NOUN
alkej-230	172	26	values	value	NOUN
alkej-230	172	27	decreases	decrease	VERB
alkej-230	172	28	as	as	ADP
alkej-230	172	29	the	the	DET
alkej-230	172	30	velocity	velocity	NOUN
alkej-230	172	31	of	of	ADP
alkej-230	172	32	the	the	DET
alkej-230	172	33	servo	servo	NOUN
alkej-230	172	34	motor	motor	NOUN
alkej-230	172	35	decrease	decrease	NOUN
alkej-230	172	36	from	from	ADP
alkej-230	172	37	180	180	NUM
alkej-230	172	38	to	to	PART
alkej-230	172	39	90	90	NUM
alkej-230	172	40	degrees	degree	NOUN
alkej-230	172	41	/	/	SYM
alkej-230	172	42	sec	sec	PROPN
alkej-230	172	43	.	.	PROPN
alkej-230	172	44	6.2	6.2	NUM
alkej-230	172	45	.	.	PUNCT
alkej-230	173	1	experimental	experimental	ADJ
alkej-230	173	2	results	result	NOUN
alkej-230	173	3	the	the	DET
alkej-230	173	4	experimental	experimental	ADJ
alkej-230	173	5	results	result	NOUN
alkej-230	173	6	were	be	AUX
alkej-230	173	7	obtained	obtain	VERB
alkej-230	173	8	from	from	ADP
alkej-230	173	9	the	the	DET
alkej-230	173	10	single	single	ADJ
alkej-230	173	11	link	link	NOUN
alkej-230	173	12	flexible	flexible	ADJ
alkej-230	173	13	manipulator	manipulator	NOUN
alkej-230	173	14	and	and	CCONJ
alkej-230	173	15	the	the	DET
alkej-230	173	16	tip	tip	NOUN
alkej-230	173	17	deflection	deflection	NOUN
alkej-230	173	18	measured	measure	VERB
alkej-230	173	19	using	use	VERB
alkej-230	173	20	accelerometer	accelerometer	NOUN
alkej-230	173	21	stick	stick	NOUN
alkej-230	173	22	at	at	ADP
alkej-230	173	23	the	the	DET
alkej-230	173	24	end	end	NOUN
alkej-230	173	25	of	of	ADP
alkej-230	173	26	the	the	DET
alkej-230	173	27	link	link	NOUN
alkej-230	173	28	.the	.the	PUNCT
alkej-230	174	1	results	result	NOUN
alkej-230	174	2	were	be	AUX
alkej-230	174	3	taken	take	VERB
alkej-230	174	4	when	when	SCONJ
alkej-230	174	5	the	the	DET
alkej-230	174	6	base	base	NOUN
alkej-230	174	7	servo	servo	NOUN
alkej-230	174	8	motor	motor	NOUN
alkej-230	174	9	operated	operate	VERB
alkej-230	174	10	at	at	ADP
alkej-230	174	11	velocity	velocity	NOUN
alkej-230	174	12	equal	equal	ADJ
alkej-230	174	13	(	(	PUNCT
alkej-230	174	14	90,180	90,180	NUM
alkej-230	174	15	)	)	PUNCT
alkej-230	174	16	degrees	degree	NOUN
alkej-230	174	17	/	/	SYM
alkej-230	174	18	sec	sec	PROPN
alkej-230	174	19	and	and	CCONJ
alkej-230	174	20	for	for	ADP
alkej-230	174	21	120	120	NUM
alkej-230	174	22	degrees	degree	NOUN
alkej-230	174	23	using	use	VERB
alkej-230	174	24	servo	servo	NOUN
alkej-230	174	25	motor	motor	NOUN
alkej-230	174	26	control	control	PROPN
alkej-230	174	27	card	card	NOUN
alkej-230	174	28	gui	gui	NOUN
alkej-230	174	29	and	and	CCONJ
alkej-230	174	30	for	for	ADP
alkej-230	174	31	three	three	NUM
alkej-230	174	32	different	different	ADJ
alkej-230	174	33	loads	load	NOUN
alkej-230	174	34	.	.	PUNCT
alkej-230	175	1	the	the	DET
alkej-230	175	2	experimental	experimental	ADJ
alkej-230	175	3	results	result	NOUN
alkej-230	175	4	were	be	AUX
alkej-230	175	5	shown	show	VERB
alkej-230	175	6	below	below	ADP
alkej-230	175	7	:	:	PUNCT
alkej-230	175	8	fig	fig	NOUN
alkej-230	175	9	.	.	PUNCT
alkej-230	176	1	12	12	NUM
alkej-230	176	2	.	.	PUNCT
alkej-230	176	3	experimental	experimental	ADJ
alkej-230	176	4	tip	tip	NOUN
alkej-230	176	5	deflection	deflection	NOUN
alkej-230	176	6	at	at	ADP
alkej-230	176	7	tip	tip	NOUN
alkej-230	176	8	load=0	load=0	PROPN
alkej-230	177	1	gram	gram	PROPN
alkej-230	177	2	.	.	PUNCT
alkej-230	178	1	fig	fig	NOUN
alkej-230	178	2	.	.	PUNCT
alkej-230	179	1	12	12	NUM
alkej-230	179	2	shows	show	VERB
alkej-230	179	3	the	the	DET
alkej-230	179	4	variation	variation	NOUN
alkej-230	179	5	of	of	ADP
alkej-230	179	6	tip	tip	NOUN
alkej-230	179	7	deflection	deflection	NOUN
alkej-230	179	8	with	with	ADP
alkej-230	179	9	time	time	NOUN
alkej-230	179	10	for	for	ADP
alkej-230	179	11	two	two	NUM
alkej-230	179	12	velocity	velocity	NOUN
alkej-230	179	13	(	(	PUNCT
alkej-230	179	14	90	90	NUM
alkej-230	179	15	and	and	CCONJ
alkej-230	179	16	180	180	NUM
alkej-230	179	17	)	)	PUNCT
alkej-230	179	18	degree	degree	NOUN
alkej-230	179	19	/	/	SYM
alkej-230	179	20	sec	sec	PROPN
alkej-230	179	21	.	.	PROPN
alkej-230	180	1	and	and	CCONJ
alkej-230	180	2	for	for	ADP
alkej-230	180	3	tip	tip	NOUN
alkej-230	180	4	attached	attach	VERB
alkej-230	180	5	mass	mass	NOUN
alkej-230	180	6	equals	equal	VERB
alkej-230	180	7	zero	zero	NUM
alkej-230	180	8	gram	gram	NOUN
alkej-230	180	9	.	.	PUNCT
alkej-230	181	1	it	it	PRON
alkej-230	181	2	shows	show	VERB
alkej-230	181	3	that	that	SCONJ
alkej-230	181	4	a	a	DET
alkej-230	181	5	time	time	NOUN
alkej-230	181	6	passes	pass	VERB
alkej-230	181	7	,	,	PUNCT
alkej-230	181	8	the	the	DET
alkej-230	181	9	deflection	deflection	NOUN
alkej-230	181	10	fluctuates	fluctuate	VERB
alkej-230	181	11	between	between	ADP
alkej-230	181	12	a	a	DET
alkej-230	181	13	values	value	NOUN
alkej-230	181	14	.	.	PUNCT
alkej-230	182	1	for	for	ADP
alkej-230	182	2	v=90	v=90	PROPN
alkej-230	182	3	degree	degree	NOUN
alkej-230	182	4	/	/	SYM
alkej-230	182	5	sec	sec	PROPN
alkej-230	182	6	.	.	PUNCT
alkej-230	182	7	blue	blue	ADJ
alkej-230	182	8	curve	curve	NOUN
alkej-230	182	9	,	,	PUNCT
alkej-230	182	10	maximum	maximum	ADJ
alkej-230	182	11	value	value	NOUN
alkej-230	182	12	was	be	AUX
alkej-230	182	13	found	find	VERB
alkej-230	182	14	to	to	PART
alkej-230	182	15	be	be	AUX
alkej-230	182	16	(	(	PUNCT
alkej-230	182	17	7	7	NUM
alkej-230	182	18	mm	mm	NOUN
alkej-230	182	19	)	)	PUNCT
alkej-230	182	20	.	.	PUNCT
alkej-230	183	1	for	for	ADP
alkej-230	183	2	v=180	v=180	NUM
alkej-230	183	3	degree	degree	NOUN
alkej-230	183	4	/	/	SYM
alkej-230	183	5	sec	sec	PROPN
alkej-230	183	6	.	.	PROPN
alkej-230	183	7	red	red	PROPN
alkej-230	183	8	curve	curve	PROPN
alkej-230	183	9	,	,	PUNCT
alkej-230	183	10	maximum	maximum	ADJ
alkej-230	183	11	value	value	NOUN
alkej-230	183	12	was	be	AUX
alkej-230	183	13	found	find	VERB
alkej-230	183	14	to	to	PART
alkej-230	183	15	be	be	AUX
alkej-230	183	16	(	(	PUNCT
alkej-230	183	17	1.2cm).this	1.2cm).this	NUM
alkej-230	183	18	figure	figure	NOUN
alkej-230	183	19	also	also	ADV
alkej-230	183	20	shows	show	VERB
alkej-230	183	21	that	that	SCONJ
alkej-230	183	22	the	the	DET
alkej-230	183	23	maximum	maximum	ADJ
alkej-230	183	24	tip	tip	NOUN
alkej-230	183	25	deflection	deflection	NOUN
alkej-230	183	26	values	value	NOUN
alkej-230	183	27	decreases	decrease	VERB
alkej-230	183	28	as	as	ADP
alkej-230	183	29	the	the	DET
alkej-230	183	30	velocity	velocity	NOUN
alkej-230	183	31	of	of	ADP
alkej-230	183	32	the	the	DET
alkej-230	183	33	servo	servo	NOUN
alkej-230	183	34	motor	motor	NOUN
alkej-230	183	35	decrease	decrease	NOUN
alkej-230	183	36	from	from	ADP
alkej-230	183	37	180	180	NUM
alkej-230	183	38	to	to	PART
alkej-230	183	39	90	90	NUM
alkej-230	183	40	degrees	degree	NOUN
alkej-230	183	41	/	/	SYM
alkej-230	183	42	sec	sec	PROPN
alkej-230	183	43	.	.	PUNCT
alkej-230	183	44	fig	fig	PROPN
alkej-230	183	45	.	.	PUNCT
alkej-230	184	1	13	13	NUM
alkej-230	184	2	.	.	PUNCT
alkej-230	184	3	experimental	experimental	ADJ
alkej-230	184	4	tip	tip	NOUN
alkej-230	184	5	deflection	deflection	NOUN
alkej-230	184	6	at	at	ADP
alkej-230	184	7	tip	tip	NOUN
alkej-230	184	8	load=27.4	load=27.4	PROPN
alkej-230	184	9	gram	gram	PROPN
alkej-230	184	10	.	.	PUNCT
alkej-230	185	1	fig	fig	NOUN
alkej-230	185	2	.	.	PUNCT
alkej-230	186	1	13	13	NUM
alkej-230	186	2	shows	show	VERB
alkej-230	186	3	the	the	DET
alkej-230	186	4	variation	variation	NOUN
alkej-230	186	5	of	of	ADP
alkej-230	186	6	tip	tip	NOUN
alkej-230	186	7	deflection	deflection	NOUN
alkej-230	186	8	with	with	ADP
alkej-230	186	9	time	time	NOUN
alkej-230	186	10	for	for	ADP
alkej-230	186	11	two	two	NUM
alkej-230	186	12	velocity	velocity	NOUN
alkej-230	186	13	(	(	PUNCT
alkej-230	186	14	90	90	NUM
alkej-230	186	15	and	and	CCONJ
alkej-230	186	16	180	180	NUM
alkej-230	186	17	)	)	PUNCT
alkej-230	186	18	degree	degree	NOUN
alkej-230	186	19	/	/	SYM
alkej-230	186	20	sec	sec	PROPN
alkej-230	186	21	.	.	PROPN
alkej-230	187	1	and	and	CCONJ
alkej-230	187	2	for	for	ADP
alkej-230	187	3	tip	tip	NOUN
alkej-230	187	4	attached	attach	VERB
alkej-230	187	5	mass	mass	NOUN
alkej-230	187	6	equals	equal	VERB
alkej-230	187	7	27.4	27.4	NUM
alkej-230	187	8	gram	gram	NOUN
alkej-230	187	9	.	.	PUNCT
alkej-230	188	1	it	it	PRON
alkej-230	188	2	shows	show	VERB
alkej-230	188	3	that	that	SCONJ
alkej-230	188	4	a	a	DET
alkej-230	188	5	time	time	NOUN
alkej-230	188	6	passes	pass	VERB
alkej-230	188	7	,	,	PUNCT
alkej-230	188	8	the	the	DET
alkej-230	188	9	deflection	deflection	NOUN
alkej-230	188	10	fluctuates	fluctuate	VERB
alkej-230	188	11	between	between	ADP
alkej-230	188	12	a	a	DET
alkej-230	188	13	values	value	NOUN
alkej-230	188	14	.	.	PUNCT
alkej-230	189	1	for	for	ADP
alkej-230	189	2	v=90	v=90	PROPN
alkej-230	189	3	degree	degree	NOUN
alkej-230	189	4	/	/	SYM
alkej-230	189	5	sec	sec	PROPN
alkej-230	189	6	.	.	PUNCT
alkej-230	189	7	blue	blue	ADJ
alkej-230	189	8	curve	curve	NOUN
alkej-230	189	9	,	,	PUNCT
alkej-230	189	10	maximum	maximum	ADJ
alkej-230	189	11	value	value	NOUN
alkej-230	189	12	was	be	AUX
alkej-230	189	13	found	find	VERB
alkej-230	189	14	to	to	PART
alkej-230	189	15	be	be	AUX
alkej-230	189	16	(	(	PUNCT
alkej-230	189	17	9.4	9.4	NUM
alkej-230	189	18	mm	mm	NOUN
alkej-230	189	19	)	)	PUNCT
alkej-230	189	20	.	.	PUNCT
alkej-230	190	1	for	for	ADP
alkej-230	190	2	v=180	v=180	NUM
alkej-230	190	3	degree	degree	NOUN
alkej-230	190	4	/	/	SYM
alkej-230	190	5	sec	sec	PROPN
alkej-230	190	6	.	.	PROPN
alkej-230	190	7	red	red	PROPN
alkej-230	190	8	curve	curve	PROPN
alkej-230	190	9	,	,	PUNCT
alkej-230	190	10	maximum	maximum	ADJ
alkej-230	190	11	value	value	NOUN
alkej-230	190	12	was	be	AUX
alkej-230	190	13	found	find	VERB
alkej-230	190	14	to	to	PART
alkej-230	190	15	be	be	AUX
alkej-230	190	16	(	(	PUNCT
alkej-230	190	17	1.72cm).this	1.72cm).this	PRON
alkej-230	190	18	figure	figure	NOUN
alkej-230	190	19	also	also	ADV
alkej-230	190	20	shows	show	VERB
alkej-230	190	21	that	that	SCONJ
alkej-230	190	22	the	the	DET
alkej-230	190	23	maximum	maximum	ADJ
alkej-230	190	24	tip	tip	NOUN
alkej-230	190	25	deflection	deflection	NOUN
alkej-230	190	26	values	value	NOUN
alkej-230	190	27	rafal	rafal	PROPN
alkej-230	190	28	m.	m.	PROPN
alkej-230	190	29	khalil	khalil	PROPN
alkej-230	190	30	al	al	PROPN
alkej-230	190	31	-	-	PUNCT
alkej-230	190	32	khwarizmi	khwarizmi	PROPN
alkej-230	190	33	engineering	engineering	NOUN
alkej-230	190	34	journal	journal	PROPN
alkej-230	190	35	,	,	PUNCT
alkej-230	190	36	vol	vol	NOUN
alkej-230	190	37	.	.	PROPN
alkej-230	190	38	11	11	NUM
alkej-230	190	39	,	,	PUNCT
alkej-230	190	40	no	no	INTJ
alkej-230	190	41	.	.	NOUN
alkej-230	190	42	3	3	NUM
alkej-230	190	43	,	,	PUNCT
alkej-230	190	44	p.p	p.p	PROPN
alkej-230	190	45	.	.	NOUN
alkej-230	190	46	1119(2015	1119(2015	NUM
alkej-230	190	47	)	)	PUNCT
alkej-230	190	48	17	17	NUM
alkej-230	190	49	decreases	decrease	NOUN
alkej-230	190	50	as	as	ADP
alkej-230	190	51	the	the	DET
alkej-230	190	52	velocity	velocity	NOUN
alkej-230	190	53	of	of	ADP
alkej-230	190	54	the	the	DET
alkej-230	190	55	servo	servo	NOUN
alkej-230	190	56	motor	motor	NOUN
alkej-230	190	57	decrease	decrease	NOUN
alkej-230	190	58	from	from	ADP
alkej-230	190	59	180	180	NUM
alkej-230	190	60	to	to	PART
alkej-230	190	61	90	90	NUM
alkej-230	190	62	degrees	degree	NOUN
alkej-230	190	63	/	/	SYM
alkej-230	190	64	sec	sec	PROPN
alkej-230	190	65	.	.	PUNCT
alkej-230	190	66	fig	fig	PROPN
alkej-230	190	67	.	.	PUNCT
alkej-230	190	68	14	14	NUM
alkej-230	190	69	.	.	PUNCT
alkej-230	190	70	experimental	experimental	ADJ
alkej-230	190	71	tip	tip	NOUN
alkej-230	190	72	deflection	deflection	NOUN
alkej-230	190	73	at	at	ADP
alkej-230	190	74	tip	tip	NOUN
alkej-230	190	75	load=59.5	load=59.5	PROPN
alkej-230	190	76	gram	gram	PROPN
alkej-230	190	77	.	.	PUNCT
alkej-230	191	1	fig	fig	NOUN
alkej-230	191	2	.	.	PUNCT
alkej-230	192	1	14	14	NUM
alkej-230	192	2	shows	show	VERB
alkej-230	192	3	the	the	DET
alkej-230	192	4	variation	variation	NOUN
alkej-230	192	5	of	of	ADP
alkej-230	192	6	tip	tip	NOUN
alkej-230	192	7	deflection	deflection	NOUN
alkej-230	192	8	with	with	ADP
alkej-230	192	9	time	time	NOUN
alkej-230	192	10	for	for	ADP
alkej-230	192	11	two	two	NUM
alkej-230	192	12	velocity	velocity	NOUN
alkej-230	192	13	(	(	PUNCT
alkej-230	192	14	90	90	NUM
alkej-230	192	15	and	and	CCONJ
alkej-230	192	16	180	180	NUM
alkej-230	192	17	)	)	PUNCT
alkej-230	192	18	degree	degree	NOUN
alkej-230	192	19	/	/	SYM
alkej-230	192	20	sec	sec	PROPN
alkej-230	192	21	.	.	PROPN
alkej-230	193	1	and	and	CCONJ
alkej-230	193	2	for	for	ADP
alkej-230	193	3	tip	tip	NOUN
alkej-230	193	4	attached	attach	VERB
alkej-230	193	5	mass	mass	NOUN
alkej-230	193	6	equals	equal	VERB
alkej-230	193	7	59.5	59.5	NUM
alkej-230	193	8	gram	gram	NOUN
alkej-230	193	9	.	.	PUNCT
alkej-230	194	1	it	it	PRON
alkej-230	194	2	shows	show	VERB
alkej-230	194	3	that	that	SCONJ
alkej-230	194	4	a	a	DET
alkej-230	194	5	time	time	NOUN
alkej-230	194	6	passes	pass	VERB
alkej-230	194	7	,	,	PUNCT
alkej-230	194	8	the	the	DET
alkej-230	194	9	deflection	deflection	NOUN
alkej-230	194	10	fluctuates	fluctuate	VERB
alkej-230	194	11	between	between	ADP
alkej-230	194	12	a	a	DET
alkej-230	194	13	values	value	NOUN
alkej-230	194	14	.	.	PUNCT
alkej-230	195	1	for	for	ADP
alkej-230	195	2	v=90	v=90	PROPN
alkej-230	195	3	degree	degree	NOUN
alkej-230	195	4	/	/	SYM
alkej-230	195	5	sec	sec	PROPN
alkej-230	195	6	.	.	PUNCT
alkej-230	195	7	blue	blue	ADJ
alkej-230	195	8	curve	curve	NOUN
alkej-230	195	9	,	,	PUNCT
alkej-230	195	10	maximum	maximum	ADJ
alkej-230	195	11	value	value	NOUN
alkej-230	195	12	was	be	AUX
alkej-230	195	13	found	find	VERB
alkej-230	195	14	to	to	PART
alkej-230	195	15	be	be	AUX
alkej-230	195	16	(	(	PUNCT
alkej-230	195	17	1.3	1.3	NUM
alkej-230	195	18	cm	cm	NOUN
alkej-230	195	19	)	)	PUNCT
alkej-230	195	20	.	.	PUNCT
alkej-230	196	1	for	for	ADP
alkej-230	196	2	v=180	v=180	NUM
alkej-230	196	3	degree	degree	NOUN
alkej-230	196	4	/	/	SYM
alkej-230	196	5	sec	sec	PROPN
alkej-230	196	6	.	.	PROPN
alkej-230	196	7	red	red	PROPN
alkej-230	196	8	curve	curve	PROPN
alkej-230	196	9	,	,	PUNCT
alkej-230	196	10	maximum	maximum	ADJ
alkej-230	196	11	value	value	NOUN
alkej-230	196	12	was	be	AUX
alkej-230	196	13	found	find	VERB
alkej-230	196	14	to	to	PART
alkej-230	196	15	be	be	AUX
alkej-230	196	16	(	(	PUNCT
alkej-230	196	17	1.96cm).this	1.96cm).this	NUM
alkej-230	196	18	figure	figure	NOUN
alkej-230	196	19	also	also	ADV
alkej-230	196	20	shows	show	VERB
alkej-230	196	21	that	that	SCONJ
alkej-230	196	22	the	the	DET
alkej-230	196	23	maximum	maximum	ADJ
alkej-230	196	24	tip	tip	NOUN
alkej-230	196	25	deflection	deflection	NOUN
alkej-230	196	26	values	value	NOUN
alkej-230	196	27	decreases	decrease	VERB
alkej-230	196	28	as	as	SCONJ
alkej-230	196	29	the	the	DET
alkej-230	196	30	velocity	velocity	NOUN
alkej-230	196	31	of	of	ADP
alkej-230	196	32	the	the	DET
alkej-230	196	33	servo	servo	NOUN
alkej-230	196	34	motor	motor	NOUN
alkej-230	196	35	decrease	decrease	NOUN
alkej-230	196	36	from	from	ADP
alkej-230	196	37	180	180	NUM
alkej-230	196	38	to	to	PART
alkej-230	196	39	90	90	NUM
alkej-230	196	40	degrees	degree	NOUN
alkej-230	196	41	/	/	SYM
alkej-230	196	42	sec	sec	PROPN
alkej-230	196	43	.	.	PROPN
alkej-230	196	44	table	table	NOUN
alkej-230	196	45	2	2	NUM
alkej-230	196	46	,	,	PUNCT
alkej-230	196	47	theoretical	theoretical	ADJ
alkej-230	196	48	&	&	CCONJ
alkej-230	196	49	experimental	experimental	ADJ
alkej-230	196	50	tip	tip	NOUN
alkej-230	196	51	deflection	deflection	NOUN
alkej-230	196	52	result	result	NOUN
alkej-230	196	53	at	at	ADP
alkej-230	196	54	different	different	ADJ
alkej-230	196	55	load	load	NOUN
alkej-230	196	56	.	.	PUNCT
alkej-230	197	1	motor	motor	NOUN
alkej-230	197	2	velocity	velocity	NOUN
alkej-230	197	3	(	(	PUNCT
alkej-230	197	4	deg	deg	PROPN
alkej-230	197	5	/	/	SYM
alkej-230	197	6	s	s	PART
alkej-230	197	7	)	)	PUNCT
alkej-230	197	8	tip	tip	NOUN
alkej-230	197	9	load	load	NOUN
alkej-230	197	10	(	(	PUNCT
alkej-230	197	11	gram	gram	NOUN
alkej-230	197	12	)	)	PUNCT
alkej-230	197	13	theoretical	theoretical	ADJ
alkej-230	197	14	max	max	PROPN
alkej-230	197	15	.	.	PROPN
alkej-230	198	1	tip	tip	PROPN
alkej-230	198	2	deflection	deflection	NOUN
alkej-230	198	3	(	(	PUNCT
alkej-230	198	4	mm	mm	INTJ
alkej-230	198	5	)	)	PUNCT
alkej-230	198	6	experimental	experimental	ADJ
alkej-230	198	7	max	max	PROPN
alkej-230	198	8	.	.	PROPN
alkej-230	199	1	tip	tip	PROPN
alkej-230	199	2	deflection(mm	deflection(mm	PROPN
alkej-230	199	3	)	)	PUNCT
alkej-230	199	4	percentage	percentage	NOUN
alkej-230	199	5	difference	difference	NOUN
alkej-230	199	6	v=90	v=90	NOUN
alkej-230	199	7	zero	zero	NUM
alkej-230	199	8	4.6	4.6	NUM
alkej-230	199	9	7	7	NUM
alkej-230	199	10	34	34	NUM
alkej-230	199	11	%	%	NOUN
alkej-230	199	12	v=180	v=180	NUM
alkej-230	199	13	9.9	9.9	NUM
alkej-230	199	14	12	12	NUM
alkej-230	199	15	17.5	17.5	NUM
alkej-230	199	16	%	%	NOUN
alkej-230	199	17	v=90	v=90	NOUN
alkej-230	199	18	27.4	27.4	NUM
alkej-230	199	19	6.1	6.1	NUM
alkej-230	199	20	9.4	9.4	NUM
alkej-230	199	21	35	35	NUM
alkej-230	199	22	%	%	NOUN
alkej-230	199	23	v=180	v=180	NUM
alkej-230	199	24	13.1	13.1	NUM
alkej-230	199	25	17.2	17.2	NUM
alkej-230	199	26	23.8	23.8	NUM
alkej-230	199	27	%	%	NOUN
alkej-230	199	28	v=90	v=90	NOUN
alkej-230	199	29	59.5	59.5	NUM
alkej-230	199	30	7.8	7.8	NUM
alkej-230	199	31	13	13	NUM
alkej-230	199	32	40	40	NUM
alkej-230	199	33	%	%	NOUN
alkej-230	199	34	v=180	v=180	NUM
alkej-230	199	35	16.7	16.7	NUM
alkej-230	199	36	19.6	19.6	NUM
alkej-230	199	37	7	7	NUM
alkej-230	199	38	.	.	PUNCT
alkej-230	200	1	conclusions	conclusion	NOUN
alkej-230	200	2	the	the	DET
alkej-230	200	3	concluding	conclude	VERB
alkej-230	200	4	remarks	remark	NOUN
alkej-230	200	5	withdrawn	withdraw	VERB
alkej-230	200	6	from	from	ADP
alkej-230	200	7	the	the	DET
alkej-230	200	8	obtained	obtain	VERB
alkej-230	200	9	results	result	NOUN
alkej-230	200	10	as	as	ADP
alkej-230	200	11	following	follow	VERB
alkej-230	200	12	:	:	PUNCT
alkej-230	200	13	•	•	NUM
alkej-230	200	14	load	load	NOUN
alkej-230	200	15	:	:	PUNCT
alkej-230	200	16	maximum	maximum	ADJ
alkej-230	200	17	tip	tip	NOUN
alkej-230	200	18	deflection	deflection	NOUN
alkej-230	200	19	of	of	ADP
alkej-230	200	20	the	the	DET
alkej-230	200	21	flexible	flexible	ADJ
alkej-230	200	22	link	link	NOUN
alkej-230	200	23	increases	increase	NOUN
alkej-230	200	24	as	as	SCONJ
alkej-230	200	25	the	the	DET
alkej-230	200	26	tip	tip	NOUN
alkej-230	200	27	attached	attach	VERB
alkej-230	200	28	mass	mass	NOUN
alkej-230	200	29	increases	increase	NOUN
alkej-230	200	30	from	from	ADP
alkej-230	200	31	0	0	NUM
alkej-230	200	32	,	,	PUNCT
alkej-230	200	33	27.4	27.4	NUM
alkej-230	200	34	and	and	CCONJ
alkej-230	200	35	59.5	59.5	NUM
alkej-230	200	36	gram	gram	NOUN
alkej-230	200	37	as	as	SCONJ
alkej-230	200	38	shown	show	VERB
alkej-230	200	39	in	in	ADP
alkej-230	200	40	result	result	NOUN
alkej-230	200	41	obtained	obtain	VERB
alkej-230	200	42	previously	previously	ADV
alkej-230	200	43	.	.	PUNCT
alkej-230	201	1	•	•	NUM
alkej-230	201	2	velocity	velocity	NOUN
alkej-230	201	3	:	:	PUNCT
alkej-230	201	4	the	the	DET
alkej-230	201	5	deflection	deflection	NOUN
alkej-230	201	6	of	of	ADP
alkej-230	201	7	the	the	DET
alkej-230	201	8	flexible	flexible	ADJ
alkej-230	201	9	link	link	NOUN
alkej-230	201	10	increases	increase	NOUN
alkej-230	201	11	as	as	ADP
alkej-230	201	12	the	the	DET
alkej-230	201	13	velocity	velocity	NOUN
alkej-230	201	14	of	of	ADP
alkej-230	201	15	the	the	DET
alkej-230	201	16	base	base	NOUN
alkej-230	201	17	servo	servo	NOUN
alkej-230	201	18	motor	motor	NOUN
alkej-230	201	19	angle	angle	NOUN
alkej-230	201	20	increases	increase	VERB
alkej-230	201	21	from	from	ADP
alkej-230	201	22	[	[	X
alkej-230	201	23	90	90	NUM
alkej-230	201	24	-	-	SYM
alkej-230	201	25	180	180	NUM
alkej-230	201	26	]	]	PUNCT
alkej-230	201	27	degrees	degree	NOUN
alkej-230	201	28	/	/	SYM
alkej-230	201	29	sec	sec	PROPN
alkej-230	201	30	as	as	SCONJ
alkej-230	201	31	shown	show	VERB
alkej-230	201	32	in	in	ADP
alkej-230	201	33	(	(	PUNCT
alkej-230	201	34	table:1	table:1	NOUN
alkej-230	201	35	)	)	PUNCT
alkej-230	201	36	.	.	PUNCT
alkej-230	202	1	•	•	NUM
alkej-230	202	2	damping	damp	VERB
alkej-230	202	3	effect	effect	NOUN
alkej-230	202	4	:	:	PUNCT
alkej-230	202	5	the	the	DET
alkej-230	202	6	damping	damp	VERB
alkej-230	202	7	effect	effect	NOUN
alkej-230	202	8	is	be	AUX
alkej-230	202	9	clear	clear	ADJ
alkej-230	202	10	after	after	ADP
alkej-230	202	11	approximately	approximately	ADV
alkej-230	202	12	5	5	NUM
alkej-230	202	13	second	second	ADJ
alkej-230	202	14	and	and	CCONJ
alkej-230	202	15	obvious	obvious	ADJ
alkej-230	202	16	in	in	ADP
alkej-230	202	17	the	the	DET
alkej-230	202	18	experimental	experimental	ADJ
alkej-230	202	19	results	result	NOUN
alkej-230	202	20	only	only	ADV
alkej-230	202	21	because	because	SCONJ
alkej-230	202	22	we	we	PRON
alkej-230	202	23	neglect	neglect	VERB
alkej-230	202	24	the	the	DET
alkej-230	202	25	damping	damp	VERB
alkej-230	202	26	effect	effect	NOUN
alkej-230	202	27	at	at	ADP
alkej-230	202	28	the	the	DET
alkej-230	202	29	theoretical	theoretical	ADJ
alkej-230	202	30	part	part	NOUN
alkej-230	202	31	.	.	PUNCT
alkej-230	203	1	8	8	X
alkej-230	203	2	.	.	NUM
alkej-230	203	3	references	reference	NOUN
alkej-230	203	4	[	[	X
alkej-230	203	5	1	1	NUM
alkej-230	203	6	]	]	PUNCT
alkej-230	203	7	aarts	aart	NOUN
alkej-230	203	8	r.g.k.m	r.g.k.m	PROPN
alkej-230	203	9	.	.	PROPN
alkej-230	203	10	and	and	CCONJ
alkej-230	203	11	jonker	jonker	PROPN
alkej-230	203	12	j.b	j.b	PROPN
alkej-230	203	13	.	.	PROPN
alkej-230	203	14	,	,	PUNCT
alkej-230	203	15	"	"	PUNCT
alkej-230	203	16	dynamic	dynamic	ADJ
alkej-230	203	17	simulation	simulation	NOUN
alkej-230	203	18	of	of	ADP
alkej-230	203	19	planar	planar	ADJ
alkej-230	203	20	flexible	flexible	ADJ
alkej-230	203	21	link	link	NOUN
alkej-230	203	22	manipulators	manipulator	NOUN
alkej-230	203	23	using	use	VERB
alkej-230	203	24	adaptive	adaptive	ADJ
alkej-230	203	25	modal	modal	ADJ
alkej-230	203	26	integration	integration	NOUN
alkej-230	203	27	"	"	PUNCT
alkej-230	203	28	,	,	PUNCT
alkej-230	203	29	multibody	multibody	ADJ
alkej-230	203	30	system	system	NOUN
alkej-230	203	31	dynamics	dynamic	NOUN
alkej-230	203	32	,	,	PUNCT
alkej-230	203	33	vol.7	vol.7	PROPN
alkej-230	203	34	,	,	PUNCT
alkej-230	203	35	pp	pp	ADJ
alkej-230	203	36	.	.	PUNCT
alkej-230	204	1	31–50	31–50	NUM
alkej-230	204	2	,	,	PUNCT
alkej-230	204	3	2002	2002	NUM
alkej-230	204	4	.	.	PUNCT
alkej-230	205	1	[	[	X
alkej-230	205	2	2	2	X
alkej-230	205	3	]	]	PUNCT
alkej-230	205	4	shaheed	shaheed	NOUN
alkej-230	205	5	m.h	m.h	PROPN
alkej-230	205	6	.	.	PROPN
alkej-230	205	7	andtokhi	andtokhi	PROPN
alkej-230	205	8	m.o	m.o	PROPN
alkej-230	205	9	.	.	PROPN
alkej-230	205	10	,	,	PUNCT
alkej-230	205	11	"	"	PUNCT
alkej-230	205	12	dynamic	dynamic	ADJ
alkej-230	205	13	modeling	modeling	NOUN
alkej-230	205	14	of	of	ADP
alkej-230	205	15	a	a	DET
alkej-230	205	16	single	single	ADJ
alkej-230	205	17	-	-	PUNCT
alkej-230	205	18	link	link	NOUN
alkej-230	205	19	flexible	flexible	ADJ
alkej-230	205	20	manipulator	manipulator	NOUN
alkej-230	205	21	:	:	PUNCT
alkej-230	205	22	parametric	parametric	ADJ
alkej-230	205	23	and	and	CCONJ
alkej-230	205	24	non	non	ADJ
alkej-230	205	25	-	-	ADJ
alkej-230	205	26	parametric	parametric	ADJ
alkej-230	205	27	approaches	approach	NOUN
alkej-230	205	28	"	"	PUNCT
alkej-230	205	29	robotica	robotica	PROPN
alkej-230	205	30	,	,	PUNCT
alkej-230	205	31	vol.20	vol.20	X
alkej-230	205	32	,	,	PUNCT
alkej-230	205	33	pp	pp	X
alkej-230	205	34	.	.	PUNCT
alkej-230	206	1	93–109	93–109	NUM
alkej-230	206	2	,	,	PUNCT
alkej-230	206	3	2002	2002	NUM
alkej-230	206	4	.	.	PUNCT
alkej-230	207	1	[	[	X
alkej-230	207	2	3	3	NUM
alkej-230	207	3	]	]	PUNCT
alkej-230	207	4	sciavicco	sciavicco	NOUN
alkej-230	207	5	,	,	PUNCT
alkej-230	207	6	l.	l.	PROPN
alkej-230	207	7	,	,	PUNCT
alkej-230	207	8	and	and	CCONJ
alkej-230	207	9	siciliano	siciliano	PROPN
alkej-230	207	10	,	,	PUNCT
alkej-230	207	11	b.	b.	PROPN
alkej-230	207	12	,	,	PUNCT
alkej-230	207	13	"	"	PUNCT
alkej-230	207	14	modeling	modeling	NOUN
alkej-230	207	15	and	and	CCONJ
alkej-230	207	16	control	control	NOUN
alkej-230	207	17	of	of	ADP
alkej-230	207	18	robot	robot	NOUN
alkej-230	207	19	manipulators	manipulator	NOUN
alkej-230	207	20	"	"	PUNCT
alkej-230	207	21	,	,	PUNCT
alkej-230	207	22	springer	springer	NOUN
alkej-230	207	23	london	london	PROPN
alkej-230	207	24	,	,	PUNCT
alkej-230	207	25	2004	2004	NUM
alkej-230	207	26	.	.	PUNCT
alkej-230	208	1	[	[	X
alkej-230	208	2	4	4	NUM
alkej-230	208	3	]	]	X
alkej-230	208	4	book	book	NOUN
alkej-230	208	5	,	,	PUNCT
alkej-230	208	6	m.o	m.o	PROPN
alkej-230	208	7	.	.	PROPN
alkej-230	208	8	tokhi	tokhi	PROPN
alkej-230	208	9	and	and	CCONJ
alkej-230	208	10	a.k.m	a.k.m	PROPN
alkej-230	208	11	.	.	PUNCT
alkej-230	208	12	azad,"flexible	azad,"flexible	ADJ
alkej-230	208	13	robot	robot	NOUN
alkej-230	208	14	manipulator	manipulator	NOUN
alkej-230	208	15	,	,	PUNCT
alkej-230	208	16	modeling	modeling	NOUN
alkej-230	208	17	,	,	PUNCT
alkej-230	208	18	simulation	simulation	NOUN
alkej-230	208	19	and	and	CCONJ
alkej-230	208	20	control	control	NOUN
alkej-230	208	21	"	"	PUNCT
alkej-230	208	22	,	,	PUNCT
alkej-230	208	23	the	the	DET
alkej-230	208	24	institution	institution	NOUN
alkej-230	208	25	of	of	ADP
alkej-230	208	26	engineering	engineering	NOUN
alkej-230	208	27	and	and	CCONJ
alkej-230	208	28	technology	technology	NOUN
alkej-230	208	29	,	,	PUNCT
alkej-230	208	30	series	series	NOUN
alkej-230	208	31	68	68	NUM
alkej-230	208	32	,	,	PUNCT
alkej-230	208	33	pp	pp	ADJ
alkej-230	208	34	.	.	PUNCT
alkej-230	208	35	19	19	NUM
alkej-230	208	36	-	-	PUNCT
alkej-230	208	37	20,2008	20,2008	NOUN
alkej-230	208	38	.	.	PUNCT
alkej-230	209	1	[	[	X
alkej-230	209	2	5	5	NUM
alkej-230	209	3	]	]	X
alkej-230	209	4	cannon	cannon	NOUN
alkej-230	209	5	r.h	r.h	PROPN
alkej-230	209	6	.	.	PROPN
alkej-230	209	7	and	and	CCONJ
alkej-230	209	8	schmitz	schmitz	PROPN
alkej-230	209	9	e.	e.	PROPN
alkej-230	209	10	,	,	PUNCT
alkej-230	209	11	"	"	PUNCT
alkej-230	209	12	initial	initial	ADJ
alkej-230	209	13	experiments	experiment	NOUN
alkej-230	209	14	on	on	ADP
alkej-230	209	15	end	end	NOUN
alkej-230	209	16	-	-	PUNCT
alkej-230	209	17	point	point	NOUN
alkej-230	209	18	control	control	NOUN
alkej-230	209	19	of	of	ADP
alkej-230	209	20	a	a	DET
alkej-230	209	21	flexible	flexible	ADJ
alkej-230	209	22	one	one	NUM
alkej-230	209	23	-	-	PUNCT
alkej-230	209	24	link	link	NOUN
alkej-230	209	25	robot	robot	NOUN
alkej-230	209	26	"	"	PUNCT
alkej-230	209	27	,	,	PUNCT
alkej-230	209	28	the	the	DET
alkej-230	209	29	international	international	ADJ
alkej-230	209	30	journal	journal	NOUN
alkej-230	209	31	of	of	ADP
alkej-230	209	32	robotics	robotic	NOUN
alkej-230	209	33	research	research	NOUN
alkej-230	209	34	vol.3	vol.3	PROPN
alkej-230	209	35	,	,	PUNCT
alkej-230	209	36	no.3	no.3	PROPN
alkej-230	209	37	,	,	PUNCT
alkej-230	209	38	pp.62–75	pp.62–75	NOUN
alkej-230	209	39	,	,	PUNCT
alkej-230	209	40	1984	1984	NUM
alkej-230	209	41	.	.	PUNCT
alkej-230	210	1	[	[	X
alkej-230	210	2	6	6	NUM
alkej-230	210	3	]	]	PUNCT
alkej-230	210	4	nagarajan	nagarajan	NOUN
alkej-230	210	5	s.	s.	PROPN
alkej-230	210	6	and	and	CCONJ
alkej-230	210	7	turcic	turcic	PROPN
alkej-230	210	8	d.a	d.a	PROPN
alkej-230	210	9	.	.	PROPN
alkej-230	210	10	,	,	PUNCT
alkej-230	210	11	"	"	PUNCT
alkej-230	210	12	lagrangian	lagrangian	ADJ
alkej-230	210	13	formulation	formulation	NOUN
alkej-230	210	14	of	of	ADP
alkej-230	210	15	the	the	DET
alkej-230	210	16	equations	equation	NOUN
alkej-230	210	17	of	of	ADP
alkej-230	210	18	motion	motion	NOUN
alkej-230	210	19	for	for	ADP
alkej-230	210	20	the	the	DET
alkej-230	210	21	elastic	elastic	ADJ
alkej-230	210	22	mechanisms	mechanism	NOUN
alkej-230	210	23	with	with	ADP
alkej-230	210	24	mutual	mutual	ADJ
alkej-230	210	25	dependencebetween	dependencebetween	VERB
alkej-230	210	26	rigid	rigid	ADJ
alkej-230	210	27	body	body	NOUN
alkej-230	210	28	and	and	CCONJ
alkej-230	210	29	elastic	elastic	ADJ
alkej-230	210	30	motions	motion	NOUN
alkej-230	210	31	"	"	PUNCT
alkej-230	210	32	,	,	PUNCT
alkej-230	210	33	part	part	NOUN
alkej-230	210	34	1	1	NUM
alkej-230	210	35	:	:	PUNCT
alkej-230	210	36	element	element	ADJ
alkej-230	210	37	level	level	NOUN
alkej-230	210	38	equations	equation	NOUN
alkej-230	210	39	,	,	PUNCT
alkej-230	210	40	rafal	rafal	PROPN
alkej-230	210	41	m.	m.	PROPN
alkej-230	210	42	khalil	khalil	PROPN
alkej-230	210	43	al	al	PROPN
alkej-230	210	44	-	-	PUNCT
alkej-230	210	45	khwarizmi	khwarizmi	PROPN
alkej-230	210	46	engineering	engineering	NOUN
alkej-230	210	47	journal	journal	PROPN
alkej-230	210	48	,	,	PUNCT
alkej-230	210	49	vol	vol	NOUN
alkej-230	210	50	.	.	PROPN
alkej-230	210	51	11	11	NUM
alkej-230	210	52	,	,	PUNCT
alkej-230	210	53	no	no	INTJ
alkej-230	210	54	.	.	NOUN
alkej-230	210	55	3	3	NUM
alkej-230	210	56	,	,	PUNCT
alkej-230	210	57	p.p	p.p	PROPN
alkej-230	210	58	.	.	NOUN
alkej-230	210	59	1119(2015	1119(2015	NUM
alkej-230	210	60	)	)	PUNCT
alkej-230	210	61	18	18	NUM
alkej-230	210	62	and	and	CCONJ
alkej-230	210	63	part	part	PROPN
alkej-230	210	64	ii	ii	PROPN
alkej-230	210	65	:	:	PUNCT
alkej-230	210	66	system	system	NOUN
alkej-230	210	67	equations	equation	NOUN
alkej-230	210	68	,	,	PUNCT
alkej-230	210	69	asme	asme	PROPN
alkej-230	210	70	journal	journal	PROPN
alkej-230	210	71	of	of	ADP
alkej-230	210	72	dynamic	dynamic	ADJ
alkej-230	210	73	systems	system	NOUN
alkej-230	210	74	,	,	PUNCT
alkej-230	210	75	measurement	measurement	NOUN
alkej-230	210	76	,	,	PUNCT
alkej-230	210	77	and	and	CCONJ
alkej-230	210	78	control	control	NOUN
alkej-230	210	79	,	,	PUNCT
alkej-230	210	80	vol.112	vol.112	NOUN
alkej-230	210	81	,	,	PUNCT
alkej-230	210	82	no	no	INTJ
alkej-230	210	83	.	.	NOUN
alkej-230	210	84	2	2	NUM
alkej-230	210	85	,	,	PUNCT
alkej-230	210	86	pp.203–214	pp.203–214	PROPN
alkej-230	210	87	,	,	PUNCT
alkej-230	210	88	and	and	CCONJ
alkej-230	210	89	pp.215–224	pp.215–224	NOUN
alkej-230	210	90	,	,	PUNCT
alkej-230	210	91	1990	1990	NUM
alkej-230	210	92	.	.	PUNCT
alkej-230	211	1	[	[	X
alkej-230	211	2	7	7	X
alkej-230	211	3	]	]	X
alkej-230	211	4	choi	choi	NOUN
alkej-230	211	5	s.b	s.b	PROPN
alkej-230	211	6	.	.	PROPN
alkej-230	211	7	,	,	PUNCT
alkej-230	211	8	thompson	thompson	PROPN
alkej-230	211	9	b.s	b.s	PROPN
alkej-230	211	10	.	.	PROPN
alkej-230	212	1	and	and	CCONJ
alkej-230	212	2	gandhi	gandhi	PROPN
alkej-230	212	3	m.v	m.v	PROPN
alkej-230	212	4	.	.	PROPN
alkej-230	212	5	,	,	PUNCT
alkej-230	212	6	"	"	PUNCT
alkej-230	212	7	modeling	modeling	NOUN
alkej-230	212	8	and	and	CCONJ
alkej-230	212	9	control	control	NOUN
alkej-230	212	10	of	of	ADP
alkej-230	212	11	a	a	DET
alkej-230	212	12	single	single	ADJ
alkej-230	212	13	-	-	PUNCT
alkej-230	212	14	link	link	NOUN
alkej-230	212	15	flexible	flexible	ADJ
alkej-230	212	16	manipulator	manipulator	NOUN
alkej-230	212	17	featuring	feature	VERB
alkej-230	212	18	a	a	DET
alkej-230	212	19	graphite	graphite	NOUN
alkej-230	212	20	–	–	PUNCT
alkej-230	212	21	epoxycomposite	epoxycomposite	ADJ
alkej-230	212	22	arm	arm	NOUN
alkej-230	212	23	"	"	PUNCT
alkej-230	212	24	,	,	PUNCT
alkej-230	212	25	proceedings	proceeding	NOUN
alkej-230	212	26	of	of	ADP
alkej-230	212	27	the	the	DET
alkej-230	212	28	ieee	ieee	NOUN
alkej-230	212	29	international	international	PROPN
alkej-230	212	30	conference	conference	NOUN
alkej-230	212	31	on	on	ADP
alkej-230	212	32	robotics	robotic	NOUN
alkej-230	212	33	and	and	CCONJ
alkej-230	212	34	automation	automation	NOUN
alkej-230	212	35	,	,	PUNCT
alkej-230	212	36	vol.2	vol.2	PROPN
alkej-230	212	37	,	,	PUNCT
alkej-230	212	38	pp.1450–1455	pp.1450–1455	PROPN
alkej-230	212	39	,	,	PUNCT
alkej-230	212	40	1990	1990	NUM
alkej-230	212	41	.	.	PUNCT
alkej-230	213	1	[	[	X
alkej-230	213	2	8	8	NUM
alkej-230	213	3	]	]	X
alkej-230	213	4	choi	choi	NOUN
alkej-230	213	5	,	,	PUNCT
alkej-230	213	6	s.b	s.b	PROPN
alkej-230	213	7	.	.	PROPN
alkej-230	213	8	,	,	PUNCT
alkej-230	213	9	gandhi	gandhi	PROPN
alkej-230	213	10	,	,	PUNCT
alkej-230	213	11	m.v	m.v	PROPN
alkej-230	213	12	.	.	PROPN
alkej-230	213	13	and	and	CCONJ
alkej-230	213	14	thompson	thompson	PROPN
alkej-230	213	15	,	,	PUNCT
alkej-230	213	16	b.	b.	PROPN
alkej-230	213	17	s.	s.	PROPN
alkej-230	213	18	,	,	PUNCT
alkej-230	213	19	"	"	PUNCT
alkej-230	213	20	an	an	DET
alkej-230	213	21	experimental	experimental	ADJ
alkej-230	213	22	investigation	investigation	NOUN
alkej-230	213	23	of	of	ADP
alkej-230	213	24	an	an	DET
alkej-230	213	25	articulating	articulating	ADJ
alkej-230	213	26	robotic	robotic	ADJ
alkej-230	213	27	manipulator	manipulator	NOUN
alkej-230	213	28	with	with	ADP
alkej-230	213	29	a	a	DET
alkej-230	213	30	graphite	graphite	NOUN
alkej-230	213	31	epoxy	epoxy	NOUN
alkej-230	213	32	arm	arm	NOUN
alkej-230	213	33	"	"	PUNCT
alkej-230	213	34	.	.	PUNCT
alkej-230	214	1	journal	journal	PROPN
alkej-230	214	2	of	of	ADP
alkej-230	214	3	robotic	robotic	ADJ
alkej-230	214	4	systems	system	NOUN
alkej-230	214	5	,	,	PUNCT
alkej-230	214	6	vol.5	vol.5	PROPN
alkej-230	214	7	,	,	PUNCT
alkej-230	214	8	pp.73–79	pp.73–79	ADV
alkej-230	214	9	,	,	PUNCT
alkej-230	214	10	1988	1988	NUM
alkej-230	214	11	.	.	PUNCT
alkej-230	215	1	[	[	X
alkej-230	215	2	9	9	NUM
alkej-230	215	3	]	]	PUNCT
alkej-230	215	4	krishnamurthy	krishnamurthy	PROPN
alkej-230	215	5	k.	k.	PROPN
alkej-230	215	6	,	,	PUNCT
alkej-230	215	7	chandrashekhara	chandrashekhara	PROPN
alkej-230	215	8	k.	k.	PROPN
alkej-230	215	9	and	and	CCONJ
alkej-230	215	10	roy	roy	PROPN
alkej-230	215	11	s.	s.	PROPN
alkej-230	215	12	,	,	PUNCT
alkej-230	215	13	"	"	PUNCT
alkej-230	215	14	a	a	DET
alkej-230	215	15	study	study	NOUN
alkej-230	215	16	of	of	ADP
alkej-230	215	17	single	single	ADJ
alkej-230	215	18	-	-	PUNCT
alkej-230	215	19	link	link	NOUN
alkej-230	215	20	robots	robot	NOUN
alkej-230	215	21	fabricated	fabricate	VERB
alkej-230	215	22	from	from	ADP
alkej-230	215	23	orthotropic	orthotropic	ADJ
alkej-230	215	24	composite	composite	ADJ
alkej-230	215	25	materials	material	NOUN
alkej-230	215	26	"	"	PUNCT
alkej-230	215	27	,	,	PUNCT
alkej-230	215	28	computers	computer	NOUN
alkej-230	215	29	and	and	CCONJ
alkej-230	215	30	structures	structure	NOUN
alkej-230	215	31	,	,	PUNCT
alkej-230	215	32	vol.136	vol.136	NOUN
alkej-230	215	33	,	,	PUNCT
alkej-230	215	34	no.1	no.1	NUM
alkej-230	215	35	,	,	PUNCT
alkej-230	215	36	pp.139–146	pp.139–146	PROPN
alkej-230	215	37	,	,	PUNCT
alkej-230	215	38	1990	1990	NUM
alkej-230	215	39	.	.	PUNCT
alkej-230	216	1	[	[	X
alkej-230	216	2	10	10	NUM
alkej-230	216	3	]	]	PUNCT
alkej-230	216	4	m.	m.	NOUN
alkej-230	216	5	o.	o.	PROPN
alkej-230	216	6	tokhi	tokhi	PROPN
alkej-230	216	7	and	and	CCONJ
alkej-230	216	8	a.	a.	PROPN
alkej-230	216	9	k.	k.	PROPN
alkej-230	216	10	m.	m.	PROPN
alkej-230	217	1	azad,”modelling	azad,”modelle	VERB
alkej-230	217	2	of	of	ADP
alkej-230	217	3	a	a	DET
alkej-230	217	4	single	single	ADJ
alkej-230	217	5	-	-	PUNCT
alkej-230	217	6	link	link	NOUN
alkej-230	217	7	flexible	flexible	ADJ
alkej-230	217	8	manipulator	manipulator	NOUN
alkej-230	217	9	system	system	NOUN
alkej-230	217	10	:	:	PUNCT
alkej-230	217	11	theoretical	theoretical	ADJ
alkej-230	217	12	and	and	CCONJ
alkej-230	217	13	practical	practical	ADJ
alkej-230	217	14	investigations	investigation	NOUN
alkej-230	217	15	”	"	PUNCT
alkej-230	217	16	,	,	PUNCT
alkej-230	217	17	robotica	robotica	PROPN
alkej-230	217	18	,	,	PUNCT
alkej-230	217	19	v.14,no.1,pp.91	v.14,no.1,pp.91	NOUN
alkej-230	217	20	-	-	NOUN
alkej-230	217	21	102,1996	102,1996	NUM
alkej-230	217	22	.	.	PUNCT
alkej-230	217	23	)	)	PUNCT
alkej-230	218	1	2015	2015	NUM
alkej-230	218	2	(	(	PUNCT
alkej-230	218	3	1119	1119	NUM
alkej-230	218	4	،	،	X
alkej-230	218	5	�	�	PROPN
alkej-230	218	6	�	�	PROPN
alkej-230	218	7	�	�	PROPN
alkej-230	218	8	�	�	PROPN
alkej-230	218	9	3	3	NUM
alkej-230	218	10	،	،	NOUN
alkej-230	218	11	ا	ا	PROPN
alkej-230	218	12	�	�	PROPN
alkej-230	218	13	�	�	PROPN
alkej-230	218	14	د11	د11	PROPN
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alkej-230	218	16	�	�	PROPN
alkej-230	218	17	�	�	PROPN
alkej-230	218	18	�	�	PROPN
alkej-230	218	19	ارز	ارز	PROPN
alkej-230	218	20	�	�	PROPN
alkej-230	218	21	ا	ا	SYM
alkej-230	218	22	�	�	PROPN
alkej-230	218	23	�	�	PROPN
alkej-230	218	24	�	�	PROPN
alkej-230	218	25	�	�	PROPN
alkej-230	218	26	�	�	PROPN
alkej-230	218	27	ا	ا	SYM
alkej-230	218	28	�	�	PROPN
alkej-230	218	29	�	�	PROPN
alkej-230	218	30	�	�	PROPN
alkej-230	218	31	�	�	PROPN
alkej-230	218	32	�	�	PROPN
alkej-230	218	33	�	�	PROPN
alkej-230	218	34	�	�	PROPN
alkej-230	218	35	�	�	PROPN
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alkej-230	218	40	�	�	PROPN
alkej-230	218	41	�	�	PROPN
alkej-230	218	42	د	د	PROPN
alkej-230	218	43	19	19	NUM
alkej-230	218	44	&	&	CCONJ
alkej-230	218	45	�	�	PROPN
alkej-230	218	46	�	�	PROPN
alkej-230	218	47	�	�	PROPN
alkej-230	218	48	%	%	NOUN
alkej-230	218	49	ا$	ا$	PROPN
alkej-230	218	50	�	�	PROPN
alkej-230	218	51	�	�	PROPN
alkej-230	218	52	اف	اف	ADP
alkej-230	218	53	ذراع	ذراع	NOUN
alkej-230	218	54	رو	رو	PROPN
alkej-230	218	55	�	�	PROPN
alkej-230	218	56	�	�	PROPN
alkej-230	218	57	ت	ت	PROPN
alkej-230	218	58	�	�	PROPN
alkej-230	218	59	�	�	PROPN
alkej-230	218	60	ن	ن	PROPN
alkej-230	218	61	ا	ا	PROPN
alkej-230	218	62	�	�	PROPN
alkej-230	218	63	�	�	PROPN
alkej-230	218	64	دي	دي	ADP
alkej-230	218	65	ا	ا	SYM
alkej-230	218	66	�	�	PROPN
alkej-230	218	67	�	�	PROPN
alkej-230	218	68	�	�	PROPN
alkej-230	218	69	�	�	PROPN
alkej-230	218	70	�	�	PROPN
alkej-230	218	71	%	%	PROPN
alkej-230	218	72	�	�	PROPN
alkej-230	218	73	�	�	PROPN
alkej-230	218	74	'	'	PART
alkej-230	218	75	داوود	داوود	NOUN
alkej-230	218	76	*	*	PROPN
alkej-230	218	77	ر)%	ر)%	PROPN
alkej-230	218	78	�	�	PROPN
alkej-230	218	79	�	�	PROPN
alkej-230	218	80	�	�	PROPN
alkej-230	218	81	)	)	PUNCT
alkej-230	218	82	�	�	PROPN
alkej-230	218	83	�	�	PROPN
alkej-230	218	84	�	�	PROPN
alkej-230	218	85	�	�	PROPN
alkej-230	218	86	*	*	PUNCT
alkej-230	218	87	*	*	PROPN
alkej-230	218	88	�	�	PROPN
alkej-230	218	89	ا	ا	SYM
alkej-230	218	90	�	�	PROPN
alkej-230	218	91	�	�	PROPN
alkej-230	218	92	�	�	PROPN
alkej-230	218	93	�	�	PROPN
alkej-230	218	94	�	�	PROPN
alkej-230	218	95	�	�	PROPN
alkej-230	218	96	ا	ا	SYM
alkej-230	218	97	�	�	PROPN
alkej-230	218	98	�	�	PROPN
alkej-230	218	99	�	�	PROPN
alkej-230	218	100	�	�	PROPN
alkej-230	218	101	�	�	PROPN
alkej-230	218	102	�	�	PROPN
alkej-230	218	103	�	�	PROPN
alkej-230	218	104	�	�	PROPN
alkej-230	218	105	�	�	PROPN
alkej-230	218	106	ا	ا	NOUN
alkej-230	218	107	�	�	PROPN
alkej-230	218	108	)'ارز$#/	)'ارز$#/	X
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alkej-230	219	1	ھ	ھ	PROPN
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alkej-230	219	4	�	�	PROPN
alkej-230	219	5	�	�	PROPN
alkej-230	219	6	اد/	اد/	ADJ
alkej-230	219	7	+	+	PROPN
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alkej-230	219	9	�	�	PROPN
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alkej-230	219	11	ا	ا	SYM
alkej-230	219	12	�	�	PROPN
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alkej-230	219	16	.	.	PUNCT
alkej-230	219	17	�	�	PROPN
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alkej-230	219	20	�	�	PROPN
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alkej-230	219	22	�	�	PROPN
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alkej-230	219	25	�	�	PROPN
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alkej-230	220	6	اد/	اد/	ADJ
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alkej-230	221	2	*	*	PUNCT
alkej-230	222	1	rafalalazzawi90@gmail.com	rafalalazzawi90@gmail.com	X
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alkej-230	222	9	�	�	PROPN
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alkej-230	222	12	9و#5	9و#5	NUM
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alkej-230	222	30	�	�	PROPN
alkej-230	222	31	�	�	PROPN
alkej-230	222	32	ذات	ذات	VERB
alkej-230	222	33	ا	ا	PROPN
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alkej-230	222	35	(	(	PUNCT
alkej-230	222	36	�	�	PROPN
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alkej-230	226	30	7و	7و	PROPN
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alkej-230	228	1	�	�	PROPN
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alkej-230	228	6	�	�	PROPN
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alkej-230	228	8	'h5	'h5	PART
alkej-230	228	9	w8;	w8;	PROPN
alkej-230	228	10	�	�	PROPN
alkej-230	228	11	.4'ل	.4'ل	PROPN
alkej-230	228	12	j	j	PROPN
alkej-230	228	13	$	$	SYM
alkej-230	228	14	0دة	0دة	NOUN
alkej-230	228	15	ا	ا	SYM
alkej-230	228	16	�	�	PROPN
alkej-230	228	17	;7:0	;7:0	X
alkej-230	228	18	�	�	PROPN
alkej-230	228	19	ا	ا	SYM
alkej-230	228	20	�	�	PROPN
alkej-230	228	21	pراع$	pراع$	X
alkej-230	228	22	�	�	PROPN
alkej-230	228	23	7	7	NUM
alkej-230	228	24	٠.٠٠٤	٠.٠٠٤	NUM
alkej-230	228	25	^$	^$	ADJ
alkej-230	228	26	�	�	PROPN
alkej-230	228	27	7	7	NUM
alkej-230	228	28	و	و	PROPN
alkej-230	228	29	�	�	PROPN
alkej-230	228	30	�	�	PROPN
alkej-230	228	31	7d٠.٠٢ض	7d٠.٠٢ض	PROPN
alkej-230	228	32	،	،	NOUN
alkej-230	228	33	7	7	NUM
alkej-230	228	34	�	�	SYM
alkej-230	228	35	$	$	SYM
alkej-230	228	36	٠.٥:5(0	٠.٥:5(0	NUM
alkej-230	228	37	#	#	SYM
alkej-230	228	38	>	>	X
alkej-230	228	39	a	a	DET
alkej-230	228	40	�	�	PROPN
alkej-230	228	41	;?$	;?$	SYM
alkej-230	228	42	�	�	PROPN
alkej-230	228	43	�	�	PROPN
alkej-230	228	44	`	`	PUNCT
alkej-230	228	45	a:'50	a:'50	PROPN
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alkej-230	228	47	$	$	SYM
alkej-230	228	48	�	�	PROPN
alkej-230	228	49	و1'د	و1'د	NUM
alkej-230	228	50	+	+	NOUN
alkej-230	228	51	�	�	PROPN
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alkej-230	228	53	�	�	PROPN
alkej-230	228	54	a5ا	a5ا	PROPN
alkej-230	228	55	�	�	PROPN
alkej-230	228	56	�	�	PROPN
alkej-230	228	57	ا	ا	SYM
alkej-230	228	58	�	�	PROPN
alkej-230	228	59	72	72	NUM
alkej-230	228	60	+	+	PROPN
alkej-230	228	61	�	�	PROPN
alkej-230	228	62	ا	ا	SYM
alkej-230	228	63	�	�	PROPN
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alkej-230	228	65	'	'	PUNCT
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alkej-230	228	67	:	:	PUNCT
alkej-230	228	68	ھ#ھ	ھ#ھ	NUM
alkej-230	228	69	�	�	NOUN
alkej-230	228	70	0ك	0ك	NOUN
alkej-230	228	71	ار./$'a	ار./$'a	NOUN
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alkej-230	228	74	a	a	PRON
alkej-230	228	75	و	و	X
alkej-230	228	76	�	�	PROPN
alkej-230	228	77	$	$	SYM
alkej-230	228	78	'	'	NUM
alkej-230	228	79	a	a	DET
alkej-230	228	80	�	�	NOUN
alkej-230	228	81	$	$	SYM
alkej-230	228	82	�	�	NOUN
alkej-230	228	83	و	و	PRON
alkej-230	228	84	ا	ا	PROPN
alkej-230	228	85	�	�	PROPN
alkej-230	228	86	?a:'50	?a:'50	PROPN
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alkej-230	228	88	�	�	PROPN
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alkej-230	228	90	�	�	PROPN
alkej-230	228	91	74ة$'a	74ة$'a	NOUN
alkej-230	228	92	�	�	PROPN
alkej-230	228	93	$	$	NUM
alkej-230	228	94	:	:	PUNCT
alkej-230	228	95	'	'	PUNCT
alkej-230	228	96	50?ا	50?ا	NOUN
alkej-230	228	97	�	�	PROPN
alkej-230	228	98	ak$ا	ak$ا	PROPN
alkej-230	228	99	�	�	PROPN
alkej-230	228	100	�	�	PROPN
alkej-230	228	101	8;	8;	NUM
alkej-230	228	102	�	�	PROPN
alkej-230	228	103	'	'	PART
alkej-230	228	104	�	�	PROPN
alkej-230	228	105	7	7	NUM
alkej-230	228	106	و.7ا	و.7ا	X
alkej-230	228	107	�	�	NOUN
alkej-230	228	108	�	�	PROPN
alkej-230	228	109	:	:	PUNCT
alkej-230	228	110	7ان	7ان	NOUN
alkej-230	228	111	$	$	ADP
alkej-230	228	112	;	;	PUNCT
alkej-230	228	113	�	�	PROPN
alkej-230	228	114	أ	أ	PART
alkej-230	228	115	�	�	PROPN
alkej-230	228	116	d@	d@	PROPN
alkej-230	228	117	ذراع	ذراع	PROPN
alkej-230	228	118	ا	ا	PROPN
alkej-230	228	119	�	�	PROPN
alkej-230	228	120	7و	7و	NUM
alkej-230	228	121	.	.	PUNCT
alkej-230	228	122	'ت	'ت	PART
alkej-230	229	1	ا	ا	X
alkej-230	229	2	�	�	PROPN
alkej-230	229	3	�	�	NOUN
alkej-230	229	4	�	�	NOUN
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alkej-230	229	8	�	�	PROPN
alkej-230	229	9	�	�	NOUN
alkej-230	229	10	7ن	7ن	NOUN
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alkej-230	229	12	'	'	PUNCT
alkej-230	229	13	�	�	PROPN
alkej-230	229	14	�	�	PROPN
alkej-230	229	15	و	و	NOUN
alkej-230	229	16	.	.	PUNCT
alkej-230	230	1	d0h	d0h	PROPN
alkej-230	230	2	*	*	PUNCT
alkej-230	230	3	�	�	PROPN
alkej-230	230	4	'	'	NUM
alkej-230	230	5	>	>	PROPN
alkej-230	230	6	7	7	NUM
alkej-230	230	7	�	�	PROPN
alkej-230	230	8	!و:7	!و:7	PROPN
alkej-230	230	9	ة$72ك	ة$72ك	PROPN
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alkej-230	230	11	�	�	PROPN
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alkej-230	230	13	وھ	وھ	NOUN
alkej-230	230	14	'	'	PUNCT
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alkej-230	230	16	h'م	h'م	INTJ
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alkej-230	230	18	�	�	PROPN
alkej-230	230	19	�	�	PROPN
alkej-230	230	20	d0hو1'د	d0hو1'د	PROPN
alkej-230	230	21	ةا	ةا	PROPN
alkej-230	230	22	�	�	PROPN
alkej-230	230	23	�	�	PROPN
alkej-230	230	24	�	�	PROPN
alkej-230	230	25	dم	dم	PROPN
alkej-230	230	26	و1'د	و1'د	PRON
alkej-230	230	27	وزن	وزن	ADJ
alkej-230	230	28	<	<	NOUN
alkej-230	230	29	#	#	NOUN
alkej-230	230	30	ا	ا	NUM
alkej-230	230	31	�	�	PROPN
alkej-230	230	32	74ف	74ف	NOUN
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alkej-230	230	34	�	�	PROPN
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alkej-230	230	39	90تv	90تv	NOUN
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alkej-230	231	4	>	>	X
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alkej-230	232	3	راع	راع	NOUN
alkej-230	232	4	وpي	وpي	ADJ
alkej-230	232	5	:	:	PUNCT
alkej-230	232	6	�	�	NOUN
alkej-230	232	7	2@	2@	NUM
alkej-230	232	8	<	<	X
alkej-230	232	9	#	#	X
alkej-230	232	10	ط7ف	ط7ف	ADJ
alkej-230	232	11	ا	ا	X
alkej-230	232	12	�	�	PROPN
alkej-230	232	13	pا7259اف	pا7259اف	PROPN
alkej-230	232	14	ا	ا	SYM
alkej-230	232	15	�	�	PROPN
alkej-230	232	16	w	w	PROPN
alkej-230	232	17	�	�	PROPN
alkej-230	232	18	h5راع	h5راع	PROPN
alkej-230	232	19	ا	ا	SYM
alkej-230	232	20	�	�	PROPN
alkej-230	232	21	�	�	NOUN
alkej-230	232	22	7ن	7ن	PROPN
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alkej-230	232	25	�	�	PROPN
alkej-230	232	26	�	�	PROPN
alkej-230	232	27	0	0	NUM
alkej-230	232	28	�	�	PROPN
alkej-230	232	29	$	$	SYM
alkej-230	232	30	j	j	PROPN
alkej-230	232	31	ھpه	ھpه	PROPN
alkej-230	232	32	ا	ا	PROPN
alkej-230	232	33	�	�	PROPN
alkej-230	232	34	902ت	902ت	PROPN
alkej-230	232	35	h5'م	h5'م	X
alkej-230	232	36	.	.	PUNCT
alkej-230	233	1	�	�	PROPN
alkej-230	233	2	72:^	72:^	PRON
alkej-230	233	3	$	$	SYM
alkej-230	233	4	72ك	72ك	NUM
alkej-230	233	5	ا	ا	PRON
alkej-230	233	6	�	�	PROPN
alkej-230	233	7	٥٩.٥و	٥٩.٥و	NOUN
alkej-230	233	8	٢٧.٤v	٢٧.٤v	ADV
alkej-230	233	9	@+	@+	PRON
alkej-230	233	10	�	�	NOUN
alkej-230	233	11	�	�	PROPN
alkej-230	233	12	dراع	dراع	NOUN
alkej-230	233	13	ا	ا	PROPN
alkej-230	233	14	�	�	PROPN
alkej-230	233	15	�	�	NOUN
alkej-230	233	16	7ن	7ن	PROPN
alkej-230	233	17	وp7ام	وp7ام	NOUN
alkej-230	233	18	<	<	X
alkej-230	233	19	#	#	X
alkej-230	233	20	ط7ف	ط7ف	ADJ
alkej-230	233	21	ا	ا	X
alkej-230	233	22	�	�	PROPN
alkej-230	233	23	jd7	jd7	PROPN
alkej-230	233	24	�	�	PROPN
alkej-230	233	25	�	�	PROPN
alkej-230	233	26	�	�	PROPN
alkej-230	233	27	d	d	PROPN
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alkej-230	233	29	�	�	PROPN
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alkej-230	233	32	�	�	PROPN
alkej-230	233	33	'	'	NUM
alkej-230	233	34	>	>	PROPN
alkej-230	233	35	7	7	NUM
alkej-230	233	36	�	�	PROPN
alkej-230	233	37	!	!	SYM
alkej-230	233	38	�	�	PROPN
alkej-230	233	39	�	�	PROPN
alkej-230	233	40	ار	ار	PROPN
alkej-230	233	41	�	�	PROPN
alkej-230	233	42	دورا	دورا	PROPN
alkej-230	233	43	�	�	PROPN
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alkej-230	233	45	h	h	PROPN
alkej-230	233	46	�	�	PROPN
alkej-230	233	47	.٩٠	.٩٠	PROPN
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alkej-230	233	52	�	�	NOUN
alkej-230	233	53	�	�	PROPN
alkej-230	233	54	ام	ام	NOUN
alkej-230	233	55	.04	.04	NUM
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alkej-230	233	57	�	�	PROPN
alkej-230	233	58	�	�	PROPN
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alkej-230	234	1	�	�	PROPN
alkej-230	234	2	72	72	NUM
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alkej-230	234	6	�	�	PROPN
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alkej-230	234	17	�	�	PROPN
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alkej-230	234	19	�	�	PROPN
alkej-230	234	20	)	)	PUNCT
alkej-230	234	21	k*d	k*d	PROPN
alkej-230	234	22	@	@	ADP
alkej-230	234	23	�	�	PROPN
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alkej-230	234	25	�	�	PROPN
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alkej-230	234	27	atmega640	atmega640	PROPN
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alkej-230	234	29	�	�	PROPN
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alkej-230	234	32	�	�	PROPN
alkej-230	234	33	82	82	NUM
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alkej-230	234	35	�	�	NOUN
alkej-230	234	36	�	�	NOUN
alkej-230	234	37	#	#	NOUN
alkej-230	234	38	اv	اv	ADP
alkej-230	234	39	@+	@+	NOUN
alkej-230	234	40	�	�	PROPN
alkej-230	234	41	�	�	PROPN
alkej-230	234	42	d	d	NOUN
alkej-230	234	43	راعpا7259اف	راعpا7259اف	PROPN
alkej-230	234	44	<	<	X
alkej-230	234	45	#	#	X
alkej-230	234	46	ط7ف	ط7ف	PROPN
alkej-230	234	47	ا	ا	X
alkej-230	234	48	�	�	PROPN
alkej-230	234	49	w	w	PROPN
alkej-230	234	50	�	�	PROPN
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alkej-230	234	52	4	4	NUM
alkej-230	234	53	�	�	PROPN
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alkej-230	234	55	�	�	PROPN
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alkej-230	235	3	�	�	PROPN
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alkej-230	235	6	j	j	PROPN
alkej-230	235	7	ھpه	ھpه	PROPN
alkej-230	235	8	ا	ا	PROPN
alkej-230	235	9	�	�	PROPN
alkej-230	235	10	902ت	902ت	PROPN
alkej-230	235	11	�	�	PROPN
alkej-230	235	12	�	�	PROPN
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alkej-230	235	16	�	�	PROPN
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alkej-230	235	18	�	�	PROPN
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alkej-230	235	31	�	�	PROPN
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alkej-230	235	33	ارد	ارد	PROPN
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alkej-230	235	36	�	�	NOUN
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alkej-230	235	43	�	�	PROPN
alkej-230	235	44	�	�	PROPN
alkej-230	235	45	0ت	0ت	PROPN
alkej-230	235	46	�	�	PROPN
alkej-230	235	47	�	�	PROPN
alkej-230	235	48	k.	k.	PROPN
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alkej-230	235	50	`	`	PUNCT
alkej-230	235	51	k*d	k*d	PROPN
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alkej-230	235	53	�	�	NOUN
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alkej-230	235	56	بe	بe	X
alkej-230	235	57	�	�	PROPN
alkej-230	235	58	0	0	NUM
alkej-230	235	59	�	�	PROPN
alkej-230	235	60	�	�	PROPN
alkej-230	235	61	0	0	NUM
alkej-230	235	62	.	.	PUNCT
alkej-230	236	1	m$057	m$057	PROPN
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alkej-230	237	1	0ء	0ء	PROPN
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alkej-230	238	1	j$	j$	PROPN
alkej-230	238	2	0)	0)	PROPN
alkej-230	238	3	�	�	PROPN
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alkej-230	238	6	�	�	PROPN
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alkej-230	238	8	�	�	PROPN
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alkej-230	238	11	ا	ا	NUM
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alkej-230	238	13	�	�	PROPN
alkej-230	238	14	�	�	PROPN
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alkej-230	238	16	7aا	7aا	ADJ
alkej-230	238	17	�	�	PROPN
alkej-230	238	18	�	�	PROPN
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alkej-230	238	21	�	�	PROPN
alkej-230	238	22	�	�	PROPN
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alkej-230	238	24	�	�	PROPN
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alkej-230	239	1	a50رhب	a50رhب	PROPN
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