id	sid	tid	token	lemma	pos
alkej-330	1	1	microsoft	microsoft	PROPN
alkej-330	1	2	word	word	NOUN
alkej-330	1	3	13	13	NUM
alkej-330	1	4	-	-	SYM
alkej-330	1	5	25\343\315\323\344	25\343\315\323\344	NUM
alkej-330	1	6	\314\310\321	\314\310\321	PROPN
alkej-330	1	7	\346\315\323\355\344	\346\315\323\355\344	PROPN
alkej-330	1	8	)	)	PUNCT
alkej-330	1	9	al	al	PROPN
alkej-330	1	10	-	-	PUNCT
alkej-330	1	11	khwarizmi	khwarizmi	PROPN
alkej-330	1	12	engineering	engineering	NOUN
alkej-330	1	13	journal	journal	PROPN
alkej-330	1	14	,	,	PUNCT
alkej-330	1	15	vol	vol	NOUN
alkej-330	1	16	.	.	PROPN
alkej-330	1	17	13	13	NUM
alkej-330	1	18	,	,	PUNCT
alkej-330	1	19	no	no	INTJ
alkej-330	1	20	.	.	NOUN
alkej-330	1	21	1	1	NUM
alkej-330	1	22	,	,	PUNCT
alkej-330	1	23	p.p	p.p	NOUN
alkej-330	1	24	.	.	NOUN
alkej-330	1	25	1	1	NUM
alkej-330	1	26	solving	solve	VERB
alkej-330	1	27	the	the	DET
alkej-330	1	28	inverse	inverse	NOUN
alkej-330	1	29	kinematic	kinematic	NOUN
alkej-330	1	30	equations	equation	NOUN
alkej-330	1	31	of	of	ADP
alkej-330	1	32	elastic	elastic	ADJ
alkej-330	1	33	robot	robot	NOUN
alkej-330	1	34	arm	arm	NOUN
alkej-330	1	35	utilizing	utilize	VERB
alkej-330	1	36	hussein	hussein	PROPN
alkej-330	1	37	m.	m.	NOUN
alkej-330	1	38	al*department	al*department	ADJ
alkej-330	1	39	of	of	ADP
alkej-330	1	40	mechanical	mechanical	ADJ
alkej-330	1	41	*	*	PROPN
alkej-330	1	42	*	*	NOUN
alkej-330	1	43	college	college	NOUN
alkej-330	1	44	of	of	ADP
alkej-330	1	45	engineer	engineer	NOUN
alkej-330	1	46	*	*	NOUN
alkej-330	1	47	email	email	NOUN
alkej-330	1	48	:	:	PUNCT
alkej-330	1	49	*	*	PUNCT
alkej-330	1	50	*	*	NOUN
alkej-330	1	51	email	email	NOUN
alkej-330	1	52	:	:	PUNCT
alkej-330	1	53	(	(	PUNCT
alkej-330	1	54	received	receive	VERB
alkej-330	1	55	15	15	NUM
alkej-330	1	56	https://doi.org/10.22153/kej	https://doi.org/10.22153/kej	NOUN
alkej-330	1	57	abstract	abstract	ADJ
alkej-330	1	58	the	the	DET
alkej-330	1	59	inverse	inverse	NOUN
alkej-330	1	60	kinematic	kinematic	NOUN
alkej-330	1	61	equation	equation	NOUN
alkej-330	1	62	for	for	ADP
alkej-330	1	63	a	a	DET
alkej-330	1	64	robot	robot	NOUN
alkej-330	1	65	is	be	AUX
alkej-330	1	66	very	very	ADV
alkej-330	1	67	important	important	ADJ
alkej-330	1	68	to	to	ADP
alkej-330	1	69	of	of	ADP
alkej-330	1	70	this	this	DET
alkej-330	1	71	equation	equation	NOUN
alkej-330	1	72	is	be	AUX
alkej-330	1	73	complex	complex	ADJ
alkej-330	1	74	for	for	ADP
alkej-330	1	75	the	the	DET
alkej-330	1	76	rigid	rigid	ADJ
alkej-330	1	77	robot	robot	NOUN
alkej-330	1	78	due	due	ADP
alkej-330	1	79	to	to	ADP
alkej-330	1	80	structure	structure	NOUN
alkej-330	1	81	of	of	ADP
alkej-330	1	82	robot	robot	NOUN
alkej-330	1	83	link	link	PROPN
alkej-330	1	84	.	.	PUNCT
alkej-330	2	1	in	in	ADP
alkej-330	2	2	light	light	ADJ
alkej-330	2	3	robot	robot	NOUN
alkej-330	2	4	arms	arm	NOUN
alkej-330	2	5	,	,	PUNCT
alkej-330	2	6	than	than	ADP
alkej-330	2	7	the	the	DET
alkej-330	2	8	rigid	rigid	ADJ
alkej-330	2	9	link	link	NOUN
alkej-330	2	10	robot	robot	NOUN
alkej-330	2	11	because	because	SCONJ
alkej-330	2	12	the	the	DET
alkej-330	2	13	deformation	deformation	NOUN
alkej-330	2	14	variables	variable	NOUN
alkej-330	2	15	(	(	PUNCT
alkej-330	2	16	elongation	elongation	NOUN
alkej-330	2	17	and	and	CCONJ
alkej-330	2	18	bending	bending	NOUN
alkej-330	2	19	)	)	PUNCT
alkej-330	2	20	kinematic	kinematic	ADJ
alkej-330	2	21	equation	equation	NOUN
alkej-330	2	22	.	.	PUNCT
alkej-330	3	1	the	the	DET
alkej-330	3	2	finding	finding	NOUN
alkej-330	3	3	of	of	ADP
alkej-330	3	4	an	an	DET
alkej-330	3	5	inverse	inverse	NOUN
alkej-330	3	6	kinematic	kinematic	NOUN
alkej-330	3	7	equation	equation	NOUN
alkej-330	3	8	and	and	CCONJ
alkej-330	3	9	both	both	PRON
alkej-330	3	10	of	of	ADP
alkej-330	3	11	the	the	DET
alkej-330	3	12	end	end	NOUN
alkej-330	3	13	-	-	PUNCT
alkej-330	3	14	effector	effector	NOUN
alkej-330	3	15	position	position	NOUN
alkej-330	3	16	and	and	CCONJ
alkej-330	3	17	deformations	deformation	NOUN
alkej-330	3	18	variables	variable	NOUN
alkej-330	3	19	.	.	PUNCT
alkej-330	4	1	in	in	ADP
alkej-330	4	2	this	this	DET
alkej-330	4	3	work	work	NOUN
alkej-330	4	4	,	,	PUNCT
alkej-330	4	5	a	a	DET
alkej-330	4	6	neural	neural	ADJ
alkej-330	4	7	network	network	NOUN
alkej-330	4	8	solve	solve	VERB
alkej-330	4	9	the	the	DET
alkej-330	4	10	problem	problem	NOUN
alkej-330	4	11	of	of	ADP
alkej-330	4	12	inverse	inverse	ADJ
alkej-330	4	13	kinematic	kinematic	NOUN
alkej-330	4	14	equation	equation	NOUN
alkej-330	4	15	.	.	PUNCT
alkej-330	5	1	to	to	PART
alkej-330	5	2	feed	feed	VERB
alkej-330	5	3	the	the	DET
alkej-330	5	4	neural	neural	ADJ
alkej-330	5	5	network	network	NOUN
alkej-330	5	6	,	,	PUNCT
alkej-330	5	7	experimental	experimental	ADJ
alkej-330	5	8	data	datum	NOUN
alkej-330	5	9	were	be	AUX
alkej-330	5	10	taken	take	VERB
alkej-330	5	11	from	from	ADP
alkej-330	5	12	an	an	DET
alkej-330	5	13	elastic	elastic	ADJ
alkej-330	5	14	robot	robot	NOUN
alkej-330	5	15	arm	arm	NOUN
alkej-330	5	16	for	for	ADP
alkej-330	5	17	training	train	VERB
alkej-330	5	18	the	the	DET
alkej-330	5	19	network	network	NOUN
alkej-330	5	20	,	,	PUNCT
alkej-330	5	21	these	these	DET
alkej-330	5	22	data	datum	NOUN
alkej-330	5	23	presented	present	VERB
alkej-330	5	24	by	by	ADP
alkej-330	5	25	joint	joint	ADJ
alkej-330	5	26	angles	angle	NOUN
alkej-330	5	27	,	,	PUNCT
alkej-330	5	28	deformation	deformation	NOUN
alkej-330	5	29	variables	variable	NOUN
alkej-330	5	30	and	and	CCONJ
alkej-330	5	31	end	end	VERB
alkej-330	5	32	positions	position	NOUN
alkej-330	5	33	.	.	PUNCT
alkej-330	6	1	the	the	DET
alkej-330	6	2	results	result	NOUN
alkej-330	6	3	of	of	ADP
alkej-330	6	4	network	network	NOUN
alkej-330	6	5	training	training	NOUN
alkej-330	6	6	showed	show	VERB
alkej-330	6	7	a	a	DET
alkej-330	6	8	good	good	ADJ
alkej-330	6	9	fit	fit	ADJ
alkej-330	6	10	targets	target	NOUN
alkej-330	6	11	data	datum	NOUN
alkej-330	6	12	.	.	PUNCT
alkej-330	7	1	in	in	ADP
alkej-330	7	2	addition	addition	NOUN
alkej-330	7	3	,	,	PUNCT
alkej-330	7	4	this	this	DET
alkej-330	7	5	method	method	NOUN
alkej-330	7	6	for	for	ADP
alkej-330	7	7	finding	find	VERB
alkej-330	7	8	the	the	DET
alkej-330	7	9	inverse	inverse	NOUN
alkej-330	7	10	of	of	ADP
alkej-330	7	11	kinematic	kinematic	ADJ
alkej-330	7	12	equation	equation	NOUN
alkej-330	7	13	proved	prove	VERB
alkej-330	7	14	its	its	PRON
alkej-330	7	15	effectiveness	effectiveness	NOUN
alkej-330	7	16	and	and	CCONJ
alkej-330	7	17	validation	validation	NOUN
alkej-330	7	18	when	when	SCONJ
alkej-330	7	19	applying	apply	VERB
alkej-330	7	20	the	the	DET
alkej-330	7	21	results	result	NOUN
alkej-330	7	22	of	of	ADP
alkej-330	7	23	neural	neural	ADJ
alkej-330	7	24	network	network	NOUN
alkej-330	7	25	real	real	ADJ
alkej-330	7	26	light	light	PROPN
alkej-330	7	27	robot	robot	NOUN
alkej-330	7	28	’s	’s	PART
alkej-330	7	29	position	position	NOUN
alkej-330	7	30	.	.	PUNCT
alkej-330	8	1	keywords	keyword	NOUN
alkej-330	8	2	:	:	PUNCT
alkej-330	8	3	elastic	elastic	ADJ
alkej-330	8	4	robot	robot	NOUN
alkej-330	8	5	,	,	PUNCT
alkej-330	8	6	forward	forward	ADV
alkej-330	8	7	and	and	CCONJ
alkej-330	8	8	inverse	inverse	NOUN
alkej-330	8	9	kinematic	kinematic	ADJ
alkej-330	8	10	equation	equation	NOUN
alkej-330	8	11	of	of	ADP
alkej-330	8	12	elastic	elastic	ADJ
alkej-330	8	13	robot	robot	NOUN
alkej-330	8	14	.	.	PUNCT
alkej-330	9	1	neural	neural	ADJ
alkej-330	9	2	networks	network	NOUN
alkej-330	9	3	.	.	PUNCT
alkej-330	10	1	1	1	X
alkej-330	10	2	.	.	X
alkej-330	10	3	introduction	introduction	NOUN
alkej-330	10	4	the	the	DET
alkej-330	10	5	forward	forward	ADV
alkej-330	10	6	kinematic	kinematic	ADJ
alkej-330	10	7	equation	equation	NOUN
alkej-330	10	8	is	be	AUX
alkej-330	10	9	a	a	DET
alkej-330	10	10	functional	functional	ADJ
alkej-330	10	11	relationship	relationship	NOUN
alkej-330	10	12	between	between	ADP
alkej-330	10	13	the	the	DET
alkej-330	10	14	generalized	generalized	ADJ
alkej-330	10	15	parameters	parameter	NOUN
alkej-330	10	16	(	(	PUNCT
alkej-330	10	17	joint	joint	ADJ
alkej-330	10	18	displacements	displacement	NOUN
alkej-330	10	19	)	)	PUNCT
alkej-330	10	20	and	and	CCONJ
alkej-330	10	21	the	the	DET
alkej-330	10	22	end	end	NOUN
alkej-330	10	23	positions	position	NOUN
alkej-330	10	24	.	.	PUNCT
alkej-330	11	1	by	by	ADP
alkej-330	11	2	substituting	substitute	VERB
alkej-330	11	3	a	a	DET
alkej-330	11	4	set	set	NOUN
alkej-330	11	5	of	of	ADP
alkej-330	11	6	values	value	NOUN
alkej-330	11	7	of	of	ADP
alkej-330	11	8	generalized	generalized	ADJ
alkej-330	11	9	parameters	parameter	NOUN
alkej-330	11	10	into	into	ADP
alkej-330	11	11	the	the	DET
alkej-330	11	12	forward	forward	ADJ
alkej-330	11	13	kinematic	kinematic	ADJ
alkej-330	11	14	equation	equation	NOUN
alkej-330	11	15	,	,	PUNCT
alkej-330	11	16	the	the	DET
alkej-330	11	17	considering	considering	NOUN
alkej-330	11	18	ends	end	NOUN
alkej-330	11	19	–	–	PUNCT
alkej-330	11	20	effector	effector	NOUN
alkej-330	11	21	can	can	AUX
alkej-330	11	22	be	be	AUX
alkej-330	11	23	obtained	obtain	VERB
alkej-330	11	24	.	.	PUNCT
alkej-330	12	1	the	the	DET
alkej-330	12	2	problem	problem	NOUN
alkej-330	12	3	of	of	ADP
alkej-330	12	4	finding	find	VERB
alkej-330	12	5	the	the	DET
alkej-330	12	6	end	end	NOUN
alkej-330	12	7	position	position	NOUN
alkej-330	12	8	for	for	ADP
alkej-330	12	9	a	a	DET
alkej-330	12	10	given	give	VERB
alkej-330	12	11	set	set	NOUN
alkej-330	12	12	of	of	ADP
alkej-330	12	13	generalized	generalized	ADJ
alkej-330	12	14	parameters	parameter	NOUN
alkej-330	12	15	is	be	AUX
alkej-330	12	16	called	call	VERB
alkej-330	12	17	the	the	DET
alkej-330	12	18	direct	direct	ADJ
alkej-330	12	19	kinematic	kinematic	PROPN
alkej-330	12	20	problem	problem	NOUN
alkej-330	12	21	robot	robot	NOUN
alkej-330	12	22	’s	’s	PART
alkej-330	12	23	end	end	NOUN
alkej-330	12	24	-	-	PUNCT
alkej-330	12	25	effector	effector	NOUN
alkej-330	12	26	positioning	positioning	NOUN
alkej-330	12	27	and	and	CCONJ
alkej-330	12	28	control	control	NOUN
alkej-330	12	29	,	,	PUNCT
alkej-330	12	30	it	it	PRON
alkej-330	12	31	i	i	PRON
alkej-330	12	32	required	require	VERB
alkej-330	12	33	to	to	PART
alkej-330	12	34	find	find	VERB
alkej-330	12	35	the	the	DET
alkej-330	12	36	generalized	generalized	ADJ
alkej-330	12	37	parameters	parameter	NOUN
alkej-330	12	38	that	that	PRON
alkej-330	12	39	lead	lead	VERB
alkej-330	12	40	the	the	DET
alkej-330	12	41	end	end	NOUN
alkej-330	12	42	–	–	PUNCT
alkej-330	12	43	effector	effector	NOUN
alkej-330	12	44	to	to	ADP
alkej-330	12	45	the	the	DET
alkej-330	12	46	specified	specified	ADJ
alkej-330	12	47	position	position	NOUN
alkej-330	12	48	and	and	CCONJ
alkej-330	12	49	orientation	orientation	NOUN
alkej-330	12	50	.	.	PUNCT
alkej-330	13	1	this	this	PRON
alkej-330	13	2	is	be	AUX
alkej-330	13	3	done	do	VERB
alkej-330	13	4	by	by	ADP
alkej-330	13	5	finding	find	VERB
alkej-330	13	6	the	the	DET
alkej-330	13	7	inverse	inverse	NOUN
alkej-330	13	8	of	of	ADP
alkej-330	13	9	the	the	DET
alkej-330	13	10	forward	forward	ADV
alkej-330	13	11	kinematic	kinematic	ADJ
alkej-330	13	12	equation	equation	NOUN
alkej-330	13	13	(	(	PUNCT
alkej-330	13	14	inverse	inverse	PROPN
alkej-330	13	15	khwarizmi	khwarizmi	PROPN
alkej-330	13	16	engineering	engineering	PROPN
alkej-330	13	17	journal	journal	PROPN
alkej-330	13	18	,	,	PUNCT
alkej-330	13	19	vol	vol	NOUN
alkej-330	13	20	.	.	PROPN
alkej-330	13	21	13	13	NUM
alkej-330	13	22	,	,	PUNCT
alkej-330	13	23	no	no	INTJ
alkej-330	13	24	.	.	NOUN
alkej-330	13	25	1	1	NUM
alkej-330	13	26	,	,	PUNCT
alkej-330	13	27	p.p	p.p	PROPN
alkej-330	13	28	.	.	PROPN
alkej-330	13	29	1325	1325	NUM
alkej-330	13	30	(	(	PUNCT
alkej-330	13	31	2017	2017	NUM
alkej-330	13	32	)	)	PUNCT
alkej-330	13	33	solving	solve	VERB
alkej-330	13	34	the	the	DET
alkej-330	13	35	inverse	inverse	NOUN
alkej-330	13	36	kinematic	kinematic	NOUN
alkej-330	13	37	equations	equation	NOUN
alkej-330	13	38	of	of	ADP
alkej-330	13	39	elastic	elastic	ADJ
alkej-330	13	40	robot	robot	NOUN
alkej-330	13	41	arm	arm	NOUN
alkej-330	13	42	utilizing	utilize	VERB
alkej-330	13	43	neural	neural	ADJ
alkej-330	13	44	network	network	NOUN
alkej-330	13	45	-khafaji	-khafaji	PROPN
alkej-330	13	46	*	*	PROPN
alkej-330	13	47	muhsin	muhsin	PROPN
alkej-330	13	48	j.	j.	PROPN
alkej-330	13	49	jweeg	jweeg	PROPN
alkej-330	13	50	*	*	PROPN
alkej-330	13	51	*	*	PROPN
alkej-330	13	52	mechanical	mechanical	ADJ
alkej-330	13	53	engineering	engineering	NOUN
alkej-330	13	54	/	/	SYM
alkej-330	13	55	university	university	NOUN
alkej-330	13	56	of	of	ADP
alkej-330	13	57	technology	technology	NOUN
alkej-330	13	58	*	*	PUNCT
alkej-330	13	59	*	*	PUNCT
alkej-330	13	60	college	college	NOUN
alkej-330	13	61	of	of	ADP
alkej-330	13	62	engineering/	engineering/	NUM
alkej-330	13	63	alnahrain	alnahrain	NOUN
alkej-330	13	64	university	university	NOUN
alkej-330	13	65	*	*	NOUN
alkej-330	13	66	email	email	NOUN
alkej-330	13	67	:	:	PUNCT
alkej-330	14	1	hussalkhafaji@gamil.com	hussalkhafaji@gamil.com	X
alkej-330	14	2	*	*	PUNCT
alkej-330	14	3	*	*	NOUN
alkej-330	14	4	email	email	NOUN
alkej-330	14	5	:	:	PUNCT
alkej-330	14	6	muhsinnah_eng@nahrainuniv.edu.iq	muhsinnah_eng@nahrainuniv.edu.iq	NOUN
alkej-330	14	7	15	15	NUM
alkej-330	14	8	march	march	NOUN
alkej-330	14	9	2016	2016	NUM
alkej-330	14	10	;	;	PUNCT
alkej-330	14	11	accepted	accept	VERB
alkej-330	14	12	14	14	NUM
alkej-330	14	13	november	november	PROPN
alkej-330	14	14	2016	2016	NUM
alkej-330	14	15	)	)	PUNCT
alkej-330	14	16	https://doi.org/10.22153/kej.2017.11.002	https://doi.org/10.22153/kej.2017.11.002	NOUN
alkej-330	14	17	robot	robot	NOUN
alkej-330	14	18	is	be	AUX
alkej-330	14	19	very	very	ADV
alkej-330	14	20	important	important	ADJ
alkej-330	14	21	to	to	ADP
alkej-330	14	22	the	the	DET
alkej-330	14	23	control	control	NOUN
alkej-330	14	24	robot	robot	NOUN
alkej-330	14	25	’s	’s	PART
alkej-330	14	26	motion	motion	NOUN
alkej-330	14	27	and	and	CCONJ
alkej-330	14	28	position	position	NOUN
alkej-330	14	29	.	.	PUNCT
alkej-330	15	1	the	the	DET
alkej-330	15	2	solving	solving	NOUN
alkej-330	15	3	of	of	ADP
alkej-330	15	4	this	this	DET
alkej-330	15	5	equation	equation	NOUN
alkej-330	15	6	is	be	AUX
alkej-330	15	7	complex	complex	ADJ
alkej-330	15	8	for	for	ADP
alkej-330	15	9	the	the	DET
alkej-330	15	10	rigid	rigid	ADJ
alkej-330	15	11	robot	robot	NOUN
alkej-330	15	12	due	due	ADP
alkej-330	15	13	to	to	ADP
alkej-330	15	14	the	the	DET
alkej-330	15	15	dependency	dependency	NOUN
alkej-330	15	16	of	of	ADP
alkej-330	15	17	this	this	DET
alkej-330	15	18	equation	equation	NOUN
alkej-330	15	19	on	on	ADP
alkej-330	15	20	the	the	DET
alkej-330	15	21	joint	joint	NOUN
alkej-330	15	22	,	,	PUNCT
alkej-330	15	23	where	where	SCONJ
alkej-330	15	24	the	the	DET
alkej-330	15	25	flexibility	flexibility	NOUN
alkej-330	15	26	exists	exist	VERB
alkej-330	15	27	,	,	PUNCT
alkej-330	15	28	the	the	DET
alkej-330	15	29	solving	solving	NOUN
alkej-330	15	30	of	of	ADP
alkej-330	15	31	this	this	DET
alkej-330	15	32	problem	problem	NOUN
alkej-330	15	33	is	be	AUX
alkej-330	15	34	deformation	deformation	NOUN
alkej-330	15	35	variables	variable	NOUN
alkej-330	15	36	(	(	PUNCT
alkej-330	15	37	elongation	elongation	NOUN
alkej-330	15	38	and	and	CCONJ
alkej-330	15	39	bending	bending	NOUN
alkej-330	15	40	)	)	PUNCT
alkej-330	15	41	are	be	AUX
alkej-330	15	42	present	present	ADJ
alkej-330	15	43	kinematic	kinematic	ADJ
alkej-330	15	44	equation	equation	NOUN
alkej-330	15	45	.	.	PUNCT
alkej-330	16	1	the	the	DET
alkej-330	16	2	finding	finding	NOUN
alkej-330	16	3	of	of	ADP
alkej-330	16	4	an	an	DET
alkej-330	16	5	inverse	inverse	NOUN
alkej-330	16	6	kinematic	kinematic	NOUN
alkej-330	16	7	equation	equation	NOUN
alkej-330	16	8	needs	need	VERB
alkej-330	16	9	to	to	PART
alkej-330	16	10	obtain	obtain	VERB
alkej-330	16	11	the	the	DET
alkej-330	16	12	relation	relation	NOUN
alkej-330	16	13	between	between	ADP
alkej-330	16	14	the	the	DET
alkej-330	16	15	joint	joint	ADJ
alkej-330	16	16	angles	angle	NOUN
alkej-330	16	17	effector	effector	NOUN
alkej-330	16	18	position	position	NOUN
alkej-330	16	19	and	and	CCONJ
alkej-330	16	20	deformations	deformation	NOUN
alkej-330	16	21	variables	variable	NOUN
alkej-330	16	22	.	.	PUNCT
alkej-330	17	1	in	in	ADP
alkej-330	17	2	this	this	DET
alkej-330	17	3	work	work	NOUN
alkej-330	17	4	,	,	PUNCT
alkej-330	17	5	a	a	DET
alkej-330	17	6	neural	neural	ADJ
alkej-330	17	7	network	network	NOUN
alkej-330	17	8	has	have	VERB
alkej-330	17	9	f	f	PROPN
alkej-330	17	10	inverse	inverse	NOUN
alkej-330	17	11	kinematic	kinematic	NOUN
alkej-330	17	12	equation	equation	NOUN
alkej-330	17	13	.	.	PUNCT
alkej-330	18	1	to	to	PART
alkej-330	18	2	feed	feed	VERB
alkej-330	18	3	the	the	DET
alkej-330	18	4	neural	neural	ADJ
alkej-330	18	5	network	network	NOUN
alkej-330	18	6	,	,	PUNCT
alkej-330	18	7	experimental	experimental	ADJ
alkej-330	18	8	data	datum	NOUN
alkej-330	18	9	were	be	AUX
alkej-330	18	10	taken	take	VERB
alkej-330	18	11	from	from	ADP
alkej-330	18	12	an	an	DET
alkej-330	18	13	elastic	elastic	ADJ
alkej-330	18	14	robot	robot	NOUN
alkej-330	18	15	arm	arm	NOUN
alkej-330	18	16	for	for	ADP
alkej-330	18	17	training	train	VERB
alkej-330	18	18	the	the	DET
alkej-330	18	19	network	network	NOUN
alkej-330	18	20	,	,	PUNCT
alkej-330	18	21	these	these	DET
alkej-330	18	22	data	datum	NOUN
alkej-330	18	23	presented	present	VERB
alkej-330	18	24	by	by	ADP
alkej-330	18	25	joint	joint	ADJ
alkej-330	18	26	angles	angle	NOUN
alkej-330	18	27	,	,	PUNCT
alkej-330	18	28	deformation	deformation	NOUN
alkej-330	18	29	variables	variable	NOUN
alkej-330	18	30	and	and	CCONJ
alkej-330	18	31	end	end	VERB
alkej-330	18	32	ng	ng	PROPN
alkej-330	18	33	showed	show	VERB
alkej-330	18	34	a	a	DET
alkej-330	18	35	good	good	ADJ
alkej-330	18	36	fit	fit	NOUN
alkej-330	18	37	between	between	ADP
alkej-330	18	38	the	the	DET
alkej-330	18	39	output	output	NOUN
alkej-330	18	40	results	result	NOUN
alkej-330	18	41	of	of	ADP
alkej-330	18	42	the	the	DET
alkej-330	18	43	neural	neural	ADJ
alkej-330	18	44	network	network	NOUN
alkej-330	18	45	and	and	CCONJ
alkej-330	18	46	the	the	DET
alkej-330	18	47	targets	target	NOUN
alkej-330	18	48	data	datum	NOUN
alkej-330	18	49	.	.	PUNCT
alkej-330	19	1	in	in	ADP
alkej-330	19	2	addition	addition	NOUN
alkej-330	19	3	,	,	PUNCT
alkej-330	19	4	this	this	DET
alkej-330	19	5	method	method	NOUN
alkej-330	19	6	for	for	ADP
alkej-330	19	7	finding	find	VERB
alkej-330	19	8	the	the	DET
alkej-330	19	9	inverse	inverse	NOUN
alkej-330	19	10	of	of	ADP
alkej-330	19	11	kinematic	kinematic	ADJ
alkej-330	19	12	equation	equation	NOUN
alkej-330	19	13	proved	prove	VERB
alkej-330	19	14	its	its	PRON
alkej-330	19	15	effectiveness	effectiveness	NOUN
alkej-330	19	16	and	and	CCONJ
alkej-330	19	17	neural	neural	ADJ
alkej-330	19	18	network	network	NOUN
alkej-330	19	19	practically	practically	ADV
alkej-330	19	20	in	in	ADP
alkej-330	19	21	the	the	DET
alkej-330	19	22	robot	robot	NOUN
alkej-330	19	23	’s	’s	PART
alkej-330	19	24	operating	operate	VERB
alkej-330	19	25	software	software	NOUN
alkej-330	19	26	for	for	ADP
alkej-330	19	27	controlling	control	VERB
alkej-330	19	28	orward	orward	NOUN
alkej-330	19	29	and	and	CCONJ
alkej-330	19	30	inverse	inverse	NOUN
alkej-330	19	31	kinematic	kinematic	ADJ
alkej-330	19	32	equation	equation	NOUN
alkej-330	19	33	of	of	ADP
alkej-330	19	34	elastic	elastic	ADJ
alkej-330	19	35	robot	robot	NOUN
alkej-330	19	36	.	.	PUNCT
alkej-330	20	1	neural	neural	ADJ
alkej-330	20	2	networks	network	NOUN
alkej-330	20	3	.	.	PUNCT
alkej-330	21	1	the	the	DET
alkej-330	21	2	forward	forward	ADJ
alkej-330	21	3	kinematic	kinematic	ADJ
alkej-330	21	4	equation	equation	NOUN
alkej-330	21	5	is	be	AUX
alkej-330	21	6	a	a	DET
alkej-330	21	7	functional	functional	ADJ
alkej-330	21	8	relationship	relationship	NOUN
alkej-330	21	9	between	between	ADP
alkej-330	21	10	the	the	DET
alkej-330	21	11	generalized	generalized	ADJ
alkej-330	21	12	parameters	parameter	NOUN
alkej-330	21	13	(	(	PUNCT
alkej-330	21	14	joint	joint	ADJ
alkej-330	21	15	displacements	displacement	NOUN
alkej-330	21	16	)	)	PUNCT
alkej-330	21	17	and	and	CCONJ
alkej-330	21	18	the	the	DET
alkej-330	21	19	end	end	NOUN
alkej-330	21	20	–	–	PUNCT
alkej-330	21	21	effector	effector	NOUN
alkej-330	21	22	positions	position	NOUN
alkej-330	21	23	.	.	PUNCT
alkej-330	22	1	by	by	ADP
alkej-330	22	2	substituting	substitute	VERB
alkej-330	22	3	a	a	DET
alkej-330	22	4	set	set	NOUN
alkej-330	22	5	of	of	ADP
alkej-330	22	6	values	value	NOUN
alkej-330	22	7	of	of	ADP
alkej-330	22	8	forward	forward	ADJ
alkej-330	22	9	kinematic	kinematic	ADJ
alkej-330	22	10	effector	effector	NOUN
alkej-330	22	11	can	can	AUX
alkej-330	22	12	be	be	AUX
alkej-330	22	13	obtained	obtain	VERB
alkej-330	22	14	.	.	PUNCT
alkej-330	23	1	the	the	DET
alkej-330	23	2	problem	problem	NOUN
alkej-330	23	3	of	of	ADP
alkej-330	23	4	finding	find	VERB
alkej-330	23	5	the	the	DET
alkej-330	23	6	end	end	NOUN
alkej-330	23	7	-	-	PUNCT
alkej-330	23	8	effector	effector	NOUN
alkej-330	23	9	position	position	NOUN
alkej-330	23	10	for	for	ADP
alkej-330	23	11	a	a	DET
alkej-330	23	12	given	give	VERB
alkej-330	23	13	set	set	NOUN
alkej-330	23	14	of	of	ADP
alkej-330	23	15	generalized	generalized	ADJ
alkej-330	23	16	parameters	parameter	NOUN
alkej-330	23	17	called	call	VERB
alkej-330	23	18	the	the	DET
alkej-330	23	19	direct	direct	ADJ
alkej-330	23	20	kinematic	kinematic	ADJ
alkej-330	23	21	problem	problem	NOUN
alkej-330	23	22	[	[	X
alkej-330	23	23	1	1	NUM
alkej-330	23	24	]	]	PUNCT
alkej-330	23	25	.	.	PUNCT
alkej-330	24	1	in	in	ADP
alkej-330	24	2	effector	effector	NOUN
alkej-330	24	3	positioning	positioning	NOUN
alkej-330	24	4	and	and	CCONJ
alkej-330	24	5	control	control	NOUN
alkej-330	24	6	,	,	PUNCT
alkej-330	24	7	it	it	PRON
alkej-330	24	8	is	be	AUX
alkej-330	24	9	required	require	VERB
alkej-330	24	10	to	to	PART
alkej-330	24	11	find	find	VERB
alkej-330	24	12	the	the	DET
alkej-330	24	13	generalized	generalized	ADJ
alkej-330	24	14	parameters	parameter	NOUN
alkej-330	24	15	that	that	PRON
alkej-330	24	16	effector	effector	NOUN
alkej-330	24	17	to	to	ADP
alkej-330	24	18	the	the	DET
alkej-330	24	19	specified	specify	VERB
alkej-330	24	20	position	position	NOUN
alkej-330	24	21	done	do	VERB
alkej-330	24	22	by	by	ADP
alkej-330	24	23	finding	find	VERB
alkej-330	24	24	the	the	DET
alkej-330	24	25	inverse	inverse	NOUN
alkej-330	24	26	of	of	ADP
alkej-330	24	27	the	the	DET
alkej-330	24	28	forward	forward	ADV
alkej-330	24	29	kinematic	kinematic	ADJ
alkej-330	24	30	equation	equation	NOUN
alkej-330	24	31	(	(	PUNCT
alkej-330	24	32	inverse	inverse	NOUN
alkej-330	24	33	kinematic	kinematic	NOUN
alkej-330	24	34	problem	problem	NOUN
alkej-330	24	35	)	)	PUNCT
alkej-330	24	36	.	.	PUNCT
alkej-330	25	1	the	the	DET
alkej-330	25	2	complexity	complexity	NOUN
alkej-330	25	3	of	of	ADP
alkej-330	25	4	the	the	DET
alkej-330	25	5	inverse	inverse	NOUN
alkej-330	25	6	kinematic	kinematic	NOUN
alkej-330	25	7	problem	problem	NOUN
alkej-330	25	8	depends	depend	VERB
alkej-330	25	9	heavily	heavily	ADV
alkej-330	25	10	on	on	ADP
alkej-330	25	11	the	the	DET
alkej-330	25	12	number	number	NOUN
alkej-330	25	13	of	of	ADP
alkej-330	25	14	joints	joint	NOUN
alkej-330	25	15	and	and	CCONJ
alkej-330	25	16	structure	structure	NOUN
alkej-330	25	17	of	of	ADP
alkej-330	25	18	the	the	DET
alkej-330	25	19	robot	robot	NOUN
alkej-330	25	20	flexibility	flexibility	NOUN
alkej-330	25	21	of	of	ADP
alkej-330	25	22	robot	robot	NOUN
alkej-330	25	23	arms	arm	NOUN
alkej-330	25	24	will	will	AUX
alkej-330	25	25	add	add	VERB
alkej-330	25	26	additional	additional	ADJ
alkej-330	25	27	in	in	ADP
alkej-330	25	28	the	the	DET
alkej-330	25	29	forward	forward	ADJ
alkej-330	25	30	kinematic	kinematic	ADJ
alkej-330	25	31	equation	equation	NOUN
alkej-330	25	32	presented	present	VERB
alkej-330	25	33	by	by	ADP
alkej-330	25	34	the	the	DET
alkej-330	25	35	deformation	deformation	NOUN
alkej-330	25	36	variables	variable	NOUN
alkej-330	25	37	magnitude	magnitude	NOUN
alkej-330	25	38	of	of	ADP
alkej-330	25	39	these	these	DET
alkej-330	25	40	variables	variable	NOUN
alkej-330	25	41	could	could	AUX
alkej-330	25	42	estimated	estimate	VERB
alkej-330	25	43	easily	easily	ADV
alkej-330	25	44	,	,	PUNCT
alkej-330	25	45	because	because	SCONJ
alkej-330	25	46	their	their	PRON
alkej-330	25	47	magnitude	magnitude	NOUN
alkej-330	25	48	upon	upon	SCONJ
alkej-330	25	49	external	external	ADJ
alkej-330	25	50	forces	force	NOUN
alkej-330	25	51	,	,	PUNCT
alkej-330	25	52	inertia	inertia	NOUN
alkej-330	25	53	forces	force	NOUN
alkej-330	25	54	,	,	PUNCT
alkej-330	25	55	positions	position	NOUN
alkej-330	25	56	and	and	CCONJ
alkej-330	25	57	orientation	orientation	NOUN
alkej-330	25	58	of	of	ADP
alkej-330	25	59	robot	robot	NOUN
alkej-330	25	60	arms	arm	NOUN
alkej-330	25	61	[	[	X
alkej-330	25	62	3	3	NUM
alkej-330	25	63	]	]	PUNCT
alkej-330	25	64	.	.	PUNCT
alkej-330	26	1	the	the	DET
alkej-330	26	2	importance	importance	NOUN
alkej-330	26	3	of	of	ADP
alkej-330	26	4	the	the	DET
alkej-330	26	5	inverse	inverse	NOUN
alkej-330	26	6	kinematic	kinematic	NOUN
alkej-330	26	7	problems	problem	NOUN
alkej-330	26	8	in	in	ADP
alkej-330	26	9	robot	robot	NOUN
alkej-330	26	10	control	control	NOUN
alkej-330	26	11	,	,	PUNCT
alkej-330	26	12	and	and	CCONJ
alkej-330	26	13	the	the	DET
alkej-330	26	14	complications	complication	NOUN
alkej-330	26	15	of	of	ADP
alkej-330	26	16	solving	solve	VERB
alkej-330	26	17	it	it	PRON
alkej-330	26	18	,	,	PUNCT
alkej-330	26	19	make	make	VERB
alkej-330	26	20	many	many	ADJ
alkej-330	26	21	researches	research	NOUN
alkej-330	26	22	deal	deal	VERB
alkej-330	26	23	with	with	ADP
alkej-330	26	24	this	this	DET
alkej-330	26	25	subject	subject	NOUN
alkej-330	26	26	,	,	PUNCT
alkej-330	26	27	and	and	CCONJ
alkej-330	26	28	many	many	ADJ
alkej-330	26	29	methods	method	NOUN
alkej-330	26	30	investigated	investigate	VERB
alkej-330	26	31	to	to	PART
alkej-330	26	32	solve	solve	VERB
alkej-330	26	33	the	the	DET
alkej-330	26	34	inverse	inverse	NOUN
alkej-330	26	35	kinematic	kinematic	NOUN
alkej-330	26	36	equation	equation	NOUN
alkej-330	26	37	.	.	PUNCT
alkej-330	27	1	widely	widely	ADV
alkej-330	27	2	applied	apply	VERB
alkej-330	27	3	solution	solution	NOUN
alkej-330	27	4	is	be	AUX
alkej-330	27	5	the	the	DET
alkej-330	27	6	clos	clo	NOUN
alkej-330	27	7	al	al	PROPN
alkej-330	27	8	-	-	PUNCT
alkej-330	27	9	khwarizmi	khwarizmi	PROPN
alkej-330	27	10	engineering	engineering	NOUN
alkej-330	27	11	journal	journal	PROPN
alkej-330	27	12	solving	solve	VERB
alkej-330	27	13	the	the	DET
alkej-330	27	14	inverse	inverse	NOUN
alkej-330	27	15	kinematic	kinematic	NOUN
alkej-330	27	16	equations	equation	NOUN
alkej-330	27	17	of	of	ADP
alkej-330	27	18	elastic	elastic	ADJ
alkej-330	27	19	robot	robot	NOUN
alkej-330	27	20	arm	arm	PROPN
alkej-330	27	21	control	control	PROPN
alkej-330	27	22	robot	robot	PROPN
alkej-330	27	23	’s	’s	PART
alkej-330	27	24	motion	motion	NOUN
alkej-330	27	25	and	and	CCONJ
alkej-330	27	26	position	position	NOUN
alkej-330	27	27	.	.	PUNCT
alkej-330	28	1	the	the	DET
alkej-330	28	2	solving	solve	VERB
alkej-330	28	3	joint	joint	ADJ
alkej-330	28	4	configuration	configuration	NOUN
alkej-330	28	5	and	and	CCONJ
alkej-330	28	6	,	,	PUNCT
alkej-330	28	7	the	the	DET
alkej-330	28	8	solving	solving	NOUN
alkej-330	28	9	of	of	ADP
alkej-330	28	10	this	this	DET
alkej-330	28	11	problem	problem	NOUN
alkej-330	28	12	is	be	AUX
alkej-330	28	13	more	more	ADV
alkej-330	28	14	complicated	complicated	ADJ
alkej-330	28	15	present	present	ADJ
alkej-330	28	16	in	in	ADP
alkej-330	28	17	the	the	DET
alkej-330	28	18	forward	forward	NOUN
alkej-330	28	19	to	to	PART
alkej-330	28	20	obtain	obtain	VERB
alkej-330	28	21	the	the	DET
alkej-330	28	22	relation	relation	NOUN
alkej-330	28	23	between	between	ADP
alkej-330	28	24	the	the	DET
alkej-330	28	25	joint	joint	ADJ
alkej-330	28	26	angles	angle	NOUN
alkej-330	28	27	has	have	AUX
alkej-330	28	28	been	be	AUX
alkej-330	28	29	proposed	propose	VERB
alkej-330	28	30	to	to	ADP
alkej-330	28	31	f	f	PROPN
alkej-330	28	32	inverse	inverse	PROPN
alkej-330	28	33	kinematic	kinematic	NOUN
alkej-330	28	34	equation	equation	NOUN
alkej-330	28	35	.	.	PUNCT
alkej-330	29	1	to	to	PART
alkej-330	29	2	feed	feed	VERB
alkej-330	29	3	the	the	DET
alkej-330	29	4	neural	neural	ADJ
alkej-330	29	5	network	network	NOUN
alkej-330	29	6	,	,	PUNCT
alkej-330	29	7	experimental	experimental	ADJ
alkej-330	29	8	data	datum	NOUN
alkej-330	29	9	were	be	AUX
alkej-330	29	10	taken	take	VERB
alkej-330	29	11	from	from	ADP
alkej-330	29	12	an	an	DET
alkej-330	29	13	elastic	elastic	ADJ
alkej-330	29	14	robot	robot	NOUN
alkej-330	29	15	arm	arm	NOUN
alkej-330	29	16	for	for	ADP
alkej-330	29	17	training	train	VERB
alkej-330	29	18	the	the	DET
alkej-330	29	19	network	network	NOUN
alkej-330	29	20	,	,	PUNCT
alkej-330	29	21	these	these	DET
alkej-330	29	22	data	datum	NOUN
alkej-330	29	23	presented	present	VERB
alkej-330	29	24	by	by	ADP
alkej-330	29	25	joint	joint	ADJ
alkej-330	29	26	angles	angle	NOUN
alkej-330	29	27	,	,	PUNCT
alkej-330	29	28	deformation	deformation	NOUN
alkej-330	29	29	variables	variable	NOUN
alkej-330	29	30	and	and	CCONJ
alkej-330	29	31	end	end	NOUN
alkej-330	29	32	-	-	PUNCT
alkej-330	29	33	effector	effector	NOUN
alkej-330	29	34	between	between	ADP
alkej-330	29	35	the	the	DET
alkej-330	29	36	output	output	NOUN
alkej-330	29	37	results	result	NOUN
alkej-330	29	38	of	of	ADP
alkej-330	29	39	the	the	DET
alkej-330	29	40	neural	neural	ADJ
alkej-330	29	41	network	network	NOUN
alkej-330	29	42	and	and	CCONJ
alkej-330	29	43	the	the	DET
alkej-330	29	44	targets	target	NOUN
alkej-330	29	45	data	datum	NOUN
alkej-330	29	46	.	.	PUNCT
alkej-330	30	1	in	in	ADP
alkej-330	30	2	addition	addition	NOUN
alkej-330	30	3	,	,	PUNCT
alkej-330	30	4	this	this	DET
alkej-330	30	5	method	method	NOUN
alkej-330	30	6	for	for	ADP
alkej-330	30	7	finding	find	VERB
alkej-330	30	8	the	the	DET
alkej-330	30	9	inverse	inverse	NOUN
alkej-330	30	10	of	of	ADP
alkej-330	30	11	kinematic	kinematic	ADJ
alkej-330	30	12	equation	equation	NOUN
alkej-330	30	13	proved	prove	VERB
alkej-330	30	14	its	its	PRON
alkej-330	30	15	effectiveness	effectiveness	NOUN
alkej-330	30	16	and	and	CCONJ
alkej-330	30	17	ly	ly	X
alkej-330	30	18	in	in	ADP
alkej-330	30	19	the	the	DET
alkej-330	30	20	robot	robot	NOUN
alkej-330	30	21	’s	’s	PART
alkej-330	30	22	operating	operate	VERB
alkej-330	30	23	software	software	NOUN
alkej-330	30	24	for	for	ADP
alkej-330	30	25	controlling	control	VERB
alkej-330	30	26	the	the	DET
alkej-330	30	27	orward	orward	NOUN
alkej-330	30	28	and	and	CCONJ
alkej-330	30	29	inverse	inverse	NOUN
alkej-330	30	30	kinematic	kinematic	ADJ
alkej-330	30	31	equation	equation	NOUN
alkej-330	30	32	of	of	ADP
alkej-330	30	33	elastic	elastic	ADJ
alkej-330	30	34	robot	robot	NOUN
alkej-330	30	35	.	.	PUNCT
alkej-330	31	1	neural	neural	ADJ
alkej-330	31	2	networks	network	NOUN
alkej-330	31	3	.	.	PUNCT
alkej-330	32	1	kinematic	kinematic	ADJ
alkej-330	32	2	problem	problem	NOUN
alkej-330	32	3	)	)	PUNCT
alkej-330	32	4	.	.	PUNCT
alkej-330	33	1	the	the	DET
alkej-330	33	2	complexity	complexity	NOUN
alkej-330	33	3	of	of	ADP
alkej-330	33	4	the	the	DET
alkej-330	33	5	problem	problem	NOUN
alkej-330	33	6	depends	depend	VERB
alkej-330	33	7	heavily	heavily	ADV
alkej-330	33	8	on	on	ADP
alkej-330	33	9	the	the	DET
alkej-330	33	10	number	number	NOUN
alkej-330	33	11	of	of	ADP
alkej-330	33	12	joints	joint	NOUN
alkej-330	33	13	and	and	CCONJ
alkej-330	33	14	structure	structure	NOUN
alkej-330	33	15	of	of	ADP
alkej-330	33	16	the	the	DET
alkej-330	33	17	robot	robot	NOUN
alkej-330	33	18	[	[	X
alkej-330	33	19	2	2	NUM
alkej-330	33	20	]	]	PUNCT
alkej-330	33	21	.	.	PUNCT
alkej-330	34	1	of	of	ADP
alkej-330	34	2	robot	robot	NOUN
alkej-330	34	3	arms	arm	NOUN
alkej-330	34	4	will	will	AUX
alkej-330	34	5	add	add	VERB
alkej-330	34	6	additional	additional	ADJ
alkej-330	34	7	terms	term	NOUN
alkej-330	34	8	in	in	ADP
alkej-330	34	9	the	the	DET
alkej-330	34	10	forward	forward	ADJ
alkej-330	34	11	kinematic	kinematic	ADJ
alkej-330	34	12	equation	equation	NOUN
alkej-330	34	13	,	,	PUNCT
alkej-330	34	14	these	these	DET
alkej-330	34	15	terms	term	NOUN
alkej-330	34	16	presented	present	VERB
alkej-330	34	17	by	by	ADP
alkej-330	34	18	the	the	DET
alkej-330	34	19	deformation	deformation	NOUN
alkej-330	34	20	variables	variable	NOUN
alkej-330	34	21	.	.	PUNCT
alkej-330	35	1	the	the	DET
alkej-330	35	2	nitude	nitude	NOUN
alkej-330	35	3	of	of	ADP
alkej-330	35	4	these	these	DET
alkej-330	35	5	variables	variable	NOUN
alkej-330	35	6	could	could	AUX
alkej-330	35	7	be	be	AUX
alkej-330	35	8	not	not	PART
alkej-330	35	9	magnitude	magnitude	NOUN
alkej-330	35	10	depends	depend	VERB
alkej-330	35	11	upon	upon	SCONJ
alkej-330	35	12	external	external	ADJ
alkej-330	35	13	forces	force	NOUN
alkej-330	35	14	,	,	PUNCT
alkej-330	35	15	inertia	inertia	NOUN
alkej-330	35	16	forces	force	NOUN
alkej-330	35	17	,	,	PUNCT
alkej-330	35	18	positions	position	NOUN
alkej-330	35	19	and	and	CCONJ
alkej-330	35	20	of	of	ADP
alkej-330	35	21	the	the	DET
alkej-330	35	22	inverse	inverse	NOUN
alkej-330	35	23	kinematic	kinematic	NOUN
alkej-330	35	24	problems	problem	NOUN
alkej-330	35	25	in	in	ADP
alkej-330	35	26	robot	robot	NOUN
alkej-330	35	27	control	control	NOUN
alkej-330	35	28	,	,	PUNCT
alkej-330	35	29	and	and	CCONJ
alkej-330	35	30	the	the	DET
alkej-330	35	31	complications	complication	NOUN
alkej-330	35	32	of	of	ADP
alkej-330	35	33	solving	solve	VERB
alkej-330	35	34	it	it	PRON
alkej-330	35	35	,	,	PUNCT
alkej-330	35	36	make	make	VERB
alkej-330	35	37	many	many	ADJ
alkej-330	35	38	researches	research	NOUN
alkej-330	35	39	deal	deal	VERB
alkej-330	35	40	with	with	ADP
alkej-330	35	41	this	this	DET
alkej-330	35	42	subject	subject	NOUN
alkej-330	35	43	,	,	PUNCT
alkej-330	35	44	and	and	CCONJ
alkej-330	35	45	many	many	ADJ
alkej-330	35	46	methods	method	NOUN
alkej-330	35	47	investigated	investigate	VERB
alkej-330	35	48	to	to	PART
alkej-330	35	49	solve	solve	VERB
alkej-330	35	50	the	the	DET
alkej-330	35	51	common	common	ADJ
alkej-330	35	52	and	and	CCONJ
alkej-330	35	53	widely	widely	ADV
alkej-330	35	54	applied	apply	VERB
alkej-330	35	55	solution	solution	NOUN
alkej-330	35	56	is	be	AUX
alkej-330	35	57	the	the	DET
alkej-330	35	58	closed	closed	ADJ
alkej-330	35	59	form	form	NOUN
alkej-330	35	60	hussein	hussein	PROPN
alkej-330	35	61	m.	m.	PROPN
alkej-330	35	62	al	al	PROPN
alkej-330	35	63	-	-	PUNCT
alkej-330	35	64	khafaji	khafaji	PROPN
alkej-330	35	65	al	al	PROPN
alkej-330	35	66	-	-	PUNCT
alkej-330	35	67	khwarizmi	khwarizmi	PROPN
alkej-330	35	68	engineering	engineering	NOUN
alkej-330	35	69	journal	journal	PROPN
alkej-330	35	70	,	,	PUNCT
alkej-330	35	71	vol	vol	NOUN
alkej-330	35	72	.	.	PROPN
alkej-330	35	73	13	13	NUM
alkej-330	35	74	,	,	PUNCT
alkej-330	35	75	no	no	INTJ
alkej-330	35	76	.	.	NOUN
alkej-330	35	77	1	1	NUM
alkej-330	35	78	,	,	PUNCT
alkej-330	35	79	p.p	p.p	PROPN
alkej-330	35	80	.	.	NOUN
alkej-330	35	81	1325(2017	1325(2017	NUM
alkej-330	35	82	)	)	PUNCT
alkej-330	35	83	14	14	NUM
alkej-330	35	84	solution	solution	NOUN
alkej-330	35	85	,	,	PUNCT
alkej-330	35	86	literatures	literature	NOUN
alkej-330	35	87	[	[	X
alkej-330	35	88	3	3	NUM
alkej-330	35	89	-	-	SYM
alkej-330	35	90	8	8	NUM
alkej-330	35	91	]	]	PUNCT
alkej-330	35	92	presented	present	VERB
alkej-330	35	93	different	different	ADJ
alkej-330	35	94	methods	method	NOUN
alkej-330	35	95	of	of	ADP
alkej-330	35	96	closed	closed	ADJ
alkej-330	35	97	form	form	NOUN
alkej-330	35	98	.	.	PUNCT
alkej-330	36	1	a	a	DET
alkej-330	36	2	closed	close	VERB
alkej-330	36	3	form	form	NOUN
alkej-330	36	4	solution	solution	NOUN
alkej-330	36	5	is	be	AUX
alkej-330	36	6	not	not	PART
alkej-330	36	7	always	always	ADV
alkej-330	36	8	a	a	DET
alkej-330	36	9	possible	possible	ADJ
alkej-330	36	10	way	way	NOUN
alkej-330	36	11	to	to	PART
alkej-330	36	12	find	find	VERB
alkej-330	36	13	the	the	DET
alkej-330	36	14	solution	solution	NOUN
alkej-330	36	15	,	,	PUNCT
alkej-330	36	16	so	so	CCONJ
alkej-330	36	17	various	various	ADJ
alkej-330	36	18	studies	study	NOUN
alkej-330	36	19	have	have	AUX
alkej-330	36	20	been	be	AUX
alkej-330	36	21	proposed	propose	VERB
alkej-330	36	22	using	use	VERB
alkej-330	36	23	other	other	ADJ
alkej-330	36	24	techniques	technique	NOUN
alkej-330	36	25	.	.	PUNCT
alkej-330	37	1	juan	juan	PROPN
alkej-330	37	2	et	et	PROPN
alkej-330	37	3	.	.	PUNCT
alkej-330	38	1	al	al	PROPN
alkej-330	38	2	.	.	PUNCT
alkej-330	39	1	[	[	X
alkej-330	39	2	4	4	X
alkej-330	39	3	]	]	PUNCT
alkej-330	39	4	suggested	suggest	VERB
alkej-330	39	5	the	the	DET
alkej-330	39	6	using	using	NOUN
alkej-330	39	7	of	of	ADP
alkej-330	39	8	a	a	DET
alkej-330	39	9	fuzzy	fuzzy	ADJ
alkej-330	39	10	reasoning	reasoning	NOUN
alkej-330	39	11	system	system	NOUN
alkej-330	39	12	to	to	PART
alkej-330	39	13	position	position	VERB
alkej-330	39	14	the	the	DET
alkej-330	39	15	arm	arm	NOUN
alkej-330	39	16	of	of	ADP
alkej-330	39	17	an	an	DET
alkej-330	39	18	articulated	articulated	ADJ
alkej-330	39	19	robot	robot	NOUN
alkej-330	39	20	without	without	ADP
alkej-330	39	21	explicitly	explicitly	ADV
alkej-330	39	22	solving	solve	VERB
alkej-330	39	23	the	the	DET
alkej-330	39	24	inverse	inverse	NOUN
alkej-330	39	25	kinematic	kinematic	NOUN
alkej-330	39	26	equation	equation	NOUN
alkej-330	39	27	.	.	PUNCT
alkej-330	40	1	yong	yong	PROPN
alkej-330	40	2	et	et	PROPN
alkej-330	40	3	.	.	PUNCT
alkej-330	41	1	al	al	PROPN
alkej-330	41	2	.	.	PUNCT
alkej-330	42	1	[	[	X
alkej-330	42	2	5	5	NUM
alkej-330	42	3	]	]	PUNCT
alkej-330	42	4	used	use	VERB
alkej-330	42	5	genetic	genetic	ADJ
alkej-330	42	6	algorithm	algorithm	NOUN
alkej-330	42	7	to	to	PART
alkej-330	42	8	solve	solve	VERB
alkej-330	42	9	the	the	DET
alkej-330	42	10	inverse	inverse	NOUN
alkej-330	42	11	kinematic	kinematic	NOUN
alkej-330	42	12	.	.	PUNCT
alkej-330	43	1	kuroe	kuroe	PROPN
alkej-330	43	2	et	et	PROPN
alkej-330	43	3	.	.	PUNCT
alkej-330	44	1	al	al	PROPN
alkej-330	44	2	.	.	PUNCT
alkej-330	45	1	[	[	X
alkej-330	45	2	11	11	NUM
alkej-330	45	3	,	,	PUNCT
alkej-330	45	4	12	12	NUM
alkej-330	45	5	]	]	PUNCT
alkej-330	45	6	stated	state	VERB
alkej-330	45	7	the	the	DET
alkej-330	45	8	use	use	NOUN
alkej-330	45	9	of	of	ADP
alkej-330	45	10	neural	neural	ADJ
alkej-330	45	11	networks	network	NOUN
alkej-330	45	12	as	as	ADP
alkej-330	45	13	a	a	DET
alkej-330	45	14	new	new	ADJ
alkej-330	45	15	method	method	NOUN
alkej-330	45	16	of	of	ADP
alkej-330	45	17	solving	solve	VERB
alkej-330	45	18	the	the	DET
alkej-330	45	19	inverse	inverse	NOUN
alkej-330	45	20	kinematics	kinematic	NOUN
alkej-330	45	21	of	of	ADP
alkej-330	45	22	a	a	DET
alkej-330	45	23	rigid	rigid	ADJ
alkej-330	45	24	robot	robot	NOUN
alkej-330	45	25	manipulator	manipulator	NOUN
alkej-330	45	26	.	.	PUNCT
alkej-330	46	1	previous	previous	ADJ
alkej-330	46	2	research	research	NOUN
alkej-330	46	3	[	[	X
alkej-330	46	4	13	13	NUM
alkej-330	46	5	-	-	SYM
alkej-330	46	6	15	15	NUM
alkej-330	46	7	]	]	PUNCT
alkej-330	46	8	examined	examine	VERB
alkej-330	46	9	the	the	DET
alkej-330	46	10	use	use	NOUN
alkej-330	46	11	of	of	ADP
alkej-330	46	12	artificial	artificial	ADJ
alkej-330	46	13	neural	neural	ADJ
alkej-330	46	14	networks	network	NOUN
alkej-330	46	15	to	to	PART
alkej-330	46	16	find	find	VERB
alkej-330	46	17	the	the	DET
alkej-330	46	18	inverse	inverse	NOUN
alkej-330	46	19	kinematic	kinematic	NOUN
alkej-330	46	20	equation	equation	NOUN
alkej-330	46	21	for	for	ADP
alkej-330	46	22	articulated	articulated	ADJ
alkej-330	46	23	robots	robot	NOUN
alkej-330	46	24	.	.	PUNCT
alkej-330	47	1	while	while	SCONJ
alkej-330	47	2	,	,	PUNCT
alkej-330	47	3	shiv	shiv	PROPN
alkej-330	47	4	et	et	PROPN
alkej-330	47	5	.	.	PUNCT
alkej-330	48	1	al	al	PROPN
alkej-330	48	2	.	.	PUNCT
alkej-330	49	1	[	[	X
alkej-330	49	2	6	6	NUM
alkej-330	49	3	]	]	PUNCT
alkej-330	49	4	applied	apply	VERB
alkej-330	49	5	neuro	neuro	NOUN
alkej-330	49	6	-	-	PUNCT
alkej-330	49	7	fuzzy	fuzzy	ADJ
alkej-330	49	8	to	to	PART
alkej-330	49	9	obtain	obtain	VERB
alkej-330	49	10	the	the	DET
alkej-330	49	11	inverse	inverse	NOUN
alkej-330	49	12	kinematic	kinematic	NOUN
alkej-330	49	13	equation	equation	NOUN
alkej-330	49	14	for	for	ADP
alkej-330	49	15	robot	robot	NOUN
alkej-330	49	16	with	with	ADP
alkej-330	49	17	three	three	NUM
alkej-330	49	18	degrees	degree	NOUN
alkej-330	49	19	of	of	ADP
alkej-330	49	20	freedom	freedom	NOUN
alkej-330	49	21	.	.	PUNCT
alkej-330	50	1	most	most	ADJ
alkej-330	50	2	of	of	ADP
alkej-330	50	3	researches	research	NOUN
alkej-330	50	4	proposed	propose	VERB
alkej-330	50	5	their	their	PRON
alkej-330	50	6	solutions	solution	NOUN
alkej-330	50	7	for	for	ADP
alkej-330	50	8	the	the	DET
alkej-330	50	9	mathematical	mathematical	ADJ
alkej-330	50	10	model	model	NOUN
alkej-330	50	11	of	of	ADP
alkej-330	50	12	a	a	DET
alkej-330	50	13	rigid	rigid	ADJ
alkej-330	50	14	manipulator	manipulator	NOUN
alkej-330	50	15	.	.	PUNCT
alkej-330	51	1	with	with	ADP
alkej-330	51	2	the	the	DET
alkej-330	51	3	presence	presence	NOUN
alkej-330	51	4	of	of	ADP
alkej-330	51	5	deflection	deflection	NOUN
alkej-330	51	6	parameters	parameter	NOUN
alkej-330	51	7	,	,	PUNCT
alkej-330	51	8	the	the	DET
alkej-330	51	9	problem	problem	NOUN
alkej-330	51	10	will	will	AUX
alkej-330	51	11	be	be	AUX
alkej-330	51	12	more	more	ADV
alkej-330	51	13	complicated	complicated	ADJ
alkej-330	51	14	.	.	PUNCT
alkej-330	52	1	therefore	therefore	ADV
alkej-330	52	2	,	,	PUNCT
alkej-330	52	3	in	in	ADP
alkej-330	52	4	this	this	DET
alkej-330	52	5	work	work	NOUN
alkej-330	52	6	,	,	PUNCT
alkej-330	52	7	the	the	DET
alkej-330	52	8	proposed	propose	VERB
alkej-330	52	9	neural	neural	ADJ
alkej-330	52	10	network	network	NOUN
alkej-330	52	11	with	with	ADP
alkej-330	52	12	multiple	multiple	ADJ
alkej-330	52	13	layers	layer	NOUN
alkej-330	52	14	was	be	AUX
alkej-330	52	15	suggested	suggest	VERB
alkej-330	52	16	as	as	ADP
alkej-330	52	17	a	a	DET
alkej-330	52	18	function	function	NOUN
alkej-330	52	19	approximation	approximation	NOUN
alkej-330	52	20	to	to	PART
alkej-330	52	21	find	find	VERB
alkej-330	52	22	the	the	DET
alkej-330	52	23	inverse	inverse	NOUN
alkej-330	52	24	kinematic	kinematic	NOUN
alkej-330	52	25	equation	equation	NOUN
alkej-330	52	26	for	for	ADP
alkej-330	52	27	an	an	DET
alkej-330	52	28	elastic	elastic	ADJ
alkej-330	52	29	robot	robot	NOUN
alkej-330	52	30	arm	arm	NOUN
alkej-330	52	31	(	(	PUNCT
alkej-330	52	32	era	era	NOUN
alkej-330	52	33	)	)	PUNCT
alkej-330	52	34	.	.	PUNCT
alkej-330	53	1	the	the	DET
alkej-330	53	2	multiple	multiple	ADJ
alkej-330	53	3	layer	layer	NOUN
alkej-330	53	4	neural	neural	ADJ
alkej-330	53	5	network	network	NOUN
alkej-330	53	6	is	be	AUX
alkej-330	53	7	useful	useful	ADJ
alkej-330	53	8	for	for	ADP
alkej-330	53	9	function	function	NOUN
alkej-330	53	10	approximation	approximation	NOUN
alkej-330	53	11	because	because	SCONJ
alkej-330	53	12	[	[	X
alkej-330	53	13	15	15	NUM
alkej-330	53	14	]	]	X
alkej-330	53	15	:	:	PUNCT
alkej-330	53	16	•	•	ADP
alkej-330	53	17	it	it	PRON
alkej-330	53	18	is	be	AUX
alkej-330	53	19	universal	universal	ADJ
alkej-330	53	20	approximations	approximation	NOUN
alkej-330	53	21	.	.	PUNCT
alkej-330	54	1	•	•	INTJ
alkej-330	54	2	it	it	PRON
alkej-330	54	3	is	be	AUX
alkej-330	54	4	efficient	efficient	ADJ
alkej-330	54	5	approximations	approximation	NOUN
alkej-330	54	6	.	.	PUNCT
alkej-330	55	1	•	•	INTJ
alkej-330	55	2	it	it	PRON
alkej-330	55	3	could	could	AUX
alkej-330	55	4	be	be	AUX
alkej-330	55	5	implemented	implement	VERB
alkej-330	55	6	as	as	ADP
alkej-330	55	7	a	a	DET
alkej-330	55	8	learning	learn	VERB
alkej-330	55	9	machine	machine	NOUN
alkej-330	55	10	.	.	PUNCT
alkej-330	56	1	2	2	X
alkej-330	56	2	.	.	X
alkej-330	56	3	kinematic	kinematic	ADJ
alkej-330	56	4	equations	equation	NOUN
alkej-330	56	5	of	of	ADP
alkej-330	56	6	an	an	DET
alkej-330	56	7	elastic	elastic	ADJ
alkej-330	56	8	robot	robot	NOUN
alkej-330	56	9	arm	arm	NOUN
alkej-330	56	10	(	(	PUNCT
alkej-330	56	11	with	with	ADP
alkej-330	56	12	error	error	NOUN
alkej-330	56	13	)	)	PUNCT
alkej-330	56	14	the	the	DET
alkej-330	56	15	flexibility	flexibility	NOUN
alkej-330	56	16	causes	cause	VERB
alkej-330	56	17	elastic	elastic	ADJ
alkej-330	56	18	deformations	deformation	NOUN
alkej-330	56	19	of	of	ADP
alkej-330	56	20	the	the	DET
alkej-330	56	21	structural	structural	ADJ
alkej-330	56	22	members	member	NOUN
alkej-330	56	23	of	of	ADP
alkej-330	56	24	the	the	DET
alkej-330	56	25	manipulator	manipulator	NOUN
alkej-330	56	26	,	,	PUNCT
alkej-330	56	27	resulting	result	VERB
alkej-330	56	28	in	in	ADP
alkej-330	56	29	large	large	ADJ
alkej-330	56	30	end	end	NOUN
alkej-330	56	31	-	-	PUNCT
alkej-330	56	32	effector	effector	NOUN
alkej-330	56	33	errors	error	NOUN
alkej-330	56	34	,	,	PUNCT
alkej-330	56	35	especially	especially	ADV
alkej-330	56	36	in	in	ADP
alkej-330	56	37	long	long	ADJ
alkej-330	56	38	reach	reach	NOUN
alkej-330	56	39	manipulator	manipulator	NOUN
alkej-330	56	40	systems	system	NOUN
alkej-330	56	41	.	.	PUNCT
alkej-330	57	1	hence	hence	ADV
alkej-330	57	2	,	,	PUNCT
alkej-330	57	3	as	as	ADP
alkej-330	57	4	a	a	DET
alkej-330	57	5	result	result	NOUN
alkej-330	57	6	,	,	PUNCT
alkej-330	57	7	the	the	DET
alkej-330	57	8	frames	frame	NOUN
alkej-330	57	9	defined	define	VERB
alkej-330	57	10	at	at	ADP
alkej-330	57	11	the	the	DET
alkej-330	57	12	manipulator	manipulator	NOUN
alkej-330	57	13	joints	joint	NOUN
alkej-330	57	14	are	be	AUX
alkej-330	57	15	displaced	displace	VERB
alkej-330	57	16	from	from	ADP
alkej-330	57	17	their	their	PRON
alkej-330	57	18	expected	expect	VERB
alkej-330	57	19	locations	location	NOUN
alkej-330	57	20	.	.	PUNCT
alkej-330	58	1	so	so	ADV
alkej-330	58	2	,	,	PUNCT
alkej-330	58	3	the	the	DET
alkej-330	58	4	use	use	NOUN
alkej-330	58	5	of	of	ADP
alkej-330	58	6	kinematic	kinematic	ADJ
alkej-330	58	7	equation	equation	NOUN
alkej-330	58	8	of	of	ADP
alkej-330	58	9	the	the	DET
alkej-330	58	10	rigid	rigid	ADJ
alkej-330	58	11	robot	robot	NOUN
alkej-330	58	12	to	to	PART
alkej-330	58	13	position	position	VERB
alkej-330	58	14	the	the	DET
alkej-330	58	15	manipulator	manipulator	NOUN
alkej-330	58	16	end	end	NOUN
alkej-330	58	17	–	–	PUNCT
alkej-330	58	18	effector	effector	NOUN
alkej-330	58	19	will	will	AUX
alkej-330	58	20	place	place	VERB
alkej-330	58	21	the	the	DET
alkej-330	58	22	manipulator	manipulator	NOUN
alkej-330	58	23	in	in	ADP
alkej-330	58	24	a	a	DET
alkej-330	58	25	different	different	ADJ
alkej-330	58	26	position	position	NOUN
alkej-330	58	27	than	than	ADP
alkej-330	58	28	the	the	DET
alkej-330	58	29	desired	desire	VERB
alkej-330	58	30	one	one	NUM
alkej-330	58	31	.	.	PUNCT
alkej-330	59	1	in	in	ADP
alkej-330	59	2	figure	figure	NOUN
alkej-330	59	3	1	1	NUM
alkej-330	59	4	,	,	PUNCT
alkej-330	59	5	the	the	DET
alkej-330	59	6	frame	frame	NOUN
alkej-330	59	7	oi-1	oi-1	PUNCT
alkej-330	59	8	is	be	AUX
alkej-330	59	9	the	the	DET
alkej-330	59	10	base	base	ADJ
alkej-330	59	11	frame	frame	NOUN
alkej-330	59	12	,	,	PUNCT
alkej-330	59	13	oi	oi	INTJ
alkej-330	59	14	i	i	PRON
alkej-330	59	15	is	be	AUX
alkej-330	59	16	the	the	DET
alkej-330	59	17	ideal	ideal	ADJ
alkej-330	59	18	location	location	NOUN
alkej-330	59	19	and	and	CCONJ
alkej-330	59	20	oi	oi	INTJ
alkej-330	59	21	a	a	PRON
alkej-330	59	22	is	be	AUX
alkej-330	59	23	the	the	DET
alkej-330	59	24	actual	actual	ADJ
alkej-330	59	25	location	location	NOUN
alkej-330	59	26	due	due	ADP
alkej-330	59	27	to	to	ADP
alkej-330	59	28	the	the	DET
alkej-330	59	29	deflection	deflection	NOUN
alkej-330	59	30	.	.	PUNCT
alkej-330	60	1	fig	fig	NOUN
alkej-330	60	2	.	.	PUNCT
alkej-330	61	1	1	1	X
alkej-330	61	2	.	.	X
alkej-330	61	3	frame	frame	NOUN
alkej-330	61	4	displacement	displacement	NOUN
alkej-330	61	5	due	due	ADP
alkej-330	61	6	to	to	ADP
alkej-330	61	7	errors	error	NOUN
alkej-330	61	8	the	the	DET
alkej-330	61	9	transformation	transformation	NOUN
alkej-330	61	10	equation	equation	NOUN
alkej-330	61	11	between	between	ADP
alkej-330	61	12	the	the	DET
alkej-330	61	13	coordinates	coordinate	NOUN
alkej-330	61	14	o	o	X
alkej-330	61	15	�	�	PROPN
alkej-330	61	16	a	a	NOUN
alkej-330	61	17	and	and	CCONJ
alkej-330	61	18	o	o	PROPN
alkej-330	61	19	�	�	NOUN
alkej-330	61	20	i	i	PRON
alkej-330	61	21	consists	consist	VERB
alkej-330	61	22	of	of	ADP
alkej-330	61	23	two	two	NUM
alkej-330	61	24	parts	part	NOUN
alkej-330	61	25	,	,	PUNCT
alkej-330	61	26	rotation	rotation	NOUN
alkej-330	61	27	and	and	CCONJ
alkej-330	61	28	translation	translation	NOUN
alkej-330	61	29	.	.	PUNCT
alkej-330	62	1	according	accord	VERB
alkej-330	62	2	to	to	ADP
alkej-330	62	3	the	the	DET
alkej-330	62	4	euler	euler	PROPN
alkej-330	62	5	angle	angle	PROPN
alkej-330	62	6	principle	principle	NOUN
alkej-330	62	7	,	,	PUNCT
alkej-330	62	8	the	the	DET
alkej-330	62	9	rotation	rotation	NOUN
alkej-330	62	10	part	part	NOUN
alkej-330	62	11	is	be	AUX
alkej-330	62	12	the	the	DET
alkej-330	62	13	result	result	NOUN
alkej-330	62	14	of	of	ADP
alkej-330	62	15	three	three	NUM
alkej-330	62	16	sets	set	NOUN
alkej-330	62	17	of	of	ADP
alkej-330	62	18	rotations	rotation	NOUN
alkej-330	62	19	which	which	PRON
alkej-330	62	20	are	be	AUX
alkej-330	62	21	roll	roll	NOUN
alkej-330	62	22	,	,	PUNCT
alkej-330	62	23	pitch	pitch	NOUN
alkej-330	62	24	and	and	CCONJ
alkej-330	62	25	yaw	yaw	NOUN
alkej-330	62	26	about	about	ADP
alkej-330	62	27	the	the	DET
alkej-330	62	28	axes	axis	NOUN
alkej-330	62	29	z	z	PROPN
alkej-330	62	30	,	,	PUNCT
alkej-330	62	31	y	y	PROPN
alkej-330	62	32	,	,	PUNCT
alkej-330	62	33	x	x	NOUN
alkej-330	62	34	,	,	PUNCT
alkej-330	62	35	respectively	respectively	ADV
alkej-330	62	36	.	.	PUNCT
alkej-330	63	1	the	the	DET
alkej-330	63	2	sequence	sequence	NOUN
alkej-330	63	3	of	of	ADP
alkej-330	63	4	rotation	rotation	NOUN
alkej-330	63	5	is	be	AUX
alkej-330	63	6	:	:	PUNCT
alkej-330	63	7	erai	erai	X
alkej-330	63	8	�	�	PROPN
alkej-330	63	9	rot	rot	VERB
alkej-330	63	10	z	z	PROPN
alkej-330	63	11	,	,	PUNCT
alkej-330	63	12	d	d	PROPN
alkej-330	63	13	�	�	X
alkej-330	63	14	�	�	PROPN
alkej-330	63	15	rot	rot	VERB
alkej-330	63	16	y	y	PROPN
alkej-330	63	17	,	,	PUNCT
alkej-330	63	18	d	d	PROPN
alkej-330	63	19	�	�	PROPN
alkej-330	63	20	�	�	PROPN
alkej-330	63	21	rot	rot	VERB
alkej-330	63	22	x	x	X
alkej-330	63	23	,	,	PUNCT
alkej-330	63	24	d	d	PROPN
alkej-330	63	25	�	�	PROPN
alkej-330	63	26	�	�	PROPN
alkej-330	63	27	…	…	PUNCT
alkej-330	63	28	(	(	PUNCT
alkej-330	63	29	1	1	NUM
alkej-330	63	30	)	)	PUNCT
alkej-330	63	31	that	that	PRON
alkej-330	63	32	is	be	AUX
alkej-330	63	33	a	a	DET
alkej-330	63	34	rotation	rotation	NOUN
alkej-330	63	35	of	of	ADP
alkej-330	63	36	d	d	PROPN
alkej-330	63	37	�	�	PROPN
alkej-330	63	38	about	about	ADP
alkej-330	63	39	the	the	DET
alkej-330	63	40	x	x	PUNCT
alkej-330	63	41	axis	axis	NOUN
alkej-330	63	42	,	,	PUNCT
alkej-330	63	43	followed	follow	VERB
alkej-330	63	44	by	by	ADP
alkej-330	63	45	a	a	DET
alkej-330	63	46	rotation	rotation	NOUN
alkej-330	63	47	d	d	NOUN
alkej-330	63	48	�	�	PROPN
alkej-330	63	49	about	about	ADP
alkej-330	63	50	the	the	DET
alkej-330	63	51	y	y	PROPN
alkej-330	63	52	axis	axis	NOUN
alkej-330	63	53	and	and	CCONJ
alkej-330	63	54	finally	finally	ADV
alkej-330	63	55	a	a	DET
alkej-330	63	56	rotation	rotation	NOUN
alkej-330	63	57	of	of	ADP
alkej-330	63	58	d	d	PROPN
alkej-330	63	59	�	�	PROPN
alkej-330	63	60	about	about	ADP
alkej-330	63	61	the	the	DET
alkej-330	63	62	z	z	NOUN
alkej-330	63	63	axis	axis	NOUN
alkej-330	63	64	.	.	PUNCT
alkej-330	64	1	rot	rot	VERB
alkej-330	64	2	x	x	X
alkej-330	64	3	,	,	PUNCT
alkej-330	64	4	d	d	PROPN
alkej-330	64	5	�	�	PROPN
alkej-330	64	6	�	�	PROPN
alkej-330	64	7	�	�	PROPN
alkej-330	64	8	�	�	PROPN
alkej-330	64	9	1	1	NUM
alkej-330	64	10	0	0	NUM
alkej-330	64	11	0	0	NUM
alkej-330	64	12	00	00	PUNCT
alkej-330	64	13	cos	cos	PROPN
alkej-330	64	14	d	d	PROPN
alkej-330	64	15	�	�	PROPN
alkej-330	64	16	�	�	PROPN
alkej-330	64	17	sin	sin	NOUN
alkej-330	64	18	d	d	X
alkej-330	64	19	�	�	PROPN
alkej-330	64	20	00	00	PUNCT
alkej-330	64	21	sin	sin	PROPN
alkej-330	64	22	d	d	X
alkej-330	64	23	�	�	PROPN
alkej-330	64	24	cos	cos	PROPN
alkej-330	64	25	d	d	PROPN
alkej-330	64	26	�	�	PROPN
alkej-330	64	27	00	00	NUM
alkej-330	64	28	0	0	NUM
alkej-330	64	29	0	0	NUM
alkej-330	64	30	1	1	NUM
alkej-330	64	31	�	�	NOUN
alkej-330	64	32	…	…	PUNCT
alkej-330	64	33	(	(	PUNCT
alkej-330	64	34	2	2	NUM
alkej-330	64	35	)	)	PUNCT
alkej-330	64	36	rot	rot	VERB
alkej-330	64	37	y	y	PROPN
alkej-330	64	38	,	,	PUNCT
alkej-330	64	39	d	d	PROPN
alkej-330	64	40	�	�	PROPN
alkej-330	64	41	�	�	PROPN
alkej-330	64	42	�	�	PROPN
alkej-330	64	43	�	�	PROPN
alkej-330	64	44	cos	cos	PROPN
alkej-330	64	45	d	d	PROPN
alkej-330	64	46	�	�	PROPN
alkej-330	64	47	0	0	NUM
alkej-330	64	48	�	�	PROPN
alkej-330	64	49	sin	sin	NOUN
alkej-330	64	50	d	d	X
alkej-330	64	51	�	�	PROPN
alkej-330	64	52	0	0	NUM
alkej-330	64	53	0	0	NUM
alkej-330	64	54	1	1	NUM
alkej-330	64	55	0	0	NUM
alkej-330	64	56	0	0	NUM
alkej-330	64	57	sin	sin	NOUN
alkej-330	64	58	d	d	X
alkej-330	64	59	�	�	PROPN
alkej-330	64	60	0	0	PUNCT
alkej-330	64	61	cos	cos	PROPN
alkej-330	64	62	d	d	PROPN
alkej-330	64	63	�	�	PROPN
alkej-330	64	64	0	0	NUM
alkej-330	64	65	0	0	NUM
alkej-330	64	66	0	0	NUM
alkej-330	64	67	0	0	NUM
alkej-330	64	68	1	1	NUM
alkej-330	64	69	�	�	NOUN
alkej-330	64	70	…	…	PUNCT
alkej-330	64	71	(	(	PUNCT
alkej-330	64	72	3	3	X
alkej-330	64	73	)	)	PUNCT
alkej-330	64	74	rot(z	rot(z	PROPN
alkej-330	64	75	,	,	PUNCT
alkej-330	64	76	d	d	PROPN
alkej-330	64	77	�	�	PROPN
alkej-330	64	78	�	�	PROPN
alkej-330	64	79	�	�	PROPN
alkej-330	64	80	�	�	PROPN
alkej-330	64	81	cos	cos	PROPN
alkej-330	64	82	d	d	PROPN
alkej-330	64	83	�	�	PROPN
alkej-330	64	84	�	�	PROPN
alkej-330	64	85	sin	sin	NOUN
alkej-330	64	86	d	d	X
alkej-330	64	87	�	�	PROPN
alkej-330	64	88	0	0	NUM
alkej-330	64	89	0sin	0sin	PROPN
alkej-330	65	1	d	d	PROPN
alkej-330	65	2	�	�	PROPN
alkej-330	65	3	cos	cos	PROPN
alkej-330	65	4	d	d	PROPN
alkej-330	65	5	�	�	PROPN
alkej-330	65	6	0	0	NUM
alkej-330	65	7	00	00	NUM
alkej-330	65	8	0	0	NUM
alkej-330	65	9	1	1	NUM
alkej-330	65	10	00	00	NUM
alkej-330	65	11	0	0	NUM
alkej-330	65	12	0	0	NUM
alkej-330	65	13	1	1	NUM
alkej-330	65	14	�	�	NOUN
alkej-330	65	15	…	…	SYM
alkej-330	65	16	(4	(4	NOUN
alkej-330	65	17	)	)	PUNCT
alkej-330	65	18	era	era	NOUN
alkej-330	65	19	i	i	PRON
alkej-330	65	20	�	�	PROPN
alkej-330	65	21	�	�	PROPN
alkej-330	65	22	�	�	PROPN
alkej-330	65	23	�	�	PROPN
alkej-330	65	24	�	�	PROPN
alkej-330	65	25	b	b	PROPN
alkej-330	65	26	�	�	PROPN
alkej-330	65	27	!	!	PUNCT
alkej-330	66	1	c	c	NOUN
alkej-330	66	2	�	�	PROPN
alkej-330	66	3	"	"	PUNCT
alkej-330	66	4	0	0	NUM
alkej-330	66	5	�	�	PROPN
alkej-330	66	6	!	!	PUNCT
alkej-330	66	7	�	�	PROPN
alkej-330	66	8	b	b	PROPN
alkej-330	66	9	!	!	PUNCT
alkej-330	66	10	!	!	PUNCT
alkej-330	67	1	c	c	X
alkej-330	67	2	!	!	PUNCT
alkej-330	67	3	"	"	PUNCT
alkej-330	68	1	0	0	NUM
alkej-330	68	2	�	�	PROPN
alkej-330	68	3	"	"	PUNCT
alkej-330	68	4	�	�	PROPN
alkej-330	68	5	b	b	NOUN
alkej-330	68	6	"	"	PUNCT
alkej-330	68	7	!	!	PUNCT
alkej-330	69	1	c	c	X
alkej-330	69	2	"	"	PUNCT
alkej-330	69	3	"	"	PUNCT
alkej-330	69	4	00	00	NUM
alkej-330	69	5	0	0	NUM
alkej-330	69	6	0	0	NUM
alkej-330	69	7	1	1	NUM
alkej-330	69	8	�	�	NOUN
alkej-330	69	9	…	…	PUNCT
alkej-330	69	10	(	(	PUNCT
alkej-330	69	11	5	5	NUM
alkej-330	69	12	)	)	PUNCT
alkej-330	69	13	where	where	SCONJ
alkej-330	69	14	:	:	PUNCT
alkej-330	69	15	a	a	DET
alkej-330	69	16	�	�	PROPN
alkej-330	69	17	�	�	PROPN
alkej-330	69	18	�	�	PROPN
alkej-330	69	19	cos	cos	PROPN
alkej-330	69	20	d	d	PROPN
alkej-330	69	21	�	�	PROPN
alkej-330	69	22	cos	cos	PROPN
alkej-330	69	23	d	d	PROPN
alkej-330	69	24	�	�	PROPN
alkej-330	69	25	a	a	PRON
alkej-330	69	26	!	!	PUNCT
alkej-330	69	27	�	�	PROPN
alkej-330	69	28	�	�	PROPN
alkej-330	69	29	sin	sin	VERB
alkej-330	69	30	d	d	X
alkej-330	69	31	�	�	PROPN
alkej-330	69	32	cos	cos	PROPN
alkej-330	69	33	d	d	PROPN
alkej-330	69	34	�	�	PROPN
alkej-330	69	35	a	a	DET
alkej-330	69	36	"	"	PUNCT
alkej-330	69	37	�	�	PROPN
alkej-330	69	38	�	�	PROPN
alkej-330	69	39	�	�	PROPN
alkej-330	69	40	sin	sin	NOUN
alkej-330	69	41	d	d	PROPN
alkej-330	69	42	�	�	PROPN
alkej-330	69	43	b	b	PROPN
alkej-330	69	44	�	�	PROPN
alkej-330	69	45	!#cos	!#cos	PROPN
alkej-330	70	1	d	d	X
alkej-330	70	2	�	�	PROPN
alkej-330	70	3	sin	sin	NOUN
alkej-330	70	4	d	d	PROPN
alkej-330	70	5	�	�	PROPN
alkej-330	70	6	sin	sin	NOUN
alkej-330	70	7	d	d	PROPN
alkej-330	70	8	�	�	NOUN
alkej-330	70	9	�	�	PROPN
alkej-330	70	10	sin	sin	NOUN
alkej-330	70	11	d	d	X
alkej-330	70	12	�	�	PROPN
alkej-330	70	13	cos	cos	PROPN
alkej-330	70	14	d	d	PROPN
alkej-330	70	15	�	�	PROPN
alkej-330	70	16	b	b	PROPN
alkej-330	70	17	!	!	PUNCT
alkej-330	70	18	!	!	PUNCT
alkej-330	71	1	�	�	PROPN
alkej-330	71	2	sin	sin	PROPN
alkej-330	71	3	d	d	PROPN
alkej-330	71	4	�	�	PROPN
alkej-330	71	5	sin	sin	NOUN
alkej-330	71	6	d	d	PROPN
alkej-330	71	7	�	�	PROPN
alkej-330	71	8	sin	sin	NOUN
alkej-330	71	9	d	d	PROPN
alkej-330	71	10	�	�	PROPN
alkej-330	71	11	$cos	$cos	PROPN
alkej-330	71	12	d	d	PROPN
alkej-330	71	13	�	�	PROPN
alkej-330	71	14	cos	cos	PROPN
alkej-330	71	15	d	d	PROPN
alkej-330	71	16	�	�	PROPN
alkej-330	71	17	b	b	PROPN
alkej-330	71	18	"	"	PUNCT
alkej-330	71	19	!	!	PUNCT
alkej-330	71	20	�	�	PROPN
alkej-330	71	21	cos	cos	PROPN
alkej-330	71	22	d	d	PROPN
alkej-330	71	23	�	�	PROPN
alkej-330	71	24	sin	sin	NOUN
alkej-330	71	25	d	d	PROPN
alkej-330	71	26	�	�	PROPN
alkej-330	71	27	hussein	hussein	PROPN
alkej-330	71	28	m.	m.	PROPN
alkej-330	71	29	al	al	PROPN
alkej-330	71	30	-	-	PUNCT
alkej-330	71	31	khafaji	khafaji	PROPN
alkej-330	71	32	al	al	PROPN
alkej-330	71	33	c	c	PROPN
alkej-330	71	34	�	�	PROPN
alkej-330	71	35	"	"	PUNCT
alkej-330	71	36	�	�	PROPN
alkej-330	71	37	cos	cos	PROPN
alkej-330	71	38	d	d	PROPN
alkej-330	71	39	�	�	PROPN
alkej-330	71	40	sin	sin	NOUN
alkej-330	71	41	d	d	X
alkej-330	71	42	�	�	PROPN
alkej-330	71	43	cos	cos	PROPN
alkej-330	71	44	d	d	PROPN
alkej-330	71	45	�	�	PROPN
alkej-330	71	46	$	$	SYM
alkej-330	71	47	sin	sin	NOUN
alkej-330	71	48	d	d	PROPN
alkej-330	71	49	�	�	PROPN
alkej-330	71	50	sin	sin	NOUN
alkej-330	71	51	d	d	X
alkej-330	71	52	�	�	PROPN
alkej-330	71	53	c	c	AUX
alkej-330	71	54	!	!	PUNCT
alkej-330	71	55	"	"	PUNCT
alkej-330	72	1	�	�	PROPN
alkej-330	72	2	sin	sin	NOUN
alkej-330	72	3	d	d	PROPN
alkej-330	72	4	�	�	PROPN
alkej-330	72	5	sin	sin	NOUN
alkej-330	72	6	d	d	PROPN
alkej-330	72	7	�	�	PROPN
alkej-330	72	8	cos	cos	PROPN
alkej-330	72	9	d	d	PROPN
alkej-330	72	10	�	�	PROPN
alkej-330	72	11	�	�	PROPN
alkej-330	72	12	cos	cos	PROPN
alkej-330	72	13	d	d	PROPN
alkej-330	72	14	�	�	PROPN
alkej-330	72	15	sin	sin	NOUN
alkej-330	72	16	d	d	X
alkej-330	72	17	�	�	PROPN
alkej-330	72	18	c	c	NOUN
alkej-330	72	19	"	"	PUNCT
alkej-330	72	20	"	"	PUNCT
alkej-330	72	21	�	�	PROPN
alkej-330	72	22	cos	cos	PROPN
alkej-330	72	23	d	d	PROPN
alkej-330	72	24	�	�	PROPN
alkej-330	72	25	cos	cos	PROPN
alkej-330	72	26	d	d	PROPN
alkej-330	72	27	�	�	PROPN
alkej-330	72	28	the	the	DET
alkej-330	72	29	equation	equation	NOUN
alkej-330	72	30	…	…	PUNCT
alkej-330	72	31	(	(	PUNCT
alkej-330	72	32	5	5	NUM
alkej-330	72	33	)	)	PUNCT
alkej-330	72	34	represents	represent	VERB
alkej-330	72	35	the	the	DET
alkej-330	72	36	rotation	rotation	NOUN
alkej-330	72	37	part	part	NOUN
alkej-330	72	38	of	of	ADP
alkej-330	72	39	the	the	DET
alkej-330	72	40	transformation	transformation	NOUN
alkej-330	72	41	matrix	matrix	NOUN
alkej-330	72	42	.	.	PUNCT
alkej-330	73	1	the	the	DET
alkej-330	73	2	translation	translation	NOUN
alkej-330	73	3	matrix	matrix	NOUN
alkej-330	73	4	is	be	AUX
alkej-330	73	5	:	:	PUNCT
alkej-330	73	6	eta	eta	INTJ
alkej-330	73	7	i	i	PROPN
alkej-330	73	8	�	�	PROPN
alkej-330	73	9	�	�	PROPN
alkej-330	73	10	1	1	NUM
alkej-330	73	11	0	0	NUM
alkej-330	73	12	0	0	NUM
alkej-330	73	13	δx0	δx0	NOUN
alkej-330	73	14	1	1	NUM
alkej-330	73	15	0	0	NUM
alkej-330	73	16	δy0	δy0	NOUN
alkej-330	73	17	0	0	NUM
alkej-330	73	18	1	1	NUM
alkej-330	73	19	δz0	δz0	NOUN
alkej-330	73	20	0	0	NUM
alkej-330	73	21	0	0	NUM
alkej-330	73	22	1	1	NUM
alkej-330	73	23	�	�	PROPN
alkej-330	73	24	the	the	DET
alkej-330	73	25	transformation	transformation	NOUN
alkej-330	73	26	between	between	ADP
alkej-330	73	27	coordinates	coordinate	NOUN
alkej-330	73	28	and	and	CCONJ
alkej-330	73	29	o	o	PROPN
alkej-330	73	30	�	�	PROPN
alkej-330	73	31	i	i	PRON
alkej-330	73	32	becomes	become	VERB
alkej-330	73	33	:	:	PUNCT
alkej-330	73	34	ea	ea	NUM
alkej-330	73	35	i	i	PROPN
alkej-330	73	36	�	�	PROPN
alkej-330	74	1	eta	eta	INTJ
alkej-330	74	2	i	i	PRON
alkej-330	74	3	era	era	VERB
alkej-330	74	4	i	i	PRON
alkej-330	74	5	e	e	VERB
alkej-330	74	6	'	'	PUNCT
alkej-330	74	7	(	(	PUNCT
alkej-330	74	8	�	�	PROPN
alkej-330	74	9	�	�	PROPN
alkej-330	74	10	�	�	PROPN
alkej-330	74	11	�	�	PROPN
alkej-330	74	12	�	�	PROPN
alkej-330	74	13	b	b	PROPN
alkej-330	74	14	�	�	PROPN
alkej-330	74	15	!	!	PUNCT
alkej-330	75	1	c	c	PROPN
alkej-330	75	2	�	�	PROPN
alkej-330	75	3	"	"	PUNCT
alkej-330	75	4	δx	δx	PROPN
alkej-330	75	5	�	�	PROPN
alkej-330	75	6	!	!	PUNCT
alkej-330	75	7	�	�	PROPN
alkej-330	75	8	b	b	PROPN
alkej-330	75	9	!	!	PUNCT
alkej-330	75	10	!	!	PUNCT
alkej-330	76	1	c	c	X
alkej-330	76	2	!	!	PUNCT
alkej-330	76	3	"	"	PUNCT
alkej-330	77	1	δy	δy	PROPN
alkej-330	77	2	�	�	PROPN
alkej-330	77	3	"	"	PUNCT
alkej-330	77	4	�	�	PROPN
alkej-330	77	5	b	b	NOUN
alkej-330	77	6	"	"	PUNCT
alkej-330	77	7	!	!	PUNCT
alkej-330	78	1	c	c	X
alkej-330	78	2	"	"	PUNCT
alkej-330	78	3	"	"	PUNCT
alkej-330	78	4	δz0	δz0	NOUN
alkej-330	78	5	0	0	NUM
alkej-330	78	6	0	0	SYM
alkej-330	78	7	1	1	NUM
alkej-330	78	8	�	�	PROPN
alkej-330	78	9	here	here	ADV
alkej-330	78	10	,	,	PUNCT
alkej-330	78	11	the	the	DET
alkej-330	78	12	δx	δx	PROPN
alkej-330	78	13	,	,	PUNCT
alkej-330	78	14	δy	δy	PROPN
alkej-330	78	15	,	,	PUNCT
alkej-330	78	16	δz	δz	X
alkej-330	78	17	,	,	PUNCT
alkej-330	78	18	d	d	NOUN
alkej-330	78	19	�	�	PROPN
alkej-330	78	20	,	,	PUNCT
alkej-330	78	21	d	d	NOUN
alkej-330	78	22	�	�	PROPN
alkej-330	78	23	and	and	CCONJ
alkej-330	78	24	d	d	PROPN
alkej-330	78	25	�	�	PROPN
alkej-330	78	26	generalized	generalize	VERB
alkej-330	78	27	error	error	NOUN
alkej-330	78	28	parameters	parameter	NOUN
alkej-330	78	29	.	.	PUNCT
alkej-330	79	1	usually	usually	ADV
alkej-330	79	2	generalized	generalized	ADJ
alkej-330	79	3	parameters	parameter	NOUN
alkej-330	79	4	are	be	AUX
alkej-330	79	5	introduced	introduce	VERB
alkej-330	79	6	on	on	ADP
alkej-330	79	7	the	the	DET
alkej-330	79	8	basis	basis	NOUN
alkej-330	79	9	of	of	ADP
alkej-330	79	10	different	different	ADJ
alkej-330	79	11	approximations	approximation	NOUN
alkej-330	79	12	,	,	PUNCT
alkej-330	79	13	such	such	ADJ
alkej-330	79	14	as	as	ADP
alkej-330	79	15	assumed	assume	VERB
alkej-330	79	16	modes	mode	NOUN
alkej-330	79	17	,	,	PUNCT
alkej-330	79	18	finite	finite	ADJ
alkej-330	79	19	elements	element	NOUN
alkej-330	79	20	,	,	PUNCT
alkej-330	79	21	or	or	CCONJ
alkej-330	79	22	ritz	ritz	PROPN
alkej-330	79	23	-	-	PUNCT
alkej-330	79	24	kantorovich	kantorovich	PROPN
alkej-330	79	25	expansions	expansion	NOUN
alkej-330	79	26	,	,	PUNCT
alkej-330	79	27	with	with	ADP
alkej-330	79	28	different	different	ADJ
alkej-330	79	29	implications	implication	NOUN
alkej-330	79	30	on	on	ADP
alkej-330	79	31	the	the	DET
alkej-330	79	32	model	model	NOUN
alkej-330	79	33	complexity	complexity	NOUN
alkej-330	79	34	and	and	CCONJ
alkej-330	79	35	accuracy	accuracy	NOUN
alkej-330	80	1	[	[	X
alkej-330	80	2	9	9	NUM
alkej-330	80	3	]	]	PUNCT
alkej-330	80	4	.	.	PUNCT
alkej-330	81	1	the	the	DET
alkej-330	81	2	references	reference	NOUN
alkej-330	81	3	[	[	X
alkej-330	81	4	17	17	NUM
alkej-330	81	5	-	-	SYM
alkej-330	81	6	19	19	NUM
alkej-330	81	7	]	]	PUNCT
alkej-330	81	8	have	have	AUX
alkej-330	81	9	supposed	suppose	VERB
alkej-330	81	10	that	that	SCONJ
alkej-330	81	11	the	the	DET
alkej-330	81	12	generalized	generalized	ADJ
alkej-330	81	13	deflection	deflection	NOUN
alkej-330	81	14	parameters	parameter	NOUN
alkej-330	81	15	are	be	AUX
alkej-330	81	16	small	small	ADJ
alkej-330	81	17	,	,	PUNCT
alkej-330	81	18	so	so	ADV
alkej-330	81	19	a	a	DET
alkej-330	81	20	first	first	ADJ
alkej-330	81	21	order	order	NOUN
alkej-330	81	22	approximation	approximation	NOUN
alkej-330	81	23	can	can	AUX
alkej-330	81	24	be	be	AUX
alkej-330	81	25	applied	apply	VERB
alkej-330	81	26	to	to	ADP
alkej-330	81	27	their	their	PRON
alkej-330	81	28	trigonometric	trigonometric	ADJ
alkej-330	81	29	functions	function	NOUN
alkej-330	81	30	and	and	CCONJ
alkej-330	81	31	product	product	NOUN
alkej-330	81	32	,	,	PUNCT
alkej-330	81	33	and	and	CCONJ
alkej-330	81	34	higher	high	ADJ
alkej-330	81	35	order	order	NOUN
alkej-330	81	36	equals	equal	VERB
alkej-330	81	37	zero	zero	NUM
alkej-330	81	38	.	.	PUNCT
alkej-330	82	1	sin	sin	PROPN
alkej-330	82	2	d	d	X
alkej-330	82	3	�	�	PROPN
alkej-330	82	4	=	=	SYM
alkej-330	82	5	d	d	PROPN
alkej-330	82	6	�	�	PROPN
alkej-330	82	7	,	,	PUNCT
alkej-330	82	8	sin	sin	NOUN
alkej-330	82	9	d	d	X
alkej-330	82	10	�	�	PROPN
alkej-330	82	11	=	=	SYM
alkej-330	82	12	d	d	PROPN
alkej-330	82	13	�	�	PROPN
alkej-330	82	14	sin	sin	NOUN
alkej-330	82	15	d	d	X
alkej-330	82	16	�	�	PROPN
alkej-330	82	17	=	=	SYM
alkej-330	82	18	d	d	PROPN
alkej-330	82	19	�	�	PROPN
alkej-330	82	20	cos	cos	PROPN
alkej-330	82	21	d	d	PROPN
alkej-330	82	22	�	�	PROPN
alkej-330	82	23	=	=	SYM
alkej-330	82	24	cos	cos	PROPN
alkej-330	82	25	d	d	PROPN
alkej-330	82	26	�	�	PROPN
alkej-330	82	27	=	=	SYM
alkej-330	82	28	cos	cos	PROPN
alkej-330	82	29	d	d	PROPN
alkej-330	82	30	�	�	PROPN
alkej-330	82	31	=	=	SYM
alkej-330	82	32	1	1	NUM
alkej-330	82	33	based	base	VERB
alkej-330	82	34	on	on	ADP
alkej-330	82	35	these	these	DET
alkej-330	82	36	assumptions	assumption	NOUN
alkej-330	82	37	,	,	PUNCT
alkej-330	82	38	the	the	DET
alkej-330	82	39	matrix	matrix	NOUN
alkej-330	82	40	…	…	PUNCT
alkej-330	82	41	(	(	PUNCT
alkej-330	82	42	8)	8)	NUM
alkej-330	82	43	will	will	AUX
alkej-330	82	44	be	be	AUX
alkej-330	82	45	equal	equal	ADJ
alkej-330	82	46	to	to	ADP
alkej-330	82	47	:	:	PUNCT
alkej-330	82	48	e)*+	e)*+	PROPN
alkej-330	82	49	,	,	PUNCT
alkej-330	82	50	�	�	PROPN
alkej-330	82	51	�	�	PROPN
alkej-330	82	52	1	1	NUM
alkej-330	82	53	�	�	PROPN
alkej-330	82	54	d	d	PROPN
alkej-330	82	55	�	�	PROPN
alkej-330	82	56	d	d	PROPN
alkej-330	82	57	�	�	PROPN
alkej-330	82	58	δxd	δxd	NOUN
alkej-330	82	59	�	�	PROPN
alkej-330	82	60	1	1	NUM
alkej-330	82	61	�	�	PROPN
alkej-330	82	62	d	d	PROPN
alkej-330	82	63	�	�	PROPN
alkej-330	82	64	δy	δy	PROPN
alkej-330	82	65	�	�	PROPN
alkej-330	82	66	d	d	PROPN
alkej-330	82	67	�	�	PROPN
alkej-330	82	68	d	d	PROPN
alkej-330	82	69	�	�	PROPN
alkej-330	82	70	1	1	NUM
alkej-330	82	71	δz0	δz0	NOUN
alkej-330	82	72	0	0	NUM
alkej-330	82	73	0	0	SYM
alkej-330	82	74	1	1	NUM
alkej-330	82	75	�	�	PROPN
alkej-330	82	76	in	in	ADP
alkej-330	82	77	this	this	DET
alkej-330	82	78	work	work	NOUN
alkej-330	82	79	,	,	PUNCT
alkej-330	82	80	the	the	DET
alkej-330	82	81	values	value	NOUN
alkej-330	82	82	of	of	ADP
alkej-330	82	83	deflection	deflection	NOUN
alkej-330	82	84	’s	’s	PART
alkej-330	82	85	are	be	AUX
alkej-330	82	86	taken	take	VERB
alkej-330	82	87	in	in	ADP
alkej-330	82	88	consideration	consideration	NOUN
alkej-330	82	89	.	.	PUNCT
alkej-330	83	1	figure	figure	NOUN
alkej-330	83	2	1	1	NUM
alkej-330	83	3	shows	show	VERB
alkej-330	83	4	the	the	DET
alkej-330	83	5	coordinate	coordinate	NOUN
alkej-330	83	6	for	for	ADP
alkej-330	83	7	flexible	flexible	ADJ
alkej-330	83	8	links	link	NOUN
alkej-330	83	9	,	,	PUNCT
alkej-330	83	10	the	the	DET
alkej-330	83	11	kinematic	kinematic	ADJ
alkej-330	83	12	equation	equation	NOUN
alkej-330	83	13	covering	cover	VERB
alkej-330	83	14	the	the	DET
alkej-330	83	15	positions	position	NOUN
alkej-330	83	16	of	of	ADP
alkej-330	83	17	this	this	DET
alkej-330	83	18	links	link	NOUN
alkej-330	83	19	with	with	ADP
alkej-330	83	20	presence	presence	NOUN
alkej-330	83	21	of	of	ADP
alkej-330	83	22	flexibility	flexibility	NOUN
alkej-330	83	23	is	be	AUX
alkej-330	83	24	:	:	PUNCT
alkej-330	83	25	t)*+,=a	t)*+,=a	X
alkej-330	83	26	�	�	PROPN
alkej-330	83	27	-.q	-.q	NOUN
alkej-330	83	28	�	�	NOUN
alkej-330	83	29	/ea	/ea	NOUN
alkej-330	83	30	1	1	NUM
alkej-330	83	31	i	i	NOUN
alkej-330	83	32	1	1	NUM
alkej-330	83	33	a!	a!	NOUN
alkej-330	83	34	�	�	PROPN
alkej-330	83	35	.q!/ea	.q!/ea	PROPN
alkej-330	83	36	2	2	NUM
alkej-330	83	37	i2	i2	NOUN
alkej-330	83	38	⋯an	⋯an	NOUN
alkej-330	83	39	n1�.qn	n1�.qn	PROPN
alkej-330	83	40	/	/	SYM
alkej-330	83	41	al	al	PROPN
alkej-330	83	42	-	-	PUNCT
alkej-330	83	43	khwarizmi	khwarizmi	PROPN
alkej-330	83	44	engineering	engineering	NOUN
alkej-330	83	45	journal	journal	PROPN
alkej-330	83	46	,	,	PUNCT
alkej-330	83	47	vol	vol	NOUN
alkej-330	83	48	.	.	PROPN
alkej-330	83	49	13	13	NUM
alkej-330	83	50	,	,	PUNCT
alkej-330	83	51	no	no	INTJ
alkej-330	83	52	.	.	NOUN
alkej-330	83	53	1	1	NUM
alkej-330	83	54	,	,	PUNCT
alkej-330	83	55	p.p	p.p	PROPN
alkej-330	83	56	.	.	NOUN
alkej-330	83	57	1	1	NUM
alkej-330	83	58	15	15	NUM
alkej-330	83	59	represents	represent	VERB
alkej-330	83	60	the	the	DET
alkej-330	83	61	rotation	rotation	NOUN
alkej-330	83	62	part	part	NOUN
alkej-330	83	63	of	of	ADP
alkej-330	83	64	the	the	DET
alkej-330	83	65	transformation	transformation	NOUN
alkej-330	83	66	matrix	matrix	NOUN
alkej-330	83	67	.	.	PUNCT
alkej-330	84	1	the	the	DET
alkej-330	84	2	translation	translation	NOUN
alkej-330	84	3	matrix	matrix	NOUN
alkej-330	84	4	…	…	PUNCT
alkej-330	84	5	(	(	PUNCT
alkej-330	84	6	6	6	NUM
alkej-330	84	7	)	)	PUNCT
alkej-330	84	8	the	the	DET
alkej-330	84	9	transformation	transformation	NOUN
alkej-330	84	10	between	between	ADP
alkej-330	84	11	coordinates	coordinate	NOUN
alkej-330	84	12	o	o	PROPN
alkej-330	84	13	�	�	PROPN
alkej-330	84	14	a	a	PRON
alkej-330	84	15	…	…	PUNCT
alkej-330	84	16	(	(	PUNCT
alkej-330	84	17	7	7	NUM
alkej-330	84	18	)	)	PUNCT
alkej-330	84	19	…	…	PUNCT
alkej-330	84	20	(	(	PUNCT
alkej-330	84	21	8)	8)	NUM
alkej-330	84	22	�	�	PROPN
alkej-330	84	23	are	be	AUX
alkej-330	84	24	called	call	VERB
alkej-330	84	25	generalized	generalized	ADJ
alkej-330	84	26	error	error	NOUN
alkej-330	84	27	parameters	parameter	NOUN
alkej-330	84	28	.	.	PUNCT
alkej-330	85	1	usually	usually	ADV
alkej-330	85	2	,	,	PUNCT
alkej-330	85	3	these	these	DET
alkej-330	85	4	generalized	generalized	ADJ
alkej-330	85	5	parameters	parameter	NOUN
alkej-330	85	6	are	be	AUX
alkej-330	85	7	introduced	introduce	VERB
alkej-330	85	8	on	on	ADP
alkej-330	85	9	the	the	DET
alkej-330	85	10	basis	basis	NOUN
alkej-330	85	11	such	such	ADJ
alkej-330	85	12	as	as	SCONJ
alkej-330	85	13	assumed	assume	VERB
alkej-330	85	14	kantorovich	kantorovich	PROPN
alkej-330	85	15	expansions	expansion	NOUN
alkej-330	85	16	,	,	PUNCT
alkej-330	85	17	with	with	ADP
alkej-330	85	18	different	different	ADJ
alkej-330	85	19	implications	implication	NOUN
alkej-330	85	20	on	on	ADP
alkej-330	85	21	the	the	PRON
alkej-330	85	22	have	have	AUX
alkej-330	85	23	supposed	suppose	VERB
alkej-330	85	24	that	that	SCONJ
alkej-330	85	25	the	the	DET
alkej-330	85	26	generalized	generalized	ADJ
alkej-330	85	27	deflection	deflection	NOUN
alkej-330	85	28	parameters	parameter	NOUN
alkej-330	85	29	are	be	AUX
alkej-330	85	30	small	small	ADJ
alkej-330	85	31	,	,	PUNCT
alkej-330	85	32	so	so	ADV
alkej-330	85	33	a	a	DET
alkej-330	85	34	first	first	ADJ
alkej-330	85	35	order	order	NOUN
alkej-330	85	36	approximation	approximation	NOUN
alkej-330	85	37	can	can	AUX
alkej-330	85	38	be	be	AUX
alkej-330	85	39	applied	apply	VERB
alkej-330	85	40	to	to	ADP
alkej-330	85	41	their	their	PRON
alkej-330	85	42	trigonometric	trigonometric	ADJ
alkej-330	85	43	functions	function	NOUN
alkej-330	85	44	and	and	CCONJ
alkej-330	85	45	product	product	NOUN
alkej-330	85	46	,	,	PUNCT
alkej-330	85	47	and	and	CCONJ
alkej-330	85	48	higher	high	ADJ
alkej-330	85	49	the	the	DET
alkej-330	85	50	matrix	matrix	NOUN
alkej-330	85	51	ea	ea	ADP
alkej-330	85	52	i	i	PRON
alkej-330	85	53	in	in	ADP
alkej-330	85	54	�	�	PROPN
alkej-330	85	55	…	…	PUNCT
alkej-330	85	56	(	(	PUNCT
alkej-330	85	57	9	9	X
alkej-330	85	58	)	)	PUNCT
alkej-330	85	59	deflection	deflection	NOUN
alkej-330	85	60	’s	’s	PART
alkej-330	85	61	parameters	parameter	NOUN
alkej-330	85	62	shows	show	VERB
alkej-330	85	63	the	the	DET
alkej-330	85	64	coordinate	coordinate	NOUN
alkej-330	85	65	for	for	ADP
alkej-330	85	66	serial	serial	NOUN
alkej-330	85	67	of	of	ADP
alkej-330	85	68	the	the	DET
alkej-330	85	69	kinematic	kinematic	ADJ
alkej-330	85	70	equation	equation	NOUN
alkej-330	85	71	covering	cover	VERB
alkej-330	85	72	the	the	DET
alkej-330	85	73	links	link	NOUN
alkej-330	85	74	with	with	ADP
alkej-330	85	75	presence	presence	NOUN
alkej-330	85	76	of	of	ADP
alkej-330	85	77	flexibility	flexibility	NOUN
alkej-330	85	78	.	.	PUNCT
alkej-330	85	79	/ea	/ea	PUNCT
alkej-330	86	1	n	n	CCONJ
alkej-330	86	2	i	i	PRON
alkej-330	86	3	n	n	PROPN
alkej-330	86	4	…	…	PUNCT
alkej-330	86	5	(	(	PUNCT
alkej-330	86	6	10	10	NUM
alkej-330	86	7	)	)	PUNCT
alkej-330	86	8	an	an	DET
alkej-330	86	9	n1	n1	PROPN
alkej-330	86	10	�	�	PROPN
alkej-330	86	11	is	be	AUX
alkej-330	86	12	the	the	DET
alkej-330	86	13	homogenous	homogenous	ADJ
alkej-330	86	14	transformation	transformation	NOUN
alkej-330	86	15	matrix	matrix	NOUN
alkej-330	86	16	in	in	ADP
alkej-330	86	17	denavithartenber	denavithartenber	PROPN
alkej-330	86	18	(	(	PUNCT
alkej-330	86	19	dh	dh	NOUN
alkej-330	86	20	)	)	PUNCT
alkej-330	86	21	equation	equation	NOUN
alkej-330	86	22	a221	a221	PROPN
alkej-330	86	23	�	�	PROPN
alkej-330	86	24	�	�	PROPN
alkej-330	86	25	�	�	PROPN
alkej-330	86	26	cos	cos	PROPN
alkej-330	86	27	32	32	NUM
alkej-330	86	28	�	�	PROPN
alkej-330	86	29	sin	sin	VERB
alkej-330	86	30	32	32	NUM
alkej-330	86	31	cos	cos	ADP
alkej-330	86	32	42	42	NUM
alkej-330	86	33	sin	sin	NOUN
alkej-330	86	34	32sin	32sin	NOUN
alkej-330	86	35	32	32	NUM
alkej-330	86	36	cos	cos	PROPN
alkej-330	86	37	32	32	NUM
alkej-330	86	38	cos	cos	PROPN
alkej-330	86	39	42	42	NUM
alkej-330	86	40	�	�	PROPN
alkej-330	86	41	cos	cos	ADJ
alkej-330	86	42	30	30	NUM
alkej-330	86	43	sin	sin	VERB
alkej-330	86	44	42	42	NUM
alkej-330	86	45	cos0	cos0	NOUN
alkej-330	86	46	0	0	PUNCT
alkej-330	87	1	where	where	SCONJ
alkej-330	87	2	:	:	PUNCT
alkej-330	87	3	32	32	NUM
alkej-330	87	4	,	,	PUNCT
alkej-330	87	5	42	42	NUM
alkej-330	87	6	,	,	PUNCT
alkej-330	87	7	ai	ai	AUX
alkej-330	87	8	and	and	CCONJ
alkej-330	87	9	d2	d2	PROPN
alkej-330	87	10	represent	represent	VERB
alkej-330	87	11	the	the	DET
alkej-330	87	12	joint	joint	ADJ
alkej-330	87	13	parameter	parameter	NOUN
alkej-330	87	14	defined	define	VERB
alkej-330	87	15	as	as	ADP
alkej-330	87	16	in	in	ADP
alkej-330	87	17	figure	figure	NOUN
alkej-330	87	18	2	2	NUM
alkej-330	87	19	.	.	PUNCT
alkej-330	87	20	by	by	ADP
alkej-330	87	21	using	use	VERB
alkej-330	87	22	equation	equation	NOUN
alkej-330	87	23	(	(	PUNCT
alkej-330	87	24	10	10	NUM
alkej-330	87	25	)	)	PUNCT
alkej-330	87	26	,	,	PUNCT
alkej-330	87	27	the	the	DET
alkej-330	87	28	transformation	transformation	NOUN
alkej-330	87	29	relationship	relationship	NOUN
alkej-330	87	30	between	between	ADP
alkej-330	87	31	the	the	DET
alkej-330	87	32	two	two	NUM
alkej-330	87	33	frames	frame	NOUN
alkej-330	87	34	can	can	AUX
alkej-330	87	35	be	be	AUX
alkej-330	87	36	found	find	VERB
alkej-330	87	37	.	.	PUNCT
alkej-330	88	1	fig	fig	NOUN
alkej-330	88	2	.	.	PUNCT
alkej-330	89	1	2	2	X
alkej-330	89	2	.	.	X
alkej-330	89	3	the	the	DET
alkej-330	89	4	denavit	denavit	PROPN
alkej-330	89	5	-	-	PUNCT
alkej-330	89	6	hartenberg	hartenberg	PROPN
alkej-330	89	7	notatio	notatio	PROPN
alkej-330	89	8	t)*+	t)*+	PROPN
alkej-330	89	9	,	,	PUNCT
alkej-330	89	10	may	may	AUX
alkej-330	89	11	be	be	AUX
alkej-330	89	12	expressed	express	VERB
alkej-330	89	13	in	in	ADP
alkej-330	89	14	form	form	NOUN
alkej-330	89	15	as	as	ADP
alkej-330	89	16	a	a	DET
alkej-330	89	17	nonlinear	nonlinear	ADJ
alkej-330	89	18	function	function	NOUN
alkej-330	89	19	of	of	ADP
alkej-330	89	20	q	q	PROPN
alkej-330	89	21	and	and	CCONJ
alkej-330	89	22	t)*+	t)*+	PROPN
alkej-330	89	23	,	,	PUNCT
alkej-330	89	24	�	�	PROPN
alkej-330	89	25	5	5	NUM
alkej-330	89	26	q	q	NOUN
alkej-330	89	27	,	,	PUNCT
alkej-330	89	28	7	7	NUM
alkej-330	89	29	�	�	PROPN
alkej-330	89	30	where	where	SCONJ
alkej-330	89	31	:	:	PUNCT
alkej-330	89	32	t)*+	t)*+	NUM
alkej-330	89	33	,	,	PUNCT
alkej-330	89	34	is	be	AUX
alkej-330	89	35	the	the	DET
alkej-330	89	36	set	set	NOUN
alkej-330	89	37	of	of	ADP
alkej-330	89	38	cartesian	cartesian	ADJ
alkej-330	89	39	coordinates	coordinate	NOUN
alkej-330	89	40	describing	describe	VERB
alkej-330	89	41	the	the	DET
alkej-330	89	42	position	position	NOUN
alkej-330	89	43	and	and	CCONJ
alkej-330	89	44	orientation	orientation	NOUN
alkej-330	89	45	of	of	ADP
alkej-330	89	46	the	the	DET
alkej-330	89	47	manipulator	manipulator	NOUN
alkej-330	89	48	’s	’s	PART
alkej-330	89	49	endeffector	endeffector	NOUN
alkej-330	89	50	with	with	ADP
alkej-330	89	51	respect	respect	NOUN
alkej-330	89	52	to	to	ADP
alkej-330	89	53	the	the	DET
alkej-330	89	54	inertial	inertial	ADJ
alkej-330	89	55	frame	frame	NOUN
alkej-330	89	56	.	.	PUNCT
alkej-330	90	1	q	q	PROPN
alkej-330	90	2	�	�	PROPN
alkej-330	90	3	8q	8q	PROPN
alkej-330	90	4	�	�	PROPN
alkej-330	90	5	q	q	PROPN
alkej-330	90	6	!	!	PUNCT
alkej-330	90	7	⋯	⋯	PROPN
alkej-330	90	8	⋯	⋯	PROPN
alkej-330	90	9	⋯	⋯	PROPN
alkej-330	90	10	⋯	⋯	PROPN
alkej-330	90	11	7	7	NUM
alkej-330	90	12	�	�	PROPN
alkej-330	90	13	87	87	NUM
alkej-330	90	14	�	�	PROPN
alkej-330	90	15	7	7	NUM
alkej-330	90	16	!	!	PUNCT
alkej-330	91	1	⋯	⋯	PROPN
alkej-330	91	2	⋯	⋯	PROPN
alkej-330	91	3	⋯	⋯	PROPN
alkej-330	91	4	⋯	⋯	PROPN
alkej-330	91	5	khwarizmi	khwarizmi	PROPN
alkej-330	91	6	engineering	engineering	PROPN
alkej-330	91	7	journal	journal	PROPN
alkej-330	91	8	,	,	PUNCT
alkej-330	91	9	vol	vol	NOUN
alkej-330	91	10	.	.	PROPN
alkej-330	91	11	13	13	NUM
alkej-330	91	12	,	,	PUNCT
alkej-330	91	13	no	no	INTJ
alkej-330	91	14	.	.	NOUN
alkej-330	91	15	1	1	NUM
alkej-330	91	16	,	,	PUNCT
alkej-330	91	17	p.p	p.p	PROPN
alkej-330	91	18	.	.	NOUN
alkej-330	91	19	1325(2017	1325(2017	NUM
alkej-330	91	20	)	)	PUNCT
alkej-330	91	21	ansformation	ansformation	NOUN
alkej-330	91	22	matrix	matrix	NOUN
alkej-330	91	23	in	in	ADP
alkej-330	91	24	(	(	PUNCT
alkej-330	91	25	dh	dh	NOUN
alkej-330	91	26	)	)	PUNCT
alkej-330	91	27	equation	equation	NOUN
alkej-330	91	28	(	(	PUNCT
alkej-330	91	29	11	11	NUM
alkej-330	91	30	):	):	PUNCT
alkej-330	91	31	32	32	NUM
alkej-330	91	32	sin	sin	NOUN
alkej-330	91	33	42	42	NUM
alkej-330	91	34	ai	ai	NOUN
alkej-330	91	35	cos	cos	PROPN
alkej-330	91	36	3232	3232	NUM
alkej-330	91	37	sin	sin	NOUN
alkej-330	91	38	42	42	NUM
alkej-330	91	39	ai	ai	VERB
alkej-330	91	40	sin	sin	NOUN
alkej-330	91	41	32cos	32cos	PROPN
alkej-330	91	42	42	42	NUM
alkej-330	91	43	d20	d20	NOUN
alkej-330	91	44	1	1	NUM
alkej-330	91	45	�	�	PROPN
alkej-330	91	46	…	…	PUNCT
alkej-330	91	47	(	(	PUNCT
alkej-330	91	48	11	11	NUM
alkej-330	91	49	)	)	PUNCT
alkej-330	91	50	represent	represent	VERB
alkej-330	91	51	the	the	DET
alkej-330	91	52	joint	joint	ADJ
alkej-330	91	53	parameter	parameter	NOUN
alkej-330	91	54	,	,	PUNCT
alkej-330	91	55	the	the	DET
alkej-330	91	56	transformation	transformation	NOUN
alkej-330	91	57	relationship	relationship	NOUN
alkej-330	91	58	between	between	ADP
alkej-330	91	59	the	the	DET
alkej-330	91	60	two	two	NUM
alkej-330	91	61	frames	frame	NOUN
alkej-330	91	62	o	o	PROPN
alkej-330	91	63	�	�	PROPN
alkej-330	91	64	a	a	NOUN
alkej-330	91	65	and	and	CCONJ
alkej-330	91	66	o	o	NOUN
alkej-330	91	67	�	�	PROPN
alkej-330	91	68	1	1	NUM
alkej-330	91	69	�	�	PROPN
alkej-330	91	70	hartenberg	hartenberg	PROPN
alkej-330	91	71	notatio	notatio	PROPN
alkej-330	91	72	.	.	PUNCT
alkej-330	92	1	may	may	AUX
alkej-330	92	2	be	be	AUX
alkej-330	92	3	expressed	express	VERB
alkej-330	92	4	in	in	ADP
alkej-330	92	5	a	a	DET
alkej-330	92	6	simple	simple	ADJ
alkej-330	92	7	compact	compact	ADJ
alkej-330	92	8	form	form	NOUN
alkej-330	92	9	as	as	ADP
alkej-330	92	10	a	a	DET
alkej-330	92	11	nonlinear	nonlinear	ADJ
alkej-330	92	12	function	function	NOUN
alkej-330	92	13	of	of	ADP
alkej-330	92	14	q	q	PROPN
alkej-330	92	15	and	and	CCONJ
alkej-330	92	16	7	7	NUM
alkej-330	92	17	vectors	vector	NOUN
alkej-330	92	18	:	:	PUNCT
alkej-330	92	19	…	…	PUNCT
alkej-330	92	20	(	(	PUNCT
alkej-330	92	21	12	12	NUM
alkej-330	92	22	)	)	PUNCT
alkej-330	92	23	is	be	AUX
alkej-330	92	24	the	the	DET
alkej-330	92	25	set	set	NOUN
alkej-330	92	26	of	of	ADP
alkej-330	92	27	cartesian	cartesian	ADJ
alkej-330	92	28	coordinates	coordinate	NOUN
alkej-330	92	29	describing	describe	VERB
alkej-330	92	30	the	the	DET
alkej-330	92	31	position	position	NOUN
alkej-330	92	32	and	and	CCONJ
alkej-330	92	33	orientation	orientation	NOUN
alkej-330	92	34	of	of	ADP
alkej-330	92	35	the	the	DET
alkej-330	92	36	effector	effector	NOUN
alkej-330	92	37	with	with	ADP
alkej-330	92	38	respect	respect	NOUN
alkej-330	92	39	to	to	ADP
alkej-330	92	40	the	the	DET
alkej-330	92	41	⋯	⋯	PROPN
alkej-330	92	42	q9	q9	PROPN
alkej-330	92	43	:	:	PUNCT
alkej-330	92	44	;	;	PUNCT
alkej-330	92	45	…	…	PUNCT
alkej-330	92	46	(	(	PUNCT
alkej-330	92	47	13	13	NUM
alkej-330	92	48	)	)	PUNCT
alkej-330	92	49	⋯	⋯	ADP
alkej-330	92	50	7	7	NUM
alkej-330	92	51	<	<	X
alkej-330	92	52	:	:	PUNCT
alkej-330	92	53	=	=	SYM
alkej-330	93	1	…	…	PUNCT
alkej-330	93	2	(	(	PUNCT
alkej-330	93	3	14	14	NUM
alkej-330	93	4	)	)	PUNCT
alkej-330	93	5	hussein	hussein	PROPN
alkej-330	93	6	m.	m.	PROPN
alkej-330	94	1	al	al	PROPN
alkej-330	94	2	-	-	PUNCT
alkej-330	94	3	khafaji	khafaji	PROPN
alkej-330	94	4	al	al	PROPN
alkej-330	94	5	-	-	PUNCT
alkej-330	94	6	khwarizmi	khwarizmi	PROPN
alkej-330	94	7	engineering	engineering	NOUN
alkej-330	94	8	journal	journal	PROPN
alkej-330	94	9	,	,	PUNCT
alkej-330	94	10	vol	vol	NOUN
alkej-330	94	11	.	.	PROPN
alkej-330	94	12	13	13	NUM
alkej-330	94	13	,	,	PUNCT
alkej-330	94	14	no	no	INTJ
alkej-330	94	15	.	.	NOUN
alkej-330	94	16	1	1	NUM
alkej-330	94	17	,	,	PUNCT
alkej-330	94	18	p.p	p.p	PROPN
alkej-330	94	19	.	.	NOUN
alkej-330	94	20	1325(2017	1325(2017	NUM
alkej-330	94	21	)	)	PUNCT
alkej-330	94	22	16	16	NUM
alkej-330	94	23	7	7	NUM
alkej-330	94	24	�	�	PROPN
alkej-330	94	25	8δx	8δx	PROPN
alkej-330	94	26	>	>	X
alkej-330	94	27	δy	δy	PROPN
alkej-330	94	28	>	>	X
alkej-330	94	29	δz	δz	NUM
alkej-330	94	30	?	?	PUNCT
alkej-330	95	1	d	d	X
alkej-330	95	2	�	�	PROPN
alkej-330	95	3	>	>	X
alkej-330	95	4	d	d	PROPN
alkej-330	95	5	�	�	PROPN
alkej-330	95	6	>	>	X
alkej-330	95	7	d	d	PROPN
alkej-330	95	8	�	�	PROPN
alkej-330	95	9	>:=	>:=	PROPN
alkej-330	95	10	…	…	PUNCT
alkej-330	95	11	(	(	PUNCT
alkej-330	95	12	15	15	NUM
alkej-330	95	13	)	)	PUNCT
alkej-330	95	14	where	where	SCONJ
alkej-330	95	15	:	:	PUNCT
alkej-330	95	16	q	q	X
alkej-330	95	17	is	be	AUX
alkej-330	95	18	the	the	DET
alkej-330	95	19	vector	vector	NOUN
alkej-330	95	20	in	in	ADP
alkej-330	95	21	joint	joint	ADJ
alkej-330	95	22	space	space	NOUN
alkej-330	95	23	.	.	PUNCT
alkej-330	96	1	7	7	NUM
alkej-330	96	2	is	be	AUX
alkej-330	96	3	a	a	DET
alkej-330	96	4	dimensional	dimensional	ADJ
alkej-330	96	5	link	link	NOUN
alkej-330	96	6	deflection	deflection	NOUN
alkej-330	96	7	vector	vector	NOUN
alkej-330	96	8	space	space	NOUN
alkej-330	96	9	,	,	PUNCT
alkej-330	96	10	spanned	span	VERB
alkej-330	96	11	to	to	PART
alkej-330	96	12	be	be	AUX
alkej-330	96	13	the	the	DET
alkej-330	96	14	link	link	NOUN
alkej-330	96	15	deflections	deflection	NOUN
alkej-330	96	16	of	of	ADP
alkej-330	96	17	the	the	DET
alkej-330	96	18	manipulator	manipulator	NOUN
alkej-330	96	19	arm	arm	NOUN
alkej-330	96	20	.	.	PUNCT
alkej-330	97	1	n	n	PRON
alkej-330	97	2	is	be	AUX
alkej-330	97	3	the	the	DET
alkej-330	97	4	number	number	NOUN
alkej-330	97	5	of	of	ADP
alkej-330	97	6	joints	joint	NOUN
alkej-330	97	7	.	.	PUNCT
alkej-330	98	1	@	@	PUNCT
alkej-330	98	2	generally	generally	ADV
alkej-330	98	3	equals	equal	VERB
alkej-330	98	4	to	to	ADP
alkej-330	98	5	6	6	NUM
alkej-330	98	6	x	x	NOUN
alkej-330	98	7	m.	m.	NOUN
alkej-330	98	8	m	m	VERB
alkej-330	98	9	is	be	AUX
alkej-330	98	10	the	the	DET
alkej-330	98	11	number	number	NOUN
alkej-330	98	12	of	of	ADP
alkej-330	98	13	flexible	flexible	ADJ
alkej-330	98	14	links	link	NOUN
alkej-330	98	15	.	.	PUNCT
alkej-330	99	1	the	the	DET
alkej-330	99	2	elements	element	NOUN
alkej-330	99	3	of	of	ADP
alkej-330	99	4	the	the	DET
alkej-330	99	5	vector	vector	NOUN
alkej-330	99	6	7	7	NUM
alkej-330	99	7	can	can	AUX
alkej-330	99	8	not	not	PART
alkej-330	99	9	easily	easily	ADV
alkej-330	99	10	specify	specify	VERB
alkej-330	99	11	their	their	PRON
alkej-330	99	12	values	value	NOUN
alkej-330	99	13	,	,	PUNCT
alkej-330	99	14	since	since	SCONJ
alkej-330	99	15	these	these	DET
alkej-330	99	16	elastic	elastic	ADJ
alkej-330	99	17	coordinates	coordinate	NOUN
alkej-330	99	18	are	be	AUX
alkej-330	99	19	dependent	dependent	ADJ
alkej-330	99	20	on	on	ADP
alkej-330	99	21	the	the	DET
alkej-330	99	22	rigid	rigid	ADJ
alkej-330	99	23	coordinate	coordinate	NOUN
alkej-330	99	24	q	q	NOUN
alkej-330	99	25	and	and	CCONJ
alkej-330	99	26	on	on	ADP
alkej-330	99	27	the	the	DET
alkej-330	99	28	applied	apply	VERB
alkej-330	99	29	forces	force	NOUN
alkej-330	99	30	f.	f.	PROPN
alkej-330	99	31	for	for	ADP
alkej-330	99	32	more	more	ADV
alkej-330	99	33	generally	generally	ADV
alkej-330	99	34	:	:	PUNCT
alkej-330	99	35	7	7	NUM
alkej-330	99	36	�	�	PROPN
alkej-330	99	37	a	a	DET
alkej-330	99	38	f	f	PROPN
alkej-330	99	39	,	,	PUNCT
alkej-330	99	40	q	q	ADJ
alkej-330	99	41	�	�	PROPN
alkej-330	99	42	…	…	PUNCT
alkej-330	99	43	(	(	PUNCT
alkej-330	99	44	16	16	NUM
alkej-330	99	45	)	)	PUNCT
alkej-330	99	46	by	by	ADP
alkej-330	99	47	substituting	substitute	VERB
alkej-330	99	48	equation	equation	NOUN
alkej-330	99	49	…	…	PUNCT
alkej-330	99	50	(	(	PUNCT
alkej-330	99	51	16	16	NUM
alkej-330	99	52	)	)	PUNCT
alkej-330	99	53	into	into	ADP
alkej-330	99	54	equation	equation	NOUN
alkej-330	99	55	(	(	PUNCT
alkej-330	99	56	12	12	NUM
alkej-330	99	57	)	)	PUNCT
alkej-330	99	58	,	,	PUNCT
alkej-330	99	59	t)*+	t)*+	PROPN
alkej-330	99	60	,	,	PUNCT
alkej-330	99	61	will	will	AUX
alkej-330	99	62	be	be	AUX
alkej-330	99	63	:	:	PUNCT
alkej-330	99	64	t)*+	t)*+	PROPN
alkej-330	99	65	,	,	PUNCT
alkej-330	99	66	�	�	PROPN
alkej-330	99	67	5	5	NUM
alkej-330	99	68	q	q	NOUN
alkej-330	99	69	,	,	PUNCT
alkej-330	99	70	e	e	PROPN
alkej-330	99	71	f	f	X
alkej-330	99	72	,	,	PUNCT
alkej-330	99	73	q	q	PROPN
alkej-330	99	74	�	�	PROPN
alkej-330	99	75	�	�	PROPN
alkej-330	99	76	…	…	PUNCT
alkej-330	99	77	(	(	PUNCT
alkej-330	99	78	17	17	NUM
alkej-330	99	79	)	)	PUNCT
alkej-330	99	80	as	as	SCONJ
alkej-330	99	81	mentioned	mention	VERB
alkej-330	99	82	in	in	ADP
alkej-330	99	83	the	the	DET
alkej-330	99	84	previous	previous	ADJ
alkej-330	99	85	section	section	NOUN
alkej-330	99	86	,	,	PUNCT
alkej-330	99	87	the	the	DET
alkej-330	99	88	two	two	NUM
alkej-330	99	89	degrees	degree	NOUN
alkej-330	99	90	of	of	ADP
alkej-330	99	91	freedom	freedom	NOUN
alkej-330	99	92	of	of	ADP
alkej-330	99	93	the	the	DET
alkej-330	99	94	arm	arm	NOUN
alkej-330	99	95	robot	robot	NOUN
alkej-330	99	96	manipulator	manipulator	NOUN
alkej-330	99	97	used	use	VERB
alkej-330	99	98	in	in	ADP
alkej-330	99	99	this	this	DET
alkej-330	99	100	study	study	NOUN
alkej-330	99	101	are	be	AUX
alkej-330	99	102	confined	confine	VERB
alkej-330	99	103	to	to	PART
alkej-330	99	104	move	move	VERB
alkej-330	99	105	within	within	ADP
alkej-330	99	106	the	the	DET
alkej-330	99	107	vertical	vertical	ADJ
alkej-330	99	108	plane	plane	NOUN
alkej-330	99	109	,	,	PUNCT
alkej-330	99	110	and	and	CCONJ
alkej-330	99	111	so	so	ADV
alkej-330	99	112	is	be	AUX
alkej-330	99	113	the	the	DET
alkej-330	99	114	deformation	deformation	NOUN
alkej-330	99	115	of	of	ADP
alkej-330	99	116	each	each	DET
alkej-330	99	117	link	link	NOUN
alkej-330	99	118	.	.	PUNCT
alkej-330	100	1	hence	hence	ADV
alkej-330	100	2	,	,	PUNCT
alkej-330	100	3	there	there	PRON
alkej-330	100	4	is	be	VERB
alkej-330	100	5	no	no	DET
alkej-330	100	6	rotation	rotation	NOUN
alkej-330	100	7	about	about	ADP
alkej-330	100	8	the	the	DET
alkej-330	100	9	axes	axis	NOUN
alkej-330	100	10	x	x	X
alkej-330	100	11	and	and	CCONJ
alkej-330	100	12	y	y	PROPN
alkej-330	100	13	,	,	PUNCT
alkej-330	100	14	also	also	ADV
alkej-330	100	15	there	there	PRON
alkej-330	100	16	is	be	VERB
alkej-330	100	17	no	no	DET
alkej-330	100	18	transformation	transformation	NOUN
alkej-330	100	19	in	in	ADP
alkej-330	100	20	the	the	DET
alkej-330	100	21	z	z	NOUN
alkej-330	100	22	direction	direction	NOUN
alkej-330	100	23	(	(	PUNCT
alkej-330	100	24	the	the	DET
alkej-330	100	25	parameters	parameter	NOUN
alkej-330	100	26	δz	δz	SYM
alkej-330	100	27	,	,	PUNCT
alkej-330	100	28	d	d	NOUN
alkej-330	100	29	�	�	PROPN
alkej-330	100	30	and	and	CCONJ
alkej-330	100	31	d	d	PROPN
alkej-330	100	32	�	�	PROPN
alkej-330	100	33	are	be	AUX
alkej-330	100	34	equal	equal	ADJ
alkej-330	100	35	zero	zero	NUM
alkej-330	100	36	)	)	PUNCT
alkej-330	100	37	.	.	PUNCT
alkej-330	101	1	figure	figure	NOUN
alkej-330	101	2	3	3	NUM
alkej-330	101	3	shows	show	VERB
alkej-330	101	4	a	a	DET
alkej-330	101	5	single	single	ADJ
alkej-330	101	6	flexible	flexible	ADJ
alkej-330	101	7	link	link	NOUN
alkej-330	101	8	coordinate	coordinate	NOUN
alkej-330	101	9	system	system	NOUN
alkej-330	101	10	,	,	PUNCT
alkej-330	101	11	the	the	DET
alkej-330	101	12	o21	o21	NOUN
alkej-330	101	13	�	�	PROPN
alkej-330	101	14	represents	represent	VERB
alkej-330	101	15	the	the	DET
alkej-330	101	16	base	base	ADJ
alkej-330	101	17	local	local	ADJ
alkej-330	101	18	coordinate	coordinate	NOUN
alkej-330	101	19	system	system	NOUN
alkej-330	101	20	,	,	PUNCT
alkej-330	101	21	and	and	CCONJ
alkej-330	101	22	the	the	DET
alkej-330	101	23	frame	frame	NOUN
alkej-330	101	24	o	o	NOUN
alkej-330	101	25	2	2	NUM
alkej-330	101	26	(	(	PUNCT
alkej-330	101	27	is	be	AUX
alkej-330	101	28	the	the	DET
alkej-330	101	29	local	local	ADJ
alkej-330	101	30	coordinate	coordinate	NOUN
alkej-330	101	31	system	system	NOUN
alkej-330	101	32	assigned	assign	VERB
alkej-330	101	33	to	to	PART
alkej-330	101	34	link	link	VERB
alkej-330	101	35	i	i	PRON
alkej-330	101	36	in	in	ADP
alkej-330	101	37	its	its	PRON
alkej-330	101	38	undeformed	undeformed	ADJ
alkej-330	101	39	position	position	NOUN
alkej-330	101	40	,	,	PUNCT
alkej-330	101	41	while	while	SCONJ
alkej-330	101	42	the	the	DET
alkej-330	101	43	o	o	PROPN
alkej-330	101	44	2a	2a	NUM
alkej-330	101	45	is	be	AUX
alkej-330	101	46	the	the	DET
alkej-330	101	47	actual	actual	ADJ
alkej-330	101	48	local	local	ADJ
alkej-330	101	49	coordinate	coordinate	NOUN
alkej-330	101	50	system	system	NOUN
alkej-330	101	51	of	of	ADP
alkej-330	101	52	link	link	NOUN
alkej-330	101	53	i	i	PRON
alkej-330	101	54	,	,	PUNCT
alkej-330	101	55	when	when	SCONJ
alkej-330	101	56	it	it	PRON
alkej-330	101	57	is	be	AUX
alkej-330	101	58	under	under	ADP
alkej-330	101	59	deformation	deformation	NOUN
alkej-330	101	60	.	.	PUNCT
alkej-330	102	1	the	the	DET
alkej-330	102	2	homogenous	homogenous	ADJ
alkej-330	102	3	transformation	transformation	NOUN
alkej-330	102	4	matrix	matrix	NOUN
alkej-330	102	5	for	for	ADP
alkej-330	102	6	this	this	DET
alkej-330	102	7	single	single	ADJ
alkej-330	102	8	link	link	NOUN
alkej-330	102	9	was	be	AUX
alkej-330	102	10	derived	derive	VERB
alkej-330	102	11	as	as	ADP
alkej-330	102	12	follow	follow	NOUN
alkej-330	102	13	:	:	PUNCT
alkej-330	102	14	•	•	ADP
alkej-330	102	15	according	accord	VERB
alkej-330	102	16	to	to	ADP
alkej-330	102	17	the	the	DET
alkej-330	102	18	motion	motion	NOUN
alkej-330	102	19	of	of	ADP
alkej-330	102	20	the	the	DET
alkej-330	102	21	links	link	NOUN
alkej-330	102	22	within	within	ADP
alkej-330	102	23	the	the	DET
alkej-330	102	24	vertical	vertical	ADJ
alkej-330	102	25	plane	plane	NOUN
alkej-330	102	26	,	,	PUNCT
alkej-330	102	27	the	the	DET
alkej-330	102	28	homogenous	homogenous	ADJ
alkej-330	102	29	transformation	transformation	NOUN
alkej-330	102	30	matrix	matrix	NOUN
alkej-330	102	31	e2a	e2a	PROPN
alkej-330	102	32	(	(	PUNCT
alkej-330	102	33	between	between	ADP
alkej-330	102	34	o	o	PROPN
alkej-330	102	35	2a	2a	NUM
alkej-330	102	36	and	and	CCONJ
alkej-330	102	37	o	o	PROPN
alkej-330	102	38	2i	2i	NOUN
alkej-330	102	39	becomes	become	VERB
alkej-330	102	40	:	:	PUNCT
alkej-330	102	41	e2	e2	PROPN
alkej-330	102	42	'	'	PART
alkej-330	102	43	2	2	NUM
alkej-330	102	44	(	(	PUNCT
alkej-330	102	45	�	�	PROPN
alkej-330	102	46	�	�	PROPN
alkej-330	102	47	cosd	cosd	PROPN
alkej-330	102	48	�	�	PROPN
alkej-330	102	49	�	�	PROPN
alkej-330	102	50	sind	sind	PROPN
alkej-330	102	51	�	�	PROPN
alkej-330	102	52	0	0	NUM
alkej-330	102	53	δxsin	δxsin	PROPN
alkej-330	102	54	d	d	X
alkej-330	102	55	�	�	PROPN
alkej-330	102	56	cos	cos	PROPN
alkej-330	102	57	d	d	PROPN
alkej-330	102	58	�	�	PROPN
alkej-330	102	59	0	0	NUM
alkej-330	102	60	δy0	δy0	NOUN
alkej-330	102	61	0	0	NUM
alkej-330	102	62	1	1	NUM
alkej-330	102	63	00	00	NUM
alkej-330	102	64	0	0	NUM
alkej-330	102	65	0	0	NUM
alkej-330	102	66	1	1	NUM
alkej-330	102	67	�	�	NOUN
alkej-330	102	68	…	…	PUNCT
alkej-330	102	69	(	(	PUNCT
alkej-330	102	70	18	18	NUM
alkej-330	102	71	)	)	PUNCT
alkej-330	102	72	•	•	NOUN
alkej-330	102	73	the	the	DET
alkej-330	102	74	homogenous	homogenous	ADJ
alkej-330	102	75	transformation	transformation	NOUN
alkej-330	102	76	matrix	matrix	NOUN
alkej-330	102	77	between	between	ADP
alkej-330	102	78	the	the	DET
alkej-330	102	79	o	o	PROPN
alkej-330	102	80	�	�	PROPN
alkej-330	102	81	i	i	PRON
alkej-330	102	82	and	and	CCONJ
alkej-330	102	83	o	o	NOUN
alkej-330	102	84	�	�	PROPN
alkej-330	102	85	1	1	NUM
alkej-330	102	86	�	�	PROPN
alkej-330	102	87	is	be	AUX
alkej-330	102	88	presented	present	VERB
alkej-330	102	89	by	by	ADP
alkej-330	102	90	the	the	DET
alkej-330	102	91	matrix	matrix	NOUN
alkej-330	102	92	a	a	DET
alkej-330	102	93	�	�	PROPN
alkej-330	102	94	�	�	NOUN
alkej-330	102	95	1	1	NUM
alkej-330	102	96	�	�	PROPN
alkej-330	102	97	in	in	ADP
alkej-330	102	98	equation	equation	NOUN
alkej-330	102	99	(	(	PUNCT
alkej-330	102	100	9	9	NUM
alkej-330	102	101	)	)	PUNCT
alkej-330	102	102	.	.	PUNCT
alkej-330	103	1	•	•	NUM
alkej-330	103	2	the	the	DET
alkej-330	103	3	homogeneous	homogeneous	ADJ
alkej-330	103	4	transformation	transformation	NOUN
alkej-330	103	5	matrix	matrix	NOUN
alkej-330	103	6	for	for	ADP
alkej-330	103	7	this	this	PRON
alkej-330	103	8	a	a	DET
alkej-330	103	9	single	single	ADJ
alkej-330	103	10	link	link	NOUN
alkej-330	103	11	is	be	AUX
alkej-330	103	12	found	find	VERB
alkej-330	103	13	from	from	ADP
alkej-330	103	14	the	the	DET
alkej-330	103	15	relations	relation	NOUN
alkej-330	103	16	(	(	PUNCT
alkej-330	103	17	12	12	NUM
alkej-330	103	18	)	)	PUNCT
alkej-330	103	19	and	and	CCONJ
alkej-330	103	20	(	(	PUNCT
alkej-330	103	21	18	18	NUM
alkej-330	103	22	)	)	PUNCT
alkej-330	103	23	.	.	PUNCT
alkej-330	104	1	t2c21	t2c21	PROPN
alkej-330	104	2	�	�	PROPN
alkej-330	104	3	'	'	PART
alkej-330	104	4	�	�	PROPN
alkej-330	104	5	a221	a221	PROPN
alkej-330	104	6	�	�	PROPN
alkej-330	104	7	'	'	PART
alkej-330	104	8	e2	e2	PROPN
alkej-330	104	9	'	'	PART
alkej-330	104	10	2	2	NUM
alkej-330	104	11	(	(	PUNCT
alkej-330	104	12	…	…	PUNCT
alkej-330	104	13	(	(	PUNCT
alkej-330	104	14	19	19	NUM
alkej-330	104	15	)	)	PUNCT
alkej-330	104	16	t2c21	t2c21	PROPN
alkej-330	104	17	�	�	PROPN
alkej-330	104	18	�	�	PROPN
alkej-330	104	19	�	�	PROPN
alkej-330	104	20	t	t	PROPN
alkej-330	104	21	�	�	PROPN
alkej-330	104	22	�	�	PROPN
alkej-330	104	23	t	t	PROPN
alkej-330	104	24	�	�	PROPN
alkej-330	104	25	!	!	PROPN
alkej-330	104	26	t	t	PROPN
alkej-330	104	27	�	�	PROPN
alkej-330	104	28	"	"	PUNCT
alkej-330	104	29	t	t	PROPN
alkej-330	104	30	�	�	PROPN
alkej-330	104	31	et	et	NOUN
alkej-330	104	32	!	!	PUNCT
alkej-330	104	33	�	�	PROPN
alkej-330	104	34	t	t	PROPN
alkej-330	104	35	!	!	PUNCT
alkej-330	104	36	!	!	PUNCT
alkej-330	105	1	t	t	PROPN
alkej-330	105	2	!	!	PUNCT
alkej-330	105	3	"	"	PUNCT
alkej-330	106	1	t!et	t!et	PUNCT
alkej-330	106	2	"	"	PUNCT
alkej-330	106	3	�	�	PROPN
alkej-330	106	4	t	t	PROPN
alkej-330	106	5	"	"	PUNCT
alkej-330	106	6	!	!	PUNCT
alkej-330	107	1	t	t	PROPN
alkej-330	107	2	"	"	PUNCT
alkej-330	107	3	"	"	PUNCT
alkej-330	107	4	t"e0	t"e0	ADJ
alkej-330	107	5	0	0	NUM
alkej-330	107	6	0	0	NUM
alkej-330	107	7	1	1	NUM
alkej-330	107	8	�	�	NOUN
alkej-330	107	9	…	…	PUNCT
alkej-330	107	10	(	(	PUNCT
alkej-330	107	11	20	20	NUM
alkej-330	107	12	)	)	PUNCT
alkej-330	107	13	where	where	SCONJ
alkej-330	107	14	:	:	PUNCT
alkej-330	107	15	f2	f2	PROPN
alkej-330	107	16	�	�	PROPN
alkej-330	107	17	fgh	fgh	PROPN
alkej-330	107	18	32	32	NUM
alkej-330	107	19	h2	h2	PROPN
alkej-330	107	20	�	�	PROPN
alkej-330	107	21	sin	sin	VERB
alkej-330	107	22	32	32	NUM
alkej-330	107	23	f42	f42	PROPN
alkej-330	107	24	�	�	PROPN
alkej-330	107	25	cos	cos	PROPN
alkej-330	107	26	42	42	NUM
alkej-330	107	27	h42	h42	PROPN
alkej-330	107	28	�	�	PROPN
alkej-330	107	29	sin42	sin42	PROPN
alkej-330	107	30	fi2	fi2	PROPN
alkej-330	107	31	�	�	PROPN
alkej-330	107	32	cosi	cosi	PROPN
alkej-330	107	33	�	�	PROPN
alkej-330	107	34	2	2	NUM
alkej-330	107	35	hi2	hi2	NOUN
alkej-330	107	36	�	�	PROPN
alkej-330	107	37	sini	sini	PROPN
alkej-330	107	38	�	�	PROPN
alkej-330	107	39	2	2	NUM
alkej-330	107	40	t	t	PROPN
alkej-330	107	41	�	�	PROPN
alkej-330	107	42	�	�	PROPN
alkej-330	107	43	�	�	PROPN
alkej-330	107	44	f2fi2	f2fi2	PROPN
alkej-330	107	45	�	�	PROPN
alkej-330	107	46	f42h2hi2	f42h2hi2	PROPN
alkej-330	107	47	t	t	PROPN
alkej-330	107	48	!	!	PUNCT
alkej-330	107	49	�	�	PROPN
alkej-330	107	50	�	�	PROPN
alkej-330	107	51	s	s	PART
alkej-330	107	52	�	�	PROPN
alkej-330	107	53	cd	cd	PROPN
alkej-330	107	54	�	�	PROPN
alkej-330	107	55	$	$	SYM
alkej-330	107	56	sd	sd	NOUN
alkej-330	107	57	�	�	PROPN
alkej-330	107	58	cα	cα	NOUN
alkej-330	107	59	�	�	PROPN
alkej-330	107	60	c	c	PROPN
alkej-330	107	61	�	�	PROPN
alkej-330	107	62	t	t	PROPN
alkej-330	107	63	"	"	PUNCT
alkej-330	107	64	�	�	PROPN
alkej-330	107	65	�	�	PROPN
alkej-330	107	66	h42hi2	h42hi2	PROPN
alkej-330	107	67	t	t	PROPN
alkej-330	107	68	�	�	PROPN
alkej-330	107	69	!	!	PUNCT
alkej-330	107	70	�	�	PROPN
alkej-330	107	71	�	�	PROPN
alkej-330	107	72	f2hi2	f2hi2	NOUN
alkej-330	107	73	�	�	PROPN
alkej-330	107	74	f42h2fi2	f42h2fi2	PROPN
alkej-330	107	75	t	t	PROPN
alkej-330	107	76	!	!	PUNCT
alkej-330	107	77	!	!	PUNCT
alkej-330	108	1	�	�	PROPN
alkej-330	108	2	�	�	PROPN
alkej-330	108	3	h2hi2	h2hi2	PROPN
alkej-330	108	4	$	$	SYM
alkej-330	108	5	f2fi2f42	f2fi2f42	PROPN
alkej-330	108	6	t	t	PROPN
alkej-330	108	7	"	"	PUNCT
alkej-330	108	8	!	!	PUNCT
alkej-330	109	1	�	�	PROPN
alkej-330	109	2	h42fi2	h42fi2	PROPN
alkej-330	109	3	t	t	PROPN
alkej-330	109	4	�	�	PROPN
alkej-330	109	5	"	"	PUNCT
alkej-330	109	6	�	�	PROPN
alkej-330	109	7	h42h2	h42h2	PROPN
alkej-330	109	8	t	t	PROPN
alkej-330	109	9	!	!	PUNCT
alkej-330	109	10	"	"	PUNCT
alkej-330	110	1	�	�	PROPN
alkej-330	110	2	�	�	PROPN
alkej-330	110	3	h42f2	h42f2	PROPN
alkej-330	110	4	t	t	PROPN
alkej-330	110	5	"	"	PUNCT
alkej-330	110	6	"	"	PUNCT
alkej-330	110	7	�	�	PROPN
alkej-330	110	8	f42	f42	PROPN
alkej-330	110	9	t	t	PROPN
alkej-330	110	10	�	�	PROPN
alkej-330	110	11	e	e	PART
alkej-330	110	12	�	�	PROPN
alkej-330	110	13	f28kl2	f28kl2	PROPN
alkej-330	110	14	$	$	SYM
alkej-330	110	15	�	�	NOUN
alkej-330	110	16	2	2	NUM
alkej-330	110	17	:	:	PUNCT
alkej-330	110	18	�	�	PROPN
alkej-330	110	19	f42h2km2	f42h2km2	NOUN
alkej-330	110	20	t!e	t!e	PROPN
alkej-330	110	21	�	�	PROPN
alkej-330	110	22	h28kl2	h28kl2	PROPN
alkej-330	110	23	$	$	SYM
alkej-330	110	24	�	�	NOUN
alkej-330	110	25	2	2	NUM
alkej-330	110	26	:	:	PUNCT
alkej-330	110	27	$	$	SYM
alkej-330	110	28	km2f42f2	km2f42f2	NUM
alkej-330	110	29	t"e	t"e	PROPN
alkej-330	110	30	�	�	PROPN
alkej-330	110	31	h42km2	h42km2	PROPN
alkej-330	110	32	$	$	SYM
alkej-330	110	33	d2	d2	NOUN
alkej-330	110	34	fig	fig	NOUN
alkej-330	110	35	.	.	PUNCT
alkej-330	111	1	3	3	X
alkej-330	111	2	.	.	PUNCT
alkej-330	112	1	the	the	DET
alkej-330	112	2	coordinates	coordinate	NOUN
alkej-330	112	3	system	system	NOUN
alkej-330	112	4	of	of	ADP
alkej-330	112	5	a	a	DET
alkej-330	112	6	single	single	ADJ
alkej-330	112	7	flexible	flexible	ADJ
alkej-330	112	8	link	link	NOUN
alkej-330	112	9	under	under	ADP
alkej-330	112	10	deformation	deformation	NOUN
alkej-330	112	11	.	.	PUNCT
alkej-330	113	1	as	as	SCONJ
alkej-330	113	2	shown	show	VERB
alkej-330	113	3	in	in	ADP
alkej-330	113	4	figure	figure	NOUN
alkej-330	113	5	4	4	NUM
alkej-330	113	6	,	,	PUNCT
alkej-330	113	7	the	the	DET
alkej-330	113	8	total	total	ADJ
alkej-330	113	9	kinematic	kinematic	ADJ
alkej-330	113	10	equation	equation	NOUN
alkej-330	113	11	of	of	ADP
alkej-330	113	12	flexible	flexible	ADJ
alkej-330	113	13	robot	robot	NOUN
alkej-330	113	14	of	of	ADP
alkej-330	113	15	two	two	NUM
alkej-330	113	16	degrees	degree	NOUN
alkej-330	113	17	of	of	ADP
alkej-330	113	18	freedom	freedom	NOUN
alkej-330	113	19	is	be	AUX
alkej-330	113	20	:	:	PUNCT
alkej-330	113	21	t)*+	t)*+	PROPN
alkej-330	113	22	,	,	PUNCT
alkej-330	113	23	�	�	PROPN
alkej-330	113	24	t	t	PROPN
alkej-330	113	25	�	�	PROPN
alkej-330	113	26	cn	cn	PROPN
alkej-330	113	27	'	'	PUNCT
alkej-330	113	28	t!c	t!c	PROPN
alkej-330	113	29	�	�	PROPN
alkej-330	113	30	'	'	PART
alkej-330	113	31	…	…	PUNCT
alkej-330	113	32	(	(	PUNCT
alkej-330	113	33	21	21	NUM
alkej-330	113	34	)	)	PUNCT
alkej-330	113	35	hussein	hussein	PROPN
alkej-330	113	36	m.	m.	PROPN
alkej-330	113	37	al	al	PROPN
alkej-330	113	38	-	-	PUNCT
alkej-330	113	39	khafaji	khafaji	PROPN
alkej-330	113	40	al	al	PROPN
alkej-330	113	41	the	the	DET
alkej-330	113	42	transformation	transformation	NOUN
alkej-330	113	43	matrix	matrix	NOUN
alkej-330	113	44	of	of	ADP
alkej-330	113	45	robot	robot	NOUN
alkej-330	113	46	in	in	ADP
alkej-330	113	47	general	general	ADJ
alkej-330	113	48	form	form	NOUN
alkej-330	113	49	is	be	AUX
alkej-330	113	50	:	:	PUNCT
alkej-330	113	51	t)*+	t)*+	PROPN
alkej-330	113	52	,	,	PUNCT
alkej-330	113	53	�	�	PROPN
alkej-330	113	54	�	�	PROPN
alkej-330	113	55	op	op	NOUN
alkej-330	113	56	gp	gp	NOUN
alkej-330	113	57	qp	qp	ADP
alkej-330	114	1	rpos	rpos	PROPN
alkej-330	114	2	gs	gs	INTJ
alkej-330	114	3	qs	qs	PROPN
alkej-330	114	4	rsot	rsot	VERB
alkej-330	114	5	gt	gt	PROPN
alkej-330	114	6	qt	qt	NOUN
alkej-330	114	7	rt0	rt0	VERB
alkej-330	114	8	0	0	NUM
alkej-330	114	9	0	0	NUM
alkej-330	114	10	1	1	NUM
alkej-330	114	11	�	�	PROPN
alkej-330	114	12	where	where	SCONJ
alkej-330	114	13	:	:	PUNCT
alkej-330	114	14	fig	fig	NOUN
alkej-330	114	15	.	.	PUNCT
alkej-330	115	1	4	4	X
alkej-330	115	2	.	.	X
alkej-330	116	1	the	the	DET
alkej-330	116	2	coordinates	coordinate	NOUN
alkej-330	116	3	systems	system	NOUN
alkej-330	116	4	of	of	ADP
alkej-330	116	5	two	two	NUM
alkej-330	116	6	elastic	elastic	ADJ
alkej-330	116	7	links	link	NOUN
alkej-330	116	8	and	and	CCONJ
alkej-330	116	9	the	the	DET
alkej-330	116	10	angles	angle	NOUN
alkej-330	116	11	of	of	ADP
alkej-330	116	12	joints	joint	NOUN
alkej-330	116	13	nu	nu	PROPN
alkej-330	116	14	�	�	PROPN
alkej-330	116	15	c	c	PROPN
alkej-330	116	16	�	�	PROPN
alkej-330	116	17	c!8cd!sd	c!8cd!sd	NOUN
alkej-330	116	18	�	�	NOUN
alkej-330	116	19	cα	cα	NOUN
alkej-330	116	20	�	�	PROPN
alkej-330	116	21	$	$	SYM
alkej-330	116	22	cα	cα	PROPN
alkej-330	116	23	�	�	PROPN
alkej-330	116	24	cd	cd	PROPN
alkej-330	116	25	�	�	PROPN
alkej-330	116	26	cα!sd	cα!sd	PROPN
alkej-330	116	27	!	!	PUNCT
alkej-330	116	28	�	�	PROPN
alkej-330	116	29	s	s	PART
alkej-330	116	30	�	�	PROPN
alkej-330	116	31	s!8sd	s!8sd	NOUN
alkej-330	116	32	�	�	PROPN
alkej-330	116	33	cd	cd	PROPN
alkej-330	116	34	!	!	PUNCT
alkej-330	116	35	$	$	SYM
alkej-330	116	36	cd	cd	PROPN
alkej-330	116	37	�	�	PROPN
alkej-330	116	38	c$	c$	NOUN
alkej-330	116	39	c!s	c!s	PROPN
alkej-330	116	40	�	�	PROPN
alkej-330	116	41	8cd	8cd	PROPN
alkej-330	116	42	�	�	PROPN
alkej-330	116	43	cd	cd	PROPN
alkej-330	116	44	!	!	PUNCT
alkej-330	116	45	�	�	PROPN
alkej-330	116	46	sd	sd	NOUN
alkej-330	116	47	�	�	PROPN
alkej-330	116	48	sd$	sd$	PROPN
alkej-330	116	49	c	c	PROPN
alkej-330	116	50	�	�	PROPN
alkej-330	116	51	s!8cd!cd	s!8cd!cd	PROPN
alkej-330	116	52	�	�	PROPN
alkej-330	116	53	cα	cα	NOUN
alkej-330	116	54	�	�	PROPN
alkej-330	116	55	�	�	PROPN
alkej-330	116	56	sd	sd	NOUN
alkej-330	116	57	�	�	PROPN
alkej-330	116	58	cα	cα	NOUN
alkej-330	116	59	�	�	NOUN
alkej-330	116	60	sd!cα	sd!cα	PROPN
alkej-330	116	61	!	!	PUNCT
alkej-330	116	62	:	:	PUNCT
alkej-330	116	63	�	�	PROPN
alkej-330	116	64	c	c	PROPN
alkej-330	116	65	�	�	PROPN
alkej-330	116	66	8sα	8sα	NOUN
alkej-330	116	67	�	�	PROPN
alkej-330	116	68	sd!sα	sd!sα	PROPN
alkej-330	116	69	!	!	PUNCT
alkej-330	116	70	:	:	PUNCT
alkej-330	117	1	nv	nv	PROPN
alkej-330	117	2	�	�	PROPN
alkej-330	117	3	c!8sα	c!8sα	PROPN
alkej-330	117	4	�	�	PROPN
alkej-330	117	5	sd	sd	NOUN
alkej-330	117	6	�	�	PROPN
alkej-330	117	7	cd	cd	PROPN
alkej-330	117	8	!	!	PUNCT
alkej-330	118	1	$	$	SYM
alkej-330	118	2	sα	sα	PROPN
alkej-330	118	3	�	�	PROPN
alkej-330	118	4	cd	cd	PROPN
alkej-330	118	5	�	�	PROPN
alkej-330	118	6	cα!sd!:$	cα!sd!:$	PROPN
alkej-330	118	7	s!8sα	s!8sα	NOUN
alkej-330	118	8	�	�	PROPN
alkej-330	118	9	cd	cd	PROPN
alkej-330	118	10	�	�	PROPN
alkej-330	118	11	cd	cd	PROPN
alkej-330	118	12	!	!	PROPN
alkej-330	118	13	�	�	PROPN
alkej-330	118	14	sα	sα	PROPN
alkej-330	118	15	�	�	PROPN
alkej-330	118	16	sd	sd	NOUN
alkej-330	118	17	�	�	NOUN
alkej-330	118	18	sd!cα	sd!cα	NOUN
alkej-330	118	19	!	!	PUNCT
alkej-330	118	20	:	:	PUNCT
alkej-330	119	1	$	$	SYM
alkej-330	119	2	cα	cα	ADP
alkej-330	119	3	ow	ow	PROPN
alkej-330	119	4	�	�	PROPN
alkej-330	119	5	s	s	PROPN
alkej-330	119	6	�	�	PROPN
alkej-330	119	7	s!8cα	s!8cα	NOUN
alkej-330	119	8	�	�	PROPN
alkej-330	119	9	sd	sd	NOUN
alkej-330	119	10	�	�	PROPN
alkej-330	119	11	cα!cd	cα!cd	NOUN
alkej-330	119	12	!	!	PUNCT
alkej-330	119	13	$	$	SYM
alkej-330	119	14	cα	cα	PROPN
alkej-330	119	15	�	�	PROPN
alkej-330	119	16	cd	cd	PROPN
alkej-330	119	17	�	�	PROPN
alkej-330	119	18	sd	sd	PROPN
alkej-330	119	19	!	!	PUNCT
alkej-330	119	20	�	�	PROPN
alkej-330	119	21	c	c	PROPN
alkej-330	119	22	�	�	PROPN
alkej-330	119	23	c!8cd	c!8cd	PROPN
alkej-330	119	24	�	�	NOUN
alkej-330	119	25	sd	sd	NOUN
alkej-330	119	26	!	!	PUNCT
alkej-330	119	27	$	$	SYM
alkej-330	119	28	sd	sd	NUM
alkej-330	119	29	�	�	PROPN
alkej-330	119	30	cd$	cd$	ADP
alkej-330	119	31	c	c	PROPN
alkej-330	119	32	�	�	PROPN
alkej-330	119	33	s!8sd	s!8sd	NOUN
alkej-330	119	34	�	�	NOUN
alkej-330	119	35	sd	sd	PROPN
alkej-330	119	36	!	!	PUNCT
alkej-330	119	37	�	�	PROPN
alkej-330	119	38	cd	cd	PROPN
alkej-330	119	39	�	�	PROPN
alkej-330	119	40	cα$	cα$	SYM
alkej-330	119	41	s	s	PROPN
alkej-330	119	42	�	�	PROPN
alkej-330	119	43	c!8cα	c!8cα	NOUN
alkej-330	119	44	�	�	PROPN
alkej-330	119	45	cd	cd	PROPN
alkej-330	119	46	�	�	PROPN
alkej-330	119	47	cd	cd	PROPN
alkej-330	119	48	!	!	PROPN
alkej-330	119	49	�	�	PROPN
alkej-330	119	50	cα	cα	ADP
alkej-330	119	51	�	�	PROPN
alkej-330	119	52	sd	sd	NOUN
alkej-330	119	53	�	�	PROPN
alkej-330	119	54	sd!cα!:$	sd!cα!:$	NOUN
alkej-330	119	55	s	s	PROPN
alkej-330	119	56	�	�	PROPN
alkej-330	119	57	sα	sα	NOUN
alkej-330	119	58	�	�	PROPN
alkej-330	119	59	sα!cd	sα!cd	PROPN
alkej-330	119	60	!	!	PUNCT
alkej-330	120	1	al	al	PROPN
alkej-330	120	2	-	-	PUNCT
alkej-330	120	3	khwarizmi	khwarizmi	PROPN
alkej-330	120	4	engineering	engineering	NOUN
alkej-330	120	5	journal	journal	PROPN
alkej-330	120	6	,	,	PUNCT
alkej-330	120	7	vol	vol	NOUN
alkej-330	120	8	.	.	PROPN
alkej-330	120	9	13	13	NUM
alkej-330	120	10	,	,	PUNCT
alkej-330	120	11	no	no	INTJ
alkej-330	120	12	.	.	NOUN
alkej-330	120	13	1	1	NUM
alkej-330	120	14	,	,	PUNCT
alkej-330	120	15	p.p	p.p	PROPN
alkej-330	120	16	.	.	NOUN
alkej-330	120	17	1	1	NUM
alkej-330	120	18	17	17	NUM
alkej-330	120	19	robot	robot	NOUN
alkej-330	120	20	in	in	ADP
alkej-330	120	21	general	general	ADJ
alkej-330	120	22	…	…	PUNCT
alkej-330	120	23	(	(	PUNCT
alkej-330	120	24	22	22	NUM
alkej-330	120	25	)	)	PUNCT
alkej-330	120	26	nw	nw	PROPN
alkej-330	120	27	�	�	PROPN
alkej-330	120	28	c	c	PROPN
alkej-330	120	29	�	�	PROPN
alkej-330	120	30	c!8cd	c!8cd	PROPN
alkej-330	120	31	�	�	PROPN
alkej-330	120	32	cd	cd	PROPN
alkej-330	120	33	!	!	PUNCT
alkej-330	120	34	�	�	PROPN
alkej-330	120	35	sd	sd	NOUN
alkej-330	120	36	�	�	PROPN
alkej-330	120	37	sd!cα	sd!cα	PROPN
alkej-330	120	38	!	!	PUNCT
alkej-330	120	39	�	�	PROPN
alkej-330	120	40	c	c	NOUN
alkej-330	120	41	�	�	PROPN
alkej-330	120	42	s!8cd	s!8cd	NOUN
alkej-330	120	43	�	�	NOUN
alkej-330	120	44	cα!sd$	cα!sd$	PROPN
alkej-330	120	45	s	s	PROPN
alkej-330	120	46	�	�	PROPN
alkej-330	120	47	s!8cα	s!8cα	NOUN
alkej-330	120	48	�	�	PROPN
alkej-330	120	49	cα!sd	cα!sd	NOUN
alkej-330	120	50	�	�	PROPN
alkej-330	120	51	cα	cα	PROPN
alkej-330	120	52	�	�	PROPN
alkej-330	120	53	cd	cd	PROPN
alkej-330	120	54	�	�	PROPN
alkej-330	120	55	cd	cd	PROPN
alkej-330	120	56	!	!	PUNCT
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alkej-330	139	8	�	�	PROPN
alkej-330	139	9	kl	kl	PROPN
alkej-330	139	10	�	�	PROPN
alkej-330	139	11	$	$	SYM
alkej-330	139	12	�	�	PROPN
alkej-330	139	13	�	�	PROPN
alkej-330	139	14	�	�	PROPN
alkej-330	139	15	�	�	PROPN
alkej-330	139	16	f4	f4	PROPN
alkej-330	139	17	�	�	PROPN
alkej-330	139	18	h	h	NOUN
alkej-330	139	19	�	�	PROPN
alkej-330	139	20	km	km	PROPN
alkej-330	139	21	�	�	PROPN
alkej-330	139	22	…	…	PUNCT
alkej-330	139	23	(	(	PUNCT
alkej-330	139	24	32	32	NUM
alkej-330	139	25	)	)	PUNCT
alkej-330	139	26	pu	pu	PROPN
alkej-330	139	27	�	�	PROPN
alkej-330	139	28	s	s	PROPN
alkej-330	139	29	�	�	PROPN
alkej-330	139	30	c!8cd	c!8cd	NOUN
alkej-330	139	31	�	�	PROPN
alkej-330	139	32	δx	δx	PROPN
alkej-330	139	33	!	!	PROPN
alkej-330	139	34	$	$	SYM
alkej-330	139	35	a	a	DET
alkej-330	139	36	!	!	PUNCT
alkej-330	139	37	�	�	PROPN
alkej-330	139	38	�	�	PROPN
alkej-330	139	39	sd	sd	NOUN
alkej-330	139	40	�	�	PROPN
alkej-330	139	41	δy!cα	δy!cα	PROPN
alkej-330	139	42	!	!	PUNCT
alkej-330	140	1	:	:	PUNCT
alkej-330	140	2	�	�	PROPN
alkej-330	140	3	s	s	PART
alkej-330	140	4	�	�	PROPN
alkej-330	140	5	s!8sd	s!8sd	NOUN
alkej-330	140	6	�	�	PROPN
alkej-330	140	7	δx	δx	PROPN
alkej-330	140	8	!	!	PROPN
alkej-330	140	9	$	$	SYM
alkej-330	140	10	a!	a!	PROPN
alkej-330	140	11	�	�	PROPN
alkej-330	140	12	$	$	PROPN
alkej-330	140	13	cd	cd	PROPN
alkej-330	140	14	�	�	PROPN
alkej-330	140	15	cα!δy!:$	cα!δy!:$	PROPN
alkej-330	140	16	c	c	PROPN
alkej-330	140	17	�	�	PROPN
alkej-330	140	18	c!8sd	c!8sd	NOUN
alkej-330	140	19	�	�	PROPN
alkej-330	140	20	cα	cα	NOUN
alkej-330	140	21	�	�	PROPN
alkej-330	140	22	δx	δx	PROPN
alkej-330	140	23	!	!	PROPN
alkej-330	140	24	$	$	SYM
alkej-330	140	25	a!	a!	PROPN
alkej-330	140	26	�	�	PROPN
alkej-330	140	27	$	$	PROPN
alkej-330	140	28	cd	cd	PROPN
alkej-330	140	29	�	�	PROPN
alkej-330	140	30	cα	cα	NOUN
alkej-330	140	31	�	�	PROPN
alkej-330	140	32	δy!cα!:$	δy!cα!:$	PROPN
alkej-330	140	33	c	c	PROPN
alkej-330	140	34	�	�	PROPN
alkej-330	140	35	s!8cd	s!8cd	NOUN
alkej-330	140	36	�	�	PROPN
alkej-330	140	37	cα	cα	NOUN
alkej-330	140	38	�	�	PROPN
alkej-330	140	39	δx	δx	PROPN
alkej-330	140	40	!	!	PROPN
alkej-330	140	41	$	$	SYM
alkej-330	140	42	a	a	DET
alkej-330	140	43	!	!	PUNCT
alkej-330	140	44	�	�	PROPN
alkej-330	140	45	�	�	PROPN
alkej-330	140	46	sd	sd	NOUN
alkej-330	140	47	�	�	PROPN
alkej-330	140	48	cα	cα	NOUN
alkej-330	140	49	�	�	NOUN
alkej-330	140	50	cα!δy	cα!δy	PROPN
alkej-330	140	51	!	!	PUNCT
alkej-330	140	52	:	:	PUNCT
alkej-330	140	53	$	$	SYM
alkej-330	140	54	c	c	PROPN
alkej-330	140	55	�	�	PROPN
alkej-330	140	56	8cα	8cα	ADJ
alkej-330	140	57	�	�	PROPN
alkej-330	140	58	δy	δy	PROPN
alkej-330	140	59	�	�	PROPN
alkej-330	140	60	�	�	PROPN
alkej-330	140	61	sα	sα	PROPN
alkej-330	140	62	�	�	PROPN
alkej-330	140	63	sα!δy	sα!δy	PROPN
alkej-330	140	64	!	!	PUNCT
alkej-330	141	1	�	�	PROPN
alkej-330	141	2	sα	sα	PROPN
alkej-330	141	3	�	�	PROPN
alkej-330	141	4	d!:$	d!:$	PROPN
alkej-330	141	5	s	s	PART
alkej-330	141	6	�	�	PROPN
alkej-330	141	7	8δx	8δx	ADJ
alkej-330	141	8	�	�	PROPN
alkej-330	141	9	$	$	SYM
alkej-330	141	10	a	a	DET
alkej-330	141	11	�	�	NOUN
alkej-330	141	12	:	:	PUNCT
alkej-330	141	13	…	…	NUM
alkej-330	141	14	33	33	NUM
alkej-330	141	15	�	�	PROPN
alkej-330	141	16	pv	pv	PROPN
alkej-330	141	17	�	�	PROPN
alkej-330	141	18	c!8sα	c!8sα	NOUN
alkej-330	141	19	�	�	PROPN
alkej-330	141	20	sd	sd	NOUN
alkej-330	141	21	�	�	PROPN
alkej-330	141	22	δx	δx	PROPN
alkej-330	141	23	!	!	PROPN
alkej-330	141	24	$	$	SYM
alkej-330	141	25	a	a	DET
alkej-330	141	26	!	!	PUNCT
alkej-330	141	27	�	�	PROPN
alkej-330	142	1	$	$	SYM
alkej-330	142	2	sα	sα	PROPN
alkej-330	142	3	�	�	PROPN
alkej-330	142	4	cd	cd	PROPN
alkej-330	142	5	�	�	PROPN
alkej-330	142	6	δy!cα!:$	δy!cα!:$	PROPN
alkej-330	142	7	s!8sα	s!8sα	NUM
alkej-330	142	8	�	�	PROPN
alkej-330	142	9	cd	cd	PROPN
alkej-330	142	10	�	�	PROPN
alkej-330	142	11	δx	δx	PROPN
alkej-330	142	12	!	!	PROPN
alkej-330	142	13	$	$	SYM
alkej-330	142	14	a	a	DET
alkej-330	142	15	!	!	PUNCT
alkej-330	142	16	�	�	PROPN
alkej-330	142	17	�	�	PROPN
alkej-330	142	18	sα	sα	PROPN
alkej-330	142	19	�	�	PROPN
alkej-330	142	20	sd	sd	NOUN
alkej-330	142	21	�	�	PROPN
alkej-330	142	22	cα!δy	cα!δy	PROPN
alkej-330	142	23	!	!	PUNCT
alkej-330	142	24	:	:	PUNCT
alkej-330	143	1	$	$	SYM
alkej-330	143	2	cα	cα	ADP
alkej-330	143	3	�	�	PROPN
alkej-330	143	4	sα!δy!$	sα!δy!$	NOUN
alkej-330	143	5	cα	cα	ADP
alkej-330	143	6	�	�	PROPN
alkej-330	143	7	d	d	NOUN
alkej-330	143	8	!	!	PUNCT
alkej-330	143	9	$	$	SYM
alkej-330	143	10	sα	sα	AUX
alkej-330	143	11	�	�	PROPN
alkej-330	143	12	δy	δy	PROPN
alkej-330	143	13	�	�	PROPN
alkej-330	143	14	$	$	SYM
alkej-330	143	15	d	d	PROPN
alkej-330	143	16	�	�	PROPN
alkej-330	143	17	…	…	PUNCT
alkej-330	143	18	34	34	NUM
alkej-330	143	19	�	�	PROPN
alkej-330	143	20	c	c	PROPN
alkej-330	143	21	�	�	PROPN
alkej-330	143	22	�	�	PROPN
alkej-330	143	23	cos	cos	PROPN
alkej-330	143	24	θ	θ	PROPN
alkej-330	143	25	�	�	PROPN
alkej-330	143	26	cd	cd	PROPN
alkej-330	143	27	�	�	PROPN
alkej-330	143	28	�	�	PROPN
alkej-330	143	29	cos	cos	PROPN
alkej-330	143	30	dϕ	dϕ	PROPN
alkej-330	143	31	�	�	PROPN
alkej-330	143	32	cα	cα	PROPN
alkej-330	143	33	�	�	PROPN
alkej-330	143	34	�	�	PROPN
alkej-330	143	35	cosα	cosα	PROPN
alkej-330	143	36	�	�	PROPN
alkej-330	143	37	s	s	PROPN
alkej-330	143	38	�	�	PROPN
alkej-330	143	39	�	�	PROPN
alkej-330	143	40	sin	sin	PROPN
alkej-330	143	41	θ	θ	PROPN
alkej-330	143	42	�	�	PROPN
alkej-330	143	43	sd	sd	NOUN
alkej-330	143	44	�	�	PROPN
alkej-330	143	45	�	�	PROPN
alkej-330	143	46	sin	sin	VERB
alkej-330	143	47	dϕ	dϕ	PROPN
alkej-330	143	48	�	�	PROPN
alkej-330	143	49	sα	sα	NOUN
alkej-330	143	50	�	�	PROPN
alkej-330	143	51	�	�	PROPN
alkej-330	143	52	sin	sin	VERB
alkej-330	143	53	α	α	PRON
alkej-330	143	54	�	�	PROPN
alkej-330	143	55	the	the	DET
alkej-330	143	56	degree	degree	NOUN
alkej-330	143	57	of	of	ADP
alkej-330	143	58	freedom	freedom	NOUN
alkej-330	143	59	of	of	ADP
alkej-330	143	60	the	the	DET
alkej-330	143	61	robot	robot	NOUN
alkej-330	143	62	arm	arm	NOUN
alkej-330	143	63	manipulator	manipulator	NOUN
alkej-330	143	64	which	which	PRON
alkej-330	143	65	is	be	AUX
alkej-330	143	66	used	use	VERB
alkej-330	143	67	in	in	ADP
alkej-330	143	68	this	this	DET
alkej-330	143	69	work	work	NOUN
alkej-330	143	70	,	,	PUNCT
alkej-330	143	71	is	be	AUX
alkej-330	143	72	two	two	NUM
alkej-330	143	73	degrees	degree	NOUN
alkej-330	143	74	of	of	ADP
alkej-330	143	75	freedom	freedom	NOUN
alkej-330	143	76	,	,	PUNCT
alkej-330	143	77	and	and	CCONJ
alkej-330	143	78	confined	confine	VERB
alkej-330	143	79	to	to	PART
alkej-330	143	80	move	move	VERB
alkej-330	143	81	within	within	ADP
alkej-330	143	82	the	the	DET
alkej-330	143	83	vertical	vertical	ADJ
alkej-330	143	84	plane	plane	NOUN
alkej-330	143	85	with	with	ADP
alkej-330	143	86	the	the	DET
alkej-330	143	87	kinematic	kinematic	ADJ
alkej-330	143	88	parameters	parameter	NOUN
alkej-330	143	89	listed	list	VERB
alkej-330	143	90	in	in	ADP
alkej-330	143	91	the	the	DET
alkej-330	143	92	table	table	NOUN
alkej-330	143	93	1	1	NUM
alkej-330	143	94	�	�	PROPN
alkej-330	143	95	.	.	PUNCT
alkej-330	143	96	table	table	NOUN
alkej-330	143	97	table	table	NOUN
alkej-330	143	98	table	table	NOUN
alkej-330	143	99	table	table	NOUN
alkej-330	143	100	1111	1111	NUM
alkej-330	143	101	,	,	PUNCT
alkej-330	143	102	,	,	PUNCT
alkej-330	143	103	,	,	PUNCT
alkej-330	143	104	,	,	PUNCT
alkej-330	143	105	the	the	DET
alkej-330	143	106	parameters	parameter	NOUN
alkej-330	143	107	of	of	ADP
alkej-330	143	108	two	two	NUM
alkej-330	143	109	linksthe	linksthe	ADJ
alkej-330	143	110	parameters	parameter	NOUN
alkej-330	143	111	of	of	ADP
alkej-330	143	112	two	two	NUM
alkej-330	143	113	linksthe	linksthe	ADJ
alkej-330	143	114	parameters	parameter	NOUN
alkej-330	143	115	of	of	ADP
alkej-330	143	116	two	two	NUM
alkej-330	143	117	linksthe	linksthe	ADJ
alkej-330	143	118	parameters	parameter	NOUN
alkej-330	143	119	of	of	ADP
alkej-330	143	120	two	two	NUM
alkej-330	143	121	links	link	NOUN
alkej-330	143	122	....	....	PUNCT
alkej-330	144	1	jointsjointsjointsjoints	jointsjointsjointsjoint	NOUN
alkej-330	144	2	pq	pq	PROPN
alkej-330	144	3	ddddq	ddddq	PROPN
alkej-330	144	4	rq	rq	VERB
alkej-330	144	5	aaaai	aaaai	NOUN
alkej-330	145	1	i	i	PRON
alkej-330	146	1	i	i	PRON
alkej-330	147	1	i	i	VERB
alkej-330	147	2	1111	1111	NUM
alkej-330	147	3	θ	θ	SYM
alkej-330	147	4	�	�	PROPN
alkej-330	147	5	0	0	NUM
alkej-330	147	6	0	0	NUM
alkej-330	147	7	a1	a1	NOUN
alkej-330	147	8	2222	2222	NUM
alkej-330	147	9	ps	ps	NOUN
alkej-330	147	10	0000	0000	NUM
alkej-330	147	11	0000	0000	NUM
alkej-330	147	12	aaaa2222	aaaa2222	PROPN
alkej-330	147	13	by	by	ADP
alkej-330	147	14	substituting	substitute	VERB
alkej-330	147	15	the	the	DET
alkej-330	147	16	values	value	NOUN
alkej-330	147	17	of	of	ADP
alkej-330	147	18	parameters	parameter	NOUN
alkej-330	147	19	of	of	ADP
alkej-330	147	20	the	the	DET
alkej-330	147	21	manipulator	manipulator	NOUN
alkej-330	147	22	from	from	ADP
alkej-330	147	23	the	the	DET
alkej-330	147	24	table	table	NOUN
alkej-330	147	25	1	1	NUM
alkej-330	147	26	�	�	NOUN
alkej-330	147	27	in	in	ADP
alkej-330	147	28	to	to	ADP
alkej-330	147	29	the	the	DET
alkej-330	147	30	equations	equation	NOUN
alkej-330	147	31	23	23	NUM
alkej-330	147	32	�	�	PROPN
alkej-330	147	33	to	to	ADP
alkej-330	147	34	34	34	NUM
alkej-330	147	35	�	�	PROPN
alkej-330	147	36	and	and	CCONJ
alkej-330	147	37	with	with	ADP
alkej-330	147	38	triangular	triangular	NOUN
alkej-330	147	39	operations	operation	NOUN
alkej-330	147	40	,	,	PUNCT
alkej-330	147	41	these	these	DET
alkej-330	147	42	equations	equation	NOUN
alkej-330	147	43	will	will	AUX
alkej-330	147	44	be	be	AUX
alkej-330	147	45	as	as	ADV
alkej-330	147	46	follow	follow	VERB
alkej-330	147	47	:	:	PUNCT
alkej-330	147	48	nw	nw	PROPN
alkej-330	147	49	�	�	PROPN
alkej-330	147	50	8c	8c	NUM
alkej-330	147	51	�	�	PROPN
alkej-330	147	52	!:8cd	!:8cd	PROPN
alkej-330	147	53	�	�	PROPN
alkej-330	147	54	!	!	PUNCT
alkej-330	147	55	:	:	PUNCT
alkej-330	148	1	�	�	PROPN
alkej-330	148	2	8s	8s	NUM
alkej-330	148	3	�	�	PROPN
alkej-330	148	4	!:8sd	!:8sd	PROPN
alkej-330	148	5	�	�	PROPN
alkej-330	148	6	!	!	PUNCT
alkej-330	148	7	:	:	PUNCT
alkej-330	149	1	…	…	PUNCT
alkej-330	149	2	35	35	NUM
alkej-330	149	3	�	�	PROPN
alkej-330	149	4	nu	nu	PROPN
alkej-330	149	5	�	�	PROPN
alkej-330	149	6	c	c	PROPN
alkej-330	149	7	�	�	PROPN
alkej-330	149	8	c!8sd	c!8sd	NOUN
alkej-330	149	9	�	�	PROPN
alkej-330	149	10	!	!	PUNCT
alkej-330	149	11	:	:	PUNCT
alkej-330	149	12	$	$	SYM
alkej-330	149	13	s	s	PROPN
alkej-330	149	14	�	�	NOUN
alkej-330	149	15	s!8sd	s!8sd	NOUN
alkej-330	149	16	�	�	X
alkej-330	149	17	1	1	NUM
alkej-330	149	18	!	!	PUNCT
alkej-330	149	19	:	:	PUNCT
alkej-330	149	20	$	$	SYM
alkej-330	149	21	c!s	c!s	PROPN
alkej-330	149	22	�	�	NOUN
alkej-330	149	23	8cd	8cd	NOUN
alkej-330	149	24	�	�	PROPN
alkej-330	149	25	1!:$	1!:$	NUM
alkej-330	149	26	c	c	NOUN
alkej-330	149	27	�	�	PROPN
alkej-330	149	28	s!8cd	s!8cd	NOUN
alkej-330	149	29	�	�	NOUN
alkej-330	149	30	!	!	PUNCT
alkej-330	149	31	:	:	PUNCT
alkej-330	150	1	…	…	PUNCT
alkej-330	150	2	36	36	NUM
alkej-330	150	3	�	�	PROPN
alkej-330	150	4	nv	nv	PROPN
alkej-330	150	5	�	�	PROPN
alkej-330	150	6	0	0	NUM
alkej-330	150	7	…	…	PUNCT
alkej-330	150	8	37	37	NUM
alkej-330	150	9	�	�	PROPN
alkej-330	150	10	ow	ow	PROPN
alkej-330	150	11	�	�	PROPN
alkej-330	150	12	s	s	PART
alkej-330	150	13	�	�	PROPN
alkej-330	150	14	s!8sd	s!8sd	NOUN
alkej-330	150	15	�	�	X
alkej-330	150	16	1	1	NUM
alkej-330	150	17	!	!	PUNCT
alkej-330	150	18	:	:	PUNCT
alkej-330	151	1	�	�	PROPN
alkej-330	151	2	c	c	PROPN
alkej-330	151	3	�	�	PROPN
alkej-330	151	4	c!8sd	c!8sd	NOUN
alkej-330	151	5	�	�	PROPN
alkej-330	151	6	!	!	PUNCT
alkej-330	151	7	:	:	PUNCT
alkej-330	152	1	�	�	PROPN
alkej-330	152	2	c	c	PROPN
alkej-330	152	3	�	�	PROPN
alkej-330	152	4	s!8cd	s!8cd	NOUN
alkej-330	152	5	�	�	NOUN
alkej-330	152	6	1	1	NUM
alkej-330	152	7	!	!	PUNCT
alkej-330	152	8	:	:	PUNCT
alkej-330	152	9	�	�	PROPN
alkej-330	152	10	s	s	PART
alkej-330	152	11	�	�	PROPN
alkej-330	152	12	c!8cd	c!8cd	NOUN
alkej-330	152	13	�	�	PROPN
alkej-330	152	14	!	!	PUNCT
alkej-330	152	15	:	:	PUNCT
alkej-330	153	1	…	…	PUNCT
alkej-330	153	2	38	38	NUM
alkej-330	153	3	�	�	PROPN
alkej-330	153	4	ou	ou	X
alkej-330	153	5	�	�	PROPN
alkej-330	153	6	c	c	PROPN
alkej-330	153	7	�	�	PROPN
alkej-330	153	8	!8cd	!8cd	NOUN
alkej-330	153	9	�	�	PROPN
alkej-330	153	10	!	!	PUNCT
alkej-330	153	11	:	:	PUNCT
alkej-330	154	1	�	�	PROPN
alkej-330	154	2	s	s	PROPN
alkej-330	154	3	�	�	PROPN
alkej-330	154	4	!8sd	!8sd	PROPN
alkej-330	154	5	�	�	PROPN
alkej-330	154	6	1	1	NUM
alkej-330	154	7	!	!	PUNCT
alkej-330	154	8	:	:	PUNCT
alkej-330	154	9	:	:	PUNCT
alkej-330	154	10	…	…	PUNCT
alkej-330	154	11	39	39	NUM
alkej-330	154	12	�	�	PROPN
alkej-330	154	13	ov	ov	PRON
alkej-330	154	14	�	�	PROPN
alkej-330	154	15	0	0	NUM
alkej-330	154	16	…	…	SYM
alkej-330	154	17	40	40	NUM
alkej-330	154	18	�	�	PROPN
alkej-330	154	19	tw	tw	NOUN
alkej-330	154	20	�	�	PROPN
alkej-330	154	21	0	0	NUM
alkej-330	154	22	…	…	SYM
alkej-330	154	23	41	41	NUM
alkej-330	154	24	�	�	PROPN
alkej-330	154	25	tu	tu	PROPN
alkej-330	154	26	�	�	PROPN
alkej-330	154	27	0	0	NUM
alkej-330	154	28	…	…	PUNCT
alkej-330	154	29	42	42	NUM
alkej-330	154	30	�	�	PROPN
alkej-330	154	31	tv	tv	NOUN
alkej-330	154	32	�	�	PROPN
alkej-330	154	33	1	1	NUM
alkej-330	154	34	…	…	SYM
alkej-330	154	35	43	43	NUM
alkej-330	154	36	�	�	PROPN
alkej-330	154	37	pw	pw	PROPN
alkej-330	154	38	�	�	PROPN
alkej-330	154	39	c	c	PROPN
alkej-330	154	40	�	�	PROPN
alkej-330	154	41	c!8cd	c!8cd	PROPN
alkej-330	154	42	�	�	PROPN
alkej-330	154	43	δx	δx	PROPN
alkej-330	154	44	!	!	PROPN
alkej-330	154	45	$	$	SYM
alkej-330	154	46	a	a	DET
alkej-330	154	47	!	!	PUNCT
alkej-330	154	48	�	�	PROPN
alkej-330	154	49	�	�	PROPN
alkej-330	154	50	sd	sd	PROPN
alkej-330	154	51	�	�	PROPN
alkej-330	154	52	δy	δy	PROPN
alkej-330	154	53	!	!	PUNCT
alkej-330	154	54	:	:	PUNCT
alkej-330	154	55	�	�	PROPN
alkej-330	154	56	c	c	PROPN
alkej-330	154	57	�	�	PROPN
alkej-330	154	58	s!8cd	s!8cd	NOUN
alkej-330	154	59	�	�	PROPN
alkej-330	154	60	δy!$	δy!$	NOUN
alkej-330	154	61	sd	sd	NOUN
alkej-330	154	62	�	�	PROPN
alkej-330	154	63	δx	δx	PROPN
alkej-330	154	64	!	!	PROPN
alkej-330	154	65	$	$	SYM
alkej-330	154	66	a	a	PRON
alkej-330	154	67	!	!	PUNCT
alkej-330	154	68	�	�	PROPN
alkej-330	154	69	:	:	PUNCT
alkej-330	154	70	�	�	PROPN
alkej-330	154	71	s	s	PART
alkej-330	154	72	�	�	PROPN
alkej-330	154	73	c!8sd	c!8sd	NOUN
alkej-330	154	74	�	�	PROPN
alkej-330	154	75	δx	δx	PROPN
alkej-330	154	76	!	!	PROPN
alkej-330	154	77	$	$	SYM
alkej-330	154	78	a!	a!	PROPN
alkej-330	154	79	�	�	PROPN
alkej-330	154	80	$	$	PROPN
alkej-330	154	81	cd	cd	PROPN
alkej-330	154	82	�	�	PROPN
alkej-330	154	83	δy	δy	PROPN
alkej-330	154	84	!	!	PUNCT
alkej-330	154	85	:	:	PUNCT
alkej-330	154	86	$	$	SYM
alkej-330	154	87	s	s	PROPN
alkej-330	154	88	�	�	NOUN
alkej-330	154	89	s!8sd	s!8sd	NOUN
alkej-330	154	90	�	�	PROPN
alkej-330	154	91	δy	δy	PROPN
alkej-330	154	92	!	!	PROPN
alkej-330	154	93	�	�	PROPN
alkej-330	154	94	cd	cd	PROPN
alkej-330	154	95	�	�	PROPN
alkej-330	154	96	δx	δx	PROPN
alkej-330	154	97	!	!	PROPN
alkej-330	154	98	$	$	SYM
alkej-330	154	99	a	a	DET
alkej-330	154	100	!	!	PUNCT
alkej-330	154	101	�	�	NOUN
alkej-330	154	102	:	:	PUNCT
alkej-330	154	103	$	$	SYM
alkej-330	154	104	c	c	PROPN
alkej-330	154	105	�	�	NUM
alkej-330	154	106	δx	δx	NOUN
alkej-330	154	107	�	�	PROPN
alkej-330	154	108	$	$	SYM
alkej-330	154	109	a	a	DET
alkej-330	154	110	�	�	PROPN
alkej-330	154	111	�	�	PROPN
alkej-330	154	112	�	�	PROPN
alkej-330	154	113	s	s	PROPN
alkej-330	154	114	�	�	PROPN
alkej-330	154	115	δy	δy	NOUN
alkej-330	154	116	�	�	PROPN
alkej-330	154	117	…	…	NUM
alkej-330	154	118	44	44	NUM
alkej-330	154	119	�	�	PROPN
alkej-330	154	120	pu	pu	PROPN
alkej-330	154	121	�	�	PROPN
alkej-330	154	122	s	s	PROPN
alkej-330	154	123	�	�	PROPN
alkej-330	154	124	c!8cd	c!8cd	NOUN
alkej-330	154	125	�	�	PROPN
alkej-330	154	126	δx	δx	PROPN
alkej-330	154	127	!	!	PROPN
alkej-330	154	128	$	$	SYM
alkej-330	154	129	a	a	DET
alkej-330	154	130	!	!	PUNCT
alkej-330	154	131	�	�	PROPN
alkej-330	154	132	�	�	PROPN
alkej-330	154	133	sd	sd	PROPN
alkej-330	154	134	�	�	PROPN
alkej-330	154	135	δy	δy	PROPN
alkej-330	154	136	!	!	PUNCT
alkej-330	154	137	:	:	PUNCT
alkej-330	154	138	�	�	PROPN
alkej-330	154	139	s	s	PART
alkej-330	154	140	�	�	PROPN
alkej-330	154	141	s!8sd	s!8sd	NOUN
alkej-330	154	142	�	�	PROPN
alkej-330	154	143	δx	δx	PROPN
alkej-330	154	144	!	!	PROPN
alkej-330	154	145	$	$	SYM
alkej-330	154	146	a!	a!	PROPN
alkej-330	154	147	�	�	PROPN
alkej-330	154	148	$	$	PROPN
alkej-330	154	149	cd	cd	PROPN
alkej-330	154	150	�	�	PROPN
alkej-330	154	151	δy	δy	PROPN
alkej-330	154	152	!	!	PUNCT
alkej-330	154	153	:	:	PUNCT
alkej-330	154	154	$	$	SYM
alkej-330	154	155	c	c	PROPN
alkej-330	154	156	�	�	NOUN
alkej-330	154	157	c!8sd	c!8sd	NOUN
alkej-330	154	158	�	�	NOUN
alkej-330	154	159	δx!$	δx!$	VERB
alkej-330	154	160	a	a	DET
alkej-330	154	161	!	!	PUNCT
alkej-330	154	162	�	�	PROPN
alkej-330	154	163	$	$	SYM
alkej-330	154	164	cd	cd	PROPN
alkej-330	154	165	�	�	PROPN
alkej-330	154	166	δy!:$	δy!:$	NOUN
alkej-330	154	167	c	c	PROPN
alkej-330	154	168	�	�	PROPN
alkej-330	154	169	s!8cd	s!8cd	NOUN
alkej-330	154	170	�	�	NOUN
alkej-330	154	171	δx	δx	PROPN
alkej-330	154	172	!	!	PROPN
alkej-330	154	173	$	$	SYM
alkej-330	154	174	a	a	DET
alkej-330	154	175	!	!	PUNCT
alkej-330	154	176	�	�	PROPN
alkej-330	154	177	�	�	PROPN
alkej-330	154	178	sd	sd	NOUN
alkej-330	154	179	�	�	PROPN
alkej-330	154	180	δy	δy	PROPN
alkej-330	154	181	!	!	PUNCT
alkej-330	154	182	:	:	PUNCT
alkej-330	155	1	$	$	SYM
alkej-330	155	2	c	c	PROPN
alkej-330	155	3	�	�	PROPN
alkej-330	155	4	δy	δy	NOUN
alkej-330	155	5	�	�	PROPN
alkej-330	155	6	$	$	SYM
alkej-330	155	7	s	s	PROPN
alkej-330	155	8	�	�	PROPN
alkej-330	155	9	8δx	8δx	NOUN
alkej-330	155	10	�	�	PROPN
alkej-330	155	11	$	$	SYM
alkej-330	155	12	a	a	DET
alkej-330	155	13	�	�	NOUN
alkej-330	155	14	:	:	PUNCT
alkej-330	155	15	…	…	NUM
alkej-330	155	16	45	45	NUM
alkej-330	155	17	�	�	PROPN
alkej-330	155	18	pv	pv	PROPN
alkej-330	155	19	�	�	PROPN
alkej-330	155	20	0	0	NUM
alkej-330	155	21	…	…	SYM
alkej-330	155	22	46	46	NUM
alkej-330	155	23	�	�	PROPN
alkej-330	155	24	where	where	SCONJ
alkej-330	155	25	:	:	PUNCT
alkej-330	155	26	c	c	PROPN
alkej-330	155	27	�	�	PROPN
alkej-330	155	28	!	!	PUNCT
alkej-330	155	29	�	�	PROPN
alkej-330	155	30	cos	cos	PROPN
alkej-330	155	31	θ	θ	PROPN
alkej-330	155	32	�	�	PROPN
alkej-330	155	33	$	$	SYM
alkej-330	155	34	θ	θ	PROPN
alkej-330	155	35	!	!	PUNCT
alkej-330	155	36	�	�	PROPN
alkej-330	155	37	s	s	PART
alkej-330	155	38	�	�	PROPN
alkej-330	155	39	!	!	PUNCT
alkej-330	155	40	�	�	PROPN
alkej-330	155	41	sin	sin	PROPN
alkej-330	155	42	θ	θ	PROPN
alkej-330	155	43	�	�	PROPN
alkej-330	155	44	$	$	SYM
alkej-330	155	45	θ	θ	PROPN
alkej-330	155	46	!	!	PUNCT
alkej-330	155	47	�	�	PROPN
alkej-330	155	48	cd	cd	PROPN
alkej-330	155	49	�	�	PROPN
alkej-330	155	50	!	!	PUNCT
alkej-330	155	51	�	�	PROPN
alkej-330	156	1	cos	cos	ADP
alkej-330	156	2	dϕ	dϕ	PROPN
alkej-330	156	3	�	�	PROPN
alkej-330	156	4	$	$	SYM
alkej-330	156	5	dϕ	dϕ	NOUN
alkej-330	156	6	!	!	PUNCT
alkej-330	156	7	�	�	PROPN
alkej-330	156	8	sd	sd	PROPN
alkej-330	156	9	�	�	PROPN
alkej-330	156	10	!	!	PUNCT
alkej-330	156	11	�	�	PROPN
alkej-330	156	12	sin	sin	VERB
alkej-330	156	13	dϕ	dϕ	PROPN
alkej-330	156	14	�	�	PROPN
alkej-330	156	15	$	$	SYM
alkej-330	156	16	dϕ	dϕ	NOUN
alkej-330	156	17	!	!	PUNCT
alkej-330	156	18	�	�	PROPN
alkej-330	156	19	cd	cd	PROPN
alkej-330	156	20	�	�	PROPN
alkej-330	156	21	1	1	NUM
alkej-330	156	22	!	!	PUNCT
alkej-330	156	23	�	�	PROPN
alkej-330	157	1	cos	cos	ADP
alkej-330	157	2	dϕ	dϕ	PROPN
alkej-330	157	3	�	�	PROPN
alkej-330	157	4	�	�	PROPN
alkej-330	157	5	dϕ	dϕ	PROPN
alkej-330	157	6	!	!	PROPN
alkej-330	157	7	�	�	PROPN
alkej-330	157	8	sd	sd	NOUN
alkej-330	157	9	�	�	PROPN
alkej-330	157	10	1	1	NUM
alkej-330	157	11	!	!	PUNCT
alkej-330	157	12	�	�	PROPN
alkej-330	157	13	sin	sin	VERB
alkej-330	157	14	dϕ	dϕ	PROPN
alkej-330	157	15	�	�	PROPN
alkej-330	157	16	�	�	PROPN
alkej-330	157	17	dϕ	dϕ	PROPN
alkej-330	157	18	!	!	PUNCT
alkej-330	157	19	�	�	PROPN
alkej-330	157	20	equations	equation	NOUN
alkej-330	157	21	(	(	PUNCT
alkej-330	157	22	44	44	NUM
alkej-330	157	23	)	)	PUNCT
alkej-330	157	24	to	to	ADP
alkej-330	157	25	(	(	PUNCT
alkej-330	157	26	46	46	NUM
alkej-330	157	27	)	)	PUNCT
alkej-330	157	28	represent	represent	VERB
alkej-330	157	29	the	the	DET
alkej-330	157	30	endeffector	endeffector	NOUN
alkej-330	157	31	position	position	NOUN
alkej-330	157	32	with	with	ADP
alkej-330	157	33	presence	presence	NOUN
alkej-330	157	34	of	of	ADP
alkej-330	157	35	flexibility	flexibility	NOUN
alkej-330	157	36	of	of	ADP
alkej-330	157	37	robot	robot	NOUN
alkej-330	157	38	,	,	PUNCT
alkej-330	157	39	which	which	PRON
alkej-330	157	40	will	will	AUX
alkej-330	157	41	be	be	AUX
alkej-330	157	42	called	call	VERB
alkej-330	157	43	,	,	PUNCT
alkej-330	157	44	the	the	DET
alkej-330	157	45	flexible	flexible	ADJ
alkej-330	157	46	kinematic	kinematic	ADJ
alkej-330	157	47	equation	equation	NOUN
alkej-330	157	48	.	.	PUNCT
alkej-330	158	1	the	the	DET
alkej-330	158	2	inverse	inverse	NOUN
alkej-330	158	3	of	of	ADP
alkej-330	158	4	these	these	DET
alkej-330	158	5	equations	equation	NOUN
alkej-330	158	6	will	will	AUX
alkej-330	158	7	be	be	AUX
alkej-330	158	8	found	find	VERB
alkej-330	158	9	by	by	ADP
alkej-330	158	10	using	use	VERB
alkej-330	158	11	the	the	DET
alkej-330	158	12	neural	neural	ADJ
alkej-330	158	13	network	network	NOUN
alkej-330	158	14	.	.	PUNCT
alkej-330	159	1	3	3	X
alkej-330	159	2	.	.	X
alkej-330	159	3	experimental	experimental	ADJ
alkej-330	159	4	work	work	NOUN
alkej-330	159	5	a.	a.	PROPN
alkej-330	159	6	the	the	DET
alkej-330	159	7	rig	rig	NOUN
alkej-330	159	8	of	of	ADP
alkej-330	159	9	experiment	experiment	NOUN
alkej-330	159	10	in	in	ADP
alkej-330	159	11	this	this	DET
alkej-330	159	12	work	work	NOUN
alkej-330	159	13	,	,	PUNCT
alkej-330	159	14	the	the	DET
alkej-330	159	15	test	test	NOUN
alkej-330	159	16	rig	rig	NOUN
alkej-330	159	17	was	be	AUX
alkej-330	159	18	represented	represent	VERB
alkej-330	159	19	by	by	ADP
alkej-330	159	20	two	two	NUM
alkej-330	159	21	degrees	degree	NOUN
alkej-330	159	22	’	'	PUNCT
alkej-330	159	23	manipulator	manipulator	NOUN
alkej-330	159	24	(	(	PUNCT
alkej-330	159	25	two	two	NUM
alkej-330	159	26	elastic	elastic	ADJ
alkej-330	159	27	links	link	NOUN
alkej-330	159	28	)	)	PUNCT
alkej-330	159	29	confined	confine	VERB
alkej-330	159	30	to	to	PART
alkej-330	159	31	move	move	VERB
alkej-330	159	32	in	in	ADP
alkej-330	159	33	a	a	DET
alkej-330	159	34	vertical	vertical	ADJ
alkej-330	159	35	plane	plane	NOUN
alkej-330	159	36	.	.	PUNCT
alkej-330	160	1	the	the	DET
alkej-330	160	2	two	two	NUM
alkej-330	160	3	links	link	NOUN
alkej-330	160	4	were	be	AUX
alkej-330	160	5	designed	design	VERB
alkej-330	160	6	to	to	PART
alkej-330	160	7	have	have	VERB
alkej-330	160	8	properties	property	NOUN
alkej-330	160	9	gathering	gather	VERB
alkej-330	160	10	the	the	DET
alkej-330	160	11	lightness	lightness	NOUN
alkej-330	160	12	approximate	approximate	NOUN
alkej-330	160	13	to	to	ADP
alkej-330	160	14	the	the	DET
alkej-330	160	15	flexible	flexible	ADJ
alkej-330	160	16	beam	beam	NOUN
alkej-330	160	17	and	and	CCONJ
alkej-330	160	18	stiffness	stiffness	NOUN
alkej-330	160	19	approximate	approximate	NOUN
alkej-330	160	20	to	to	ADP
alkej-330	160	21	the	the	DET
alkej-330	160	22	rigid	rigid	ADJ
alkej-330	160	23	beam	beam	NOUN
alkej-330	160	24	to	to	PART
alkej-330	160	25	reduce	reduce	VERB
alkej-330	160	26	the	the	DET
alkej-330	160	27	vibration	vibration	NOUN
alkej-330	160	28	effects	effect	NOUN
alkej-330	160	29	;	;	PUNCT
alkej-330	160	30	the	the	DET
alkej-330	160	31	two	two	NUM
alkej-330	160	32	links	link	NOUN
alkej-330	160	33	are	be	AUX
alkej-330	160	34	hallow	hallow	ADJ
alkej-330	160	35	rectangular	rectangular	ADJ
alkej-330	160	36	beams	beam	NOUN
alkej-330	160	37	made	make	VERB
alkej-330	160	38	from	from	ADP
alkej-330	160	39	the	the	DET
alkej-330	160	40	aluminum	aluminum	NOUN
alkej-330	160	41	type	type	NOUN
alkej-330	160	42	(	(	PUNCT
alkej-330	160	43	6061	6061	NUM
alkej-330	160	44	-	-	PUNCT
alkej-330	160	45	t6	t6	PROPN
alkej-330	160	46	)	)	PUNCT
alkej-330	160	47	with	with	ADP
alkej-330	160	48	length	length	NOUN
alkej-330	160	49	57	57	NUM
alkej-330	160	50	cm	cm	NOUN
alkej-330	160	51	and	and	CCONJ
alkej-330	160	52	62	62	NUM
alkej-330	160	53	cm	cm	NOUN
alkej-330	160	54	for	for	ADP
alkej-330	160	55	first	first	ADJ
alkej-330	160	56	and	and	CCONJ
alkej-330	160	57	second	second	ADJ
alkej-330	160	58	arm	arm	NOUN
alkej-330	160	59	,	,	PUNCT
alkej-330	160	60	respectively	respectively	ADV
alkej-330	160	61	.	.	PUNCT
alkej-330	161	1	in	in	ADP
alkej-330	161	2	addition	addition	NOUN
alkej-330	161	3	,	,	PUNCT
alkej-330	161	4	the	the	DET
alkej-330	161	5	manipulator	manipulator	NOUN
alkej-330	161	6	has	have	VERB
alkej-330	161	7	a	a	DET
alkej-330	161	8	measurement	measurement	NOUN
alkej-330	161	9	system	system	NOUN
alkej-330	161	10	(	(	PUNCT
alkej-330	161	11	bonded	bond	VERB
alkej-330	161	12	hussein	hussein	PROPN
alkej-330	161	13	m.	m.	PROPN
alkej-330	161	14	al	al	PROPN
alkej-330	161	15	-	-	PUNCT
alkej-330	161	16	khafaji	khafaji	PROPN
alkej-330	161	17	al	al	PROPN
alkej-330	161	18	strain	strain	NOUN
alkej-330	161	19	gauges	gauge	NOUN
alkej-330	161	20	on	on	ADP
alkej-330	161	21	each	each	DET
alkej-330	161	22	arm	arm	NOUN
alkej-330	161	23	)	)	PUNCT
alkej-330	161	24	and	and	CCONJ
alkej-330	161	25	data	datum	NOUN
alkej-330	161	26	acquisition	acquisition	NOUN
alkej-330	161	27	system	system	NOUN
alkej-330	161	28	to	to	PART
alkej-330	161	29	measure	measure	VERB
alkej-330	161	30	the	the	DET
alkej-330	161	31	deflection	deflection	NOUN
alkej-330	161	32	variable	variable	NOUN
alkej-330	161	33	the	the	DET
alkej-330	161	34	rotation	rotation	NOUN
alkej-330	161	35	of	of	ADP
alkej-330	161	36	the	the	DET
alkej-330	161	37	tip	tip	NOUN
alkej-330	161	38	of	of	ADP
alkej-330	161	39	the	the	DET
alkej-330	161	40	beam	beam	NOUN
alkej-330	161	41	experimentally	experimentally	ADV
alkej-330	161	42	,	,	PUNCT
alkej-330	161	43	the	the	DET
alkej-330	161	44	measuring	measuring	NOUN
alkej-330	161	45	of	of	ADP
alkej-330	161	46	the	the	DET
alkej-330	161	47	deflections	deflection	NOUN
alkej-330	161	48	at	at	ADP
alkej-330	161	49	two	two	NUM
alkej-330	161	50	points	point	NOUN
alkej-330	161	51	along	along	ADP
alkej-330	161	52	the	the	DET
alkej-330	161	53	beam	beam	NOUN
alkej-330	161	54	was	be	AUX
alkej-330	161	55	done	do	VERB
alkej-330	161	56	points	point	NOUN
alkej-330	161	57	where	where	SCONJ
alkej-330	161	58	the	the	DET
alkej-330	161	59	strain	strain	NOUN
alkej-330	161	60	gauge	gauge	NOUN
alkej-330	161	61	no.3	no.3	NOUN
alkej-330	161	62	and	and	CCONJ
alkej-330	161	63	at	at	ADP
alkej-330	161	64	the	the	DET
alkej-330	161	65	tip	tip	NOUN
alkej-330	161	66	,	,	PUNCT
alkej-330	161	67	and	and	CCONJ
alkej-330	161	68	by	by	ADP
alkej-330	161	69	applying	apply	VERB
alkej-330	161	70	these	these	DET
alkej-330	161	71	values	value	NOUN
alkej-330	161	72	of	of	ADP
alkej-330	161	73	the	the	DET
alkej-330	161	74	deflections	deflection	NOUN
alkej-330	161	75	into	into	ADP
alkej-330	161	76	the	the	DET
alkej-330	161	77	following	follow	VERB
alkej-330	161	78	equation	equation	NOUN
alkej-330	161	79	[	[	X
alkej-330	161	80	20	20	NUM
alkej-330	161	81	]	]	PUNCT
alkej-330	161	82	:	:	PUNCT
alkej-330	161	83	tan	tan	PROPN
alkej-330	162	1	i	i	PRON
alkej-330	162	2	�	�	PROPN
alkej-330	162	3	�	�	PROPN
alkej-330	162	4	∆xs∆p	∆xs∆p	PROPN
alkej-330	162	5	where	where	SCONJ
alkej-330	162	6	:	:	PUNCT
alkej-330	162	7	δy	δy	PROPN
alkej-330	162	8	represent	represent	VERB
alkej-330	162	9	the	the	DET
alkej-330	162	10	deflection	deflection	NOUN
alkej-330	162	11	.	.	PUNCT
alkej-330	163	1	∆δy	∆δy	NOUN
alkej-330	163	2	represents	represent	VERB
alkej-330	163	3	the	the	DET
alkej-330	163	4	difference	difference	NOUN
alkej-330	163	5	between	between	ADP
alkej-330	163	6	the	the	DET
alkej-330	163	7	two	two	NUM
alkej-330	163	8	deflections	deflection	NOUN
alkej-330	163	9	.	.	PUNCT
alkej-330	164	1	∆l	∆l	PROPN
alkej-330	164	2	represents	represent	VERB
alkej-330	164	3	the	the	DET
alkej-330	164	4	distance	distance	NOUN
alkej-330	164	5	between	between	ADP
alkej-330	164	6	the	the	DET
alkej-330	164	7	two	two	NUM
alkej-330	164	8	points	point	NOUN
alkej-330	164	9	where	where	SCONJ
alkej-330	164	10	the	the	DET
alkej-330	164	11	deflections	deflection	NOUN
alkej-330	164	12	measured	measure	VERB
alkej-330	164	13	.	.	PUNCT
alkej-330	165	1	the	the	DET
alkej-330	165	2	relations	relation	NOUN
alkej-330	165	3	between	between	ADP
alkej-330	165	4	the	the	DET
alkej-330	165	5	deflections	deflection	NOUN
alkej-330	165	6	and	and	CCONJ
alkej-330	165	7	the	the	DET
alkej-330	165	8	voltages	voltage	NOUN
alkej-330	165	9	of	of	ADP
alkej-330	165	10	strain	strain	NOUN
alkej-330	165	11	gauges	gauge	NOUN
alkej-330	165	12	were	be	AUX
alkej-330	165	13	estimated	estimate	VERB
alkej-330	165	14	experimentally	experimentally	ADV
alkej-330	165	15	by	by	ADP
alkej-330	165	16	curve	curve	NOUN
alkej-330	165	17	fitting	fitting	ADJ
alkej-330	165	18	between	between	ADP
alkej-330	165	19	deflection	deflection	NOUN
alkej-330	165	20	and	and	CCONJ
alkej-330	165	21	voltage	voltage	NOUN
alkej-330	165	22	as	as	SCONJ
alkej-330	165	23	shown	show	VERB
alkej-330	165	24	in	in	ADP
alkej-330	165	25	figure	figure	NOUN
alkej-330	165	26	5	5	NUM
alkej-330	165	27	.	.	PUNCT
alkej-330	165	28	for	for	ADP
alkej-330	165	29	link-1	link-1	PROPN
alkej-330	165	30	:	:	PUNCT
alkej-330	165	31	the	the	DET
alkej-330	165	32	relation	relation	NOUN
alkej-330	165	33	between	between	ADP
alkej-330	165	34	the	the	DET
alkej-330	165	35	tip	tip	NOUN
alkej-330	165	36	deflection	deflection	NOUN
alkej-330	165	37	and	and	CCONJ
alkej-330	165	38	the	the	DET
alkej-330	165	39	voltage	voltage	NOUN
alkej-330	165	40	of	of	ADP
alkej-330	165	41	the	the	DET
alkej-330	165	42	strain	strain	ADJ
alkej-330	165	43	gauge	gauge	NOUN
alkej-330	165	44	no.1	no.1	NUM
alkej-330	165	45	is	be	AUX
alkej-330	165	46	:	:	PUNCT
alkej-330	165	47	kmy2z	kmy2z	X
alkej-330	165	48	�	�	PROPN
alkej-330	165	49	0.0026	0.0026	NUM
alkej-330	165	50	{	{	PUNCT
alkej-330	165	51	$	$	SYM
alkej-330	165	52	8	8	NUM
alkej-330	165	53	|	|	ADV
alkej-330	165	54	101	101	NUM
alkej-330	165	55	}	}	PUNCT
alkej-330	165	56	the	the	DET
alkej-330	165	57	relation	relation	NOUN
alkej-330	165	58	between	between	ADP
alkej-330	165	59	the	the	DET
alkej-330	165	60	tip	tip	NOUN
alkej-330	165	61	deflection	deflection	NOUN
alkej-330	165	62	and	and	CCONJ
alkej-330	165	63	the	the	DET
alkej-330	165	64	voltage	voltage	NOUN
alkej-330	165	65	of	of	ADP
alkej-330	165	66	the	the	DET
alkej-330	165	67	strain	strain	NOUN
alkej-330	165	68	gauge	gauge	NOUN
alkej-330	165	69	no.2	no.2	PROPN
alkej-330	165	70	is	be	AUX
alkej-330	165	71	:	:	PUNCT
alkej-330	165	72	kmy2z	kmy2z	PROPN
alkej-330	165	73	�	�	PROPN
alkej-330	165	74	0.001	0.001	NUM
alkej-330	165	75	{	{	PUNCT
alkej-330	165	76	$	$	SYM
alkej-330	165	77	3	3	NUM
alkej-330	165	78	|	|	ADV
alkej-330	165	79	101	101	NUM
alkej-330	165	80	}	}	PUNCT
alkej-330	165	81	the	the	DET
alkej-330	165	82	relation	relation	NOUN
alkej-330	165	83	between	between	ADP
alkej-330	165	84	the	the	DET
alkej-330	165	85	deflection	deflection	NOUN
alkej-330	165	86	at	at	ADP
alkej-330	165	87	the	the	DET
alkej-330	165	88	point	point	NOUN
alkej-330	165	89	31	31	NUM
alkej-330	165	90	cm	cm	NOUN
alkej-330	165	91	from	from	ADP
alkej-330	165	92	the	the	DET
alkej-330	165	93	center	center	NOUN
alkej-330	165	94	of	of	ADP
alkej-330	165	95	the	the	DET
alkej-330	165	96	shaft	shaft	NOUN
alkej-330	165	97	of	of	ADP
alkej-330	165	98	the	the	DET
alkej-330	165	99	first	first	ADJ
alkej-330	165	100	joint	joint	NOUN
alkej-330	165	101	and	and	CCONJ
alkej-330	165	102	the	the	DET
alkej-330	165	103	voltage	voltage	NOUN
alkej-330	165	104	of	of	ADP
alkej-330	165	105	the	the	DET
alkej-330	165	106	strain	strain	NOUN
alkej-330	165	107	gauge	gauge	NOUN
alkej-330	165	108	no.3	no.3	NOUN
alkej-330	165	109	is	be	AUX
alkej-330	165	110	:	:	PUNCT
alkej-330	165	111	kmcy	kmcy	NOUN
alkej-330	165	112	"	"	PUNCT
alkej-330	165	113	�	�	PROPN
alkej-330	165	114	~	~	PROPN
alkej-330	165	115	>	>	X
alkej-330	165	116	�	�	PROPN
alkej-330	165	117	0.0008	0.0008	NUM
alkej-330	165	118	{	{	PUNCT
alkej-330	165	119	�	�	PROPN
alkej-330	165	120	2	2	NUM
alkej-330	165	121	|	|	ADV
alkej-330	165	122	101	101	NUM
alkej-330	165	123	}	}	PUNCT
alkej-330	165	124	the	the	DET
alkej-330	165	125	link-2	link-2	NOUN
alkej-330	165	126	:	:	PUNCT
alkej-330	165	127	the	the	DET
alkej-330	165	128	relation	relation	NOUN
alkej-330	165	129	between	between	ADP
alkej-330	165	130	the	the	DET
alkej-330	165	131	tip	tip	NOUN
alkej-330	165	132	deflection	deflection	NOUN
alkej-330	165	133	and	and	CCONJ
alkej-330	165	134	the	the	DET
alkej-330	165	135	voltage	voltage	NOUN
alkej-330	165	136	of	of	ADP
alkej-330	165	137	the	the	DET
alkej-330	165	138	strain	strain	ADJ
alkej-330	165	139	gauge	gauge	NOUN
alkej-330	165	140	no.1	no.1	NUM
alkej-330	165	141	is	be	AUX
alkej-330	165	142	:	:	PUNCT
alkej-330	165	143	kmy2z	kmy2z	X
alkej-330	165	144	�	�	PROPN
alkej-330	165	145	0.0016	0.0016	NUM
alkej-330	165	146	{	{	PUNCT
alkej-330	165	147	$	$	SYM
alkej-330	165	148	6	6	NUM
alkej-330	165	149	|	|	ADV
alkej-330	165	150	101	101	NUM
alkej-330	165	151	}	}	PUNCT
alkej-330	165	152	the	the	DET
alkej-330	165	153	relation	relation	NOUN
alkej-330	165	154	between	between	ADP
alkej-330	165	155	the	the	DET
alkej-330	165	156	tip	tip	NOUN
alkej-330	165	157	deflection	deflection	NOUN
alkej-330	165	158	and	and	CCONJ
alkej-330	165	159	the	the	DET
alkej-330	165	160	voltage	voltage	NOUN
alkej-330	165	161	of	of	ADP
alkej-330	165	162	the	the	DET
alkej-330	165	163	strain	strain	NOUN
alkej-330	165	164	gauge	gauge	NOUN
alkej-330	165	165	no.2	no.2	PROPN
alkej-330	165	166	is	be	AUX
alkej-330	165	167	:	:	PUNCT
alkej-330	165	168	kmy2z	kmy2z	PART
alkej-330	165	169	�	�	PROPN
alkej-330	165	170	0.0022	0.0022	NUM
alkej-330	165	171	{	{	PUNCT
alkej-330	165	172	$	$	SYM
alkej-330	165	173	3	3	NUM
alkej-330	165	174	|	|	ADV
alkej-330	165	175	101	101	NUM
alkej-330	165	176	}	}	PUNCT
alkej-330	165	177	the	the	DET
alkej-330	165	178	relation	relation	NOUN
alkej-330	165	179	between	between	ADP
alkej-330	165	180	the	the	DET
alkej-330	165	181	deflection	deflection	NOUN
alkej-330	165	182	at	at	ADP
alkej-330	165	183	the	the	DET
alkej-330	165	184	point	point	NOUN
alkej-330	165	185	36	36	NUM
alkej-330	165	186	cm	cm	NOUN
alkej-330	165	187	from	from	ADP
alkej-330	165	188	the	the	DET
alkej-330	165	189	center	center	NOUN
alkej-330	165	190	of	of	ADP
alkej-330	165	191	the	the	DET
alkej-330	165	192	shaft	shaft	NOUN
alkej-330	165	193	of	of	ADP
alkej-330	165	194	the	the	DET
alkej-330	165	195	second	second	ADJ
alkej-330	165	196	joint	joint	NOUN
alkej-330	165	197	and	and	CCONJ
alkej-330	165	198	the	the	DET
alkej-330	165	199	voltage	voltage	NOUN
alkej-330	165	200	of	of	ADP
alkej-330	165	201	the	the	DET
alkej-330	165	202	strain	strain	NOUN
alkej-330	165	203	gauge	gauge	NOUN
alkej-330	165	204	no.3	no.3	NOUN
alkej-330	165	205	is	be	AUX
alkej-330	165	206	:	:	PUNCT
alkej-330	165	207	kmcy	kmcy	NOUN
alkej-330	165	208	"	"	PUNCT
alkej-330	165	209	�	�	PROPN
alkej-330	165	210	~	~	PROPN
alkej-330	165	211	>	>	X
alkej-330	165	212	�	�	PROPN
alkej-330	165	213	0.0022	0.0022	PROPN
alkej-330	165	214	{	{	PUNCT
alkej-330	165	215	�	�	PROPN
alkej-330	165	216	3	3	NUM
alkej-330	165	217	|	|	ADV
alkej-330	165	218	101	101	NUM
alkej-330	165	219	}	}	PUNCT
alkej-330	165	220	kl	kl	NOUN
alkej-330	165	221	was	be	AUX
alkej-330	165	222	experimentally	experimentally	ADV
alkej-330	165	223	found	find	VERB
alkej-330	165	224	by	by	ADP
alkej-330	165	225	extracting	extract	VERB
alkej-330	165	226	the	the	DET
alkej-330	165	227	strain	strain	NOUN
alkej-330	165	228	from	from	ADP
alkej-330	165	229	two	two	NUM
alkej-330	165	230	sensors	sensor	NOUN
alkej-330	165	231	at	at	ADP
alkej-330	165	232	the	the	DET
alkej-330	165	233	upper	upper	ADJ
alkej-330	165	234	and	and	CCONJ
alkej-330	165	235	lower	low	ADJ
alkej-330	165	236	surface	surface	NOUN
alkej-330	165	237	at	at	ADP
alkej-330	165	238	the	the	DET
alkej-330	165	239	same	same	ADJ
alkej-330	165	240	position	position	NOUN
alkej-330	165	241	of	of	ADP
alkej-330	165	242	the	the	DET
alkej-330	165	243	strain	strain	NOUN
alkej-330	165	244	gauge	gauge	NOUN
alkej-330	165	245	no.1	no.1	NOUN
alkej-330	165	246	and	and	CCONJ
alkej-330	165	247	no	no	NOUN
alkej-330	165	248	.	.	NOUN
alkej-330	166	1	2	2	X
alkej-330	166	2	.	.	X
alkej-330	166	3	the	the	DET
alkej-330	166	4	difference	difference	NOUN
alkej-330	166	5	value	value	NOUN
alkej-330	166	6	represents	represent	VERB
alkej-330	166	7	the	the	DET
alkej-330	166	8	extension	extension	NOUN
alkej-330	166	9	of	of	ADP
alkej-330	166	10	the	the	DET
alkej-330	166	11	beam	beam	NOUN
alkej-330	166	12	in	in	ADP
alkej-330	166	13	the	the	DET
alkej-330	166	14	longitudinal	longitudinal	ADJ
alkej-330	166	15	direction	direction	NOUN
alkej-330	166	16	,	,	PUNCT
alkej-330	166	17	as	as	SCONJ
alkej-330	166	18	represented	represent	VERB
alkej-330	166	19	by	by	ADP
alkej-330	166	20	the	the	DET
alkej-330	166	21	relationkl	relationkl	NOUN
alkej-330	166	22	�	�	PROPN
alkej-330	166	23	7	7	NUM
alkej-330	166	24	.	.	PUNCT
alkej-330	166	25	�	�	PROPN
alkej-330	166	26	al	al	PROPN
alkej-330	166	27	-	-	PUNCT
alkej-330	166	28	khwarizmi	khwarizmi	PROPN
alkej-330	166	29	engineering	engineering	NOUN
alkej-330	166	30	journal	journal	PROPN
alkej-330	166	31	,	,	PUNCT
alkej-330	166	32	vol	vol	NOUN
alkej-330	166	33	.	.	PROPN
alkej-330	166	34	13	13	NUM
alkej-330	166	35	,	,	PUNCT
alkej-330	166	36	no	no	INTJ
alkej-330	166	37	.	.	NOUN
alkej-330	166	38	1	1	NUM
alkej-330	166	39	,	,	PUNCT
alkej-330	166	40	p.p	p.p	PROPN
alkej-330	166	41	.	.	NOUN
alkej-330	166	42	1	1	NUM
alkej-330	166	43	19	19	NUM
alkej-330	166	44	strain	strain	NOUN
alkej-330	166	45	gauges	gauge	NOUN
alkej-330	166	46	on	on	ADP
alkej-330	166	47	each	each	DET
alkej-330	166	48	arm	arm	NOUN
alkej-330	166	49	)	)	PUNCT
alkej-330	166	50	and	and	CCONJ
alkej-330	166	51	data	datum	NOUN
alkej-330	166	52	acquisition	acquisition	NOUN
alkej-330	166	53	deflection	deflection	NOUN
alkej-330	166	54	variable	variable	NOUN
alkej-330	166	55	,	,	PUNCT
alkej-330	166	56	to	to	PART
alkej-330	166	57	find	find	VERB
alkej-330	166	58	the	the	DET
alkej-330	166	59	rotation	rotation	NOUN
alkej-330	166	60	of	of	ADP
alkej-330	166	61	the	the	DET
alkej-330	166	62	tip	tip	NOUN
alkej-330	166	63	of	of	ADP
alkej-330	166	64	the	the	DET
alkej-330	166	65	beam	beam	NOUN
alkej-330	166	66	dϕ	dϕ	NOUN
alkej-330	166	67	experimentally	experimentally	ADV
alkej-330	166	68	,	,	PUNCT
alkej-330	166	69	the	the	DET
alkej-330	166	70	measuring	measuring	NOUN
alkej-330	166	71	of	of	ADP
alkej-330	166	72	the	the	DET
alkej-330	166	73	deflections	deflection	NOUN
alkej-330	166	74	at	at	ADP
alkej-330	166	75	two	two	NUM
alkej-330	166	76	points	point	NOUN
alkej-330	166	77	along	along	ADP
alkej-330	166	78	the	the	DET
alkej-330	166	79	beam	beam	NOUN
alkej-330	166	80	was	be	AUX
alkej-330	166	81	done	do	VERB
alkej-330	166	82	at	at	ADP
alkej-330	166	83	the	the	DET
alkej-330	166	84	points	point	NOUN
alkej-330	166	85	where	where	SCONJ
alkej-330	166	86	the	the	DET
alkej-330	166	87	strain	strain	NOUN
alkej-330	166	88	gauge	gauge	NOUN
alkej-330	166	89	no.3	no.3	NOUN
alkej-330	166	90	and	and	CCONJ
alkej-330	166	91	at	at	ADP
alkej-330	166	92	the	the	DET
alkej-330	166	93	tip	tip	NOUN
alkej-330	166	94	,	,	PUNCT
alkej-330	166	95	values	value	NOUN
alkej-330	166	96	of	of	ADP
alkej-330	166	97	the	the	DET
alkej-330	166	98	deflections	deflection	NOUN
alkej-330	166	99	…	…	PUNCT
alkej-330	166	100	(	(	PUNCT
alkej-330	166	101	47	47	NUM
alkej-330	166	102	)	)	PUNCT
alkej-330	166	103	the	the	DET
alkej-330	166	104	difference	difference	NOUN
alkej-330	166	105	between	between	ADP
alkej-330	166	106	the	the	DET
alkej-330	166	107	two	two	NUM
alkej-330	166	108	represents	represent	VERB
alkej-330	166	109	the	the	DET
alkej-330	166	110	distance	distance	NOUN
alkej-330	166	111	between	between	ADP
alkej-330	166	112	the	the	DET
alkej-330	166	113	two	two	NUM
alkej-330	166	114	the	the	DET
alkej-330	166	115	relations	relation	NOUN
alkej-330	166	116	between	between	ADP
alkej-330	166	117	the	the	DET
alkej-330	166	118	deflections	deflection	NOUN
alkej-330	166	119	and	and	CCONJ
alkej-330	166	120	the	the	DET
alkej-330	166	121	voltages	voltage	NOUN
alkej-330	166	122	of	of	ADP
alkej-330	166	123	strain	strain	NOUN
alkej-330	166	124	gauges	gauge	NOUN
alkej-330	166	125	were	be	AUX
alkej-330	166	126	estimated	estimate	VERB
alkej-330	166	127	between	between	ADP
alkej-330	166	128	deflection	deflection	NOUN
alkej-330	166	129	the	the	DET
alkej-330	166	130	relation	relation	NOUN
alkej-330	166	131	between	between	ADP
alkej-330	166	132	the	the	DET
alkej-330	166	133	tip	tip	NOUN
alkej-330	166	134	deflection	deflection	NOUN
alkej-330	166	135	and	and	CCONJ
alkej-330	166	136	the	the	DET
alkej-330	166	137	…	…	PUNCT
alkej-330	166	138	(	(	PUNCT
alkej-330	166	139	48	48	NUM
alkej-330	166	140	)	)	PUNCT
alkej-330	166	141	the	the	DET
alkej-330	166	142	relation	relation	NOUN
alkej-330	166	143	between	between	ADP
alkej-330	166	144	the	the	DET
alkej-330	166	145	tip	tip	NOUN
alkej-330	166	146	deflection	deflection	NOUN
alkej-330	166	147	and	and	CCONJ
alkej-330	166	148	the	the	DET
alkej-330	166	149	…	…	PUNCT
alkej-330	166	150	(	(	PUNCT
alkej-330	166	151	49	49	NUM
alkej-330	166	152	)	)	PUNCT
alkej-330	166	153	the	the	DET
alkej-330	166	154	relation	relation	NOUN
alkej-330	166	155	between	between	ADP
alkej-330	166	156	the	the	DET
alkej-330	166	157	deflection	deflection	NOUN
alkej-330	166	158	at	at	ADP
alkej-330	166	159	the	the	PRON
alkej-330	166	160	from	from	ADP
alkej-330	166	161	the	the	DET
alkej-330	166	162	center	center	NOUN
alkej-330	166	163	of	of	ADP
alkej-330	166	164	the	the	DET
alkej-330	166	165	shaft	shaft	NOUN
alkej-330	166	166	of	of	ADP
alkej-330	166	167	the	the	DET
alkej-330	166	168	first	first	ADJ
alkej-330	166	169	joint	joint	NOUN
alkej-330	166	170	and	and	CCONJ
alkej-330	166	171	the	the	DET
alkej-330	166	172	voltage	voltage	NOUN
alkej-330	166	173	of	of	ADP
alkej-330	166	174	the	the	DET
alkej-330	166	175	strain	strain	NOUN
alkej-330	166	176	gauge	gauge	NOUN
alkej-330	166	177	no.3	no.3	NOUN
alkej-330	166	178	is	be	AUX
alkej-330	166	179	:	:	PUNCT
alkej-330	166	180	…	…	PUNCT
alkej-330	166	181	(	(	PUNCT
alkej-330	166	182	50	50	NUM
alkej-330	166	183	)	)	PUNCT
alkej-330	166	184	the	the	DET
alkej-330	166	185	relation	relation	NOUN
alkej-330	166	186	between	between	ADP
alkej-330	166	187	the	the	DET
alkej-330	166	188	tip	tip	NOUN
alkej-330	166	189	deflection	deflection	NOUN
alkej-330	166	190	and	and	CCONJ
alkej-330	166	191	the	the	DET
alkej-330	166	192	…	…	PUNCT
alkej-330	166	193	(	(	PUNCT
alkej-330	166	194	51	51	NUM
alkej-330	166	195	)	)	PUNCT
alkej-330	166	196	the	the	DET
alkej-330	166	197	relation	relation	NOUN
alkej-330	166	198	between	between	ADP
alkej-330	166	199	the	the	DET
alkej-330	166	200	tip	tip	NOUN
alkej-330	166	201	deflection	deflection	NOUN
alkej-330	166	202	and	and	CCONJ
alkej-330	166	203	the	the	DET
alkej-330	166	204	voltage	voltage	NOUN
alkej-330	166	205	of	of	ADP
alkej-330	166	206	the	the	DET
alkej-330	166	207	strain	strain	NOUN
alkej-330	166	208	gauge	gauge	NOUN
alkej-330	166	209	no.2	no.2	PROPN
alkej-330	166	210	is	be	AUX
alkej-330	166	211	:	:	PUNCT
alkej-330	166	212	…	…	PUNCT
alkej-330	166	213	(	(	PUNCT
alkej-330	166	214	52	52	NUM
alkej-330	166	215	)	)	PUNCT
alkej-330	166	216	the	the	DET
alkej-330	166	217	relation	relation	NOUN
alkej-330	166	218	between	between	ADP
alkej-330	166	219	the	the	DET
alkej-330	166	220	deflection	deflection	NOUN
alkej-330	166	221	at	at	ADP
alkej-330	166	222	the	the	DET
alkej-330	166	223	point	point	NOUN
alkej-330	166	224	36	36	NUM
alkej-330	166	225	cm	cm	NOUN
alkej-330	166	226	from	from	ADP
alkej-330	166	227	the	the	DET
alkej-330	166	228	center	center	NOUN
alkej-330	166	229	of	of	ADP
alkej-330	166	230	the	the	DET
alkej-330	166	231	shaft	shaft	NOUN
alkej-330	166	232	of	of	ADP
alkej-330	166	233	the	the	PRON
alkej-330	166	234	and	and	CCONJ
alkej-330	166	235	the	the	DET
alkej-330	166	236	voltage	voltage	NOUN
alkej-330	166	237	of	of	ADP
alkej-330	166	238	the	the	DET
alkej-330	166	239	strain	strain	NOUN
alkej-330	166	240	gauge	gauge	NOUN
alkej-330	166	241	…	…	PUNCT
alkej-330	166	242	(	(	PUNCT
alkej-330	166	243	53	53	NUM
alkej-330	166	244	)	)	PUNCT
alkej-330	166	245	was	be	AUX
alkej-330	166	246	experimentally	experimentally	ADV
alkej-330	166	247	found	find	VERB
alkej-330	166	248	by	by	ADP
alkej-330	166	249	extracting	extract	VERB
alkej-330	166	250	the	the	DET
alkej-330	166	251	strain	strain	NOUN
alkej-330	166	252	from	from	ADP
alkej-330	166	253	two	two	NUM
alkej-330	166	254	sensors	sensor	NOUN
alkej-330	166	255	at	at	ADP
alkej-330	166	256	the	the	DET
alkej-330	166	257	upper	upper	ADJ
alkej-330	166	258	and	and	CCONJ
alkej-330	166	259	lower	low	ADJ
alkej-330	166	260	surface	surface	NOUN
alkej-330	166	261	at	at	ADP
alkej-330	166	262	the	the	DET
alkej-330	166	263	same	same	ADJ
alkej-330	166	264	position	position	NOUN
alkej-330	166	265	of	of	ADP
alkej-330	166	266	the	the	DET
alkej-330	166	267	strain	strain	NOUN
alkej-330	166	268	gauge	gauge	NOUN
alkej-330	166	269	difference	difference	NOUN
alkej-330	166	270	value	value	NOUN
alkej-330	166	271	represents	represent	VERB
alkej-330	166	272	the	the	DET
alkej-330	166	273	extension	extension	NOUN
alkej-330	166	274	of	of	ADP
alkej-330	166	275	the	the	DET
alkej-330	166	276	beam	beam	NOUN
alkej-330	166	277	in	in	ADP
alkej-330	166	278	the	the	DET
alkej-330	166	279	longitudinal	longitudinal	ADJ
alkej-330	166	280	direction	direction	NOUN
alkej-330	166	281	,	,	PUNCT
alkej-330	166	282	as	as	SCONJ
alkej-330	166	283	represented	represent	VERB
alkej-330	166	284	by	by	ADP
alkej-330	166	285	the	the	DET
alkej-330	166	286	relation	relation	NOUN
alkej-330	166	287	[	[	X
alkej-330	166	288	20	20	NUM
alkej-330	166	289	]	]	NUM
alkej-330	166	290	:	:	PUNCT
alkej-330	166	291	…	…	PUNCT
alkej-330	166	292	(	(	PUNCT
alkej-330	166	293	54	54	NUM
alkej-330	166	294	)	)	PUNCT
alkej-330	166	295	figure	figure	NOUN
alkej-330	166	296	6	6	NUM
alkej-330	166	297	shows	show	VERB
alkej-330	166	298	the	the	DET
alkej-330	166	299	two	two	NUM
alkej-330	166	300	degrees	degree	NOUN
alkej-330	166	301	robot	robot	NOUN
alkej-330	166	302	arm	arm	NOUN
alkej-330	166	303	manipulator	manipulator	NOUN
alkej-330	166	304	and	and	CCONJ
alkej-330	166	305	the	the	DET
alkej-330	166	306	strain	strain	NOUN
alkej-330	166	307	gages	gage	NOUN
alkej-330	166	308	.	.	PUNCT
alkej-330	167	1	fig	fig	NOUN
alkej-330	167	2	.	.	PUNCT
alkej-330	168	1	5	5	X
alkej-330	168	2	.	.	PUNCT
alkej-330	168	3	the	the	DET
alkej-330	168	4	distribution	distribution	NOUN
alkej-330	168	5	of	of	ADP
alkej-330	168	6	strain	strain	NOUN
alkej-330	168	7	gauges	gauge	NOUN
alkej-330	168	8	and	and	CCONJ
alkej-330	168	9	applied	apply	VERB
alkej-330	168	10	load	load	NOUN
alkej-330	168	11	for	for	ADP
alkej-330	168	12	the	the	DET
alkej-330	168	13	two	two	NUM
alkej-330	168	14	links	link	NOUN
alkej-330	168	15	.	.	PUNCT
alkej-330	169	1	fig	fig	NOUN
alkej-330	169	2	.	.	PUNCT
alkej-330	170	1	6	6	NUM
alkej-330	170	2	.	.	PUNCT
alkej-330	170	3	the	the	DET
alkej-330	170	4	two	two	NUM
alkej-330	170	5	degrees	degree	NOUN
alkej-330	170	6	robot	robot	NOUN
alkej-330	170	7	arm	arm	NOUN
alkej-330	170	8	manipulator	manipulator	NOUN
alkej-330	170	9	and	and	CCONJ
alkej-330	170	10	the	the	DET
alkej-330	170	11	strain	strain	NOUN
alkej-330	170	12	gages	gage	NOUN
alkej-330	170	13	.	.	PUNCT
alkej-330	171	1	link-2	link-2	NOUN
alkej-330	171	2	link-1	link-1	ADP
alkej-330	171	3	khwarizmi	khwarizmi	NOUN
alkej-330	171	4	engineering	engineering	NOUN
alkej-330	171	5	journal	journal	PROPN
alkej-330	171	6	,	,	PUNCT
alkej-330	171	7	vol	vol	NOUN
alkej-330	171	8	.	.	PROPN
alkej-330	171	9	13	13	NUM
alkej-330	171	10	,	,	PUNCT
alkej-330	171	11	no	no	INTJ
alkej-330	171	12	.	.	NOUN
alkej-330	171	13	1	1	NUM
alkej-330	171	14	,	,	PUNCT
alkej-330	171	15	p.p	p.p	PROPN
alkej-330	171	16	.	.	NOUN
alkej-330	171	17	1325(2017	1325(2017	NUM
alkej-330	171	18	)	)	PUNCT
alkej-330	171	19	6	6	NUM
alkej-330	171	20	shows	show	VERB
alkej-330	171	21	the	the	DET
alkej-330	171	22	two	two	NUM
alkej-330	171	23	degrees	degree	NOUN
alkej-330	171	24	robot	robot	NOUN
alkej-330	171	25	arm	arm	NOUN
alkej-330	171	26	manipulator	manipulator	NOUN
alkej-330	171	27	and	and	CCONJ
alkej-330	171	28	the	the	DET
alkej-330	171	29	strain	strain	NOUN
alkej-330	171	30	gages	gage	NOUN
alkej-330	171	31	.	.	PUNCT
alkej-330	172	1	the	the	DET
alkej-330	172	2	distribution	distribution	NOUN
alkej-330	172	3	of	of	ADP
alkej-330	172	4	strain	strain	NOUN
alkej-330	172	5	gauges	gauge	NOUN
alkej-330	172	6	and	and	CCONJ
alkej-330	172	7	applied	apply	VERB
alkej-330	172	8	the	the	DET
alkej-330	172	9	two	two	NUM
alkej-330	172	10	degrees	degree	NOUN
alkej-330	172	11	robot	robot	NOUN
alkej-330	172	12	arm	arm	NOUN
alkej-330	172	13	manipulator	manipulator	NOUN
alkej-330	172	14	and	and	CCONJ
alkej-330	172	15	hussein	hussein	PROPN
alkej-330	172	16	m.	m.	PROPN
alkej-330	172	17	al	al	PROPN
alkej-330	172	18	-	-	PUNCT
alkej-330	172	19	khafaji	khafaji	PROPN
alkej-330	172	20	al	al	PROPN
alkej-330	172	21	b.	b.	PROPN
alkej-330	172	22	collection	collection	NOUN
alkej-330	172	23	of	of	ADP
alkej-330	172	24	data	datum	NOUN
alkej-330	172	25	the	the	DET
alkej-330	172	26	experimental	experimental	ADJ
alkej-330	172	27	data	datum	NOUN
alkej-330	172	28	for	for	ADP
alkej-330	172	29	feeding	feed	VERB
alkej-330	172	30	the	the	DET
alkej-330	172	31	neural	neural	ADJ
alkej-330	172	32	networks	network	NOUN
alkej-330	172	33	for	for	ADP
alkej-330	172	34	training	training	NOUN
alkej-330	172	35	include	include	VERB
alkej-330	172	36	joint	joint	ADJ
alkej-330	172	37	’s	’s	PART
alkej-330	172	38	angle	angle	NOUN
alkej-330	172	39	,	,	PUNCT
alkej-330	172	40	deformation	deformation	NOUN
alkej-330	172	41	variables	variable	NOUN
alkej-330	172	42	and	and	CCONJ
alkej-330	172	43	corresponding	correspond	VERB
alkej-330	172	44	end	end	NOUN
alkej-330	172	45	effector	effector	NOUN
alkej-330	172	46	positions	position	NOUN
alkej-330	172	47	.	.	PUNCT
alkej-330	173	1	to	to	PART
alkej-330	173	2	collect	collect	VERB
alkej-330	173	3	data	datum	NOUN
alkej-330	173	4	,	,	PUNCT
alkej-330	173	5	a	a	DET
alkej-330	173	6	control	control	NOUN
alkej-330	173	7	mode	mode	NOUN
alkej-330	173	8	was	be	AUX
alkej-330	173	9	designed	design	VERB
alkej-330	173	10	to	to	PART
alkej-330	173	11	operate	operate	VERB
alkej-330	173	12	the	the	DET
alkej-330	173	13	robot	robot	NOUN
alkej-330	173	14	sequence	sequence	NOUN
alkej-330	173	15	of	of	ADP
alkej-330	173	16	motions	motion	NOUN
alkej-330	173	17	,	,	PUNCT
alkej-330	173	18	which	which	PRON
alkej-330	173	19	include	include	VERB
alkej-330	173	20	moving	move	VERB
alkej-330	173	21	the	the	DET
alkej-330	173	22	first	first	ADJ
alkej-330	173	23	links	link	NOUN
alkej-330	173	24	in	in	ADP
alkej-330	173	25	a	a	DET
alkej-330	173	26	range	range	NOUN
alkej-330	173	27	of	of	ADP
alkej-330	173	28	angles	angle	NOUN
alkej-330	173	29	(	(	PUNCT
alkej-330	173	30	0	0	NUM
alkej-330	173	31	to	to	ADP
alkej-330	173	32	30	30	NUM
alkej-330	173	33	and	and	CCONJ
alkej-330	173	34	the	the	DET
alkej-330	173	35	second	second	ADJ
alkej-330	173	36	link	link	NOUN
alkej-330	173	37	(	(	PUNCT
alkej-330	173	38	-35o	-35o	NOUN
alkej-330	173	39	to	to	PART
alkej-330	173	40	60o	60o	X
alkej-330	173	41	step	step	VERB
alkej-330	173	42	5	5	NUM
alkej-330	173	43	the	the	DET
alkej-330	173	44	control	control	NOUN
alkej-330	173	45	mode	mode	NOUN
alkej-330	173	46	is	be	AUX
alkej-330	173	47	activated	activate	VERB
alkej-330	173	48	,	,	PUNCT
alkej-330	173	49	the	the	DET
alkej-330	173	50	first	first	ADJ
alkej-330	173	51	link	link	NOUN
alkej-330	173	52	at	at	ADP
alkej-330	173	53	angle	angle	NOUN
alkej-330	173	54	0o	0o	NUM
alkej-330	173	55	,	,	PUNCT
alkej-330	173	56	and	and	CCONJ
alkej-330	173	57	the	the	DET
alkej-330	173	58	second	second	ADJ
alkej-330	173	59	link	link	NOUN
alkej-330	173	60	is	be	AUX
alkej-330	173	61	still	still	ADV
alkej-330	173	62	a	a	DET
alkej-330	173	63	while	while	NOUN
alkej-330	173	64	at	at	ADP
alkej-330	173	65	the	the	DET
alkej-330	173	66	start	start	NOUN
alkej-330	173	67	angle	angle	NOUN
alkej-330	173	68	,	,	PUNCT
alkej-330	173	69	then	then	ADV
alkej-330	173	70	moves	move	VERB
alkej-330	173	71	5o	5o	NUM
alkej-330	173	72	to	to	ADP
alkej-330	173	73	the	the	DET
alkej-330	173	74	next	next	ADJ
alkej-330	173	75	step	step	NOUN
alkej-330	173	76	after	after	ADP
alkej-330	173	77	completion	completion	NOUN
alkej-330	173	78	the	the	DET
alkej-330	173	79	range	range	NOUN
alkej-330	173	80	of	of	ADP
alkej-330	173	81	angles	angle	NOUN
alkej-330	173	82	,	,	PUNCT
alkej-330	173	83	arm	arm	NOUN
alkej-330	173	84	returns	return	VERB
alkej-330	173	85	back	back	ADV
alkej-330	173	86	to	to	ADP
alkej-330	173	87	the	the	DET
alkej-330	173	88	start	start	NOUN
alkej-330	173	89	angle	angle	NOUN
alkej-330	173	90	,	,	PUNCT
alkej-330	173	91	and	and	CCONJ
alkej-330	173	92	the	the	DET
alkej-330	173	93	first	first	ADJ
alkej-330	173	94	joint	joint	ADJ
alkej-330	173	95	moves	move	NOUN
alkej-330	173	96	5o	5o	NUM
alkej-330	173	97	to	to	ADP
alkej-330	173	98	next	next	ADJ
alkej-330	173	99	step	step	NOUN
alkej-330	173	100	and	and	CCONJ
alkej-330	173	101	so	so	ADV
alkej-330	173	102	on	on	ADV
alkej-330	173	103	.	.	PUNCT
alkej-330	174	1	at	at	ADP
alkej-330	174	2	each	each	DET
alkej-330	174	3	step	step	NOUN
alkej-330	174	4	(	(	PUNCT
alkej-330	174	5	position	position	NOUN
alkej-330	174	6	)	)	PUNCT
alkej-330	174	7	,	,	PUNCT
alkej-330	174	8	the	the	DET
alkej-330	174	9	deformation	deformation	NOUN
alkej-330	174	10	variable	variable	ADJ
alkej-330	174	11	effector	effector	NOUN
alkej-330	174	12	position	position	NOUN
alkej-330	174	13	were	be	AUX
alkej-330	174	14	measured	measure	VERB
alkej-330	174	15	automatically	automatically	ADV
alkej-330	174	16	.	.	PUNCT
alkej-330	175	1	this	this	DET
alkej-330	175	2	procedure	procedure	NOUN
alkej-330	175	3	was	be	AUX
alkej-330	175	4	repeated	repeat	VERB
alkej-330	175	5	for	for	ADP
alkej-330	175	6	four	four	NUM
alkej-330	175	7	values	value	NOUN
alkej-330	175	8	of	of	ADP
alkej-330	175	9	load	load	NOUN
alkej-330	175	10	(	(	PUNCT
alkej-330	175	11	0,1,2	0,1,2	NOUN
alkej-330	175	12	,	,	PUNCT
alkej-330	175	13	and	and	CCONJ
alkej-330	175	14	3	3	X
alkej-330	175	15	)	)	PUNCT
alkej-330	175	16	kg	kg	NOUN
alkej-330	175	17	hang	hang	VERB
alkej-330	175	18	the	the	DET
alkej-330	175	19	end	end	NOUN
alkej-330	175	20	of	of	ADP
alkej-330	175	21	the	the	DET
alkej-330	175	22	link	link	NOUN
alkej-330	175	23	two	two	NUM
alkej-330	175	24	.	.	PUNCT
alkej-330	176	1	the	the	DET
alkej-330	176	2	number	number	NOUN
alkej-330	176	3	for	for	ADP
alkej-330	176	4	each	each	DET
alkej-330	176	5	parameter	parameter	NOUN
alkej-330	176	6	was	be	AUX
alkej-330	176	7	560	560	NUM
alkej-330	176	8	reading	reading	NOUN
alkej-330	176	9	,	,	PUNCT
alkej-330	176	10	which	which	PRON
alkej-330	176	11	will	will	AUX
alkej-330	176	12	be	be	AUX
alkej-330	176	13	used	use	VERB
alkej-330	176	14	for	for	ADP
alkej-330	176	15	training	train	VERB
alkej-330	176	16	neural	neural	ADJ
alkej-330	176	17	network	network	NOUN
alkej-330	176	18	.	.	PUNCT
alkej-330	177	1	figure	figure	VERB
alkej-330	177	2	the	the	DET
alkej-330	177	3	samples	sample	NOUN
alkej-330	177	4	of	of	ADP
alkej-330	177	5	positions	position	NOUN
alkej-330	177	6	during	during	ADP
alkej-330	177	7	this	this	DET
alkej-330	177	8	test	test	NOUN
alkej-330	177	9	.	.	PUNCT
alkej-330	178	1	fig	fig	NOUN
alkej-330	178	2	.	.	PUNCT
alkej-330	179	1	7	7	X
alkej-330	179	2	.	.	X
alkej-330	179	3	samples	sample	NOUN
alkej-330	179	4	of	of	ADP
alkej-330	179	5	positions	position	NOUN
alkej-330	179	6	during	during	ADP
alkej-330	179	7	experimental	experimental	ADJ
alkej-330	179	8	work	work	NOUN
alkej-330	179	9	.	.	PUNCT
alkej-330	180	1	some	some	DET
alkej-330	180	2	samples	sample	NOUN
alkej-330	180	3	of	of	ADP
alkej-330	180	4	the	the	DET
alkej-330	180	5	results	result	NOUN
alkej-330	180	6	of	of	ADP
alkej-330	180	7	the	the	DET
alkej-330	180	8	deformation	deformation	NOUN
alkej-330	180	9	parameters	parameter	NOUN
alkej-330	180	10	,	,	PUNCT
alkej-330	180	11	which	which	PRON
alkej-330	180	12	were	be	AUX
alkej-330	180	13	read	read	VERB
alkej-330	180	14	in	in	ADP
alkej-330	180	15	above	above	ADV
alkej-330	180	16	shown	show	VERB
alkej-330	180	17	in	in	ADP
alkej-330	180	18	the	the	DET
alkej-330	180	19	figures	figure	NOUN
alkej-330	180	20	(	(	PUNCT
alkej-330	180	21	figure	figure	NOUN
alkej-330	180	22	8	8	NUM
alkej-330	180	23	to	to	PART
alkej-330	180	24	figure	figure	VERB
alkej-330	180	25	figures	figure	NOUN
alkej-330	180	26	represent	represent	VERB
alkej-330	180	27	the	the	DET
alkej-330	180	28	change	change	NOUN
alkej-330	180	29	of	of	ADP
alkej-330	180	30	values	value	NOUN
alkej-330	180	31	for	for	ADP
alkej-330	180	32	and	and	CCONJ
alkej-330	180	33	d	d	X
alkej-330	180	34	�	�	PROPN
alkej-330	180	35	at	at	ADP
alkej-330	180	36	the	the	DET
alkej-330	180	37	tip	tip	NOUN
alkej-330	180	38	with	with	ADP
alkej-330	180	39	angles	angle	NOUN
alkej-330	180	40	of	of	ADP
alkej-330	180	41	the	the	DET
alkej-330	180	42	two	two	NUM
alkej-330	180	43	links	link	NOUN
alkej-330	180	44	these	these	DET
alkej-330	180	45	results	result	NOUN
alkej-330	180	46	were	be	AUX
alkej-330	180	47	used	use	VERB
alkej-330	180	48	as	as	ADP
alkej-330	180	49	inputs	input	NOUN
alkej-330	180	50	to	to	ADP
alkej-330	180	51	equations	equation	NOUN
alkej-330	180	52	(	(	PUNCT
alkej-330	180	53	44	44	NUM
alkej-330	180	54	)	)	PUNCT
alkej-330	180	55	and	and	CCONJ
alkej-330	180	56	(	(	PUNCT
alkej-330	180	57	45	45	NUM
alkej-330	180	58	)	)	PUNCT
alkej-330	180	59	to	to	PART
alkej-330	180	60	calculate	calculate	VERB
alkej-330	180	61	the	the	DET
alkej-330	180	62	end	end	NOUN
alkej-330	180	63	effector	effector	NOUN
alkej-330	180	64	in	in	ADP
alkej-330	180	65	x	x	PUNCT
alkej-330	180	66	and	and	CCONJ
alkej-330	180	67	y	y	PROPN
alkej-330	180	68	coordinate	coordinate	NOUN
alkej-330	180	69	that	that	PRON
alkej-330	180	70	would	would	AUX
alkej-330	180	71	be	be	AUX
alkej-330	180	72	with	with	ADP
alkej-330	180	73	the	the	DET
alkej-330	180	74	measured	measure	VERB
alkej-330	180	75	generalized	generalized	ADJ
alkej-330	180	76	parameters	parameter	NOUN
alkej-330	180	77	as	as	ADP
alkej-330	180	78	input	input	NOUN
alkej-330	180	79	values	value	NOUN
alkej-330	180	80	to	to	ADP
alkej-330	180	81	the	the	DET
alkej-330	180	82	neural	neural	ADJ
alkej-330	180	83	network	network	NOUN
alkej-330	180	84	.	.	PUNCT
alkej-330	181	1	al	al	PROPN
alkej-330	181	2	-	-	PUNCT
alkej-330	181	3	khwarizmi	khwarizmi	PROPN
alkej-330	181	4	engineering	engineering	NOUN
alkej-330	181	5	journal	journal	PROPN
alkej-330	181	6	,	,	PUNCT
alkej-330	181	7	vol	vol	NOUN
alkej-330	181	8	.	.	PROPN
alkej-330	181	9	13	13	NUM
alkej-330	181	10	,	,	PUNCT
alkej-330	181	11	no	no	INTJ
alkej-330	181	12	.	.	NOUN
alkej-330	181	13	1	1	NUM
alkej-330	181	14	,	,	PUNCT
alkej-330	181	15	p.p	p.p	PROPN
alkej-330	181	16	.	.	NOUN
alkej-330	181	17	1	1	NUM
alkej-330	181	18	20	20	NUM
alkej-330	181	19	for	for	ADP
alkej-330	181	20	feeding	feed	VERB
alkej-330	181	21	the	the	DET
alkej-330	181	22	neural	neural	NOUN
alkej-330	181	23	include	include	VERB
alkej-330	181	24	joint	joint	ADJ
alkej-330	181	25	’s	’s	PART
alkej-330	181	26	angle	angle	NOUN
alkej-330	181	27	,	,	PUNCT
alkej-330	181	28	corresponding	corresponding	ADJ
alkej-330	181	29	enda	enda	PROPN
alkej-330	181	30	control	control	PROPN
alkej-330	181	31	mode	mode	PROPN
alkej-330	181	32	was	be	AUX
alkej-330	181	33	designed	design	VERB
alkej-330	181	34	to	to	PART
alkej-330	181	35	operate	operate	VERB
alkej-330	181	36	the	the	DET
alkej-330	181	37	robot	robot	NOUN
alkej-330	181	38	in	in	ADP
alkej-330	181	39	specific	specific	ADJ
alkej-330	181	40	ch	ch	NOUN
alkej-330	181	41	include	include	VERB
alkej-330	181	42	moving	move	VERB
alkej-330	181	43	the	the	DET
alkej-330	181	44	30o	30o	NOUN
alkej-330	181	45	step	step	NOUN
alkej-330	181	46	5o	5o	NUM
alkej-330	181	47	)	)	PUNCT
alkej-330	181	48	step	step	NOUN
alkej-330	181	49	5o	5o	NUM
alkej-330	181	50	)	)	PUNCT
alkej-330	181	51	.	.	PUNCT
alkej-330	182	1	when	when	SCONJ
alkej-330	182	2	,	,	PUNCT
alkej-330	182	3	the	the	DET
alkej-330	182	4	first	first	ADJ
alkej-330	182	5	link	link	NOUN
alkej-330	182	6	is	be	AUX
alkej-330	182	7	still	still	ADV
alkej-330	182	8	,	,	PUNCT
alkej-330	182	9	and	and	CCONJ
alkej-330	182	10	the	the	DET
alkej-330	182	11	second	second	ADJ
alkej-330	182	12	link	link	NOUN
alkej-330	182	13	is	be	AUX
alkej-330	182	14	still	still	ADV
alkej-330	182	15	a	a	DET
alkej-330	182	16	while	while	NOUN
alkej-330	182	17	at	at	ADP
alkej-330	182	18	to	to	ADP
alkej-330	182	19	the	the	DET
alkej-330	182	20	next	next	ADJ
alkej-330	182	21	step	step	NOUN
alkej-330	182	22	.	.	PUNCT
alkej-330	183	1	,	,	PUNCT
alkej-330	183	2	the	the	DET
alkej-330	183	3	second	second	ADJ
alkej-330	183	4	returns	return	NOUN
alkej-330	183	5	back	back	ADV
alkej-330	183	6	to	to	ADP
alkej-330	183	7	the	the	DET
alkej-330	183	8	start	start	NOUN
alkej-330	183	9	angle	angle	NOUN
alkej-330	183	10	,	,	PUNCT
alkej-330	183	11	and	and	CCONJ
alkej-330	183	12	the	the	DET
alkej-330	183	13	first	first	ADJ
alkej-330	183	14	.	.	PUNCT
alkej-330	184	1	at	at	ADP
alkej-330	184	2	each	each	DET
alkej-330	184	3	step	step	NOUN
alkej-330	184	4	and	and	CCONJ
alkej-330	184	5	end	end	VERB
alkej-330	184	6	and	and	CCONJ
alkej-330	184	7	saved	save	VERB
alkej-330	184	8	.	.	PUNCT
alkej-330	185	1	this	this	DET
alkej-330	185	2	procedure	procedure	NOUN
alkej-330	185	3	was	be	AUX
alkej-330	185	4	repeated	repeat	VERB
alkej-330	185	5	for	for	ADP
alkej-330	185	6	,	,	PUNCT
alkej-330	185	7	1,2	1,2	NUM
alkej-330	185	8	,	,	PUNCT
alkej-330	185	9	and	and	CCONJ
alkej-330	185	10	3	3	X
alkej-330	185	11	)	)	PUNCT
alkej-330	185	12	kg	kg	NOUN
alkej-330	185	13	hanging	hang	VERB
alkej-330	185	14	at	at	ADP
alkej-330	185	15	of	of	ADP
alkej-330	185	16	readings	reading	NOUN
alkej-330	185	17	which	which	PRON
alkej-330	185	18	will	will	AUX
alkej-330	185	19	be	be	AUX
alkej-330	185	20	figure	figure	VERB
alkej-330	185	21	7	7	NUM
alkej-330	185	22	shows	show	NOUN
alkej-330	185	23	of	of	ADP
alkej-330	185	24	positions	position	NOUN
alkej-330	185	25	during	during	ADP
alkej-330	185	26	this	this	DET
alkej-330	185	27	test	test	NOUN
alkej-330	185	28	.	.	PUNCT
alkej-330	186	1	samples	sample	NOUN
alkej-330	186	2	of	of	ADP
alkej-330	186	3	positions	position	NOUN
alkej-330	186	4	during	during	ADP
alkej-330	186	5	experimental	experimental	ADJ
alkej-330	186	6	deformation	deformation	NOUN
alkej-330	186	7	,	,	PUNCT
alkej-330	186	8	which	which	PRON
alkej-330	186	9	were	be	AUX
alkej-330	186	10	read	read	VERB
alkej-330	186	11	in	in	ADP
alkej-330	186	12	above	above	ADP
alkej-330	186	13	test	test	NOUN
alkej-330	186	14	,	,	PUNCT
alkej-330	186	15	are	be	AUX
alkej-330	186	16	figure	figure	NOUN
alkej-330	186	17	13	13	NUM
alkej-330	186	18	)	)	PUNCT
alkej-330	186	19	,	,	PUNCT
alkej-330	186	20	these	these	PRON
alkej-330	186	21	represent	represent	VERB
alkej-330	186	22	the	the	DET
alkej-330	186	23	change	change	NOUN
alkej-330	186	24	of	of	ADP
alkej-330	186	25	values	value	NOUN
alkej-330	186	26	for	for	ADP
alkej-330	186	27	δ	δ	PROPN
alkej-330	186	28	�	�	PROPN
alkej-330	186	29	,	,	PUNCT
alkej-330	186	30	δ	δ	PROPN
alkej-330	186	31	�	�	PROPN
alkej-330	186	32	at	at	ADP
alkej-330	186	33	the	the	DET
alkej-330	186	34	tip	tip	NOUN
alkej-330	186	35	with	with	ADP
alkej-330	186	36	angles	angle	NOUN
alkej-330	186	37	of	of	ADP
alkej-330	186	38	the	the	DET
alkej-330	186	39	two	two	NUM
alkej-330	186	40	links	link	NOUN
alkej-330	186	41	.	.	PUNCT
alkej-330	187	1	these	these	DET
alkej-330	187	2	results	result	NOUN
alkej-330	187	3	were	be	AUX
alkej-330	187	4	used	use	VERB
alkej-330	187	5	as	as	ADP
alkej-330	187	6	inputs	input	NOUN
alkej-330	187	7	to	to	ADP
alkej-330	187	8	equations	equation	NOUN
alkej-330	187	9	calculate	calculate	VERB
alkej-330	187	10	the	the	DET
alkej-330	187	11	end	end	NOUN
alkej-330	187	12	effector	effector	NOUN
alkej-330	187	13	in	in	ADP
alkej-330	187	14	x	x	PUNCT
alkej-330	187	15	and	and	CCONJ
alkej-330	187	16	y	y	PROPN
alkej-330	187	17	coordinate	coordinate	NOUN
alkej-330	187	18	that	that	PRON
alkej-330	187	19	would	would	AUX
alkej-330	187	20	be	be	AUX
alkej-330	187	21	with	with	ADP
alkej-330	187	22	the	the	DET
alkej-330	187	23	measured	measure	VERB
alkej-330	187	24	generalized	generalized	ADJ
alkej-330	187	25	parameters	parameter	NOUN
alkej-330	187	26	as	as	ADP
alkej-330	187	27	input	input	NOUN
alkej-330	187	28	values	value	NOUN
alkej-330	187	29	to	to	ADP
alkej-330	187	30	the	the	DET
alkej-330	187	31	fig.8	fig.8	PROPN
alkej-330	187	32	δx	δx	NOUN
alkej-330	187	33	vs.	vs.	ADP
alkej-330	187	34	θ2	θ2	NOUN
alkej-330	187	35	at	at	ADP
alkej-330	187	36	θ1=4	θ1=4	PROPN
alkej-330	187	37	deg	deg	PROPN
alkej-330	187	38	.	.	PUNCT
alkej-330	188	1	link	link	PROPN
alkej-330	188	2	fig	fig	PROPN
alkej-330	188	3	.	.	PUNCT
alkej-330	189	1	9	9	X
alkej-330	189	2	.	.	X
alkej-330	189	3	δy	δy	PROPN
alkej-330	189	4	vs.	vs.	ADP
alkej-330	189	5	θ2	θ2	PROPN
alkej-330	189	6	at	at	ADP
alkej-330	189	7	θ1=0	θ1=0	PROPN
alkej-330	189	8	deg	deg	PROPN
alkej-330	189	9	.	.	PUNCT
alkej-330	190	1	link	link	PROPN
alkej-330	190	2	fig	fig	PROPN
alkej-330	190	3	.	.	PUNCT
alkej-330	191	1	10	10	NUM
alkej-330	191	2	.	.	PUNCT
alkej-330	192	1	dϕ	dϕ	NOUN
alkej-330	192	2	vs.	vs.	ADP
alkej-330	192	3	θ2	θ2	NOUN
alkej-330	192	4	at	at	ADP
alkej-330	192	5	θ1=0	θ1=0	PROPN
alkej-330	192	6	deg	deg	PROPN
alkej-330	192	7	.	.	PUNCT
alkej-330	193	1	link	link	PROPN
alkej-330	193	2	fig	fig	NOUN
alkej-330	193	3	.	.	PUNCT
alkej-330	194	1	11	11	NUM
alkej-330	194	2	.	.	PUNCT
alkej-330	195	1	δx	δx	PROPN
alkej-330	195	2	vs.	vs.	ADP
alkej-330	195	3	θ2	θ2	PROPN
alkej-330	195	4	deg	deg	PROPN
alkej-330	195	5	.	.	PUNCT
alkej-330	196	1	link	link	PROPN
alkej-330	196	2	khwarizmi	khwarizmi	PROPN
alkej-330	196	3	engineering	engineering	PROPN
alkej-330	196	4	journal	journal	PROPN
alkej-330	196	5	,	,	PUNCT
alkej-330	196	6	vol	vol	NOUN
alkej-330	196	7	.	.	PROPN
alkej-330	196	8	13	13	NUM
alkej-330	196	9	,	,	PUNCT
alkej-330	196	10	no	no	INTJ
alkej-330	196	11	.	.	NOUN
alkej-330	196	12	1	1	NUM
alkej-330	196	13	,	,	PUNCT
alkej-330	196	14	p.p	p.p	PROPN
alkej-330	196	15	.	.	NOUN
alkej-330	196	16	1325(2017	1325(2017	NUM
alkej-330	196	17	)	)	PUNCT
alkej-330	196	18	θ1=4	θ1=4	PROPN
alkej-330	196	19	deg	deg	NOUN
alkej-330	196	20	.	.	PUNCT
alkej-330	197	1	link-1	link-1	NUM
alkej-330	197	2	.	.	PUNCT
alkej-330	198	1	θ1=0	θ1=0	PROPN
alkej-330	198	2	deg	deg	NOUN
alkej-330	198	3	.	.	PUNCT
alkej-330	199	1	link-1	link-1	NUM
alkej-330	199	2	.	.	PUNCT
alkej-330	200	1	θ1=0	θ1=0	PROPN
alkej-330	200	2	deg	deg	NOUN
alkej-330	200	3	.	.	PUNCT
alkej-330	201	1	link-1	link-1	X
alkej-330	201	2	.	.	NOUN
alkej-330	201	3	θ2	θ2	PROPN
alkej-330	201	4	deg	deg	PROPN
alkej-330	201	5	.	.	PUNCT
alkej-330	202	1	link-2	link-2	PROPN
alkej-330	202	2	.	.	PROPN
alkej-330	202	3	hussein	hussein	PROPN
alkej-330	202	4	m.	m.	PROPN
alkej-330	202	5	al	al	PROPN
alkej-330	202	6	-	-	PUNCT
alkej-330	202	7	khafaji	khafaji	PROPN
alkej-330	202	8	al	al	PROPN
alkej-330	202	9	fig	fig	PROPN
alkej-330	202	10	.	.	PUNCT
alkej-330	203	1	12	12	NUM
alkej-330	203	2	.	.	X
alkej-330	204	1	δy	δy	PROPN
alkej-330	204	2	vs.	vs.	ADP
alkej-330	204	3	θ2	θ2	PROPN
alkej-330	204	4	deg	deg	PROPN
alkej-330	204	5	.	.	PUNCT
alkej-330	205	1	link-2	link-2	NUM
alkej-330	205	2	fig	fig	NOUN
alkej-330	205	3	.	.	PUNCT
alkej-330	206	1	13	13	NUM
alkej-330	206	2	dϕ	dϕ	NOUN
alkej-330	206	3	vs.	vs.	ADP
alkej-330	206	4	θ2	θ2	PROPN
alkej-330	206	5	deg	deg	PROPN
alkej-330	206	6	.	.	PUNCT
alkej-330	207	1	link-2	link-2	NOUN
alkej-330	207	2	4	4	X
alkej-330	207	3	.	.	PUNCT
alkej-330	207	4	neural	neural	ADJ
alkej-330	207	5	network	network	NOUN
alkej-330	207	6	for	for	ADP
alkej-330	207	7	inverse	inverse	NOUN
alkej-330	207	8	k	k	PROPN
alkej-330	207	9	equation	equation	NOUN
alkej-330	207	10	of	of	ADP
alkej-330	207	11	elastic	elastic	ADJ
alkej-330	207	12	robot	robot	NOUN
alkej-330	207	13	as	as	SCONJ
alkej-330	207	14	mentioned	mention	VERB
alkej-330	207	15	in	in	ADP
alkej-330	207	16	previous	previous	ADJ
alkej-330	207	17	section	section	NOUN
alkej-330	207	18	,	,	PUNCT
alkej-330	207	19	there	there	PRON
alkej-330	207	20	is	be	VERB
alkej-330	207	21	difficulty	difficulty	NOUN
alkej-330	207	22	to	to	PART
alkej-330	207	23	solve	solve	VERB
alkej-330	207	24	the	the	DET
alkej-330	207	25	problem	problem	NOUN
alkej-330	207	26	for	for	ADP
alkej-330	207	27	finding	find	VERB
alkej-330	207	28	the	the	DET
alkej-330	207	29	inverse	inverse	NOUN
alkej-330	207	30	of	of	ADP
alkej-330	207	31	the	the	DET
alkej-330	207	32	kinematic	kinematic	ADJ
alkej-330	207	33	equation	equation	NOUN
alkej-330	207	34	with	with	ADP
alkej-330	207	35	presence	presence	NOUN
alkej-330	207	36	the	the	DET
alkej-330	207	37	deformation	deformation	NOUN
alkej-330	207	38	parameters	parameter	NOUN
alkej-330	207	39	.	.	PUNCT
alkej-330	208	1	so	so	ADV
alkej-330	208	2	,	,	PUNCT
alkej-330	208	3	to	to	PART
alkej-330	208	4	overcome	overcome	VERB
alkej-330	208	5	this	this	DET
alkej-330	208	6	difficulty	difficulty	NOUN
alkej-330	208	7	,	,	PUNCT
alkej-330	208	8	the	the	DET
alkej-330	208	9	neural	neural	ADJ
alkej-330	208	10	network	network	NOUN
alkej-330	208	11	was	be	AUX
alkej-330	208	12	used	use	VERB
alkej-330	208	13	inverse	inverse	NOUN
alkej-330	208	14	of	of	ADP
alkej-330	208	15	the	the	DET
alkej-330	208	16	kinematic	kinematic	ADJ
alkej-330	208	17	equations	equation	NOUN
alkej-330	208	18	(	(	PUNCT
alkej-330	208	19	4	4	NUM
alkej-330	208	20	these	these	DET
alkej-330	208	21	equations	equation	NOUN
alkej-330	208	22	relate	relate	VERB
alkej-330	208	23	the	the	DET
alkej-330	208	24	vector	vector	NOUN
alkej-330	208	25	of	of	ADP
alkej-330	208	26	operating	operate	VERB
alkej-330	208	27	(	(	PUNCT
alkej-330	208	28	task	task	NOUN
alkej-330	208	29	)	)	PUNCT
alkej-330	208	30	space	space	NOUN
alkej-330	208	31	coordinate	coordinate	NOUN
alkej-330	208	32	to	to	ADP
alkej-330	208	33	the	the	DET
alkej-330	208	34	joints	joint	NOUN
alkej-330	208	35	and	and	CCONJ
alkej-330	208	36	deformations	deformation	NOUN
alkej-330	208	37	vector	vector	NOUN
alkej-330	208	38	,	,	PUNCT
alkej-330	208	39	these	these	DET
alkej-330	208	40	equations	equation	NOUN
alkej-330	208	41	could	could	AUX
alkej-330	208	42	be	be	AUX
alkej-330	208	43	presented	present	VERB
alkej-330	208	44	in	in	ADP
alkej-330	208	45	compact	compact	ADJ
alkej-330	208	46	form	form	NOUN
alkej-330	208	47	:	:	PUNCT
alkej-330	208	48	�	�	PROPN
alkej-330	208	49	�	�	PROPN
alkej-330	208	50	5	5	NUM
alkej-330	208	51	�	�	PROPN
alkej-330	208	52	,	,	PUNCT
alkej-330	208	53	7	7	NUM
alkej-330	208	54	�	�	PROPN
alkej-330	208	55	where	where	SCONJ
alkej-330	208	56	:	:	PUNCT
alkej-330	208	57	�	�	PROPN
alkej-330	208	58	�	�	PROPN
alkej-330	208	59	8rp	8rp	NOUN
alkej-330	208	60	,	,	PUNCT
alkej-330	208	61	rs	rs	NOUN
alkej-330	208	62	:	:	PUNCT
alkej-330	208	63	,	,	PUNCT
alkej-330	208	64	rt	rt	PROPN
alkej-330	208	65	�	�	PROPN
alkej-330	208	66	0	0	NUM
alkej-330	208	67	�	�	PROPN
alkej-330	208	68	�	�	PROPN
alkej-330	208	69	83	83	NUM
alkej-330	208	70	�	�	PROPN
alkej-330	208	71	,	,	PUNCT
alkej-330	208	72	3	3	NUM
alkej-330	208	73	!	!	PUNCT
alkej-330	208	74	:	:	PUNCT
alkej-330	208	75	7	7	NUM
alkej-330	208	76	�	�	PROPN
alkej-330	208	77	�	�	PROPN
alkej-330	208	78	kl1	kl1	PROPN
alkej-330	208	79	,	,	PUNCT
alkej-330	208	80	km1	km1	PROPN
alkej-330	208	81	,	,	PUNCT
alkej-330	208	82	i	i	PRON
alkej-330	208	83	�	�	PROPN
alkej-330	208	84	1	1	NUM
alkej-330	208	85	,	,	PUNCT
alkej-330	208	86	kl2	kl2	PROPN
alkej-330	208	87	,	,	PUNCT
alkej-330	208	88	km2	km2	PROPN
alkej-330	208	89	,	,	PUNCT
alkej-330	208	90	i	i	PRON
alkej-330	208	91	�	�	PROPN
alkej-330	208	92	2	2	NUM
alkej-330	208	93	�	�	PROPN
alkej-330	208	94	the	the	DET
alkej-330	208	95	inverse	inverse	NOUN
alkej-330	208	96	kinematic	kinematic	NOUN
alkej-330	208	97	problem	problem	NOUN
alkej-330	208	98	of	of	ADP
alkej-330	208	99	rigid	rigid	ADJ
alkej-330	208	100	robot	robot	NOUN
alkej-330	208	101	is	be	AUX
alkej-330	208	102	defined	define	VERB
alkej-330	208	103	as	as	ADP
alkej-330	208	104	giving	give	VERB
alkej-330	208	105	end	end	NOUN
alkej-330	208	106	effector	effector	NOUN
alkej-330	208	107	positions	position	NOUN
alkej-330	208	108	(	(	PUNCT
alkej-330	208	109	the	the	DET
alkej-330	208	110	joint	joint	ADJ
alkej-330	208	111	variable	variable	ADJ
alkej-330	208	112	vector	vector	NOUN
alkej-330	208	113	(	(	PUNCT
alkej-330	208	114	�	�	PROPN
alkej-330	208	115	�	�	PROPN
alkej-330	208	116	,	,	PUNCT
alkej-330	208	117	in	in	ADP
alkej-330	208	118	the	the	DET
alkej-330	208	119	elastic	elastic	ADJ
alkej-330	208	120	robot	robot	NOUN
alkej-330	208	121	beside	beside	ADP
alkej-330	208	122	the	the	DET
alkej-330	208	123	vector	vector	NOUN
alkej-330	208	124	(	(	PUNCT
alkej-330	208	125	�	�	PROPN
alkej-330	208	126	)	)	PUNCT
alkej-330	208	127	,	,	PUNCT
alkej-330	208	128	there	there	PRON
alkej-330	208	129	will	will	AUX
alkej-330	208	130	deformations	deformation	NOUN
alkej-330	208	131	vector	vector	NOUN
alkej-330	208	132	7	7	NUM
alkej-330	208	133	that	that	PRON
alkej-330	208	134	should	should	AUX
alkej-330	208	135	be	be	AUX
alkej-330	208	136	given	give	VERB
alkej-330	208	137	to	to	PART
alkej-330	208	138	get	get	VERB
alkej-330	208	139	(	(	PUNCT
alkej-330	208	140	�	�	PROPN
alkej-330	208	141	�	�	PROPN
alkej-330	208	142	.	.	PUNCT
alkej-330	209	1	so	so	ADV
alkej-330	209	2	,	,	PUNCT
alkej-330	209	3	the	the	DET
alkej-330	209	4	inverse	inverse	NOUN
alkej-330	209	5	equation	equation	NOUN
alkej-330	209	6	will	will	AUX
alkej-330	209	7	be	be	AUX
alkej-330	209	8	:	:	PUNCT
alkej-330	209	9	al	al	PROPN
alkej-330	209	10	-	-	PUNCT
alkej-330	209	11	khwarizmi	khwarizmi	PROPN
alkej-330	209	12	engineering	engineering	NOUN
alkej-330	209	13	journal	journal	PROPN
alkej-330	209	14	,	,	PUNCT
alkej-330	209	15	vol	vol	NOUN
alkej-330	209	16	.	.	PROPN
alkej-330	209	17	13	13	NUM
alkej-330	209	18	,	,	PUNCT
alkej-330	209	19	no	no	INTJ
alkej-330	209	20	.	.	NOUN
alkej-330	209	21	1	1	NUM
alkej-330	209	22	,	,	PUNCT
alkej-330	209	23	p.p	p.p	PROPN
alkej-330	209	24	.	.	NOUN
alkej-330	209	25	1	1	NUM
alkej-330	209	26	21	21	NUM
alkej-330	209	27	2	2	NUM
alkej-330	209	28	.	.	NOUN
alkej-330	209	29	2	2	NUM
alkej-330	209	30	.	.	X
alkej-330	209	31	kinematic	kinematic	ADJ
alkej-330	209	32	section	section	NOUN
alkej-330	209	33	,	,	PUNCT
alkej-330	209	34	there	there	PRON
alkej-330	209	35	is	be	VERB
alkej-330	209	36	a	a	DET
alkej-330	209	37	difficulty	difficulty	NOUN
alkej-330	209	38	to	to	PART
alkej-330	209	39	solve	solve	VERB
alkej-330	209	40	the	the	DET
alkej-330	209	41	problem	problem	NOUN
alkej-330	209	42	for	for	ADP
alkej-330	209	43	finding	find	VERB
alkej-330	209	44	the	the	DET
alkej-330	209	45	inverse	inverse	NOUN
alkej-330	209	46	of	of	ADP
alkej-330	209	47	the	the	DET
alkej-330	209	48	kinematic	kinematic	ADJ
alkej-330	209	49	equation	equation	NOUN
alkej-330	209	50	with	with	ADP
alkej-330	209	51	presence	presence	NOUN
alkej-330	209	52	of	of	ADP
alkej-330	209	53	so	so	ADV
alkej-330	209	54	,	,	PUNCT
alkej-330	209	55	to	to	PART
alkej-330	209	56	overcome	overcome	VERB
alkej-330	209	57	this	this	PRON
alkej-330	209	58	used	use	VERB
alkej-330	209	59	to	to	PART
alkej-330	209	60	find	find	VERB
alkej-330	209	61	the	the	DET
alkej-330	209	62	(	(	PUNCT
alkej-330	209	63	44	44	NUM
alkej-330	209	64	)	)	PUNCT
alkej-330	209	65	to	to	ADP
alkej-330	209	66	(	(	PUNCT
alkej-330	209	67	46	46	NUM
alkej-330	209	68	)	)	PUNCT
alkej-330	209	69	.	.	PUNCT
alkej-330	210	1	the	the	DET
alkej-330	210	2	vector	vector	NOUN
alkej-330	210	3	of	of	ADP
alkej-330	210	4	operating	operate	VERB
alkej-330	210	5	(	(	PUNCT
alkej-330	210	6	task	task	NOUN
alkej-330	210	7	)	)	PUNCT
alkej-330	210	8	space	space	NOUN
alkej-330	210	9	coordinate	coordinate	NOUN
alkej-330	210	10	to	to	ADP
alkej-330	210	11	the	the	DET
alkej-330	210	12	joints	joint	NOUN
alkej-330	210	13	and	and	CCONJ
alkej-330	210	14	deformations	deformation	NOUN
alkej-330	210	15	vector	vector	NOUN
alkej-330	210	16	,	,	PUNCT
alkej-330	210	17	these	these	DET
alkej-330	210	18	equations	equation	NOUN
alkej-330	210	19	could	could	AUX
alkej-330	210	20	be	be	AUX
alkej-330	210	21	…	…	PUNCT
alkej-330	210	22	(	(	PUNCT
alkej-330	210	23	55	55	NUM
alkej-330	210	24	)	)	PUNCT
alkej-330	210	25	…	…	PUNCT
alkej-330	210	26	(	(	PUNCT
alkej-330	210	27	56	56	NUM
alkej-330	210	28	)	)	PUNCT
alkej-330	210	29	…	…	PUNCT
alkej-330	210	30	(	(	PUNCT
alkej-330	210	31	57	57	NUM
alkej-330	210	32	)	)	PUNCT
alkej-330	210	33	�	�	NOUN
alkej-330	210	34	…	…	PUNCT
alkej-330	210	35	(	(	PUNCT
alkej-330	210	36	58	58	NUM
alkej-330	210	37	)	)	PUNCT
alkej-330	210	38	the	the	DET
alkej-330	210	39	inverse	inverse	NOUN
alkej-330	210	40	kinematic	kinematic	NOUN
alkej-330	210	41	problem	problem	NOUN
alkej-330	210	42	of	of	ADP
alkej-330	210	43	rigid	rigid	ADJ
alkej-330	210	44	robot	robot	NOUN
alkej-330	210	45	is	be	AUX
alkej-330	210	46	d	d	NOUN
alkej-330	210	47	effector	effector	NOUN
alkej-330	210	48	positions	position	NOUN
alkej-330	210	49	(	(	PUNCT
alkej-330	210	50	�	�	NOUN
alkej-330	210	51	)	)	PUNCT
alkej-330	210	52	to	to	PART
alkej-330	210	53	get	get	VERB
alkej-330	210	54	elastic	elastic	ADJ
alkej-330	210	55	robot	robot	NOUN
alkej-330	210	56	.	.	PUNCT
alkej-330	211	1	there	there	PRON
alkej-330	211	2	will	will	AUX
alkej-330	211	3	be	be	AUX
alkej-330	211	4	the	the	PRON
alkej-330	211	5	should	should	AUX
alkej-330	211	6	be	be	AUX
alkej-330	211	7	given	give	VERB
alkej-330	211	8	to	to	PART
alkej-330	211	9	get	get	VERB
alkej-330	211	10	�	�	PROPN
alkej-330	211	11	�	�	PROPN
alkej-330	211	12	51	51	NUM
alkej-330	211	13	�	�	PROPN
alkej-330	211	14	�	�	PROPN
alkej-330	211	15	,	,	PUNCT
alkej-330	211	16	7	7	NUM
alkej-330	211	17	�	�	PROPN
alkej-330	211	18	the	the	DET
alkej-330	211	19	proposed	propose	VERB
alkej-330	211	20	neural	neural	ADJ
alkej-330	211	21	network	network	NOUN
alkej-330	211	22	was	be	AUX
alkej-330	211	23	used	use	VERB
alkej-330	211	24	to	to	PART
alkej-330	211	25	model	model	VERB
alkej-330	211	26	the	the	DET
alkej-330	211	27	equation	equation	NOUN
alkej-330	211	28	(	(	PUNCT
alkej-330	211	29	59	59	NUM
alkej-330	211	30	)	)	PUNCT
alkej-330	211	31	,	,	PUNCT
alkej-330	211	32	which	which	PRON
alkej-330	211	33	kinematic	kinematic	VERB
alkej-330	211	34	inverse	inverse	NOUN
alkej-330	211	35	neural	neural	ADJ
alkej-330	211	36	network	network	NOUN
alkej-330	211	37	.	.	PUNCT
alkej-330	212	1	many	many	ADJ
alkej-330	212	2	neural	neural	ADJ
alkej-330	212	3	networks	network	NOUN
alkej-330	212	4	were	be	AUX
alkej-330	212	5	trained	train	VERB
alkej-330	212	6	.	.	PUNCT
alkej-330	213	1	the	the	DET
alkej-330	213	2	structure	structure	NOUN
alkej-330	213	3	of	of	ADP
alkej-330	213	4	each	each	DET
alkej-330	213	5	network	network	NOUN
alkej-330	213	6	was	be	AUX
alkej-330	213	7	with	with	ADP
alkej-330	213	8	(	(	PUNCT
alkej-330	213	9	one	one	NUM
alkej-330	213	10	two	two	NUM
alkej-330	213	11	hidden	hidden	ADJ
alkej-330	213	12	layers	layer	NOUN
alkej-330	213	13	-	-	PUNCT
alkej-330	213	14	output	output	NOUN
alkej-330	213	15	layer	layer	NOUN
alkej-330	213	16	)	)	PUNCT
alkej-330	213	17	.	.	PUNCT
alkej-330	214	1	each	each	DET
alkej-330	214	2	network	network	NOUN
alkej-330	214	3	had	have	VERB
alkej-330	214	4	a	a	DET
alkej-330	214	5	different	different	ADJ
alkej-330	214	6	number	number	NOUN
alkej-330	214	7	of	of	ADP
alkej-330	214	8	neurons	neuron	NOUN
alkej-330	214	9	in	in	ADP
alkej-330	214	10	the	the	DET
alkej-330	214	11	hidden	hidden	ADJ
alkej-330	214	12	layers	layer	NOUN
alkej-330	214	13	.	.	PUNCT
alkej-330	215	1	the	the	DET
alkej-330	215	2	numbers	number	NOUN
alkej-330	215	3	was	be	AUX
alkej-330	215	4	chosen	choose	VERB
alkej-330	215	5	randomly	randomly	ADV
alkej-330	215	6	.	.	PUNCT
alkej-330	216	1	the	the	DET
alkej-330	216	2	selection	selection	NOUN
alkej-330	216	3	of	of	ADP
alkej-330	216	4	neurons	neuron	NOUN
alkej-330	216	5	number	number	NOUN
alkej-330	216	6	was	be	AUX
alkej-330	216	7	specified	specify	VERB
alkej-330	216	8	by	by	ADP
alkej-330	216	9	trial	trial	NOUN
alkej-330	216	10	and	and	CCONJ
alkej-330	216	11	error	error	NOUN
alkej-330	216	12	.	.	PUNCT
alkej-330	217	1	the	the	DET
alkej-330	217	2	input	input	NOUN
alkej-330	217	3	layer	layer	NOUN
alkej-330	217	4	received	receive	VERB
alkej-330	217	5	the	the	DET
alkej-330	217	6	eight	eight	NUM
alkej-330	217	7	variables	variable	NOUN
alkej-330	217	8	(	(	PUNCT
alkej-330	217	9	δy1	δy1	PROPN
alkej-330	217	10	,	,	PUNCT
alkej-330	217	11	δx1	δx1	PROPN
alkej-330	217	12	,	,	PUNCT
alkej-330	217	13	dϕ1	dϕ1	NOUN
alkej-330	217	14	,	,	PUNCT
alkej-330	217	15	δy2	δy2	PROPN
alkej-330	217	16	,	,	PUNCT
alkej-330	217	17	δ	δ	PROPN
alkej-330	217	18	py	py	PROPN
alkej-330	217	19	)	)	PUNCT
alkej-330	217	20	.	.	PUNCT
alkej-330	218	1	the	the	DET
alkej-330	218	2	output	output	NOUN
alkej-330	218	3	layer	layer	NOUN
alkej-330	218	4	gave	give	VERB
alkej-330	218	5	the	the	DET
alkej-330	218	6	angles	angle	NOUN
alkej-330	218	7	(	(	PUNCT
alkej-330	218	8	network	network	NOUN
alkej-330	218	9	result	result	NOUN
alkej-330	218	10	,	,	PUNCT
alkej-330	218	11	as	as	SCONJ
alkej-330	218	12	shown	show	VERB
alkej-330	218	13	in	in	ADP
alkej-330	218	14	figure	figure	NOUN
alkej-330	218	15	1	1	NUM
alkej-330	218	16	fig	fig	NOUN
alkej-330	218	17	.	.	PUNCT
alkej-330	219	1	14	14	NUM
alkej-330	219	2	.	.	PUNCT
alkej-330	220	1	the	the	DET
alkej-330	220	2	structure	structure	NOUN
alkej-330	220	3	of	of	ADP
alkej-330	220	4	kinematic	kinematic	ADJ
alkej-330	220	5	inverse	inverse	NOUN
alkej-330	220	6	neural	neural	ADJ
alkej-330	220	7	network	network	NOUN
alkej-330	220	8	.	.	PUNCT
alkej-330	221	1	the	the	DET
alkej-330	221	2	transfer	transfer	NOUN
alkej-330	221	3	function	function	NOUN
alkej-330	221	4	(	(	PUNCT
alkej-330	221	5	τ	τ	X
alkej-330	221	6	)	)	PUNCT
alkej-330	221	7	used	use	VERB
alkej-330	221	8	in	in	ADP
alkej-330	221	9	the	the	DET
alkej-330	221	10	hidden	hidden	ADJ
alkej-330	221	11	layers	layer	NOUN
alkej-330	221	12	for	for	ADP
alkej-330	221	13	each	each	DET
alkej-330	221	14	network	network	NOUN
alkej-330	221	15	was	be	AUX
alkej-330	221	16	the	the	DET
alkej-330	221	17	hyperbolic	hyperbolic	ADJ
alkej-330	221	18	tangent	tangent	NOUN
alkej-330	221	19	function	function	NOUN
alkej-330	221	20	(	(	PUNCT
alkej-330	221	21	due	due	ADP
alkej-330	221	22	to	to	ADP
alkej-330	221	23	the	the	DET
alkej-330	221	24	bipolar	bipolar	ADJ
alkej-330	221	25	value	value	NOUN
alkej-330	221	26	for	for	ADP
alkej-330	221	27	the	the	DET
alkej-330	221	28	output	output	NOUN
alkej-330	221	29	of	of	ADP
alkej-330	221	30	the	the	DET
alkej-330	221	31	function	function	NOUN
alkej-330	221	32	)	)	PUNCT
alkej-330	221	33	as	as	SCONJ
alkej-330	221	34	shown	show	VERB
alkej-330	221	35	in	in	ADP
alkej-330	221	36	equatioτ	equatioτ	PROPN
alkej-330	221	37	x	x	SYM
alkej-330	221	38	�	�	PROPN
alkej-330	221	39	�	�	PROPN
alkej-330	221	40	tanh	tanh	PROPN
alkej-330	221	41	l	l	PROPN
alkej-330	221	42	�	�	PROPN
alkej-330	221	43	�	�	PROPN
alkej-330	221	44	*	*	PUNCT
alkej-330	221	45	�	�	PROPN
alkej-330	221	46	�	�	PROPN
alkej-330	221	47	1	1	NUM
alkej-330	221	48	*	*	PUNCT
alkej-330	221	49	�	�	PROPN
alkej-330	221	50	�	�	PROPN
alkej-330	221	51	�	�	PROPN
alkej-330	221	52	*	*	PUNCT
alkej-330	221	53	�	�	PROPN
alkej-330	221	54	�	�	PROPN
alkej-330	221	55	�	�	PROPN
alkej-330	221	56	*	*	PUNCT
alkej-330	221	57	�	�	PROPN
alkej-330	221	58	�	�	PROPN
alkej-330	221	59	�	�	PROPN
alkej-330	221	60	where	where	SCONJ
alkej-330	221	61	�	�	PROPN
alkej-330	221	62	is	be	AUX
alkej-330	221	63	the	the	DET
alkej-330	221	64	slope	slope	NOUN
alkej-330	221	65	parameter	parameter	NOUN
alkej-330	221	66	.	.	PUNCT
alkej-330	222	1	for	for	SCONJ
alkej-330	222	2	the	the	DET
alkej-330	222	3	output	output	NOUN
alkej-330	222	4	layer	layer	NOUN
alkej-330	222	5	was	be	AUX
alkej-330	222	6	pure	pure	ADJ
alkej-330	222	7	line	line	NOUN
alkej-330	222	8	.	.	PUNCT
alkej-330	223	1	the	the	DET
alkej-330	223	2	back	back	ADJ
alkej-330	223	3	propagation	propagation	NOUN
alkej-330	223	4	training	training	NOUN
alkej-330	223	5	algorithm	algorithm	NOUN
alkej-330	223	6	with	with	ADP
alkej-330	223	7	one	one	NUM
alkej-330	223	8	variable	variable	ADJ
alkej-330	223	9	learning	learning	NOUN
alkej-330	223	10	rate	rate	NOUN
alkej-330	223	11	was	be	AUX
alkej-330	223	12	used	use	VERB
alkej-330	223	13	to	to	PART
alkej-330	223	14	train	train	VERB
alkej-330	223	15	these	these	DET
alkej-330	223	16	neural	neural	ADJ
alkej-330	223	17	networks	network	NOUN
alkej-330	223	18	.	.	PUNCT
alkej-330	224	1	the	the	DET
alkej-330	224	2	input	input	NOUN
alkej-330	224	3	variables	variable	NOUN
alkej-330	224	4	(	(	PUNCT
alkej-330	224	5	δy1	δy1	PROPN
alkej-330	224	6	,	,	PUNCT
alkej-330	224	7	δx1	δx1	PROPN
alkej-330	224	8	,	,	PUNCT
alkej-330	224	9	d	d	PROPN
alkej-330	224	10	dϕ2	dϕ2	PROPN
alkej-330	224	11	)	)	PUNCT
alkej-330	224	12	were	be	AUX
alkej-330	224	13	imported	import	VERB
alkej-330	224	14	from	from	ADP
alkej-330	224	15	the	the	DET
alkej-330	224	16	results	result	NOUN
alkej-330	224	17	of	of	ADP
alkej-330	224	18	the	the	DET
alkej-330	224	19	test	test	NOUN
alkej-330	224	20	in	in	ADP
alkej-330	224	21	the	the	DET
alkej-330	224	22	part	part	NOUN
alkej-330	224	23	of	of	ADP
alkej-330	224	24	experimental	experimental	ADJ
alkej-330	224	25	work	work	NOUN
alkej-330	224	26	and	and	CCONJ
alkej-330	224	27	by	by	ADP
alkej-330	224	28	using	use	VERB
alkej-330	224	29	these	these	DET
alkej-330	224	30	variables	variable	NOUN
alkej-330	224	31	with	with	ADP
alkej-330	224	32	corresponding	correspond	VERB
alkej-330	224	33	angles	angle	NOUN
alkej-330	224	34	(	(	PUNCT
alkej-330	224	35	in	in	ADP
alkej-330	224	36	equations	equation	NOUN
alkej-330	224	37	(	(	PUNCT
alkej-330	224	38	44	44	NUM
alkej-330	224	39	)	)	PUNCT
alkej-330	224	40	and	and	CCONJ
alkej-330	224	41	(	(	PUNCT
alkej-330	224	42	46	46	NUM
alkej-330	224	43	)	)	PUNCT
alkej-330	224	44	to	to	PART
alkej-330	224	45	calculate	calculate	VERB
alkej-330	224	46	the	the	DET
alkej-330	224	47	last	last	ADJ
alkej-330	224	48	two	two	NUM
alkej-330	224	49	variables	variable	NOUN
alkej-330	224	50	(	(	PUNCT
alkej-330	224	51	px	px	PROPN
alkej-330	224	52	and	and	CCONJ
alkej-330	224	53	py	py	PROPN
alkej-330	224	54	)	)	PUNCT
alkej-330	224	55	.	.	PUNCT
alkej-330	225	1	hence	hence	ADV
alkej-330	225	2	,	,	PUNCT
alkej-330	225	3	these	these	DET
alkej-330	225	4	variables	variable	NOUN
alkej-330	225	5	were	be	AUX
alkej-330	225	6	used	use	VERB
alkej-330	225	7	to	to	PART
alkej-330	225	8	train	train	VERB
alkej-330	225	9	the	the	DET
alkej-330	225	10	networks	network	NOUN
alkej-330	225	11	.	.	PUNCT
alkej-330	226	1	the	the	DET
alkej-330	226	2	networks	network	NOUN
alkej-330	226	3	that	that	PRON
alkej-330	226	4	used	use	VERB
alkej-330	226	5	were	be	AUX
alkej-330	226	6	simulated	simulate	VERB
alkej-330	226	7	by	by	ADP
alkej-330	226	8	using	use	VERB
alkej-330	226	9	the	the	DET
alkej-330	226	10	scientific	scientific	ADJ
alkej-330	226	11	and	and	CCONJ
alkej-330	226	12	engineering	engineering	NOUN
alkej-330	226	13	package	package	NOUN
alkej-330	226	14	matlab	matlab	PROPN
alkej-330	226	15	.	.	PUNCT
alkej-330	227	1	to	to	PART
alkej-330	227	2	find	find	VERB
alkej-330	227	3	the	the	DET
alkej-330	227	4	optimum	optimum	ADJ
alkej-330	227	5	neural	neural	ADJ
alkej-330	227	6	network	network	NOUN
alkej-330	227	7	,	,	PUNCT
alkej-330	227	8	the	the	DET
alkej-330	227	9	tested	test	VERB
alkej-330	227	10	networks	network	NOUN
alkej-330	227	11	output	output	NOUN
alkej-330	227	12	was	be	AUX
alkej-330	227	13	compared	compare	VERB
alkej-330	227	14	with	with	ADP
alkej-330	227	15	respect	respect	NOUN
alkej-330	227	16	to	to	ADP
alkej-330	227	17	the	the	DET
alkej-330	227	18	khwarizmi	khwarizmi	PROPN
alkej-330	227	19	engineering	engineering	PROPN
alkej-330	227	20	journal	journal	PROPN
alkej-330	227	21	,	,	PUNCT
alkej-330	227	22	vol	vol	NOUN
alkej-330	227	23	.	.	PROPN
alkej-330	227	24	13	13	NUM
alkej-330	227	25	,	,	PUNCT
alkej-330	227	26	no	no	INTJ
alkej-330	227	27	.	.	NOUN
alkej-330	227	28	1	1	NUM
alkej-330	227	29	,	,	PUNCT
alkej-330	227	30	p.p	p.p	PROPN
alkej-330	227	31	.	.	NOUN
alkej-330	227	32	1325(2017	1325(2017	NUM
alkej-330	227	33	)	)	PUNCT
alkej-330	227	34	…	…	PUNCT
alkej-330	227	35	(	(	PUNCT
alkej-330	227	36	59	59	NUM
alkej-330	227	37	)	)	PUNCT
alkej-330	227	38	the	the	DET
alkej-330	227	39	proposed	propose	VERB
alkej-330	227	40	neural	neural	ADJ
alkej-330	227	41	network	network	NOUN
alkej-330	227	42	was	be	AUX
alkej-330	227	43	used	use	VERB
alkej-330	227	44	to	to	PART
alkej-330	227	45	which	which	PRON
alkej-330	227	46	is	be	AUX
alkej-330	227	47	called	call	VERB
alkej-330	227	48	the	the	DET
alkej-330	227	49	kinematic	kinematic	ADJ
alkej-330	227	50	inverse	inverse	NOUN
alkej-330	227	51	neural	neural	ADJ
alkej-330	227	52	network	network	NOUN
alkej-330	227	53	.	.	PUNCT
alkej-330	228	1	in	in	ADP
alkej-330	228	2	this	this	DET
alkej-330	228	3	work	work	NOUN
alkej-330	228	4	,	,	PUNCT
alkej-330	228	5	many	many	ADJ
alkej-330	228	6	neural	neural	ADJ
alkej-330	228	7	networks	network	NOUN
alkej-330	228	8	were	be	AUX
alkej-330	228	9	trained	train	VERB
alkej-330	228	10	.	.	PUNCT
alkej-330	229	1	the	the	DET
alkej-330	229	2	structure	structure	NOUN
alkej-330	229	3	one	one	NUM
alkej-330	229	4	input	input	NOUN
alkej-330	229	5	layer	layer	NOUN
alkej-330	229	6	and	and	CCONJ
alkej-330	229	7	output	output	NOUN
alkej-330	229	8	layer	layer	NOUN
alkej-330	229	9	)	)	PUNCT
alkej-330	229	10	.	.	PUNCT
alkej-330	230	1	each	each	DET
alkej-330	230	2	network	network	NOUN
alkej-330	230	3	had	have	VERB
alkej-330	230	4	a	a	DET
alkej-330	230	5	different	different	ADJ
alkej-330	230	6	number	number	NOUN
alkej-330	230	7	of	of	ADP
alkej-330	230	8	neurons	neuron	NOUN
alkej-330	230	9	in	in	ADP
alkej-330	230	10	the	the	DET
alkej-330	230	11	hidden	hidden	ADJ
alkej-330	230	12	layers	layer	NOUN
alkej-330	230	13	.	.	PUNCT
alkej-330	231	1	the	the	DET
alkej-330	231	2	numbers	number	NOUN
alkej-330	231	3	was	be	AUX
alkej-330	231	4	chosen	choose	VERB
alkej-330	231	5	randomly	randomly	ADV
alkej-330	231	6	.	.	PUNCT
alkej-330	232	1	the	the	DET
alkej-330	232	2	selection	selection	NOUN
alkej-330	232	3	of	of	ADP
alkej-330	232	4	neurons	neuron	NOUN
alkej-330	232	5	number	number	NOUN
alkej-330	232	6	was	be	AUX
alkej-330	232	7	specified	specify	VERB
alkej-330	232	8	by	by	ADP
alkej-330	232	9	trial	trial	NOUN
alkej-330	232	10	received	receive	VERB
alkej-330	232	11	the	the	DET
alkej-330	232	12	eight	eight	NUM
alkej-330	232	13	δy2	δy2	NOUN
alkej-330	232	14	,	,	PUNCT
alkej-330	232	15	δx2	δx2	PROPN
alkej-330	232	16	,	,	PUNCT
alkej-330	232	17	dϕ2	dϕ2	PROPN
alkej-330	232	18	,	,	PUNCT
alkej-330	232	19	px	px	PROPN
alkej-330	232	20	,	,	PUNCT
alkej-330	232	21	and	and	CCONJ
alkej-330	232	22	py	py	PROPN
alkej-330	232	23	)	)	PUNCT
alkej-330	232	24	.	.	PUNCT
alkej-330	233	1	the	the	DET
alkej-330	233	2	output	output	NOUN
alkej-330	233	3	layer	layer	NOUN
alkej-330	233	4	gave	give	VERB
alkej-330	233	5	the	the	DET
alkej-330	233	6	angles	angle	NOUN
alkej-330	233	7	(	(	PUNCT
alkej-330	233	8	θ1	θ1	NOUN
alkej-330	233	9	,	,	PUNCT
alkej-330	233	10	θ2	θ2	PROPN
alkej-330	233	11	)	)	PUNCT
alkej-330	233	12	as	as	ADP
alkej-330	233	13	a	a	DET
alkej-330	233	14	figure	figure	NOUN
alkej-330	233	15	14	14	NUM
alkej-330	233	16	.	.	PUNCT
alkej-330	234	1	the	the	DET
alkej-330	234	2	structure	structure	NOUN
alkej-330	234	3	of	of	ADP
alkej-330	234	4	kinematic	kinematic	ADJ
alkej-330	234	5	inverse	inverse	NOUN
alkej-330	234	6	neural	neural	NOUN
alkej-330	234	7	used	use	VERB
alkej-330	234	8	in	in	ADP
alkej-330	234	9	the	the	DET
alkej-330	234	10	hidden	hidden	ADJ
alkej-330	234	11	layers	layer	NOUN
alkej-330	234	12	for	for	ADP
alkej-330	234	13	each	each	DET
alkej-330	234	14	network	network	NOUN
alkej-330	234	15	was	be	AUX
alkej-330	234	16	the	the	DET
alkej-330	234	17	hyperbolic	hyperbolic	ADJ
alkej-330	234	18	tangent	tangent	NOUN
alkej-330	234	19	function	function	NOUN
alkej-330	234	20	(	(	PUNCT
alkej-330	234	21	due	due	ADP
alkej-330	234	22	to	to	ADP
alkej-330	234	23	the	the	DET
alkej-330	234	24	bipolar	bipolar	ADJ
alkej-330	234	25	value	value	NOUN
alkej-330	234	26	for	for	ADP
alkej-330	234	27	the	the	PRON
alkej-330	234	28	as	as	ADV
alkej-330	234	29	shown	show	VERB
alkej-330	234	30	in	in	ADP
alkej-330	234	31	equation	equation	NOUN
alkej-330	234	32	[	[	X
alkej-330	234	33	21	21	NUM
alkej-330	234	34	]	]	X
alkej-330	234	35	:	:	PUNCT
alkej-330	234	36	…	…	PUNCT
alkej-330	234	37	(	(	PUNCT
alkej-330	234	38	60	60	NUM
alkej-330	234	39	)	)	PUNCT
alkej-330	234	40	is	be	AUX
alkej-330	234	41	the	the	DET
alkej-330	234	42	slope	slope	NOUN
alkej-330	234	43	parameter	parameter	NOUN
alkej-330	234	44	.	.	PUNCT
alkej-330	235	1	the	the	DET
alkej-330	235	2	output	output	NOUN
alkej-330	235	3	layer	layer	NOUN
alkej-330	235	4	was	be	AUX
alkej-330	235	5	pure	pure	ADJ
alkej-330	235	6	line	line	NOUN
alkej-330	235	7	.	.	PUNCT
alkej-330	236	1	the	the	DET
alkej-330	236	2	back	back	ADJ
alkej-330	236	3	propagation	propagation	NOUN
alkej-330	236	4	training	training	NOUN
alkej-330	236	5	algorithm	algorithm	NOUN
alkej-330	236	6	with	with	ADP
alkej-330	236	7	one	one	NUM
alkej-330	236	8	variable	variable	ADJ
alkej-330	236	9	learning	learning	NOUN
alkej-330	236	10	rate	rate	NOUN
alkej-330	236	11	was	be	AUX
alkej-330	236	12	used	use	VERB
alkej-330	236	13	to	to	PART
alkej-330	236	14	train	train	VERB
alkej-330	236	15	these	these	DET
alkej-330	236	16	neural	neural	ADJ
alkej-330	236	17	δ	δ	PROPN
alkej-330	236	18	δx1	δx1	PROPN
alkej-330	236	19	,	,	PUNCT
alkej-330	236	20	dϕ1	dϕ1	NOUN
alkej-330	236	21	,	,	PUNCT
alkej-330	236	22	δy2	δy2	NOUN
alkej-330	236	23	,	,	PUNCT
alkej-330	236	24	δx2	δx2	PROPN
alkej-330	236	25	,	,	PUNCT
alkej-330	236	26	2	2	NUM
alkej-330	236	27	)	)	PUNCT
alkej-330	236	28	were	be	AUX
alkej-330	236	29	imported	import	VERB
alkej-330	236	30	from	from	ADP
alkej-330	236	31	the	the	DET
alkej-330	236	32	results	result	NOUN
alkej-330	236	33	of	of	ADP
alkej-330	236	34	the	the	DET
alkej-330	236	35	test	test	NOUN
alkej-330	236	36	in	in	ADP
alkej-330	236	37	experimental	experimental	ADJ
alkej-330	236	38	work	work	NOUN
alkej-330	236	39	and	and	CCONJ
alkej-330	236	40	by	by	ADP
alkej-330	236	41	using	use	VERB
alkej-330	236	42	these	these	DET
alkej-330	236	43	variables	variable	NOUN
alkej-330	236	44	with	with	ADP
alkej-330	236	45	corresponding	correspond	VERB
alkej-330	236	46	angles	angle	NOUN
alkej-330	236	47	(	(	PUNCT
alkej-330	236	48	θ1	θ1	NOUN
alkej-330	236	49	and	and	CCONJ
alkej-330	236	50	θ2	θ2	PROPN
alkej-330	236	51	)	)	PUNCT
alkej-330	236	52	to	to	PART
alkej-330	236	53	calculate	calculate	VERB
alkej-330	236	54	the	the	DET
alkej-330	236	55	last	last	ADJ
alkej-330	236	56	two	two	NUM
alkej-330	236	57	variables	variable	NOUN
alkej-330	236	58	(	(	PUNCT
alkej-330	236	59	px	px	PROPN
alkej-330	236	60	and	and	CCONJ
alkej-330	236	61	py	py	PROPN
alkej-330	236	62	)	)	PUNCT
alkej-330	236	63	.	.	PUNCT
alkej-330	237	1	hence	hence	ADV
alkej-330	237	2	,	,	PUNCT
alkej-330	237	3	these	these	DET
alkej-330	237	4	variables	variable	NOUN
alkej-330	237	5	were	be	AUX
alkej-330	237	6	were	be	AUX
alkej-330	237	7	simulated	simulate	VERB
alkej-330	237	8	by	by	ADP
alkej-330	237	9	using	use	VERB
alkej-330	237	10	the	the	DET
alkej-330	237	11	scientific	scientific	ADJ
alkej-330	237	12	and	and	CCONJ
alkej-330	237	13	engineering	engineering	NOUN
alkej-330	237	14	package	package	NOUN
alkej-330	237	15	to	to	PART
alkej-330	237	16	find	find	VERB
alkej-330	237	17	the	the	DET
alkej-330	237	18	optimum	optimum	ADJ
alkej-330	237	19	neural	neural	ADJ
alkej-330	237	20	network	network	NOUN
alkej-330	237	21	,	,	PUNCT
alkej-330	237	22	the	the	DET
alkej-330	237	23	tested	test	VERB
alkej-330	237	24	compared	compare	VERB
alkej-330	237	25	with	with	ADP
alkej-330	237	26	respect	respect	NOUN
alkej-330	237	27	to	to	ADP
alkej-330	237	28	the	the	DET
alkej-330	237	29	hussein	hussein	PROPN
alkej-330	237	30	m.	m.	PROPN
alkej-330	237	31	al	al	PROPN
alkej-330	237	32	-	-	PUNCT
alkej-330	237	33	khafaji	khafaji	PROPN
alkej-330	237	34	al	al	PROPN
alkej-330	237	35	angles	angle	NOUN
alkej-330	237	36	that	that	PRON
alkej-330	237	37	were	be	AUX
alkej-330	237	38	used	use	VERB
alkej-330	237	39	in	in	ADP
alkej-330	237	40	equations	equation	NOUN
alkej-330	237	41	(	(	PUNCT
alkej-330	237	42	44	44	NUM
alkej-330	237	43	)	)	PUNCT
alkej-330	237	44	get	get	VERB
alkej-330	237	45	px	px	NOUN
alkej-330	237	46	and	and	CCONJ
alkej-330	237	47	py	py	INTJ
alkej-330	237	48	.	.	PUNCT
alkej-330	238	1	the	the	DET
alkej-330	238	2	best	good	ADJ
alkej-330	238	3	fit	fit	ADJ
alkej-330	238	4	obtaine	obtaine	NOUN
alkej-330	238	5	network	network	NOUN
alkej-330	238	6	has	have	VERB
alkej-330	238	7	the	the	DET
alkej-330	238	8	following	follow	VERB
alkej-330	238	9	structure	structure	NOUN
alkej-330	238	10	,	,	PUNCT
alkej-330	238	11	as	as	SCONJ
alkej-330	238	12	shown	show	VERB
alkej-330	238	13	in	in	ADP
alkej-330	238	14	figure	figure	NOUN
alkej-330	238	15	14	14	NUM
alkej-330	238	16	:	:	PUNCT
alkej-330	238	17	1one	1one	NUM
alkej-330	238	18	input	input	NOUN
alkej-330	238	19	layer	layer	NOUN
alkej-330	238	20	(	(	PUNCT
alkej-330	238	21	receives	receive	VERB
alkej-330	238	22	the	the	DET
alkej-330	238	23	eight	eight	NUM
alkej-330	238	24	variables	variable	NOUN
alkej-330	238	25	)	)	PUNCT
alkej-330	238	26	.	.	PUNCT
alkej-330	239	1	2two	2two	NUM
alkej-330	239	2	hidden	hidden	ADJ
alkej-330	239	3	layers	layer	NOUN
alkej-330	239	4	:	:	PUNCT
alkej-330	239	5	an=15	an=15	NOUN
alkej-330	239	6	neurons	neuron	NOUN
alkej-330	239	7	in	in	ADP
alkej-330	239	8	the	the	DET
alkej-330	239	9	first	first	ADJ
alkej-330	239	10	hidden	hide	VERB
alkej-330	239	11	layer	layer	NOUN
alkej-330	239	12	.	.	PUNCT
alkej-330	240	1	bk=13	bk=13	NOUN
alkej-330	240	2	neurons	neuron	NOUN
alkej-330	240	3	in	in	ADP
alkej-330	240	4	second	second	ADJ
alkej-330	240	5	hidden	hide	VERB
alkej-330	240	6	layer	layer	NOUN
alkej-330	240	7	.	.	PUNCT
alkej-330	241	1	3one	3one	NUM
alkej-330	241	2	output	output	NOUN
alkej-330	241	3	layer	layer	NOUN
alkej-330	241	4	(	(	PUNCT
alkej-330	241	5	gives	give	VERB
alkej-330	241	6	two	two	NUM
alkej-330	241	7	outputs	output	NOUN
alkej-330	241	8	)	)	PUNCT
alkej-330	241	9	.	.	PUNCT
alkej-330	242	1	the	the	DET
alkej-330	242	2	network	network	NOUN
alkej-330	242	3	training	training	NOUN
alkej-330	242	4	parameters	parameter	NOUN
alkej-330	242	5	that	that	PRON
alkej-330	242	6	used	use	VERB
alkej-330	242	7	in	in	ADP
alkej-330	242	8	this	this	DET
alkej-330	242	9	network	network	NOUN
alkej-330	242	10	are	be	AUX
alkej-330	242	11	listed	list	VERB
alkej-330	242	12	as	as	ADP
alkej-330	242	13	follow	follow	NOUN
alkej-330	242	14	:	:	PUNCT
alkej-330	242	15	training	training	NOUN
alkej-330	242	16	parameters	parameter	NOUN
alkej-330	242	17	value	value	NOUN
alkej-330	242	18	epochs	epoch	NOUN
alkej-330	242	19	5000	5000	NUM
alkej-330	242	20	goal	goal	NOUN
alkej-330	242	21	1×10	1×10	NUM
alkej-330	242	22	-	-	SYM
alkej-330	242	23	8	8	NUM
alkej-330	242	24	minimum	minimum	NOUN
alkej-330	242	25	gradient	gradient	NOUN
alkej-330	242	26	1×10	1×10	NUM
alkej-330	242	27	-	-	SYM
alkej-330	242	28	10	10	NUM
alkej-330	242	29	learning	learning	NOUN
alkej-330	242	30	rate	rate	NOUN
alkej-330	242	31	1×10	1×10	NUM
alkej-330	242	32	-	-	SYM
alkej-330	242	33	5	5	NUM
alkej-330	242	34	learning	learning	NOUN
alkej-330	242	35	increment	increment	NOUN
alkej-330	242	36	0.9	0.9	NUM
alkej-330	242	37	5	5	NUM
alkej-330	242	38	.	.	PUNCT
alkej-330	242	39	results	result	NOUN
alkej-330	242	40	and	and	CCONJ
alkej-330	242	41	discussion	discussion	NOUN
alkej-330	242	42	figures	figure	VERB
alkej-330	242	43	15	15	NUM
alkej-330	242	44	and	and	CCONJ
alkej-330	242	45	16	16	NUM
alkej-330	242	46	show	show	VERB
alkej-330	242	47	the	the	DET
alkej-330	242	48	comparison	comparison	NOUN
alkej-330	242	49	between	between	ADP
alkej-330	242	50	the	the	DET
alkej-330	242	51	optimum	optimum	ADJ
alkej-330	242	52	neural	neural	ADJ
alkej-330	242	53	network	network	NOUN
alkej-330	242	54	outputs	output	NOUN
alkej-330	242	55	and	and	CCONJ
alkej-330	242	56	the	the	DET
alkej-330	242	57	target	target	NOUN
alkej-330	242	58	data	datum	NOUN
alkej-330	242	59	for	for	ADP
alkej-330	242	60	(	(	PUNCT
alkej-330	242	61	θ1	θ1	NOUN
alkej-330	242	62	and	and	CCONJ
alkej-330	242	63	respectively	respectively	ADV
alkej-330	242	64	.	.	PUNCT
alkej-330	243	1	these	these	DET
alkej-330	243	2	figures	figure	NOUN
alkej-330	243	3	reveal	reveal	VERB
alkej-330	243	4	a	a	DET
alkej-330	243	5	good	good	ADJ
alkej-330	243	6	fitting	fitting	NOUN
alkej-330	243	7	between	between	ADP
alkej-330	243	8	the	the	DET
alkej-330	243	9	network	network	NOUN
alkej-330	243	10	results	result	NOUN
alkej-330	243	11	and	and	CCONJ
alkej-330	243	12	the	the	DET
alkej-330	243	13	target	target	NOUN
alkej-330	243	14	angles	angle	VERB
alkej-330	243	15	the	the	DET
alkej-330	243	16	roots	root	NOUN
alkej-330	243	17	square	square	ADJ
alkej-330	243	18	errors	error	NOUN
alkej-330	243	19	of	of	ADP
alkej-330	243	20	result	result	NOUN
alkej-330	243	21	networ	networ	NOUN
alkej-330	243	22	(	(	PUNCT
alkej-330	243	23	0.999742	0.999742	NUM
alkej-330	243	24	)	)	PUNCT
alkej-330	243	25	and	and	CCONJ
alkej-330	243	26	(	(	PUNCT
alkej-330	243	27	0.999804	0.999804	NUM
alkej-330	243	28	)	)	PUNCT
alkej-330	243	29	for	for	ADP
alkej-330	243	30	the	the	DET
alkej-330	243	31	first	first	ADJ
alkej-330	243	32	and	and	CCONJ
alkej-330	243	33	the	the	DET
alkej-330	243	34	second	second	ADJ
alkej-330	243	35	angles	angle	NOUN
alkej-330	243	36	,	,	PUNCT
alkej-330	243	37	respectively	respectively	ADV
alkej-330	243	38	.	.	PUNCT
alkej-330	244	1	fig	fig	NOUN
alkej-330	244	2	.	.	PUNCT
alkej-330	245	1	15	15	NUM
alkej-330	245	2	.	.	PUNCT
alkej-330	246	1	the	the	DET
alkej-330	246	2	comparison	comparison	NOUN
alkej-330	246	3	between	between	ADP
alkej-330	246	4	θ1	θ1	PROPN
alkej-330	246	5	target	target	NOUN
alkej-330	246	6	and	and	CCONJ
alkej-330	246	7	onn	onn	PROPN
alkej-330	246	8	.	.	PROPN
alkej-330	246	9	al	al	PROPN
alkej-330	246	10	-	-	PUNCT
alkej-330	246	11	khwarizmi	khwarizmi	PROPN
alkej-330	246	12	engineering	engineering	NOUN
alkej-330	246	13	journal	journal	PROPN
alkej-330	246	14	,	,	PUNCT
alkej-330	246	15	vol	vol	NOUN
alkej-330	246	16	.	.	PROPN
alkej-330	246	17	13	13	NUM
alkej-330	246	18	,	,	PUNCT
alkej-330	246	19	no	no	INTJ
alkej-330	246	20	.	.	NOUN
alkej-330	246	21	1	1	NUM
alkej-330	246	22	,	,	PUNCT
alkej-330	246	23	p.p	p.p	PROPN
alkej-330	246	24	.	.	NOUN
alkej-330	246	25	1	1	NUM
alkej-330	246	26	22	22	NUM
alkej-330	246	27	)	)	PUNCT
alkej-330	246	28	and	and	CCONJ
alkej-330	246	29	(	(	PUNCT
alkej-330	246	30	45	45	NUM
alkej-330	246	31	)	)	PUNCT
alkej-330	246	32	to	to	PART
alkej-330	246	33	get	get	VERB
alkej-330	246	34	px	px	PROPN
alkej-330	246	35	and	and	CCONJ
alkej-330	246	36	py	py	INTJ
alkej-330	246	37	.	.	PUNCT
alkej-330	247	1	the	the	DET
alkej-330	247	2	best	well	ADV
alkej-330	247	3	fit	fit	NOUN
alkej-330	247	4	obtained	obtain	VERB
alkej-330	247	5	with	with	ADP
alkej-330	247	6	the	the	DET
alkej-330	247	7	network	network	NOUN
alkej-330	247	8	has	have	VERB
alkej-330	247	9	the	the	DET
alkej-330	247	10	following	follow	VERB
alkej-330	247	11	structure	structure	NOUN
alkej-330	247	12	,	,	PUNCT
alkej-330	247	13	as	as	SCONJ
alkej-330	247	14	shown	show	VERB
alkej-330	247	15	in	in	ADP
alkej-330	247	16	one	one	NUM
alkej-330	247	17	input	input	NOUN
alkej-330	247	18	layer	layer	NOUN
alkej-330	247	19	(	(	PUNCT
alkej-330	247	20	receives	receive	VERB
alkej-330	247	21	the	the	DET
alkej-330	247	22	eight	eight	NUM
alkej-330	247	23	variables	variable	NOUN
alkej-330	247	24	)	)	PUNCT
alkej-330	247	25	.	.	PUNCT
alkej-330	248	1	hidden	hide	VERB
alkej-330	248	2	layer	layer	NOUN
alkej-330	248	3	.	.	PUNCT
alkej-330	249	1	hidden	hide	VERB
alkej-330	249	2	layer	layer	NOUN
alkej-330	249	3	.	.	PUNCT
alkej-330	250	1	one	one	NUM
alkej-330	250	2	output	output	NOUN
alkej-330	250	3	layer	layer	NOUN
alkej-330	250	4	(	(	PUNCT
alkej-330	250	5	gives	give	VERB
alkej-330	250	6	two	two	NUM
alkej-330	250	7	outputs	output	NOUN
alkej-330	250	8	)	)	PUNCT
alkej-330	250	9	.	.	PUNCT
alkej-330	251	1	network	network	NOUN
alkej-330	251	2	training	training	NOUN
alkej-330	251	3	parameters	parameter	NOUN
alkej-330	251	4	that	that	PRON
alkej-330	251	5	used	use	VERB
alkej-330	251	6	in	in	ADP
alkej-330	251	7	this	this	DET
alkej-330	251	8	8	8	NUM
alkej-330	251	9	10	10	NUM
alkej-330	251	10	5	5	NUM
alkej-330	251	11	show	show	VERB
alkej-330	251	12	the	the	DET
alkej-330	251	13	comparison	comparison	NOUN
alkej-330	251	14	between	between	ADP
alkej-330	251	15	the	the	DET
alkej-330	251	16	optimum	optimum	ADJ
alkej-330	251	17	neural	neural	ADJ
alkej-330	251	18	network	network	NOUN
alkej-330	251	19	(	(	PUNCT
alkej-330	251	20	onn	onn	NOUN
alkej-330	251	21	)	)	PUNCT
alkej-330	251	22	outputs	output	NOUN
alkej-330	251	23	and	and	CCONJ
alkej-330	251	24	the	the	DET
alkej-330	251	25	target	target	NOUN
alkej-330	251	26	data	datum	NOUN
alkej-330	251	27	for	for	ADP
alkej-330	251	28	(	(	PUNCT
alkej-330	251	29	θ1	θ1	PROPN
alkej-330	251	30	and	and	CCONJ
alkej-330	251	31	θ2	θ2	PROPN
alkej-330	251	32	)	)	PUNCT
alkej-330	251	33	,	,	PUNCT
alkej-330	251	34	respectively	respectively	ADV
alkej-330	251	35	.	.	PUNCT
alkej-330	252	1	these	these	DET
alkej-330	252	2	figures	figure	NOUN
alkej-330	252	3	reveal	reveal	VERB
alkej-330	252	4	a	a	DET
alkej-330	252	5	good	good	ADJ
alkej-330	252	6	fitting	fitting	NOUN
alkej-330	252	7	between	between	ADP
alkej-330	252	8	the	the	DET
alkej-330	252	9	network	network	NOUN
alkej-330	252	10	results	result	NOUN
alkej-330	252	11	and	and	CCONJ
alkej-330	252	12	the	the	DET
alkej-330	252	13	target	target	NOUN
alkej-330	252	14	angles	angle	NOUN
alkej-330	252	15	.	.	PUNCT
alkej-330	253	1	of	of	ADP
alkej-330	253	2	result	result	NOUN
alkej-330	253	3	network	network	NOUN
alkej-330	253	4	were	be	AUX
alkej-330	253	5	(	(	PUNCT
alkej-330	253	6	0.999742	0.999742	NUM
alkej-330	253	7	)	)	PUNCT
alkej-330	253	8	and	and	CCONJ
alkej-330	253	9	(	(	PUNCT
alkej-330	253	10	0.999804	0.999804	NUM
alkej-330	253	11	)	)	PUNCT
alkej-330	253	12	for	for	ADP
alkej-330	253	13	the	the	DET
alkej-330	253	14	first	first	ADJ
alkej-330	253	15	and	and	CCONJ
alkej-330	253	16	the	the	DET
alkej-330	253	17	θ1	θ1	NOUN
alkej-330	253	18	target	target	NOUN
alkej-330	253	19	and	and	CCONJ
alkej-330	253	20	θ1	θ1	NOUN
alkej-330	253	21	fig	fig	NOUN
alkej-330	253	22	.	.	PUNCT
alkej-330	254	1	16	16	NUM
alkej-330	255	1	the	the	DET
alkej-330	255	2	comparison	comparison	NOUN
alkej-330	255	3	between	between	ADP
alkej-330	255	4	θ	θ	PROPN
alkej-330	255	5	onn	onn	PROPN
alkej-330	255	6	.	.	PROPN
alkej-330	255	7	figures	figure	NOUN
alkej-330	255	8	17	17	NUM
alkej-330	255	9	and	and	CCONJ
alkej-330	255	10	18	18	NUM
alkej-330	255	11	depict	depict	NOUN
alkej-330	255	12	the	the	DET
alkej-330	255	13	comparison	comparison	NOUN
alkej-330	255	14	between	between	ADP
alkej-330	255	15	the	the	DET
alkej-330	255	16	px	px	PROPN
alkej-330	255	17	and	and	CCONJ
alkej-330	255	18	py	py	PROPN
alkej-330	255	19	,	,	PUNCT
alkej-330	255	20	that	that	PRON
alkej-330	255	21	resulted	result	VERB
alkej-330	255	22	from	from	ADP
alkej-330	255	23	the	the	DET
alkej-330	255	24	equations	equation	NOUN
alkej-330	255	25	(	(	PUNCT
alkej-330	255	26	44	44	NUM
alkej-330	255	27	)	)	PUNCT
alkej-330	255	28	and	and	CCONJ
alkej-330	255	29	(	(	PUNCT
alkej-330	255	30	45	45	NUM
alkej-330	255	31	)	)	PUNCT
alkej-330	255	32	with	with	ADP
alkej-330	255	33	the	the	DET
alkej-330	255	34	neural	neural	ADJ
alkej-330	255	35	network	network	NOUN
alkej-330	255	36	.	.	PUNCT
alkej-330	256	1	each	each	DET
alkej-330	256	2	figure	figure	NOUN
alkej-330	256	3	has	have	VERB
alkej-330	256	4	two	two	NUM
alkej-330	256	5	curves	curve	NOUN
alkej-330	256	6	;	;	PUNCT
alkej-330	256	7	the	the	DET
alkej-330	256	8	first	first	ADJ
alkej-330	256	9	one	one	NUM
alkej-330	256	10	is	be	AUX
alkej-330	256	11	from	from	ADP
alkej-330	256	12	applying	apply	VERB
alkej-330	256	13	the	the	DET
alkej-330	256	14	target	target	NOUN
alkej-330	256	15	angles	angle	NOUN
alkej-330	256	16	,	,	PUNCT
alkej-330	256	17	and	and	CCONJ
alkej-330	256	18	the	the	DET
alkej-330	256	19	second	second	ADJ
alkej-330	256	20	one	one	NOUN
alkej-330	256	21	is	be	AUX
alkej-330	256	22	resulted	result	VERB
alkej-330	256	23	from	from	ADP
alkej-330	256	24	applying	apply	VERB
alkej-330	256	25	the	the	DET
alkej-330	256	26	onn	onn	NOUN
alkej-330	256	27	.	.	PUNCT
alkej-330	257	1	the	the	DET
alkej-330	257	2	figures	figure	NOUN
alkej-330	257	3	from	from	ADP
alkej-330	257	4	15	15	NUM
alkej-330	257	5	to	to	PART
alkej-330	257	6	18	18	NUM
alkej-330	257	7	show	show	VERB
alkej-330	257	8	a	a	DET
alkej-330	257	9	good	good	ADJ
alkej-330	257	10	fitting	fitting	NOUN
alkej-330	257	11	between	between	ADP
alkej-330	257	12	the	the	DET
alkej-330	257	13	neural	neural	ADJ
alkej-330	257	14	network	network	NOUN
alkej-330	257	15	results	result	NOUN
alkej-330	257	16	and	and	CCONJ
alkej-330	257	17	the	the	DET
alkej-330	257	18	target	target	NOUN
alkej-330	257	19	angles	angle	VERB
alkej-330	257	20	,	,	PUNCT
alkej-330	257	21	so	so	SCONJ
alkej-330	257	22	that	that	SCONJ
alkej-330	257	23	the	the	DET
alkej-330	257	24	results	result	NOUN
alkej-330	257	25	of	of	ADP
alkej-330	257	26	this	this	PRON
alkej-330	257	27	were	be	AUX
alkej-330	257	28	used	use	VERB
alkej-330	257	29	in	in	ADP
alkej-330	257	30	the	the	DET
alkej-330	257	31	control	control	NOUN
alkej-330	257	32	system	system	NOUN
alkej-330	257	33	of	of	ADP
alkej-330	257	34	the	the	DET
alkej-330	257	35	elastic	elastic	ADJ
alkej-330	257	36	robot	robot	NOUN
alkej-330	257	37	to	to	PART
alkej-330	257	38	control	control	VERB
alkej-330	257	39	the	the	DET
alkej-330	257	40	motion	motion	NOUN
alkej-330	257	41	and	and	CCONJ
alkej-330	257	42	position	position	NOUN
alkej-330	257	43	fig	fig	NOUN
alkej-330	257	44	.	.	PUNCT
alkej-330	258	1	17	17	NUM
alkej-330	258	2	the	the	DET
alkej-330	258	3	comparison	comparison	NOUN
alkej-330	258	4	between	between	ADP
alkej-330	258	5	px	px	PROPN
alkej-330	258	6	target	target	NOUN
alkej-330	258	7	and	and	CCONJ
alkej-330	258	8	px	px	PROPN
alkej-330	258	9	onn	onn	PROPN
alkej-330	258	10	.	.	PROPN
alkej-330	258	11	fig	fig	PROPN
alkej-330	258	12	.	.	PUNCT
alkej-330	259	1	18	18	NUM
alkej-330	259	2	.	.	PUNCT
alkej-330	260	1	the	the	DET
alkej-330	260	2	comparison	comparison	NOUN
alkej-330	260	3	between	between	ADP
alkej-330	260	4	py	py	PROPN
alkej-330	260	5	target	target	PROPN
alkej-330	260	6	and	and	CCONJ
alkej-330	260	7	py	py	PROPN
alkej-330	260	8	onn	onn	PROPN
alkej-330	260	9	.	.	PROPN
alkej-330	260	10	khwarizmi	khwarizmi	PROPN
alkej-330	260	11	engineering	engineering	PROPN
alkej-330	260	12	journal	journal	PROPN
alkej-330	260	13	,	,	PUNCT
alkej-330	260	14	vol	vol	NOUN
alkej-330	260	15	.	.	PROPN
alkej-330	260	16	13	13	NUM
alkej-330	260	17	,	,	PUNCT
alkej-330	260	18	no	no	INTJ
alkej-330	260	19	.	.	NOUN
alkej-330	260	20	1	1	NUM
alkej-330	260	21	,	,	PUNCT
alkej-330	260	22	p.p	p.p	PROPN
alkej-330	260	23	.	.	NOUN
alkej-330	260	24	1325(2017	1325(2017	NUM
alkej-330	260	25	)	)	PUNCT
alkej-330	260	26	the	the	DET
alkej-330	260	27	comparison	comparison	NOUN
alkej-330	260	28	between	between	ADP
alkej-330	260	29	θ2	θ2	PROPN
alkej-330	260	30	target	target	PROPN
alkej-330	260	31	and	and	CCONJ
alkej-330	260	32	θ2	θ2	PROPN
alkej-330	260	33	depict	depict	VERB
alkej-330	260	34	the	the	DET
alkej-330	260	35	comparison	comparison	NOUN
alkej-330	260	36	resulted	result	VERB
alkej-330	260	37	from	from	ADP
alkej-330	260	38	the	the	DET
alkej-330	260	39	the	the	DET
alkej-330	260	40	neural	neural	ADJ
alkej-330	260	41	network	network	NOUN
alkej-330	260	42	.	.	PUNCT
alkej-330	261	1	each	each	DET
alkej-330	261	2	figure	figure	NOUN
alkej-330	261	3	has	have	VERB
alkej-330	261	4	two	two	NUM
alkej-330	261	5	curves	curve	NOUN
alkej-330	261	6	;	;	PUNCT
alkej-330	261	7	the	the	DET
alkej-330	261	8	first	first	ADJ
alkej-330	261	9	one	one	NUM
alkej-330	261	10	is	be	AUX
alkej-330	261	11	from	from	ADP
alkej-330	261	12	applying	apply	VERB
alkej-330	261	13	the	the	DET
alkej-330	261	14	target	target	NOUN
alkej-330	261	15	angles	angle	NOUN
alkej-330	261	16	,	,	PUNCT
alkej-330	261	17	and	and	CCONJ
alkej-330	261	18	the	the	DET
alkej-330	261	19	second	second	ADJ
alkej-330	261	20	one	one	NOUN
alkej-330	261	21	is	be	AUX
alkej-330	261	22	nn	nn	PROPN
alkej-330	261	23	.	.	PROPN
alkej-330	261	24	show	show	VERB
alkej-330	261	25	a	a	DET
alkej-330	261	26	good	good	ADJ
alkej-330	261	27	fitting	fitting	ADJ
alkej-330	261	28	network	network	NOUN
alkej-330	261	29	results	result	NOUN
alkej-330	261	30	and	and	CCONJ
alkej-330	261	31	the	the	DET
alkej-330	261	32	target	target	NOUN
alkej-330	261	33	the	the	DET
alkej-330	261	34	results	result	NOUN
alkej-330	261	35	of	of	ADP
alkej-330	261	36	this	this	DET
alkej-330	261	37	neural	neural	ADJ
alkej-330	261	38	network	network	NOUN
alkej-330	261	39	control	control	NOUN
alkej-330	261	40	system	system	NOUN
alkej-330	261	41	of	of	ADP
alkej-330	261	42	the	the	DET
alkej-330	261	43	elastic	elastic	ADJ
alkej-330	261	44	robot	robot	NOUN
alkej-330	261	45	to	to	PART
alkej-330	261	46	control	control	VERB
alkej-330	261	47	the	the	DET
alkej-330	261	48	motion	motion	NOUN
alkej-330	261	49	and	and	CCONJ
alkej-330	261	50	position	position	NOUN
alkej-330	261	51	.	.	PUNCT
alkej-330	262	1	the	the	DET
alkej-330	262	2	comparison	comparison	NOUN
alkej-330	262	3	between	between	ADP
alkej-330	262	4	px	px	PROPN
alkej-330	262	5	target	target	NOUN
alkej-330	262	6	and	and	CCONJ
alkej-330	262	7	px	px	X
alkej-330	262	8	the	the	DET
alkej-330	262	9	comparison	comparison	NOUN
alkej-330	262	10	between	between	ADP
alkej-330	262	11	py	py	PROPN
alkej-330	262	12	target	target	NOUN
alkej-330	262	13	and	and	CCONJ
alkej-330	262	14	py	py	PROPN
alkej-330	262	15	hussein	hussein	PROPN
alkej-330	262	16	m.	m.	PROPN
alkej-330	263	1	al	al	PROPN
alkej-330	263	2	-	-	PUNCT
alkej-330	263	3	khafaji	khafaji	PROPN
alkej-330	263	4	al	al	PROPN
alkej-330	263	5	as	as	SCONJ
alkej-330	263	6	mentioned	mention	VERB
alkej-330	263	7	above	above	ADV
alkej-330	264	1	,	,	PUNCT
alkej-330	264	2	there	there	PRON
alkej-330	264	3	are	be	VERB
alkej-330	264	4	many	many	ADJ
alkej-330	264	5	networks	network	NOUN
alkej-330	264	6	with	with	ADP
alkej-330	264	7	different	different	ADJ
alkej-330	264	8	structures	structure	NOUN
alkej-330	264	9	that	that	PRON
alkej-330	264	10	were	be	AUX
alkej-330	264	11	experimented	experiment	VERB
alkej-330	264	12	to	to	PART
alkej-330	264	13	find	find	VERB
alkej-330	264	14	the	the	DET
alkej-330	264	15	best	good	ADJ
alkej-330	264	16	one	one	NUM
alkej-330	264	17	.	.	PUNCT
alkej-330	265	1	at	at	ADP
alkej-330	265	2	the	the	DET
alkej-330	265	3	beginning	beginning	NOUN
alkej-330	265	4	,	,	PUNCT
alkej-330	265	5	the	the	DET
alkej-330	265	6	networks	network	NOUN
alkej-330	265	7	were	be	AUX
alkej-330	265	8	with	with	ADP
alkej-330	265	9	one	one	NUM
alkej-330	265	10	hidden	hide	VERB
alkej-330	265	11	layer	layer	NOUN
alkej-330	265	12	trained	train	VERB
alkej-330	265	13	,	,	PUNCT
alkej-330	265	14	but	but	CCONJ
alkej-330	265	15	the	the	DET
alkej-330	265	16	results	result	NOUN
alkej-330	265	17	were	be	AUX
alkej-330	265	18	far	far	ADV
alkej-330	265	19	from	from	ADP
alkej-330	265	20	the	the	DET
alkej-330	265	21	target	target	NOUN
alkej-330	265	22	in	in	ADP
alkej-330	265	23	spite	spite	NOUN
alkej-330	265	24	of	of	ADP
alkej-330	265	25	increasing	increase	VERB
alkej-330	265	26	the	the	DET
alkej-330	265	27	number	number	NOUN
alkej-330	265	28	of	of	ADP
alkej-330	265	29	neurons	neuron	NOUN
alkej-330	265	30	.	.	PUNCT
alkej-330	266	1	therefore	therefore	ADV
alkej-330	266	2	using	use	VERB
alkej-330	266	3	networks	network	NOUN
alkej-330	266	4	with	with	ADP
alkej-330	266	5	two	two	NUM
alkej-330	266	6	hidden	hidden	ADJ
alkej-330	266	7	layers	layer	NOUN
alkej-330	266	8	,	,	PUNCT
alkej-330	266	9	the	the	DET
alkej-330	266	10	result	result	NOUN
alkej-330	266	11	began	begin	VERB
alkej-330	266	12	to	to	PART
alkej-330	266	13	approach	approach	VERB
alkej-330	266	14	from	from	ADP
alkej-330	266	15	the	the	DET
alkej-330	266	16	target	target	NOUN
alkej-330	266	17	.	.	PUNCT
alkej-330	267	1	figure	figure	NOUN
alkej-330	267	2	22	22	NUM
alkej-330	267	3	illustrate	illustrate	VERB
alkej-330	267	4	the	the	DET
alkej-330	267	5	results	result	NOUN
alkej-330	267	6	for	for	ADP
alkej-330	267	7	some	some	PRON
alkej-330	267	8	of	of	ADP
alkej-330	267	9	the	the	DET
alkej-330	267	10	networks	network	NOUN
alkej-330	267	11	that	that	PRON
alkej-330	267	12	were	be	AUX
alkej-330	267	13	experimented	experiment	VERB
alkej-330	267	14	.	.	PUNCT
alkej-330	268	1	the	the	DET
alkej-330	268	2	way	way	NOUN
alkej-330	268	3	that	that	PRON
alkej-330	268	4	these	these	DET
alkej-330	268	5	networks	network	NOUN
alkej-330	268	6	were	be	AUX
alkej-330	268	7	named	name	VERB
alkej-330	268	8	depended	depend	VERB
alkej-330	268	9	upon	upon	SCONJ
alkej-330	268	10	how	how	SCONJ
alkej-330	268	11	many	many	ADJ
alkej-330	268	12	neurons	neuron	NOUN
alkej-330	268	13	were	be	AUX
alkej-330	268	14	used	use	VERB
alkej-330	268	15	in	in	ADP
alkej-330	268	16	each	each	DET
alkej-330	268	17	layer	layer	NOUN
alkej-330	268	18	,	,	PUNCT
alkej-330	268	19	so	so	CCONJ
alkej-330	268	20	the	the	DET
alkej-330	268	21	name	name	NOUN
alkej-330	268	22	(	(	PUNCT
alkej-330	268	23	network	network	NOUN
alkej-330	268	24	12	12	NUM
alkej-330	268	25	-	-	SYM
alkej-330	268	26	40	40	NUM
alkej-330	268	27	)	)	PUNCT
alkej-330	268	28	means	mean	VERB
alkej-330	268	29	the	the	DET
alkej-330	268	30	first	first	ADJ
alkej-330	268	31	layer	layer	NOUN
alkej-330	268	32	has	have	VERB
alkej-330	268	33	12	12	NUM
alkej-330	268	34	neurons	neuron	NOUN
alkej-330	268	35	,	,	PUNCT
alkej-330	268	36	and	and	CCONJ
alkej-330	268	37	the	the	DET
alkej-330	268	38	second	second	ADJ
alkej-330	268	39	layer	layer	NOUN
alkej-330	268	40	has	have	VERB
alkej-330	268	41	40	40	NUM
alkej-330	268	42	neurons	neuron	NOUN
alkej-330	268	43	.	.	PUNCT
alkej-330	269	1	fig.19	fig.19	ADJ
alkej-330	269	2	.	.	PUNCT
alkej-330	269	3	θ1	θ1	NOUN
alkej-330	269	4	target	target	VERB
alkej-330	269	5	vs.θ1	vs.θ1	NOUN
alkej-330	269	6	neural	neural	ADJ
alkej-330	269	7	network	network	NOUN
alkej-330	269	8	two	two	NUM
alkej-330	269	9	layers	layer	NOUN
alkej-330	269	10	fig	fig	NOUN
alkej-330	269	11	.	.	PUNCT
alkej-330	270	1	20	20	NUM
alkej-330	270	2	.	.	PUNCT
alkej-330	271	1	θ1	θ1	NOUN
alkej-330	271	2	target	target	VERB
alkej-330	271	3	vs.	vs.	ADP
alkej-330	271	4	θ1	θ1	PROPN
alkej-330	271	5	neural	neural	ADJ
alkej-330	271	6	network	network	NOUN
alkej-330	271	7	two	two	NUM
alkej-330	271	8	layers	layer	NOUN
alkej-330	271	9	fig	fig	NOUN
alkej-330	271	10	.	.	PUNCT
alkej-330	272	1	21	21	NUM
alkej-330	272	2	.	.	X
alkej-330	273	1	θ2	θ2	PROPN
alkej-330	273	2	target	target	VERB
alkej-330	273	3	vs.	vs.	X
alkej-330	273	4	θ2	θ2	PROPN
alkej-330	273	5	neural	neural	ADJ
alkej-330	273	6	network	network	PROPN
alkej-330	273	7	two	two	NUM
alkej-330	273	8	layers	layer	NOUN
alkej-330	273	9	al	al	PROPN
alkej-330	273	10	-	-	PUNCT
alkej-330	273	11	khwarizmi	khwarizmi	PROPN
alkej-330	273	12	engineering	engineering	NOUN
alkej-330	273	13	journal	journal	PROPN
alkej-330	273	14	,	,	PUNCT
alkej-330	273	15	vol	vol	NOUN
alkej-330	273	16	.	.	PROPN
alkej-330	273	17	13	13	NUM
alkej-330	273	18	,	,	PUNCT
alkej-330	273	19	no	no	INTJ
alkej-330	273	20	.	.	NOUN
alkej-330	273	21	1	1	NUM
alkej-330	273	22	,	,	PUNCT
alkej-330	273	23	p.p	p.p	PROPN
alkej-330	273	24	.	.	NOUN
alkej-330	273	25	1	1	NUM
alkej-330	273	26	23	23	NUM
alkej-330	273	27	as	as	SCONJ
alkej-330	273	28	mentioned	mention	VERB
alkej-330	273	29	above	above	ADV
alkej-330	273	30	,	,	PUNCT
alkej-330	273	31	there	there	PRON
alkej-330	273	32	are	be	VERB
alkej-330	273	33	many	many	ADJ
alkej-330	273	34	networks	network	NOUN
alkej-330	273	35	were	be	AUX
alkej-330	273	36	experimented	experiment	VERB
alkej-330	273	37	to	to	PART
alkej-330	273	38	find	find	VERB
alkej-330	273	39	the	the	DET
alkej-330	273	40	best	good	ADJ
alkej-330	273	41	one	one	NUM
alkej-330	273	42	.	.	PUNCT
alkej-330	274	1	at	at	ADP
alkej-330	274	2	the	the	DET
alkej-330	274	3	beginning	beginning	NOUN
alkej-330	274	4	,	,	PUNCT
alkej-330	274	5	the	the	PRON
alkej-330	274	6	with	with	ADP
alkej-330	274	7	one	one	NUM
alkej-330	274	8	hidden	hide	VERB
alkej-330	274	9	layer	layer	NOUN
alkej-330	274	10	trained	train	VERB
alkej-330	274	11	,	,	PUNCT
alkej-330	274	12	but	but	CCONJ
alkej-330	274	13	the	the	DET
alkej-330	274	14	results	result	NOUN
alkej-330	274	15	were	be	AUX
alkej-330	274	16	far	far	ADV
alkej-330	274	17	from	from	ADP
alkej-330	274	18	the	the	DET
alkej-330	274	19	target	target	NOUN
alkej-330	274	20	in	in	ADP
alkej-330	274	21	spite	spite	NOUN
alkej-330	274	22	of	of	ADP
alkej-330	274	23	therefore	therefore	ADV
alkej-330	274	24	,	,	PUNCT
alkej-330	274	25	by	by	ADP
alkej-330	274	26	using	use	VERB
alkej-330	274	27	networks	network	NOUN
alkej-330	274	28	with	with	ADP
alkej-330	274	29	two	two	NUM
alkej-330	274	30	hidden	hidden	ADJ
alkej-330	274	31	layers	layer	NOUN
alkej-330	274	32	,	,	PUNCT
alkej-330	274	33	the	the	DET
alkej-330	274	34	result	result	NOUN
alkej-330	274	35	figures	figure	VERB
alkej-330	274	36	19	19	NUM
alkej-330	274	37	to	to	PART
alkej-330	274	38	for	for	ADP
alkej-330	274	39	some	some	PRON
alkej-330	274	40	of	of	ADP
alkej-330	274	41	the	the	DET
alkej-330	274	42	networks	network	NOUN
alkej-330	274	43	that	that	PRON
alkej-330	274	44	were	be	AUX
alkej-330	274	45	experimented	experiment	VERB
alkej-330	274	46	.	.	PUNCT
alkej-330	275	1	the	the	DET
alkej-330	275	2	way	way	NOUN
alkej-330	275	3	that	that	PRON
alkej-330	275	4	these	these	DET
alkej-330	275	5	networks	network	NOUN
alkej-330	275	6	were	be	AUX
alkej-330	275	7	named	name	VERB
alkej-330	275	8	depended	depend	VERB
alkej-330	275	9	upon	upon	SCONJ
alkej-330	275	10	how	how	SCONJ
alkej-330	275	11	many	many	ADJ
alkej-330	275	12	neurons	neuron	NOUN
alkej-330	275	13	were	be	AUX
alkej-330	275	14	used	use	VERB
alkej-330	275	15	in	in	ADP
alkej-330	275	16	each	each	DET
alkej-330	275	17	layer	layer	NOUN
alkej-330	275	18	,	,	PUNCT
alkej-330	275	19	so	so	CCONJ
alkej-330	275	20	the	the	DET
alkej-330	275	21	name	name	NOUN
alkej-330	275	22	40	40	NUM
alkej-330	275	23	)	)	PUNCT
alkej-330	275	24	means	mean	VERB
alkej-330	275	25	the	the	DET
alkej-330	275	26	first	first	ADJ
alkej-330	275	27	layer	layer	NOUN
alkej-330	275	28	has	have	VERB
alkej-330	275	29	12	12	NUM
alkej-330	275	30	neurons	neuron	NOUN
alkej-330	275	31	,	,	PUNCT
alkej-330	275	32	and	and	CCONJ
alkej-330	275	33	the	the	DET
alkej-330	275	34	second	second	ADJ
alkej-330	275	35	layer	layer	NOUN
alkej-330	275	36	has	have	VERB
alkej-330	275	37	40	40	NUM
alkej-330	275	38	neurons	neuron	NOUN
alkej-330	275	39	.	.	PUNCT
alkej-330	276	1	1	1	NUM
alkej-330	276	2	neural	neural	ADJ
alkej-330	276	3	network	network	NOUN
alkej-330	276	4	two	two	NUM
alkej-330	276	5	layers	layer	NOUN
alkej-330	276	6	.	.	PUNCT
alkej-330	277	1	1	1	NUM
alkej-330	277	2	neural	neural	ADJ
alkej-330	277	3	network	network	NOUN
alkej-330	277	4	two	two	NUM
alkej-330	277	5	layers	layer	NOUN
alkej-330	277	6	.	.	PUNCT
alkej-330	278	1	2	2	NUM
alkej-330	278	2	neural	neural	ADJ
alkej-330	278	3	network	network	NOUN
alkej-330	278	4	two	two	NUM
alkej-330	278	5	layers	layer	NOUN
alkej-330	278	6	.	.	PUNCT
alkej-330	279	1	fig	fig	NOUN
alkej-330	279	2	.	.	PUNCT
alkej-330	280	1	22	22	NUM
alkej-330	280	2	.	.	X
alkej-330	281	1	θ2	θ2	PROPN
alkej-330	281	2	target	target	VERB
alkej-330	281	3	vs.	vs.	X
alkej-330	281	4	θ2	θ2	PROPN
alkej-330	281	5	neural	neural	ADJ
alkej-330	281	6	network	network	PROPN
alkej-330	281	7	two	two	NUM
alkej-330	281	8	layers	layer	NOUN
alkej-330	281	9	6	6	NUM
alkej-330	281	10	.	.	PUNCT
alkej-330	281	11	conclusion	conclusion	NOUN
alkej-330	281	12	the	the	DET
alkej-330	281	13	first	first	ADJ
alkej-330	281	14	advantage	advantage	NOUN
alkej-330	281	15	of	of	ADP
alkej-330	281	16	using	use	VERB
alkej-330	281	17	neural	neural	ADJ
alkej-330	281	18	network	network	NOUN
alkej-330	281	19	is	be	AUX
alkej-330	281	20	to	to	PART
alkej-330	281	21	overcome	overcome	VERB
alkej-330	281	22	the	the	DET
alkej-330	281	23	difficulties	difficulty	NOUN
alkej-330	281	24	of	of	ADP
alkej-330	281	25	kinematic	kinematic	ADJ
alkej-330	281	26	inverse	inverse	NOUN
alkej-330	281	27	equation	equation	NOUN
alkej-330	281	28	of	of	ADP
alkej-330	281	29	the	the	DET
alkej-330	281	30	flexible	flexible	ADJ
alkej-330	281	31	robot	robot	NOUN
alkej-330	281	32	,	,	PUNCT
alkej-330	281	33	and	and	CCONJ
alkej-330	281	34	the	the	DET
alkej-330	281	35	advantage	advantage	NOUN
alkej-330	281	36	is	be	AUX
alkej-330	281	37	that	that	SCONJ
alkej-330	281	38	it	it	PRON
alkej-330	281	39	takes	take	VERB
alkej-330	281	40	the	the	DET
alkej-330	281	41	values	value	NOUN
alkej-330	281	42	of	of	ADP
alkej-330	281	43	training	training	NOUN
alkej-330	281	44	from	from	ADP
alkej-330	281	45	the	the	DET
alkej-330	281	46	experimental	experimental	ADJ
alkej-330	281	47	work	work	NOUN
alkej-330	281	48	by	by	ADP
alkej-330	281	49	operating	operate	VERB
alkej-330	281	50	the	the	DET
alkej-330	281	51	robot	robot	NOUN
alkej-330	281	52	itself	itself	PRON
alkej-330	281	53	,	,	PUNCT
alkej-330	281	54	and	and	CCONJ
alkej-330	281	55	measures	measure	VERB
alkej-330	281	56	the	the	DET
alkej-330	281	57	variables	variable	NOUN
alkej-330	281	58	with	with	ADP
alkej-330	281	59	presence	presence	NOUN
alkej-330	281	60	of	of	ADP
alkej-330	281	61	more	more	ADJ
alkej-330	281	62	than	than	ADP
alkej-330	281	63	one	one	NUM
alkej-330	281	64	effect	effect	NOUN
alkej-330	281	65	during	during	ADP
alkej-330	281	66	the	the	DET
alkej-330	281	67	operation	operation	NOUN
alkej-330	281	68	(	(	PUNCT
alkej-330	281	69	like	like	ADP
alkej-330	281	70	joint	joint	NOUN
alkej-330	281	71	’s	’s	PART
alkej-330	281	72	stiffens	stiffen	NOUN
alkej-330	281	73	,	,	PUNCT
alkej-330	281	74	joint	joint	ADJ
alkej-330	281	75	’s	’s	PART
alkej-330	281	76	gear	gear	PROPN
alkej-330	281	77	box	box	PROPN
alkej-330	281	78	backlash	backlash	NOUN
alkej-330	281	79	,	,	PUNCT
alkej-330	281	80	noise	noise	NOUN
alkej-330	281	81	,	,	PUNCT
alkej-330	281	82	etc	etc	X
alkej-330	281	83	..	..	X
alkej-330	281	84	)	)	PUNCT
alkej-330	281	85	.	.	PUNCT
alkej-330	282	1	these	these	DET
alkej-330	282	2	effects	effect	NOUN
alkej-330	282	3	will	will	AUX
alkej-330	282	4	in	in	ADP
alkej-330	282	5	consideration	consideration	NOUN
alkej-330	282	6	to	to	PART
alkej-330	282	7	establish	establish	VERB
alkej-330	282	8	the	the	DET
alkej-330	282	9	network	network	NOUN
alkej-330	282	10	automatically	automatically	ADV
alkej-330	282	11	(	(	PUNCT
alkej-330	282	12	during	during	ADP
alkej-330	282	13	learning	learn	VERB
alkej-330	282	14	to	to	PART
alkej-330	282	15	find	find	VERB
alkej-330	282	16	approximation	approximation	NOUN
alkej-330	282	17	)	)	PUNCT
alkej-330	282	18	,	,	PUNCT
alkej-330	282	19	therefore	therefore	ADV
alkej-330	282	20	,	,	PUNCT
alkej-330	282	21	the	the	DET
alkej-330	282	22	result	result	NOUN
alkej-330	282	23	when	when	SCONJ
alkej-330	282	24	used	use	VERB
alkej-330	282	25	in	in	ADP
alkej-330	282	26	the	the	DET
alkej-330	282	27	control	control	NOUN
alkej-330	282	28	system	system	NOUN
alkej-330	282	29	of	of	ADP
alkej-330	282	30	robot	robot	NOUN
alkej-330	282	31	will	will	AUX
alkej-330	282	32	overcome	overcome	VERB
alkej-330	282	33	the	the	DET
alkej-330	282	34	problem	problem	NOUN
alkej-330	282	35	of	of	ADP
alkej-330	282	36	these	these	DET
alkej-330	282	37	effects	effect	NOUN
alkej-330	282	38	,	,	PUNCT
alkej-330	282	39	but	but	CCONJ
alkej-330	282	40	may	may	AUX
alkej-330	282	41	be	be	AUX
alkej-330	282	42	when	when	SCONJ
alkej-330	282	43	using	use	VERB
alkej-330	282	44	the	the	DET
alkej-330	282	45	other	other	ADJ
alkej-330	282	46	methods	method	NOUN
alkej-330	282	47	algebraic	algebraic	ADJ
alkej-330	282	48	method	method	NOUN
alkej-330	282	49	,	,	PUNCT
alkej-330	282	50	the	the	DET
alkej-330	282	51	inverse	inverse	NOUN
alkej-330	282	52	kinematic	kinematic	NOUN
alkej-330	282	53	equation	equation	NOUN
alkej-330	282	54	will	will	AUX
alkej-330	282	55	be	be	AUX
alkej-330	282	56	solved	solve	VERB
alkej-330	282	57	mathematically	mathematically	ADV
alkej-330	282	58	and	and	CCONJ
alkej-330	282	59	consideration	consideration	NOUN
alkej-330	282	60	these	these	DET
alkej-330	282	61	effects	effect	NOUN
alkej-330	282	62	.	.	PUNCT
alkej-330	283	1	the	the	DET
alkej-330	283	2	proposed	propose	VERB
alkej-330	283	3	neural	neural	ADJ
alkej-330	283	4	network	network	NOUN
alkej-330	283	5	gave	give	VERB
alkej-330	283	6	a	a	DET
alkej-330	283	7	good	good	ADJ
alkej-330	283	8	fit	fit	NOUN
alkej-330	283	9	with	with	ADP
alkej-330	283	10	the	the	DET
alkej-330	283	11	target	target	NOUN
alkej-330	283	12	.	.	PUNCT
alkej-330	284	1	the	the	DET
alkej-330	284	2	roots	root	NOUN
alkej-330	284	3	square	square	ADJ
alkej-330	284	4	errors	error	NOUN
alkej-330	284	5	of	of	ADP
alkej-330	284	6	results	result	NOUN
alkej-330	284	7	network	network	NOUN
alkej-330	284	8	were	be	AUX
alkej-330	284	9	and	and	CCONJ
alkej-330	284	10	(	(	PUNCT
alkej-330	284	11	0.999804	0.999804	NUM
alkej-330	284	12	)	)	PUNCT
alkej-330	284	13	for	for	ADP
alkej-330	284	14	the	the	DET
alkej-330	284	15	first	first	ADJ
alkej-330	284	16	and	and	CCONJ
alkej-330	284	17	the	the	DET
alkej-330	284	18	second	second	ADJ
alkej-330	284	19	angles	angle	NOUN
alkej-330	284	20	,	,	PUNCT
alkej-330	284	21	respectively	respectively	ADV
alkej-330	284	22	.	.	PUNCT
alkej-330	285	1	and	and	CCONJ
alkej-330	285	2	it	it	PRON
alkej-330	285	3	is	be	AUX
alkej-330	285	4	found	find	VERB
alkej-330	285	5	from	from	ADP
alkej-330	285	6	the	the	DET
alkej-330	285	7	training	training	NOUN
alkej-330	285	8	and	and	CCONJ
alkej-330	285	9	testing	testing	NOUN
alkej-330	285	10	of	of	ADP
alkej-330	285	11	many	many	ADJ
alkej-330	285	12	networks	network	NOUN
alkej-330	285	13	that	that	PRON
alkej-330	285	14	,	,	PUNCT
alkej-330	285	15	not	not	PART
alkej-330	285	16	conditionally	conditionally	ADV
alkej-330	285	17	,	,	PUNCT
alkej-330	285	18	the	the	DET
alkej-330	285	19	increase	increase	NOUN
alkej-330	285	20	of	of	ADP
alkej-330	285	21	number	number	NOUN
alkej-330	285	22	of	of	ADP
alkej-330	285	23	neurons	neuron	NOUN
alkej-330	285	24	in	in	ADP
alkej-330	285	25	the	the	DET
alkej-330	285	26	hidden	hidden	ADJ
alkej-330	285	27	layers	layer	NOUN
alkej-330	285	28	will	will	AUX
alkej-330	285	29	give	give	VERB
alkej-330	285	30	the	the	DET
alkej-330	285	31	best	good	ADJ
alkej-330	285	32	result	result	NOUN
alkej-330	285	33	.	.	PUNCT
alkej-330	286	1	also	also	ADV
alkej-330	286	2	,	,	PUNCT
alkej-330	286	3	this	this	DET
alkej-330	286	4	neural	neural	ADJ
alkej-330	286	5	network	network	NOUN
alkej-330	286	6	was	be	AUX
alkej-330	286	7	used	use	VERB
alkej-330	286	8	in	in	ADP
alkej-330	286	9	the	the	DET
alkej-330	286	10	operating	operating	NOUN
alkej-330	286	11	software	software	NOUN
alkej-330	286	12	of	of	ADP
alkej-330	286	13	era	era	NOUN
alkej-330	286	14	robot	robot	NOUN
alkej-330	286	15	and	and	CCONJ
alkej-330	286	16	showed	show	VERB
alkej-330	286	17	a	a	DET
alkej-330	286	18	good	good	ADJ
alkej-330	286	19	performance	performance	NOUN
alkej-330	286	20	to	to	PART
alkej-330	286	21	position	position	VERB
alkej-330	286	22	the	the	DET
alkej-330	286	23	end	end	NOUN
alkej-330	286	24	effector	effector	NOUN
alkej-330	286	25	of	of	ADP
alkej-330	286	26	the	the	DET
alkej-330	286	27	elastic	elastic	ADJ
alkej-330	286	28	7	7	NUM
alkej-330	286	29	.	.	PUNCT
alkej-330	287	1	references	reference	NOUN
alkej-330	287	2	[	[	X
alkej-330	287	3	1	1	NUM
alkej-330	287	4	]	]	PUNCT
alkej-330	287	5	slotine	slotine	NOUN
alkej-330	287	6	,	,	PUNCT
alkej-330	287	7	h.	h.	PROPN
alkej-330	287	8	asada	asada	PROPN
alkej-330	287	9	and	and	CCONJ
alkej-330	287	10	j.	j.	PROPN
alkej-330	287	11	j.	j.	PROPN
alkej-330	287	12	e.	e.	PROPN
alkej-330	287	13	,	,	PUNCT
alkej-330	287	14	robot	robot	NOUN
alkej-330	287	15	analysis	analysis	NOUN
alkej-330	287	16	and	and	CCONJ
alkej-330	287	17	control	control	NOUN
alkej-330	287	18	,	,	PUNCT
alkej-330	287	19	new	new	PROPN
alkej-330	287	20	york	york	PROPN
alkej-330	287	21	:	:	PUNCT
alkej-330	287	22	john	john	PROPN
alkej-330	287	23	wiley	wiley	PROPN
alkej-330	287	24	and	and	CCONJ
alkej-330	287	25	sons	son	NOUN
alkej-330	287	26	,	,	PUNCT
alkej-330	287	27	1985	1985	NUM
alkej-330	287	28	.	.	PUNCT
alkej-330	288	1	[	[	X
alkej-330	288	2	2	2	NUM
alkej-330	288	3	]	]	PUNCT
alkej-330	288	4	manseur	manseur	PROPN
alkej-330	288	5	,	,	PUNCT
alkej-330	288	6	rachid	rachid	PROPN
alkej-330	288	7	,	,	PUNCT
alkej-330	288	8	robot	robot	NOUN
alkej-330	288	9	modeling	modeling	NOUN
alkej-330	288	10	and	and	CCONJ
alkej-330	288	11	kineamtics	kineamtic	NOUN
alkej-330	288	12	,	,	PUNCT
alkej-330	288	13	india	india	PROPN
alkej-330	288	14	:	:	PUNCT
alkej-330	288	15	firwall	firwall	PROPN
alkej-330	288	16	media	medium	NOUN
alkej-330	288	17	,	,	PUNCT
alkej-330	288	18	2007	2007	NUM
alkej-330	288	19	.	.	PUNCT
alkej-330	289	1	[	[	X
alkej-330	289	2	3	3	NUM
alkej-330	289	3	]	]	X
alkej-330	289	4	bingul	bingul	NOUN
alkej-330	289	5	,	,	PUNCT
alkej-330	289	6	serdar	serdar	PROPN
alkej-330	289	7	kucuk	kucuk	PROPN
alkej-330	289	8	and	and	CCONJ
alkej-330	289	9	zafer	zafer	PROPN
alkej-330	289	10	,	,	PUNCT
alkej-330	289	11	"	"	PUNCT
alkej-330	289	12	the	the	DET
alkej-330	289	13	inverse	inverse	NOUN
alkej-330	289	14	kinematics	kinematic	NOUN
alkej-330	289	15	solutions	solution	NOUN
alkej-330	289	16	of	of	ADP
alkej-330	289	17	industrial	industrial	PROPN
alkej-330	289	18	khwarizmi	khwarizmi	PROPN
alkej-330	289	19	engineering	engineering	PROPN
alkej-330	289	20	journal	journal	PROPN
alkej-330	289	21	,	,	PUNCT
alkej-330	289	22	vol	vol	NOUN
alkej-330	289	23	.	.	PROPN
alkej-330	289	24	13	13	NUM
alkej-330	289	25	,	,	PUNCT
alkej-330	289	26	no	no	INTJ
alkej-330	289	27	.	.	NOUN
alkej-330	289	28	1	1	NUM
alkej-330	289	29	,	,	PUNCT
alkej-330	289	30	p.p	p.p	PROPN
alkej-330	289	31	.	.	NOUN
alkej-330	289	32	1325(2017	1325(2017	NUM
alkej-330	289	33	)	)	PUNCT
alkej-330	289	34	2	2	NUM
alkej-330	289	35	neural	neural	ADJ
alkej-330	289	36	network	network	NOUN
alkej-330	289	37	two	two	NUM
alkej-330	289	38	layers	layer	NOUN
alkej-330	289	39	.	.	PUNCT
alkej-330	290	1	the	the	DET
alkej-330	290	2	first	first	ADJ
alkej-330	290	3	advantage	advantage	NOUN
alkej-330	290	4	of	of	ADP
alkej-330	290	5	using	use	VERB
alkej-330	290	6	neural	neural	ADJ
alkej-330	290	7	network	network	NOUN
alkej-330	290	8	is	be	AUX
alkej-330	290	9	to	to	PART
alkej-330	290	10	overcome	overcome	VERB
alkej-330	290	11	the	the	DET
alkej-330	290	12	difficulties	difficulty	NOUN
alkej-330	290	13	of	of	ADP
alkej-330	290	14	kinematic	kinematic	ADJ
alkej-330	290	15	inverse	inverse	NOUN
alkej-330	290	16	equation	equation	NOUN
alkej-330	290	17	of	of	ADP
alkej-330	290	18	the	the	DET
alkej-330	290	19	flexible	flexible	ADJ
alkej-330	290	20	robot	robot	NOUN
alkej-330	290	21	,	,	PUNCT
alkej-330	290	22	and	and	CCONJ
alkej-330	290	23	the	the	DET
alkej-330	290	24	second	second	ADJ
alkej-330	290	25	the	the	DET
alkej-330	290	26	values	value	NOUN
alkej-330	290	27	of	of	ADP
alkej-330	290	28	training	training	NOUN
alkej-330	290	29	from	from	ADP
alkej-330	290	30	the	the	DET
alkej-330	290	31	experimental	experimental	ADJ
alkej-330	290	32	work	work	NOUN
alkej-330	290	33	by	by	ADP
alkej-330	290	34	operating	operate	VERB
alkej-330	290	35	the	the	DET
alkej-330	290	36	the	the	DET
alkej-330	290	37	variables	variable	NOUN
alkej-330	290	38	with	with	ADP
alkej-330	290	39	presence	presence	NOUN
alkej-330	290	40	of	of	ADP
alkej-330	290	41	more	more	ADJ
alkej-330	290	42	than	than	ADP
alkej-330	290	43	one	one	NUM
alkej-330	290	44	effect	effect	NOUN
alkej-330	290	45	during	during	ADP
alkej-330	290	46	the	the	DET
alkej-330	290	47	operation	operation	NOUN
alkej-330	290	48	(	(	PUNCT
alkej-330	290	49	like	like	ADP
alkej-330	290	50	joint	joint	NOUN
alkej-330	290	51	’s	’s	PART
alkej-330	290	52	stiffens	stiffen	NOUN
alkej-330	290	53	,	,	PUNCT
alkej-330	290	54	joint	joint	ADJ
alkej-330	290	55	’s	’s	PART
alkej-330	290	56	gear	gear	NOUN
alkej-330	290	57	box	box	PROPN
alkej-330	290	58	hese	hese	PROPN
alkej-330	290	59	effects	effect	NOUN
alkej-330	290	60	will	will	AUX
alkej-330	290	61	be	be	AUX
alkej-330	290	62	taken	take	VERB
alkej-330	290	63	in	in	ADP
alkej-330	290	64	consideration	consideration	NOUN
alkej-330	290	65	to	to	PART
alkej-330	290	66	establish	establish	VERB
alkej-330	290	67	the	the	DET
alkej-330	290	68	network	network	NOUN
alkej-330	290	69	automatically	automatically	ADV
alkej-330	290	70	(	(	PUNCT
alkej-330	290	71	during	during	ADP
alkej-330	290	72	learning	learn	VERB
alkej-330	290	73	to	to	PART
alkej-330	290	74	find	find	VERB
alkej-330	290	75	the	the	DET
alkej-330	290	76	function	function	NOUN
alkej-330	290	77	he	he	PRON
alkej-330	290	78	result	result	VERB
alkej-330	290	79	of	of	ADP
alkej-330	290	80	network	network	NOUN
alkej-330	290	81	when	when	SCONJ
alkej-330	290	82	used	use	VERB
alkej-330	290	83	in	in	ADP
alkej-330	290	84	the	the	DET
alkej-330	290	85	control	control	NOUN
alkej-330	290	86	system	system	NOUN
alkej-330	290	87	of	of	ADP
alkej-330	290	88	robot	robot	NOUN
alkej-330	290	89	will	will	AUX
alkej-330	290	90	overcome	overcome	VERB
alkej-330	290	91	the	the	DET
alkej-330	290	92	problem	problem	NOUN
alkej-330	290	93	of	of	ADP
alkej-330	290	94	these	these	DET
alkej-330	290	95	effects	effect	NOUN
alkej-330	290	96	,	,	PUNCT
alkej-330	290	97	but	but	CCONJ
alkej-330	290	98	may	may	AUX
alkej-330	290	99	be	be	AUX
alkej-330	290	100	the	the	DET
alkej-330	290	101	other	other	ADJ
alkej-330	290	102	methods	method	NOUN
alkej-330	290	103	,	,	PUNCT
alkej-330	290	104	especially	especially	ADV
alkej-330	290	105	the	the	DET
alkej-330	290	106	the	the	DET
alkej-330	290	107	inverse	inverse	NOUN
alkej-330	290	108	kinematic	kinematic	NOUN
alkej-330	290	109	equation	equation	NOUN
alkej-330	290	110	l	l	NOUN
alkej-330	290	111	be	be	AUX
alkej-330	290	112	solved	solve	VERB
alkej-330	290	113	mathematically	mathematically	ADV
alkej-330	290	114	and	and	CCONJ
alkej-330	290	115	will	will	AUX
alkej-330	290	116	not	not	PART
alkej-330	290	117	take	take	VERB
alkej-330	290	118	in	in	ADP
alkej-330	290	119	the	the	DET
alkej-330	290	120	proposed	propose	VERB
alkej-330	290	121	neural	neural	ADJ
alkej-330	290	122	network	network	NOUN
alkej-330	290	123	gave	give	VERB
alkej-330	290	124	a	a	DET
alkej-330	290	125	good	good	ADJ
alkej-330	290	126	fit	fit	NOUN
alkej-330	290	127	with	with	ADP
alkej-330	290	128	the	the	DET
alkej-330	290	129	target	target	NOUN
alkej-330	290	130	.	.	PUNCT
alkej-330	291	1	the	the	DET
alkej-330	291	2	roots	root	NOUN
alkej-330	291	3	of	of	ADP
alkej-330	291	4	results	result	NOUN
alkej-330	291	5	network	network	NOUN
alkej-330	291	6	were	be	AUX
alkej-330	291	7	(	(	PUNCT
alkej-330	291	8	0.999742	0.999742	NUM
alkej-330	291	9	)	)	PUNCT
alkej-330	291	10	and	and	CCONJ
alkej-330	291	11	(	(	PUNCT
alkej-330	291	12	0.999804	0.999804	NUM
alkej-330	291	13	)	)	PUNCT
alkej-330	291	14	for	for	ADP
alkej-330	291	15	the	the	DET
alkej-330	291	16	first	first	ADJ
alkej-330	291	17	and	and	CCONJ
alkej-330	291	18	the	the	DET
alkej-330	291	19	second	second	ADJ
alkej-330	291	20	angles	angle	NOUN
alkej-330	291	21	,	,	PUNCT
alkej-330	291	22	tively	tively	ADV
alkej-330	291	23	.	.	PUNCT
alkej-330	292	1	and	and	CCONJ
alkej-330	292	2	it	it	PRON
alkej-330	292	3	is	be	AUX
alkej-330	292	4	found	find	VERB
alkej-330	292	5	from	from	ADP
alkej-330	292	6	the	the	DET
alkej-330	292	7	training	training	NOUN
alkej-330	292	8	and	and	CCONJ
alkej-330	292	9	testing	testing	NOUN
alkej-330	292	10	of	of	ADP
alkej-330	292	11	many	many	ADJ
alkej-330	292	12	networks	network	NOUN
alkej-330	292	13	that	that	PRON
alkej-330	292	14	,	,	PUNCT
alkej-330	292	15	not	not	PART
alkej-330	292	16	conditionally	conditionally	ADV
alkej-330	292	17	,	,	PUNCT
alkej-330	292	18	the	the	DET
alkej-330	292	19	increase	increase	NOUN
alkej-330	292	20	of	of	ADP
alkej-330	292	21	number	number	NOUN
alkej-330	292	22	of	of	ADP
alkej-330	292	23	neurons	neuron	NOUN
alkej-330	292	24	in	in	ADP
alkej-330	292	25	the	the	DET
alkej-330	292	26	hidden	hidden	ADJ
alkej-330	292	27	layers	layer	NOUN
alkej-330	292	28	will	will	AUX
alkej-330	292	29	give	give	VERB
alkej-330	292	30	the	the	DET
alkej-330	292	31	best	good	ADJ
alkej-330	292	32	result	result	NOUN
alkej-330	292	33	.	.	PUNCT
alkej-330	293	1	also	also	ADV
alkej-330	293	2	,	,	PUNCT
alkej-330	293	3	this	this	DET
alkej-330	293	4	neural	neural	ADJ
alkej-330	293	5	network	network	NOUN
alkej-330	293	6	was	be	AUX
alkej-330	293	7	used	use	VERB
alkej-330	293	8	in	in	ADP
alkej-330	293	9	the	the	DET
alkej-330	293	10	operating	operate	VERB
alkej-330	293	11	software	software	NOUN
alkej-330	293	12	of	of	ADP
alkej-330	293	13	a	a	DET
alkej-330	293	14	good	good	ADJ
alkej-330	293	15	performance	performance	NOUN
alkej-330	293	16	to	to	ADP
alkej-330	293	17	elastic	elastic	ADJ
alkej-330	293	18	robot	robot	NOUN
alkej-330	293	19	.	.	PUNCT
alkej-330	294	1	slotine	slotine	PROPN
alkej-330	294	2	,	,	PUNCT
alkej-330	294	3	h.	h.	PROPN
alkej-330	294	4	asada	asada	PROPN
alkej-330	294	5	and	and	CCONJ
alkej-330	294	6	j.	j.	PROPN
alkej-330	294	7	j.	j.	PROPN
alkej-330	294	8	e.	e.	PROPN
alkej-330	294	9	,	,	PUNCT
alkej-330	294	10	robot	robot	NOUN
alkej-330	294	11	analysis	analysis	NOUN
alkej-330	294	12	and	and	CCONJ
alkej-330	294	13	control	control	NOUN
alkej-330	294	14	,	,	PUNCT
alkej-330	294	15	new	new	PROPN
alkej-330	294	16	york	york	PROPN
alkej-330	294	17	:	:	PUNCT
alkej-330	294	18	john	john	PROPN
alkej-330	294	19	wiley	wiley	PROPN
alkej-330	294	20	manseur	manseur	PROPN
alkej-330	294	21	,	,	PUNCT
alkej-330	294	22	rachid	rachid	PROPN
alkej-330	294	23	,	,	PUNCT
alkej-330	294	24	robot	robot	NOUN
alkej-330	294	25	modeling	modeling	NOUN
alkej-330	294	26	and	and	CCONJ
alkej-330	294	27	kineamtics	kineamtic	NOUN
alkej-330	294	28	,	,	PUNCT
alkej-330	294	29	india	india	PROPN
alkej-330	294	30	:	:	PUNCT
alkej-330	294	31	firwall	firwall	PROPN
alkej-330	294	32	media	medium	NOUN
alkej-330	294	33	,	,	PUNCT
alkej-330	294	34	2007	2007	NUM
alkej-330	294	35	.	.	PUNCT
alkej-330	295	1	bingul	bingul	ADJ
alkej-330	295	2	,	,	PUNCT
alkej-330	295	3	serdar	serdar	PROPN
alkej-330	295	4	kucuk	kucuk	PROPN
alkej-330	295	5	and	and	CCONJ
alkej-330	295	6	zafer	zafer	PROPN
alkej-330	295	7	,	,	PUNCT
alkej-330	295	8	"	"	PUNCT
alkej-330	295	9	the	the	DET
alkej-330	295	10	inverse	inverse	NOUN
alkej-330	295	11	kinematics	kinematic	NOUN
alkej-330	295	12	solutions	solution	NOUN
alkej-330	295	13	of	of	ADP
alkej-330	295	14	industrial	industrial	ADJ
alkej-330	295	15	hussein	hussein	PROPN
alkej-330	295	16	m.	m.	PROPN
alkej-330	295	17	al	al	PROPN
alkej-330	295	18	-	-	PUNCT
alkej-330	295	19	khafaji	khafaji	PROPN
alkej-330	295	20	al	al	PROPN
alkej-330	295	21	-	-	PUNCT
alkej-330	295	22	khwarizmi	khwarizmi	PROPN
alkej-330	295	23	engineering	engineering	NOUN
alkej-330	295	24	journal	journal	PROPN
alkej-330	295	25	,	,	PUNCT
alkej-330	295	26	vol	vol	NOUN
alkej-330	295	27	.	.	PROPN
alkej-330	295	28	13	13	NUM
alkej-330	295	29	,	,	PUNCT
alkej-330	295	30	no	no	INTJ
alkej-330	295	31	.	.	NOUN
alkej-330	295	32	1	1	NUM
alkej-330	295	33	,	,	PUNCT
alkej-330	295	34	p.p	p.p	PROPN
alkej-330	295	35	.	.	NOUN
alkej-330	295	36	1325(2017	1325(2017	NUM
alkej-330	295	37	)	)	PUNCT
alkej-330	295	38	24	24	NUM
alkej-330	295	39	robot	robot	NOUN
alkej-330	295	40	manipulators	manipulator	NOUN
alkej-330	295	41	,	,	PUNCT
alkej-330	295	42	"	"	PUNCT
alkej-330	295	43	in	in	ADP
alkej-330	295	44	mechatronics	mechatronic	NOUN
alkej-330	295	45	,	,	PUNCT
alkej-330	295	46	2004	2004	NUM
alkej-330	295	47	.	.	PUNCT
alkej-330	296	1	icm	icm	NOUN
alkej-330	296	2	'	'	NUM
alkej-330	296	3	04	04	NUM
alkej-330	296	4	.	.	PUNCT
alkej-330	297	1	proceedings	proceeding	NOUN
alkej-330	297	2	of	of	ADP
alkej-330	297	3	the	the	DET
alkej-330	297	4	ieee	ieee	NOUN
alkej-330	297	5	international	international	PROPN
alkej-330	297	6	conference	conference	NOUN
alkej-330	297	7	on	on	ADP
alkej-330	297	8	,	,	PUNCT
alkej-330	297	9	3	3	NUM
alkej-330	297	10	-	-	SYM
alkej-330	297	11	5	5	NUM
alkej-330	297	12	june	june	PROPN
alkej-330	297	13	2004	2004	NUM
alkej-330	297	14	.	.	PUNCT
alkej-330	298	1	[	[	X
alkej-330	298	2	4	4	NUM
alkej-330	298	3	]	]	PUNCT
alkej-330	298	4	albert	albert	PROPN
alkej-330	298	5	castellet	castellet	PROPN
alkej-330	298	6	and	and	CCONJ
alkej-330	298	7	federico	federico	PROPN
alkej-330	298	8	thomas	thomas	PROPN
alkej-330	298	9	,	,	PUNCT
alkej-330	298	10	"	"	PUNCT
alkej-330	298	11	towards	towards	ADP
alkej-330	298	12	an	an	DET
alkej-330	298	13	efficient	efficient	ADJ
alkej-330	298	14	interval	interval	NOUN
alkej-330	298	15	method	method	NOUN
alkej-330	298	16	for	for	ADP
alkej-330	298	17	solving	solve	VERB
alkej-330	298	18	inverse	inverse	NOUN
alkej-330	298	19	kinematic	kinematic	NOUN
alkej-330	298	20	problems	problem	NOUN
alkej-330	298	21	,	,	PUNCT
alkej-330	298	22	"	"	PUNCT
alkej-330	298	23	in	in	ADP
alkej-330	298	24	pp	pp	PROPN
alkej-330	298	25	.	.	PUNCT
alkej-330	298	26	3615	3615	NUM
alkej-330	298	27	-	-	SYM
alkej-330	298	28	3620	3620	NUM
alkej-330	298	29	,	,	PUNCT
alkej-330	298	30	ieee	ieee	PROPN
alkej-330	298	31	international	international	ADJ
alkej-330	298	32	conference	conference	NOUN
alkej-330	298	33	on	on	ADP
alkej-330	298	34	robotics	robotic	NOUN
alkej-330	298	35	and	and	CCONJ
alkej-330	298	36	automation	automation	NOUN
alkej-330	298	37	,	,	PUNCT
alkej-330	298	38	new	new	PROPN
alkej-330	298	39	mexico	mexico	PROPN
alkej-330	298	40	,	,	PUNCT
alkej-330	298	41	april	april	PROPN
alkej-330	298	42	,	,	PUNCT
alkej-330	298	43	1997	1997	NUM
alkej-330	298	44	.	.	PUNCT
alkej-330	299	1	[	[	X
alkej-330	299	2	5	5	X
alkej-330	299	3	]	]	PUNCT
alkej-330	299	4	michael	michael	PROPN
alkej-330	299	5	wenz	wenz	PROPN
alkej-330	299	6	and	and	CCONJ
alkej-330	299	7	heinz	heinz	PROPN
alkej-330	299	8	wörn	wörn	NOUN
alkej-330	299	9	,	,	PUNCT
alkej-330	299	10	"	"	PUNCT
alkej-330	299	11	solving	solve	VERB
alkej-330	299	12	the	the	DET
alkej-330	299	13	inverse	inverse	NOUN
alkej-330	299	14	kinematics	kinematic	NOUN
alkej-330	299	15	problem	problem	NOUN
alkej-330	299	16	symbolically	symbolically	ADV
alkej-330	299	17	by	by	ADP
alkej-330	299	18	means	mean	NOUN
alkej-330	299	19	of	of	ADP
alkej-330	299	20	knowledge	knowledge	NOUN
alkej-330	299	21	-	-	PUNCT
alkej-330	299	22	based	base	VERB
alkej-330	299	23	and	and	CCONJ
alkej-330	299	24	linear	linear	PROPN
alkej-330	299	25	algebra	algebra	NOUN
alkej-330	299	26	-	-	PUNCT
alkej-330	299	27	based	base	VERB
alkej-330	299	28	methods	method	NOUN
alkej-330	299	29	,	,	PUNCT
alkej-330	299	30	"	"	PUNCT
alkej-330	299	31	in	in	ADP
alkej-330	299	32	ieee	ieee	NOUN
alkej-330	299	33	conference	conference	NOUN
alkej-330	299	34	on	on	ADP
alkej-330	299	35	emerging	emerge	VERB
alkej-330	299	36	technologies	technology	NOUN
alkej-330	299	37	and	and	CCONJ
alkej-330	299	38	factory	factory	NOUN
alkej-330	299	39	automation	automation	NOUN
alkej-330	299	40	,	,	PUNCT
alkej-330	299	41	pp	pp	ADP
alkej-330	299	42	.	.	PUNCT
alkej-330	300	1	1346	1346	NUM
alkej-330	300	2	-	-	SYM
alkej-330	300	3	1353	1353	NUM
alkej-330	300	4	,	,	PUNCT
alkej-330	300	5	2007	2007	NUM
alkej-330	300	6	.	.	PUNCT
alkej-330	301	1	[	[	X
alkej-330	301	2	6	6	NUM
alkej-330	301	3	]	]	PUNCT
alkej-330	301	4	jian	jian	PROPN
alkej-330	301	5	xie	xie	PROPN
alkej-330	301	6	,	,	PUNCT
alkej-330	301	7	wenyi	wenyi	PROPN
alkej-330	301	8	qiang	qiang	PROPN
alkej-330	301	9	,	,	PUNCT
alkej-330	301	10	bin	bin	PROPN
alkej-330	301	11	liang	liang	PROPN
alkej-330	301	12	and	and	CCONJ
alkej-330	301	13	cheng	cheng	PROPN
alkej-330	301	14	li	li	PROPN
alkej-330	301	15	,	,	PUNCT
alkej-330	301	16	"	"	PUNCT
alkej-330	301	17	inverse	inverse	ADJ
alkej-330	301	18	kinematics	kinematic	NOUN
alkej-330	301	19	problem	problem	NOUN
alkej-330	301	20	for	for	ADP
alkej-330	301	21	6	6	NUM
alkej-330	301	22	-	-	PUNCT
alkej-330	301	23	dof	dof	NOUN
alkej-330	301	24	space	space	NOUN
alkej-330	301	25	manipulator	manipulator	NOUN
alkej-330	301	26	based	base	VERB
alkej-330	301	27	on	on	ADP
alkej-330	301	28	the	the	DET
alkej-330	301	29	theory	theory	NOUN
alkej-330	301	30	of	of	ADP
alkej-330	301	31	screws	screw	NOUN
alkej-330	301	32	,	,	PUNCT
alkej-330	301	33	"	"	PUNCT
alkej-330	301	34	in	in	ADP
alkej-330	301	35	international	international	ADJ
alkej-330	301	36	conference	conference	NOUN
alkej-330	301	37	on	on	ADP
alkej-330	301	38	robotics	robotic	NOUN
alkej-330	301	39	and	and	CCONJ
alkej-330	301	40	biomimetics	biomimetic	NOUN
alkej-330	301	41	,	,	PUNCT
alkej-330	301	42	ieee	ieee	PROPN
alkej-330	301	43	,	,	PUNCT
alkej-330	301	44	sanya	sanya	PROPN
alkej-330	301	45	,	,	PUNCT
alkej-330	301	46	china	china	PROPN
alkej-330	301	47	,	,	PUNCT
alkej-330	301	48	december	december	PROPN
alkej-330	301	49	15	15	NUM
alkej-330	301	50	-	-	SYM
alkej-330	301	51	18	18	NUM
alkej-330	301	52	2007	2007	NUM
alkej-330	301	53	.	.	PUNCT
alkej-330	302	1	[	[	X
alkej-330	302	2	7	7	X
alkej-330	302	3	]	]	X
alkej-330	302	4	e.	e.	PROPN
alkej-330	302	5	sariyildiz	sariyildiz	PROPN
alkej-330	302	6	and	and	CCONJ
alkej-330	302	7	h.	h.	PROPN
alkej-330	302	8	temeltas	temeltas	PROPN
alkej-330	302	9	,	,	PUNCT
alkej-330	302	10	"	"	PUNCT
alkej-330	302	11	solution	solution	NOUN
alkej-330	302	12	of	of	ADP
alkej-330	302	13	inverse	inverse	NOUN
alkej-330	302	14	kinematic	kinematic	NOUN
alkej-330	302	15	problem	problem	NOUN
alkej-330	302	16	for	for	ADP
alkej-330	302	17	serial	serial	ADJ
alkej-330	302	18	robot	robot	NOUN
alkej-330	302	19	using	use	VERB
alkej-330	302	20	dual	dual	ADJ
alkej-330	302	21	quaterninons	quaterninon	NOUN
alkej-330	302	22	and	and	CCONJ
alkej-330	302	23	plücker	plücker	NOUN
alkej-330	302	24	coordinates	coordinate	NOUN
alkej-330	302	25	,	,	PUNCT
alkej-330	302	26	"	"	PUNCT
alkej-330	302	27	in	in	ADP
alkej-330	302	28	advanced	advanced	ADJ
alkej-330	302	29	intelligent	intelligent	ADJ
alkej-330	302	30	mechatronics	mechatronic	NOUN
alkej-330	302	31	,	,	PUNCT
alkej-330	302	32	ieee/	ieee/	NUM
alkej-330	302	33	asme	asme	PROPN
alkej-330	302	34	international	international	ADJ
alkej-330	302	35	conference	conference	PROPN
alkej-330	302	36	on	on	ADP
alkej-330	302	37	,	,	PUNCT
alkej-330	302	38	singapor	singapor	ADJ
alkej-330	302	39	,	,	PUNCT
alkej-330	302	40	2009	2009	NUM
alkej-330	302	41	.	.	PUNCT
alkej-330	303	1	[	[	X
alkej-330	303	2	8	8	NUM
alkej-330	303	3	]	]	X
alkej-330	303	4	emre	emre	PROPN
alkej-330	303	5	sariyidiz	sariyidiz	PROPN
alkej-330	303	6	,	,	PUNCT
alkej-330	303	7	eray	eray	PROPN
alkej-330	303	8	cakiray	cakiray	VERB
alkej-330	303	9	and	and	CCONJ
alkej-330	303	10	hakan	hakan	PROPN
alkej-330	303	11	temeltas	temelta	NOUN
alkej-330	303	12	,	,	PUNCT
alkej-330	303	13	"	"	PUNCT
alkej-330	303	14	a	a	DET
alkej-330	303	15	comparative	comparative	ADJ
alkej-330	303	16	study	study	NOUN
alkej-330	303	17	of	of	ADP
alkej-330	303	18	three	three	NUM
alkej-330	303	19	invese	invese	NOUN
alkej-330	303	20	kinematic	kinematic	ADJ
alkej-330	303	21	mehtods	mehtod	NOUN
alkej-330	303	22	of	of	ADP
alkej-330	303	23	serial	serial	ADJ
alkej-330	303	24	industrial	industrial	ADJ
alkej-330	303	25	robot	robot	NOUN
alkej-330	303	26	manipulators	manipulator	NOUN
alkej-330	303	27	in	in	ADP
alkej-330	303	28	the	the	DET
alkej-330	303	29	screw	screw	ADJ
alkej-330	303	30	theory	theory	NOUN
alkej-330	303	31	framework	framework	NOUN
alkej-330	303	32	,	,	PUNCT
alkej-330	303	33	"	"	PUNCT
alkej-330	303	34	international	international	ADJ
alkej-330	303	35	journal	journal	NOUN
alkej-330	303	36	of	of	ADP
alkej-330	303	37	advanced	advanced	ADJ
alkej-330	303	38	robotic	robotic	ADJ
alkej-330	303	39	systems	system	NOUN
alkej-330	303	40	,	,	PUNCT
alkej-330	303	41	2011	2011	NUM
alkej-330	303	42	.	.	PUNCT
alkej-330	304	1	[	[	X
alkej-330	304	2	9	9	NUM
alkej-330	304	3	]	]	PUNCT
alkej-330	304	4	juan	juan	PROPN
alkej-330	304	5	martinez	martinez	PROPN
alkej-330	304	6	,	,	PUNCT
alkej-330	304	7	john	john	PROPN
alkej-330	304	8	bowles	bowles	PROPN
alkej-330	304	9	and	and	CCONJ
alkej-330	304	10	patrick	patrick	PROPN
alkej-330	304	11	mills	mill	NOUN
alkej-330	304	12	,	,	PUNCT
alkej-330	304	13	"	"	PUNCT
alkej-330	304	14	a	a	DET
alkej-330	304	15	fuzzy	fuzzy	ADJ
alkej-330	304	16	logic	logic	NOUN
alkej-330	304	17	positioning	positioning	NOUN
alkej-330	304	18	system	system	NOUN
alkej-330	304	19	for	for	ADP
alkej-330	304	20	an	an	DET
alkej-330	304	21	articulated	articulated	ADJ
alkej-330	304	22	robot	robot	NOUN
alkej-330	304	23	arm	arm	NOUN
alkej-330	304	24	,	,	PUNCT
alkej-330	304	25	"	"	PUNCT
alkej-330	304	26	in	in	ADP
alkej-330	304	27	ieee	ieee	NOUN
alkej-330	304	28	,	,	PUNCT
alkej-330	304	29	1996	1996	NUM
alkej-330	304	30	.	.	PUNCT
alkej-330	305	1	[	[	X
alkej-330	305	2	10	10	NUM
alkej-330	305	3	]	]	X
alkej-330	305	4	yong	yong	PROPN
alkej-330	305	5	-	-	PUNCT
alkej-330	305	6	gui	gui	PROPN
alkej-330	305	7	zhang	zhang	PROPN
alkej-330	305	8	,	,	PUNCT
alkej-330	305	9	li	li	PROPN
alkej-330	305	10	-	-	PROPN
alkej-330	305	11	ming	ming	PROPN
alkej-330	305	12	xie	xie	PROPN
alkej-330	305	13	,	,	PUNCT
alkej-330	305	14	hao	hao	PROPN
alkej-330	305	15	shen	shen	PROPN
alkej-330	305	16	and	and	CCONJ
alkej-330	305	17	lan	lan	PROPN
alkej-330	305	18	jin	jin	PROPN
alkej-330	305	19	,	,	PUNCT
alkej-330	305	20	"	"	PUNCT
alkej-330	305	21	simulation	simulation	NOUN
alkej-330	305	22	on	on	ADP
alkej-330	305	23	whole	whole	ADJ
alkej-330	305	24	inverse	inverse	NOUN
alkej-330	305	25	kinematics	kinematic	NOUN
alkej-330	305	26	of	of	ADP
alkej-330	305	27	a	a	DET
alkej-330	305	28	5r	5r	NUM
alkej-330	305	29	robot	robot	NOUN
alkej-330	305	30	based	base	VERB
alkej-330	305	31	on	on	ADP
alkej-330	305	32	hybrid	hybrid	ADJ
alkej-330	305	33	genetic	genetic	ADJ
alkej-330	305	34	algorithm	algorithm	NOUN
alkej-330	305	35	,	,	PUNCT
alkej-330	305	36	"	"	PUNCT
alkej-330	305	37	in	in	ADP
alkej-330	305	38	the	the	DET
alkej-330	305	39	eighth	eighth	ADJ
alkej-330	305	40	international	international	ADJ
alkej-330	305	41	conference	conference	NOUN
alkej-330	305	42	on	on	ADP
alkej-330	305	43	machine	machine	NOUN
alkej-330	305	44	learning	learning	NOUN
alkej-330	305	45	and	and	CCONJ
alkej-330	305	46	cybernetics	cybernetic	NOUN
alkej-330	305	47	,	,	PUNCT
alkej-330	305	48	12	12	NUM
alkej-330	305	49	-	-	SYM
alkej-330	305	50	15	15	NUM
alkej-330	305	51	july	july	PROPN
alkej-330	305	52	,	,	PUNCT
alkej-330	305	53	2009	2009	NUM
alkej-330	305	54	.	.	PUNCT
alkej-330	306	1	[	[	X
alkej-330	306	2	11	11	NUM
alkej-330	306	3	]	]	PUNCT
alkej-330	306	4	yasuaki	yasuaki	NOUN
alkej-330	306	5	kuroe	kuroe	PROPN
alkej-330	306	6	,	,	PUNCT
alkej-330	306	7	yasuhiro	yasuhiro	PROPN
alkej-330	306	8	nakai	nakai	PROPN
alkej-330	306	9	and	and	CCONJ
alkej-330	306	10	takehiro	takehiro	PROPN
alkej-330	306	11	mori	mori	PROPN
alkej-330	306	12	,	,	PUNCT
alkej-330	306	13	"	"	PUNCT
alkej-330	306	14	a	a	DET
alkej-330	306	15	new	new	ADJ
alkej-330	306	16	neural	neural	ADJ
alkej-330	306	17	network	network	NOUN
alkej-330	306	18	approach	approach	NOUN
alkej-330	306	19	to	to	ADP
alkej-330	306	20	the	the	DET
alkej-330	306	21	inverse	inverse	NOUN
alkej-330	306	22	kinematics	kinematic	NOUN
alkej-330	306	23	problem	problem	NOUN
alkej-330	306	24	in	in	ADP
alkej-330	306	25	robotic	robotic	ADJ
alkej-330	306	26	,	,	PUNCT
alkej-330	306	27	"	"	PUNCT
alkej-330	306	28	in	in	ADP
alkej-330	306	29	conference	conference	NOUN
alkej-330	306	30	motion	motion	NOUN
alkej-330	306	31	and	and	CCONJ
alkej-330	306	32	control	control	NOUN
alkej-330	306	33	proceedings	proceeding	NOUN
alkej-330	306	34	,	,	PUNCT
alkej-330	306	35	asiapasific	asiapasific	NOUN
alkej-330	306	36	work	work	NOUN
alkej-330	306	37	shop	shop	PROPN
alkej-330	306	38	,	,	PUNCT
alkej-330	306	39	ieee	ieee	NOUN
alkej-330	306	40	,	,	PUNCT
alkej-330	306	41	1993	1993	NUM
alkej-330	306	42	.	.	PUNCT
alkej-330	307	1	[	[	X
alkej-330	307	2	12	12	NUM
alkej-330	307	3	]	]	PUNCT
alkej-330	307	4	yasuaki	yasuaki	NOUN
alkej-330	307	5	kuroe	kuroe	PROPN
alkej-330	307	6	,	,	PUNCT
alkej-330	307	7	yasuhiro	yasuhiro	PROPN
alkej-330	307	8	nakai	nakai	PROPN
alkej-330	307	9	and	and	CCONJ
alkej-330	307	10	takehiro	takehiro	PROPN
alkej-330	307	11	mori	mori	PROPN
alkej-330	307	12	,	,	PUNCT
alkej-330	307	13	"	"	PUNCT
alkej-330	307	14	a	a	DET
alkej-330	307	15	neural	neural	ADJ
alkej-330	307	16	network	network	NOUN
alkej-330	307	17	learning	learning	NOUN
alkej-330	307	18	of	of	ADP
alkej-330	307	19	nonlinger	nonlinger	ADJ
alkej-330	307	20	mappings	mapping	NOUN
alkej-330	307	21	with	with	ADP
alkej-330	307	22	considering	consider	VERB
alkej-330	307	23	their	their	PRON
alkej-330	307	24	smoothness	smoothness	NOUN
alkej-330	307	25	and	and	CCONJ
alkej-330	307	26	its	its	PRON
alkej-330	307	27	application	application	NOUN
alkej-330	307	28	to	to	ADP
alkej-330	307	29	inverse	inverse	NOUN
alkej-330	307	30	kinematics	kinematic	NOUN
alkej-330	307	31	,	,	PUNCT
alkej-330	307	32	"	"	PUNCT
alkej-330	307	33	in	in	ADP
alkej-330	307	34	industrial	industrial	ADJ
alkej-330	307	35	electronic	electronic	ADJ
alkej-330	307	36	,	,	PUNCT
alkej-330	307	37	control	control	NOUN
alkej-330	307	38	and	and	CCONJ
alkej-330	307	39	instrumentation	instrumentation	NOUN
alkej-330	307	40	,	,	PUNCT
alkej-330	307	41	20th	20th	ADJ
alkej-330	307	42	international	international	ADJ
alkej-330	307	43	conference	conference	NOUN
alkej-330	307	44	on	on	ADP
alkej-330	307	45	(	(	PUNCT
alkej-330	307	46	volume	volume	NOUN
alkej-330	307	47	2	2	NUM
alkej-330	307	48	)	)	PUNCT
alkej-330	307	49	.	.	PUNCT
alkej-330	308	1	ieee	ieee	PROPN
alkej-330	308	2	,	,	PUNCT
alkej-330	308	3	1994	1994	NUM
alkej-330	308	4	.	.	PUNCT
alkej-330	309	1	[	[	X
alkej-330	309	2	13	13	NUM
alkej-330	309	3	]	]	PUNCT
alkej-330	309	4	jolly	jolly	ADV
alkej-330	309	5	shah	shah	NOUN
alkej-330	309	6	,	,	PUNCT
alkej-330	309	7	s.	s.	PROPN
alkej-330	309	8	s.	s.	PROPN
alkej-330	309	9	rattan	rattan	PROPN
alkej-330	309	10	,	,	PUNCT
alkej-330	309	11	b.c	b.c	PROPN
alkej-330	309	12	.	.	PROPN
alkej-330	309	13	nakra	nakra	PROPN
alkej-330	309	14	,	,	PUNCT
alkej-330	309	15	"	"	PUNCT
alkej-330	309	16	kinematic	kinematic	ADJ
alkej-330	309	17	analysis	analysis	NOUN
alkej-330	309	18	of	of	ADP
alkej-330	309	19	a	a	DET
alkej-330	309	20	planer	planer	NOUN
alkej-330	309	21	robot	robot	NOUN
alkej-330	309	22	using	use	VERB
alkej-330	309	23	artificial	artificial	ADJ
alkej-330	309	24	neural	neural	ADJ
alkej-330	309	25	network	network	NOUN
alkej-330	309	26	,	,	PUNCT
alkej-330	309	27	"	"	PUNCT
alkej-330	309	28	international	international	ADJ
alkej-330	309	29	journal	journal	NOUN
alkej-330	309	30	of	of	ADP
alkej-330	309	31	robotics	robotic	NOUN
alkej-330	309	32	and	and	CCONJ
alkej-330	309	33	automation	automation	NOUN
alkej-330	309	34	(	(	PUNCT
alkej-330	309	35	ijra	ijra	PROPN
alkej-330	309	36	)	)	PUNCT
alkej-330	309	37	,	,	PUNCT
alkej-330	309	38	vol	vol	NOUN
alkej-330	309	39	.	.	PROPN
alkej-330	309	40	1	1	NUM
alkej-330	309	41	,	,	PUNCT
alkej-330	309	42	no	no	INTJ
alkej-330	309	43	.	.	NOUN
alkej-330	309	44	3	3	NUM
alkej-330	309	45	,	,	PUNCT
alkej-330	309	46	pp	pp	ADJ
alkej-330	309	47	.	.	PUNCT
alkej-330	310	1	145	145	NUM
alkej-330	310	2	-	-	SYM
alkej-330	310	3	151	151	NUM
alkej-330	310	4	,	,	PUNCT
alkej-330	310	5	september	september	PROPN
alkej-330	310	6	2012	2012	NUM
alkej-330	310	7	.	.	PUNCT
alkej-330	311	1	[	[	X
alkej-330	311	2	14	14	NUM
alkej-330	311	3	]	]	PUNCT
alkej-330	311	4	panchanand	panchanand	PROPN
alkej-330	311	5	jha	jha	PROPN
alkej-330	311	6	,	,	PUNCT
alkej-330	311	7	bb	bb	NUM
alkej-330	311	8	biswal	biswal	NOUN
alkej-330	311	9	,	,	PUNCT
alkej-330	311	10	"	"	PUNCT
alkej-330	311	11	a	a	DET
alkej-330	311	12	neural	neural	ADJ
alkej-330	311	13	network	network	NOUN
alkej-330	311	14	approach	approach	NOUN
alkej-330	311	15	for	for	ADP
alkej-330	311	16	inverse	inverse	NOUN
alkej-330	311	17	kinematic	kinematic	NOUN
alkej-330	311	18	of	of	ADP
alkej-330	311	19	a	a	DET
alkej-330	311	20	scara	scara	NOUN
alkej-330	311	21	manipulator	manipulator	NOUN
alkej-330	311	22	,	,	PUNCT
alkej-330	311	23	"	"	PUNCT
alkej-330	311	24	international	international	ADJ
alkej-330	311	25	journal	journal	NOUN
alkej-330	311	26	of	of	ADP
alkej-330	311	27	robotics	robotic	NOUN
alkej-330	311	28	and	and	CCONJ
alkej-330	311	29	automation	automation	NOUN
alkej-330	311	30	(	(	PUNCT
alkej-330	311	31	ijra	ijra	PROPN
alkej-330	311	32	)	)	PUNCT
alkej-330	311	33	,	,	PUNCT
alkej-330	311	34	vol	vol	NOUN
alkej-330	311	35	.	.	PROPN
alkej-330	311	36	3	3	NUM
alkej-330	311	37	,	,	PUNCT
alkej-330	311	38	no	no	INTJ
alkej-330	311	39	.	.	NOUN
alkej-330	311	40	1	1	NUM
alkej-330	311	41	,	,	PUNCT
alkej-330	311	42	pp	pp	ADJ
alkej-330	311	43	.	.	PUNCT
alkej-330	312	1	52	52	NUM
alkej-330	312	2	-	-	SYM
alkej-330	312	3	61	61	NUM
alkej-330	312	4	,	,	PUNCT
alkej-330	312	5	march	march	PROPN
alkej-330	312	6	2014	2014	NUM
alkej-330	312	7	.	.	PUNCT
alkej-330	313	1	[	[	X
alkej-330	313	2	15	15	NUM
alkej-330	313	3	]	]	X
alkej-330	313	4	adrianvasile	adrianvasile	PROPN
alkej-330	313	5	duka	duka	PROPN
alkej-330	313	6	,	,	PUNCT
alkej-330	313	7	"	"	PUNCT
alkej-330	313	8	neural	neural	ADJ
alkej-330	313	9	network	network	NOUN
alkej-330	313	10	based	base	VERB
alkej-330	313	11	inverse	inverse	NOUN
alkej-330	313	12	kinematic	kinematic	NOUN
alkej-330	313	13	solution	solution	NOUN
alkej-330	313	14	for	for	ADP
alkej-330	313	15	trajectory	trajectory	NOUN
alkej-330	313	16	tracking	tracking	NOUN
alkej-330	313	17	of	of	ADP
alkej-330	313	18	a	a	DET
alkej-330	313	19	robotic	robotic	ADJ
alkej-330	313	20	arm	arm	NOUN
alkej-330	313	21	,	,	PUNCT
alkej-330	313	22	"	"	PUNCT
alkej-330	313	23	procedia	procedia	NOUN
alkej-330	313	24	technology	technology	NOUN
alkej-330	313	25	,	,	PUNCT
alkej-330	313	26	science	science	NOUN
alkej-330	313	27	direct	direct	ADJ
alkej-330	313	28	,	,	PUNCT
alkej-330	313	29	elsevier	elsevier	NOUN
alkej-330	313	30	,	,	PUNCT
alkej-330	313	31	2014	2014	NUM
alkej-330	313	32	.	.	PUNCT
alkej-330	314	1	[	[	X
alkej-330	314	2	16	16	NUM
alkej-330	314	3	]	]	X
alkej-330	314	4	shiv	shiv	PROPN
alkej-330	314	5	manjaree	manjaree	PROPN
alkej-330	314	6	,	,	PUNCT
alkej-330	314	7	vijyant	vijyant	ADJ
alkej-330	314	8	agarwal	agarwal	PROPN
alkej-330	314	9	and	and	CCONJ
alkej-330	314	10	b.c	b.c	PROPN
alkej-330	314	11	.	.	PROPN
alkej-330	314	12	nakra	nakra	PROPN
alkej-330	314	13	,	,	PUNCT
alkej-330	314	14	"	"	PUNCT
alkej-330	314	15	kinematic	kinematic	ADJ
alkej-330	314	16	analysis	analysis	NOUN
alkej-330	314	17	using	use	VERB
alkej-330	314	18	neurofuzzy	neurofuzzy	ADJ
alkej-330	314	19	intelligent	intelligent	ADJ
alkej-330	314	20	technique	technique	NOUN
alkej-330	314	21	for	for	ADP
alkej-330	314	22	robotic	robotic	ADJ
alkej-330	314	23	manipulator	manipulator	NOUN
alkej-330	314	24	,	,	PUNCT
alkej-330	314	25	"	"	PUNCT
alkej-330	314	26	international	international	ADJ
alkej-330	314	27	journal	journal	NOUN
alkej-330	314	28	of	of	ADP
alkej-330	314	29	engineering	engineering	NOUN
alkej-330	314	30	research	research	NOUN
alkej-330	314	31	and	and	CCONJ
alkej-330	314	32	technology	technology	NOUN
alkej-330	314	33	,	,	PUNCT
alkej-330	314	34	vol	vol	NOUN
alkej-330	314	35	.	.	PROPN
alkej-330	314	36	6	6	NUM
alkej-330	314	37	,	,	PUNCT
alkej-330	314	38	no	no	INTJ
alkej-330	314	39	.	.	NOUN
alkej-330	314	40	4	4	NUM
alkej-330	314	41	,	,	PUNCT
alkej-330	314	42	pp	pp	ADJ
alkej-330	314	43	.	.	PUNCT
alkej-330	315	1	557	557	NUM
alkej-330	315	2	-	-	SYM
alkej-330	315	3	562	562	NUM
alkej-330	315	4	,	,	PUNCT
alkej-330	315	5	2013	2013	NUM
alkej-330	315	6	.	.	PUNCT
alkej-330	316	1	[	[	X
alkej-330	316	2	17	17	NUM
alkej-330	316	3	]	]	X
alkej-330	316	4	u.	u.	PROPN
alkej-330	316	5	y.	y.	PROPN
alkej-330	316	6	x.	x.	PROPN
alkej-330	316	7	a.	a.	PROPN
alkej-330	316	8	t.	t.	PROPN
alkej-330	316	9	y.	y.	PROPN
alkej-330	316	10	hiroshi	hiroshi	PROPN
alkej-330	316	11	,	,	PUNCT
alkej-330	316	12	"	"	PUNCT
alkej-330	316	13	modeling	modeling	NOUN
alkej-330	316	14	and	and	CCONJ
alkej-330	316	15	control	control	NOUN
alkej-330	316	16	strategy	strategy	NOUN
alkej-330	316	17	of	of	ADP
alkej-330	316	18	a	a	DET
alkej-330	316	19	3	3	NUM
alkej-330	316	20	-	-	PUNCT
alkej-330	316	21	d	d	ADJ
alkej-330	316	22	flexible	flexible	ADJ
alkej-330	316	23	space	space	NOUN
alkej-330	316	24	robot	robot	NOUN
alkej-330	316	25	,	,	PUNCT
alkej-330	316	26	"	"	PUNCT
alkej-330	316	27	in	in	ADP
alkej-330	316	28	workshop	workshop	NOUN
alkej-330	316	29	on	on	ADP
alkej-330	316	30	intelligent	intelligent	ADJ
alkej-330	316	31	robots	robot	NOUN
alkej-330	316	32	and	and	CCONJ
alkej-330	316	33	systems	system	NOUN
alkej-330	316	34	iros	iro	NOUN
alkej-330	316	35	,	,	PUNCT
alkej-330	316	36	1991	1991	NUM
alkej-330	316	37	.	.	PUNCT
alkej-330	317	1	[	[	X
alkej-330	317	2	18	18	NUM
alkej-330	317	3	]	]	X
alkej-330	317	4	c.	c.	PROPN
alkej-330	317	5	s.	s.	PROPN
alkej-330	317	6	d.	d.	PROPN
alkej-330	317	7	p.	p.	PROPN
alkej-330	317	8	d.	d.	PROPN
alkej-330	317	9	j.	j.	PROPN
alkej-330	317	10	h.	h.	PROPN
alkej-330	317	11	a.	a.	PROPN
alkej-330	317	12	j.	j.	PROPN
alkej-330	317	13	f.	f.	PROPN
alkej-330	317	14	mavroidis	mavroidis	PROPN
alkej-330	317	15	,	,	PUNCT
alkej-330	317	16	"	"	PUNCT
alkej-330	317	17	a	a	DET
alkej-330	317	18	systematic	systematic	ADJ
alkej-330	317	19	error	error	NOUN
alkej-330	317	20	analysis	analysis	NOUN
alkej-330	317	21	of	of	ADP
alkej-330	317	22	robotic	robotic	ADJ
alkej-330	317	23	manipulators	manipulator	NOUN
alkej-330	317	24	:	:	PUNCT
alkej-330	317	25	application	application	NOUN
alkej-330	317	26	to	to	ADP
alkej-330	317	27	high	high	ADJ
alkej-330	317	28	performance	performance	NOUN
alkej-330	317	29	medical	medical	ADJ
alkej-330	317	30	robot	robot	NOUN
alkej-330	317	31	,	,	PUNCT
alkej-330	317	32	"	"	PUNCT
alkej-330	317	33	in	in	ADP
alkej-330	317	34	international	international	ADJ
alkej-330	317	35	conference	conference	NOUN
alkej-330	317	36	in	in	ADP
alkej-330	317	37	robotic	robotic	ADJ
alkej-330	317	38	and	and	CCONJ
alkej-330	317	39	automation	automation	NOUN
alkej-330	317	40	,	,	PUNCT
alkej-330	317	41	albuquerque	albuquerque	NOUN
alkej-330	317	42	,	,	PUNCT
alkej-330	317	43	1997	1997	NUM
alkej-330	317	44	.	.	PUNCT
alkej-330	318	1	[	[	X
alkej-330	318	2	19	19	NUM
alkej-330	318	3	]	]	PUNCT
alkej-330	318	4	j.	j.	PROPN
alkej-330	318	5	zhao	zhao	PROPN
alkej-330	318	6	-	-	PUNCT
alkej-330	318	7	hui	hui	PROPN
alkej-330	318	8	,	,	PUNCT
alkej-330	318	9	"	"	PUNCT
alkej-330	318	10	compensability	compensability	NOUN
alkej-330	318	11	of	of	ADP
alkej-330	318	12	endeffector	endeffector	NOUN
alkej-330	318	13	motion	motion	NOUN
alkej-330	318	14	errors	error	NOUN
alkej-330	318	15	and	and	CCONJ
alkej-330	318	16	evaluation	evaluation	NOUN
alkej-330	318	17	of	of	ADP
alkej-330	318	18	manipulability	manipulability	NOUN
alkej-330	318	19	for	for	ADP
alkej-330	318	20	flexible	flexible	ADJ
alkej-330	318	21	space	space	NOUN
alkej-330	318	22	robot	robot	NOUN
alkej-330	318	23	arms	arm	NOUN
alkej-330	318	24	,	,	PUNCT
alkej-330	318	25	"	"	PUNCT
alkej-330	318	26	ieee	ieee	NOUN
alkej-330	318	27	,	,	PUNCT
alkej-330	318	28	pp	pp	ADJ
alkej-330	318	29	.	.	PUNCT
alkej-330	319	1	486	486	NUM
alkej-330	319	2	-	-	SYM
alkej-330	319	3	491	491	NUM
alkej-330	319	4	,	,	PUNCT
alkej-330	319	5	1992	1992	NUM
alkej-330	319	6	.	.	PUNCT
alkej-330	320	1	[	[	X
alkej-330	320	2	20	20	NUM
alkej-330	320	3	]	]	PUNCT
alkej-330	320	4	stephen	stephen	PROPN
alkej-330	320	5	p.	p.	PROPN
alkej-330	320	6	timoshenko	timoshenko	NOUN
alkej-330	320	7	and	and	CCONJ
alkej-330	320	8	james	james	PROPN
alkej-330	320	9	m.	m.	PROPN
alkej-330	320	10	gere	gere	PROPN
alkej-330	320	11	,	,	PUNCT
alkej-330	320	12	"	"	PUNCT
alkej-330	320	13	mechanics	mechanic	NOUN
alkej-330	320	14	of	of	ADP
alkej-330	320	15	materials	material	NOUN
alkej-330	320	16	"	"	PUNCT
alkej-330	320	17	,	,	PUNCT
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