id	sid	tid	token	lemma	pos
alkej-348	1	1	40	40	NUM
alkej-348	1	2	-	-	SYM
alkej-348	1	3	50طلال	50طلال	NUM
alkej-348	1	4	وايمان	وايمان	NOUN
alkej-348	1	5	ومودة	ومودة	NOUN
alkej-348	1	6	al	al	PROPN
alkej-348	1	7	-	-	PUNCT
alkej-348	1	8	khwarizmi	khwarizmi	PROPN
alkej-348	1	9	engineering	engineering	NOUN
alkej-348	1	10	journal	journal	PROPN
alkej-348	1	11	,	,	PUNCT
alkej-348	1	12	vol	vol	NOUN
alkej-348	1	13	.	.	PROPN
alkej-348	1	14	13	13	NUM
alkej-348	1	15	,	,	PUNCT
alkej-348	1	16	no	no	INTJ
alkej-348	1	17	.	.	NOUN
alkej-348	1	18	1	1	NUM
alkej-348	1	19	,	,	PUNCT
alkej-348	1	20	p.p	p.p	PROPN
alkej-348	1	21	.	.	PROPN
alkej-348	1	22	design	design	NOUN
alkej-348	1	23	and	and	CCONJ
alkej-348	1	24	implementation	implementation	NOUN
alkej-348	1	25	iman	iman	PROPN
alkej-348	1	26	salih	salih	PROPN
alkej-348	1	27	karem	karem	PROPN
alkej-348	1	28	mawada	mawada	PROPN
alkej-348	1	29	*	*	PUNCT
alkej-348	1	30	,	,	PUNCT
alkej-348	1	31	*	*	PUNCT
alkej-348	1	32	*	*	PUNCT
alkej-348	1	33	,	,	PUNCT
alkej-348	1	34	*	*	PUNCT
alkej-348	1	35	*	*	PUNCT
alkej-348	1	36	*	*	PUNCT
alkej-348	1	37	department	department	NOUN
alkej-348	1	38	of	of	ADP
alkej-348	1	39	electromechanical	electromechanical	ADJ
alkej-348	1	40	engineering	engineering	NOUN
alkej-348	1	41	/university	/university	PUNCT
alkej-348	1	42	of	of	ADP
alkej-348	1	43	technology	technology	NOUN
alkej-348	1	44	*	*	NOUN
alkej-348	1	45	email	email	NOUN
alkej-348	1	46	:	:	PUNCT
alkej-348	1	47	*	*	PUNCT
alkej-348	1	48	*	*	PUNCT
alkej-348	1	49	*	*	NOUN
alkej-348	1	50	email	email	NOUN
alkej-348	1	51	:	:	PUNCT
alkej-348	1	52	(	(	PUNCT
alkej-348	1	53	received	receive	VERB
alkej-348	1	54	21	21	NUM
alkej-348	1	55	august	august	PROPN
alkej-348	1	56	https://doi.org/10.22153/kej.2017.01.002	https://doi.org/10.22153/kej.2017.01.002	NOUN
alkej-348	1	57	abstract	abstract	ADV
alkej-348	1	58	this	this	DET
alkej-348	1	59	paper	paper	NOUN
alkej-348	1	60	presents	present	VERB
alkej-348	1	61	mechanical	mechanical	ADJ
alkej-348	1	62	and	and	CCONJ
alkej-348	1	63	electrical	electrical	ADJ
alkej-348	1	64	design	design	NOUN
alkej-348	1	65	scara	scara	NOUN
alkej-348	1	66	(	(	PUNCT
alkej-348	1	67	selective	selective	ADJ
alkej-348	1	68	compliment	compliment	NOUN
alkej-348	1	69	assembly	assembly	NOUN
alkej-348	1	70	robot	robot	NOUN
alkej-348	1	71	arm),with	arm),with	ADP
alkej-348	1	72	two	two	NUM
alkej-348	1	73	rotations	rotation	NOUN
alkej-348	1	74	and	and	CCONJ
alkej-348	1	75	one	one	NUM
alkej-348	1	76	translation	translation	NOUN
alkej-348	1	77	used	use	VERB
alkej-348	1	78	for	for	ADP
alkej-348	1	79	welding	weld	VERB
alkej-348	1	80	applications.the	applications.the	DET
alkej-348	1	81	design	design	NOUN
alkej-348	1	82	process	process	NOUN
alkej-348	1	83	also	also	ADV
alkej-348	1	84	included	include	VERB
alkej-348	1	85	the	the	DET
alkej-348	1	86	controller	controller	NOUN
alkej-348	1	87	design	design	NOUN
alkej-348	1	88	controller	controller	NOUN
alkej-348	1	89	)	)	PUNCT
alkej-348	1	90	as	as	ADV
alkej-348	1	91	well	well	ADV
alkej-348	1	92	as	as	ADP
alkej-348	1	93	selection	selection	NOUN
alkej-348	1	94	of	of	ADP
alkej-348	1	95	mechanical	mechanical	ADJ
alkej-348	1	96	and	and	CCONJ
alkej-348	1	97	electrical	electrical	ADJ
alkej-348	1	98	component	component	NOUN
alkej-348	1	99	components	component	NOUN
alkej-348	1	100	in	in	ADP
alkej-348	1	101	iraq	iraq	PROPN
alkej-348	1	102	with	with	ADP
alkej-348	1	103	reasonable	reasonable	ADJ
alkej-348	1	104	costs	cost	NOUN
alkej-348	1	105	.	.	PUNCT
alkej-348	2	1	the	the	DET
alkej-348	2	2	robot	robot	NOUN
alkej-348	2	3	mentioned	mention	VERB
alkej-348	2	4	is	be	AUX
alkej-348	2	5	fully	fully	ADV
alkej-348	2	6	automated	automate	VERB
alkej-348	2	7	using	use	VERB
alkej-348	2	8	programmable	programmable	ADJ
alkej-348	2	9	logic	logic	NOUN
alkej-348	2	10	controller	controller	NOUN
alkej-348	2	11	plc(zelio	plc(zelio	NOUN
alkej-348	2	12	type	type	VERB
alkej-348	2	13	sr3	sr3	PROPN
alkej-348	2	14	-	-	PUNCT
alkej-348	2	15	b261bd),with	b261bd),with	NOUN
alkej-348	2	16	16inputs	16inputs	NUM
alkej-348	2	17	and	and	CCONJ
alkej-348	2	18	10	10	NUM
alkej-348	2	19	outputs	output	NOUN
alkej-348	2	20	.	.	PUNCT
alkej-348	3	1	different	different	ADJ
alkej-348	3	2	automatic	automatic	ADJ
alkej-348	3	3	motions	motion	NOUN
alkej-348	3	4	with	with	ADP
alkej-348	3	5	high	high	ADJ
alkej-348	3	6	efficiency	efficiency	NOUN
alkej-348	3	7	withouterror	withouterror	NOUN
alkej-348	3	8	,	,	PUNCT
alkej-348	3	9	where	where	SCONJ
alkej-348	3	10	the	the	DET
alkej-348	3	11	two	two	NUM
alkej-348	3	12	links	link	NOUN
alkej-348	3	13	bushed	bush	VERB
alkej-348	3	14	down	down	ADP
alkej-348	3	15	for	for	ADP
alkej-348	3	16	doing	do	VERB
alkej-348	3	17	the	the	DET
alkej-348	3	18	task	task	NOUN
alkej-348	3	19	in	in	ADP
alkej-348	3	20	a	a	DET
alkej-348	3	21	desired	desire	VERB
alkej-348	3	22	trajectory	trajectory	NOUN
alkej-348	3	23	motion	motion	NOUN
alkej-348	3	24	by	by	ADP
alkej-348	3	25	programming	program	VERB
alkej-348	3	26	the	the	DET
alkej-348	3	27	keywords	keyword	NOUN
alkej-348	3	28	:	:	PUNCT
alkej-348	3	29	dof	dof	ADJ
alkej-348	3	30	,	,	PUNCT
alkej-348	3	31	fbd	fbd	PROPN
alkej-348	3	32	,	,	PUNCT
alkej-348	3	33	plc	plc	PROPN
alkej-348	3	34	,	,	PUNCT
alkej-348	3	35	scararobot	scararobot	NOUN
alkej-348	3	36	.	.	PUNCT
alkej-348	4	1	1	1	X
alkej-348	4	2	.	.	X
alkej-348	4	3	introduction	introduction	NOUN
alkej-348	4	4	applying	apply	VERB
alkej-348	4	5	autonomy	autonomy	NOUN
alkej-348	4	6	is	be	AUX
alkej-348	4	7	a	a	DET
alkej-348	4	8	comparatively	comparatively	ADV
alkej-348	4	9	youthful	youthful	ADJ
alkej-348	4	10	domain	domain	NOUN
alkej-348	4	11	of	of	ADP
alkej-348	4	12	current	current	ADJ
alkej-348	4	13	technology	technology	NOUN
alkej-348	4	14	that	that	PRON
alkej-348	4	15	crosses	cross	VERB
alkej-348	4	16	conventional	conventional	ADJ
alkej-348	4	17	engineering	engineering	NOUN
alkej-348	4	18	limits	limit	NOUN
alkej-348	4	19	.	.	PUNCT
alkej-348	5	1	comprehension	comprehension	NOUN
alkej-348	5	2	the	the	DET
alkej-348	5	3	multifaceted	multifaceted	ADJ
alkej-348	5	4	nature	nature	NOUN
alkej-348	5	5	of	of	ADP
alkej-348	5	6	robots	robot	NOUN
alkej-348	5	7	and	and	CCONJ
alkej-348	5	8	their	their	PRON
alkej-348	5	9	implementations	implementation	NOUN
alkej-348	5	10	requirements	requirement	NOUN
alkej-348	5	11	of	of	ADP
alkej-348	5	12	electrical	electrical	ADJ
alkej-348	5	13	engineering	engineering	NOUN
alkej-348	5	14	,	,	PUNCT
alkej-348	5	15	mechanical	mechanical	ADJ
alkej-348	5	16	designing	designing	NOUN
alkej-348	5	17	,	,	PUNCT
alkej-348	5	18	frameworks	framework	NOUN
alkej-348	5	19	,	,	PUNCT
alkej-348	5	20	modern	modern	ADJ
alkej-348	5	21	building	building	NOUN
alkej-348	5	22	,	,	PUNCT
alkej-348	5	23	software	software	NOUN
alkej-348	5	24	engineering	engineering	NOUN
alkej-348	5	25	,	,	PUNCT
alkej-348	5	26	mathematics	mathematic	NOUN
alkej-348	5	27	and	and	CCONJ
alkej-348	5	28	economics	economic	NOUN
alkej-348	5	29	.	.	PUNCT
alkej-348	6	1	the	the	DET
alkej-348	6	2	robot	robot	NOUN
alkej-348	6	3	is	be	AUX
alkej-348	6	4	a	a	DET
alkej-348	6	5	reprogrammable	reprogrammable	ADJ
alkej-348	6	6	multifunctional	multifunctional	ADJ
alkej-348	6	7	controller	controller	NOUN
alkej-348	6	8	designed	design	VERB
alkej-348	6	9	to	to	ADP
alkej-348	6	10	handling	handle	VERB
alkej-348	6	11	a	a	DET
alkej-348	6	12	material	material	NOUN
alkej-348	6	13	,	,	PUNCT
alkej-348	6	14	accessories	accessory	NOUN
alkej-348	6	15	,	,	PUNCT
alkej-348	6	16	devices	device	NOUN
alkej-348	6	17	,	,	PUNCT
alkej-348	6	18	or	or	CCONJ
alkej-348	6	19	particular	particular	ADJ
alkej-348	6	20	gadgets	gadget	NOUN
alkej-348	6	21	through	through	ADP
alkej-348	6	22	variable	variable	ADJ
alkej-348	6	23	programmed	program	VERB
alkej-348	6	24	motions	motion	NOUN
alkej-348	6	25	for	for	ADP
alkej-348	6	26	the	the	DET
alkej-348	6	27	fulfillment	fulfillment	NOUN
alkej-348	6	28	for	for	ADP
alkej-348	6	29	a	a	DET
alkej-348	6	30	set	set	NOUN
alkej-348	6	31	of	of	ADP
alkej-348	6	32	assignments	assignment	NOUN
alkej-348	6	33	[	[	X
alkej-348	6	34	1	1	NUM
alkej-348	6	35	]	]	PUNCT
alkej-348	6	36	.	.	PUNCT
alkej-348	7	1	the	the	DET
alkej-348	7	2	robots	robot	NOUN
alkej-348	7	3	display	display	VERB
alkej-348	7	4	significantly	significantly	ADV
alkej-348	7	5	convoluted	convolute	VERB
alkej-348	7	6	electromechanical	electromechanical	ADJ
alkej-348	7	7	systems	system	NOUN
alkej-348	7	8	with	with	ADP
alkej-348	7	9	common	common	ADJ
alkej-348	7	10	collaborations	collaboration	NOUN
alkej-348	7	11	of	of	ADP
alkej-348	7	12	robot	robot	NOUN
alkej-348	7	13	mechanics	mechanic	NOUN
alkej-348	7	14	and	and	CCONJ
alkej-348	7	15	drives	drive	NOUN
alkej-348	7	16	,	,	PUNCT
alkej-348	7	17	at	at	ADP
alkej-348	7	18	configuration	configuration	NOUN
alkej-348	7	19	of	of	ADP
alkej-348	7	20	which	which	PRON
alkej-348	7	21	the	the	DET
alkej-348	7	22	mechatronic	mechatronic	ADJ
alkej-348	7	23	methodology	methodology	NOUN
alkej-348	7	24	ought	ought	AUX
alkej-348	7	25	to	to	PART
alkej-348	7	26	be	be	AUX
alkej-348	7	27	taken	take	VERB
alkej-348	7	28	into	into	ADP
alkej-348	7	29	consideration	consideration	NOUN
alkej-348	7	30	[	[	X
alkej-348	7	31	2	2	NUM
alkej-348	7	32	]	]	PUNCT
alkej-348	7	33	.	.	PUNCT
alkej-348	8	1	khwarizmi	khwarizmi	PROPN
alkej-348	8	2	engineering	engineering	PROPN
alkej-348	8	3	journal	journal	PROPN
alkej-348	8	4	,	,	PUNCT
alkej-348	8	5	vol	vol	NOUN
alkej-348	8	6	.	.	PROPN
alkej-348	8	7	13	13	NUM
alkej-348	8	8	,	,	PUNCT
alkej-348	8	9	no	no	INTJ
alkej-348	8	10	.	.	NOUN
alkej-348	8	11	1	1	NUM
alkej-348	8	12	,	,	PUNCT
alkej-348	8	13	p.p	p.p	PROPN
alkej-348	8	14	.	.	NOUN
alkej-348	8	15	4050	4050	NUM
alkej-348	8	16	(	(	PUNCT
alkej-348	8	17	2017	2017	NUM
alkej-348	8	18	)	)	PUNCT
alkej-348	8	19	implementation	implementation	NOUN
alkej-348	8	20	for	for	ADP
alkej-348	8	21	3	3	NUM
alkej-348	8	22	-	-	PUNCT
alkej-348	8	23	dof	dof	NOUN
alkej-348	8	24	scara	scara	NOUN
alkej-348	8	25	robot	robot	PROPN
alkej-348	8	26	based	based	PROPN
alkej-348	8	27	plc	plc	PROPN
alkej-348	8	28	karem	karem	PROPN
alkej-348	8	29	*	*	PROPN
alkej-348	8	30	talal	talal	PROPN
alkej-348	8	31	a.	a.	PROPN
alkej-348	8	32	jabbar	jabbar	PROPN
alkej-348	8	33	a.wahab	a.wahab	PROPN
alkej-348	8	34	*	*	PROPN
alkej-348	8	35	*	*	PROPN
alkej-348	8	36	mawadah	mawadah	PROPN
alkej-348	9	1	jlaa	jlaa	PROPN
alkej-348	9	2	yahyh	yahyh	VERB
alkej-348	9	3	*	*	PROPN
alkej-348	9	4	*	*	PUNCT
alkej-348	9	5	*	*	PUNCT
alkej-348	9	6	electromechanical	electromechanical	ADJ
alkej-348	9	7	engineering	engineering	NOUN
alkej-348	9	8	/university	/university	PUNCT
alkej-348	9	9	of	of	ADP
alkej-348	9	10	technology	technology	NOUN
alkej-348	9	11	*	*	NOUN
alkej-348	9	12	email	email	NOUN
alkej-348	9	13	:	:	PUNCT
alkej-348	9	14	dr_esk_71@yahoo	dr_esk_71@yahoo	X
alkej-348	9	15	.com	.com	PROPN
alkej-348	10	1	*	*	PUNCT
alkej-348	10	2	*	*	PUNCT
alkej-348	10	3	*	*	PUNCT
alkej-348	10	4	email:electromechanical19@yahoo.com	email:electromechanical19@yahoo.com	X
alkej-348	10	5	august	august	PROPN
alkej-348	10	6	2016	2016	NUM
alkej-348	10	7	;	;	PUNCT
alkej-348	10	8	accepted	accept	VERB
alkej-348	10	9	22	22	NUM
alkej-348	10	10	january	january	PROPN
alkej-348	10	11	2017	2017	NUM
alkej-348	10	12	)	)	PUNCT
alkej-348	10	13	https://doi.org/10.22153/kej.2017.01.002	https://doi.org/10.22153/kej.2017.01.002	ADP
alkej-348	10	14	ectrical	ectrical	ADJ
alkej-348	10	15	design	design	NOUN
alkej-348	10	16	,	,	PUNCT
alkej-348	10	17	and	and	CCONJ
alkej-348	10	18	implementation	implementation	NOUN
alkej-348	10	19	process	process	NOUN
alkej-348	10	20	of	of	ADP
alkej-348	10	21	industrial	industrial	ADJ
alkej-348	10	22	robot	robot	NOUN
alkej-348	10	23	scara	scara	NOUN
alkej-348	10	24	(	(	PUNCT
alkej-348	10	25	selective	selective	ADJ
alkej-348	10	26	compliment	compliment	NOUN
alkej-348	10	27	assembly	assembly	NOUN
alkej-348	10	28	robot	robot	NOUN
alkej-348	10	29	arm),with	arm),with	ADP
alkej-348	10	30	two	two	NUM
alkej-348	10	31	rotations	rotation	NOUN
alkej-348	10	32	and	and	CCONJ
alkej-348	10	33	one	one	NUM
alkej-348	10	34	translation	translation	NOUN
alkej-348	10	35	used	use	VERB
alkej-348	10	36	for	for	ADP
alkej-348	10	37	welding	weld	VERB
alkej-348	10	38	applications.the	applications.the	DET
alkej-348	10	39	design	design	NOUN
alkej-348	10	40	process	process	NOUN
alkej-348	10	41	also	also	ADV
alkej-348	10	42	included	include	VERB
alkej-348	10	43	the	the	DET
alkej-348	10	44	controller	controller	NOUN
alkej-348	10	45	design	design	NOUN
alkej-348	10	46	which	which	PRON
alkej-348	10	47	was	be	AUX
alkej-348	10	48	based	base	VERB
alkej-348	10	49	on	on	ADP
alkej-348	10	50	plc(programmable	plc(programmable	ADJ
alkej-348	10	51	logic	logic	NOUN
alkej-348	10	52	on	on	ADP
alkej-348	10	53	of	of	ADP
alkej-348	10	54	mechanical	mechanical	ADJ
alkej-348	10	55	and	and	CCONJ
alkej-348	10	56	electrical	electrical	ADJ
alkej-348	10	57	components.the	components.the	NOUN
alkej-348	10	58	challenge	challenge	NOUN
alkej-348	10	59	was	be	AUX
alkej-348	10	60	to	to	PART
alkej-348	10	61	use	use	VERB
alkej-348	10	62	components	component	NOUN
alkej-348	10	63	in	in	ADP
alkej-348	10	64	iraq	iraq	PROPN
alkej-348	10	65	with	with	ADP
alkej-348	10	66	reasonable	reasonable	ADJ
alkej-348	10	67	costs	cost	NOUN
alkej-348	10	68	.	.	PUNCT
alkej-348	11	1	the	the	DET
alkej-348	11	2	robot	robot	NOUN
alkej-348	11	3	mentioned	mention	VERB
alkej-348	11	4	is	be	AUX
alkej-348	11	5	fully	fully	ADV
alkej-348	11	6	automated	automate	VERB
alkej-348	11	7	using	use	VERB
alkej-348	11	8	programmable	programmable	ADJ
alkej-348	11	9	logic	logic	NOUN
alkej-348	11	10	controller	controller	NOUN
alkej-348	11	11	)	)	PUNCT
alkej-348	11	12	,	,	PUNCT
alkej-348	11	13	with	with	ADP
alkej-348	11	14	16inputs	16inputs	NUM
alkej-348	11	15	and	and	CCONJ
alkej-348	11	16	10	10	NUM
alkej-348	11	17	outputs	output	NOUN
alkej-348	11	18	.	.	PUNCT
alkej-348	12	1	the	the	DET
alkej-348	12	2	plc	plc	PROPN
alkej-348	12	3	was	be	AUX
alkej-348	12	4	implemented	implement	VERB
alkej-348	12	5	in	in	ADP
alkej-348	12	6	fbd	fbd	PROPN
alkej-348	12	7	logic	logic	NOUN
alkej-348	12	8	to	to	PART
alkej-348	12	9	obtain	obtain	VERB
alkej-348	12	10	three	three	NUM
alkej-348	12	11	different	different	ADJ
alkej-348	12	12	automatic	automatic	ADJ
alkej-348	12	13	motions	motion	NOUN
alkej-348	12	14	with	with	ADP
alkej-348	12	15	high	high	ADJ
alkej-348	12	16	efficiency	efficiency	NOUN
alkej-348	12	17	withouterror	withouterror	NOUN
alkej-348	12	18	,	,	PUNCT
alkej-348	12	19	where	where	SCONJ
alkej-348	12	20	the	the	DET
alkej-348	12	21	two	two	NUM
alkej-348	12	22	links	link	NOUN
alkej-348	12	23	can	can	AUX
alkej-348	12	24	stop	stop	VERB
alkej-348	12	25	in	in	ADP
alkej-348	12	26	a	a	DET
alkej-348	12	27	certain	certain	ADJ
alkej-348	12	28	points	point	NOUN
alkej-348	12	29	and	and	CCONJ
alkej-348	12	30	link	link	VERB
alkej-348	12	31	3	3	NUM
alkej-348	12	32	bushed	bush	VERB
alkej-348	12	33	down	down	ADP
alkej-348	12	34	for	for	ADP
alkej-348	12	35	doing	do	VERB
alkej-348	12	36	the	the	DET
alkej-348	12	37	task	task	NOUN
alkej-348	12	38	in	in	ADP
alkej-348	12	39	a	a	DET
alkej-348	12	40	desired	desire	VERB
alkej-348	12	41	trajectory	trajectory	NOUN
alkej-348	12	42	motion	motion	NOUN
alkej-348	12	43	by	by	ADP
alkej-348	12	44	programming	program	VERB
alkej-348	12	45	the	the	DET
alkej-348	12	46	plccontroller	plccontroller	NOUN
alkej-348	12	47	.	.	PUNCT
alkej-348	13	1	applying	apply	VERB
alkej-348	13	2	autonomy	autonomy	NOUN
alkej-348	13	3	is	be	AUX
alkej-348	13	4	a	a	DET
alkej-348	13	5	comparatively	comparatively	ADJ
alkej-348	13	6	of	of	ADP
alkej-348	13	7	current	current	ADJ
alkej-348	13	8	technology	technology	NOUN
alkej-348	13	9	that	that	PRON
alkej-348	13	10	crosses	cross	VERB
alkej-348	13	11	conventional	conventional	ADJ
alkej-348	13	12	engineering	engineering	NOUN
alkej-348	13	13	limits	limit	NOUN
alkej-348	13	14	.	.	PUNCT
alkej-348	14	1	the	the	DET
alkej-348	14	2	multifaceted	multifaceted	ADJ
alkej-348	14	3	nature	nature	NOUN
alkej-348	14	4	of	of	ADP
alkej-348	14	5	robots	robot	NOUN
alkej-348	14	6	learning	learn	VERB
alkej-348	14	7	ering	ere	VERB
alkej-348	14	8	,	,	PUNCT
alkej-348	14	9	mechanical	mechanical	ADJ
alkej-348	14	10	designing	designing	NOUN
alkej-348	14	11	,	,	PUNCT
alkej-348	14	12	modern	modern	ADJ
alkej-348	14	13	building	building	NOUN
alkej-348	14	14	,	,	PUNCT
alkej-348	14	15	software	software	NOUN
alkej-348	14	16	robot	robot	NOUN
alkej-348	14	17	is	be	AUX
alkej-348	14	18	a	a	DET
alkej-348	14	19	reprogrammable	reprogrammable	ADJ
alkej-348	14	20	multifunctional	multifunctional	ADJ
alkej-348	14	21	material	material	NOUN
alkej-348	14	22	,	,	PUNCT
alkej-348	14	23	s	s	X
alkej-348	14	24	,	,	PUNCT
alkej-348	14	25	or	or	CCONJ
alkej-348	14	26	particular	particular	ADJ
alkej-348	14	27	gadgets	gadget	NOUN
alkej-348	14	28	through	through	ADP
alkej-348	14	29	fulfillment	fulfillment	NOUN
alkej-348	14	30	the	the	DET
alkej-348	14	31	robots	robot	NOUN
alkej-348	14	32	display	display	VERB
alkej-348	14	33	significantly	significantly	ADV
alkej-348	14	34	convoluted	convolute	VERB
alkej-348	14	35	electromechanical	electromechanical	ADJ
alkej-348	14	36	systems	system	NOUN
alkej-348	14	37	with	with	ADP
alkej-348	14	38	common	common	ADJ
alkej-348	14	39	collaborations	collaboration	NOUN
alkej-348	14	40	of	of	ADP
alkej-348	14	41	robot	robot	NOUN
alkej-348	14	42	mechanics	mechanic	NOUN
alkej-348	14	43	and	and	CCONJ
alkej-348	14	44	drives	drive	NOUN
alkej-348	14	45	,	,	PUNCT
alkej-348	14	46	at	at	ADP
alkej-348	14	47	configuration	configuration	NOUN
alkej-348	14	48	of	of	ADP
alkej-348	14	49	which	which	PRON
alkej-348	14	50	ought	ought	AUX
alkej-348	14	51	to	to	PART
alkej-348	14	52	be	be	AUX
alkej-348	14	53	taken	take	VERB
alkej-348	14	54	an	an	DET
alkej-348	14	55	industrial	industrial	ADJ
alkej-348	14	56	robot	robot	NOUN
alkej-348	14	57	is	be	AUX
alkej-348	14	58	a	a	DET
alkej-348	14	59	programmable	programmable	ADJ
alkej-348	14	60	,	,	PUNCT
alkej-348	14	61	multi	multi	ADJ
alkej-348	14	62	practical	practical	ADJ
alkej-348	14	63	controller	controller	NOUN
alkej-348	14	64	designed	design	VERB
alkej-348	14	65	to	to	PART
alkej-348	14	66	re	re	VERB
alkej-348	14	67	parts	part	NOUN
alkej-348	14	68	,	,	PUNCT
alkej-348	14	69	apparatuses	apparatus	NOUN
alkej-348	14	70	,	,	PUNCT
alkej-348	14	71	or	or	CCONJ
alkej-348	14	72	special	special	ADJ
alkej-348	14	73	gadgets	gadget	NOUN
alkej-348	14	74	through	through	ADP
alkej-348	14	75	variable	variable	ADJ
alkej-348	14	76	modified	modify	VERB
alkej-348	14	77	movements	movement	NOUN
alkej-348	14	78	for	for	ADP
alkej-348	14	79	the	the	PRON
alkej-348	14	80	of	of	ADP
alkej-348	14	81	a	a	DET
alkej-348	14	82	set	set	NOUN
alkej-348	14	83	of	of	ADP
alkej-348	14	84	tasks	task	NOUN
alkej-348	14	85	[	[	X
alkej-348	14	86	3	3	NUM
alkej-348	14	87	]	]	PUNCT
alkej-348	14	88	.	.	PUNCT
alkej-348	15	1	plc	plc	PROPN
alkej-348	15	2	is	be	AUX
alkej-348	15	3	simply	simply	ADV
alkej-348	15	4	a	a	DET
alkej-348	15	5	special	special	ADJ
alkej-348	15	6	computer	computer	NOUN
alkej-348	15	7	device	device	NOUN
alkej-348	15	8	used	use	VERB
alkej-348	15	9	for	for	ADP
alkej-348	15	10	industrial	industrial	ADJ
alkej-348	15	11	control	control	NOUN
alkej-348	15	12	systems	system	NOUN
alkej-348	15	13	.	.	PUNCT
alkej-348	16	1	that	that	PRON
alkej-348	16	2	and	and	CCONJ
alkej-348	16	3	an	an	DET
alkej-348	16	4	output	output	NOUN
alkej-348	16	5	interface	interface	NOUN
alkej-348	16	6	,	,	PUNCT
alkej-348	16	7	controlled	control	VERB
alkej-348	16	8	by	by	ADP
alkej-348	16	9	a	a	DET
alkej-348	16	10	program	program	NOUN
alkej-348	16	11	designed	design	VERB
alkej-348	16	12	by	by	ADP
alkej-348	16	13	a	a	DET
alkej-348	16	14	computer	computer	NOUN
alkej-348	16	15	;	;	PUNCT
alkej-348	16	16	it	it	PRON
alkej-348	16	17	is	be	AUX
alkej-348	16	18	used	use	VERB
alkej-348	16	19	for	for	ADP
alkej-348	16	20	for	for	ADP
alkej-348	16	21	electromechanical	electromechanical	ADJ
alkej-348	16	22	automated	automate	VERB
alkej-348	16	23	process	process	NOUN
alkej-348	16	24	this	this	PRON
alkej-348	16	25	contains	contain	VERB
alkej-348	16	26	major	major	ADJ
alkej-348	16	27	components	component	NOUN
alkej-348	16	28	processor	processor	NOUN
alkej-348	16	29	unit	unit	NOUN
alkej-348	16	30	,	,	PUNCT
alkej-348	16	31	power	power	NOUN
alkej-348	16	32	supply	supply	NOUN
alkej-348	16	33	,	,	PUNCT
alkej-348	16	34	programming	programming	NOUN
alkej-348	16	35	device	device	NOUN
alkej-348	16	36	,	,	PUNCT
alkej-348	16	37	program	program	NOUN
alkej-348	16	38	and	and	CCONJ
alkej-348	16	39	data	datum	NOUN
alkej-348	16	40	memory	memory	NOUN
alkej-348	16	41	,	,	PUNCT
alkej-348	16	42	input	input	NOUN
alkej-348	16	43	and	and	CCONJ
alkej-348	16	44	output	output	NOUN
alkej-348	16	45	interface	interface	NOUN
alkej-348	16	46	and	and	CCONJ
alkej-348	16	47	communications	communication	NOUN
alkej-348	16	48	interface	interface	NOUN
alkej-348	16	49	as	as	SCONJ
alkej-348	16	50	shown	show	VERB
alkej-348	16	51	in	in	ADP
alkej-348	16	52	figure(1	figure(1	NOUN
alkej-348	16	53	)	)	PUNCT
alkej-348	16	54	.	.	PUNCT
alkej-348	17	1	[	[	X
alkej-348	17	2	4	4	NUM
alkej-348	17	3	]	]	PUNCT
alkej-348	17	4	based	base	VERB
alkej-348	17	5	plc	plc	PROPN
alkej-348	17	6	*	*	PROPN
alkej-348	17	7	*	*	PROPN
alkej-348	17	8	electromechanical	electromechanical	ADJ
alkej-348	17	9	engineering	engineering	NOUN
alkej-348	17	10	/university	/university	PUNCT
alkej-348	17	11	of	of	ADP
alkej-348	17	12	technology	technology	NOUN
alkej-348	17	13	and	and	CCONJ
alkej-348	17	14	implementation	implementation	NOUN
alkej-348	17	15	process	process	NOUN
alkej-348	17	16	of	of	ADP
alkej-348	17	17	industrial	industrial	ADJ
alkej-348	17	18	robot	robot	NOUN
alkej-348	17	19	,	,	PUNCT
alkej-348	17	20	3	3	NUM
alkej-348	17	21	-	-	PUNCT
alkej-348	17	22	dof	dof	NOUN
alkej-348	17	23	type	type	NOUN
alkej-348	17	24	scara	scara	NOUN
alkej-348	17	25	(	(	PUNCT
alkej-348	17	26	selective	selective	ADJ
alkej-348	17	27	compliment	compliment	NOUN
alkej-348	17	28	assembly	assembly	NOUN
alkej-348	17	29	robot	robot	NOUN
alkej-348	17	30	arm),with	arm),with	ADP
alkej-348	17	31	two	two	NUM
alkej-348	17	32	rotations	rotation	NOUN
alkej-348	17	33	and	and	CCONJ
alkej-348	17	34	one	one	NUM
alkej-348	17	35	translation	translation	NOUN
alkej-348	17	36	used	use	VERB
alkej-348	17	37	for	for	ADP
alkej-348	17	38	welding	weld	VERB
alkej-348	17	39	plc(programmable	plc(programmable	ADJ
alkej-348	17	40	logic	logic	NOUN
alkej-348	17	41	.the	.the	DET
alkej-348	17	42	challenge	challenge	NOUN
alkej-348	17	43	was	be	AUX
alkej-348	17	44	to	to	PART
alkej-348	17	45	use	use	VERB
alkej-348	17	46	the	the	DET
alkej-348	17	47	available	available	ADJ
alkej-348	17	48	components	component	NOUN
alkej-348	17	49	in	in	ADP
alkej-348	17	50	iraq	iraq	PROPN
alkej-348	17	51	with	with	ADP
alkej-348	17	52	reasonable	reasonable	ADJ
alkej-348	17	53	costs	cost	NOUN
alkej-348	17	54	.	.	PUNCT
alkej-348	18	1	the	the	DET
alkej-348	18	2	robot	robot	NOUN
alkej-348	18	3	mentioned	mention	VERB
alkej-348	18	4	is	be	AUX
alkej-348	18	5	fully	fully	ADV
alkej-348	18	6	automated	automate	VERB
alkej-348	18	7	using	use	VERB
alkej-348	18	8	programmable	programmable	ADJ
alkej-348	18	9	logic	logic	NOUN
alkej-348	18	10	controller	controller	NOUN
alkej-348	18	11	the	the	PRON
alkej-348	18	12	plc	plc	PROPN
alkej-348	18	13	was	be	AUX
alkej-348	18	14	implemented	implement	VERB
alkej-348	18	15	in	in	ADP
alkej-348	18	16	fbd	fbd	PROPN
alkej-348	18	17	logic	logic	NOUN
alkej-348	18	18	to	to	PART
alkej-348	18	19	obtain	obtain	VERB
alkej-348	18	20	three	three	NUM
alkej-348	18	21	stop	stop	NOUN
alkej-348	18	22	in	in	ADP
alkej-348	18	23	a	a	DET
alkej-348	18	24	certain	certain	ADJ
alkej-348	18	25	points	point	NOUN
alkej-348	18	26	and	and	CCONJ
alkej-348	18	27	link	link	VERB
alkej-348	18	28	3	3	NUM
alkej-348	18	29	an	an	DET
alkej-348	18	30	industrial	industrial	ADJ
alkej-348	18	31	robot	robot	NOUN
alkej-348	18	32	is	be	AUX
alkej-348	18	33	a	a	DET
alkej-348	18	34	programmable	programmable	ADJ
alkej-348	18	35	,	,	PUNCT
alkej-348	18	36	multimove	multimove	NOUN
alkej-348	18	37	materials	material	NOUN
alkej-348	18	38	,	,	PUNCT
alkej-348	18	39	parts	part	NOUN
alkej-348	18	40	,	,	PUNCT
alkej-348	18	41	apparatuses	apparatus	NOUN
alkej-348	18	42	,	,	PUNCT
alkej-348	18	43	or	or	CCONJ
alkej-348	18	44	special	special	ADJ
alkej-348	18	45	gadgets	gadget	NOUN
alkej-348	18	46	through	through	ADP
alkej-348	18	47	variable	variable	ADJ
alkej-348	18	48	modified	modify	VERB
alkej-348	18	49	movements	movement	NOUN
alkej-348	18	50	for	for	ADP
alkej-348	18	51	the	the	DET
alkej-348	18	52	fulfillment	fulfillment	NOUN
alkej-348	18	53	is	be	AUX
alkej-348	18	54	simply	simply	ADV
alkej-348	18	55	a	a	DET
alkej-348	18	56	special	special	ADJ
alkej-348	18	57	computer	computer	NOUN
alkej-348	18	58	device	device	NOUN
alkej-348	18	59	used	use	VERB
alkej-348	18	60	that	that	PRON
alkej-348	18	61	had	have	VERB
alkej-348	18	62	an	an	DET
alkej-348	18	63	input	input	NOUN
alkej-348	18	64	and	and	CCONJ
alkej-348	18	65	an	an	DET
alkej-348	18	66	output	output	NOUN
alkej-348	18	67	interface	interface	NOUN
alkej-348	18	68	,	,	PUNCT
alkej-348	18	69	controlled	control	VERB
alkej-348	18	70	by	by	ADP
alkej-348	18	71	a	a	DET
alkej-348	18	72	simulation	simulation	NOUN
alkej-348	18	73	a	a	DET
alkej-348	18	74	computer	computer	NOUN
alkej-348	18	75	;	;	PUNCT
alkej-348	18	76	it	it	PRON
alkej-348	18	77	is	be	AUX
alkej-348	18	78	used	use	VERB
alkej-348	18	79	for	for	ADP
alkej-348	18	80	for	for	ADP
alkej-348	18	81	process	process	NOUN
alkej-348	18	82	.	.	PUNCT
alkej-348	19	1	components	component	NOUN
alkej-348	19	2	processor	processor	NOUN
alkej-348	19	3	unit	unit	NOUN
alkej-348	19	4	,	,	PUNCT
alkej-348	19	5	power	power	NOUN
alkej-348	19	6	supply	supply	NOUN
alkej-348	19	7	,	,	PUNCT
alkej-348	19	8	programming	programming	NOUN
alkej-348	19	9	device	device	NOUN
alkej-348	19	10	,	,	PUNCT
alkej-348	19	11	program	program	NOUN
alkej-348	19	12	and	and	CCONJ
alkej-348	19	13	data	datum	NOUN
alkej-348	19	14	memory	memory	NOUN
alkej-348	19	15	,	,	PUNCT
alkej-348	19	16	input	input	NOUN
alkej-348	19	17	and	and	CCONJ
alkej-348	19	18	output	output	NOUN
alkej-348	19	19	interface	interface	NOUN
alkej-348	19	20	and	and	CCONJ
alkej-348	19	21	communications	communication	NOUN
alkej-348	19	22	interface	interface	NOUN
alkej-348	19	23	as	as	SCONJ
alkej-348	19	24	shown	show	VERB
alkej-348	19	25	in	in	ADP
alkej-348	19	26	figure(1	figure(1	NOUN
alkej-348	19	27	)	)	PUNCT
alkej-348	19	28	.	.	PUNCT
alkej-348	20	1	pdf	pdf	NOUN
alkej-348	20	2	created	create	VERB
alkej-348	20	3	with	with	ADP
alkej-348	20	4	pdffactory	pdffactory	ADJ
alkej-348	20	5	trial	trial	NOUN
alkej-348	20	6	version	version	NOUN
alkej-348	20	7	www.pdffactory.com	www.pdffactory.com	X
alkej-348	20	8	https://doi.org/10.22153/kej.2017.01.002	https://doi.org/10.22153/kej.2017.01.002	X
alkej-348	20	9	mailto:electromechanical19@yahoo.com	mailto:electromechanical19@yahoo.com	NOUN
alkej-348	20	10	https://doi.org/10.22153/kej.2017.01.002	https://doi.org/10.22153/kej.2017.01.002	NOUN
alkej-348	20	11	http://www.pdffactory.com	http://www.pdffactory.com	X
alkej-348	20	12	http://www.pdffactory.com	http://www.pdffactory.com	X
alkej-348	21	1	iman	iman	PROPN
alkej-348	21	2	salih	salih	PROPN
alkej-348	21	3	karem	karem	PROPN
alkej-348	21	4	al	al	PROPN
alkej-348	21	5	-	-	PUNCT
alkej-348	21	6	khwarizmi	khwarizmi	PROPN
alkej-348	21	7	engineering	engineering	NOUN
alkej-348	21	8	journal	journal	PROPN
alkej-348	21	9	,	,	PUNCT
alkej-348	21	10	vol	vol	NOUN
alkej-348	21	11	.	.	PROPN
alkej-348	21	12	13	13	NUM
alkej-348	21	13	,	,	PUNCT
alkej-348	21	14	no	no	INTJ
alkej-348	21	15	.	.	NOUN
alkej-348	21	16	2	2	NUM
alkej-348	21	17	,	,	PUNCT
alkej-348	21	18	p.p	p.p	PROPN
alkej-348	21	19	.	.	NOUN
alkej-348	21	20	4050	4050	NUM
alkej-348	21	21	(	(	PUNCT
alkej-348	21	22	2017	2017	NUM
alkej-348	21	23	)	)	PUNCT
alkej-348	21	24	41	41	NUM
alkej-348	21	25	fig	fig	NOUN
alkej-348	21	26	.	.	PUNCT
alkej-348	22	1	1	1	X
alkej-348	22	2	.	.	X
alkej-348	22	3	the	the	DET
alkej-348	22	4	plc	plc	PROPN
alkej-348	22	5	system	system	NOUN
alkej-348	22	6	[	[	X
alkej-348	22	7	4	4	NUM
alkej-348	22	8	]	]	PUNCT
alkej-348	22	9	.	.	PUNCT
alkej-348	23	1	there	there	PRON
alkej-348	23	2	are	be	VERB
alkej-348	23	3	several	several	ADJ
alkej-348	23	4	literatures	literature	NOUN
alkej-348	23	5	are	be	AUX
alkej-348	23	6	available	available	ADJ
alkej-348	23	7	to	to	PART
alkej-348	23	8	present	present	VERB
alkej-348	23	9	research	research	NOUN
alkej-348	23	10	,	,	PUNCT
alkej-348	23	11	pouyaand	pouyaand	NOUN
alkej-348	23	12	kourosh,(2012	kourosh,(2012	NOUN
alkej-348	23	13	)	)	PUNCT
alkej-348	24	1	[	[	X
alkej-348	24	2	5	5	NUM
alkej-348	24	3	]	]	PUNCT
alkej-348	24	4	presented	present	VERB
alkej-348	24	5	,	,	PUNCT
alkej-348	24	6	hypotheticl	hypotheticl	NOUN
alkej-348	24	7	prototype	prototype	NOUN
alkej-348	24	8	model	model	NOUN
alkej-348	24	9	,	,	PUNCT
alkej-348	24	10	simulated	simulate	VERB
alkej-348	24	11	and	and	CCONJ
alkej-348	24	12	optimized	optimize	VERB
alkej-348	24	13	of	of	ADP
alkej-348	24	14	a	a	DET
alkej-348	24	15	3	3	NUM
alkej-348	24	16	dof	dof	NOUN
alkej-348	24	17	industrial	industrial	ADJ
alkej-348	24	18	scara	scara	NOUN
alkej-348	24	19	robot	robot	NOUN
alkej-348	24	20	with	with	ADP
alkej-348	24	21	pid	pid	NOUN
alkej-348	24	22	controller	controller	NOUN
alkej-348	24	23	after	after	ADP
alkej-348	24	24	optimization	optimization	NOUN
alkej-348	24	25	with	with	ADP
alkej-348	24	26	genetic	genetic	ADJ
alkej-348	24	27	algorithm	algorithm	NOUN
alkej-348	24	28	.	.	PUNCT
alkej-348	25	1	mohammad	mohammad	PROPN
alkej-348	25	2	and	and	CCONJ
alkej-348	25	3	mahdi	mahdi	PROPN
alkej-348	25	4	,	,	PUNCT
alkej-348	25	5	(	(	PUNCT
alkej-348	25	6	2012	2012	NUM
alkej-348	25	7	)	)	PUNCT
alkej-348	26	1	[	[	X
alkej-348	26	2	6]a	6]a	NUM
alkej-348	26	3	trditional	trditional	ADJ
alkej-348	26	4	pd	pd	NOUN
alkej-348	26	5	controller	controller	NOUN
alkej-348	26	6	was	be	AUX
alkej-348	26	7	used	use	VERB
alkej-348	26	8	then	then	ADV
alkej-348	26	9	a	a	DET
alkej-348	26	10	comparison	comparison	NOUN
alkej-348	26	11	method	method	NOUN
alkej-348	26	12	with	with	ADP
alkej-348	26	13	a	a	DET
alkej-348	26	14	neural	neural	ADJ
alkej-348	26	15	network	network	NOUN
alkej-348	26	16	controller	controller	NOUN
alkej-348	26	17	system	system	NOUN
alkej-348	26	18	to	to	PART
alkej-348	26	19	reach	reach	VERB
alkej-348	26	20	the	the	DET
alkej-348	26	21	exact	exact	ADJ
alkej-348	26	22	position	position	NOUN
alkej-348	26	23	control	control	NOUN
alkej-348	26	24	and	and	CCONJ
alkej-348	26	25	motion	motion	NOUN
alkej-348	26	26	characteristics	characteristic	NOUN
alkej-348	26	27	of	of	ADP
alkej-348	26	28	scara	scara	NOUN
alkej-348	26	29	arm	arm	NOUN
alkej-348	26	30	.	.	PUNCT
alkej-348	27	1	firas	firas	PROPN
alkej-348	27	2	and	and	CCONJ
alkej-348	27	3	ahmed	ahmed	PROPN
alkej-348	27	4	,	,	PUNCT
alkej-348	27	5	(	(	PUNCT
alkej-348	27	6	2013	2013	NUM
alkej-348	27	7	)	)	PUNCT
alkej-348	28	1	[	[	X
alkej-348	28	2	7	7	X
alkej-348	28	3	]	]	PUNCT
alkej-348	28	4	proposed	propose	VERB
alkej-348	28	5	a	a	DET
alkej-348	28	6	control	control	NOUN
alkej-348	28	7	system	system	NOUN
alkej-348	28	8	to	to	ADP
alkej-348	28	9	the	the	DET
alkej-348	28	10	four	four	NUM
alkej-348	28	11	degree	degree	NOUN
alkej-348	28	12	of	of	ADP
alkej-348	28	13	freedom	freedom	NOUN
alkej-348	28	14	(	(	PUNCT
alkej-348	28	15	4dof	4dof	NOUN
alkej-348	28	16	)	)	PUNCT
alkej-348	28	17	feedback	feedback	NOUN
alkej-348	28	18	instruments	instrument	NOUN
alkej-348	28	19	ivax	ivax	PROPN
alkej-348	28	20	scara	scara	PROPN
alkej-348	28	21	robot	robot	NOUN
alkej-348	28	22	manipulator	manipulator	NOUN
alkej-348	28	23	using	use	VERB
alkej-348	28	24	field	field	NOUN
alkej-348	28	25	programmable	programmable	ADJ
alkej-348	28	26	gate	gate	PROPN
alkej-348	28	27	array(fpga	array(fpga	PROPN
alkej-348	28	28	)	)	PUNCT
alkej-348	28	29	kit	kit	NOUN
alkej-348	28	30	to	to	PART
alkej-348	28	31	implemented	implement	VERB
alkej-348	28	32	the	the	DET
alkej-348	28	33	inverse	inverse	NOUN
alkej-348	28	34	kinematic	kinematic	NOUN
alkej-348	28	35	calculations	calculation	NOUN
alkej-348	28	36	processing	processing	NOUN
alkej-348	28	37	.	.	PUNCT
alkej-348	29	1	jian	jian	PROPN
alkej-348	29	2	and	and	CCONJ
alkej-348	29	3	wei	wei	PROPN
alkej-348	29	4	,	,	PUNCT
alkej-348	29	5	(	(	PUNCT
alkej-348	29	6	2013	2013	NUM
alkej-348	29	7	)	)	PUNCT
alkej-348	30	1	[	[	X
alkej-348	30	2	8	8	NUM
alkej-348	30	3	]	]	PUNCT
alkej-348	30	4	studied	study	VERB
alkej-348	30	5	four	four	NUM
alkej-348	30	6	degrees	degree	NOUN
alkej-348	30	7	of	of	ADP
alkej-348	30	8	freedom	freedom	NOUN
alkej-348	30	9	scara	scara	PROPN
alkej-348	30	10	robot	robot	PROPN
alkej-348	30	11	kinematics	kinematics	PROPN
alkej-348	30	12	modeling	modeling	NOUN
alkej-348	30	13	,	,	PUNCT
alkej-348	30	14	using	use	VERB
alkej-348	30	15	the	the	DET
alkej-348	30	16	robotics	robotic	NOUN
alkej-348	30	17	toolbox	toolbox	NOUN
alkej-348	30	18	forward	forward	ADJ
alkej-348	30	19	kinematics	kinematic	NOUN
alkej-348	30	20	of	of	ADP
alkej-348	30	21	the	the	DET
alkej-348	30	22	robot	robot	NOUN
alkej-348	30	23	inverse	inverse	NOUN
alkej-348	30	24	kinematics	kinematic	NOUN
alkej-348	30	25	simulation	simulation	NOUN
alkej-348	30	26	in	in	ADP
alkej-348	30	27	the	the	DET
alkej-348	30	28	matlab	matlab	PROPN
alkej-348	30	29	environment	environment	NOUN
alkej-348	30	30	.	.	PUNCT
alkej-348	31	1	through	through	ADP
alkej-348	31	2	simulation	simulation	NOUN
alkej-348	31	3	the	the	DET
alkej-348	31	4	observed	observed	ADJ
alkej-348	31	5	movement	movement	NOUN
alkej-348	31	6	of	of	ADP
alkej-348	31	7	each	each	DET
alkej-348	31	8	joint	joint	ADJ
alkej-348	31	9	scara	scara	NOUN
alkej-348	31	10	robotic	robotic	ADJ
alkej-348	31	11	state	state	NOUN
alkej-348	31	12	verification	verification	NOUN
alkej-348	31	13	the	the	DET
alkej-348	31	14	proposed	propose	VERB
alkej-348	31	15	modeling	modeling	NOUN
alkej-348	31	16	was	be	AUX
alkej-348	31	17	corrected	correct	VERB
alkej-348	31	18	to	to	PART
alkej-348	31	19	reach	reach	VERB
alkej-348	31	20	the	the	DET
alkej-348	31	21	desirable	desirable	ADJ
alkej-348	31	22	goal	goal	NOUN
alkej-348	31	23	by	by	ADP
alkej-348	31	24	enter	enter	VERB
alkej-348	31	25	the	the	DET
alkej-348	31	26	desirable	desirable	ADJ
alkej-348	31	27	joint	joint	ADJ
alkej-348	31	28	angles	angle	NOUN
alkej-348	31	29	,	,	PUNCT
alkej-348	31	30	and	and	CCONJ
alkej-348	31	31	the	the	DET
alkej-348	31	32	system	system	NOUN
alkej-348	31	33	output	output	NOUN
alkej-348	31	34	end	end	NOUN
alkej-348	31	35	of	of	ADP
alkej-348	31	36	the	the	DET
alkej-348	31	37	robotic	robotic	NOUN
alkej-348	31	38	is	be	AUX
alkej-348	31	39	to	to	PART
alkej-348	31	40	reach	reach	VERB
alkej-348	31	41	the	the	DET
alkej-348	31	42	space	space	NOUN
alkej-348	31	43	coordinates	coordinate	NOUN
alkej-348	31	44	.	.	PUNCT
alkej-348	32	1	sudhaet	sudhaet	PROPN
alkej-348	33	1	al	al	PROPN
alkej-348	33	2	.	.	PROPN
alkej-348	33	3	,	,	PUNCT
alkej-348	33	4	(	(	PUNCT
alkej-348	33	5	2013	2013	NUM
alkej-348	33	6	)	)	PUNCT
alkej-348	34	1	[	[	X
alkej-348	34	2	9	9	NUM
alkej-348	34	3	]	]	PUNCT
alkej-348	34	4	concentrated	concentrate	VERB
alkej-348	34	5	on	on	ADP
alkej-348	34	6	the	the	DET
alkej-348	34	7	construction	construction	NOUN
alkej-348	34	8	of	of	ADP
alkej-348	34	9	a	a	DET
alkej-348	34	10	robotic	robotic	ADJ
alkej-348	34	11	arm	arm	NOUN
alkej-348	34	12	or	or	CCONJ
alkej-348	34	13	a	a	DET
alkej-348	34	14	manipulator	manipulator	NOUN
alkej-348	34	15	with	with	ADP
alkej-348	34	16	scara	scara	NOUN
alkej-348	34	17	configuration	configuration	NOUN
alkej-348	34	18	.	.	PUNCT
alkej-348	35	1	the	the	DET
alkej-348	35	2	manipulator	manipulator	NOUN
alkej-348	35	3	consists	consist	VERB
alkej-348	35	4	of	of	ADP
alkej-348	35	5	two	two	NUM
alkej-348	35	6	revolute	revolute	ADJ
alkej-348	35	7	joints	joint	NOUN
alkej-348	35	8	are	be	AUX
alkej-348	35	9	rotating	rotate	VERB
alkej-348	35	10	joints	joint	NOUN
alkej-348	35	11	which	which	PRON
alkej-348	35	12	create	create	VERB
alkej-348	35	13	rotation	rotation	NOUN
alkej-348	35	14	about	about	ADP
alkej-348	35	15	their	their	PRON
alkej-348	35	16	axis	axis	NOUN
alkej-348	35	17	fitted	fit	VERB
alkej-348	35	18	with	with	ADP
alkej-348	35	19	two	two	NUM
alkej-348	35	20	dc	dc	PROPN
alkej-348	35	21	motor	motor	NOUN
alkej-348	35	22	are	be	AUX
alkej-348	35	23	interfaced	interface	VERB
alkej-348	35	24	with	with	ADP
alkej-348	35	25	the	the	DET
alkej-348	35	26	atmega	atmega	NOUN
alkej-348	35	27	16	16	NUM
alkej-348	35	28	microcontroller	microcontroller	NOUN
alkej-348	35	29	board	board	NOUN
alkej-348	35	30	using	use	VERB
alkej-348	35	31	a	a	DET
alkej-348	35	32	l293d	l293d	PROPN
alkej-348	35	33	ic	ic	NUM
alkej-348	35	34	,	,	PUNCT
alkej-348	35	35	and	and	CCONJ
alkej-348	35	36	one	one	NUM
alkej-348	35	37	prismatic	prismatic	ADJ
alkej-348	35	38	joint	joint	NOUN
alkej-348	35	39	.	.	PUNCT
alkej-348	36	1	yousif	yousif	PROPN
alkej-348	36	2	,	,	PUNCT
alkej-348	36	3	(	(	PUNCT
alkej-348	36	4	2013	2013	NUM
alkej-348	36	5	)	)	PUNCT
alkej-348	37	1	[	[	X
alkej-348	37	2	10	10	NUM
alkej-348	37	3	]	]	X
alkej-348	37	4	focused	focus	VERB
alkej-348	37	5	in	in	ADP
alkej-348	37	6	this	this	DET
alkej-348	37	7	research	research	NOUN
alkej-348	37	8	on	on	ADP
alkej-348	37	9	the	the	DET
alkej-348	37	10	scara	scara	NOUN
alkej-348	37	11	robot	robot	NOUN
alkej-348	37	12	which	which	PRON
alkej-348	37	13	had	have	VERB
alkej-348	37	14	four	four	NUM
alkej-348	37	15	degrees	degree	NOUN
alkej-348	37	16	of	of	ADP
alkej-348	37	17	freedom	freedom	NOUN
alkej-348	37	18	(	(	PUNCT
alkej-348	37	19	dofs	dofs	NOUN
alkej-348	37	20	)	)	PUNCT
alkej-348	37	21	,	,	PUNCT
alkej-348	37	22	with	with	ADP
alkej-348	37	23	three	three	NUM
alkej-348	37	24	(	(	PUNCT
alkej-348	37	25	shoulder	shoulder	NOUN
alkej-348	37	26	,	,	PUNCT
alkej-348	37	27	elbow	elbow	NOUN
alkej-348	37	28	,	,	PUNCT
alkej-348	37	29	wrist	wrist	NOUN
alkej-348	37	30	)	)	PUNCT
alkej-348	37	31	controlling	control	VERB
alkej-348	37	32	by	by	ADP
alkej-348	37	33	servo	servo	NOUN
alkej-348	37	34	motors	motor	NOUN
alkej-348	37	35	and	and	CCONJ
alkej-348	37	36	one	one	NUM
alkej-348	37	37	by	by	ADP
alkej-348	37	38	pneumatics	pneumatic	NOUN
alkej-348	37	39	.	.	PUNCT
alkej-348	38	1	it	it	PRON
alkej-348	38	2	is	be	AUX
alkej-348	38	3	realized	realize	VERB
alkej-348	38	4	by	by	ADP
alkej-348	38	5	a	a	DET
alkej-348	38	6	3d	3d	NUM
alkej-348	38	7	hypothetical	hypothetical	ADJ
alkej-348	38	8	reality	reality	NOUN
alkej-348	38	9	(	(	PUNCT
alkej-348	38	10	vr	vr	NOUN
alkej-348	38	11	)	)	PUNCT
alkej-348	38	12	modeling	modeling	NOUN
alkej-348	38	13	,	,	PUNCT
alkej-348	38	14	which	which	PRON
alkej-348	38	15	builds	build	VERB
alkej-348	38	16	and	and	CCONJ
alkej-348	38	17	receives	receive	VERB
alkej-348	38	18	instruction	instruction	NOUN
alkej-348	38	19	through	through	ADP
alkej-348	38	20	a	a	DET
alkej-348	38	21	matlab	matlab	PROPN
alkej-348	38	22	/	/	SYM
alkej-348	38	23	simulink	simulink	NOUN
alkej-348	38	24	in	in	ADP
alkej-348	38	25	version	version	NOUN
alkej-348	38	26	r2012a	r2012a	PROPN
alkej-348	38	27	,	,	PUNCT
alkej-348	38	28	develops	develop	VERB
alkej-348	38	29	an	an	DET
alkej-348	38	30	anfis	anfis	ADJ
alkej-348	38	31	(	(	PUNCT
alkej-348	38	32	adaptive	adaptive	ADJ
alkej-348	38	33	neuro	neuro	PROPN
alkej-348	38	34	fuzzy	fuzzy	ADJ
alkej-348	38	35	inference	inference	NOUN
alkej-348	38	36	strategy	strategy	NOUN
alkej-348	38	37	)	)	PUNCT
alkej-348	38	38	control	control	NOUN
alkej-348	38	39	scheme	scheme	NOUN
alkej-348	38	40	for	for	ADP
alkej-348	38	41	scara	scara	NOUN
alkej-348	38	42	robot	robot	NOUN
alkej-348	38	43	parameters	parameter	NOUN
alkej-348	38	44	.	.	PUNCT
alkej-348	39	1	zelun	zelun	PROPN
alkej-348	39	2	et	et	PROPN
alkej-348	39	3	al	al	PROPN
alkej-348	39	4	.	.	PROPN
alkej-348	39	5	,	,	PUNCT
alkej-348	39	6	(	(	PUNCT
alkej-348	39	7	2013	2013	NUM
alkej-348	39	8	)	)	PUNCT
alkej-348	40	1	[	[	X
alkej-348	40	2	11	11	NUM
alkej-348	40	3	]	]	PUNCT
alkej-348	40	4	proposed	propose	VERB
alkej-348	40	5	the	the	DET
alkej-348	40	6	design	design	NOUN
alkej-348	40	7	of	of	ADP
alkej-348	40	8	a	a	DET
alkej-348	40	9	hardware	hardware	NOUN
alkej-348	40	10	structure	structure	NOUN
alkej-348	40	11	and	and	CCONJ
alkej-348	40	12	software	software	NOUN
alkej-348	40	13	of	of	ADP
alkej-348	40	14	3	3	NUM
alkej-348	40	15	-	-	PUNCT
alkej-348	40	16	dof	dof	ADJ
alkej-348	40	17	industrial	industrial	ADJ
alkej-348	40	18	spot	spot	NOUN
alkej-348	40	19	welding	welding	NOUN
alkej-348	40	20	robot	robot	NOUN
alkej-348	40	21	,	,	PUNCT
alkej-348	40	22	the	the	DET
alkej-348	40	23	robot	robot	NOUN
alkej-348	40	24	controlled	control	VERB
alkej-348	40	25	by	by	ADP
alkej-348	40	26	the	the	DET
alkej-348	40	27	plc	plc	PROPN
alkej-348	40	28	.	.	PROPN
alkej-348	40	29	panchanand	panchanand	PROPN
alkej-348	40	30	and	and	CCONJ
alkej-348	40	31	biswal	biswal	PROPN
alkej-348	40	32	,	,	PUNCT
alkej-348	40	33	(	(	PUNCT
alkej-348	40	34	2014	2014	NUM
alkej-348	40	35	)	)	PUNCT
alkej-348	41	1	[	[	X
alkej-348	41	2	12	12	NUM
alkej-348	41	3	]	]	PUNCT
alkej-348	41	4	presented	present	VERB
alkej-348	41	5	a	a	DET
alkej-348	41	6	structure	structure	NOUN
alkej-348	41	7	of	of	ADP
alkej-348	41	8	artificial	artificial	ADJ
alkej-348	41	9	neural	neural	ADJ
alkej-348	41	10	network	network	NOUN
alkej-348	41	11	(	(	PUNCT
alkej-348	41	12	ann	ann	PROPN
alkej-348	41	13	)	)	PUNCT
alkej-348	41	14	pattern	pattern	NOUN
alkej-348	41	15	to	to	PART
alkej-348	41	16	find	find	VERB
alkej-348	41	17	the	the	DET
alkej-348	41	18	inverse	inverse	NOUN
alkej-348	41	19	kinematics	kinematic	NOUN
alkej-348	41	20	solution	solution	NOUN
alkej-348	41	21	of	of	ADP
alkej-348	41	22	a	a	DET
alkej-348	41	23	4dof	4dof	NUM
alkej-348	41	24	scara	scara	NOUN
alkej-348	41	25	arm	arm	NOUN
alkej-348	41	26	.	.	PUNCT
alkej-348	42	1	morteza	morteza	INTJ
alkej-348	42	2	et	et	PROPN
alkej-348	42	3	al	al	PROPN
alkej-348	42	4	.	.	PROPN
alkej-348	42	5	,	,	PUNCT
alkej-348	42	6	(	(	PUNCT
alkej-348	42	7	2014	2014	NUM
alkej-348	42	8	)	)	PUNCT
alkej-348	43	1	[	[	X
alkej-348	43	2	13	13	NUM
alkej-348	43	3	]	]	PUNCT
alkej-348	43	4	presented	present	VERB
alkej-348	43	5	mechanical	mechanical	ADJ
alkej-348	43	6	design	design	NOUN
alkej-348	43	7	of	of	ADP
alkej-348	43	8	an	an	DET
alkej-348	43	9	educational	educational	ADJ
alkej-348	43	10	manipulator	manipulator	NOUN
alkej-348	43	11	of	of	ADP
alkej-348	43	12	industrial	industrial	ADJ
alkej-348	43	13	scara	scara	PROPN
alkej-348	43	14	robot	robot	NOUN
alkej-348	43	15	,	,	PUNCT
alkej-348	43	16	called	call	VERB
alkej-348	43	17	fumscara	fumscara	PROPN
alkej-348	43	18	,	,	PUNCT
alkej-348	43	19	the	the	DET
alkej-348	43	20	designing	designing	NOUN
alkej-348	43	21	process	process	NOUN
alkej-348	43	22	contianed	contiane	VERB
alkej-348	43	23	,	,	PUNCT
alkej-348	43	24	designing	design	VERB
alkej-348	43	25	of	of	ADP
alkej-348	43	26	joint	joint	ADJ
alkej-348	43	27	,	,	PUNCT
alkej-348	43	28	link	link	NOUN
alkej-348	43	29	design	design	NOUN
alkej-348	43	30	,	,	PUNCT
alkej-348	43	31	pid	pid	NOUN
alkej-348	43	32	controller	controller	NOUN
alkej-348	43	33	design	design	NOUN
alkej-348	43	34	and	and	CCONJ
alkej-348	43	35	chosen	choose	VERB
alkej-348	43	36	of	of	ADP
alkej-348	43	37	mechanical	mechanical	ADJ
alkej-348	43	38	and	and	CCONJ
alkej-348	43	39	electrical	electrical	ADJ
alkej-348	43	40	hardware	hardware	NOUN
alkej-348	43	41	,	,	PUNCT
alkej-348	43	42	a	a	DET
alkej-348	43	43	critical	critical	ADJ
alkej-348	43	44	trajectory	trajectory	NOUN
alkej-348	43	45	in	in	ADP
alkej-348	43	46	robot	robot	NOUN
alkej-348	43	47	’s	’s	PART
alkej-348	43	48	workspace	workspace	NOUN
alkej-348	43	49	is	be	AUX
alkej-348	43	50	traced	trace	VERB
alkej-348	43	51	.	.	PUNCT
alkej-348	44	1	nitesh	nitesh	INTJ
alkej-348	44	2	et	et	PROPN
alkej-348	44	3	al	al	PROPN
alkej-348	44	4	.	.	PROPN
alkej-348	44	5	,	,	PUNCT
alkej-348	44	6	(	(	PUNCT
alkej-348	44	7	2014	2014	NUM
alkej-348	44	8	)	)	PUNCT
alkej-348	45	1	[	[	X
alkej-348	45	2	14	14	NUM
alkej-348	45	3	]	]	PUNCT
alkej-348	45	4	presented	present	VERB
alkej-348	45	5	dynamic	dynamic	ADJ
alkej-348	45	6	model	model	NOUN
alkej-348	45	7	of	of	ADP
alkej-348	45	8	3	3	NUM
alkej-348	45	9	-	-	PUNCT
alkej-348	45	10	dof	dof	NOUN
alkej-348	45	11	scara	scara	NOUN
alkej-348	45	12	robot	robot	NOUN
alkej-348	45	13	manipulator	manipulator	NOUN
alkej-348	45	14	based	base	VERB
alkej-348	45	15	on	on	ADP
alkej-348	45	16	lagrange	lagrange	PROPN
alkej-348	45	17	euler	euler	NOUN
alkej-348	45	18	formulation	formulation	NOUN
alkej-348	45	19	using	use	VERB
alkej-348	45	20	mamdani	mamdani	NOUN
alkej-348	45	21	based	base	VERB
alkej-348	45	22	fuzzy	fuzzy	ADJ
alkej-348	45	23	controller	controller	NOUN
alkej-348	45	24	overcome	overcome	VERB
alkej-348	45	25	the	the	DET
alkej-348	45	26	drawbacks	drawback	NOUN
alkej-348	45	27	of	of	ADP
alkej-348	45	28	conventional	conventional	ADJ
alkej-348	45	29	pid	pid	NOUN
alkej-348	45	30	controller	controller	NOUN
alkej-348	45	31	.	.	PUNCT
alkej-348	46	1	subhashini	subhashini	PROPN
alkej-348	46	2	et	et	PROPN
alkej-348	46	3	al	al	PROPN
alkej-348	46	4	.	.	PROPN
alkej-348	46	5	,	,	PUNCT
alkej-348	46	6	(	(	PUNCT
alkej-348	46	7	2014	2014	NUM
alkej-348	46	8	)	)	PUNCT
alkej-348	47	1	[	[	X
alkej-348	47	2	15	15	NUM
alkej-348	47	3	]	]	PUNCT
alkej-348	47	4	presented	present	VERB
alkej-348	47	5	sacra	sacra	PROPN
alkej-348	47	6	robot	robot	NOUN
alkej-348	47	7	model	model	NOUN
alkej-348	47	8	and	and	CCONJ
alkej-348	47	9	the	the	DET
alkej-348	47	10	simulation	simulation	NOUN
alkej-348	47	11	used	use	VERB
alkej-348	47	12	unigraphics	unigraphics	PROPN
alkej-348	47	13	cad	cad	PROPN
alkej-348	47	14	software	software	NOUN
alkej-348	47	15	for	for	ADP
alkej-348	47	16	deburring	deburre	VERB
alkej-348	47	17	operation	operation	NOUN
alkej-348	47	18	of	of	ADP
alkej-348	47	19	circular	circular	ADJ
alkej-348	47	20	elements	element	NOUN
alkej-348	47	21	.	.	PUNCT
alkej-348	48	1	a	a	DET
alkej-348	48	2	complete	complete	ADJ
alkej-348	48	3	mathematical	mathematical	ADJ
alkej-348	48	4	modeling	modeling	NOUN
alkej-348	48	5	was	be	AUX
alkej-348	48	6	pregnancies	pregnancy	NOUN
alkej-348	48	7	out	out	ADP
alkej-348	48	8	for	for	ADP
alkej-348	48	9	kinematics	kinematic	NOUN
alkej-348	48	10	and	and	CCONJ
alkej-348	48	11	equations	equation	NOUN
alkej-348	48	12	are	be	AUX
alkej-348	48	13	derived	derive	VERB
alkej-348	48	14	using	use	VERB
alkej-348	48	15	the	the	DET
alkej-348	48	16	denavit	denavit	PROPN
alkej-348	48	17	-	-	PUNCT
alkej-348	48	18	hartenberg	hartenberg	PROPN
alkej-348	48	19	notation	notation	NOUN
alkej-348	48	20	.	.	PUNCT
alkej-348	49	1	in	in	ADP
alkej-348	49	2	this	this	DET
alkej-348	49	3	paper	paper	NOUN
alkej-348	49	4	a	a	DET
alkej-348	49	5	designing	designing	NOUN
alkej-348	49	6	process	process	NOUN
alkej-348	49	7	and	and	CCONJ
alkej-348	49	8	implementation	implementation	NOUN
alkej-348	49	9	of	of	ADP
alkej-348	49	10	an	an	DET
alkej-348	49	11	industrial	industrial	ADJ
alkej-348	49	12	robotic	robotic	ADJ
alkej-348	49	13	arm	arm	NOUN
alkej-348	49	14	of	of	ADP
alkej-348	49	15	3dof	3dof	PROPN
alkej-348	49	16	type	type	NOUN
alkej-348	49	17	scara	scara	NOUN
alkej-348	49	18	(	(	PUNCT
alkej-348	49	19	selective	selective	ADJ
alkej-348	49	20	compliant	compliant	ADJ
alkej-348	49	21	assembly	assembly	NOUN
alkej-348	49	22	robot	robot	NOUN
alkej-348	49	23	arm	arm	NOUN
alkej-348	49	24	)	)	PUNCT
alkej-348	49	25	with	with	ADP
alkej-348	49	26	two	two	NUM
alkej-348	49	27	rotations	rotation	NOUN
alkej-348	49	28	and	and	CCONJ
alkej-348	49	29	one	one	NUM
alkej-348	49	30	translation	translation	NOUN
alkej-348	49	31	link	link	NOUN
alkej-348	49	32	used	use	VERB
alkej-348	49	33	for	for	ADP
alkej-348	49	34	welding	welding	NOUN
alkej-348	49	35	applications	application	NOUN
alkej-348	49	36	.	.	PUNCT
alkej-348	50	1	the	the	DET
alkej-348	50	2	robot	robot	NOUN
alkej-348	50	3	mentioned	mention	VERB
alkej-348	50	4	is	be	AUX
alkej-348	50	5	fully	fully	ADV
alkej-348	50	6	automated	automate	VERB
alkej-348	50	7	using	use	VERB
alkej-348	50	8	programmable	programmable	ADJ
alkej-348	50	9	logic	logic	NOUN
alkej-348	50	10	controller	controller	PROPN
alkej-348	50	11	plc	plc	PROPN
alkej-348	50	12	based	base	VERB
alkej-348	50	13	fbd	fbd	PROPN
alkej-348	50	14	language	language	PROPN
alkej-348	50	15	to	to	PART
alkej-348	50	16	obtain	obtain	VERB
alkej-348	50	17	three	three	NUM
alkej-348	50	18	different	different	ADJ
alkej-348	50	19	automatic	automatic	ADJ
alkej-348	50	20	motions	motion	NOUN
alkej-348	50	21	.	.	PUNCT
alkej-348	51	1	pdf	pdf	NOUN
alkej-348	51	2	created	create	VERB
alkej-348	51	3	with	with	ADP
alkej-348	51	4	pdffactory	pdffactory	ADJ
alkej-348	51	5	trial	trial	NOUN
alkej-348	51	6	version	version	NOUN
alkej-348	51	7	www.pdffactory.com	www.pdffactory.com	X
alkej-348	51	8	http://www.pdffactory.com	http://www.pdffactory.com	X
alkej-348	51	9	http://www.pdffactory.com	http://www.pdffactory.com	X
alkej-348	52	1	iman	iman	PROPN
alkej-348	52	2	salih	salih	PROPN
alkej-348	52	3	karem	karem	PROPN
alkej-348	52	4	al	al	PROPN
alkej-348	52	5	-	-	PUNCT
alkej-348	52	6	khwarizmi	khwarizmi	PROPN
alkej-348	52	7	engineering	engineering	NOUN
alkej-348	52	8	journal	journal	PROPN
alkej-348	52	9	,	,	PUNCT
alkej-348	52	10	vol	vol	NOUN
alkej-348	52	11	.	.	PROPN
alkej-348	52	12	13	13	NUM
alkej-348	52	13	,	,	PUNCT
alkej-348	52	14	no	no	INTJ
alkej-348	52	15	.	.	NOUN
alkej-348	52	16	2	2	NUM
alkej-348	52	17	,	,	PUNCT
alkej-348	52	18	p.p	p.p	PROPN
alkej-348	52	19	.	.	NOUN
alkej-348	52	20	4050	4050	NUM
alkej-348	52	21	(	(	PUNCT
alkej-348	52	22	2017	2017	NUM
alkej-348	52	23	)	)	PUNCT
alkej-348	52	24	42	42	NUM
alkej-348	52	25	2	2	NUM
alkej-348	52	26	.	.	PUNCT
alkej-348	53	1	robot	robot	NOUN
alkej-348	53	2	kinematics	kinematic	NOUN
alkej-348	53	3	the	the	DET
alkej-348	53	4	scara	scara	NOUN
alkej-348	53	5	robot	robot	NOUN
alkej-348	53	6	has	have	VERB
alkej-348	53	7	three	three	NUM
alkej-348	53	8	dof.a	dof.a	PROPN
alkej-348	53	9	schematic	schematic	ADJ
alkej-348	53	10	diagram	diagram	NOUN
alkej-348	53	11	assigning	assign	VERB
alkej-348	53	12	all	all	DET
alkej-348	53	13	the	the	DET
alkej-348	53	14	joint	joint	ADJ
alkej-348	53	15	axes	axis	NOUN
alkej-348	53	16	is	be	AUX
alkej-348	53	17	represented	represent	VERB
alkej-348	53	18	in	in	ADP
alkej-348	53	19	figure	figure	NOUN
alkej-348	53	20	(	(	PUNCT
alkej-348	53	21	2	2	NUM
alkej-348	53	22	)	)	PUNCT
alkej-348	53	23	,	,	PUNCT
alkej-348	53	24	joint	joint	ADJ
alkej-348	53	25	1	1	NUM
alkej-348	53	26	and	and	CCONJ
alkej-348	53	27	joint	joint	ADJ
alkej-348	53	28	2	2	NUM
alkej-348	53	29	are	be	AUX
alkej-348	53	30	rotations	rotation	NOUN
alkej-348	53	31	about	about	ADP
alkej-348	53	32	z	z	NOUN
alkej-348	53	33	-	-	PUNCT
alkej-348	53	34	axis	axis	ADJ
alkej-348	53	35	and	and	CCONJ
alkej-348	53	36	joint	joint	ADJ
alkej-348	53	37	3is	3is	ADJ
alkej-348	53	38	translation	translation	NOUN
alkej-348	53	39	vertical.the	vertical.the	DET
alkej-348	53	40	three	three	NUM
alkej-348	53	41	dof	dof	NOUN
alkej-348	53	42	manipulator	manipulator	NOUN
alkej-348	53	43	kinematic	kinematic	NOUN
alkej-348	53	44	parameters	parameter	NOUN
alkej-348	53	45	are	be	AUX
alkej-348	53	46	derived	derive	VERB
alkej-348	53	47	using	use	VERB
alkej-348	53	48	denavithartemberg	denavithartemberg	PROPN
alkej-348	53	49	formulation	formulation	NOUN
alkej-348	53	50	shown	show	VERB
alkej-348	53	51	in	in	ADP
alkej-348	53	52	table	table	NOUN
alkej-348	53	53	(	(	PUNCT
alkej-348	53	54	1	1	NUM
alkej-348	53	55	)	)	PUNCT
alkej-348	53	56	fig	fig	NOUN
alkej-348	53	57	.	.	PUNCT
alkej-348	54	1	2	2	NUM
alkej-348	54	2	.	.	X
alkej-348	54	3	frames	frame	NOUN
alkej-348	54	4	of	of	ADP
alkej-348	54	5	manipulator	manipulator	NOUN
alkej-348	54	6	.	.	PUNCT
alkej-348	55	1	table	table	NOUN
alkej-348	55	2	1	1	NUM
alkej-348	55	3	,	,	PUNCT
alkej-348	55	4	denavit	denavit	PROPN
alkej-348	55	5	-	-	PUNCT
alkej-348	55	6	hartenberg	hartenberg	PROPN
alkej-348	55	7	parameters	parameter	NOUN
alkej-348	55	8	.	.	PUNCT
alkej-348	56	1	axis	axis	ADJ
alkej-348	56	2	no	no	INTJ
alkej-348	56	3	.	.	PUNCT
alkej-348	57	1	i	i	PRON
alkej-348	57	2	twist	twist	VERB
alkej-348	57	3	angles	angle	NOUN
alkej-348	57	4	αi-1	αi-1	NUM
alkej-348	57	5	link	link	NOUN
alkej-348	57	6	length	length	NOUN
alkej-348	57	7	ai-1	ai-1	PUNCT
alkej-348	57	8	link	link	VERB
alkej-348	57	9	offset	offset	VERB
alkej-348	58	1	di	di	NOUN
alkej-348	58	2	joint	joint	NOUN
alkej-348	58	3	angles	angle	NOUN
alkej-348	58	4	θi	θi	ADP
alkej-348	58	5	1	1	NUM
alkej-348	58	6	0	0	NUM
alkej-348	58	7	0	0	NUM
alkej-348	58	8	�	�	PROPN
alkej-348	58	9	θ1	θ1	NOUN
alkej-348	58	10	2	2	NUM
alkej-348	58	11	0	0	NUM
alkej-348	58	12	�	�	PROPN
alkej-348	58	13	�	�	PROPN
alkej-348	58	14	0	0	NUM
alkej-348	58	15	θ2	θ2	PROPN
alkej-348	58	16	3	3	NUM
alkej-348	58	17	0	0	NUM
alkej-348	58	18	�	�	PROPN
alkej-348	58	19	�	�	PROPN
alkej-348	58	20	−	−	PROPN
alkej-348	58	21	0	0	NUM
alkej-348	59	1	the	the	DET
alkej-348	59	2	forward	forward	ADJ
alkej-348	59	3	kinematics	kinematic	NOUN
alkej-348	59	4	include	include	VERB
alkej-348	59	5	all	all	DET
alkej-348	59	6	values	value	NOUN
alkej-348	59	7	of	of	ADP
alkej-348	59	8	the	the	DET
alkej-348	59	9	link	link	NOUN
alkej-348	59	10	transformations	transformation	NOUN
alkej-348	59	11	that	that	PRON
alkej-348	59	12	can	can	AUX
alkej-348	59	13	be	be	AUX
alkej-348	59	14	multiplied	multiply	VERB
alkej-348	59	15	together	together	ADV
alkej-348	59	16	to	to	PART
alkej-348	59	17	find	find	VERB
alkej-348	59	18	the	the	DET
alkej-348	59	19	single	single	ADJ
alkej-348	59	20	transformation	transformation	NOUN
alkej-348	59	21	from	from	ADP
alkej-348	59	22	the	the	DET
alkej-348	59	23	base	base	NOUN
alkej-348	59	24	,	,	PUNCT
alkej-348	59	25	frame	frame	NOUN
alkej-348	59	26	(	(	PUNCT
alkej-348	59	27	0	0	NUM
alkej-348	59	28	)	)	PUNCT
alkej-348	59	29	to	to	ADP
alkej-348	59	30	the	the	DET
alkej-348	59	31	tip	tip	NOUN
alkej-348	59	32	of	of	ADP
alkej-348	59	33	endeffector	endeffector	NOUN
alkej-348	59	34	frame	frame	NOUN
alkej-348	59	35	(	(	PUNCT
alkej-348	59	36	3	3	NUM
alkej-348	59	37	)	)	PUNCT
alkej-348	59	38	.	.	PUNCT
alkej-348	60	1	�	�	PROPN
alkej-348	60	2	�	�	PROPN
alkej-348	60	3	�	�	PROPN
alkej-348	60	4	�	�	PROPN
alkej-348	60	5	�	�	PROPN
alkej-348	60	6	�	�	PROPN
alkej-348	60	7	�	�	PROPN
alkej-348	60	8	�	�	PROPN
alkej-348	60	9	�	�	PROPN
alkej-348	60	10	�	�	PROPN
alkej-348	60	11	�	�	PROPN
alkej-348	60	12	�	�	PROPN
alkej-348	60	13	�	�	PROPN
alkej-348	60	14	�	�	PROPN
alkej-348	60	15	�	�	PROPN
alkej-348	60	16	�	�	PROPN
alkej-348	60	17	�	�	PROPN
alkej-348	60	18	=	=	SYM
alkej-348	60	19	�	�	PROPN
alkej-348	60	20	�	�	PROPN
alkej-348	60	21	�	�	PROPN
alkej-348	60	22	=	=	SYM
alkej-348	60	23	�	�	PROPN
alkej-348	60	24	�	�	PROPN
alkej-348	60	25	�	�	PROPN
alkej-348	60	26	�	�	PROPN
alkej-348	60	27	�	�	PROPN
alkej-348	60	28	�	�	PROPN
alkej-348	60	29	�	�	PROPN
alkej-348	60	30	�	�	PROPN
alkej-348	60	31	�	�	PROPN
alkej-348	60	32	�	�	PROPN
alkej-348	60	33	�	�	PROPN
alkej-348	60	34	�	�	PROPN
alkej-348	60	35	=	=	SYM
alkej-348	60	36	�	�	PROPN
alkej-348	60	37	�	�	PROPN
alkej-348	60	38	�	�	PROPN
alkej-348	60	39	�	�	PROPN
alkej-348	60	40	�	�	PROPN
alkej-348	60	41	�	�	PROPN
alkej-348	60	42	�	�	PROPN
alkej-348	60	43	�	�	PROPN
alkej-348	60	44	�	�	PROPN
alkej-348	60	45	�	�	PROPN
alkej-348	60	46	�	�	PROPN
alkej-348	60	47	�	�	PROPN
alkej-348	60	48	�	�	PROPN
alkej-348	60	49	�	�	PROPN
alkej-348	60	50	�	�	PROPN
alkej-348	60	51	�	�	PROPN
alkej-348	60	52	�	�	PROPN
alkej-348	60	53	�	�	PROPN
alkej-348	60	54	�	�	PROPN
alkej-348	60	55	�	�	PROPN
alkej-348	60	56	�	�	PROPN
alkej-348	60	57	�	�	PROPN
alkej-348	60	58	�	�	PROPN
alkej-348	60	59	�	�	PROPN
alkej-348	60	60	�	�	PROPN
alkej-348	60	61	�	�	PROPN
alkej-348	60	62	�	�	PROPN
alkej-348	60	63	�	�	PROPN
alkej-348	60	64	�	�	PROPN
alkej-348	60	65	�	�	PROPN
alkej-348	60	66	�	�	PROPN
alkej-348	60	67	�	�	PROPN
alkej-348	60	68	�	�	PROPN
alkej-348	60	69	�	�	PROPN
alkej-348	60	70	0	0	NUM
alkej-348	60	71	0	0	NUM
alkej-348	60	72	0	0	NUM
alkej-348	60	73	1	1	NUM
alkej-348	60	74	�	�	PROPN
alkej-348	60	75	=	=	SYM
alkej-348	60	76	�	�	PROPN
alkej-348	60	77	�	�	PROPN
alkej-348	60	78	�	�	PROPN
alkej-348	60	79	−	−	PROPN
alkej-348	60	80	�	�	PROPN
alkej-348	60	81	�	�	PROPN
alkej-348	60	82	0	0	NUM
alkej-348	60	83	0	0	NUM
alkej-348	60	84	�	�	PROPN
alkej-348	60	85	�	�	PROPN
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alkej-348	60	88	0	0	NUM
alkej-348	60	89	00	00	NUM
alkej-348	60	90	0	0	NUM
alkej-348	60	91	1	1	NUM
alkej-348	60	92	�	�	PROPN
alkej-348	60	93	�	�	PROPN
alkej-348	60	94	0	0	NUM
alkej-348	60	95	0	0	NUM
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alkej-348	60	97	1	1	NUM
alkej-348	60	98	�	�	PROPN
alkej-348	60	99	*	*	PUNCT
alkej-348	60	100	�	�	PROPN
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alkej-348	60	104	�	�	PROPN
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alkej-348	60	107	�	�	PROPN
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alkej-348	60	113	1	1	NUM
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alkej-348	60	119	0	0	NUM
alkej-348	60	120	1	1	NUM
alkej-348	60	121	�	�	PROPN
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alkej-348	60	127	�	�	PROPN
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alkej-348	60	130	1	1	NUM
alkej-348	60	131	0	0	NUM
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alkej-348	60	133	0	0	NUM
alkej-348	60	134	1	1	NUM
alkej-348	60	135	−	−	PROPN
alkej-348	60	136	�	�	PROPN
alkej-348	60	137	�	�	NOUN
alkej-348	60	138	0	0	NUM
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alkej-348	60	141	1	1	NUM
alkej-348	60	142	�	�	PROPN
alkej-348	60	143	=	=	SYM
alkej-348	60	144	�	�	PROPN
alkej-348	60	145	�	�	PROPN
alkej-348	60	146	�	�	PROPN
alkej-348	60	147	�	�	PROPN
alkej-348	60	148	−	−	PROPN
alkej-348	60	149	�	�	PROPN
alkej-348	60	150	�	�	PROPN
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alkej-348	60	152	−	−	PROPN
alkej-348	60	153	�	�	PROPN
alkej-348	60	154	�	�	PROPN
alkej-348	60	155	�	�	PROPN
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alkej-348	60	157	−	−	PROPN
alkej-348	60	158	�	�	PROPN
alkej-348	60	159	�	�	PROPN
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alkej-348	60	163	�	�	PROPN
alkej-348	60	164	�	�	PROPN
alkej-348	60	165	�	�	PROPN
alkej-348	60	166	�	�	PROPN
alkej-348	60	167	�	�	PROPN
alkej-348	60	168	�	�	PROPN
alkej-348	60	169	�	�	PROPN
alkej-348	60	170	�	�	PROPN
alkej-348	60	171	+	+	SYM
alkej-348	60	172	�	�	PROPN
alkej-348	60	173	�	�	PROPN
alkej-348	60	174	�	�	PROPN
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alkej-348	60	176	−	−	PROPN
alkej-348	60	177	�	�	PROPN
alkej-348	60	178	�	�	PROPN
alkej-348	60	179	�	�	PROPN
alkej-348	60	180	+	+	SYM
alkej-348	60	181	�	�	PROPN
alkej-348	60	182	�	�	PROPN
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alkej-348	60	185	�	�	PROPN
alkej-348	60	186	�	�	PROPN
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alkej-348	60	191	1	1	NUM
alkej-348	60	192	�	�	PROPN
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alkej-348	60	197	1	1	NUM
alkej-348	60	198	�	�	PROPN
alkej-348	60	199	∗	∗	NOUN
alkej-348	60	200	�	�	PROPN
alkej-348	60	201	1	1	NUM
alkej-348	60	202	0	0	NUM
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alkej-348	60	204	�	�	PROPN
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alkej-348	60	206	0	0	NUM
alkej-348	60	207	1	1	NUM
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alkej-348	60	211	1	1	NUM
alkej-348	60	212	−	−	PROPN
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alkej-348	60	218	1	1	NUM
alkej-348	60	219	�	�	PROPN
alkej-348	60	220	=	=	SYM
alkej-348	60	221	�	�	PROPN
alkej-348	60	222	�	�	PROPN
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alkej-348	60	224	�	�	PROPN
alkej-348	60	225	−	−	PROPN
alkej-348	60	226	�	�	PROPN
alkej-348	60	227	�	�	PROPN
alkej-348	60	228	�	�	PROPN
alkej-348	60	229	0	0	NUM
alkej-348	60	230	�	�	PROPN
alkej-348	60	231	�	�	PROPN
alkej-348	60	232	�	�	PROPN
alkej-348	60	233	�	�	PROPN
alkej-348	60	234	�	�	PROPN
alkej-348	60	235	+	+	SYM
alkej-348	60	236	�	�	PROPN
alkej-348	60	237	�	�	PROPN
alkej-348	60	238	�	�	PROPN
alkej-348	60	239	�	�	PROPN
alkej-348	60	240	�	�	PROPN
alkej-348	60	241	�	�	PROPN
alkej-348	60	242	�	�	PROPN
alkej-348	60	243	�	�	PROPN
alkej-348	60	244	�	�	PROPN
alkej-348	60	245	�	�	PROPN
alkej-348	60	246	0	0	NUM
alkej-348	60	247	�	�	PROPN
alkej-348	60	248	�	�	PROPN
alkej-348	60	249	�	�	PROPN
alkej-348	60	250	�	�	PROPN
alkej-348	60	251	�	�	PROPN
alkej-348	60	252	+	+	SYM
alkej-348	60	253	�	�	PROPN
alkej-348	60	254	�	�	PROPN
alkej-348	60	255	�	�	PROPN
alkej-348	60	256	�	�	PROPN
alkej-348	60	257	0	0	NUM
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alkej-348	60	259	1	1	NUM
alkej-348	60	260	−	−	PROPN
alkej-348	60	261	�	�	PROPN
alkej-348	60	262	�	�	PROPN
alkej-348	60	263	+	+	SYM
alkej-348	60	264	�	�	PROPN
alkej-348	60	265	�	�	PROPN
alkej-348	60	266	0	0	NUM
alkej-348	60	267	0	0	NUM
alkej-348	60	268	0	0	NUM
alkej-348	60	269	1	1	NUM
alkej-348	60	270	�	�	PROPN
alkej-348	60	271	�	�	PROPN
alkej-348	60	272	�	�	PROPN
alkej-348	60	273	�	�	PROPN
alkej-348	60	274	=	=	SYM
alkej-348	60	275	�	�	PROPN
alkej-348	60	276	�	�	PROPN
alkej-348	60	277	�	�	PROPN
alkej-348	60	278	,	,	PUNCT
alkej-348	60	279	�	�	PROPN
alkej-348	60	280	�	�	PROPN
alkej-348	60	281	�	�	PROPN
alkej-348	60	282	=	=	SYM
alkej-348	60	283	�	�	PROPN
alkej-348	60	284	�	�	PROPN
alkej-348	60	285	�	�	PROPN
alkej-348	60	286	,	,	PUNCT
alkej-348	60	287	�	�	PROPN
alkej-348	60	288	�	�	PROPN
alkej-348	60	289	�	�	PROPN
alkej-348	60	290	=	=	SYM
alkej-348	60	291	0,	0,	NUM
alkej-348	60	292	�	�	PROPN
alkej-348	60	293	�	�	PROPN
alkej-348	60	294	�	�	PROPN
alkej-348	60	295	=−	=−	PROPN
alkej-348	60	296	�	�	PROPN
alkej-348	60	297	�	�	PROPN
alkej-348	60	298	�	�	PROPN
alkej-348	60	299	,	,	PUNCT
alkej-348	60	300	�	�	PROPN
alkej-348	60	301	�	�	PROPN
alkej-348	60	302	�	�	PROPN
alkej-348	60	303	=	=	SYM
alkej-348	60	304	�	�	PROPN
alkej-348	60	305	�	�	PROPN
alkej-348	60	306	�	�	PROPN
alkej-348	60	307	,	,	PUNCT
alkej-348	60	308	�	�	PROPN
alkej-348	60	309	�	�	PROPN
alkej-348	60	310	�	�	PROPN
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alkej-348	60	312	0	0	NUM
alkej-348	60	313	,	,	PUNCT
alkej-348	60	314	�	�	PROPN
alkej-348	60	315	�	�	PROPN
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alkej-348	60	319	�	�	PROPN
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alkej-348	60	323	0	0	NUM
alkej-348	60	324	,	,	PUNCT
alkej-348	60	325	�	�	PROPN
alkej-348	60	326	�	�	PROPN
alkej-348	60	327	�	�	PROPN
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alkej-348	60	329	1	1	NUM
alkej-348	60	330	�	�	PROPN
alkej-348	60	331	�	�	PROPN
alkej-348	60	332	=	=	SYM
alkej-348	60	333	�	�	PROPN
alkej-348	60	334	�	�	PROPN
alkej-348	60	335	�	�	PROPN
alkej-348	60	336	�	�	PROPN
alkej-348	60	337	�	�	PROPN
alkej-348	60	338	+	+	SYM
alkej-348	60	339	�	�	PROPN
alkej-348	60	340	�	�	PROPN
alkej-348	60	341	�	�	PROPN
alkej-348	60	342	�	�	PROPN
alkej-348	60	343	...	...	PUNCT
alkej-348	60	344	(	(	PUNCT
alkej-348	60	345	3.1	3.1	NUM
alkej-348	60	346	)	)	PUNCT
alkej-348	60	347	�	�	PROPN
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alkej-348	60	350	�	�	PROPN
alkej-348	60	351	�	�	PROPN
alkej-348	60	352	�	�	PROPN
alkej-348	60	353	�	�	PROPN
alkej-348	60	354	�	�	PROPN
alkej-348	60	355	+	+	SYM
alkej-348	60	356	�	�	PROPN
alkej-348	60	357	�	�	PROPN
alkej-348	60	358	�	�	PROPN
alkej-348	60	359	�	�	PROPN
alkej-348	60	360	...	...	PUNCT
alkej-348	60	361	(	(	PUNCT
alkej-348	60	362	3.2	3.2	NUM
alkej-348	60	363	)	)	PUNCT
alkej-348	60	364	�	�	PROPN
alkej-348	60	365	�	�	PROPN
alkej-348	60	366	=	=	SYM
alkej-348	60	367	�	�	PROPN
alkej-348	60	368	�	�	PROPN
alkej-348	60	369	−	−	PROPN
alkej-348	60	370	�	�	PROPN
alkej-348	60	371	�	�	PROPN
alkej-348	60	372	...	...	PUNCT
alkej-348	60	373	(	(	PUNCT
alkej-348	60	374	3.3	3.3	NUM
alkej-348	60	375	)	)	PUNCT
alkej-348	60	376	in	in	ADP
alkej-348	60	377	this	this	DET
alkej-348	60	378	papers	paper	NOUN
alkej-348	60	379	,	,	PUNCT
alkej-348	60	380	algebraic	algebraic	ADJ
alkej-348	60	381	solution	solution	NOUN
alkej-348	60	382	approach	approach	NOUN
alkej-348	60	383	was	be	AUX
alkej-348	60	384	used	use	VERB
alkej-348	60	385	for	for	ADP
alkej-348	60	386	deriving	derive	VERB
alkej-348	60	387	the	the	DET
alkej-348	60	388	inverse	inverse	ADJ
alkej-348	60	389	kinematics	kinematic	NOUN
alkej-348	60	390	solution	solution	NOUN
alkej-348	60	391	that	that	PRON
alkej-348	60	392	is	be	AUX
alkej-348	60	393	to	to	PART
alkej-348	60	394	determine	determine	VERB
alkej-348	60	395	the	the	DET
alkej-348	60	396	value	value	NOUN
alkej-348	60	397	of	of	ADP
alkej-348	60	398	angle	angle	NOUN
alkej-348	60	399	(	(	PUNCT
alkej-348	60	400	θ1	θ1	PROPN
alkej-348	60	401	)	)	PUNCT
alkej-348	60	402	,	,	PUNCT
alkej-348	60	403	(	(	PUNCT
alkej-348	60	404	θ2	θ2	PROPN
alkej-348	60	405	)	)	PUNCT
alkej-348	60	406	and	and	CCONJ
alkej-348	60	407	distance	distance	NOUN
alkej-348	60	408	(	(	PUNCT
alkej-348	60	409	d3)as	d3)as	NOUN
alkej-348	60	410	in[16	in[16	PROPN
alkej-348	60	411	]	]	PUNCT
alkej-348	60	412	.	.	PUNCT
alkej-348	61	1	θ2	θ2	PROPN
alkej-348	61	2	=	=	PUNCT
alkej-348	61	3	a	a	DET
alkej-348	61	4	tan2	tan2	PROPN
alkej-348	61	5	(	(	PUNCT
alkej-348	61	6	�	�	PROPN
alkej-348	61	7	1	1	NUM
alkej-348	61	8	−	−	PROPN
alkej-348	61	9	�	�	PROPN
alkej-348	61	10	�	�	PROPN
alkej-348	61	11	�	�	PROPN
alkej-348	61	12	�	�	PROPN
alkej-348	61	13	�	�	PROPN
alkej-348	61	14	�	�	PROPN
alkej-348	61	15	�	�	PROPN
alkej-348	61	16	�	�	PROPN
alkej-348	61	17	�	�	PROPN
alkej-348	61	18	�	�	PROPN
alkej-348	61	19	�	�	PROPN
alkej-348	61	20	�	�	PROPN
alkej-348	61	21	�	�	PROPN
alkej-348	61	22	�	�	PROPN
alkej-348	61	23	�	�	PROPN
alkej-348	61	24	�	�	PROPN
alkej-348	61	25	�	�	PROPN
alkej-348	61	26	�	�	PROPN
alkej-348	61	27	�	�	PROPN
alkej-348	61	28	�	�	PROPN
alkej-348	61	29	�	�	PROPN
alkej-348	61	30	�	�	PROPN
alkej-348	61	31	�	�	PROPN
alkej-348	61	32	,	,	PUNCT
alkej-348	61	33	�	�	PROPN
alkej-348	61	34	�	�	PROPN
alkej-348	61	35	�	�	PROPN
alkej-348	61	36	�	�	PROPN
alkej-348	61	37	�	�	PROPN
alkej-348	61	38	�	�	PROPN
alkej-348	61	39	�	�	PROPN
alkej-348	61	40	�	�	PROPN
alkej-348	61	41	�	�	PROPN
alkej-348	61	42	�	�	PROPN
alkej-348	61	43	�	�	PROPN
alkej-348	61	44	�	�	PROPN
alkej-348	61	45	�	�	PROPN
alkej-348	61	46	�	�	PROPN
alkej-348	61	47	�	�	PROPN
alkej-348	61	48	�	�	PROPN
alkej-348	61	49	�	�	PROPN
alkej-348	61	50	�	�	PROPN
alkej-348	61	51	�	�	PROPN
alkej-348	61	52	�	�	PROPN
alkej-348	61	53	)	)	PUNCT
alkej-348	61	54	...	...	PUNCT
alkej-348	61	55	(	(	PUNCT
alkej-348	61	56	3.4	3.4	NUM
alkej-348	61	57	)	)	PUNCT
alkej-348	61	58	θ1	θ1	NOUN
alkej-348	61	59	=	=	PUNCT
alkej-348	61	60	a	a	DET
alkej-348	61	61	tan2	tan2	NOUN
alkej-348	61	62	(	(	PUNCT
alkej-348	61	63	-p	-p	PROPN
alkej-348	61	64	�	�	PROPN
alkej-348	61	65	,	,	PUNCT
alkej-348	61	66	p	p	NOUN
alkej-348	61	67	�	�	NOUN
alkej-348	61	68	)	)	PUNCT
alkej-348	61	69	±	±	NOUN
alkej-348	61	70	(	(	PUNCT
alkej-348	61	71	a	a	DET
alkej-348	61	72	tan2	tan2	PROPN
alkej-348	61	73	(	(	PUNCT
alkej-348	61	74	�	�	PROPN
alkej-348	61	75	p	p	SYM
alkej-348	61	76	�	�	PROPN
alkej-348	61	77	�	�	PROPN
alkej-348	61	78	+	+	CCONJ
alkej-348	61	79	p	p	PROPN
alkej-348	61	80	�	�	PROPN
alkej-348	61	81	�	�	PROPN
alkej-348	61	82	−	−	PROPN
alkej-348	61	83	(	(	PUNCT
alkej-348	61	84	s	s	PROPN
alkej-348	61	85	�	�	PROPN
alkej-348	61	86	l	l	NOUN
alkej-348	61	87	�	�	PROPN
alkej-348	61	88	)	)	PUNCT
alkej-348	61	89	�	�	PROPN
alkej-348	61	90	,s	,s	PUNCT
alkej-348	61	91	�	�	PROPN
alkej-348	61	92	l	l	NOUN
alkej-348	61	93	�	�	PROPN
alkej-348	61	94	)	)	PUNCT
alkej-348	61	95	...	...	PUNCT
alkej-348	62	1	(	(	PUNCT
alkej-348	62	2	3.5	3.5	NUM
alkej-348	62	3	)	)	PUNCT
alkej-348	62	4	�	�	PROPN
alkej-348	62	5	�	�	PROPN
alkej-348	62	6	=	=	SYM
alkej-348	62	7	�	�	PROPN
alkej-348	62	8	�	�	PROPN
alkej-348	62	9	−	−	PROPN
alkej-348	62	10	�	�	PROPN
alkej-348	62	11	�	�	PROPN
alkej-348	62	12	...	...	PUNCT
alkej-348	62	13	(	(	PUNCT
alkej-348	62	14	3.6	3.6	NUM
alkej-348	62	15	)	)	PUNCT
alkej-348	62	16	we	we	PRON
alkej-348	62	17	can	can	AUX
alkej-348	62	18	find	find	VERB
alkej-348	62	19	the	the	DET
alkej-348	62	20	linear	linear	ADJ
alkej-348	62	21	and	and	CCONJ
alkej-348	62	22	angular	angular	ADJ
alkej-348	62	23	velocity	velocity	NOUN
alkej-348	62	24	of	of	ADP
alkej-348	62	25	end	end	NOUN
alkej-348	62	26	-	-	PUNCT
alkej-348	62	27	effector	effector	NOUN
alkej-348	62	28	by	by	ADP
alkej-348	62	29	computing	compute	VERB
alkej-348	62	30	the	the	DET
alkej-348	62	31	basic	basic	ADJ
alkej-348	62	32	jacobian[16	jacobian[16	NOUN
alkej-348	62	33	]	]	X
alkej-348	62	34	.	.	PUNCT
alkej-348	63	1	�	�	PROPN
alkej-348	63	2	�	�	PROPN
alkej-348	63	3	⃗	⃗	PROPN
alkej-348	63	4	�	�	PROPN
alkej-348	63	5	�	�	PROPN
alkej-348	63	6	�	�	PROPN
alkej-348	63	7	⃗	⃗	PROPN
alkej-348	63	8	�	�	X
alkej-348	63	9	=	=	SYM
alkej-348	63	10	[	[	PUNCT
alkej-348	63	11	�	�	PROPN
alkej-348	63	12	(	(	PUNCT
alkej-348	63	13	�	�	PROPN
alkej-348	63	14	)	)	PUNCT
alkej-348	63	15	]	]	PUNCT
alkej-348	63	16	.	.	PUNCT
alkej-348	64	1	⎣⎢⎢⎢	⎣⎢⎢⎢	PROPN
alkej-348	64	2	⎡	⎡	PROPN
alkej-348	64	3	�	�	PROPN
alkej-348	64	4	�	�	PROPN
alkej-348	64	5	̇	̇	PROPN
alkej-348	64	6	�	�	PROPN
alkej-348	64	7	�	�	PROPN
alkej-348	64	8	......	......	SYM
alkej-348	64	9	�	�	PROPN
alkej-348	64	10	�	�	PROPN
alkej-348	64	11	̇	̇	VERB
alkej-348	64	12	̇	̇	VERB
alkej-348	64	13	⎦⎥⎥⎥	⎦⎥⎥⎥	PROPN
alkej-348	64	14	⎤	⎤	PROPN
alkej-348	64	15	⎣⎢⎢⎢	⎣⎢⎢⎢	PROPN
alkej-348	64	16	⎡	⎡	PROPN
alkej-348	64	17	�	�	PROPN
alkej-348	64	18	�	�	PROPN
alkej-348	64	19	̇	̇	PROPN
alkej-348	64	20	�	�	PROPN
alkej-348	64	21	�	�	PROPN
alkej-348	64	22	......	......	SYM
alkej-348	64	23	�	�	PROPN
alkej-348	64	24	�	�	PROPN
alkej-348	64	25	̇	̇	VERB
alkej-348	64	26	̇	̇	VERB
alkej-348	64	27	⎦⎥⎥⎥	⎦⎥⎥⎥	NOUN
alkej-348	64	28	⎤	⎤	NOUN
alkej-348	64	29	=	=	PUNCT
alkej-348	64	30	[	[	PUNCT
alkej-348	64	31	�	�	PROPN
alkej-348	64	32	�	�	PROPN
alkej-348	64	33	�	�	PROPN
alkej-348	64	34	]	]	PUNCT
alkej-348	64	35	.	.	PUNCT
alkej-348	65	1	�	�	PROPN
alkej-348	65	2	�	�	PROPN
alkej-348	65	3	⃗	⃗	PROPN
alkej-348	65	4	�	�	PROPN
alkej-348	65	5	�	�	PROPN
alkej-348	65	6	�	�	PROPN
alkej-348	65	7	⃗	⃗	PROPN
alkej-348	65	8	�	�	PROPN
alkej-348	65	9	,	,	PUNCT
alkej-348	65	10	�	�	PROPN
alkej-348	65	11	(	(	PUNCT
alkej-348	65	12	�	�	PROPN
alkej-348	65	13	)	)	PUNCT
alkej-348	65	14	=	=	PRON
alkej-348	65	15	⎣⎢⎢	⎣⎢⎢	PROPN
alkej-348	66	1	⎢⎢⎡	⎢⎢⎡	PROPN
alkej-348	66	2	s	s	PROPN
alkej-348	66	3	�	�	PROPN
alkej-348	66	4	�	�	NOUN
alkej-348	66	5	�	�	PROPN
alkej-348	66	6	0	0	NUM
alkej-348	66	7	0	0	NUM
alkej-348	66	8	c	c	PROPN
alkej-348	66	9	�	�	PROPN
alkej-348	66	10	�	�	PROPN
alkej-348	66	11	�	�	PROPN
alkej-348	66	12	+	+	SYM
alkej-348	66	13	�	�	PROPN
alkej-348	66	14	�	�	PROPN
alkej-348	66	15	�	�	PROPN
alkej-348	66	16	�	�	PROPN
alkej-348	66	17	00	00	NUM
alkej-348	66	18	0	0	NUM
alkej-348	66	19	−10	−10	PROPN
alkej-348	66	20	0	0	NUM
alkej-348	66	21	00	00	SYM
alkej-348	66	22	0	0	NUM
alkej-348	66	23	01	01	NUM
alkej-348	66	24	1	1	NUM
alkej-348	66	25	0	0	NUM
alkej-348	66	26	⎦⎥⎥	⎦⎥⎥	VERB
alkej-348	66	27	⎥⎥⎤	⎥⎥⎤	PROPN
alkej-348	66	28	…	…	PUNCT
alkej-348	66	29	(	(	PUNCT
alkej-348	66	30	3.22	3.22	NUM
alkej-348	66	31	)	)	PUNCT
alkej-348	66	32	3	3	NUM
alkej-348	66	33	.	.	PUNCT
alkej-348	66	34	scara	scara	PROPN
alkej-348	66	35	robot	robot	PROPN
alkej-348	66	36	design	design	NOUN
alkej-348	66	37	process	process	NOUN
alkej-348	66	38	scara	scara	NOUN
alkej-348	66	39	manipulator	manipulator	NOUN
alkej-348	66	40	is	be	AUX
alkej-348	66	41	a	a	DET
alkej-348	66	42	nonlinear	nonlinear	ADJ
alkej-348	66	43	and	and	CCONJ
alkej-348	66	44	time	time	NOUN
alkej-348	66	45	variant	variant	ADJ
alkej-348	66	46	system	system	NOUN
alkej-348	66	47	,	,	PUNCT
alkej-348	66	48	the	the	DET
alkej-348	66	49	applied	apply	VERB
alkej-348	66	50	controllers	controller	NOUN
alkej-348	66	51	are	be	AUX
alkej-348	66	52	necessary	necessary	ADJ
alkej-348	66	53	to	to	PART
alkej-348	66	54	have	have	VERB
alkej-348	66	55	variation	variation	NOUN
alkej-348	66	56	capability	capability	NOUN
alkej-348	66	57	where	where	SCONJ
alkej-348	66	58	linear	linear	ADJ
alkej-348	66	59	models	model	NOUN
alkej-348	66	60	are	be	AUX
alkej-348	66	61	inadequate	inadequate	ADJ
alkej-348	66	62	to	to	PART
alkej-348	66	63	complete	complete	VERB
alkej-348	66	64	high	high	ADJ
alkej-348	66	65	pdf	pdf	NOUN
alkej-348	66	66	created	create	VERB
alkej-348	66	67	with	with	ADP
alkej-348	66	68	pdffactory	pdffactory	ADJ
alkej-348	66	69	trial	trial	NOUN
alkej-348	66	70	version	version	NOUN
alkej-348	66	71	www.pdffactory.com	www.pdffactory.com	X
alkej-348	66	72	http://www.pdffactory.com	http://www.pdffactory.com	X
alkej-348	66	73	http://www.pdffactory.com	http://www.pdffactory.com	X
alkej-348	67	1	iman	iman	PROPN
alkej-348	67	2	salih	salih	PROPN
alkej-348	67	3	karem	karem	PROPN
alkej-348	67	4	al	al	PROPN
alkej-348	67	5	-	-	PUNCT
alkej-348	67	6	khwarizmi	khwarizmi	PROPN
alkej-348	67	7	engineering	engineering	NOUN
alkej-348	67	8	journal	journal	PROPN
alkej-348	67	9	,	,	PUNCT
alkej-348	67	10	vol	vol	NOUN
alkej-348	67	11	.	.	PROPN
alkej-348	67	12	13	13	NUM
alkej-348	67	13	,	,	PUNCT
alkej-348	67	14	no	no	INTJ
alkej-348	67	15	.	.	PUNCT
alkej-348	68	1	accuracy	accuracy	NOUN
alkej-348	68	2	and	and	CCONJ
alkej-348	68	3	various	various	ADJ
alkej-348	68	4	performance	performance	NOUN
alkej-348	68	5	operations	operation	NOUN
alkej-348	68	6	[	[	X
alkej-348	68	7	17	17	NUM
alkej-348	68	8	]	]	PUNCT
alkej-348	68	9	.	.	PUNCT
alkej-348	69	1	to	to	PART
alkej-348	69	2	fulfill	fulfill	VERB
alkej-348	69	3	research	research	NOUN
alkej-348	69	4	aims	aim	NOUN
alkej-348	70	1	are	be	AUX
alkej-348	70	2	divided	divide	VERB
alkej-348	70	3	the	the	DET
alkej-348	70	4	design	design	NOUN
alkej-348	70	5	process	process	NOUN
alkej-348	70	6	into	into	ADP
alkej-348	70	7	mechanical	mechanical	ADJ
alkej-348	70	8	and	and	CCONJ
alkej-348	70	9	electrical	electrical	ADJ
alkej-348	70	10	parts	part	NOUN
alkej-348	70	11	.	.	PUNCT
alkej-348	71	1	3.1	3.1	NUM
alkej-348	71	2	.	.	PUNCT
alkej-348	71	3	design	design	NOUN
alkej-348	71	4	of	of	ADP
alkej-348	71	5	mechanical	mechanical	ADJ
alkej-348	71	6	parts	part	NOUN
alkej-348	71	7	the	the	DET
alkej-348	71	8	initial	initial	ADJ
alkej-348	71	9	concept	concept	NOUN
alkej-348	71	10	of	of	ADP
alkej-348	71	11	robotic	robotic	ADJ
alkej-348	71	12	design	design	NOUN
alkej-348	71	13	included	include	VERB
alkej-348	71	14	the	the	DET
alkej-348	71	15	mechanical	mechanical	ADJ
alkej-348	71	16	equipments	equipment	NOUN
alkej-348	71	17	.	.	PUNCT
alkej-348	72	1	this	this	DET
alkej-348	72	2	section	section	NOUN
alkej-348	72	3	explain	explain	VERB
alkej-348	72	4	fig	fig	PROPN
alkej-348	72	5	b.	b.	PROPN
alkej-348	72	6	joints	joints	PROPN
alkej-348	72	7	:	:	PUNCT
alkej-348	72	8	two	two	NUM
alkej-348	72	9	revolute	revolute	ADJ
alkej-348	72	10	joints	joint	NOUN
alkej-348	72	11	square	square	VERB
alkej-348	72	12	solid	solid	ADJ
alkej-348	72	13	section	section	NOUN
alkej-348	72	14	,	,	PUNCT
alkej-348	72	15	manufactured	manufacture	VERB
alkej-348	72	16	by	by	ADP
alkej-348	72	17	milling	mill	VERB
alkej-348	72	18	machine	machine	NOUN
alkej-348	72	19	and	and	CCONJ
alkej-348	72	20	fig	fig	NOUN
alkej-348	72	21	c.	c.	PROPN
alkej-348	72	22	toothed	toothe	VERB
alkej-348	72	23	pulleys	pulley	NOUN
alkej-348	72	24	:	:	PUNCT
alkej-348	72	25	the	the	DET
alkej-348	72	26	various	various	ADJ
alkej-348	72	27	three	three	NUM
alkej-348	72	28	types	type	NOUN
alkej-348	72	29	are	be	AUX
alkej-348	72	30	used	use	VERB
alkej-348	72	31	in	in	ADP
alkej-348	72	32	the	the	DET
alkej-348	72	33	current	current	ADJ
alkej-348	72	34	work	work	NOUN
alkej-348	72	35	.	.	PUNCT
alkej-348	73	1	vary	vary	VERB
alkej-348	73	2	in	in	ADP
alkej-348	73	3	diameter	diameter	NOUN
alkej-348	73	4	,	,	PUNCT
alkej-348	73	5	d.	d.	PROPN
alkej-348	73	6	belt	belt	PROPN
alkej-348	73	7	:	:	PUNCT
alkej-348	73	8	belt	belt	NOUN
alkej-348	73	9	drives	drive	NOUN
alkej-348	73	10	are	be	AUX
alkej-348	73	11	widely	widely	ADV
alkej-348	73	12	used	use	VERB
alkej-348	73	13	in	in	ADP
alkej-348	73	14	many	many	ADJ
alkej-348	73	15	industries	industry	NOUN
alkej-348	73	16	for	for	ADP
alkej-348	73	17	power	power	NOUN
alkej-348	73	18	transmission	transmission	NOUN
alkej-348	73	19	since	since	SCONJ
alkej-348	73	20	they	they	PRON
alkej-348	73	21	are	be	AUX
alkej-348	73	22	cheap	cheap	ADJ
alkej-348	73	23	and	and	CCONJ
alkej-348	73	24	easy	easy	ADJ
alkej-348	73	25	to	to	PART
alkej-348	73	26	maintain	maintain	VERB
alkej-348	73	27	.	.	PUNCT
alkej-348	74	1	the	the	DET
alkej-348	74	2	main	main	ADJ
alkej-348	74	3	khwarizmi	khwarizmi	NOUN
alkej-348	74	4	engineering	engineering	NOUN
alkej-348	74	5	journal	journal	PROPN
alkej-348	74	6	,	,	PUNCT
alkej-348	74	7	vol	vol	NOUN
alkej-348	74	8	.	.	PROPN
alkej-348	74	9	13	13	NUM
alkej-348	74	10	,	,	PUNCT
alkej-348	74	11	no	no	INTJ
alkej-348	74	12	.	.	NOUN
alkej-348	74	13	2	2	NUM
alkej-348	74	14	,	,	PUNCT
alkej-348	74	15	p.p	p.p	PROPN
alkej-348	74	16	.	.	NOUN
alkej-348	74	17	43	43	NUM
alkej-348	74	18	accuracy	accuracy	NOUN
alkej-348	74	19	and	and	CCONJ
alkej-348	74	20	various	various	ADJ
alkej-348	74	21	performance	performance	NOUN
alkej-348	74	22	operations	operation	NOUN
alkej-348	74	23	to	to	PART
alkej-348	74	24	fulfill	fulfill	VERB
alkej-348	74	25	research	research	NOUN
alkej-348	74	26	aims	aim	NOUN
alkej-348	74	27	are	be	AUX
alkej-348	74	28	divided	divide	VERB
alkej-348	74	29	the	the	DET
alkej-348	74	30	design	design	NOUN
alkej-348	74	31	process	process	NOUN
alkej-348	74	32	into	into	ADP
alkej-348	74	33	mechanical	mechanical	ADJ
alkej-348	74	34	and	and	CCONJ
alkej-348	74	35	electrical	electrical	ADJ
alkej-348	74	36	parts	part	NOUN
alkej-348	74	37	.	.	PUNCT
alkej-348	75	1	the	the	DET
alkej-348	75	2	initial	initial	ADJ
alkej-348	75	3	concept	concept	NOUN
alkej-348	75	4	of	of	ADP
alkej-348	75	5	robotic	robotic	ADJ
alkej-348	75	6	design	design	NOUN
alkej-348	75	7	included	include	VERB
alkej-348	75	8	the	the	DET
alkej-348	75	9	mechanical	mechanical	ADJ
alkej-348	75	10	equipments	equipment	NOUN
alkej-348	75	11	.	.	PUNCT
alkej-348	76	1	this	this	DET
alkej-348	76	2	section	section	NOUN
alkej-348	76	3	explain	explain	VERB
alkej-348	76	4	the	the	DET
alkej-348	76	5	construction	construction	NOUN
alkej-348	76	6	of	of	ADP
alkej-348	76	7	each	each	DET
alkej-348	76	8	part	part	NOUN
alkej-348	76	9	in	in	ADP
alkej-348	76	10	the	the	DET
alkej-348	76	11	scara	scara	NOUN
alkej-348	76	12	robot	robot	PROPN
alkej-348	76	13	model	model	PROPN
alkej-348	76	14	.the	.the	PROPN
alkej-348	76	15	test	test	NOUN
alkej-348	76	16	specification	specification	NOUN
alkej-348	76	17	are	be	AUX
alkej-348	76	18	given	give	VERB
alkej-348	76	19	in	in	ADP
alkej-348	76	20	appendix	appendix	NOUN
alkej-348	76	21	(	(	PUNCT
alkej-348	76	22	a	a	NOUN
alkej-348	76	23	)	)	PUNCT
alkej-348	76	24	.	.	PUNCT
alkej-348	77	1	a.	a.	NOUN
alkej-348	77	2	links	link	NOUN
alkej-348	77	3	:	:	PUNCT
alkej-348	77	4	two	two	NUM
alkej-348	77	5	links	link	NOUN
alkej-348	77	6	as	as	ADP
alkej-348	77	7	a	a	DET
alkej-348	77	8	manipulator	manipulator	NOUN
alkej-348	77	9	arm	arm	NOUN
alkej-348	77	10	square	square	ADJ
alkej-348	77	11	hollow	hollow	ADJ
alkej-348	77	12	section	section	NOUN
alkej-348	77	13	bar.the	bar.the	DET
alkej-348	77	14	center	center	NOUN
alkej-348	77	15	to	to	PART
alkej-348	77	16	center	center	NOUN
alkej-348	77	17	distance	distance	NOUN
alkej-348	77	18	of	of	ADP
alkej-348	77	19	the	the	DET
alkej-348	77	20	link	link	NOUN
alkej-348	77	21	1	1	NUM
alkej-348	77	22	is	be	AUX
alkej-348	77	23	(	(	PUNCT
alkej-348	77	24	470	470	NUM
alkej-348	77	25	)	)	PUNCT
alkej-348	77	26	mm	mm	PROPN
alkej-348	77	27	,	,	PUNCT
alkej-348	77	28	and	and	CCONJ
alkej-348	77	29	the	the	DET
alkej-348	77	30	center	center	NOUN
alkej-348	77	31	to	to	PART
alkej-348	77	32	center	center	NOUN
alkej-348	77	33	distance	distance	NOUN
alkej-348	77	34	of	of	ADP
alkej-348	77	35	the	the	DET
alkej-348	77	36	link	link	NOUN
alkej-348	77	37	2	2	NUM
alkej-348	77	38	is	be	AUX
alkej-348	77	39	(	(	PUNCT
alkej-348	77	40	335	335	NUM
alkej-348	77	41	)	)	PUNCT
alkej-348	77	42	mm	mm	NOUN
alkej-348	77	43	,	,	PUNCT
alkej-348	77	44	as	as	SCONJ
alkej-348	77	45	shown	show	VERB
alkej-348	77	46	in	in	ADP
alkej-348	77	47	figure	figure	NOUN
alkej-348	77	48	(	(	PUNCT
alkej-348	77	49	3	3	NUM
alkej-348	77	50	)	)	PUNCT
alkej-348	77	51	.	.	PUNCT
alkej-348	78	1	fig	fig	NOUN
alkej-348	78	2	.	.	PUNCT
alkej-348	79	1	3	3	X
alkej-348	79	2	.	.	X
alkej-348	79	3	link	link	NOUN
alkej-348	79	4	form	form	VERB
alkej-348	79	5	stainless	stainless	ADJ
alkej-348	79	6	steel	steel	NOUN
alkej-348	79	7	.	.	PUNCT
alkej-348	80	1	two	two	NUM
alkej-348	80	2	revolute	revolute	ADJ
alkej-348	80	3	joints	joint	NOUN
alkej-348	80	4	square	square	ADJ
alkej-348	80	5	solid	solid	ADJ
alkej-348	80	6	by	by	ADP
alkej-348	80	7	milling	mill	VERB
alkej-348	80	8	machine	machine	NOUN
alkej-348	80	9	and	and	CCONJ
alkej-348	80	10	drilling	drill	VERB
alkej-348	80	11	it	it	PRON
alkej-348	80	12	from	from	ADP
alkej-348	80	13	the	the	DET
alkej-348	80	14	center	center	NOUN
alkej-348	80	15	to	to	PART
alkej-348	80	16	connect	connect	VERB
alkej-348	80	17	together	together	ADV
alkej-348	80	18	to	to	PART
alkej-348	80	19	evaluate	evaluate	VERB
alkej-348	80	20	links	link	NOUN
alkej-348	80	21	as	as	SCONJ
alkej-348	80	22	shown	show	VERB
alkej-348	80	23	in	in	ADP
alkej-348	80	24	figure	figure	NOUN
alkej-348	80	25	(	(	PUNCT
alkej-348	80	26	fig	fig	NOUN
alkej-348	80	27	.	.	PUNCT
alkej-348	81	1	4	4	X
alkej-348	81	2	.	.	X
alkej-348	81	3	joint	joint	NOUN
alkej-348	81	4	connect	connect	VERB
alkej-348	81	5	the	the	DET
alkej-348	81	6	arm	arm	NOUN
alkej-348	81	7	.	.	PUNCT
alkej-348	82	1	the	the	DET
alkej-348	82	2	various	various	ADJ
alkej-348	82	3	three	three	NUM
alkej-348	82	4	types	type	NOUN
alkej-348	82	5	are	be	AUX
alkej-348	82	6	used	use	VERB
alkej-348	82	7	in	in	ADP
alkej-348	82	8	the	the	DET
alkej-348	82	9	current	current	ADJ
alkej-348	82	10	work	work	NOUN
alkej-348	82	11	.	.	PUNCT
alkej-348	83	1	vary	vary	VERB
alkej-348	83	2	in	in	ADP
alkej-348	83	3	diameter	diameter	NOUN
alkej-348	83	4	,	,	PUNCT
alkej-348	83	5	tooth	tooth	NOUN
alkej-348	83	6	shape	shape	NOUN
alkej-348	83	7	,	,	PUNCT
alkej-348	83	8	width	width	NOUN
alkej-348	83	9	of	of	ADP
alkej-348	83	10	the	the	DET
alkej-348	83	11	gear	gear	NOUN
alkej-348	83	12	and	and	CCONJ
alkej-348	83	13	tooth	tooth	NOUN
alkej-348	83	14	size	size	NOUN
alkej-348	83	15	shown	show	VERB
alkej-348	83	16	in	in	ADP
alkej-348	83	17	figure	figure	NOUN
alkej-348	83	18	(	(	PUNCT
alkej-348	83	19	5	5	NUM
alkej-348	83	20	)	)	PUNCT
alkej-348	83	21	.	.	PUNCT
alkej-348	84	1	fig	fig	NOUN
alkej-348	84	2	.	.	PUNCT
alkej-348	85	1	5	5	X
alkej-348	85	2	.	.	PUNCT
alkej-348	85	3	the	the	DET
alkej-348	85	4	toothed	toothed	ADJ
alkej-348	85	5	pulleys	pulley	NOUN
alkej-348	85	6	.	.	PUNCT
alkej-348	86	1	belt	belt	NOUN
alkej-348	86	2	drives	drive	NOUN
alkej-348	86	3	are	be	AUX
alkej-348	86	4	widely	widely	ADV
alkej-348	86	5	used	use	VERB
alkej-348	86	6	in	in	ADP
alkej-348	86	7	many	many	ADJ
alkej-348	86	8	industries	industry	NOUN
alkej-348	86	9	for	for	ADP
alkej-348	86	10	power	power	NOUN
alkej-348	86	11	transmission	transmission	NOUN
alkej-348	86	12	since	since	SCONJ
alkej-348	86	13	they	they	PRON
alkej-348	86	14	are	be	AUX
alkej-348	86	15	cheap	cheap	ADJ
alkej-348	86	16	and	and	CCONJ
alkej-348	86	17	easy	easy	ADJ
alkej-348	86	18	to	to	PART
alkej-348	86	19	maintain	maintain	VERB
alkej-348	86	20	.	.	PUNCT
alkej-348	87	1	the	the	DET
alkej-348	87	2	main	main	ADJ
alkej-348	87	3	purpose	purpose	NOUN
alkej-348	87	4	of	of	ADP
alkej-348	87	5	belt	belt	NOUN
alkej-348	87	6	drives	drive	NOUN
alkej-348	87	7	is	be	AUX
alkej-348	87	8	to	to	PART
alkej-348	87	9	transfer	transfer	VERB
alkej-348	87	10	power	power	NOUN
alkej-348	87	11	between	between	ADP
alkej-348	87	12	machines	machine	NOUN
alkej-348	87	13	.	.	PUNCT
alkej-348	88	1	,	,	PUNCT
alkej-348	88	2	p.p	p.p	PROPN
alkej-348	88	3	.	.	NOUN
alkej-348	88	4	4050	4050	NUM
alkej-348	88	5	(	(	PUNCT
alkej-348	88	6	2017	2017	NUM
alkej-348	88	7	)	)	PUNCT
alkej-348	88	8	the	the	DET
alkej-348	88	9	construction	construction	NOUN
alkej-348	88	10	of	of	ADP
alkej-348	88	11	each	each	DET
alkej-348	88	12	part	part	NOUN
alkej-348	88	13	in	in	ADP
alkej-348	88	14	the	the	DET
alkej-348	88	15	scara	scara	NOUN
alkej-348	88	16	robot	robot	PROPN
alkej-348	88	17	model	model	PROPN
alkej-348	88	18	.the	.the	PROPN
alkej-348	88	19	test	test	NOUN
alkej-348	88	20	specification	specification	NOUN
alkej-348	88	21	are	be	AUX
alkej-348	88	22	given	give	VERB
alkej-348	88	23	in	in	ADP
alkej-348	88	24	two	two	NUM
alkej-348	88	25	links	link	NOUN
alkej-348	88	26	as	as	ADP
alkej-348	88	27	a	a	DET
alkej-348	88	28	manipulator	manipulator	NOUN
alkej-348	88	29	arm	arm	NOUN
alkej-348	88	30	square	square	ADJ
alkej-348	88	31	hollow	hollow	ADJ
alkej-348	88	32	section	section	NOUN
alkej-348	88	33	bar.the	bar.the	DET
alkej-348	88	34	center	center	NOUN
alkej-348	88	35	to	to	PART
alkej-348	88	36	center	center	NOUN
alkej-348	88	37	distance	distance	NOUN
alkej-348	88	38	of	of	ADP
alkej-348	88	39	the	the	DET
alkej-348	88	40	link	link	NOUN
alkej-348	88	41	1	1	NUM
alkej-348	88	42	is	be	AUX
alkej-348	88	43	(	(	PUNCT
alkej-348	88	44	470	470	NUM
alkej-348	88	45	)	)	PUNCT
alkej-348	88	46	mm	mm	PROPN
alkej-348	88	47	,	,	PUNCT
alkej-348	88	48	and	and	CCONJ
alkej-348	88	49	the	the	DET
alkej-348	88	50	distance	distance	NOUN
alkej-348	88	51	of	of	ADP
alkej-348	88	52	the	the	DET
alkej-348	88	53	link	link	NOUN
alkej-348	88	54	2	2	NUM
alkej-348	88	55	is	be	AUX
alkej-348	88	56	(	(	PUNCT
alkej-348	88	57	335	335	NUM
alkej-348	88	58	)	)	PUNCT
alkej-348	88	59	drilling	drill	VERB
alkej-348	88	60	it	it	PRON
alkej-348	88	61	from	from	ADP
alkej-348	88	62	the	the	DET
alkej-348	88	63	center	center	NOUN
alkej-348	88	64	to	to	PART
alkej-348	88	65	connect	connect	VERB
alkej-348	88	66	together	together	ADV
alkej-348	88	67	shown	show	VERB
alkej-348	88	68	in	in	ADP
alkej-348	88	69	figure	figure	NOUN
alkej-348	88	70	(	(	PUNCT
alkej-348	88	71	4	4	NUM
alkej-348	88	72	)	)	PUNCT
alkej-348	88	73	.	.	PUNCT
alkej-348	89	1	the	the	DET
alkej-348	89	2	gear	gear	NOUN
alkej-348	89	3	and	and	CCONJ
alkej-348	89	4	tooth	tooth	NOUN
alkej-348	89	5	sizes	size	NOUN
alkej-348	89	6	purpose	purpose	NOUN
alkej-348	89	7	of	of	ADP
alkej-348	89	8	belt	belt	NOUN
alkej-348	89	9	drives	drive	NOUN
alkej-348	89	10	is	be	AUX
alkej-348	89	11	to	to	PART
alkej-348	89	12	transfer	transfer	VERB
alkej-348	89	13	power	power	NOUN
alkej-348	89	14	pdf	pdf	NOUN
alkej-348	89	15	created	create	VERB
alkej-348	89	16	with	with	ADP
alkej-348	89	17	pdffactory	pdffactory	ADJ
alkej-348	89	18	trial	trial	NOUN
alkej-348	89	19	version	version	NOUN
alkej-348	89	20	www.pdffactory.com	www.pdffactory.com	X
alkej-348	89	21	http://www.pdffactory.com	http://www.pdffactory.com	X
alkej-348	89	22	http://www.pdffactory.com	http://www.pdffactory.com	X
alkej-348	90	1	iman	iman	PROPN
alkej-348	90	2	salih	salih	PROPN
alkej-348	90	3	karem	karem	PROPN
alkej-348	90	4	al	al	PROPN
alkej-348	90	5	-	-	PUNCT
alkej-348	90	6	khwarizmi	khwarizmi	PROPN
alkej-348	90	7	engineering	engineering	NOUN
alkej-348	90	8	journal	journal	PROPN
alkej-348	90	9	,	,	PUNCT
alkej-348	90	10	vol	vol	NOUN
alkej-348	90	11	.	.	PROPN
alkej-348	90	12	13	13	NUM
alkej-348	90	13	,	,	PUNCT
alkej-348	90	14	no	no	INTJ
alkej-348	90	15	.	.	PUNCT
alkej-348	91	1	e.	e.	PROPN
alkej-348	91	2	ball	ball	PROPN
alkej-348	91	3	bearing	bearing	PROPN
alkej-348	91	4	:	:	PUNCT
alkej-348	91	5	the	the	DET
alkej-348	91	6	bearing	bearing	NOUN
alkej-348	91	7	is	be	AUX
alkej-348	91	8	a	a	DET
alkej-348	91	9	machine	machine	NOUN
alkej-348	91	10	element	element	NOUN
alkej-348	91	11	that	that	PRON
alkej-348	91	12	constrains	constrain	VERB
alkej-348	91	13	the	the	DET
alkej-348	91	14	relative	relative	ADJ
alkej-348	91	15	motion	motion	NOUN
alkej-348	91	16	to	to	ADP
alkej-348	91	17	only	only	ADV
alkej-348	91	18	the	the	DET
alkej-348	91	19	desired	desire	VERB
alkej-348	91	20	motion	motion	NOUN
alkej-348	91	21	,	,	PUNCT
alkej-348	91	22	and	and	CCONJ
alkej-348	91	23	reduces	reduce	VERB
alkej-348	91	24	friction	friction	NOUN
alkej-348	91	25	between	between	ADP
alkej-348	91	26	moving	move	VERB
alkej-348	91	27	parts	part	NOUN
alkej-348	91	28	.	.	PUNCT
alkej-348	92	1	used	use	VERB
alkej-348	92	2	6200rs	6200rs	PROPN
alkej-348	92	3	red	red	ADJ
alkej-348	92	4	rubber	rubber	NOUN
alkej-348	92	5	sealed	seal	VERB
alkej-348	92	6	as	as	SCONJ
alkej-348	92	7	shown	show	VERB
alkej-348	92	8	in	in	ADP
alkej-348	92	9	figure	figure	NOUN
alkej-348	92	10	(	(	PUNCT
alkej-348	92	11	6	6	NUM
alkej-348	92	12	)	)	PUNCT
alkej-348	92	13	f.	f.	PROPN
alkej-348	92	14	tool	tool	PROPN
alkej-348	92	15	catch	catch	PROPN
alkej-348	92	16	:	:	PUNCT
alkej-348	92	17	an	an	DET
alkej-348	92	18	angle	angle	NOUN
alkej-348	92	19	iron	iron	NOUN
alkej-348	92	20	with	with	ADP
alkej-348	92	21	a	a	DET
alkej-348	92	22	flat	flat	ADJ
alkej-348	92	23	metal	metal	NOUN
alkej-348	92	24	rod	rod	NOUN
alkej-348	92	25	that	that	PRON
alkej-348	92	26	has	have	AUX
alkej-348	92	27	been	be	AUX
alkej-348	92	28	folded	fold	VERB
alkej-348	92	29	to	to	ADP
alkej-348	92	30	a	a	DET
alkej-348	92	31	90	90	NUM
alkej-348	92	32	-	-	PUNCT
alkej-348	92	33	degree	degree	NOUN
alkej-348	92	34	angle	angle	NOUN
alkej-348	92	35	along	along	ADP
alkej-348	92	36	its	its	PRON
alkej-348	92	37	length	length	NOUN
alkej-348	92	38	,	,	PUNCT
alkej-348	92	39	resulting	result	VERB
alkej-348	92	40	in	in	ADP
alkej-348	92	41	an	an	DET
alkej-348	92	42	l	l	NOUN
alkej-348	92	43	-	-	PUNCT
alkej-348	92	44	shaped	shape	VERB
alkej-348	92	45	piece	piece	NOUN
alkej-348	92	46	.	.	PUNCT
alkej-348	93	1	linkage	linkage	NOUN
alkej-348	93	2	with	with	ADP
alkej-348	93	3	the	the	DET
alkej-348	93	4	end	end	NOUN
alkej-348	93	5	of	of	ADP
alkej-348	93	6	the	the	DET
alkej-348	93	7	second	second	ADJ
alkej-348	93	8	link	link	NOUN
alkej-348	93	9	by	by	ADP
alkej-348	93	10	bolt	bolt	NOUN
alkej-348	93	11	,	,	PUNCT
alkej-348	93	12	to	to	PART
alkej-348	93	13	fixation	fixation	VERB
alkej-348	93	14	the	the	DET
alkej-348	93	15	tool	tool	NOUN
alkej-348	93	16	of	of	ADP
alkej-348	93	17	different	different	ADJ
alkej-348	93	18	tasks	task	NOUN
alkej-348	93	19	as	as	SCONJ
alkej-348	93	20	shown	show	VERB
alkej-348	93	21	in	in	ADP
alkej-348	93	22	figure	figure	NOUN
alkej-348	93	23	(	(	PUNCT
alkej-348	93	24	7	7	NUM
alkej-348	93	25	)	)	PUNCT
alkej-348	93	26	.	.	PUNCT
alkej-348	94	1	fig	fig	NOUN
alkej-348	94	2	.	.	PUNCT
alkej-348	95	1	6	6	NUM
alkej-348	95	2	.	.	X
alkej-348	95	3	ball	ball	NOUN
alkej-348	95	4	bearing	bearing	NOUN
alkej-348	95	5	.	.	PUNCT
alkej-348	96	1	fig	fig	NOUN
alkej-348	96	2	.	.	PUNCT
alkej-348	97	1	7	7	X
alkej-348	97	2	.	.	X
alkej-348	97	3	tool	tool	NOUN
alkej-348	97	4	catch	catch	PROPN
alkej-348	97	5	.	.	PUNCT
alkej-348	98	1	g.	g.	PROPN
alkej-348	98	2	base	base	PROPN
alkej-348	98	3	box	box	PROPN
alkej-348	98	4	structure	structure	NOUN
alkej-348	98	5	:	:	PUNCT
alkej-348	98	6	designed	design	VERB
alkej-348	98	7	and	and	CCONJ
alkej-348	98	8	implemented	implement	VERB
alkej-348	98	9	box	box	NOUN
alkej-348	98	10	to	to	PART
alkej-348	98	11	put	put	VERB
alkej-348	98	12	and	and	CCONJ
alkej-348	98	13	install	install	VERB
alkej-348	98	14	the	the	DET
alkej-348	98	15	motors	motor	NOUN
alkej-348	98	16	with	with	ADP
alkej-348	98	17	photoelectric	photoelectric	NOUN
alkej-348	98	18	,	,	PUNCT
alkej-348	98	19	and	and	CCONJ
alkej-348	98	20	solenoid	solenoid	ADJ
alkej-348	98	21	valve	valve	NOUN
alkej-348	98	22	.	.	PUNCT
alkej-348	99	1	the	the	DET
alkej-348	99	2	box	box	NOUN
alkej-348	99	3	covered	cover	VERB
alkej-348	99	4	by	by	ADP
alkej-348	99	5	a	a	DET
alkej-348	99	6	plate	plate	NOUN
alkej-348	99	7	of	of	ADP
alkej-348	99	8	aluminum	aluminum	NOUN
alkej-348	99	9	is	be	AUX
alkej-348	99	10	shown	show	VERB
alkej-348	99	11	in	in	ADP
alkej-348	99	12	figure	figure	NOUN
alkej-348	99	13	(	(	PUNCT
alkej-348	99	14	8)	8)	NUM
alkej-348	99	15	.	.	PUNCT
alkej-348	99	16	khwarizmi	khwarizmi	PROPN
alkej-348	99	17	engineering	engineering	PROPN
alkej-348	99	18	journal	journal	PROPN
alkej-348	99	19	,	,	PUNCT
alkej-348	99	20	vol	vol	NOUN
alkej-348	99	21	.	.	PROPN
alkej-348	99	22	13	13	NUM
alkej-348	99	23	,	,	PUNCT
alkej-348	99	24	no	no	INTJ
alkej-348	99	25	.	.	NOUN
alkej-348	99	26	2	2	NUM
alkej-348	99	27	,	,	PUNCT
alkej-348	99	28	p.p	p.p	PROPN
alkej-348	99	29	.	.	PROPN
alkej-348	99	30	44	44	NUM
alkej-348	99	31	:	:	PUNCT
alkej-348	99	32	the	the	DET
alkej-348	99	33	bearing	bearing	NOUN
alkej-348	99	34	is	be	AUX
alkej-348	99	35	a	a	DET
alkej-348	99	36	machine	machine	NOUN
alkej-348	99	37	tive	tive	NOUN
alkej-348	99	38	motion	motion	NOUN
alkej-348	99	39	to	to	ADP
alkej-348	99	40	only	only	ADV
alkej-348	99	41	the	the	DET
alkej-348	99	42	desired	desire	VERB
alkej-348	99	43	motion	motion	NOUN
alkej-348	99	44	,	,	PUNCT
alkej-348	99	45	and	and	CCONJ
alkej-348	99	46	reduces	reduce	VERB
alkej-348	99	47	friction	friction	NOUN
alkej-348	99	48	between	between	ADP
alkej-348	99	49	moving	move	VERB
alkej-348	99	50	parts	part	NOUN
alkej-348	99	51	.	.	PUNCT
alkej-348	100	1	used	use	VERB
alkej-348	100	2	6200rs	6200rs	PROPN
alkej-348	100	3	red	red	PROPN
alkej-348	100	4	:	:	PUNCT
alkej-348	100	5	an	an	DET
alkej-348	100	6	angle	angle	NOUN
alkej-348	100	7	iron	iron	NOUN
alkej-348	100	8	with	with	ADP
alkej-348	100	9	a	a	DET
alkej-348	100	10	flat	flat	ADJ
alkej-348	100	11	metal	metal	NOUN
alkej-348	100	12	degree	degree	NOUN
alkej-348	100	13	angle	angle	NOUN
alkej-348	100	14	shaped	shape	VERB
alkej-348	100	15	piece	piece	NOUN
alkej-348	100	16	.	.	PUNCT
alkej-348	101	1	linkage	linkage	NOUN
alkej-348	101	2	with	with	ADP
alkej-348	101	3	the	the	DET
alkej-348	101	4	end	end	NOUN
alkej-348	101	5	of	of	ADP
alkej-348	101	6	the	the	DET
alkej-348	101	7	second	second	ADJ
alkej-348	101	8	link	link	NOUN
alkej-348	101	9	by	by	ADP
alkej-348	101	10	bolt	bolt	NOUN
alkej-348	101	11	,	,	PUNCT
alkej-348	101	12	to	to	PART
alkej-348	101	13	fixation	fixation	VERB
alkej-348	101	14	the	the	DET
alkej-348	101	15	tool	tool	NOUN
alkej-348	101	16	of	of	ADP
alkej-348	101	17	different	different	ADJ
alkej-348	101	18	tasks	task	NOUN
alkej-348	101	19	as	as	SCONJ
alkej-348	101	20	designed	design	VERB
alkej-348	101	21	and	and	CCONJ
alkej-348	101	22	the	the	DET
alkej-348	101	23	motors	motor	NOUN
alkej-348	101	24	with	with	ADP
alkej-348	101	25	photoelectric	photoelectric	NOUN
alkej-348	101	26	,	,	PUNCT
alkej-348	101	27	and	and	CCONJ
alkej-348	101	28	solenoid	solenoid	ADJ
alkej-348	101	29	valve	valve	NOUN
alkej-348	101	30	.	.	PUNCT
alkej-348	102	1	the	the	DET
alkej-348	102	2	box	box	NOUN
alkej-348	102	3	covered	cover	VERB
alkej-348	102	4	by	by	ADP
alkej-348	102	5	a	a	DET
alkej-348	102	6	plate	plate	NOUN
alkej-348	102	7	of	of	ADP
alkej-348	102	8	aluminum	aluminum	NOUN
alkej-348	102	9	is	be	AUX
alkej-348	102	10	shown	show	VERB
alkej-348	102	11	fig	fig	NOUN
alkej-348	102	12	.	.	PUNCT
alkej-348	103	1	8	8	NUM
alkej-348	103	2	.	.	X
alkej-348	103	3	box	box	PROPN
alkej-348	103	4	from	from	ADP
alkej-348	103	5	iron	iron	NOUN
alkej-348	103	6	and	and	CCONJ
alkej-348	103	7	covered	cover	VERB
alkej-348	103	8	by	by	ADP
alkej-348	103	9	aluminum	aluminum	NOUN
alkej-348	103	10	3.2	3.2	NUM
alkej-348	103	11	the	the	DET
alkej-348	103	12	electrical	electrical	ADJ
alkej-348	103	13	parts	part	NOUN
alkej-348	103	14	the	the	DET
alkej-348	103	15	electrical	electrical	ADJ
alkej-348	103	16	parts	part	NOUN
alkej-348	103	17	for	for	ADP
alkej-348	103	18	operation	operation	NOUN
alkej-348	103	19	the	the	DET
alkej-348	103	20	scara	scara	NOUN
alkej-348	103	21	robot	robot	NOUN
alkej-348	103	22	are	be	AUX
alkej-348	103	23	included	include	VERB
alkej-348	103	24	the	the	DET
alkej-348	103	25	following	follow	VERB
alkej-348	103	26	devices	device	NOUN
alkej-348	103	27	:	:	PUNCT
alkej-348	103	28	a.	a.	NOUN
alkej-348	103	29	photoelectric	photoelectric	NOUN
alkej-348	103	30	sensor	sensor	NOUN
alkej-348	103	31	:	:	PUNCT
alkej-348	103	32	used	use	VERB
alkej-348	103	33	photoelectric	photoelectric	ADJ
alkej-348	103	34	type	type	NOUN
alkej-348	103	35	retro	retro	ADJ
alkej-348	103	36	reflective	reflective	ADJ
alkej-348	103	37	and	and	CCONJ
alkej-348	103	38	ben5	ben5	PROPN
alkej-348	103	39	m	m	PROPN
alkej-348	103	40	power	power	NOUN
alkej-348	103	41	supply	supply	NOUN
alkej-348	103	42	24	24	NUM
alkej-348	103	43	-	-	SYM
alkej-348	103	44	240vac	240vac	NUM
alkej-348	103	45	±	±	NUM
alkej-348	103	46	10	10	NUM
alkej-348	103	47	%	%	NOUN
alkej-348	103	48	50/60hz	50/60hz	NUM
alkej-348	103	49	and	and	CCONJ
alkej-348	103	50	infrared	infrared	ADJ
alkej-348	103	51	led	lead	VERB
alkej-348	103	52	source	source	NOUN
alkej-348	103	53	selectable	selectable	ADJ
alkej-348	103	54	light	light	NOUN
alkej-348	103	55	on	on	ADP
alkej-348	103	56	or	or	CCONJ
alkej-348	103	57	dark	dark	ADJ
alkej-348	103	58	on	on	ADP
alkej-348	103	59	by	by	ADP
alkej-348	103	60	switch	switch	NOUN
alkej-348	103	61	.	.	PUNCT
alkej-348	104	1	b.	b.	PROPN
alkej-348	104	2	plugs	plug	NOUN
alkej-348	104	3	and	and	CCONJ
alkej-348	104	4	sockets	socket	NOUN
alkej-348	104	5	:	:	PUNCT
alkej-348	104	6	used	use	VERB
alkej-348	104	7	two	two	NUM
alkej-348	104	8	types	type	NOUN
alkej-348	104	9	(	(	PUNCT
alkej-348	104	10	ebm10cf00)to	ebm10cf00)to	NOUN
alkej-348	104	11	connect	connect	VERB
alkej-348	104	12	between	between	ADP
alkej-348	104	13	scara	scara	NOUN
alkej-348	104	14	model	model	NOUN
alkej-348	104	15	and	and	CCONJ
alkej-348	104	16	control	control	NOUN
alkej-348	104	17	panel.it	panel.it	PRON
alkej-348	104	18	can	can	AUX
alkej-348	104	19	be	be	AUX
alkej-348	104	20	them	they	PRON
alkej-348	104	21	to	to	PART
alkej-348	104	22	facilitate	facilitate	VERB
alkej-348	104	23	transmitted	transmit	VERB
alkej-348	104	24	it	it	PRON
alkej-348	104	25	.	.	PUNCT
alkej-348	105	1	c.	c.	PROPN
alkej-348	105	2	power	power	NOUN
alkej-348	105	3	supply	supply	NOUN
alkej-348	105	4	:	:	PUNCT
alkej-348	105	5	a	a	DET
alkej-348	105	6	power	power	NOUN
alkej-348	105	7	supply	supply	NOUN
alkej-348	105	8	model	model	NOUN
alkej-348	105	9	mdr	mdr	PROPN
alkej-348	105	10	100	100	NUM
alkej-348	105	11	-	-	PUNCT
alkej-348	105	12	24is	24is	NOUN
alkej-348	105	13	an	an	DET
alkej-348	105	14	electronic	electronic	ADJ
alkej-348	105	15	device	device	NOUN
alkej-348	105	16	that	that	PRON
alkej-348	105	17	supplies	supply	VERB
alkej-348	105	18	electric	electric	ADJ
alkej-348	105	19	energy	energy	NOUN
alkej-348	105	20	to	to	ADP
alkej-348	105	21	an	an	DET
alkej-348	105	22	electrical	electrical	ADJ
alkej-348	105	23	load	load	NOUN
alkej-348	105	24	one	one	NUM
alkej-348	105	25	form	form	NOUN
alkej-348	105	26	of	of	ADP
alkej-348	105	27	electrical	electrical	ADJ
alkej-348	105	28	energy	energy	NOUN
alkej-348	105	29	to	to	ADP
alkej-348	105	30	another	another	PRON
alkej-348	105	31	.	.	PUNCT
alkej-348	106	1	a	a	DET
alkej-348	106	2	power	power	NOUN
alkej-348	106	3	input	input	NOUN
alkej-348	106	4	receives	receive	VERB
alkej-348	106	5	energy	energy	NOUN
alkej-348	106	6	from	from	ADP
alkej-348	106	7	the	the	DET
alkej-348	106	8	energy	energy	NOUN
alkej-348	106	9	source	source	NOUN
alkej-348	106	10	,	,	PUNCT
alkej-348	106	11	and	and	CCONJ
alkej-348	106	12	a	a	DET
alkej-348	106	13	power	power	NOUN
alkej-348	106	14	output	output	NOUN
alkej-348	106	15	that	that	PRON
alkej-348	106	16	transfers	transfer	VERB
alkej-348	106	17	energy	energy	NOUN
alkej-348	106	18	to	to	ADP
alkej-348	106	19	the	the	DET
alkej-348	106	20	load	load	NOUN
alkej-348	106	21	.	.	PUNCT
alkej-348	107	1	d.	d.	PROPN
alkej-348	107	2	circuit	circuit	PROPN
alkej-348	107	3	breaker	breaker	NOUN
alkej-348	107	4	:	:	PUNCT
alkej-348	107	5	is	be	AUX
alkej-348	107	6	one	one	NUM
alkej-348	107	7	of	of	ADP
alkej-348	107	8	the	the	DET
alkej-348	107	9	most	most	ADV
alkej-348	107	10	important	important	ADJ
alkej-348	107	11	safety	safety	NOUN
alkej-348	107	12	mechanisms	mechanism	NOUN
alkej-348	107	13	,	,	PUNCT
alkej-348	107	14	these	these	DET
alkej-348	107	15	simple	simple	ADJ
alkej-348	107	16	machines	machine	NOUN
alkej-348	107	17	cut	cut	VERB
alkej-348	107	18	the	the	DET
alkej-348	107	19	power	power	NOUN
alkej-348	107	20	when	when	SCONJ
alkej-348	107	21	any	any	DET
alkej-348	107	22	problem	problem	NOUN
alkej-348	107	23	occurs	occur	VERB
alkej-348	107	24	.	.	PUNCT
alkej-348	108	1	e.	e.	PROPN
alkej-348	108	2	relay	relay	PROPN
alkej-348	108	3	:	:	PUNCT
alkej-348	108	4	relays	relay	NOUN
alkej-348	108	5	are	be	AUX
alkej-348	108	6	a	a	DET
alkej-348	108	7	remote	remote	ADJ
alkej-348	108	8	control	control	NOUN
alkej-348	108	9	electrical	electrical	ADJ
alkej-348	108	10	switch	switch	NOUN
alkej-348	108	11	that	that	PRON
alkej-348	108	12	can	can	AUX
alkej-348	108	13	be	be	AUX
alkej-348	108	14	switched	switch	VERB
alkej-348	108	15	using	use	VERB
alkej-348	108	16	low	low	ADJ
alkej-348	108	17	cu	cu	PROPN
alkej-348	108	18	to	to	PART
alkej-348	108	19	control	control	VERB
alkej-348	108	20	a	a	DET
alkej-348	108	21	high	high	ADJ
alkej-348	108	22	current	current	ADJ
alkej-348	108	23	load	load	NOUN
alkej-348	108	24	and	and	CCONJ
alkej-348	108	25	used	use	VERB
alkej-348	108	26	in	in	ADP
alkej-348	108	27	many	many	ADJ
alkej-348	108	28	applications	application	NOUN
alkej-348	108	29	,	,	PUNCT
alkej-348	108	30	used	use	VERB
alkej-348	108	31	type	type	NOUN
alkej-348	108	32	[	[	PUNCT
alkej-348	108	33	rxm4ab1bd	rxm4ab1bd	PROPN
alkej-348	108	34	]	]	PUNCT
alkej-348	108	35	from	from	ADP
alkej-348	108	36	schneider	schneider	PROPN
alkej-348	108	37	electric	electric	PROPN
alkej-348	108	38	f.	f.	PROPN
alkej-348	108	39	inverter	inverter	PROPN
alkej-348	108	40	:	:	PUNCT
alkej-348	108	41	used	use	VERB
alkej-348	108	42	to	to	PART
alkej-348	108	43	change	change	VERB
alkej-348	108	44	the	the	DET
alkej-348	108	45	speed	speed	NOUN
alkej-348	108	46	of	of	ADP
alkej-348	108	47	electric	electric	ADJ
alkej-348	108	48	motor	motor	NOUN
alkej-348	108	49	called	call	VERB
alkej-348	108	50	ac	ac	PROPN
alkej-348	108	51	drive.it	drive.it	PROPN
alkej-348	108	52	is	be	AUX
alkej-348	108	53	used	use	VERB
alkej-348	108	54	type	type	NOUN
alkej-348	108	55	n700e	n700e	VERB
alkej-348	108	56	operating	operate	VERB
alkej-348	108	57	by	by	ADP
alkej-348	108	58	power	power	NOUN
alkej-348	108	59	220	220	NUM
alkej-348	108	60	volt	volt	NOUN
alkej-348	108	61	.	.	PUNCT
alkej-348	109	1	g.	g.	PROPN
alkej-348	109	2	solenoid	solenoid	PROPN
alkej-348	109	3	:	:	PUNCT
alkej-348	109	4	consists	consist	VERB
alkej-348	109	5	of	of	ADP
alkej-348	109	6	a	a	DET
alkej-348	109	7	coil	coil	NOUN
alkej-348	109	8	of	of	ADP
alkej-348	109	9	wire	wire	NOUN
alkej-348	109	10	with	with	ADP
alkej-348	109	11	an	an	DET
alkej-348	109	12	iron	iron	NOUN
alkej-348	109	13	plunger	plunger	NOUN
alkej-348	109	14	that	that	PRON
alkej-348	109	15	is	be	AUX
alkej-348	109	16	allowed	allow	VERB
alkej-348	109	17	to	to	PART
alkej-348	109	18	move	move	VERB
alkej-348	109	19	through	through	ADP
alkej-348	109	20	,	,	PUNCT
alkej-348	109	21	p.p	p.p	PROPN
alkej-348	109	22	.	.	NOUN
alkej-348	109	23	4050	4050	NUM
alkej-348	109	24	(	(	PUNCT
alkej-348	109	25	2017	2017	NUM
alkej-348	109	26	)	)	PUNCT
alkej-348	109	27	box	box	NOUN
alkej-348	109	28	from	from	ADP
alkej-348	109	29	iron	iron	NOUN
alkej-348	109	30	and	and	CCONJ
alkej-348	109	31	covered	cover	VERB
alkej-348	109	32	by	by	ADP
alkej-348	109	33	aluminum	aluminum	NOUN
alkej-348	109	34	.	.	PUNCT
alkej-348	110	1	the	the	DET
alkej-348	110	2	electrical	electrical	ADJ
alkej-348	110	3	parts	part	NOUN
alkej-348	110	4	for	for	ADP
alkej-348	110	5	operation	operation	NOUN
alkej-348	110	6	the	the	DET
alkej-348	110	7	scara	scara	NOUN
alkej-348	110	8	included	include	VERB
alkej-348	110	9	the	the	DET
alkej-348	110	10	following	follow	VERB
alkej-348	110	11	devices	device	NOUN
alkej-348	110	12	:	:	PUNCT
alkej-348	110	13	hotoelectric	hotoelectric	ADJ
alkej-348	110	14	type	type	NOUN
alkej-348	110	15	retro	retro	ADJ
alkej-348	110	16	reflective	reflective	ADJ
alkej-348	110	17	and	and	CCONJ
alkej-348	110	18	ben5m	ben5m	PROPN
alkej-348	110	19	-	-	PUNCT
alkej-348	110	20	mfr	mfr	PROPN
alkej-348	110	21	model	model	NOUN
alkej-348	110	22	10	10	NUM
alkej-348	110	23	%	%	NOUN
alkej-348	110	24	50/60hz	50/60hz	NUM
alkej-348	110	25	and	and	CCONJ
alkej-348	110	26	infrared	infrared	ADJ
alkej-348	110	27	led	lead	VERB
alkej-348	110	28	source	source	NOUN
alkej-348	110	29	selectable	selectable	ADJ
alkej-348	110	30	light	light	NOUN
alkej-348	110	31	on	on	ADP
alkej-348	110	32	or	or	CCONJ
alkej-348	110	33	dark	dark	ADJ
alkej-348	110	34	used	use	VERB
alkej-348	110	35	two	two	NUM
alkej-348	110	36	types	type	NOUN
alkej-348	110	37	(	(	PUNCT
alkej-348	110	38	ebm10cf00)to	ebm10cf00)to	NOUN
alkej-348	110	39	connect	connect	VERB
alkej-348	110	40	between	between	ADP
alkej-348	110	41	scara	scara	NOUN
alkej-348	110	42	model	model	NOUN
alkej-348	110	43	and	and	CCONJ
alkej-348	110	44	control	control	NOUN
alkej-348	110	45	panel.it	panel.it	X
alkej-348	110	46	can	can	AUX
alkej-348	110	47	beseparated	beseparate	VERB
alkej-348	110	48	transmitted	transmit	VERB
alkej-348	110	49	it	it	PRON
alkej-348	110	50	.	.	PUNCT
alkej-348	111	1	a	a	DET
alkej-348	111	2	power	power	NOUN
alkej-348	111	3	supply	supply	NOUN
alkej-348	111	4	model	model	NOUN
alkej-348	111	5	mdr24is	mdr24is	VERB
alkej-348	111	6	an	an	DET
alkej-348	111	7	electronic	electronic	ADJ
alkej-348	111	8	device	device	NOUN
alkej-348	111	9	that	that	PRON
alkej-348	111	10	supplies	supply	VERB
alkej-348	111	11	electrical	electrical	ADJ
alkej-348	111	12	load	load	NOUN
alkej-348	111	13	.	.	PUNCT
alkej-348	112	1	convert	convert	VERB
alkej-348	112	2	one	one	NUM
alkej-348	112	3	form	form	NOUN
alkej-348	112	4	of	of	ADP
alkej-348	112	5	electrical	electrical	ADJ
alkej-348	112	6	energy	energy	NOUN
alkej-348	112	7	to	to	ADP
alkej-348	112	8	another	another	PRON
alkej-348	112	9	.	.	PUNCT
alkej-348	113	1	a	a	DET
alkej-348	113	2	power	power	NOUN
alkej-348	113	3	input	input	NOUN
alkej-348	113	4	receives	receive	VERB
alkej-348	113	5	energy	energy	NOUN
alkej-348	113	6	from	from	ADP
alkej-348	113	7	the	the	DET
alkej-348	113	8	energy	energy	NOUN
alkej-348	113	9	r	r	NOUN
alkej-348	113	10	output	output	NOUN
alkej-348	113	11	that	that	PRON
alkej-348	113	12	transfers	transfer	NOUN
alkej-348	113	13	is	be	AUX
alkej-348	113	14	one	one	NUM
alkej-348	113	15	of	of	ADP
alkej-348	113	16	the	the	DET
alkej-348	113	17	most	most	ADV
alkej-348	113	18	important	important	ADJ
alkej-348	113	19	safety	safety	NOUN
alkej-348	113	20	mechanisms	mechanism	NOUN
alkej-348	113	21	,	,	PUNCT
alkej-348	113	22	these	these	DET
alkej-348	113	23	simple	simple	ADJ
alkej-348	113	24	machines	machine	NOUN
alkej-348	113	25	cut	cut	VERB
alkej-348	113	26	the	the	DET
alkej-348	113	27	power	power	NOUN
alkej-348	113	28	when	when	SCONJ
alkej-348	113	29	any	any	DET
alkej-348	113	30	problem	problem	NOUN
alkej-348	113	31	occurs	occur	VERB
alkej-348	113	32	.	.	PUNCT
alkej-348	114	1	relays	relay	NOUN
alkej-348	114	2	are	be	AUX
alkej-348	114	3	a	a	DET
alkej-348	114	4	remote	remote	ADJ
alkej-348	114	5	control	control	NOUN
alkej-348	114	6	electrical	electrical	ADJ
alkej-348	114	7	switch	switch	NOUN
alkej-348	114	8	that	that	PRON
alkej-348	114	9	can	can	AUX
alkej-348	114	10	be	be	AUX
alkej-348	114	11	switched	switch	VERB
alkej-348	114	12	using	use	VERB
alkej-348	114	13	low	low	ADJ
alkej-348	114	14	current	current	NOUN
alkej-348	114	15	to	to	PART
alkej-348	114	16	control	control	VERB
alkej-348	114	17	a	a	DET
alkej-348	114	18	high	high	ADJ
alkej-348	114	19	current	current	ADJ
alkej-348	114	20	load	load	NOUN
alkej-348	114	21	and	and	CCONJ
alkej-348	114	22	used	use	VERB
alkej-348	114	23	in	in	ADP
alkej-348	114	24	many	many	ADJ
alkej-348	114	25	applications	application	NOUN
alkej-348	114	26	,	,	PUNCT
alkej-348	114	27	used	use	VERB
alkej-348	114	28	type	type	NOUN
alkej-348	114	29	[	[	PUNCT
alkej-348	114	30	rxm4ab1bd	rxm4ab1bd	PROPN
alkej-348	114	31	]	]	PUNCT
alkej-348	114	32	from	from	ADP
alkej-348	114	33	used	use	VERB
alkej-348	114	34	to	to	PART
alkej-348	114	35	change	change	VERB
alkej-348	114	36	the	the	DET
alkej-348	114	37	speed	speed	NOUN
alkej-348	114	38	of	of	ADP
alkej-348	114	39	electric	electric	ADJ
alkej-348	114	40	motor	motor	NOUN
alkej-348	114	41	called	call	VERB
alkej-348	114	42	ac	ac	PROPN
alkej-348	114	43	drive.it	drive.it	PROPN
alkej-348	114	44	is	be	AUX
alkej-348	114	45	used	use	VERB
alkej-348	114	46	type	type	NOUN
alkej-348	114	47	n700e	n700e	VERB
alkej-348	114	48	a	a	DET
alkej-348	114	49	coil	coil	NOUN
alkej-348	114	50	of	of	ADP
alkej-348	114	51	wire	wire	NOUN
alkej-348	114	52	with	with	ADP
alkej-348	114	53	an	an	DET
alkej-348	114	54	iron	iron	NOUN
alkej-348	114	55	plunger	plunger	NOUN
alkej-348	114	56	that	that	PRON
alkej-348	114	57	is	be	AUX
alkej-348	114	58	allowed	allow	VERB
alkej-348	114	59	to	to	PART
alkej-348	114	60	move	move	VERB
alkej-348	114	61	through	through	ADP
alkej-348	114	62	pdf	pdf	NOUN
alkej-348	114	63	created	create	VERB
alkej-348	114	64	with	with	ADP
alkej-348	114	65	pdffactory	pdffactory	ADJ
alkej-348	114	66	trial	trial	NOUN
alkej-348	114	67	version	version	NOUN
alkej-348	114	68	www.pdffactory.com	www.pdffactory.com	X
alkej-348	114	69	http://www.pdffactory.com	http://www.pdffactory.com	X
alkej-348	114	70	http://www.pdffactory.com	http://www.pdffactory.com	X
alkej-348	115	1	iman	iman	PROPN
alkej-348	115	2	salih	salih	PROPN
alkej-348	115	3	karem	karem	PROPN
alkej-348	115	4	al	al	PROPN
alkej-348	115	5	-	-	PUNCT
alkej-348	115	6	khwarizmi	khwarizmi	PROPN
alkej-348	115	7	engineering	engineering	NOUN
alkej-348	115	8	journal	journal	PROPN
alkej-348	115	9	,	,	PUNCT
alkej-348	115	10	vol	vol	NOUN
alkej-348	115	11	.	.	PROPN
alkej-348	115	12	13	13	NUM
alkej-348	115	13	,	,	PUNCT
alkej-348	115	14	no	no	INTJ
alkej-348	115	15	.	.	NOUN
alkej-348	115	16	2	2	NUM
alkej-348	115	17	,	,	PUNCT
alkej-348	115	18	p.p	p.p	PROPN
alkej-348	115	19	.	.	NOUN
alkej-348	115	20	4050	4050	NUM
alkej-348	115	21	(	(	PUNCT
alkej-348	115	22	2017	2017	NUM
alkej-348	115	23	)	)	PUNCT
alkej-348	115	24	45	45	NUM
alkej-348	115	25	the	the	DET
alkej-348	115	26	center	center	NOUN
alkej-348	115	27	of	of	ADP
alkej-348	115	28	the	the	DET
alkej-348	115	29	coil	coil	NOUN
alkej-348	115	30	.	.	PUNCT
alkej-348	116	1	an	an	DET
alkej-348	116	2	electric	electric	ADJ
alkej-348	116	3	current	current	NOUN
alkej-348	116	4	through	through	ADP
alkej-348	116	5	the	the	DET
alkej-348	116	6	coil	coil	NOUN
alkej-348	116	7	creates	create	VERB
alkej-348	116	8	a	a	DET
alkej-348	116	9	magnetic	magnetic	ADJ
alkej-348	116	10	field	field	NOUN
alkej-348	116	11	.	.	PUNCT
alkej-348	117	1	the	the	DET
alkej-348	117	2	magnetic	magnetic	ADJ
alkej-348	117	3	field	field	NOUN
alkej-348	117	4	exerts	exert	VERB
alkej-348	117	5	a	a	DET
alkej-348	117	6	force	force	NOUN
alkej-348	117	7	on	on	ADP
alkej-348	117	8	the	the	DET
alkej-348	117	9	plunger	plunger	NOUN
alkej-348	117	10	.	.	PUNCT
alkej-348	118	1	h.	h.	PROPN
alkej-348	118	2	prismatic	prismatic	PROPN
alkej-348	118	3	:	:	PUNCT
alkej-348	118	4	used	use	VERB
alkej-348	118	5	standard	standard	ADJ
alkej-348	118	6	cylinders	cylinder	NOUN
alkej-348	118	7	from	from	ADP
alkej-348	118	8	festo	festo	PROPN
alkej-348	118	9	type	type	NOUN
alkej-348	118	10	dsnu-20	dsnu-20	PROPN
alkej-348	118	11	-	-	PUNCT
alkej-348	118	12	2	2	NUM
alkej-348	118	13	with	with	ADP
alkej-348	118	14	maximum	maximum	ADJ
alkej-348	118	15	pressure	pressure	NOUN
alkej-348	118	16	10	10	NUM
alkej-348	118	17	bar	bar	NOUN
alkej-348	118	18	made	make	VERB
alkej-348	118	19	of	of	ADP
alkej-348	118	20	stainless	stainless	ADJ
alkej-348	118	21	steel	steel	NOUN
alkej-348	118	22	and	and	CCONJ
alkej-348	118	23	the	the	DET
alkej-348	118	24	bearing	bearing	NOUN
alkej-348	118	25	and	and	CCONJ
alkej-348	118	26	end	end	VERB
alkej-348	118	27	caps	cap	NOUN
alkej-348	118	28	made	make	VERB
alkej-348	118	29	of	of	ADP
alkej-348	118	30	wrought	wrought	ADJ
alkej-348	118	31	aluminum	aluminum	NOUN
alkej-348	118	32	alloy	alloy	NOUN
alkej-348	118	33	.	.	PUNCT
alkej-348	119	1	i.	i.	PROPN
alkej-348	119	2	air	air	PROPN
alkej-348	119	3	compressor	compressor	PROPN
alkej-348	119	4	:	:	PUNCT
alkej-348	119	5	theeinhell	theeinhell	NOUN
alkej-348	119	6	air	air	NOUN
alkej-348	119	7	compressor	compressor	NOUN
alkej-348	119	8	is	be	AUX
alkej-348	119	9	a	a	DET
alkej-348	119	10	device	device	NOUN
alkej-348	119	11	that	that	PRON
alkej-348	119	12	converts	convert	VERB
alkej-348	119	13	power	power	NOUN
alkej-348	119	14	into	into	ADP
alkej-348	119	15	potential	potential	ADJ
alkej-348	119	16	energy	energy	NOUN
alkej-348	119	17	stored	store	VERB
alkej-348	119	18	in	in	ADP
alkej-348	119	19	compressed	compressed	ADJ
alkej-348	119	20	air	air	NOUN
alkej-348	119	21	that	that	PRON
alkej-348	119	22	mean	mean	VERB
alkej-348	119	23	supplies	supply	VERB
alkej-348	119	24	the	the	DET
alkej-348	119	25	system	system	NOUN
alkej-348	119	26	with	with	ADP
alkej-348	119	27	compressed	compressed	ADJ
alkej-348	119	28	air	air	NOUN
alkej-348	119	29	.	.	PUNCT
alkej-348	120	1	j.	j.	PROPN
alkej-348	120	2	motors	motors	PROPN
alkej-348	120	3	:	:	PUNCT
alkej-348	120	4	used	use	VERB
alkej-348	120	5	for	for	ADP
alkej-348	120	6	driving	drive	VERB
alkej-348	120	7	the	the	DET
alkej-348	120	8	links	link	NOUN
alkej-348	120	9	of	of	ADP
alkej-348	120	10	the	the	DET
alkej-348	120	11	robot	robot	NOUN
alkej-348	120	12	.	.	PUNCT
alkej-348	121	1	the	the	DET
alkej-348	121	2	torque	torque	NOUN
alkej-348	121	3	of	of	ADP
alkej-348	121	4	motors	motor	NOUN
alkej-348	121	5	provides	provide	VERB
alkej-348	121	6	high	high	ADJ
alkej-348	121	7	starting	start	VERB
alkej-348	121	8	torque	torque	NOUN
alkej-348	121	9	and	and	CCONJ
alkej-348	121	10	sloping	sloping	NOUN
alkej-348	121	11	characteristics	characteristic	NOUN
alkej-348	121	12	.	.	PUNCT
alkej-348	122	1	the	the	DET
alkej-348	122	2	two	two	NUM
alkej-348	122	3	motors	motor	NOUN
alkej-348	122	4	have	have	VERB
alkej-348	122	5	100	100	NUM
alkej-348	122	6	watt	watt	NOUN
alkej-348	122	7	and	and	CCONJ
alkej-348	122	8	2800	2800	NUM
alkej-348	122	9	rpm	rpm	NOUN
alkej-348	122	10	were	be	AUX
alkej-348	122	11	used	use	VERB
alkej-348	122	12	in	in	ADP
alkej-348	122	13	the	the	DET
alkej-348	122	14	current	current	ADJ
alkej-348	122	15	work	work	NOUN
alkej-348	122	16	.	.	PUNCT
alkej-348	123	1	k.	k.	PROPN
alkej-348	124	1	controlling	control	VERB
alkej-348	124	2	robotic	robotic	ADJ
alkej-348	124	3	arm	arm	NOUN
alkej-348	124	4	:	:	PUNCT
alkej-348	124	5	zelio	zelio	PROPN
alkej-348	124	6	has	have	VERB
alkej-348	124	7	analog	analog	NOUN
alkej-348	124	8	and	and	CCONJ
alkej-348	124	9	discrete	discrete	VERB
alkej-348	124	10	i	i	PRON
alkej-348	124	11	/	/	SYM
alkej-348	124	12	o	o	NOUN
alkej-348	124	13	,	,	PUNCT
alkej-348	124	14	16	16	NUM
alkej-348	124	15	input	input	NOUN
alkej-348	124	16	ports	port	NOUN
alkej-348	124	17	,	,	PUNCT
alkej-348	124	18	which	which	PRON
alkej-348	124	19	are	be	AUX
alkej-348	124	20	can	can	AUX
alkej-348	124	21	be	be	AUX
alkej-348	124	22	set	set	VERB
alkej-348	124	23	as	as	ADP
alkej-348	124	24	16	16	NUM
alkej-348	124	25	discrete	discrete	ADJ
alkej-348	124	26	inputs	input	NOUN
alkej-348	124	27	or	or	CCONJ
alkej-348	124	28	10	10	NUM
alkej-348	124	29	discrete	discrete	ADJ
alkej-348	124	30	inputs	input	NOUN
alkej-348	124	31	with	with	ADP
alkej-348	124	32	6	6	NUM
alkej-348	124	33	analog	analog	NOUN
alkej-348	124	34	inputs	input	NOUN
alkej-348	124	35	and	and	CCONJ
alkej-348	124	36	10	10	NUM
alkej-348	124	37	ports	port	NOUN
alkej-348	124	38	of	of	ADP
alkej-348	124	39	discrete	discrete	ADJ
alkej-348	124	40	output	output	NOUN
alkej-348	124	41	.	.	PUNCT
alkej-348	125	1	plc	plc	PROPN
alkej-348	125	2	made	make	VERB
alkej-348	125	3	in	in	ADP
alkej-348	125	4	schneider	schneider	PROPN
alkej-348	125	5	electric	electric	PROPN
alkej-348	125	6	type	type	PROPN
alkej-348	125	7	sr3	sr3	PROPN
alkej-348	125	8	-	-	PUNCT
alkej-348	125	9	b261bd	b261bd	PROPN
alkej-348	125	10	operating	operate	VERB
alkej-348	125	11	by	by	ADP
alkej-348	125	12	power	power	NOUN
alkej-348	125	13	24vdc	24vdc	PROPN
alkej-348	125	14	.	.	PUNCT
alkej-348	126	1	connected	connect	VERB
alkej-348	126	2	to	to	PART
alkej-348	126	3	pc	pc	VERB
alkej-348	126	4	by	by	ADP
alkej-348	126	5	serial	serial	ADJ
alkej-348	126	6	port	port	NOUN
alkej-348	126	7	in	in	ADP
alkej-348	126	8	order	order	NOUN
alkej-348	126	9	to	to	PART
alkej-348	126	10	use	use	VERB
alkej-348	126	11	the	the	DET
alkej-348	126	12	software	software	NOUN
alkej-348	126	13	program	program	NOUN
alkej-348	126	14	(	(	PUNCT
alkej-348	126	15	fbd	fbd	PROPN
alkej-348	126	16	language),the	language),the	PROPN
alkej-348	126	17	main	main	ADJ
alkej-348	126	18	advantage	advantage	NOUN
alkej-348	126	19	is	be	AUX
alkej-348	126	20	that	that	SCONJ
alkej-348	126	21	programs	program	NOUN
alkej-348	126	22	written	write	VERB
alkej-348	126	23	in	in	ADP
alkej-348	126	24	function	function	NOUN
alkej-348	126	25	block	block	NOUN
alkej-348	126	26	easy	easy	ADJ
alkej-348	126	27	to	to	PART
alkej-348	126	28	follow	follow	VERB
alkej-348	126	29	solely	solely	ADV
alkej-348	126	30	follow	follow	VERB
alkej-348	126	31	the	the	DET
alkej-348	126	32	trajectory	trajectory	NOUN
alkej-348	126	33	.	.	PUNCT
alkej-348	127	1	l.	l.	PROPN
alkej-348	127	2	cable	cable	PROPN
alkej-348	127	3	tray	tray	NOUN
alkej-348	127	4	:	:	PUNCT
alkej-348	127	5	used	use	VERB
alkej-348	127	6	the	the	DET
alkej-348	127	7	cable	cable	NOUN
alkej-348	127	8	tray	tray	NOUN
alkej-348	127	9	made	make	VERB
alkej-348	127	10	from	from	ADP
alkej-348	127	11	plastic	plastic	ADJ
alkej-348	127	12	pvc	pvc	ADJ
alkej-348	127	13	light	light	NOUN
alkej-348	127	14	weight	weight	NOUN
alkej-348	127	15	,	,	PUNCT
alkej-348	127	16	easy	easy	ADJ
alkej-348	127	17	installation	installation	NOUN
alkej-348	127	18	,	,	PUNCT
alkej-348	127	19	corrosion	corrosion	NOUN
alkej-348	127	20	resistance	resistance	NOUN
alkej-348	127	21	and	and	CCONJ
alkej-348	127	22	channel	channel	NOUN
alkej-348	127	23	slotted	slot	VERB
alkej-348	127	24	track	track	NOUN
alkej-348	127	25	.	.	PUNCT
alkej-348	128	1	4	4	X
alkej-348	128	2	.	.	X
alkej-348	128	3	control	control	NOUN
alkej-348	128	4	system	system	NOUN
alkej-348	128	5	design	design	NOUN
alkej-348	128	6	based	base	VERB
alkej-348	128	7	plc	plc	PROPN
alkej-348	128	8	the	the	DET
alkej-348	128	9	software	software	NOUN
alkej-348	128	10	implementation	implementation	NOUN
alkej-348	128	11	of	of	ADP
alkej-348	128	12	a	a	DET
alkej-348	128	13	scara	scara	NOUN
alkej-348	128	14	robot	robot	NOUN
alkej-348	128	15	used	use	VERB
alkej-348	128	16	fbd	fbd	PROPN
alkej-348	128	17	is	be	AUX
alkej-348	128	18	a	a	DET
alkej-348	128	19	graphical	graphical	ADJ
alkej-348	128	20	language	language	NOUN
alkej-348	128	21	that	that	PRON
alkej-348	128	22	lets	let	VERB
alkej-348	128	23	users	user	NOUN
alkej-348	128	24	simply	simply	ADV
alkej-348	128	25	depict	depict	VERB
alkej-348	128	26	complex	complex	ADJ
alkej-348	128	27	steps	step	NOUN
alkej-348	128	28	by	by	ADP
alkej-348	128	29	easily	easily	ADV
alkej-348	128	30	linking	link	VERB
alkej-348	128	31	together	together	ADV
alkej-348	128	32	function	function	NOUN
alkej-348	128	33	blocks	block	NOUN
alkej-348	128	34	,	,	PUNCT
alkej-348	128	35	like	like	ADP
alkej-348	128	36	drawing	draw	VERB
alkej-348	128	37	a	a	DET
alkej-348	128	38	circuit	circuit	NOUN
alkej-348	128	39	diagram	diagram	NOUN
alkej-348	128	40	with	with	ADP
alkej-348	128	41	the	the	DET
alkej-348	128	42	help	help	NOUN
alkej-348	128	43	of	of	ADP
alkej-348	128	44	a	a	DET
alkej-348	128	45	graphical.[18	graphical.[18	NOUN
alkej-348	128	46	]	]	PUNCT
alkej-348	128	47	this	this	DET
alkej-348	128	48	language	language	NOUN
alkej-348	128	49	is	be	AUX
alkej-348	128	50	similar	similar	ADJ
alkej-348	128	51	to	to	ADP
alkej-348	128	52	linking	link	VERB
alkej-348	128	53	a	a	DET
alkej-348	128	54	diagram	diagram	NOUN
alkej-348	128	55	more	more	ADJ
alkej-348	128	56	than	than	ADP
alkej-348	128	57	ladder	ladder	NOUN
alkej-348	128	58	code	code	NOUN
alkej-348	128	59	.	.	PUNCT
alkej-348	129	1	with	with	ADP
alkej-348	129	2	fbd	fbd	PROPN
alkej-348	129	3	the	the	DET
alkej-348	129	4	blocks	block	NOUN
alkej-348	129	5	are	be	AUX
alkej-348	129	6	“	"	PUNCT
alkej-348	129	7	cabled	cable	VERB
alkej-348	129	8	”	"	PUNCT
alkej-348	129	9	together	together	ADV
alkej-348	129	10	sequently	sequently	ADV
alkej-348	129	11	to	to	PART
alkej-348	129	12	follow	follow	VERB
alkej-348	129	13	easily	easily	ADV
alkej-348	129	14	.	.	PUNCT
alkej-348	130	1	the	the	DET
alkej-348	130	2	same	same	ADJ
alkej-348	130	3	instructions	instruction	NOUN
alkej-348	130	4	as	as	SCONJ
alkej-348	130	5	ladder	ladder	NOUN
alkej-348	130	6	utilize	utilize	VERB
alkej-348	130	7	,	,	PUNCT
alkej-348	130	8	but	but	CCONJ
alkej-348	130	9	visually	visually	ADV
alkej-348	130	10	is	be	AUX
alkej-348	130	11	more	more	ADV
alkej-348	130	12	understandable	understandable	ADJ
alkej-348	130	13	to	to	ADP
alkej-348	130	14	a	a	DET
alkej-348	130	15	viewer	viewer	NOUN
alkej-348	130	16	than	than	ADP
alkej-348	130	17	relay	relay	NOUN
alkej-348	130	18	logic	logic	NOUN
alkej-348	130	19	.	.	PUNCT
alkej-348	131	1	the	the	DET
alkej-348	131	2	main	main	ADJ
alkej-348	131	3	advantage	advantage	NOUN
alkej-348	131	4	is	be	AUX
alkej-348	131	5	that	that	SCONJ
alkej-348	131	6	programs	program	NOUN
alkej-348	131	7	written	write	VERB
alkej-348	131	8	in	in	ADP
alkej-348	131	9	function	function	NOUN
alkej-348	131	10	block	block	NOUN
alkej-348	131	11	easy	easy	ADJ
alkej-348	131	12	to	to	PART
alkej-348	131	13	follow	follow	VERB
alkej-348	131	14	solely	solely	ADV
alkej-348	131	15	follow	follow	VERB
alkej-348	131	16	the	the	DET
alkej-348	131	17	trajectory[19	trajectory[19	NOUN
alkej-348	131	18	]	]	PUNCT
alkej-348	131	19	.	.	PUNCT
alkej-348	132	1	used	use	VERB
alkej-348	132	2	zelio	zelio	PROPN
alkej-348	132	3	software	software	PROPN
alkej-348	132	4	and	and	CCONJ
alkej-348	132	5	fbd	fbd	PROPN
alkej-348	132	6	languages	language	NOUN
alkej-348	132	7	uses	use	VERB
alkej-348	132	8	logic	logic	NOUN
alkej-348	132	9	functions	function	NOUN
alkej-348	132	10	in	in	ADP
alkej-348	132	11	the	the	DET
alkej-348	132	12	block	block	NOUN
alkej-348	132	13	diagrams	diagram	NOUN
alkej-348	132	14	to	to	PART
alkej-348	132	15	implement	implement	VERB
alkej-348	132	16	in	in	ADP
alkej-348	132	17	the	the	DET
alkej-348	132	18	controller	controller	NOUN
alkej-348	132	19	scara	scara	PROPN
alkej-348	132	20	robot	robot	PROPN
alkej-348	132	21	model.figure(9	model.figure(9	NOUN
alkej-348	132	22	)	)	PUNCT
alkej-348	132	23	depicts	depict	VERB
alkej-348	132	24	this	this	DET
alkej-348	132	25	programming	programming	NOUN
alkej-348	132	26	language	language	NOUN
alkej-348	132	27	,	,	PUNCT
alkej-348	132	28	where	where	SCONJ
alkej-348	132	29	the	the	DET
alkej-348	132	30	left	left	ADJ
alkej-348	132	31	side	side	NOUN
alkej-348	132	32	is	be	AUX
alkej-348	132	33	the	the	DET
alkej-348	132	34	system	system	NOUN
alkej-348	132	35	input	input	NOUN
alkej-348	132	36	,	,	PUNCT
alkej-348	132	37	and	and	CCONJ
alkej-348	132	38	the	the	DET
alkej-348	132	39	right	right	ADJ
alkej-348	132	40	side	side	NOUN
alkej-348	132	41	is	be	AUX
alkej-348	132	42	the	the	DET
alkej-348	132	43	system	system	NOUN
alkej-348	132	44	output	output	NOUN
alkej-348	132	45	.	.	PUNCT
alkej-348	133	1	moreover	moreover	ADV
alkej-348	133	2	checks	check	VERB
alkej-348	133	3	all	all	DET
alkej-348	133	4	parts	part	NOUN
alkej-348	133	5	collecting	collect	VERB
alkej-348	133	6	together	together	ADV
alkej-348	133	7	suitably	suitably	ADV
alkej-348	133	8	and	and	CCONJ
alkej-348	133	9	the	the	DET
alkej-348	133	10	control	control	NOUN
alkej-348	133	11	panel	panel	NOUN
alkej-348	133	12	connecting	connect	VERB
alkej-348	133	13	wires	wire	NOUN
alkej-348	133	14	correctly	correctly	ADV
alkej-348	133	15	and	and	CCONJ
alkej-348	133	16	safely	safely	ADV
alkej-348	133	17	as	as	SCONJ
alkej-348	133	18	shown	show	VERB
alkej-348	133	19	in	in	ADP
alkej-348	133	20	figure	figure	NOUN
alkej-348	133	21	(	(	PUNCT
alkej-348	133	22	10).the	10).the	DET
alkej-348	133	23	detailed	detailed	ADJ
alkej-348	133	24	control	control	NOUN
alkej-348	133	25	system	system	NOUN
alkej-348	133	26	can	can	AUX
alkej-348	133	27	be	be	AUX
alkej-348	133	28	illustrated	illustrate	VERB
alkej-348	133	29	as	as	ADP
alkej-348	133	30	the	the	DET
alkej-348	133	31	flowchart	flowchart	NOUN
alkej-348	133	32	given	give	VERB
alkej-348	133	33	in	in	ADP
alkej-348	133	34	figure	figure	NOUN
alkej-348	133	35	(	(	PUNCT
alkej-348	133	36	11	11	NUM
alkej-348	133	37	)	)	PUNCT
alkej-348	133	38	.	.	PUNCT
alkej-348	134	1	fig	fig	NOUN
alkej-348	134	2	.	.	PUNCT
alkej-348	135	1	9	9	X
alkej-348	135	2	.	.	X
alkej-348	135	3	the	the	DET
alkej-348	135	4	programming	programming	NOUN
alkej-348	135	5	of	of	ADP
alkej-348	135	6	zelio	zelio	PROPN
alkej-348	135	7	.	.	PUNCT
alkej-348	136	1	fig	fig	NOUN
alkej-348	136	2	.	.	PUNCT
alkej-348	137	1	10	10	NUM
alkej-348	137	2	.	.	PUNCT
alkej-348	138	1	control	control	VERB
alkej-348	138	2	panal	panal	ADJ
alkej-348	138	3	system	system	NOUN
alkej-348	138	4	for	for	ADP
alkej-348	138	5	scara	scara	NOUN
alkej-348	138	6	robot	robot	NOUN
alkej-348	138	7	5	5	NUM
alkej-348	138	8	.	.	PUNCT
alkej-348	139	1	experimental	experimental	ADJ
alkej-348	139	2	work	work	NOUN
alkej-348	139	3	the	the	DET
alkej-348	139	4	robot	robot	NOUN
alkej-348	139	5	's	's	PART
alkej-348	139	6	mechanical	mechanical	ADJ
alkej-348	139	7	and	and	CCONJ
alkej-348	139	8	electrical	electrical	ADJ
alkej-348	139	9	parts	part	NOUN
alkej-348	139	10	are	be	AUX
alkej-348	139	11	combined	combine	VERB
alkej-348	139	12	as	as	ADP
alkej-348	139	13	in	in	ADP
alkej-348	139	14	figure	figure	NOUN
alkej-348	139	15	(	(	PUNCT
alkej-348	139	16	12	12	NUM
alkej-348	139	17	)	)	PUNCT
alkej-348	139	18	to	to	PART
alkej-348	139	19	run	run	VERB
alkej-348	139	20	and	and	CCONJ
alkej-348	139	21	implement	implement	VERB
alkej-348	139	22	three	three	NUM
alkej-348	139	23	experimental	experimental	ADJ
alkej-348	139	24	works	work	NOUN
alkej-348	139	25	to	to	PART
alkej-348	139	26	obtain	obtain	VERB
alkej-348	139	27	three	three	NUM
alkej-348	139	28	trajectory	trajectory	NOUN
alkej-348	139	29	motions	motion	NOUN
alkej-348	139	30	anti	anti	X
alkej-348	139	31	clock	clock	NOUN
alkej-348	139	32	wise	wise	ADJ
alkej-348	139	33	.	.	PUNCT
alkej-348	140	1	the	the	DET
alkej-348	140	2	schematic	schematic	ADJ
alkej-348	140	3	block	block	NOUN
alkej-348	140	4	diagram	diagram	NOUN
alkej-348	140	5	for	for	ADP
alkej-348	140	6	overall	overall	ADJ
alkej-348	140	7	system	system	NOUN
alkej-348	140	8	illustrated	illustrate	VERB
alkej-348	140	9	in	in	ADP
alkej-348	140	10	figure	figure	NOUN
alkej-348	140	11	(	(	PUNCT
alkej-348	140	12	13	13	NUM
alkej-348	140	13	)	)	PUNCT
alkej-348	140	14	the	the	DET
alkej-348	140	15	two	two	NUM
alkej-348	140	16	links	link	NOUN
alkej-348	140	17	were	be	AUX
alkej-348	140	18	stopped	stop	VERB
alkej-348	140	19	in	in	ADP
alkej-348	140	20	certain	certain	ADJ
alkej-348	140	21	points	point	NOUN
alkej-348	140	22	and	and	CCONJ
alkej-348	140	23	link3	link3	VERB
alkej-348	140	24	bushed	bush	VERB
alkej-348	140	25	down	down	ADP
alkej-348	140	26	for	for	ADP
alkej-348	140	27	doing	do	VERB
alkej-348	140	28	the	the	DET
alkej-348	140	29	task	task	NOUN
alkej-348	140	30	in	in	ADP
alkej-348	140	31	a	a	DET
alkej-348	140	32	desired	desire	VERB
alkej-348	140	33	trajectory	trajectory	NOUN
alkej-348	140	34	motion	motion	NOUN
alkej-348	140	35	.	.	PUNCT
alkej-348	141	1	the	the	DET
alkej-348	141	2	performance	performance	NOUN
alkej-348	141	3	of	of	ADP
alkej-348	141	4	a	a	DET
alkej-348	141	5	robot	robot	NOUN
alkej-348	141	6	was	be	AUX
alkej-348	141	7	tested	test	VERB
alkej-348	141	8	in	in	ADP
alkej-348	141	9	test	test	NOUN
alkej-348	141	10	trajectory	trajectory	NOUN
alkej-348	141	11	from	from	ADP
alkej-348	141	12	the	the	DET
alkej-348	141	13	simulation	simulation	NOUN
alkej-348	141	14	results	result	NOUN
alkej-348	141	15	based	base	VERB
alkej-348	141	16	on	on	ADP
alkej-348	141	17	inverse	inverse	NOUN
alkej-348	141	18	kinematic	kinematic	NOUN
alkej-348	141	19	equations	equation	NOUN
alkej-348	141	20	to	to	PART
alkej-348	141	21	get	get	VERB
alkej-348	141	22	theta	theta	NOUN
alkej-348	141	23	valus	valus	NOUN
alkej-348	141	24	using	use	VERB
alkej-348	141	25	matlab	matlab	PROPN
alkej-348	141	26	softwer	softwer	ADV
alkej-348	141	27	for	for	ADP
alkej-348	141	28	each	each	DET
alkej-348	141	29	experimental	experimental	ADJ
alkej-348	141	30	.	.	PUNCT
alkej-348	142	1	pdf	pdf	NOUN
alkej-348	142	2	created	create	VERB
alkej-348	142	3	with	with	ADP
alkej-348	142	4	pdffactory	pdffactory	ADJ
alkej-348	142	5	trial	trial	NOUN
alkej-348	142	6	version	version	NOUN
alkej-348	142	7	www.pdffactory.com	www.pdffactory.com	X
alkej-348	142	8	http://www.pdffactory.com	http://www.pdffactory.com	X
alkej-348	142	9	http://www.pdffactory.com	http://www.pdffactory.com	X
alkej-348	143	1	iman	iman	PROPN
alkej-348	143	2	salih	salih	PROPN
alkej-348	143	3	karem	karem	PROPN
alkej-348	143	4	al	al	PROPN
alkej-348	143	5	-	-	PUNCT
alkej-348	143	6	khwarizmi	khwarizmi	PROPN
alkej-348	143	7	engineering	engineering	NOUN
alkej-348	143	8	journal	journal	PROPN
alkej-348	143	9	,	,	PUNCT
alkej-348	143	10	vol	vol	NOUN
alkej-348	143	11	.	.	PROPN
alkej-348	143	12	13	13	NUM
alkej-348	143	13	,	,	PUNCT
alkej-348	143	14	no	no	INTJ
alkej-348	143	15	.	.	NOUN
alkej-348	143	16	2	2	NUM
alkej-348	143	17	,	,	PUNCT
alkej-348	143	18	p.p	p.p	PROPN
alkej-348	143	19	.	.	NOUN
alkej-348	143	20	4050	4050	NUM
alkej-348	143	21	(	(	PUNCT
alkej-348	143	22	2017	2017	NUM
alkej-348	143	23	)	)	PUNCT
alkej-348	143	24	46	46	NUM
alkej-348	143	25	a.	a.	NOUN
alkej-348	143	26	first	first	PROPN
alkej-348	143	27	experimental	experimental	VERB
alkej-348	143	28	the	the	DET
alkej-348	143	29	motion	motion	NOUN
alkej-348	143	30	of	of	ADP
alkej-348	143	31	the	the	DET
alkej-348	143	32	two	two	NUM
alkej-348	143	33	links	link	NOUN
alkej-348	143	34	was	be	AUX
alkej-348	143	35	programmed	program	VERB
alkej-348	143	36	for	for	ADP
alkej-348	143	37	the	the	DET
alkej-348	143	38	theta	theta	NOUN
alkej-348	143	39	from	from	ADP
alkej-348	143	40	θ	θ	PROPN
alkej-348	143	41	�	�	PROPN
alkej-348	143	42	=	=	SYM
alkej-348	143	43	0	0	NUM
alkej-348	143	44	°	°	PROPN
alkej-348	143	45	to	to	PART
alkej-348	143	46	θ	θ	PROPN
alkej-348	143	47	�	�	PROPN
alkej-348	143	48	�	�	PROPN
alkej-348	143	49	=	=	SYM
alkej-348	143	50	150	150	NUM
alkej-348	143	51	°	°	NOUN
alkej-348	143	52	with	with	ADP
alkej-348	143	53	the	the	DET
alkej-348	143	54	same	same	ADJ
alkej-348	143	55	time	time	NOUN
alkej-348	143	56	.	.	PUNCT
alkej-348	144	1	16	16	NUM
alkej-348	144	2	theta	theta	NOUN
alkej-348	144	3	values	value	NOUN
alkej-348	144	4	were	be	AUX
alkej-348	144	5	chosen	choose	VERB
alkej-348	144	6	in	in	ADP
alkej-348	144	7	the	the	DET
alkej-348	144	8	16	16	NUM
alkej-348	144	9	axes	axis	NOUN
alkej-348	144	10	,	,	PUNCT
alkej-348	144	11	figure	figure	NOUN
alkej-348	144	12	(	(	PUNCT
alkej-348	144	13	14	14	NUM
alkej-348	144	14	)	)	PUNCT
alkej-348	144	15	depicts	depict	VERB
alkej-348	144	16	the	the	DET
alkej-348	144	17	desired	desire	VERB
alkej-348	144	18	first	first	ADJ
alkej-348	144	19	path	path	NOUN
alkej-348	144	20	from	from	ADP
alkej-348	144	21	starting	start	VERB
alkej-348	144	22	point	point	NOUN
alkej-348	144	23	to	to	ADP
alkej-348	144	24	the	the	DET
alkej-348	144	25	destination	destination	NOUN
alkej-348	144	26	point	point	NOUN
alkej-348	144	27	,	,	PUNCT
alkej-348	144	28	by	by	ADP
alkej-348	144	29	these	these	DET
alkej-348	144	30	set	set	VERB
alkej-348	144	31	values	value	NOUN
alkej-348	144	32	,	,	PUNCT
alkej-348	144	33	found	find	VERB
alkej-348	144	34	that	that	SCONJ
alkej-348	144	35	in	in	SCONJ
alkej-348	144	36	softwares	software	NOUN
alkej-348	144	37	matlab.a	matlab.a	NOUN
alkej-348	144	38	robot	robot	NOUN
alkej-348	144	39	manipulator	manipulator	NOUN
alkej-348	144	40	to	to	PART
alkej-348	144	41	move	move	VERB
alkej-348	144	42	its	its	PRON
alkej-348	144	43	trajectory	trajectory	NOUN
alkej-348	144	44	at	at	ADP
alkej-348	144	45	a	a	DET
alkej-348	144	46	constant	constant	ADJ
alkej-348	144	47	velocity	velocity	NOUN
alkej-348	144	48	in	in	ADP
alkej-348	144	49	this	this	DET
alkej-348	144	50	experimental	experimental	ADJ
alkej-348	144	51	θ	θ	NOUN
alkej-348	144	52	=	=	PUNCT
alkej-348	144	53	0	0	NUM
alkej-348	144	54	°	°	NUM
alkej-348	144	55	−150	−150	PROPN
alkej-348	144	56	°	°	PROPN
alkej-348	144	57	as	as	SCONJ
alkej-348	144	58	identified	identify	VERB
alkej-348	144	59	in	in	ADP
alkej-348	144	60	the	the	DET
alkej-348	144	61	program	program	NOUN
alkej-348	144	62	of	of	ADP
alkej-348	144	63	plc	plc	PROPN
alkej-348	144	64	,	,	PUNCT
alkej-348	144	65	see	see	VERB
alkej-348	144	66	figure	figure	NOUN
alkej-348	144	67	(	(	PUNCT
alkej-348	144	68	15	15	NUM
alkej-348	144	69	)	)	PUNCT
alkej-348	144	70	,	,	PUNCT
alkej-348	144	71	each	each	DET
alkej-348	144	72	point(red	point(re	VERB
alkej-348	144	73	points	point	NOUN
alkej-348	144	74	)	)	PUNCT
alkej-348	144	75	describes	describe	VERB
alkej-348	144	76	the	the	DET
alkej-348	144	77	position	position	NOUN
alkej-348	144	78	of	of	ADP
alkej-348	144	79	the	the	DET
alkej-348	144	80	end	end	NOUN
alkej-348	144	81	effector	effector	NOUN
alkej-348	144	82	of	of	ADP
alkej-348	144	83	the	the	DET
alkej-348	144	84	robot.the	robot.the	DET
alkej-348	144	85	two	two	NUM
alkej-348	144	86	links	link	NOUN
alkej-348	144	87	move	move	VERB
alkej-348	144	88	in	in	ADP
alkej-348	144	89	the	the	DET
alkej-348	144	90	same	same	ADJ
alkej-348	144	91	theta	theta	NOUN
alkej-348	144	92	and	and	CCONJ
alkej-348	144	93	make	make	VERB
alkej-348	144	94	an	an	DET
alkej-348	144	95	arc	arc	NOUN
alkej-348	144	96	like	like	ADP
alkej-348	144	97	that	that	PRON
alkej-348	144	98	in	in	ADP
alkej-348	144	99	figure	figure	NOUN
alkej-348	144	100	(	(	PUNCT
alkej-348	144	101	14	14	NUM
alkej-348	144	102	)	)	PUNCT
alkej-348	144	103	.	.	PUNCT
alkej-348	145	1	fig	fig	NOUN
alkej-348	145	2	.	.	PUNCT
alkej-348	146	1	11	11	NUM
alkej-348	146	2	.	.	X
alkej-348	147	1	flowchart	flowchart	NOUN
alkej-348	147	2	of	of	ADP
alkej-348	147	3	controller	controller	PROPN
alkej-348	147	4	design	design	NOUN
alkej-348	147	5	for	for	ADP
alkej-348	147	6	scara	scara	NOUN
alkej-348	147	7	robot	robot	NOUN
alkej-348	147	8	.	.	PUNCT
alkej-348	148	1	fig	fig	NOUN
alkej-348	148	2	.	.	PUNCT
alkej-348	149	1	12	12	NUM
alkej-348	149	2	.	.	PUNCT
alkej-348	149	3	final	final	ADJ
alkej-348	149	4	scara	scara	NOUN
alkej-348	149	5	industrial	industrial	PROPN
alkej-348	149	6	robot	robot	NOUN
alkej-348	149	7	.	.	PUNCT
alkej-348	150	1	fig	fig	NOUN
alkej-348	150	2	.	.	PUNCT
alkej-348	151	1	13	13	NUM
alkej-348	151	2	.	.	PUNCT
alkej-348	152	1	the	the	DET
alkej-348	152	2	schematic	schematic	ADJ
alkej-348	152	3	block	block	NOUN
alkej-348	152	4	diagram	diagram	NOUN
alkej-348	152	5	for	for	ADP
alkej-348	152	6	overall	overall	ADJ
alkej-348	152	7	system	system	NOUN
alkej-348	152	8	.	.	PUNCT
alkej-348	153	1	fig	fig	NOUN
alkej-348	153	2	.	.	PUNCT
alkej-348	154	1	14	14	NUM
alkej-348	154	2	.	.	PUNCT
alkej-348	155	1	tthe	tthe	PROPN
alkej-348	155	2	desired	desire	VERB
alkej-348	155	3	first	first	ADJ
alkej-348	155	4	path	path	NOUN
alkej-348	155	5	.	.	PUNCT
alkej-348	156	1	pdf	pdf	NOUN
alkej-348	156	2	created	create	VERB
alkej-348	156	3	with	with	ADP
alkej-348	156	4	pdffactory	pdffactory	ADJ
alkej-348	156	5	trial	trial	NOUN
alkej-348	156	6	version	version	NOUN
alkej-348	156	7	www.pdffactory.com	www.pdffactory.com	X
alkej-348	156	8	http://www.pdffactory.com	http://www.pdffactory.com	X
alkej-348	156	9	http://www.pdffactory.com	http://www.pdffactory.com	X
alkej-348	157	1	iman	iman	PROPN
alkej-348	157	2	salih	salih	PROPN
alkej-348	157	3	karem	karem	PROPN
alkej-348	157	4	al	al	PROPN
alkej-348	157	5	-	-	PUNCT
alkej-348	157	6	khwarizmi	khwarizmi	PROPN
alkej-348	157	7	engineering	engineering	NOUN
alkej-348	157	8	journal	journal	PROPN
alkej-348	157	9	,	,	PUNCT
alkej-348	157	10	vol	vol	NOUN
alkej-348	157	11	.	.	PROPN
alkej-348	157	12	13	13	NUM
alkej-348	157	13	,	,	PUNCT
alkej-348	157	14	no	no	INTJ
alkej-348	157	15	.	.	PUNCT
alkej-348	157	16	fig	fig	NOUN
alkej-348	157	17	.	.	PUNCT
alkej-348	158	1	15	15	NUM
alkej-348	158	2	.	.	PUNCT
alkej-348	159	1	the	the	DET
alkej-348	159	2	first	first	ADJ
alkej-348	159	3	practical	practical	ADJ
alkej-348	159	4	(	(	PUNCT
alkej-348	159	5	actual	actual	ADJ
alkej-348	159	6	)	)	PUNCT
alkej-348	159	7	motion	motion	NOUN
alkej-348	159	8	b.	b.	PROPN
alkej-348	159	9	second	second	PROPN
alkej-348	159	10	experimental	experimental	PROPN
alkej-348	159	11	chose	choose	VERB
alkej-348	159	12	11	11	NUM
alkej-348	159	13	theta	theta	NOUN
alkej-348	159	14	values	value	NOUN
alkej-348	159	15	in	in	ADP
alkej-348	159	16	the	the	DET
alkej-348	159	17	11	11	NUM
alkej-348	159	18	axes	axis	NOUN
alkej-348	159	19	to	to	PART
alkej-348	159	20	creat	creat	VERB
alkej-348	159	21	a	a	DET
alkej-348	159	22	disiered	disiere	VERB
alkej-348	159	23	path	path	NOUN
alkej-348	159	24	as	as	SCONJ
alkej-348	159	25	shown	show	VERB
alkej-348	159	26	in	in	ADP
alkej-348	159	27	the	the	DET
alkej-348	159	28	figure	figure	NOUN
alkej-348	159	29	(	(	PUNCT
alkej-348	159	30	16	16	NUM
alkej-348	159	31	a).practically	a).practically	ADV
alkej-348	159	32	the	the	DET
alkej-348	159	33	two	two	NUM
alkej-348	159	34	links	link	NOUN
alkej-348	159	35	moved	move	VERB
alkej-348	159	36	together	together	ADV
alkej-348	159	37	from	from	ADP
alkej-348	159	38	0	0	NUM
alkej-348	159	39	°	°	NUM
alkej-348	159	40	to	to	ADP
alkej-348	159	41	90	90	NUM
alkej-348	159	42	°	°	NOUN
alkej-348	159	43	the	the	DET
alkej-348	159	44	angle	angle	NOUN
alkej-348	159	45	between	between	ADP
alkej-348	159	46	them	they	PRON
alkej-348	159	47	equal	equal	ADJ
alkej-348	159	48	zero	zero	NUM
alkej-348	159	49	as	as	SCONJ
alkej-348	159	50	shown	show	VERB
alkej-348	159	51	in	in	ADP
alkej-348	159	52	figure	figure	NOUN
alkej-348	159	53	(	(	PUNCT
alkej-348	159	54	16	16	NUM
alkej-348	159	55	-	-	PUNCT
alkej-348	159	56	b),then	b),then	NOUN
alkej-348	159	57	the	the	DET
alkej-348	159	58	link1	link1	NOUN
alkej-348	159	59	stopped	stop	VERB
alkej-348	159	60	just	just	ADV
alkej-348	159	61	link	link	VERB
alkej-348	159	62	2	2	NUM
alkej-348	159	63	moves	move	NOUN
alkej-348	159	64	made	make	VERB
alkej-348	159	65	an	an	DET
alkej-348	159	66	angle	angle	NOUN
alkej-348	159	67	between	between	ADP
alkej-348	159	68	links	link	NOUN
alkej-348	159	69	increase	increase	VERB
alkej-348	159	70	10	10	NUM
alkej-348	159	71	degree	degree	NOUN
alkej-348	159	72	for	for	ADP
alkej-348	159	73	each	each	DET
alkej-348	159	74	new	new	ADJ
alkej-348	159	75	position	position	NOUN
alkej-348	159	76	depended	depend	VERB
alkej-348	159	77	on	on	ADP
alkej-348	159	78	controller	controller	PROPN
alkej-348	159	79	program	program	PROPN
alkej-348	159	80	plc	plc	PROPN
alkej-348	159	81	.	.	PUNCT
alkej-348	160	1	each	each	DET
alkej-348	160	2	point	point	NOUN
alkej-348	160	3	describes	describe	VERB
alkej-348	160	4	the	the	DET
alkej-348	160	5	position	position	NOUN
alkej-348	160	6	of	of	ADP
alkej-348	160	7	the	the	DET
alkej-348	160	8	end	end	NOUN
alkej-348	160	9	effector	effector	NOUN
alkej-348	160	10	as	as	SCONJ
alkej-348	160	11	shown	show	VERB
alkej-348	160	12	in	in	ADP
alkej-348	160	13	figure	figure	NOUN
alkej-348	160	14	(	(	PUNCT
alkej-348	160	15	16	16	NUM
alkej-348	160	16	)	)	PUNCT
alkej-348	160	17	.	.	PUNCT
alkej-348	161	1	(	(	PUNCT
alkej-348	161	2	a	a	X
alkej-348	161	3	)	)	PUNCT
alkej-348	161	4	khwarizmi	khwarizmi	NOUN
alkej-348	161	5	engineering	engineering	NOUN
alkej-348	161	6	journal	journal	PROPN
alkej-348	161	7	,	,	PUNCT
alkej-348	161	8	vol	vol	NOUN
alkej-348	161	9	.	.	PROPN
alkej-348	161	10	13	13	NUM
alkej-348	161	11	,	,	PUNCT
alkej-348	161	12	no	no	INTJ
alkej-348	161	13	.	.	NOUN
alkej-348	161	14	2	2	NUM
alkej-348	161	15	,	,	PUNCT
alkej-348	161	16	p.p	p.p	PROPN
alkej-348	161	17	.	.	PROPN
alkej-348	161	18	47	47	NUM
alkej-348	161	19	(	(	PUNCT
alkej-348	161	20	actual	actual	ADJ
alkej-348	161	21	)	)	PUNCT
alkej-348	161	22	motion	motion	NOUN
alkej-348	161	23	.	.	PUNCT
alkej-348	162	1	chose	choose	VERB
alkej-348	162	2	11	11	NUM
alkej-348	162	3	theta	theta	NOUN
alkej-348	162	4	values	value	NOUN
alkej-348	162	5	in	in	ADP
alkej-348	162	6	the	the	DET
alkej-348	162	7	11	11	NUM
alkej-348	162	8	axes	axis	NOUN
alkej-348	162	9	to	to	PART
alkej-348	162	10	creat	creat	VERB
alkej-348	162	11	a	a	DET
alkej-348	162	12	disiered	disiere	VERB
alkej-348	162	13	path	path	NOUN
alkej-348	162	14	as	as	SCONJ
alkej-348	162	15	shown	show	VERB
alkej-348	162	16	in	in	ADP
alkej-348	162	17	the	the	DET
alkej-348	162	18	figure	figure	NOUN
alkej-348	162	19	(	(	PUNCT
alkej-348	162	20	16a).practically	16a).practically	ADV
alkej-348	162	21	the	the	DET
alkej-348	162	22	two	two	NUM
alkej-348	162	23	links	link	NOUN
alkej-348	162	24	moved	move	VERB
alkej-348	162	25	together	together	ADV
alkej-348	162	26	from	from	ADP
alkej-348	162	27	0	0	NUM
alkej-348	162	28	°	°	NUM
alkej-348	162	29	to	to	ADP
alkej-348	162	30	90	90	NUM
alkej-348	162	31	°	°	NOUN
alkej-348	162	32	the	the	DET
alkej-348	162	33	angle	angle	NOUN
alkej-348	162	34	between	between	ADP
alkej-348	162	35	them	they	PRON
alkej-348	162	36	equal	equal	ADJ
alkej-348	162	37	zero	zero	NUM
alkej-348	162	38	as	as	SCONJ
alkej-348	162	39	b),then	b),then	PROPN
alkej-348	162	40	the	the	DET
alkej-348	162	41	link1	link1	NOUN
alkej-348	162	42	stopped	stop	VERB
alkej-348	162	43	just	just	ADV
alkej-348	162	44	an	an	DET
alkej-348	162	45	angle	angle	NOUN
alkej-348	162	46	between	between	ADP
alkej-348	162	47	links	link	NOUN
alkej-348	162	48	increase	increase	VERB
alkej-348	162	49	10	10	NUM
alkej-348	162	50	degree	degree	NOUN
alkej-348	162	51	for	for	ADP
alkej-348	162	52	each	each	DET
alkej-348	162	53	new	new	ADJ
alkej-348	162	54	position	position	NOUN
alkej-348	162	55	depended	depend	VERB
alkej-348	162	56	on	on	ADP
alkej-348	162	57	controller	controller	PROPN
alkej-348	162	58	program	program	PROPN
alkej-348	162	59	plc	plc	PROPN
alkej-348	162	60	.	.	PUNCT
alkej-348	163	1	each	each	DET
alkej-348	163	2	point	point	NOUN
alkej-348	163	3	describes	describe	VERB
alkej-348	163	4	the	the	DET
alkej-348	163	5	position	position	NOUN
alkej-348	163	6	of	of	ADP
alkej-348	163	7	the	the	DET
alkej-348	163	8	end	end	NOUN
alkej-348	163	9	effector	effector	NOUN
alkej-348	163	10	as	as	SCONJ
alkej-348	163	11	shown	show	VERB
alkej-348	163	12	(	(	PUNCT
alkej-348	163	13	b	b	NOUN
alkej-348	163	14	)	)	PUNCT
alkej-348	163	15	(	(	PUNCT
alkej-348	163	16	c	c	X
alkej-348	163	17	)	)	PUNCT
alkej-348	163	18	fig	fig	NOUN
alkej-348	163	19	.	.	PUNCT
alkej-348	164	1	16	16	NUM
alkej-348	164	2	.	.	PUNCT
alkej-348	165	1	(	(	PUNCT
alkej-348	165	2	a	a	X
alkej-348	165	3	)	)	PUNCT
alkej-348	165	4	the	the	DET
alkej-348	165	5	desired	desire	VERB
alkej-348	165	6	second	second	ADJ
alkej-348	165	7	path.(b&c	path.(b&c	PROPN
alkej-348	165	8	)	)	PUNCT
alkej-348	165	9	the	the	DET
alkej-348	165	10	second	second	ADJ
alkej-348	165	11	practical	practical	ADJ
alkej-348	165	12	motion	motion	NOUN
alkej-348	165	13	c.	c.	PROPN
alkej-348	165	14	third	third	ADJ
alkej-348	165	15	experimental	experimental	ADJ
alkej-348	165	16	in	in	ADP
alkej-348	165	17	this	this	DET
alkej-348	165	18	motion	motion	NOUN
alkej-348	165	19	different	different	ADJ
alkej-348	165	20	11	11	NUM
alkej-348	165	21	theta	theta	NOUN
alkej-348	165	22	values0	values0	PROPN
alkej-348	165	23	�	�	PROPN
alkej-348	165	24	�	�	PROPN
alkej-348	165	25	�	�	PROPN
alkej-348	165	26	�	�	PROPN
alkej-348	165	27	,	,	PUNCT
alkej-348	165	28	�	�	PROPN
alkej-348	165	29	=	=	PROPN
alkej-348	165	30	50	50	NUM
alkej-348	165	31	in	in	ADP
alkej-348	165	32	the	the	DET
alkej-348	165	33	11	11	NUM
alkej-348	165	34	axes	axis	NOUN
alkej-348	165	35	were	be	AUX
alkej-348	165	36	fed	feed	VERB
alkej-348	165	37	into	into	ADP
alkej-348	165	38	matlab	matlab	PROPN
alkej-348	165	39	softwere	softwere	PROPN
alkej-348	165	40	program	program	NOUN
alkej-348	165	41	to	to	PART
alkej-348	165	42	creat	creat	VERB
alkej-348	165	43	the	the	DET
alkej-348	165	44	desired	desire	VERB
alkej-348	165	45	path	path	NOUN
alkej-348	165	46	as	as	SCONJ
alkej-348	165	47	shon	shon	PROPN
alkej-348	165	48	in	in	ADP
alkej-348	165	49	figure	figure	NOUN
alkej-348	165	50	(	(	PUNCT
alkej-348	165	51	17	17	NUM
alkej-348	165	52	-	-	PUNCT
alkej-348	165	53	a).prracticaly	a).prracticaly	PROPN
alkej-348	165	54	identify	identify	VERB
alkej-348	165	55	the	the	DET
alkej-348	165	56	same	same	ADJ
alkej-348	165	57	value	value	NOUN
alkej-348	165	58	of	of	ADP
alkej-348	165	59	theta	theta	NOUN
alkej-348	165	60	in	in	ADP
alkej-348	165	61	plc	plc	PROPN
alkej-348	165	62	program	program	NOUN
alkej-348	165	63	to	to	PART
alkej-348	165	64	obtain	obtain	VERB
alkej-348	165	65	the	the	DET
alkej-348	165	66	trajectory	trajectory	NOUN
alkej-348	165	67	actual	actual	ADJ
alkej-348	165	68	motion	motion	NOUN
alkej-348	165	69	,	,	PUNCT
alkej-348	165	70	so	so	CCONJ
alkej-348	165	71	the	the	DET
alkej-348	165	72	links	link	NOUN
alkej-348	165	73	moves	move	VERB
alkej-348	165	74	together	together	ADV
alkej-348	165	75	as	as	SCONJ
alkej-348	165	76	shown	show	VERB
alkej-348	165	77	in	in	ADP
alkej-348	165	78	figure	figure	NOUN
alkej-348	165	79	(	(	PUNCT
alkej-348	165	80	17	17	NUM
alkej-348	165	81	-	-	PUNCT
alkej-348	165	82	b	b	NOUN
alkej-348	165	83	)	)	PUNCT
alkej-348	165	84	after	after	ADP
alkej-348	165	85	that	that	PRON
alkej-348	165	86	the	the	DET
alkej-348	165	87	l	l	PROPN
alkej-348	165	88	�	�	PROPN
alkej-348	165	89	movedandl	movedandl	NOUN
alkej-348	165	90	�	�	PROPN
alkej-348	165	91	stopped	stop	VERB
alkej-348	165	92	to	to	ADP
alkej-348	165	93	a	a	DET
alkej-348	165	94	chave	chave	NOUN
alkej-348	165	95	the	the	DET
alkej-348	165	96	trajectory	trajectory	NOUN
alkej-348	165	97	motion	motion	NOUN
alkej-348	165	98	as	as	SCONJ
alkej-348	165	99	shown	show	VERB
alkej-348	165	100	in	in	ADP
alkej-348	165	101	the	the	DET
alkej-348	165	102	figure	figure	NOUN
alkej-348	165	103	(	(	PUNCT
alkej-348	165	104	17	17	NUM
alkej-348	165	105	(	(	PUNCT
alkej-348	165	106	a	a	NOUN
alkej-348	165	107	)	)	PUNCT
alkej-348	165	108	end	end	NOUN
alkej-348	165	109	position	position	NOUN
alkej-348	165	110	initial	initial	ADJ
alkej-348	165	111	position	position	NOUN
alkej-348	165	112	,	,	PUNCT
alkej-348	165	113	p.p	p.p	PROPN
alkej-348	165	114	.	.	NOUN
alkej-348	165	115	4050	4050	NUM
alkej-348	165	116	(	(	PUNCT
alkej-348	165	117	2017	2017	NUM
alkej-348	165	118	)	)	PUNCT
alkej-348	165	119	a	a	X
alkej-348	165	120	)	)	PUNCT
alkej-348	165	121	the	the	DET
alkej-348	165	122	desired	desire	VERB
alkej-348	165	123	second	second	ADJ
alkej-348	165	124	path.(b&c	path.(b&c	PROPN
alkej-348	165	125	)	)	PUNCT
alkej-348	166	1	the	the	DET
alkej-348	166	2	in	in	ADP
alkej-348	166	3	this	this	DET
alkej-348	166	4	motion	motion	NOUN
alkej-348	166	5	different	different	ADJ
alkej-348	166	6	11	11	NUM
alkej-348	166	7	theta	theta	NOUN
alkej-348	166	8	values	value	NOUN
alkej-348	166	9	�	�	PROPN
alkej-348	166	10	�	�	PROPN
alkej-348	166	11	,	,	PUNCT
alkej-348	166	12	�	�	PROPN
alkej-348	166	13	=	=	PUNCT
alkej-348	166	14	in	in	ADP
alkej-348	166	15	the	the	DET
alkej-348	166	16	11	11	NUM
alkej-348	166	17	axes	axis	NOUN
alkej-348	166	18	were	be	AUX
alkej-348	166	19	fed	feed	VERB
alkej-348	166	20	into	into	ADP
alkej-348	166	21	matlab	matlab	PROPN
alkej-348	166	22	softwere	softwere	PROPN
alkej-348	166	23	program	program	NOUN
alkej-348	166	24	to	to	PART
alkej-348	166	25	creat	creat	VERB
alkej-348	166	26	the	the	DET
alkej-348	166	27	desired	desire	VERB
alkej-348	166	28	path	path	NOUN
alkej-348	166	29	a).prracticaly	a).prracticaly	PROPN
alkej-348	166	30	identify	identify	VERB
alkej-348	166	31	the	the	DET
alkej-348	166	32	same	same	ADJ
alkej-348	166	33	value	value	NOUN
alkej-348	166	34	of	of	ADP
alkej-348	166	35	theta	theta	NOUN
alkej-348	166	36	in	in	ADP
alkej-348	166	37	plc	plc	PROPN
alkej-348	166	38	program	program	NOUN
alkej-348	166	39	to	to	PART
alkej-348	166	40	obtain	obtain	VERB
alkej-348	166	41	the	the	DET
alkej-348	166	42	trajectory	trajectory	NOUN
alkej-348	166	43	actual	actual	ADJ
alkej-348	166	44	motion	motion	NOUN
alkej-348	166	45	,	,	PUNCT
alkej-348	166	46	so	so	CCONJ
alkej-348	166	47	the	the	DET
alkej-348	166	48	links	link	NOUN
alkej-348	166	49	moves	move	VERB
alkej-348	166	50	b	b	X
alkej-348	166	51	)	)	PUNCT
alkej-348	166	52	after	after	ADP
alkej-348	166	53	that	that	PRON
alkej-348	167	1	the	the	DET
alkej-348	167	2	to	to	ADP
alkej-348	167	3	a	a	DET
alkej-348	167	4	chave	chave	NOUN
alkej-348	167	5	the	the	DET
alkej-348	167	6	trajectory	trajectory	NOUN
alkej-348	167	7	-c	-c	NOUN
alkej-348	167	8	)	)	PUNCT
alkej-348	167	9	end	end	NOUN
alkej-348	167	10	position	position	NOUN
alkej-348	167	11	pdf	pdf	NOUN
alkej-348	167	12	created	create	VERB
alkej-348	167	13	with	with	ADP
alkej-348	167	14	pdffactory	pdffactory	ADJ
alkej-348	167	15	trial	trial	NOUN
alkej-348	167	16	version	version	NOUN
alkej-348	167	17	www.pdffactory.com	www.pdffactory.com	X
alkej-348	167	18	http://www.pdffactory.com	http://www.pdffactory.com	X
alkej-348	167	19	http://www.pdffactory.com	http://www.pdffactory.com	X
alkej-348	168	1	iman	iman	PROPN
alkej-348	168	2	salih	salih	PROPN
alkej-348	168	3	karem	karem	PROPN
alkej-348	168	4	al	al	PROPN
alkej-348	168	5	-	-	PUNCT
alkej-348	168	6	khwarizmi	khwarizmi	PROPN
alkej-348	168	7	engineering	engineering	NOUN
alkej-348	168	8	journal	journal	PROPN
alkej-348	168	9	,	,	PUNCT
alkej-348	168	10	vol	vol	NOUN
alkej-348	168	11	.	.	PROPN
alkej-348	168	12	13	13	NUM
alkej-348	168	13	,	,	PUNCT
alkej-348	168	14	no	no	INTJ
alkej-348	168	15	.	.	PUNCT
alkej-348	169	1	(	(	PUNCT
alkej-348	169	2	b	b	X
alkej-348	169	3	)	)	PUNCT
alkej-348	169	4	(	(	PUNCT
alkej-348	169	5	c	c	X
alkej-348	169	6	)	)	PUNCT
alkej-348	169	7	fig	fig	NOUN
alkej-348	169	8	.	.	PUNCT
alkej-348	170	1	17	17	NUM
alkej-348	170	2	.	.	PUNCT
alkej-348	171	1	(	(	PUNCT
alkej-348	171	2	a	a	X
alkej-348	171	3	)	)	PUNCT
alkej-348	171	4	the	the	DET
alkej-348	171	5	path	path	NOUN
alkej-348	171	6	for	for	ADP
alkej-348	171	7	the	the	DET
alkej-348	171	8	third	third	ADJ
alkej-348	171	9	motion	motion	NOUN
alkej-348	171	10	in	in	ADP
alkej-348	171	11	matlab	matlab	PROPN
alkej-348	171	12	(	(	PUNCT
alkej-348	171	13	b&c	b&c	PROPN
alkej-348	171	14	)	)	PUNCT
alkej-348	171	15	the	the	DET
alkej-348	171	16	third	third	ADJ
alkej-348	171	17	practical	practical	ADJ
alkej-348	171	18	motion	motion	NOUN
alkej-348	171	19	.	.	PUNCT
alkej-348	172	1	6	6	X
alkej-348	172	2	.	.	X
alkej-348	172	3	conclusions	conclusion	NOUN
alkej-348	172	4	and	and	CCONJ
alkej-348	172	5	discussion	discussion	NOUN
alkej-348	172	6	in	in	ADP
alkej-348	172	7	this	this	DET
alkej-348	172	8	paper	paper	NOUN
alkej-348	172	9	,	,	PUNCT
alkej-348	172	10	a	a	DET
alkej-348	172	11	special	special	ADJ
alkej-348	172	12	steps	step	NOUN
alkej-348	172	13	in	in	ADP
alkej-348	172	14	design	design	NOUN
alkej-348	172	15	process	process	NOUN
alkej-348	172	16	are	be	AUX
alkej-348	172	17	done	do	VERB
alkej-348	172	18	for	for	ADP
alkej-348	172	19	3dof	3dof	PROPN
alkej-348	172	20	scara	scara	NOUN
alkej-348	172	21	robotic	robotic	ADJ
alkej-348	172	22	arm	arm	NOUN
alkej-348	172	23	.a	.a	VERB
alkej-348	173	1	three	three	NUM
alkej-348	173	2	trajectory	trajectory	NOUN
alkej-348	173	3	motion	motion	NOUN
alkej-348	173	4	achieved	achieve	VERB
alkej-348	173	5	firstly	firstly	ADV
alkej-348	173	6	select	select	VERB
alkej-348	173	7	the	the	DET
alkej-348	173	8	desired	desire	VERB
alkej-348	173	9	trajectory	trajectory	NOUN
alkej-348	173	10	path	path	NOUN
alkej-348	173	11	based	base	VERB
alkej-348	173	12	on	on	ADP
alkej-348	173	13	the	the	DET
alkej-348	173	14	inverse	inverse	NOUN
alkej-348	173	15	kinematic	kinematic	NOUN
alkej-348	173	16	analysis	analysis	NOUN
alkej-348	173	17	and	and	CCONJ
alkej-348	173	18	using	use	VERB
alkej-348	173	19	a	a	DET
alkej-348	173	20	softwere	softwere	ADJ
alkej-348	173	21	matlab	matlab	PROPN
alkej-348	173	22	program	program	NOUN
alkej-348	173	23	to	to	PART
alkej-348	173	24	draw	draw	VERB
alkej-348	173	25	the	the	DET
alkej-348	173	26	path	path	NOUN
alkej-348	173	27	.	.	PUNCT
alkej-348	174	1	scara	scara	NOUN
alkej-348	174	2	robot	robot	PROPN
alkej-348	174	3	is	be	AUX
alkej-348	174	4	a	a	DET
alkej-348	174	5	nonlinear	nonlinear	ADJ
alkej-348	174	6	and	and	CCONJ
alkej-348	174	7	time	time	NOUN
alkej-348	174	8	invariant	invariant	ADJ
alkej-348	174	9	system	system	NOUN
alkej-348	174	10	.to	.to	PUNCT
alkej-348	175	1	overcome	overcome	VERB
alkej-348	175	2	the	the	DET
alkej-348	175	3	difficulty	difficulty	NOUN
alkej-348	175	4	and	and	CCONJ
alkej-348	175	5	limitation	limitation	NOUN
alkej-348	175	6	of	of	ADP
alkej-348	175	7	traditional	traditional	ADJ
alkej-348	175	8	controller	controller	NOUN
alkej-348	175	9	,	,	PUNCT
alkej-348	175	10	the	the	DET
alkej-348	175	11	plc	plc	PROPN
alkej-348	175	12	is	be	AUX
alkej-348	175	13	applied	apply	VERB
alkej-348	175	14	which	which	PRON
alkej-348	175	15	has	have	AUX
alkej-348	175	16	running	run	VERB
alkej-348	175	17	test	test	NOUN
alkej-348	175	18	before	before	ADP
alkej-348	175	19	connection	connection	NOUN
alkej-348	175	20	with	with	ADP
alkej-348	175	21	robot	robot	NOUN
alkej-348	175	22	and	and	CCONJ
alkej-348	175	23	it	it	PRON
alkej-348	175	24	can	can	AUX
alkej-348	175	25	be	be	AUX
alkej-348	175	26	given	give	VERB
alkej-348	175	27	capability	capability	NOUN
alkej-348	175	28	to	to	PART
alkej-348	175	29	complete	complete	VERB
alkej-348	175	30	the	the	DET
alkej-348	175	31	performance	performance	NOUN
alkej-348	175	32	operation	operation	NOUN
alkej-348	175	33	with	with	ADP
alkej-348	175	34	high	high	ADJ
alkej-348	175	35	accuracy.the	accuracy.the	DET
alkej-348	175	36	proposed	propose	VERB
alkej-348	175	37	robot	robot	NOUN
alkej-348	175	38	used	use	VERB
alkej-348	175	39	plc	plc	PROPN
alkej-348	175	40	for	for	ADP
alkej-348	175	41	controlling	control	VERB
alkej-348	175	42	the	the	DET
alkej-348	175	43	system	system	NOUN
alkej-348	175	44	runs	run	VERB
alkej-348	175	45	faster	fast	ADV
alkej-348	175	46	,	,	PUNCT
alkej-348	175	47	with	with	ADP
alkej-348	175	48	high	high	ADJ
alkej-348	175	49	efficiency	efficiency	NOUN
alkej-348	175	50	,	,	PUNCT
alkej-348	175	51	without	without	ADP
alkej-348	175	52	error	error	NOUN
alkej-348	175	53	where	where	SCONJ
alkej-348	175	54	the	the	DET
alkej-348	175	55	desired	desire	VERB
alkej-348	175	56	trajectory	trajectory	NOUN
alkej-348	175	57	equal	equal	VERB
alkej-348	175	58	the	the	DET
alkej-348	175	59	actual	actual	ADJ
alkej-348	175	60	path	path	NOUN
alkej-348	175	61	because	because	SCONJ
alkej-348	175	62	the	the	DET
alkej-348	175	63	selected	select	VERB
alkej-348	175	64	angles	angle	NOUN
alkej-348	175	65	which	which	PRON
alkej-348	175	66	were	be	AUX
alkej-348	175	67	obtained	obtain	VERB
alkej-348	175	68	from	from	ADP
alkej-348	175	69	inverse	inverse	NOUN
alkej-348	175	70	kinematic	kinematic	PROPN
alkej-348	175	71	identifiy	identifiy	NOUN
alkej-348	175	72	in	in	ADP
alkej-348	175	73	the	the	DET
alkej-348	175	74	plc	plc	PROPN
alkej-348	175	75	then	then	ADV
alkej-348	175	76	the	the	DET
alkej-348	175	77	running	running	NOUN
alkej-348	175	78	process	process	NOUN
alkej-348	175	79	gave	give	VERB
alkej-348	175	80	the	the	DET
alkej-348	175	81	same	same	ADJ
alkej-348	175	82	position	position	NOUN
alkej-348	175	83	to	to	ADP
alkej-348	175	84	the	the	DET
alkej-348	175	85	simulate	simulate	NOUN
alkej-348	175	86	path	path	NOUN
alkej-348	175	87	which	which	DET
alkej-348	175	88	hade	hade	VERB
alkej-348	175	89	draw	draw	VERB
alkej-348	175	90	in	in	ADP
alkej-348	175	91	matlab	matlab	PROPN
alkej-348	175	92	.	.	PUNCT
alkej-348	176	1	moreover	moreover	PROPN
alkej-348	176	2	plc	plc	PROPN
alkej-348	176	3	has	have	VERB
alkej-348	176	4	a	a	DET
alkej-348	176	5	short	short	ADJ
alkej-348	176	6	production	production	NOUN
alkej-348	176	7	cycle	cycle	NOUN
alkej-348	176	8	and	and	CCONJ
alkej-348	176	9	it	it	PRON
alkej-348	176	10	can	can	AUX
alkej-348	176	11	be	be	AUX
alkej-348	176	12	obtain	obtain	VERB
alkej-348	176	13	a	a	DET
alkej-348	176	14	new	new	ADJ
alkej-348	176	15	trajectory	trajectory	NOUN
alkej-348	176	16	motion	motion	NOUN
alkej-348	176	17	by	by	ADP
alkej-348	176	18	only	only	ADV
alkej-348	176	19	changing	change	VERB
alkej-348	176	20	the	the	DET
alkej-348	176	21	program	program	NOUN
alkej-348	176	22	of	of	ADP
alkej-348	176	23	(	(	PUNCT
alkej-348	176	24	zelio	zelio	PROPN
alkej-348	176	25	plc	plc	PROPN
alkej-348	176	26	)	)	PUNCT
alkej-348	176	27	.	.	PUNCT
alkej-348	177	1	the	the	DET
alkej-348	177	2	implemented	implement	VERB
alkej-348	177	3	scara	scara	NOUN
alkej-348	177	4	robot	robot	NOUN
alkej-348	177	5	can	can	AUX
alkej-348	177	6	be	be	AUX
alkej-348	177	7	used	use	VERB
alkej-348	177	8	for	for	ADP
alkej-348	177	9	welding	welding	NOUN
alkej-348	177	10	processes	process	NOUN
alkej-348	177	11	and	and	CCONJ
alkej-348	177	12	other	other	ADJ
alkej-348	177	13	applications	application	NOUN
alkej-348	177	14	like	like	ADP
alkej-348	177	15	pick	pick	NOUN
alkej-348	177	16	and	and	CCONJ
alkej-348	177	17	place	place	NOUN
alkej-348	177	18	,	,	PUNCT
alkej-348	177	19	cutting	cut	VERB
alkej-348	177	20	and	and	CCONJ
alkej-348	177	21	drilling	drill	VERB
alkej-348	177	22	by	by	ADP
alkej-348	177	23	just	just	ADV
alkej-348	177	24	replacing	replace	VERB
alkej-348	177	25	the	the	DET
alkej-348	177	26	tool	tool	NOUN
alkej-348	177	27	.	.	PUNCT
alkej-348	178	1	end	end	NOUN
alkej-348	178	2	position	position	NOUN
alkej-348	178	3	initial	initial	ADJ
alkej-348	178	4	position	position	NOUN
alkej-348	178	5	khwarizmi	khwarizmi	PROPN
alkej-348	178	6	engineering	engineering	PROPN
alkej-348	178	7	journal	journal	PROPN
alkej-348	178	8	,	,	PUNCT
alkej-348	178	9	vol	vol	NOUN
alkej-348	178	10	.	.	PROPN
alkej-348	178	11	13	13	NUM
alkej-348	178	12	,	,	PUNCT
alkej-348	178	13	no	no	INTJ
alkej-348	178	14	.	.	NOUN
alkej-348	178	15	2	2	NUM
alkej-348	178	16	,	,	PUNCT
alkej-348	178	17	p.p	p.p	PROPN
alkej-348	178	18	.	.	PROPN
alkej-348	178	19	48	48	NUM
alkej-348	178	20	a	a	NOUN
alkej-348	178	21	)	)	PUNCT
alkej-348	178	22	the	the	DET
alkej-348	178	23	path	path	NOUN
alkej-348	178	24	for	for	ADP
alkej-348	178	25	the	the	DET
alkej-348	178	26	third	third	ADJ
alkej-348	178	27	motion	motion	NOUN
alkej-348	178	28	in	in	ADP
alkej-348	178	29	in	in	ADP
alkej-348	178	30	this	this	DET
alkej-348	178	31	paper	paper	NOUN
alkej-348	178	32	,	,	PUNCT
alkej-348	178	33	a	a	DET
alkej-348	178	34	special	special	ADJ
alkej-348	178	35	steps	step	NOUN
alkej-348	178	36	in	in	ADP
alkej-348	178	37	design	design	NOUN
alkej-348	178	38	process	process	NOUN
alkej-348	178	39	dof	dof	NOUN
alkej-348	178	40	scara	scara	NOUN
alkej-348	178	41	robotic	robotic	ADJ
alkej-348	178	42	arm	arm	NOUN
alkej-348	178	43	.a	.a	PUNCT
alkej-348	179	1	three	three	NUM
alkej-348	179	2	trajectory	trajectory	NOUN
alkej-348	179	3	motion	motion	NOUN
alkej-348	179	4	achieved	achieve	VERB
alkej-348	179	5	firstly	firstly	ADV
alkej-348	179	6	select	select	VERB
alkej-348	179	7	the	the	DET
alkej-348	179	8	desired	desire	VERB
alkej-348	179	9	trajectory	trajectory	NOUN
alkej-348	179	10	path	path	NOUN
alkej-348	179	11	based	base	VERB
alkej-348	179	12	on	on	ADP
alkej-348	179	13	the	the	DET
alkej-348	179	14	inverse	inverse	NOUN
alkej-348	179	15	kinematic	kinematic	NOUN
alkej-348	179	16	analysis	analysis	NOUN
alkej-348	179	17	and	and	CCONJ
alkej-348	179	18	using	use	VERB
alkej-348	179	19	a	a	DET
alkej-348	179	20	softwere	softwere	ADJ
alkej-348	179	21	matlab	matlab	PROPN
alkej-348	179	22	scara	scara	PROPN
alkej-348	179	23	robot	robot	NOUN
alkej-348	179	24	is	be	AUX
alkej-348	179	25	a	a	DET
alkej-348	179	26	nonlinear	nonlinear	ADJ
alkej-348	179	27	and	and	CCONJ
alkej-348	179	28	time	time	NOUN
alkej-348	179	29	invariant	invariant	ADJ
alkej-348	179	30	system	system	NOUN
alkej-348	179	31	.to	.to	PUNCT
alkej-348	180	1	overcome	overcome	VERB
alkej-348	180	2	the	the	DET
alkej-348	180	3	difficulty	difficulty	NOUN
alkej-348	180	4	and	and	CCONJ
alkej-348	180	5	limitation	limitation	NOUN
alkej-348	180	6	of	of	ADP
alkej-348	180	7	traditional	traditional	ADJ
alkej-348	180	8	controller	controller	NOUN
alkej-348	180	9	,	,	PUNCT
alkej-348	180	10	the	the	DET
alkej-348	180	11	plc	plc	PROPN
alkej-348	180	12	is	be	AUX
alkej-348	180	13	applied	apply	VERB
alkej-348	180	14	which	which	PRON
alkej-348	180	15	has	have	AUX
alkej-348	180	16	running	run	VERB
alkej-348	180	17	test	test	NOUN
alkej-348	180	18	before	before	ADP
alkej-348	180	19	connection	connection	NOUN
alkej-348	180	20	with	with	ADP
alkej-348	180	21	robot	robot	NOUN
alkej-348	180	22	and	and	CCONJ
alkej-348	180	23	it	it	PRON
alkej-348	180	24	can	can	AUX
alkej-348	180	25	be	be	AUX
alkej-348	180	26	given	give	VERB
alkej-348	180	27	capability	capability	NOUN
alkej-348	180	28	to	to	PART
alkej-348	180	29	complete	complete	VERB
alkej-348	180	30	the	the	DET
alkej-348	180	31	nce	nce	NOUN
alkej-348	180	32	operation	operation	NOUN
alkej-348	180	33	with	with	ADP
alkej-348	180	34	high	high	ADJ
alkej-348	180	35	accuracy.the	accuracy.the	DET
alkej-348	180	36	proposed	propose	VERB
alkej-348	180	37	robot	robot	NOUN
alkej-348	180	38	used	use	VERB
alkej-348	180	39	plc	plc	PROPN
alkej-348	180	40	for	for	ADP
alkej-348	180	41	controlling	control	VERB
alkej-348	180	42	the	the	DET
alkej-348	180	43	system	system	NOUN
alkej-348	180	44	runs	run	VERB
alkej-348	180	45	faster	fast	ADV
alkej-348	180	46	,	,	PUNCT
alkej-348	180	47	with	with	ADP
alkej-348	180	48	high	high	ADJ
alkej-348	180	49	efficiency	efficiency	NOUN
alkej-348	180	50	,	,	PUNCT
alkej-348	180	51	without	without	ADP
alkej-348	180	52	error	error	NOUN
alkej-348	180	53	where	where	SCONJ
alkej-348	180	54	the	the	DET
alkej-348	180	55	desired	desire	VERB
alkej-348	180	56	trajectory	trajectory	NOUN
alkej-348	180	57	equal	equal	VERB
alkej-348	180	58	the	the	DET
alkej-348	180	59	actual	actual	ADJ
alkej-348	180	60	path	path	NOUN
alkej-348	180	61	because	because	SCONJ
alkej-348	180	62	the	the	DET
alkej-348	180	63	selected	select	VERB
alkej-348	180	64	angles	angle	NOUN
alkej-348	180	65	which	which	PRON
alkej-348	180	66	were	be	AUX
alkej-348	180	67	atic	atic	ADJ
alkej-348	180	68	identifiy	identifiy	NOUN
alkej-348	180	69	in	in	ADP
alkej-348	180	70	the	the	DET
alkej-348	180	71	plc	plc	PROPN
alkej-348	180	72	then	then	ADV
alkej-348	180	73	the	the	DET
alkej-348	180	74	running	running	NOUN
alkej-348	180	75	process	process	NOUN
alkej-348	180	76	gave	give	VERB
alkej-348	180	77	the	the	DET
alkej-348	180	78	same	same	ADJ
alkej-348	180	79	position	position	NOUN
alkej-348	180	80	to	to	ADP
alkej-348	180	81	the	the	DET
alkej-348	180	82	simulate	simulate	NOUN
alkej-348	180	83	path	path	NOUN
alkej-348	180	84	which	which	DET
alkej-348	180	85	hade	hade	VERB
alkej-348	180	86	draw	draw	VERB
alkej-348	180	87	in	in	ADP
alkej-348	180	88	matlab	matlab	PROPN
alkej-348	180	89	.	.	PUNCT
alkej-348	181	1	moreover	moreover	PROPN
alkej-348	181	2	plc	plc	PROPN
alkej-348	181	3	has	have	VERB
alkej-348	181	4	a	a	DET
alkej-348	181	5	short	short	ADJ
alkej-348	181	6	production	production	NOUN
alkej-348	181	7	cycle	cycle	NOUN
alkej-348	181	8	and	and	CCONJ
alkej-348	181	9	it	it	PRON
alkej-348	181	10	can	can	AUX
alkej-348	181	11	be	be	AUX
alkej-348	181	12	obtain	obtain	VERB
alkej-348	181	13	a	a	DET
alkej-348	181	14	new	new	ADJ
alkej-348	181	15	trajectory	trajectory	NOUN
alkej-348	181	16	motion	motion	NOUN
alkej-348	181	17	by	by	ADP
alkej-348	181	18	only	only	ADV
alkej-348	181	19	changing	change	VERB
alkej-348	181	20	the	the	DET
alkej-348	181	21	program	program	NOUN
alkej-348	181	22	of	of	ADP
alkej-348	181	23	(	(	PUNCT
alkej-348	181	24	zelio	zelio	PROPN
alkej-348	181	25	plc	plc	PROPN
alkej-348	181	26	)	)	PUNCT
alkej-348	181	27	.	.	PUNCT
alkej-348	182	1	the	the	DET
alkej-348	182	2	implemented	implement	VERB
alkej-348	182	3	scara	scara	NOUN
alkej-348	182	4	robot	robot	NOUN
alkej-348	182	5	can	can	AUX
alkej-348	182	6	be	be	AUX
alkej-348	182	7	used	use	VERB
alkej-348	182	8	for	for	ADP
alkej-348	182	9	welding	welding	NOUN
alkej-348	182	10	processes	process	NOUN
alkej-348	182	11	and	and	CCONJ
alkej-348	182	12	other	other	ADJ
alkej-348	182	13	applications	application	NOUN
alkej-348	182	14	like	like	ADP
alkej-348	182	15	pick	pick	NOUN
alkej-348	182	16	and	and	CCONJ
alkej-348	182	17	place	place	NOUN
alkej-348	182	18	,	,	PUNCT
alkej-348	182	19	cutting	cut	VERB
alkej-348	182	20	and	and	CCONJ
alkej-348	182	21	drilling	drill	VERB
alkej-348	182	22	by	by	ADP
alkej-348	182	23	just	just	ADV
alkej-348	182	24	7	7	NUM
alkej-348	182	25	.	.	PUNCT
alkej-348	182	26	references	reference	NOUN
alkej-348	182	27	[	[	X
alkej-348	182	28	1	1	NUM
alkej-348	182	29	]	]	PUNCT
alkej-348	182	30	markw.s	markw.s	NOUN
alkej-348	182	31	,	,	PUNCT
alkej-348	182	32	seth	seth	PROPN
alkej-348	182	33	h.	h.	PROPN
alkej-348	182	34	,	,	PUNCT
alkej-348	182	35	andmathukumalli	andmathukumalli	ADJ
alkej-348	182	36	“	"	PUNCT
alkej-348	182	37	robot	robot	NOUN
alkej-348	182	38	dynamics	dynamic	NOUN
alkej-348	182	39	and	and	CCONJ
alkej-348	182	40	contro	contro	PROPN
alkej-348	182	41	john	john	PROPN
alkej-348	182	42	wiley	wiley	PROPN
alkej-348	182	43	&	&	CCONJ
alkej-348	182	44	sons	sons	PROPN
alkej-348	182	45	,	,	PUNCT
alkej-348	182	46	inc	inc	PROPN
alkej-348	182	47	.	.	PROPN
alkej-348	182	48	2008	2008	NUM
alkej-348	182	49	.	.	PUNCT
alkej-348	183	1	[	[	X
alkej-348	183	2	2	2	X
alkej-348	183	3	]	]	PUNCT
alkej-348	183	4	viliam	viliam	PROPN
alkej-348	183	5	f.	f.	PROPN
alkej-348	183	6	,františek	,františek	PUNCT
alkej-348	183	7	ď	ď	PROPN
alkej-348	183	8	.	.	PROPN
alkej-348	183	9	,andróbertü	,andróbertü	PROPN
alkej-348	183	10	.	.	PUNCT
alkej-348	183	11	,“analysis	,“analysis	PUNCT
alkej-348	183	12	of	of	ADP
alkej-348	183	13	robotic	robotic	ADJ
alkej-348	183	14	system	system	NOUN
alkej-348	183	15	motioninsimmechanicsandmatlab	motioninsimmechanicsandmatlab	PROPN
alkej-348	183	16	gui	gui	PROPN
alkej-348	183	17	environment	environment	PROPN
alkej-348	183	18	”	"	PUNCT
alkej-348	183	19	intech	intech	PROPN
alkej-348	183	20	,	,	PUNCT
alkej-348	183	21	2014	2014	NUM
alkej-348	183	22	.	.	PUNCT
alkej-348	184	1	[	[	X
alkej-348	184	2	3	3	X
alkej-348	184	3	]	]	PUNCT
alkej-348	184	4	alavudeen	alavudeen	PROPN
alkej-348	184	5	a.	a.	NOUN
alkej-348	184	6	,	,	PUNCT
alkej-348	184	7	venkateshwaran	venkateshwaran	ADV
alkej-348	184	8	n.	n.	NOUN
alkej-348	184	9	,	,	PUNCT
alkej-348	184	10	“	"	PUNCT
alkej-348	184	11	computer	computer	NOUN
alkej-348	184	12	integrated	integrate	VERB
alkej-348	184	13	manufacturing	manufacturing	NOUN
alkej-348	184	14	”	"	PUNCT
alkej-348	184	15	,	,	PUNCT
alkej-348	184	16	phi	phi	NOUN
alkej-348	184	17	learning	learn	VERB
alkej-348	184	18	private	private	ADJ
alkej-348	184	19	limited	limited	ADJ
alkej-348	184	20	[	[	X
alkej-348	184	21	4	4	NUM
alkej-348	184	22	]	]	PUNCT
alkej-348	184	23	william	william	PROPN
alkej-348	184	24	b.	b.	PROPN
alkej-348	184	25	,	,	PUNCT
alkej-348	184	26	“	"	PUNCT
alkej-348	184	27	programmable	programmable	ADJ
alkej-348	184	28	logic	logic	NOUN
alkej-348	184	29	controls	control	NOUN
alkej-348	184	30	”	"	PUNCT
alkej-348	184	31	,	,	PUNCT
alkej-348	184	32	book	book	NOUN
alkej-348	184	33	4	4	NUM
alkej-348	184	34	�	�	PROPN
alkej-348	184	35	�	�	PROPN
alkej-348	184	36	edition	edition	NOUN
alkej-348	184	37	,	,	PUNCT
alkej-348	184	38	newnes	newnes	PROPN
alkej-348	184	39	2006	2006	NUM
alkej-348	184	40	.	.	PUNCT
alkej-348	185	1	[	[	X
alkej-348	185	2	5	5	NUM
alkej-348	185	3	]	]	SYM
alkej-348	185	4	pouyaj.andkouroshh.s	pouyaj.andkouroshh.s	NOUN
alkej-348	185	5	.	.	PUNCT
alkej-348	185	6	,“robotmanipulators	,“robotmanipulator	NOUN
alkej-348	185	7	:	:	PUNCT
alkej-348	186	1	modeling	modeling	NOUN
alkej-348	186	2	,	,	PUNCT
alkej-348	186	3	simulationandoptimalmulti	simulationandoptimalmulti	X
alkej-348	186	4	variable	variable	ADJ
alkej-348	186	5	control,”appl	control,”appl	PROPN
alkej-348	186	6	.	.	PUNCT
alkej-348	186	7	mech	mech	PROPN
alkej-348	186	8	.	.	PUNCT
alkej-348	187	1	mater	mater	PROPN
alkej-348	187	2	.	.	PROPN
alkej-348	187	3	,	,	PUNCT
alkej-348	187	4	vol.232	vol.232	PROPN
alkej-348	187	5	,	,	PUNCT
alkej-348	187	6	pp.383–387	pp.383–387	NOUN
alkej-348	187	7	,	,	PUNCT
alkej-348	187	8	2012	2012	NUM
alkej-348	187	9	.	.	PUNCT
alkej-348	188	1	[	[	X
alkej-348	188	2	6	6	NUM
alkej-348	188	3	]	]	SYM
alkej-348	188	4	mohammada	mohammada	PROPN
alkej-348	188	5	.	.	PUNCT
alkej-348	188	6	a.	a.	PROPN
alkej-348	188	7	andmahdis.a	andmahdis.a	PROPN
alkej-348	188	8	.	.	PUNCT
alkej-348	188	9	,“scararobotcontrol	,“scararobotcontrol	PUNCT
alkej-348	189	1	usingneuralnetworks,”icias	usingneuralnetworks,”icias	PROPN
alkej-348	189	2	,	,	PUNCT
alkej-348	189	3	vol.1	vol.1	PROPN
alkej-348	189	4	,	,	PUNCT
alkej-348	189	5	pp.126	pp.126	VERB
alkej-348	189	6	130	130	NUM
alkej-348	189	7	,	,	PUNCT
alkej-348	189	8	2012	2012	NUM
alkej-348	189	9	.	.	PUNCT
alkej-348	190	1	[	[	X
alkej-348	190	2	7	7	NUM
alkej-348	190	3	]	]	X
alkej-348	190	4	firasa	firasa	NOUN
alkej-348	190	5	.	.	PUNCT
alkej-348	191	1	t.andahmeda	t.andahmeda	NOUN
alkej-348	191	2	.	.	PUNCT
alkej-348	192	1	a.	a.	PROPN
alkej-348	192	2	,“implementationof	,“implementationof	PUNCT
alkej-348	192	3	fpga	fpga	PROPN
alkej-348	192	4	basedpsopidcontroller	basedpsopidcontroller	PROPN
alkej-348	192	5	for	for	ADP
alkej-348	192	6	feedbackivaxscararobot	feedbackivaxscararobot	NOUN
alkej-348	192	7	manipulator	manipulator	NOUN
alkej-348	192	8	”	"	PUNCT
alkej-348	192	9	,	,	PUNCT
alkej-348	192	10	ijcset	ijcset	VERB
alkej-348	192	11	vol.3,no.10,pp.367–372,2013	vol.3,no.10,pp.367–372,2013	NOUN
alkej-348	192	12	.	.	PUNCT
alkej-348	193	1	[	[	X
alkej-348	193	2	8	8	NUM
alkej-348	193	3	]	]	X
alkej-348	193	4	jian	jian	PROPN
alkej-348	193	5	f.and	f.and	PROPN
alkej-348	193	6	wei	wei	PROPN
alkej-348	193	7	l.	l.	PROPN
alkej-348	193	8	,“fourdegreesof	,“fourdegreesof	PUNCT
alkej-348	193	9	freedomscararobot	freedomscararobot	PROPN
alkej-348	193	10	kinematics	kinematic	NOUN
alkej-348	193	11	modeling	modeling	NOUN
alkej-348	193	12	and	and	CCONJ
alkej-348	193	13	simulation	simulation	NOUN
alkej-348	193	14	analysis	analysis	NOUN
alkej-348	193	15	scara	scara	NOUN
alkej-348	193	16	robot	robot	PROPN
alkej-348	193	17	kinematics	kinematics	PROPN
alkej-348	193	18	”	"	PUNCT
alkej-348	193	19	,	,	PUNCT
alkej-348	193	20	ij3c	ij3c	ADJ
alkej-348	193	21	,	,	PUNCT
alkej-348	193	22	vol.2,no.4	vol.2,no.4	ADJ
alkej-348	193	23	,	,	PUNCT
alkej-348	193	24	2013	2013	NUM
alkej-348	193	25	.	.	PUNCT
alkej-348	194	1	[	[	X
alkej-348	194	2	9	9	NUM
alkej-348	194	3	]	]	SYM
alkej-348	194	4	sudhar	sudhar	NOUN
alkej-348	194	5	.	.	PUNCT
alkej-348	194	6	,raghavv.s	,raghavv.s	PROPN
alkej-348	194	7	.	.	PUNCT
alkej-348	195	1	,arkoc	,arkoc	PROPN
alkej-348	195	2	.	.	PUNCT
alkej-348	195	3	,andand	,andand	PUNCT
alkej-348	196	1	padmat	padmat	PROPN
alkej-348	196	2	.	.	PUNCT
alkej-348	196	3	,	,	PUNCT
alkej-348	196	4	“	"	PUNCT
alkej-348	196	5	development	development	NOUN
alkej-348	196	6	of	of	ADP
alkej-348	196	7	scaramanipulatorwithtwo	scaramanipulatorwithtwo	ADJ
alkej-348	196	8	degrees	degree	NOUN
alkej-348	196	9	offreedom	offreedom	ADJ
alkej-348	196	10	usingdc	usingdc	NOUN
alkej-348	196	11	motor,”,arpn	motor,”,arpn	PROPN
alkej-348	196	12	journal	journal	NOUN
alkej-348	196	13	,	,	PUNCT
alkej-348	196	14	vol.8,no.6,pp.445	vol.8,no.6,pp.445	NOUN
alkej-348	196	15	448	448	NUM
alkej-348	196	16	,	,	PUNCT
alkej-348	196	17	2013	2013	NUM
alkej-348	196	18	.	.	PUNCT
alkej-348	197	1	[	[	X
alkej-348	197	2	10	10	NUM
alkej-348	197	3	]	]	PUNCT
alkej-348	197	4	yousifa.m	yousifa.m	PROPN
alkej-348	197	5	.	.	PROPN
alkej-348	197	6	,“design	,“design	PROPN
alkej-348	197	7	,	,	PUNCT
alkej-348	197	8	analysis	analysis	NOUN
alkej-348	197	9	,	,	PUNCT
alkej-348	197	10	simulation	simulation	NOUN
alkej-348	197	11	,	,	PUNCT
alkej-348	197	12	an	an	DET
alkej-348	197	13	dvirtual	dvirtual	ADJ
alkej-348	197	14	realityverifiedintelligentcontroller	realityverifiedintelligentcontroller	NOUN
alkej-348	197	15	forindustrialapplication	forindustrialapplication	NOUN
alkej-348	197	16	scararobot	scararobot	NOUN
alkej-348	197	17	,	,	PUNCT
alkej-348	197	18	”	"	PUNCT
alkej-348	197	19	,	,	PUNCT
alkej-348	197	20	international	international	ADJ
alkej-348	197	21	journalof	journalof	ADJ
alkej-348	197	22	advanc	advanc	PROPN
alkej-348	197	23	computing	computing	PROPN
alkej-348	197	24	,	,	PUNCT
alkej-348	197	25	vol.46,no.3	vol.46,no.3	INTJ
alkej-348	197	26	,	,	PUNCT
alkej-348	197	27	pp	pp	ADJ
alkej-348	197	28	.	.	PUNCT
alkej-348	197	29	1316	1316	NUM
alkej-348	197	30	2013	2013	NUM
alkej-348	197	31	.	.	PUNCT
alkej-348	198	1	[	[	X
alkej-348	198	2	11	11	NUM
alkej-348	198	3	]	]	PUNCT
alkej-348	198	4	zelunl	zelunl	PROPN
alkej-348	198	5	.	.	PROPN
alkej-348	198	6	,zhichengh	,zhichengh	PUNCT
alkej-348	198	7	.	.	PUNCT
alkej-348	198	8	,andyoujunh	,andyoujunh	PUNCT
alkej-348	198	9	.	.	PUNCT
alkej-348	198	10	,“designof	,“designof	PUNCT
alkej-348	198	11	spot	spot	NOUN
alkej-348	198	12	weldingrobot	weldingrobot	NOUN
alkej-348	198	13	,	,	PUNCT
alkej-348	198	14	”	"	PUNCT
alkej-348	198	15	,	,	PUNCT
alkej-348	198	16	indonesian	indonesian	ADJ
alkej-348	198	17	journalvol	journalvol	NOUN
alkej-348	198	18	.	.	PUNCT
alkej-348	199	1	11	11	NUM
alkej-348	199	2	,	,	PUNCT
alkej-348	199	3	no	no	INTJ
alkej-348	199	4	.	.	NOUN
alkej-348	199	5	11	11	NUM
alkej-348	199	6	,	,	PUNCT
alkej-348	199	7	pp	pp	ADJ
alkej-348	199	8	.	.	PUNCT
alkej-348	200	1	6267	6267	NUM
alkej-348	200	2	6273,2013	6273,2013	NUM
alkej-348	200	3	.	.	PUNCT
alkej-348	201	1	[	[	X
alkej-348	201	2	12	12	NUM
alkej-348	201	3	]	]	PUNCT
alkej-348	201	4	panchanandj.and	panchanandj.and	X
alkej-348	201	5	biswal	biswal	PROPN
alkej-348	201	6	b.b	b.b	PROPN
alkej-348	201	7	.	.	PROPN
alkej-348	201	8	,“aneural	,“aneural	PUNCT
alkej-348	201	9	network	network	NOUN
alkej-348	201	10	approach	approach	NOUN
alkej-348	201	11	for	for	ADP
alkej-348	201	12	inverse	inverse	NOUN
alkej-348	201	13	kinematicof	kinematicof	NOUN
alkej-348	201	14	a	a	DET
alkej-348	201	15	scara	scara	NOUN
alkej-348	201	16	manipulator,”ijra	manipulator,”ijra	PROPN
alkej-348	201	17	,	,	PUNCT
alkej-348	201	18	vol.3	vol.3	PROPN
alkej-348	201	19	,	,	PUNCT
alkej-348	201	20	no.1	no.1	NUM
alkej-348	201	21	,	,	PUNCT
alkej-348	201	22	pp	pp	ADJ
alkej-348	201	23	.	.	PUNCT
alkej-348	202	1	52–61	52–61	NUM
alkej-348	202	2	,	,	PUNCT
alkej-348	202	3	2014	2014	NUM
alkej-348	202	4	.	.	PUNCT
alkej-348	203	1	[	[	X
alkej-348	203	2	13	13	NUM
alkej-348	203	3	]	]	PUNCT
alkej-348	203	4	m.shariatee	m.shariatee	NOUN
alkej-348	203	5	,	,	PUNCT
alkej-348	203	6	a.akbarzadeh	a.akbarzadeh	ADV
alkej-348	203	7	,	,	PUNCT
alkej-348	203	8	a.mousavi	a.mousavi	NOUN
alkej-348	203	9	,	,	PUNCT
alkej-348	203	10	ands.alimardani	ands.alimardani	NOUN
alkej-348	203	11	,	,	PUNCT
alkej-348	203	12	“	"	PUNCT
alkej-348	203	13	designof	designof	NOUN
alkej-348	203	14	aneconomicalscararobotfor	aneconomicalscararobotfor	ADP
alkej-348	203	15	industrial	industrial	ADJ
alkej-348	203	16	applications,”pp	applications,”pp	NOUN
alkej-348	203	17	.	.	PUNCT
alkej-348	204	1	534–539,2014	534–539,2014	X
alkej-348	204	2	.	.	PUNCT
alkej-348	205	1	position	position	NOUN
alkej-348	205	2	,	,	PUNCT
alkej-348	205	3	p.p	p.p	PROPN
alkej-348	205	4	.	.	NOUN
alkej-348	205	5	4050	4050	NUM
alkej-348	205	6	(	(	PUNCT
alkej-348	205	7	2017	2017	NUM
alkej-348	205	8	)	)	PUNCT
alkej-348	205	9	dmathukumalli	dmathukumalli	PROPN
alkej-348	206	1	v.	v.	ADV
alkej-348	206	2	,	,	PUNCT
alkej-348	206	3	ol	ol	ADJ
alkej-348	206	4	”	"	PUNCT
alkej-348	206	5	,	,	PUNCT
alkej-348	206	6	book	book	NOUN
alkej-348	206	7	2	2	NUM
alkej-348	206	8	�	�	PROPN
alkej-348	206	9	�	�	PROPN
alkej-348	206	10	,	,	PUNCT
alkej-348	206	11	viliam	viliam	PROPN
alkej-348	206	12	f.	f.	PROPN
alkej-348	206	13	,františek	,františek	PUNCT
alkej-348	206	14	ď	ď	PROPN
alkej-348	206	15	.	.	PROPN
alkej-348	206	16	,andróbertü	,andróbertü	PROPN
alkej-348	206	17	.	.	PUNCT
alkej-348	207	1	,“analysis	,“analysis	PUNCT
alkej-348	207	2	of	of	ADP
alkej-348	207	3	robotic	robotic	ADJ
alkej-348	207	4	system	system	NOUN
alkej-348	207	5	motioninsimmechanicsandmatlab	motioninsimmechanicsandmatlab	PROPN
alkej-348	207	6	gui	gui	NOUN
alkej-348	207	7	alavudeen	alavudeen	PROPN
alkej-348	207	8	a.	a.	NOUN
alkej-348	207	9	,	,	PUNCT
alkej-348	207	10	venkateshwaran	venkateshwaran	ADV
alkej-348	207	11	n.	n.	NOUN
alkej-348	207	12	,	,	PUNCT
alkej-348	207	13	“	"	PUNCT
alkej-348	207	14	computer	computer	NOUN
alkej-348	207	15	integrated	integrate	VERB
alkej-348	207	16	manufacturing	manufacturing	NOUN
alkej-348	207	17	”	"	PUNCT
alkej-348	207	18	,	,	PUNCT
alkej-348	207	19	2010	2010	NUM
alkej-348	207	20	.	.	PUNCT
alkej-348	208	1	b.	b.	PROPN
alkej-348	208	2	,	,	PUNCT
alkej-348	208	3	“	"	PUNCT
alkej-348	208	4	programmable	programmable	ADJ
alkej-348	208	5	logic	logic	NOUN
alkej-348	208	6	controls	control	NOUN
alkej-348	208	7	”	"	PUNCT
alkej-348	208	8	,	,	PUNCT
alkej-348	208	9	edition	edition	NOUN
alkej-348	208	10	,	,	PUNCT
alkej-348	208	11	newnes	newnes	PROPN
alkej-348	208	12	2006	2006	NUM
alkej-348	208	13	.	.	PUNCT
alkej-348	209	1	pouyaj.andkouroshh.s	pouyaj.andkouroshh.s	NOUN
alkej-348	209	2	.	.	PUNCT
alkej-348	209	3	,“robotmanipulators	,“robotmanipulator	NOUN
alkej-348	209	4	:	:	PUNCT
alkej-348	210	1	modeling	modeling	NOUN
alkej-348	210	2	,	,	PUNCT
alkej-348	210	3	simulationandoptimalmultiariable	simulationandoptimalmultiariable	ADJ
alkej-348	210	4	control,”appl	control,”appl	NOUN
alkej-348	210	5	.	.	PUNCT
alkej-348	210	6	mech	mech	PROPN
alkej-348	210	7	.	.	PUNCT
alkej-348	211	1	mater	mater	PROPN
alkej-348	211	2	.	.	PROPN
alkej-348	211	3	,	,	PUNCT
alkej-348	211	4	mohammada	mohammada	PROPN
alkej-348	211	5	.	.	PUNCT
alkej-348	212	1	a.	a.	PROPN
alkej-348	212	2	andmahdis.a	andmahdis.a	PROPN
alkej-348	212	3	.	.	PUNCT
alkej-348	212	4	,“scararobotcontrol	,“scararobotcontrol	PUNCT
alkej-348	213	1	usingneuralnetworks,”icias	usingneuralnetworks,”icias	PROPN
alkej-348	213	2	,	,	PUNCT
alkej-348	213	3	vol.1	vol.1	PROPN
alkej-348	213	4	,	,	PUNCT
alkej-348	213	5	pp.126	pp.126	PROPN
alkej-348	213	6	–	–	PUNCT
alkej-348	213	7	firasa	firasa	NOUN
alkej-348	213	8	.	.	PUNCT
alkej-348	214	1	t.andahmeda	t.andahmeda	NOUN
alkej-348	214	2	.	.	PUNCT
alkej-348	215	1	a.	a.	PROPN
alkej-348	215	2	,“implementationof	,“implementationof	PROPN
alkej-348	215	3	fpga	fpga	PROPN
alkej-348	215	4	basedpsopidcontroller	basedpsopidcontroller	PROPN
alkej-348	215	5	for	for	ADP
alkej-348	215	6	t	t	PROPN
alkej-348	215	7	manipulator	manipulator	NOUN
alkej-348	215	8	”	"	PUNCT
alkej-348	215	9	,	,	PUNCT
alkej-348	215	10	372,2013	372,2013	NUM
alkej-348	215	11	.	.	PUNCT
alkej-348	215	12	jian	jian	PROPN
alkej-348	215	13	f.and	f.and	PROPN
alkej-348	215	14	wei	wei	PROPN
alkej-348	215	15	l.	l.	PROPN
alkej-348	215	16	,“fourdegreesof	,“fourdegreesof	PUNCT
alkej-348	215	17	freedomscararobot	freedomscararobot	PROPN
alkej-348	215	18	kinematics	kinematic	NOUN
alkej-348	215	19	modeling	modeling	NOUN
alkej-348	215	20	and	and	CCONJ
alkej-348	215	21	simulation	simulation	NOUN
alkej-348	215	22	analysis	analysis	NOUN
alkej-348	215	23	scara	scara	NOUN
alkej-348	215	24	robot	robot	PROPN
alkej-348	215	25	kinematics	kinematics	PROPN
alkej-348	215	26	”	"	PUNCT
alkej-348	215	27	,	,	PUNCT
alkej-348	215	28	ij3c	ij3c	ADJ
alkej-348	215	29	,	,	PUNCT
alkej-348	215	30	vol.2,no.4	vol.2,no.4	ADJ
alkej-348	215	31	,	,	PUNCT
alkej-348	215	32	2013	2013	NUM
alkej-348	215	33	.	.	PUNCT
alkej-348	216	1	sudhar	sudhar	PROPN
alkej-348	216	2	.	.	PUNCT
alkej-348	217	1	,raghavv.s	,raghavv.s	PROPN
alkej-348	217	2	.	.	PUNCT
alkej-348	218	1	,arkoc	,arkoc	PROPN
alkej-348	218	2	.	.	PUNCT
alkej-348	218	3	,andand	,andand	PUNCT
alkej-348	219	1	padmat	padmat	PROPN
alkej-348	219	2	.	.	PUNCT
alkej-348	219	3	,	,	PUNCT
alkej-348	219	4	“	"	PUNCT
alkej-348	219	5	development	development	NOUN
alkej-348	219	6	of	of	ADP
alkej-348	219	7	scaramanipulatorwithtwo	scaramanipulatorwithtwo	ADJ
alkej-348	219	8	degrees	degree	NOUN
alkej-348	219	9	offreedom	offreedom	ADJ
alkej-348	219	10	usingdc	usingdc	NOUN
alkej-348	219	11	motor,”,arpn	motor,”,arpn	PROPN
alkej-348	219	12	journal	journal	NOUN
alkej-348	219	13	,	,	PUNCT
alkej-348	219	14	vol.8,no.6,pp.445	vol.8,no.6,pp.445	NOUN
alkej-348	219	15	–	–	PUNCT
alkej-348	219	16	yousifa.m	yousifa.m	PROPN
alkej-348	219	17	.	.	PROPN
alkej-348	219	18	,“design	,“design	PROPN
alkej-348	219	19	,	,	PUNCT
alkej-348	219	20	analysis	analysis	NOUN
alkej-348	219	21	,	,	PUNCT
alkej-348	219	22	simulation	simulation	NOUN
alkej-348	219	23	,	,	PUNCT
alkej-348	219	24	an	an	DET
alkej-348	219	25	dvirtual	dvirtual	ADJ
alkej-348	219	26	realityverifiedintelligentcontroller	realityverifiedintelligentcontroller	NOUN
alkej-348	219	27	forindustrialapplication	forindustrialapplication	NOUN
alkej-348	219	28	scararobot	scararobot	NOUN
alkej-348	219	29	,	,	PUNCT
alkej-348	219	30	”	"	PUNCT
alkej-348	219	31	,	,	PUNCT
alkej-348	219	32	international	international	ADJ
alkej-348	219	33	journalof	journalof	ADJ
alkej-348	219	34	advanced	advanced	ADJ
alkej-348	219	35	computing	computing	NOUN
alkej-348	219	36	,	,	PUNCT
alkej-348	219	37	vol.46,no.3	vol.46,no.3	INTJ
alkej-348	219	38	,	,	PUNCT
alkej-348	219	39	pp	pp	ADJ
alkej-348	219	40	.	.	PUNCT
alkej-348	220	1	1316–1325	1316–1325	NUM
alkej-348	220	2	,	,	PUNCT
alkej-348	220	3	zelunl	zelunl	PROPN
alkej-348	220	4	.	.	PROPN
alkej-348	220	5	,zhichengh	,zhichengh	PUNCT
alkej-348	220	6	.	.	PUNCT
alkej-348	220	7	,andyoujunh	,andyoujunh	PUNCT
alkej-348	220	8	.	.	PUNCT
alkej-348	220	9	,“designof	,“designof	PUNCT
alkej-348	220	10	spot	spot	NOUN
alkej-348	220	11	weldingrobot	weldingrobot	NOUN
alkej-348	220	12	,	,	PUNCT
alkej-348	220	13	”	"	PUNCT
alkej-348	220	14	,	,	PUNCT
alkej-348	220	15	telkomnika	telkomnika	PRON
alkej-348	220	16	vol	vol	NOUN
alkej-348	220	17	.	.	PROPN
alkej-348	221	1	11	11	NUM
alkej-348	221	2	,	,	PUNCT
alkej-348	221	3	no	no	INTJ
alkej-348	221	4	.	.	NOUN
alkej-348	221	5	11	11	NUM
alkej-348	221	6	,	,	PUNCT
alkej-348	221	7	pp	pp	ADJ
alkej-348	221	8	.	.	PUNCT
alkej-348	222	1	6267	6267	NUM
alkej-348	222	2	–	–	PUNCT
alkej-348	222	3	hanandj.and	hanandj.and	X
alkej-348	222	4	biswal	biswal	NOUN
alkej-348	222	5	b.b	b.b	PROPN
alkej-348	222	6	.	.	PROPN
alkej-348	222	7	,“aneural	,“aneural	PUNCT
alkej-348	222	8	network	network	NOUN
alkej-348	222	9	approach	approach	NOUN
alkej-348	222	10	for	for	ADP
alkej-348	222	11	inverse	inverse	NOUN
alkej-348	222	12	kinematicof	kinematicof	NOUN
alkej-348	222	13	a	a	DET
alkej-348	222	14	scara	scara	NOUN
alkej-348	222	15	manipulator,”ijra	manipulator,”ijra	PROPN
alkej-348	222	16	,	,	PUNCT
alkej-348	222	17	vol.3	vol.3	PROPN
alkej-348	222	18	,	,	PUNCT
alkej-348	222	19	no.1	no.1	NUM
alkej-348	222	20	,	,	PUNCT
alkej-348	222	21	pp	pp	PROPN
alkej-348	222	22	.	.	PUNCT
alkej-348	223	1	m.shariatee	m.shariatee	NOUN
alkej-348	223	2	,	,	PUNCT
alkej-348	223	3	a.akbarzadeh	a.akbarzadeh	ADV
alkej-348	223	4	,	,	PUNCT
alkej-348	223	5	a.mousavi	a.mousavi	NOUN
alkej-348	223	6	,	,	PUNCT
alkej-348	223	7	ands.alimardani	ands.alimardani	NOUN
alkej-348	223	8	,	,	PUNCT
alkej-348	223	9	“	"	PUNCT
alkej-348	223	10	designof	designof	NOUN
alkej-348	223	11	aneconomicalscararobotfor	aneconomicalscararobotfor	ADP
alkej-348	223	12	industrial	industrial	ADJ
alkej-348	223	13	9,2014	9,2014	PROPN
alkej-348	223	14	.	.	PUNCT
alkej-348	224	1	pdf	pdf	NOUN
alkej-348	224	2	created	create	VERB
alkej-348	224	3	with	with	ADP
alkej-348	224	4	pdffactory	pdffactory	ADJ
alkej-348	224	5	trial	trial	NOUN
alkej-348	224	6	version	version	NOUN
alkej-348	224	7	www.pdffactory.com	www.pdffactory.com	X
alkej-348	224	8	http://www.pdffactory.com	http://www.pdffactory.com	X
alkej-348	224	9	http://www.pdffactory.com	http://www.pdffactory.com	X
alkej-348	225	1	iman	iman	PROPN
alkej-348	225	2	salih	salih	PROPN
alkej-348	225	3	karem	karem	PROPN
alkej-348	225	4	al	al	PROPN
alkej-348	225	5	-	-	PUNCT
alkej-348	225	6	khwarizmi	khwarizmi	PROPN
alkej-348	225	7	engineering	engineering	NOUN
alkej-348	225	8	journal	journal	PROPN
alkej-348	225	9	,	,	PUNCT
alkej-348	225	10	vol	vol	NOUN
alkej-348	225	11	.	.	PROPN
alkej-348	225	12	13	13	NUM
alkej-348	225	13	,	,	PUNCT
alkej-348	225	14	no	no	INTJ
alkej-348	225	15	.	.	NOUN
alkej-348	225	16	2	2	NUM
alkej-348	225	17	,	,	PUNCT
alkej-348	225	18	p.p	p.p	PROPN
alkej-348	225	19	.	.	NOUN
alkej-348	225	20	4050	4050	NUM
alkej-348	225	21	(	(	PUNCT
alkej-348	225	22	2017	2017	NUM
alkej-348	225	23	)	)	PUNCT
alkej-348	225	24	49	49	NUM
alkej-348	226	1	[	[	X
alkej-348	226	2	14	14	NUM
alkej-348	226	3	]	]	X
alkej-348	226	4	niteshk.j.andvijayk	niteshk.j.andvijayk	PROPN
alkej-348	226	5	.	.	PUNCT
alkej-348	226	6	,“3	,“3	ADJ
alkej-348	226	7	-	-	PUNCT
alkej-348	226	8	dof	dof	NOUN
alkej-348	226	9	scara	scara	NOUN
alkej-348	226	10	type	type	NOUN
alkej-348	226	11	robotmanipulator	robotmanipulator	PROPN
alkej-348	226	12	usingmamdanibasedfuzzycontroller”,ijsre	usingmamdanibasedfuzzycontroller”,ijsre	PROPN
alkej-348	226	13	tvol.3,no.3	tvol.3,no.3	PROPN
alkej-348	226	14	,	,	PUNCT
alkej-348	226	15	pp	pp	ADJ
alkej-348	226	16	.	.	PUNCT
alkej-348	227	1	659–663	659–663	NUM
alkej-348	227	2	,	,	PUNCT
alkej-348	227	3	2014	2014	NUM
alkej-348	227	4	.	.	PUNCT
alkej-348	228	1	[	[	X
alkej-348	228	2	15	15	NUM
alkej-348	228	3	]	]	X
alkej-348	228	4	subhashini	subhashini	PROPN
alkej-348	228	5	p.	p.	PROPN
alkej-348	228	6	v.	v.	PROPN
alkej-348	228	7	s.	s.	PROPN
alkej-348	228	8	,	,	PUNCT
alkej-348	228	9	,	,	PUNCT
alkej-348	228	10	rajun.v.s	rajun.v.s	ADJ
alkej-348	228	11	.	.	PUNCT
alkej-348	229	1	and	and	CCONJ
alkej-348	229	2	rao	rao	PROPN
alkej-348	229	3	g.	g.	PROPN
alkej-348	229	4	v.	v.	PROPN
alkej-348	229	5	“modeling	“modeling	PROPN
alkej-348	229	6	,	,	PUNCT
alkej-348	229	7	simulationandanalysisof	simulationandanalysisof	VERB
alkej-348	229	8	a	a	DET
alkej-348	229	9	scararobot,”arpn	scararobot,”arpn	PROPN
alkej-348	229	10	j.eng	j.eng	PROPN
alkej-348	229	11	.	.	PUNCT
alkej-348	230	1	appl.sci	appl.sci	X
alkej-348	230	2	.	.	PROPN
alkej-348	230	3	,	,	PUNCT
alkej-348	230	4	vol.9	vol.9	PROPN
alkej-348	230	5	,	,	PUNCT
alkej-348	230	6	no.4	no.4	PROPN
alkej-348	230	7	,	,	PUNCT
alkej-348	230	8	pp	pp	X
alkej-348	230	9	.	.	PUNCT
alkej-348	231	1	398–404	398–404	NUM
alkej-348	231	2	,	,	PUNCT
alkej-348	231	3	2014	2014	NUM
alkej-348	231	4	.	.	PUNCT
alkej-348	232	1	[	[	X
alkej-348	232	2	16	16	NUM
alkej-348	232	3	]	]	PUNCT
alkej-348	232	4	pouya	pouya	PROPN
alkej-348	233	1	j.and	j.and	PROPN
alkej-348	233	2	kourosh	kourosh	PROPN
alkej-348	233	3	h.s	h.s	PROPN
alkej-348	233	4	.	.	PROPN
alkej-348	233	5	,“robot	,“robot	PUNCT
alkej-348	233	6	manipulators	manipulator	NOUN
alkej-348	233	7	:	:	PUNCT
alkej-348	233	8	modeling	modeling	NOUN
alkej-348	233	9	,	,	PUNCT
alkej-348	233	10	simulation	simulation	NOUN
alkej-348	233	11	and	and	CCONJ
alkej-348	233	12	optimal	optimal	ADJ
alkej-348	233	13	multi	multi	ADJ
alkej-348	233	14	-	-	ADJ
alkej-348	233	15	variable	variable	ADJ
alkej-348	233	16	control,”appl	control,”appl	NOUN
alkej-348	233	17	.	.	PUNCT
alkej-348	233	18	mech	mech	PROPN
alkej-348	233	19	.	.	PUNCT
alkej-348	234	1	mater	mater	PROPN
alkej-348	234	2	.	.	PROPN
alkej-348	234	3	,	,	PUNCT
alkej-348	234	4	vol.232	vol.232	PROPN
alkej-348	234	5	,	,	PUNCT
alkej-348	234	6	pp.383–387	pp.383–387	NOUN
alkej-348	234	7	,	,	PUNCT
alkej-348	234	8	2012	2012	NUM
alkej-348	234	9	.	.	PUNCT
alkej-348	235	1	[	[	X
alkej-348	235	2	17	17	NUM
alkej-348	235	3	]	]	PUNCT
alkej-348	235	4	https://www.robots.com/faq/show/what-arethe-maintypes-of-robots	https://www.robots.com/faq/show/what-arethe-maintypes-of-robots	PROPN
alkej-348	235	5	.	.	PUNCT
alkej-348	236	1	[	[	X
alkej-348	236	2	18	18	NUM
alkej-348	236	3	]	]	X
alkej-348	236	4	[	[	X
alkej-348	236	5	18	18	NUM
alkej-348	236	6	]	]	X
alkej-348	236	7	kharagpur	kharagpur	PROPN
alkej-348	236	8	,	,	PUNCT
alkej-348	236	9	“	"	PUNCT
alkej-348	236	10	programming	programming	NOUN
alkej-348	236	11	of	of	ADP
alkej-348	236	12	plcs	plcs	NOUN
alkej-348	236	13	:	:	PUNCT
alkej-348	236	14	sequcutial	sequcutial	ADJ
alkej-348	236	15	function	function	NOUN
alkej-348	236	16	charts	chart	NOUN
alkej-348	236	17	”	"	PUNCT
alkej-348	236	18	,	,	PUNCT
alkej-348	236	19	version	version	NOUN
alkej-348	236	20	2	2	NUM
alkej-348	236	21	ee	ee	NOUN
alkej-348	236	22	iit	iit	PROPN
alkej-348	236	23	.	.	PUNCT
alkej-348	237	1	[	[	X
alkej-348	237	2	19	19	NUM
alkej-348	237	3	]	]	PUNCT
alkej-348	237	4	ted	ted	PROPN
alkej-348	237	5	thayer	thayer	PROPN
alkej-348	237	6	,	,	PUNCT
alkej-348	237	7	“	"	PUNCT
alkej-348	237	8	speaking	speak	VERB
alkej-348	237	9	in	in	ADP
alkej-348	237	10	tongues	tongue	NOUN
alkej-348	237	11	:	:	PUNCT
alkej-348	237	12	understanding	understand	VERB
alkej-348	237	13	the	the	DET
alkej-348	237	14	iec	iec	NOUN
alkej-348	237	15	61131	61131	NUM
alkej-348	237	16	-	-	SYM
alkej-348	237	17	3	3	NUM
alkej-348	237	18	programming	programming	NOUN
alkej-348	237	19	languages”,bosch	languages”,bosch	PROPN
alkej-348	237	20	rexroth	rexroth	NOUN
alkej-348	237	21	electric	electric	ADJ
alkej-348	237	22	drives	drive	NOUN
alkej-348	237	23	and	and	CCONJ
alkej-348	237	24	controls	control	NOUN
alkej-348	237	25	2009	2009	NUM
alkej-348	237	26	,	,	PUNCT
alkej-348	237	27	plant	plant	NOUN
alkej-348	237	28	engineering	engineering	NOUN
alkej-348	237	29	provides	provide	VERB
alkej-348	237	30	.	.	PUNCT
alkej-348	238	1	pdf	pdf	NOUN
alkej-348	238	2	created	create	VERB
alkej-348	238	3	with	with	ADP
alkej-348	238	4	pdffactory	pdffactory	ADJ
alkej-348	238	5	trial	trial	NOUN
alkej-348	238	6	version	version	NOUN
alkej-348	238	7	www.pdffactory.com	www.pdffactory.com	X
alkej-348	238	8	https://www.robots.com/faq/show/what-are	https://www.robots.com/faq/show/what-are	VERB
alkej-348	238	9	http://www.pdffactory.com	http://www.pdffactory.com	X
alkej-348	238	10	http://www.pdffactory.com	http://www.pdffactory.com	X
alkej-348	238	11	)	)	PUNCT
alkej-348	239	1	2017	2017	NUM
alkej-348	239	2	(	(	PUNCT
alkej-348	239	3	40	40	NUM
alkej-348	239	4	-	-	SYM
alkej-348	239	5	50	50	NUM
alkej-348	239	6	صفحة	صفحة	NOUN
alkej-348	239	7	،	،	NOUN
alkej-348	239	8	2العدد	2العدد	NUM
alkej-348	239	9	،	،	NOUN
alkej-348	239	10	13المجلد	13المجلد	PROPN
alkej-348	239	11	الھندسیة	الھندسیة	PROPN
alkej-348	239	12	الخوارزمي	الخوارزمي	VERB
alkej-348	239	13	جلةم	جلةم	PROPN
alkej-348	239	14	ایمان	ایمان	PROPN
alkej-348	239	15	صالح	صالح	NOUN
alkej-348	239	16	كریم	كریم	NOUN
alkej-348	239	17	50	50	NUM
alkej-348	239	18	لمبرمجتصمیم	لمبرمجتصمیم	PROPN
alkej-348	239	19	وتنفیذ	وتنفیذ	ADJ
alkej-348	239	20	روبوت	روبوت	ADJ
alkej-348	239	21	نوع	نوع	PROPN
alkej-348	239	22	سكارا	سكارا	PRON
alkej-348	239	23	ثالثي	ثالثي	NOUN
alkej-348	239	24	درجات	درجات	NOUN
alkej-348	239	25	الحریة	الحریة	PROPN
alkej-348	239	26	معتمدا	معتمدا	PROPN
alkej-348	239	27	مسیطر	مسیطر	PROPN
alkej-348	239	28	المنطق	المنطق	VERB
alkej-348	239	29	ا	ا	VERB
alkej-348	239	30	*	*	PUNCT
alkej-348	239	31	*	*	PUNCT
alkej-348	239	32	*	*	PROPN
alkej-348	239	33	مودة	مودة	PROPN
alkej-348	239	34	جالء	جالء	NOUN
alkej-348	239	35	یحي	یحي	PROPN
alkej-348	240	1	*	*	PUNCT
alkej-348	240	2	*	*	PUNCT
alkej-348	240	3	طالل	طالل	ADJ
alkej-348	240	4	عبد	عبد	ADJ
alkej-348	240	5	الجبار	الجبار	NOUN
alkej-348	240	6	عبد	عبد	NOUN
alkej-348	240	7	الوھاب	الوھاب	PROPN
alkej-348	240	8	*	*	PUNCT
alkej-348	240	9	ایمان	ایمان	NOUN
alkej-348	240	10	صالح	صالح	NOUN
alkej-348	240	11	كریم	كریم	NOUN
alkej-348	240	12	الجامعة	الجامعة	VERB
alkej-348	240	13	التكنولوجیة	التكنولوجیة	NOUN
alkej-348	240	14	/قسم	/قسم	PROPN
alkej-348	240	15	الھندسة	الھندسة	PROPN
alkej-348	240	16	الكھرومیكانیكیة	الكھرومیكانیكیة	PROPN
alkej-348	240	17	*	*	PUNCT
alkej-348	241	1	*	*	PUNCT
alkej-348	241	2	*	*	PUNCT
alkej-348	241	3	،	،	X
alkej-348	241	4	*	*	X
alkej-348	241	5	*	*	NOUN
alkej-348	241	6	،	،	X
alkej-348	241	7	*	*	X
alkej-348	241	8	dr_esk_71@yahoo	dr_esk_71@yahoo	PROPN
alkej-348	241	9	.com	.com	PROPN
alkej-348	241	10	:	:	PUNCT
alkej-348	241	11	البرید	البرید	PROPN
alkej-348	241	12	االلكتروني	االلكتروني	NOUN
alkej-348	241	13	*	*	PUNCT
alkej-348	241	14	electromechanical19@yahoo.com	electromechanical19@yahoo.com	X
alkej-348	241	15	:	:	PUNCT
alkej-348	241	16	االلكتروني	االلكتروني	NOUN
alkej-348	241	17	البرید	البرید	NOUN
alkej-348	241	18	*	*	PUNCT
alkej-348	241	19	*	*	PUNCT
alkej-348	241	20	*	*	PROPN
alkej-348	241	21	الخالصة	الخالصة	PROPN
alkej-348	241	22	،	،	PROPN
alkej-348	241	23	حركتین	حركتین	VERB
alkej-348	241	24	دورانیھ	دورانیھ	ADJ
alkej-348	241	25	افقیة	افقیة	NOUN
alkej-348	241	26	يالحریة	يالحریة	NUM
alkej-348	241	27	ذ	ذ	X
alkej-348	241	28	ثالثي	ثالثي	NOUN
alkej-348	241	29	درجات	درجات	NOUN
alkej-348	241	30	scaraیقدم	scaraیقدم	ADJ
alkej-348	241	31	البحث	البحث	NOUN
alkej-348	241	32	الحالي	الحالي	ADV
alkej-348	241	33	عملیة	عملیة	PROPN
alkej-348	241	34	التصمیم	التصمیم	PROPN
alkej-348	241	35	والتنفیذ	والتنفیذ	PROPN
alkej-348	241	36	المیكانیكي	المیكانیكي	PROPN
alkej-348	242	1	والكھربائي	والكھربائي	PROPN
alkej-348	242	2	لروبوت	لروبوت	PROPN
alkej-348	242	3	صناعي	صناعي	PROPN
alkej-348	242	4	نوع	نوع	NOUN
alkej-348	242	5	.وحركة	.وحركة	ADP
alkej-348	242	6	انتقالیة	انتقالیة	PROPN
alkej-348	242	7	عمودیة	عمودیة	VERB
alkej-348	242	8	واحدة	واحدة	PROPN
alkej-348	242	9	یستخدم	یستخدم	PROPN
alkej-348	242	10	الغراض	الغراض	PROPN
alkej-348	242	11	اللحام	اللحام	PROPN
alkej-348	243	1	التحدي	التحدي	PROPN
alkej-348	243	2	.لمكونات	.لمكونات	PROPN
alkej-348	243	3	المیكانیكیة	المیكانیكیة	NOUN
alkej-348	243	4	والكھربائیةالى	والكھربائیةالى	VERB
alkej-348	243	5	اختیار	اختیار	PROPN
alkej-348	243	6	ا	ا	ADP
alkej-348	243	7	ال	ال	PROPN
alkej-348	243	8	عنفض	عنفض	PROPN
alkej-348	243	9	)	)	PUNCT
alkej-348	243	10	plc	plc	PROPN
alkej-348	243	11	(	(	PUNCT
alkej-348	243	12	ان	ان	PROPN
alkej-348	243	13	عملیة	عملیة	PROPN
alkej-348	243	14	التصمیم	التصمیم	PROPN
alkej-348	243	15	تضمنت	تضمنت	PROPN
alkej-348	243	16	تصمیم	تصمیم	NOUN
alkej-348	243	17	مسیطر	مسیطر	PROPN
alkej-348	243	18	یعتمد	یعتمد	PROPN
alkej-348	243	19	على	على	PROPN
alkej-348	243	20	مسیطر	مسیطر	NOUN
alkej-348	243	21	المنطق	المنطق	VERB
alkej-348	243	22	المبرمج	المبرمج	ADJ
alkej-348	243	23	-zelio	-zelio	NOUN
alkej-348	243	24	type	type	NOUN
alkej-348	243	25	sr3)الروبوت	sr3)الروبوت	PROPN
alkej-348	243	26	المذكور	المذكور	PROPN
alkej-348	243	27	معتمت	معتمت	PROPN
alkej-348	243	28	بالكامل	بالكامل	NOUN
alkej-348	243	29	باستخدام	باستخدام	NOUN
alkej-348	243	30	مسیطرالمنطق	مسیطرالمنطق	PROPN
alkej-348	243	31	المبرمج	المبرمج	VERB
alkej-348	243	32	نوع	نوع	PROPN
alkej-348	243	33	.ھو	.ھو	PUNCT
alkej-348	243	34	استخدام	استخدام	PROPN
alkej-348	243	35	المكونات	المكونات	PROPN
alkej-348	243	36	الموجوده	الموجوده	PROPN
alkej-348	243	37	في	في	ADP
alkej-348	243	38	العراق	العراق	ADJ
alkej-348	243	39	وبالكلفھ	وبالكلفھ	PROPN
alkej-348	243	40	المعقولة	المعقولة	PROPN
alkej-348	243	41	b261bd	b261bd	PROPN
alkej-348	243	42	)	)	PUNCT
alkej-348	244	1	نفذ	نفذ	VERB
alkej-348	244	2	باستخدام	باستخدام	NOUN
alkej-348	244	3	لغة	لغة	VERB
alkej-348	244	4	،	،	X
alkej-348	244	5	١٠ومخرجات	١٠ومخرجات	NOUN
alkej-348	244	6	١٦مع	١٦مع	ADJ
alkej-348	244	7	مدخالتfbd	مدخالتfbd	VERB
alkej-348	244	8	حیث	حیث	ADJ
alkej-348	244	9	،	،	X
alkej-348	244	10	یكیا	یكیا	NOUN
alkej-348	244	11	بكفاءة	بكفاءة	NOUN
alkej-348	244	12	عالیة	عالیة	PROPN
alkej-348	244	13	وبدون	وبدون	PROPN
alkej-348	244	14	اي	اي	PROPN
alkej-348	244	15	خطأثالث	خطأثالث	PROPN
alkej-348	244	16	حركات	حركات	PROPN
alkej-348	244	17	مختلفة	مختلفة	PROPN
alkej-348	244	18	اوتوماتالیجاد	اوتوماتالیجاد	PROPN
alkej-348	244	19	اد	اد	PROPN
alkej-348	244	20	على	على	PROPN
alkej-348	244	21	برنامج	برنامج	NOUN
alkej-348	244	22	التوصیالتان	التوصیالتان	PROPN
alkej-348	244	23	للذراع	للذراع	NOUN
alkej-348	244	24	تقف	تقف	VERB
alkej-348	244	25	في	في	ADP
alkej-348	244	26	نقطة	نقطة	ADJ
alkej-348	244	27	محددة	محددة	NOUN
alkej-348	244	28	بعدھا	بعدھا	NOUN
alkej-348	244	29	التوصیلة	التوصیلة	PROPN
alkej-348	244	30	الثالثة	الثالثة	PROPN
alkej-348	244	31	تدفع	تدفع	PROPN
alkej-348	244	32	الى	الى	VERB
alkej-348	245	1	االسفل	االسفل	PUNCT
alkej-348	245	2	لعمل	لعمل	VERB
alkej-348	245	3	المھمة	المھمة	PROPN
alkej-348	245	4	ضمن	ضمن	PROPN
alkej-348	245	5	المسار	المسار	PROPN
alkej-348	245	6	الحركي	الحركي	PROPN
alkej-348	245	7	المرغوب	المرغوب	PROPN
alkej-348	245	8	بھ	بھ	ADP
alkej-348	245	9	باالعتم	باالعتم	NOUN
alkej-348	245	10	)	)	PUNCT
alkej-348	245	11	.plc(المسیطر	.plc(المسیطر	PROPN
alkej-348	245	12	pdf	pdf	NOUN
alkej-348	245	13	created	create	VERB
alkej-348	245	14	with	with	ADP
alkej-348	245	15	pdffactory	pdffactory	ADJ
alkej-348	245	16	trial	trial	NOUN
alkej-348	245	17	version	version	NOUN
alkej-348	245	18	www.pdffactory.com	www.pdffactory.com	X
alkej-348	245	19	mailto:electromechanical19@yahoo.com	mailto:electromechanical19@yahoo.com	X
alkej-348	245	20	http://www.pdffactory.com	http://www.pdffactory.com	X
alkej-348	245	21	http://www.pdffactory.com	http://www.pdffactory.com	X