id	sid	tid	token	lemma	pos
alkej-442	1	1	microsoft	microsoft	PROPN
alkej-442	1	2	word	word	NOUN
alkej-442	1	3	\335\321\307\323	\335\321\307\323	PROPN
alkej-442	1	4	\346\307\323\343\307\301124	\346\307\323\343\307\301124	PROPN
alkej-442	1	5	-	-	PUNCT
alkej-442	1	6	136	136	NUM
alkej-442	1	7	)	)	PUNCT
alkej-442	1	8	al	al	PROPN
alkej-442	1	9	-	-	PUNCT
alkej-442	1	10	khwarizmi	khwarizmi	PROPN
alkej-442	1	11	engineering	engineering	PROPN
alkej-442	1	12	journal	journal	PROPN
alkej-442	1	13	al	al	PROPN
alkej-442	1	14	-	-	PUNCT
alkej-442	1	15	khwarizmi	khwarizmi	PROPN
alkej-442	1	16	engineering	engineering	NOUN
alkej-442	1	17	journal	journal	PROPN
alkej-442	1	18	,	,	PUNCT
alkej-442	1	19	vol	vol	NOUN
alkej-442	1	20	.	.	PROPN
alkej-442	1	21	13	13	NUM
alkej-442	1	22	,	,	PUNCT
alkej-442	1	23	no	no	INTJ
alkej-442	1	24	.	.	NOUN
alkej-442	1	25	4	4	NUM
alkej-442	1	26	,	,	PUNCT
alkej-442	1	27	p.p	p.p	PROPN
alkej-442	1	28	.	.	NOUN
alkej-442	1	29	124136	124136	NUM
alkej-442	1	30	(	(	PUNCT
alkej-442	1	31	2017	2017	NUM
alkej-442	1	32	)	)	PUNCT
alkej-442	1	33	applying	apply	VERB
alkej-442	1	34	a	a	DET
alkej-442	1	35	*	*	PUNCT
alkej-442	1	36	path	path	NOUN
alkej-442	1	37	planning	planning	NOUN
alkej-442	1	38	algorithm	algorithm	NOUN
alkej-442	1	39	based	base	VERB
alkej-442	1	40	on	on	ADP
alkej-442	1	41	modified	modified	ADJ
alkej-442	1	42	c	c	NOUN
alkej-442	1	43	-	-	PUNCT
alkej-442	1	44	space	space	NOUN
alkej-442	1	45	analysis	analysis	NOUN
alkej-442	1	46	firas	firas	PROPN
alkej-442	1	47	a.	a.	PROPN
alkej-442	1	48	raheem	raheem	PROPN
alkej-442	1	49	*	*	PROPN
alkej-442	1	50	asmaa	asmaa	PROPN
alkej-442	1	51	a.	a.	PROPN
alkej-442	1	52	hussain	hussain	PROPN
alkej-442	1	53	*	*	PROPN
alkej-442	2	1	*	*	PUNCT
alkej-442	2	2	*	*	PUNCT
alkej-442	2	3	,	,	PUNCT
alkej-442	2	4	*	*	PUNCT
alkej-442	2	5	*	*	PUNCT
alkej-442	2	6	department	department	NOUN
alkej-442	2	7	of	of	ADP
alkej-442	2	8	control	control	NOUN
alkej-442	2	9	and	and	CCONJ
alkej-442	2	10	systems	system	NOUN
alkej-442	2	11	engineering/	engineering/	NUM
alkej-442	2	12	university	university	NOUN
alkej-442	2	13	of	of	ADP
alkej-442	2	14	technology	technology	NOUN
alkej-442	2	15	*	*	NOUN
alkej-442	2	16	email	email	NOUN
alkej-442	2	17	:	:	PUNCT
alkej-442	2	18	60124@uotechnology.edu.iq	60124@uotechnology.edu.iq	NUM
alkej-442	2	19	*	*	PUNCT
alkej-442	2	20	*	*	NOUN
alkej-442	2	21	email	email	NOUN
alkej-442	2	22	:	:	PUNCT
alkej-442	2	23	asmaa.alshawi@yahoo.com	asmaa.alshawi@yahoo.com	X
alkej-442	2	24	(	(	PUNCT
alkej-442	2	25	received	receive	VERB
alkej-442	2	26	25	25	NUM
alkej-442	2	27	october	october	PROPN
alkej-442	2	28	2016	2016	NUM
alkej-442	2	29	;	;	PUNCT
alkej-442	2	30	accepted	accept	VERB
alkej-442	2	31	7	7	NUM
alkej-442	2	32	march	march	NOUN
alkej-442	2	33	2017	2017	NUM
alkej-442	2	34	)	)	PUNCT
alkej-442	2	35	https://doi.org/10.22153/kej.2017.03.007	https://doi.org/10.22153/kej.2017.03.007	PUNCT
alkej-442	2	36	abstract	abstract	ADJ
alkej-442	2	37	in	in	ADP
alkej-442	2	38	this	this	DET
alkej-442	2	39	paper	paper	NOUN
alkej-442	2	40	,	,	PUNCT
alkej-442	2	41	a	a	DET
alkej-442	2	42	modified	modify	VERB
alkej-442	2	43	derivation	derivation	NOUN
alkej-442	2	44	has	have	AUX
alkej-442	2	45	been	be	AUX
alkej-442	2	46	introduced	introduce	VERB
alkej-442	2	47	to	to	PART
alkej-442	2	48	analyze	analyze	VERB
alkej-442	2	49	the	the	DET
alkej-442	2	50	construction	construction	NOUN
alkej-442	2	51	of	of	ADP
alkej-442	2	52	c	c	NOUN
alkej-442	2	53	-	-	NOUN
alkej-442	2	54	space	space	NOUN
alkej-442	2	55	.	.	PUNCT
alkej-442	3	1	the	the	DET
alkej-442	3	2	profit	profit	NOUN
alkej-442	3	3	from	from	ADP
alkej-442	3	4	using	use	VERB
alkej-442	3	5	c	c	NOUN
alkej-442	3	6	-	-	PUNCT
alkej-442	3	7	space	space	NOUN
alkej-442	3	8	is	be	AUX
alkej-442	3	9	to	to	PART
alkej-442	3	10	make	make	VERB
alkej-442	3	11	the	the	DET
alkej-442	3	12	process	process	NOUN
alkej-442	3	13	of	of	ADP
alkej-442	3	14	path	path	NOUN
alkej-442	3	15	planning	plan	VERB
alkej-442	3	16	more	more	ADJ
alkej-442	3	17	safety	safety	NOUN
alkej-442	3	18	and	and	CCONJ
alkej-442	3	19	easer	eas	ADJ
alkej-442	3	20	.	.	PUNCT
alkej-442	4	1	after	after	ADP
alkej-442	4	2	getting	get	VERB
alkej-442	4	3	the	the	DET
alkej-442	4	4	c	c	NOUN
alkej-442	4	5	-	-	PUNCT
alkej-442	4	6	space	space	NOUN
alkej-442	4	7	construction	construction	NOUN
alkej-442	4	8	and	and	CCONJ
alkej-442	4	9	map	map	VERB
alkej-442	4	10	for	for	ADP
alkej-442	4	11	two	two	NUM
alkej-442	4	12	-	-	PUNCT
alkej-442	4	13	link	link	NOUN
alkej-442	4	14	planar	planar	ADJ
alkej-442	4	15	robot	robot	NOUN
alkej-442	4	16	arm	arm	NOUN
alkej-442	4	17	,	,	PUNCT
alkej-442	4	18	which	which	PRON
alkej-442	4	19	include	include	VERB
alkej-442	4	20	all	all	DET
alkej-442	4	21	the	the	DET
alkej-442	4	22	possible	possible	ADJ
alkej-442	4	23	situations	situation	NOUN
alkej-442	4	24	of	of	ADP
alkej-442	4	25	collision	collision	NOUN
alkej-442	4	26	between	between	ADP
alkej-442	4	27	robot	robot	NOUN
alkej-442	4	28	parts	part	NOUN
alkej-442	4	29	and	and	CCONJ
alkej-442	4	30	obstacle(s	obstacle(s	NOUN
alkej-442	4	31	)	)	PUNCT
alkej-442	4	32	,	,	PUNCT
alkej-442	4	33	the	the	DET
alkej-442	4	34	a	a	PROPN
alkej-442	4	35	*	*	X
alkej-442	4	36	algorithm	algorithm	NOUN
alkej-442	4	37	,	,	PUNCT
alkej-442	4	38	which	which	PRON
alkej-442	4	39	is	be	AUX
alkej-442	4	40	usually	usually	ADV
alkej-442	4	41	used	use	VERB
alkej-442	4	42	to	to	PART
alkej-442	4	43	find	find	VERB
alkej-442	4	44	a	a	DET
alkej-442	4	45	heuristic	heuristic	ADJ
alkej-442	4	46	path	path	NOUN
alkej-442	4	47	on	on	ADP
alkej-442	4	48	cartesian	cartesian	ADJ
alkej-442	4	49	w	w	NOUN
alkej-442	4	50	-	-	PUNCT
alkej-442	4	51	space	space	NOUN
alkej-442	4	52	,	,	PUNCT
alkej-442	4	53	has	have	AUX
alkej-442	4	54	been	be	AUX
alkej-442	4	55	used	use	VERB
alkej-442	4	56	to	to	PART
alkej-442	4	57	find	find	VERB
alkej-442	4	58	a	a	DET
alkej-442	4	59	heuristic	heuristic	ADJ
alkej-442	4	60	path	path	NOUN
alkej-442	4	61	on	on	ADP
alkej-442	4	62	c	c	NOUN
alkej-442	4	63	-	-	PUNCT
alkej-442	4	64	space	space	NOUN
alkej-442	4	65	map	map	NOUN
alkej-442	4	66	.	.	PUNCT
alkej-442	5	1	several	several	ADJ
alkej-442	5	2	modifications	modification	NOUN
alkej-442	5	3	are	be	AUX
alkej-442	5	4	needed	need	VERB
alkej-442	5	5	to	to	PART
alkej-442	5	6	apply	apply	VERB
alkej-442	5	7	the	the	DET
alkej-442	5	8	methodology	methodology	NOUN
alkej-442	5	9	for	for	ADP
alkej-442	5	10	a	a	DET
alkej-442	5	11	manipulator	manipulator	NOUN
alkej-442	5	12	with	with	ADP
alkej-442	5	13	degrees	degree	NOUN
alkej-442	5	14	of	of	ADP
alkej-442	5	15	freedom	freedom	NOUN
alkej-442	5	16	more	more	ADJ
alkej-442	5	17	than	than	ADP
alkej-442	5	18	two	two	NUM
alkej-442	5	19	.	.	PUNCT
alkej-442	6	1	the	the	DET
alkej-442	6	2	results	result	NOUN
alkej-442	6	3	of	of	ADP
alkej-442	6	4	c	c	NOUN
alkej-442	6	5	-	-	PUNCT
alkej-442	6	6	space	space	NOUN
alkej-442	6	7	map	map	NOUN
alkej-442	6	8	,	,	PUNCT
alkej-442	6	9	which	which	PRON
alkej-442	6	10	are	be	AUX
alkej-442	6	11	derived	derive	VERB
alkej-442	6	12	by	by	ADP
alkej-442	6	13	the	the	DET
alkej-442	6	14	modified	modify	VERB
alkej-442	6	15	analysis	analysis	NOUN
alkej-442	6	16	,	,	PUNCT
alkej-442	6	17	prove	prove	VERB
alkej-442	6	18	the	the	DET
alkej-442	6	19	accuracy	accuracy	NOUN
alkej-442	6	20	of	of	ADP
alkej-442	6	21	the	the	DET
alkej-442	6	22	overall	overall	ADJ
alkej-442	6	23	c	c	NOUN
alkej-442	6	24	-	-	PUNCT
alkej-442	6	25	space	space	NOUN
alkej-442	6	26	mapping	mapping	NOUN
alkej-442	6	27	and	and	CCONJ
alkej-442	6	28	construction	construction	NOUN
alkej-442	6	29	,	,	PUNCT
alkej-442	6	30	and	and	CCONJ
alkej-442	6	31	then	then	ADV
alkej-442	6	32	a	a	DET
alkej-442	6	33	successful	successful	ADJ
alkej-442	6	34	and	and	CCONJ
alkej-442	6	35	guaranteed	guarantee	VERB
alkej-442	6	36	path	path	NOUN
alkej-442	6	37	from	from	ADP
alkej-442	6	38	a	a	DET
alkej-442	6	39	start	start	NOUN
alkej-442	6	40	to	to	ADP
alkej-442	6	41	goal	goal	NOUN
alkej-442	6	42	configuration	configuration	NOUN
alkej-442	6	43	has	have	AUX
alkej-442	6	44	been	be	AUX
alkej-442	6	45	obtained	obtain	VERB
alkej-442	6	46	without	without	ADP
alkej-442	6	47	any	any	DET
alkej-442	6	48	collision	collision	NOUN
alkej-442	6	49	probability	probability	NOUN
alkej-442	6	50	.	.	PUNCT
alkej-442	7	1	the	the	DET
alkej-442	7	2	results	result	NOUN
alkej-442	7	3	had	have	AUX
alkej-442	7	4	been	be	AUX
alkej-442	7	5	achieved	achieve	VERB
alkej-442	7	6	by	by	ADP
alkej-442	7	7	(	(	PUNCT
alkej-442	7	8	matlab	matlab	PROPN
alkej-442	7	9	r2015a	r2015a	PROPN
alkej-442	7	10	)	)	PUNCT
alkej-442	7	11	software	software	NOUN
alkej-442	7	12	,	,	PUNCT
alkej-442	7	13	which	which	PRON
alkej-442	7	14	run	run	VERB
alkej-442	7	15	on	on	ADP
alkej-442	7	16	intel	intel	PROPN
alkej-442	7	17	(	(	PUNCT
alkej-442	7	18	r	r	NOUN
alkej-442	7	19	)	)	PUNCT
alkej-442	7	20	core	core	NOUN
alkej-442	7	21	(	(	PUNCT
alkej-442	7	22	tm	tm	NOUN
alkej-442	7	23	)	)	PUNCT
alkej-442	7	24	i3	i3	NOUN
alkej-442	7	25	-	-	PUNCT
alkej-442	7	26	3120	3120	NUM
alkej-442	7	27	m	m	NOUN
alkej-442	7	28	cpu	cpu	NOUN
alkej-442	7	29	.	.	PUNCT
alkej-442	8	1	keywords	keyword	NOUN
alkej-442	8	2	:	:	PUNCT
alkej-442	8	3	configuration	configuration	NOUN
alkej-442	8	4	space	space	NOUN
alkej-442	8	5	,	,	PUNCT
alkej-442	8	6	degrees	degree	NOUN
alkej-442	8	7	of	of	ADP
alkej-442	8	8	freedom	freedom	NOUN
alkej-442	8	9	,	,	PUNCT
alkej-442	8	10	topology	topology	NOUN
alkej-442	8	11	,	,	PUNCT
alkej-442	8	12	path	path	NOUN
alkej-442	8	13	planning	planning	NOUN
alkej-442	8	14	.	.	PUNCT
alkej-442	9	1	1	1	X
alkej-442	9	2	.	.	X
alkej-442	9	3	introduction	introduction	NOUN
alkej-442	9	4	due	due	ADP
alkej-442	9	5	to	to	ADP
alkej-442	9	6	the	the	DET
alkej-442	9	7	importance	importance	NOUN
alkej-442	9	8	of	of	ADP
alkej-442	9	9	path	path	NOUN
alkej-442	9	10	planning	planning	NOUN
alkej-442	9	11	and	and	CCONJ
alkej-442	9	12	obstacle	obstacle	NOUN
alkej-442	9	13	avoidance	avoidance	NOUN
alkej-442	9	14	problems	problem	NOUN
alkej-442	9	15	in	in	ADP
alkej-442	9	16	practical	practical	ADJ
alkej-442	9	17	areas	area	NOUN
alkej-442	9	18	,	,	PUNCT
alkej-442	9	19	there	there	PRON
alkej-442	9	20	are	be	VERB
alkej-442	9	21	more	more	ADJ
alkej-442	9	22	researches	research	NOUN
alkej-442	9	23	and	and	CCONJ
alkej-442	9	24	studies	study	NOUN
alkej-442	9	25	about	about	ADP
alkej-442	9	26	it	it	PRON
alkej-442	9	27	in	in	ADP
alkej-442	9	28	the	the	DET
alkej-442	9	29	last	last	ADJ
alkej-442	9	30	decades	decade	NOUN
alkej-442	9	31	.	.	PUNCT
alkej-442	10	1	in	in	ADP
alkej-442	10	2	the	the	DET
alkej-442	10	3	classical	classical	ADJ
alkej-442	10	4	mechanics	mechanic	NOUN
alkej-442	10	5	,	,	PUNCT
alkej-442	10	6	the	the	DET
alkej-442	10	7	configuration	configuration	NOUN
alkej-442	10	8	space	space	NOUN
alkej-442	10	9	(	(	PUNCT
alkej-442	10	10	c	c	NOUN
alkej-442	10	11	-	-	PUNCT
alkej-442	10	12	space	space	NOUN
alkej-442	10	13	)	)	PUNCT
alkej-442	10	14	represent	represent	VERB
alkej-442	10	15	very	very	ADV
alkej-442	10	16	important	important	ADJ
alkej-442	10	17	tool	tool	NOUN
alkej-442	10	18	to	to	PART
alkej-442	10	19	describe	describe	VERB
alkej-442	10	20	and	and	CCONJ
alkej-442	10	21	analyze	analyze	VERB
alkej-442	10	22	the	the	DET
alkej-442	10	23	motion	motion	NOUN
alkej-442	10	24	planning	planning	NOUN
alkej-442	10	25	for	for	ADP
alkej-442	10	26	many	many	ADJ
alkej-442	10	27	important	important	ADJ
alkej-442	10	28	systems	system	NOUN
alkej-442	10	29	,	,	PUNCT
alkej-442	10	30	especially	especially	ADV
alkej-442	10	31	in	in	ADP
alkej-442	10	32	robotics	robotic	NOUN
alkej-442	10	33	[	[	X
alkej-442	10	34	1	1	NUM
alkej-442	10	35	]	]	PUNCT
alkej-442	10	36	.	.	PUNCT
alkej-442	11	1	to	to	PART
alkej-442	11	2	understand	understand	VERB
alkej-442	11	3	the	the	DET
alkej-442	11	4	c	c	NOUN
alkej-442	11	5	-	-	NOUN
alkej-442	11	6	space	space	NOUN
alkej-442	11	7	,	,	PUNCT
alkej-442	11	8	first	first	ADV
alkej-442	11	9	it	it	PRON
alkej-442	11	10	is	be	AUX
alkej-442	11	11	important	important	ADJ
alkej-442	11	12	to	to	PART
alkej-442	11	13	know	know	VERB
alkej-442	11	14	what	what	PRON
alkej-442	11	15	the	the	DET
alkej-442	11	16	term	term	NOUN
alkej-442	11	17	of	of	ADP
alkej-442	11	18	configuration	configuration	NOUN
alkej-442	11	19	means	mean	NOUN
alkej-442	11	20	in	in	ADP
alkej-442	11	21	robotic	robotic	ADJ
alkej-442	11	22	systems	system	NOUN
alkej-442	11	23	.	.	PUNCT
alkej-442	12	1	it	it	PRON
alkej-442	12	2	means	mean	VERB
alkej-442	12	3	a	a	DET
alkej-442	12	4	complete	complete	ADJ
alkej-442	12	5	description	description	NOUN
alkej-442	12	6	,	,	PUNCT
alkej-442	12	7	which	which	PRON
alkej-442	12	8	determines	determine	VERB
alkej-442	12	9	every	every	DET
alkej-442	12	10	point	point	NOUN
alkej-442	12	11	position	position	NOUN
alkej-442	12	12	on	on	ADP
alkej-442	12	13	the	the	DET
alkej-442	12	14	robot	robot	NOUN
alkej-442	12	15	uniquely	uniquely	ADV
alkej-442	12	16	.	.	PUNCT
alkej-442	13	1	so	so	ADV
alkej-442	13	2	,	,	PUNCT
alkej-442	13	3	the	the	DET
alkej-442	13	4	c	c	NOUN
alkej-442	13	5	-	-	PUNCT
alkej-442	13	6	space	space	NOUN
alkej-442	13	7	of	of	ADP
alkej-442	13	8	a	a	DET
alkej-442	13	9	robot	robot	NOUN
alkej-442	13	10	typifies	typify	VERB
alkej-442	13	11	the	the	DET
alkej-442	13	12	space	space	NOUN
alkej-442	13	13	of	of	ADP
alkej-442	13	14	all	all	DET
alkej-442	13	15	configurations	configuration	NOUN
alkej-442	13	16	,	,	PUNCT
alkej-442	13	17	which	which	PRON
alkej-442	13	18	are	be	AUX
alkej-442	13	19	processed	process	VERB
alkej-442	13	20	by	by	ADP
alkej-442	13	21	the	the	DET
alkej-442	13	22	robot	robot	NOUN
alkej-442	13	23	.	.	PUNCT
alkej-442	14	1	as	as	SCONJ
alkej-442	14	2	the	the	DET
alkej-442	14	3	robot	robot	NOUN
alkej-442	14	4	has	have	VERB
alkej-442	14	5	n	n	NUM
alkej-442	14	6	degrees	degree	NOUN
alkej-442	14	7	of	of	ADP
alkej-442	14	8	freedom	freedom	NOUN
alkej-442	14	9	,	,	PUNCT
alkej-442	14	10	the	the	DET
alkej-442	14	11	c	c	NOUN
alkej-442	14	12	-	-	PUNCT
alkej-442	14	13	space	space	NOUN
alkej-442	14	14	for	for	ADP
alkej-442	14	15	this	this	DET
alkej-442	14	16	robot	robot	NOUN
alkej-442	14	17	is	be	AUX
alkej-442	14	18	ndimensional	ndimensional	ADJ
alkej-442	14	19	[	[	X
alkej-442	14	20	2	2	NUM
alkej-442	14	21	]	]	PUNCT
alkej-442	14	22	.	.	PUNCT
alkej-442	15	1	c	c	X
alkej-442	15	2	-	-	PUNCT
alkej-442	15	3	space	space	NOUN
alkej-442	15	4	deals	deal	NOUN
alkej-442	15	5	with	with	ADP
alkej-442	15	6	static	static	ADJ
alkej-442	15	7	obstacles	obstacle	NOUN
alkej-442	15	8	,	,	PUNCT
alkej-442	15	9	or	or	CCONJ
alkej-442	15	10	dynamic	dynamic	ADJ
alkej-442	15	11	obstacles	obstacle	NOUN
alkej-442	15	12	with	with	ADP
alkej-442	15	13	slow	slow	ADJ
alkej-442	15	14	motion	motion	NOUN
alkej-442	15	15	.	.	PUNCT
alkej-442	16	1	also	also	ADV
alkej-442	16	2	,	,	PUNCT
alkej-442	16	3	the	the	DET
alkej-442	16	4	shape	shape	NOUN
alkej-442	16	5	and	and	CCONJ
alkej-442	16	6	dimensions	dimension	NOUN
alkej-442	16	7	of	of	ADP
alkej-442	16	8	each	each	DET
alkej-442	16	9	obstacle	obstacle	NOUN
alkej-442	16	10	must	must	AUX
alkej-442	16	11	be	be	AUX
alkej-442	16	12	known	know	VERB
alkej-442	16	13	before	before	ADP
alkej-442	16	14	finding	find	VERB
alkej-442	16	15	c	c	NOUN
alkej-442	16	16	-	-	PUNCT
alkej-442	16	17	space	space	NOUN
alkej-442	16	18	construction	construction	NOUN
alkej-442	16	19	if	if	SCONJ
alkej-442	16	20	the	the	DET
alkej-442	16	21	path	path	NOUN
alkej-442	16	22	planning	planning	NOUN
alkej-442	16	23	that	that	PRON
alkej-442	16	24	will	will	AUX
alkej-442	16	25	be	be	AUX
alkej-442	16	26	used	use	VERB
alkej-442	16	27	is	be	AUX
alkej-442	16	28	off	off	ADP
alkej-442	16	29	-	-	PUNCT
alkej-442	16	30	line	line	NOUN
alkej-442	16	31	.	.	PUNCT
alkej-442	17	1	from	from	ADP
alkej-442	17	2	the	the	DET
alkej-442	17	3	first	first	ADJ
alkej-442	17	4	time	time	NOUN
alkej-442	17	5	the	the	DET
alkej-442	17	6	c	c	NOUN
alkej-442	17	7	-	-	PUNCT
alkej-442	17	8	space	space	NOUN
alkej-442	17	9	was	be	AUX
alkej-442	17	10	defined	define	VERB
alkej-442	17	11	[	[	PUNCT
alkej-442	17	12	3	3	NUM
alkej-442	17	13	]	]	PUNCT
alkej-442	17	14	,	,	PUNCT
alkej-442	17	15	it	it	PRON
alkej-442	17	16	played	play	VERB
alkej-442	17	17	very	very	ADV
alkej-442	17	18	important	important	ADJ
alkej-442	17	19	role	role	NOUN
alkej-442	17	20	in	in	ADP
alkej-442	17	21	robotic	robotic	ADJ
alkej-442	17	22	systems	system	NOUN
alkej-442	17	23	especially	especially	ADV
alkej-442	17	24	in	in	ADP
alkej-442	17	25	path	path	NOUN
alkej-442	17	26	finding	finding	NOUN
alkej-442	17	27	problem	problem	NOUN
alkej-442	17	28	.	.	PUNCT
alkej-442	18	1	then	then	ADV
alkej-442	18	2	,	,	PUNCT
alkej-442	18	3	the	the	DET
alkej-442	18	4	usage	usage	NOUN
alkej-442	18	5	of	of	ADP
alkej-442	18	6	c	c	NOUN
alkej-442	18	7	-	-	PUNCT
alkej-442	18	8	space	space	NOUN
alkej-442	18	9	continue	continue	VERB
alkej-442	18	10	in	in	ADP
alkej-442	18	11	many	many	ADJ
alkej-442	18	12	researches	research	NOUN
alkej-442	18	13	and	and	CCONJ
alkej-442	18	14	applications	application	NOUN
alkej-442	18	15	.	.	PUNCT
alkej-442	19	1	until	until	ADP
alkej-442	19	2	today	today	NOUN
alkej-442	19	3	,	,	PUNCT
alkej-442	19	4	more	more	ADJ
alkej-442	19	5	analysis	analysis	NOUN
alkej-442	19	6	and	and	CCONJ
alkej-442	19	7	modifications	modification	NOUN
alkej-442	19	8	with	with	ADP
alkej-442	19	9	many	many	ADJ
alkej-442	19	10	type	type	NOUN
alkej-442	19	11	of	of	ADP
alkej-442	19	12	robots	robot	NOUN
alkej-442	19	13	are	be	AUX
alkej-442	19	14	applied	apply	VERB
alkej-442	19	15	on	on	ADP
alkej-442	19	16	c	c	NOUN
alkej-442	19	17	-	-	PUNCT
alkej-442	19	18	space	space	NOUN
alkej-442	19	19	[	[	X
alkej-442	19	20	47	47	NUM
alkej-442	19	21	]	]	PUNCT
alkej-442	19	22	.	.	PUNCT
alkej-442	20	1	path	path	NOUN
alkej-442	20	2	planning	planning	NOUN
alkej-442	20	3	for	for	ADP
alkej-442	20	4	robot	robot	NOUN
alkej-442	20	5	arm	arm	NOUN
alkej-442	20	6	requires	require	VERB
alkej-442	20	7	optimized	optimize	VERB
alkej-442	20	8	global	global	ADJ
alkej-442	20	9	path	path	NOUN
alkej-442	20	10	generation	generation	NOUN
alkej-442	20	11	,	,	PUNCT
alkej-442	20	12	in	in	ADP
alkej-442	20	13	which	which	PRON
alkej-442	20	14	the	the	DET
alkej-442	20	15	robot	robot	NOUN
alkej-442	20	16	arm	arm	NOUN
alkej-442	20	17	can	can	AUX
alkej-442	20	18	avoid	avoid	VERB
alkej-442	20	19	any	any	DET
alkej-442	20	20	obstacle	obstacle	NOUN
alkej-442	20	21	in	in	ADP
alkej-442	20	22	the	the	DET
alkej-442	20	23	cartesian	cartesian	ADJ
alkej-442	20	24	w	w	NOUN
alkej-442	20	25	-	-	NOUN
alkej-442	20	26	space	space	NOUN
alkej-442	20	27	.	.	PUNCT
alkej-442	21	1	the	the	DET
alkej-442	21	2	feasibility	feasibility	NOUN
alkej-442	21	3	of	of	ADP
alkej-442	21	4	path	path	NOUN
alkej-442	21	5	planning	planning	NOUN
alkej-442	21	6	depends	depend	VERB
alkej-442	21	7	on	on	ADP
alkej-442	21	8	some	some	DET
alkej-442	21	9	factors	factor	NOUN
alkej-442	21	10	:	:	PUNCT
alkej-442	21	11	map	map	VERB
alkej-442	21	12	accuracy	accuracy	NOUN
alkej-442	21	13	,	,	PUNCT
alkej-442	21	14	number	number	NOUN
alkej-442	21	15	of	of	ADP
alkej-442	21	16	obstacles	obstacle	NOUN
alkej-442	21	17	and	and	CCONJ
alkej-442	21	18	current	current	ADJ
alkej-442	21	19	configuration	configuration	NOUN
alkej-442	21	20	of	of	ADP
alkej-442	21	21	the	the	DET
alkej-442	21	22	robot	robot	NOUN
alkej-442	21	23	.	.	PUNCT
alkej-442	22	1	there	there	PRON
alkej-442	22	2	are	be	VERB
alkej-442	22	3	many	many	ADJ
alkej-442	22	4	approaches	approach	NOUN
alkej-442	22	5	and	and	CCONJ
alkej-442	22	6	algorithms	algorithm	NOUN
alkej-442	22	7	have	have	AUX
alkej-442	22	8	been	be	AUX
alkej-442	22	9	proposed	propose	VERB
alkej-442	22	10	to	to	PART
alkej-442	22	11	solve	solve	VERB
alkej-442	22	12	the	the	DET
alkej-442	22	13	path	path	NOUN
alkej-442	22	14	planning	planning	NOUN
alkej-442	22	15	problem	problem	NOUN
alkej-442	22	16	.	.	PUNCT
alkej-442	23	1	this	this	DET
alkej-442	23	2	problem	problem	NOUN
alkej-442	23	3	is	be	AUX
alkej-442	23	4	related	relate	VERB
alkej-442	23	5	with	with	ADP
alkej-442	23	6	finding	find	VERB
alkej-442	23	7	the	the	DET
alkej-442	23	8	shortest	short	ADJ
alkej-442	23	9	path	path	NOUN
alkej-442	23	10	between	between	ADP
alkej-442	23	11	the	the	DET
alkej-442	23	12	start	start	NOUN
alkej-442	23	13	and	and	CCONJ
alkej-442	23	14	goal	goal	NOUN
alkej-442	23	15	configurations	configuration	NOUN
alkej-442	23	16	.	.	PUNCT
alkej-442	24	1	the	the	DET
alkej-442	24	2	most	most	ADV
alkej-442	24	3	known	know	VERB
alkej-442	24	4	firas	firas	PROPN
alkej-442	24	5	a.	a.	PROPN
alkej-442	24	6	raheem	raheem	PROPN
alkej-442	24	7	al	al	PROPN
alkej-442	24	8	-	-	PUNCT
alkej-442	24	9	khwarizmi	khwarizmi	PROPN
alkej-442	24	10	engineering	engineering	NOUN
alkej-442	24	11	journal	journal	PROPN
alkej-442	24	12	,	,	PUNCT
alkej-442	24	13	vol	vol	NOUN
alkej-442	24	14	.	.	PROPN
alkej-442	24	15	13	13	NUM
alkej-442	24	16	,	,	PUNCT
alkej-442	24	17	no	no	INTJ
alkej-442	24	18	.	.	NOUN
alkej-442	24	19	4	4	NUM
alkej-442	24	20	,	,	PUNCT
alkej-442	24	21	p.p	p.p	PROPN
alkej-442	24	22	.	.	NOUN
alkej-442	24	23	124136	124136	NUM
alkej-442	24	24	(	(	PUNCT
alkej-442	24	25	2017	2017	NUM
alkej-442	24	26	)	)	PUNCT
alkej-442	24	27	125	125	NUM
alkej-442	24	28	algorithms	algorithm	NOUN
alkej-442	24	29	that	that	PRON
alkej-442	24	30	are	be	AUX
alkej-442	24	31	being	be	AUX
alkej-442	24	32	used	use	VERB
alkej-442	24	33	to	to	PART
alkej-442	24	34	find	find	VERB
alkej-442	24	35	shortest	short	ADJ
alkej-442	24	36	path	path	NOUN
alkej-442	24	37	are	be	AUX
alkej-442	24	38	graph	graph	NOUN
alkej-442	24	39	search	search	NOUN
alkej-442	24	40	algorithms	algorithm	NOUN
alkej-442	24	41	.	.	PUNCT
alkej-442	25	1	these	these	DET
alkej-442	25	2	algorithms	algorithm	NOUN
alkej-442	25	3	are	be	AUX
alkej-442	25	4	based	base	VERB
alkej-442	25	5	on	on	ADP
alkej-442	25	6	node	node	NOUN
alkej-442	25	7	-	-	PUNCT
alkej-442	25	8	edge	edge	NOUN
alkej-442	25	9	marking	mark	VERB
alkej-442	25	10	[	[	X
alkej-442	25	11	8	8	NUM
alkej-442	25	12	]	]	PUNCT
alkej-442	25	13	.	.	PUNCT
alkej-442	26	1	graph	graph	NOUN
alkej-442	26	2	search	search	NOUN
alkej-442	26	3	methods	method	NOUN
alkej-442	26	4	speculate	speculate	VERB
alkej-442	26	5	the	the	DET
alkej-442	26	6	cost	cost	NOUN
alkej-442	26	7	and	and	CCONJ
alkej-442	26	8	generate	generate	VERB
alkej-442	26	9	a	a	DET
alkej-442	26	10	sequence	sequence	NOUN
alkej-442	26	11	of	of	ADP
alkej-442	26	12	segments	segment	NOUN
alkej-442	26	13	that	that	PRON
alkej-442	26	14	extent	extent	VERB
alkej-442	26	15	from	from	ADP
alkej-442	26	16	the	the	DET
alkej-442	26	17	start	start	NOUN
alkej-442	26	18	point	point	NOUN
alkej-442	26	19	to	to	ADP
alkej-442	26	20	the	the	DET
alkej-442	26	21	goal	goal	NOUN
alkej-442	26	22	point	point	NOUN
alkej-442	26	23	through	through	ADP
alkej-442	26	24	vertices	vertex	NOUN
alkej-442	26	25	[	[	X
alkej-442	26	26	9	9	NUM
alkej-442	26	27	]	]	PUNCT
alkej-442	26	28	.	.	PUNCT
alkej-442	27	1	one	one	NUM
alkej-442	27	2	of	of	ADP
alkej-442	27	3	the	the	DET
alkej-442	27	4	graphical	graphical	ADJ
alkej-442	27	5	search	search	NOUN
alkej-442	27	6	methods	method	NOUN
alkej-442	27	7	is	be	AUX
alkej-442	27	8	the	the	DET
alkej-442	27	9	a	a	PROPN
alkej-442	27	10	*	*	NOUN
alkej-442	27	11	algorithm	algorithm	NOUN
alkej-442	27	12	.	.	PUNCT
alkej-442	28	1	it	it	PRON
alkej-442	28	2	is	be	AUX
alkej-442	28	3	a	a	DET
alkej-442	28	4	graph	graph	NOUN
alkej-442	28	5	,	,	PUNCT
alkej-442	28	6	heuristic	heuristic	ADJ
alkej-442	28	7	and	and	CCONJ
alkej-442	28	8	greedy	greedy	ADJ
alkej-442	28	9	search	search	NOUN
alkej-442	28	10	algorithm	algorithm	NOUN
alkej-442	28	11	,	,	PUNCT
alkej-442	28	12	that	that	PRON
alkej-442	28	13	means	mean	VERB
alkej-442	28	14	the	the	DET
alkej-442	28	15	determined	determined	ADJ
alkej-442	28	16	solution	solution	NOUN
alkej-442	28	17	is	be	AUX
alkej-442	28	18	approximated	approximate	VERB
alkej-442	28	19	not	not	PART
alkej-442	28	20	optimal	optimal	ADJ
alkej-442	28	21	(	(	PUNCT
alkej-442	28	22	it	it	PRON
alkej-442	28	23	is	be	AUX
alkej-442	28	24	best	well	ADV
alkej-442	28	25	-	-	PUNCT
alkej-442	28	26	first	first	ADJ
alkej-442	28	27	search	search	NOUN
alkej-442	28	28	)	)	PUNCT
alkej-442	29	1	[	[	X
alkej-442	29	2	10	10	NUM
alkej-442	29	3	]	]	PUNCT
alkej-442	29	4	.	.	PUNCT
alkej-442	30	1	the	the	DET
alkej-442	30	2	main	main	ADJ
alkej-442	30	3	advantage	advantage	NOUN
alkej-442	30	4	of	of	ADP
alkej-442	30	5	a	a	PRON
alkej-442	30	6	*	*	PUNCT
alkej-442	30	7	that	that	SCONJ
alkej-442	30	8	it	it	PRON
alkej-442	30	9	can	can	AUX
alkej-442	30	10	be	be	AUX
alkej-442	30	11	modified	modify	VERB
alkej-442	30	12	easily	easily	ADV
alkej-442	30	13	and	and	CCONJ
alkej-442	30	14	by	by	ADP
alkej-442	30	15	change	change	NOUN
alkej-442	30	16	the	the	DET
alkej-442	30	17	weights	weight	NOUN
alkej-442	30	18	of	of	ADP
alkej-442	30	19	the	the	DET
alkej-442	30	20	traversal	traversal	NOUN
alkej-442	30	21	costs	cost	NOUN
alkej-442	30	22	,	,	PUNCT
alkej-442	30	23	it	it	PRON
alkej-442	30	24	can	can	AUX
alkej-442	30	25	be	be	AUX
alkej-442	30	26	extended	extend	VERB
alkej-442	30	27	[	[	PUNCT
alkej-442	30	28	11	11	NUM
alkej-442	30	29	]	]	PUNCT
alkej-442	30	30	.	.	PUNCT
alkej-442	31	1	usually	usually	ADV
alkej-442	31	2	a	a	DET
alkej-442	31	3	*	*	ADJ
alkej-442	31	4	algorithm	algorithm	NOUN
alkej-442	31	5	is	be	AUX
alkej-442	31	6	applied	apply	VERB
alkej-442	31	7	to	to	PART
alkej-442	31	8	find	find	VERB
alkej-442	31	9	the	the	DET
alkej-442	31	10	path	path	NOUN
alkej-442	31	11	on	on	ADP
alkej-442	31	12	cartesian	cartesian	ADJ
alkej-442	31	13	w	w	NOUN
alkej-442	31	14	-	-	NOUN
alkej-442	31	15	space	space	NOUN
alkej-442	31	16	,	,	PUNCT
alkej-442	31	17	while	while	SCONJ
alkej-442	31	18	in	in	ADP
alkej-442	31	19	this	this	DET
alkej-442	31	20	paper	paper	NOUN
alkej-442	31	21	,	,	PUNCT
alkej-442	31	22	a	a	DET
alkej-442	31	23	different	different	ADJ
alkej-442	31	24	approach	approach	NOUN
alkej-442	31	25	adopted	adopt	VERB
alkej-442	31	26	by	by	ADP
alkej-442	31	27	the	the	DET
alkej-442	31	28	application	application	NOUN
alkej-442	31	29	of	of	ADP
alkej-442	31	30	a	a	DET
alkej-442	31	31	*	*	ADJ
alkej-442	31	32	algorithm	algorithm	NOUN
alkej-442	31	33	on	on	ADP
alkej-442	31	34	c	c	NOUN
alkej-442	31	35	-	-	PUNCT
alkej-442	31	36	space	space	NOUN
alkej-442	31	37	analysis	analysis	NOUN
alkej-442	31	38	,	,	PUNCT
alkej-442	31	39	which	which	PRON
alkej-442	31	40	includes	include	VERB
alkej-442	31	41	a	a	DET
alkej-442	31	42	modified	modify	VERB
alkej-442	31	43	derivation	derivation	NOUN
alkej-442	31	44	based	base	VERB
alkej-442	31	45	on	on	ADP
alkej-442	31	46	geometrical	geometrical	ADJ
alkej-442	31	47	analysis	analysis	NOUN
alkej-442	31	48	to	to	PART
alkej-442	31	49	find	find	VERB
alkej-442	31	50	the	the	DET
alkej-442	31	51	construction	construction	NOUN
alkej-442	31	52	of	of	ADP
alkej-442	31	53	cspace	cspace	NOUN
alkej-442	31	54	for	for	ADP
alkej-442	31	55	two	two	NUM
alkej-442	31	56	revolute	revolute	ADJ
alkej-442	31	57	joints	joint	NOUN
alkej-442	31	58	planar	planar	ADJ
alkej-442	31	59	robot	robot	NOUN
alkej-442	31	60	arm	arm	NOUN
alkej-442	31	61	.	.	PUNCT
alkej-442	32	1	2	2	X
alkej-442	32	2	.	.	X
alkej-442	32	3	modified	modify	VERB
alkej-442	32	4	c	c	NOUN
alkej-442	32	5	-	-	PUNCT
alkej-442	32	6	space	space	NOUN
alkej-442	32	7	derivation	derivation	NOUN
alkej-442	32	8	for	for	ADP
alkej-442	32	9	a	a	DET
alkej-442	32	10	manipulator	manipulator	NOUN
alkej-442	32	11	,	,	PUNCT
alkej-442	32	12	the	the	DET
alkej-442	32	13	space	space	NOUN
alkej-442	32	14	that	that	PRON
alkej-442	32	15	represented	represent	VERB
alkej-442	32	16	by	by	ADP
alkej-442	32	17	the	the	DET
alkej-442	32	18	variable	variable	ADJ
alkej-442	32	19	parameters	parameter	NOUN
alkej-442	32	20	of	of	ADP
alkej-442	32	21	joints	joint	NOUN
alkej-442	32	22	,	,	PUNCT
alkej-442	32	23	either	either	CCONJ
alkej-442	32	24	slide	slide	NOUN
alkej-442	32	25	position	position	NOUN
alkej-442	32	26	or	or	CCONJ
alkej-442	32	27	rotation	rotation	NOUN
alkej-442	32	28	angles	angle	NOUN
alkej-442	32	29	,	,	PUNCT
alkej-442	32	30	is	be	AUX
alkej-442	32	31	called	call	VERB
alkej-442	32	32	c	c	NOUN
alkej-442	32	33	-	-	NOUN
alkej-442	32	34	space	space	NOUN
alkej-442	32	35	.	.	PUNCT
alkej-442	33	1	it	it	PRON
alkej-442	33	2	includes	include	VERB
alkej-442	33	3	two	two	NUM
alkej-442	33	4	main	main	ADJ
alkej-442	33	5	regions	region	NOUN
alkej-442	33	6	:	:	PUNCT
alkej-442	33	7	c	c	X
alkej-442	33	8	-	-	PUNCT
alkej-442	33	9	free	free	ADJ
alkej-442	33	10	and	and	CCONJ
alkej-442	33	11	c	c	NOUN
alkej-442	33	12	-	-	PUNCT
alkej-442	33	13	obstacle	obstacle	NOUN
alkej-442	33	14	,	,	PUNCT
alkej-442	33	15	in	in	ADP
alkej-442	33	16	which	which	PRON
alkej-442	33	17	the	the	DET
alkej-442	33	18	second	second	ADJ
alkej-442	33	19	region	region	NOUN
alkej-442	33	20	is	be	AUX
alkej-442	33	21	a	a	DET
alkej-442	33	22	prohibitive	prohibitive	ADJ
alkej-442	33	23	because	because	SCONJ
alkej-442	33	24	it	it	PRON
alkej-442	33	25	represents	represent	VERB
alkej-442	33	26	collision	collision	NOUN
alkej-442	33	27	between	between	ADP
alkej-442	33	28	the	the	DET
alkej-442	33	29	robot	robot	NOUN
alkej-442	33	30	arm	arm	NOUN
alkej-442	33	31	and	and	CCONJ
alkej-442	33	32	obstacles	obstacle	NOUN
alkej-442	33	33	and	and	CCONJ
alkej-442	33	34	between	between	ADP
alkej-442	33	35	the	the	DET
alkej-442	33	36	links	link	NOUN
alkej-442	33	37	of	of	ADP
alkej-442	33	38	the	the	DET
alkej-442	33	39	robot	robot	NOUN
alkej-442	33	40	arm	arm	NOUN
alkej-442	34	1	[	[	X
alkej-442	34	2	4	4	NUM
alkej-442	34	3	]	]	PUNCT
alkej-442	34	4	.	.	PUNCT
alkej-442	35	1	the	the	DET
alkej-442	35	2	geometrical	geometrical	ADJ
alkej-442	35	3	representation	representation	NOUN
alkej-442	35	4	of	of	ADP
alkej-442	35	5	the	the	DET
alkej-442	35	6	obstacle	obstacle	NOUN
alkej-442	35	7	(	(	PUNCT
alkej-442	35	8	s	s	X
alkej-442	35	9	)	)	PUNCT
alkej-442	35	10	can	can	AUX
alkej-442	35	11	be	be	AUX
alkej-442	35	12	denoted	denote	VERB
alkej-442	35	13	as	as	ADP
alkej-442	35	14	�	�	PROPN
alkej-442	35	15	,	,	PUNCT
alkej-442	35	16	so	so	SCONJ
alkej-442	35	17	the	the	DET
alkej-442	35	18	configuration	configuration	NOUN
alkej-442	35	19	space	space	NOUN
alkej-442	35	20	obstacles	obstacle	NOUN
alkej-442	35	21	will	will	AUX
alkej-442	35	22	be	be	AUX
alkej-442	35	23	as	as	ADP
alkej-442	35	24	below	below	ADP
alkej-442	35	25	[	[	X
alkej-442	35	26	1	1	NUM
alkej-442	35	27	]	]	X
alkej-442	35	28	:	:	PUNCT
alkej-442	35	29	�	�	PROPN
alkej-442	35	30	�	�	PROPN
alkej-442	35	31	�	�	PROPN
alkej-442	35	32	�	�	PROPN
alkej-442	35	33	=	=	PROPN
alkej-442	35	34	{	{	PUNCT
alkej-442	35	35	:	:	PUNCT
alkej-442	35	36	�	�	PROPN
alkej-442	35	37	�	�	PROPN
alkej-442	35	38	∩	∩	ADJ
alkej-442	35	39	�	�	PROPN
alkej-442	35	40	≠	≠	PROPN
alkej-442	35	41	∅	∅	NOUN
alkej-442	35	42	}	}	PUNCT
alkej-442	35	43	…	…	PUNCT
alkej-442	35	44	�	�	NOUN
alkej-442	35	45	1	1	NUM
alkej-442	35	46	while	while	SCONJ
alkej-442	35	47	c	c	NOUN
alkej-442	35	48	-	-	PUNCT
alkej-442	35	49	free	free	ADJ
alkej-442	35	50	can	can	AUX
alkej-442	35	51	be	be	AUX
alkej-442	35	52	represented	represent	VERB
alkej-442	35	53	as	as	ADP
alkej-442	35	54	below	below	ADP
alkej-442	35	55	[	[	X
alkej-442	35	56	1	1	NUM
alkej-442	35	57	]	]	X
alkej-442	35	58	:	:	PUNCT
alkej-442	35	59	�	�	PROPN
alkej-442	35	60	�	�	PROPN
alkej-442	35	61	�	�	PROPN
alkej-442	35	62	�	�	PROPN
alkej-442	35	63	�	�	PROPN
alkej-442	35	64	=	=	PROPN
alkej-442	35	65	{	{	PUNCT
alkej-442	35	66	:	:	PUNCT
alkej-442	35	67	�	�	PROPN
alkej-442	35	68	�	�	PROPN
alkej-442	35	69	∩	∩	NOUN
alkej-442	35	70	�	�	PROPN
alkej-442	35	71	=	=	SYM
alkej-442	35	72	∅	∅	NOUN
alkej-442	35	73	}	}	PUNCT
alkej-442	35	74	…	…	PUNCT
alkej-442	35	75	�	�	NOUN
alkej-442	35	76	2	2	NUM
alkej-442	35	77	where	where	SCONJ
alkej-442	35	78	:	:	PUNCT
alkej-442	35	79	�	�	PROPN
alkej-442	35	80	�	�	PROPN
alkej-442	35	81	�	�	PROPN
alkej-442	35	82	�	�	PROPN
alkej-442	35	83	:	:	PUNCT
alkej-442	35	84	c	c	X
alkej-442	35	85	-	-	PUNCT
alkej-442	35	86	space	space	NOUN
alkej-442	35	87	obstacles	obstacle	NOUN
alkej-442	35	88	:	:	PUNCT
alkej-442	35	89	robot	robot	NOUN
alkej-442	35	90	configuration	configuration	NOUN
alkej-442	35	91	�	�	PROPN
alkej-442	35	92	�	�	PROPN
alkej-442	35	93	:	:	PUNCT
alkej-442	35	94	the	the	DET
alkej-442	35	95	set	set	NOUN
alkej-442	35	96	of	of	ADP
alkej-442	35	97	points	point	NOUN
alkej-442	35	98	of	of	ADP
alkej-442	35	99	the	the	DET
alkej-442	35	100	space	space	NOUN
alkej-442	35	101	confined	confine	VERB
alkej-442	35	102	by	by	ADP
alkej-442	35	103	the	the	DET
alkej-442	35	104	robot	robot	NOUN
alkej-442	35	105	at	at	ADP
alkej-442	35	106	configuration	configuration	NOUN
alkej-442	35	107	the	the	DET
alkej-442	35	108	c	c	NOUN
alkej-442	35	109	-	-	PUNCT
alkej-442	35	110	space	space	NOUN
alkej-442	35	111	as	as	ADP
alkej-442	35	112	overall	overall	ADJ
alkej-442	35	113	can	can	AUX
alkej-442	35	114	be	be	AUX
alkej-442	35	115	defined	define	VERB
alkej-442	35	116	as	as	ADP
alkej-442	35	117	[	[	X
alkej-442	35	118	1	1	NUM
alkej-442	35	119	]	]	X
alkej-442	35	120	:	:	PUNCT
alkej-442	35	121	�	�	PROPN
alkej-442	35	122	�	�	PROPN
alkej-442	35	123	�	�	PROPN
alkej-442	35	124	�	�	PROPN
alkej-442	35	125	�	�	PROPN
alkej-442	35	126	�	�	PROPN
alkej-442	35	127	=	=	SYM
alkej-442	35	128	�	�	PROPN
alkej-442	35	129	�	�	PROPN
alkej-442	35	130	�	�	PROPN
alkej-442	35	131	�	�	PROPN
alkej-442	35	132	∪	∪	PROPN
alkej-442	35	133	�	�	PROPN
alkej-442	35	134	�	�	PROPN
alkej-442	35	135	�	�	PROPN
alkej-442	35	136	�	�	PROPN
alkej-442	35	137	�	�	PROPN
alkej-442	35	138	…	…	SYM
alkej-442	35	139	�	�	PROPN
alkej-442	35	140	3	3	NUM
alkej-442	35	141	the	the	DET
alkej-442	35	142	mathematical	mathematical	ADJ
alkej-442	35	143	study	study	NOUN
alkej-442	35	144	of	of	ADP
alkej-442	35	145	the	the	DET
alkej-442	35	146	surface	surface	NOUN
alkej-442	35	147	properties	property	NOUN
alkej-442	35	148	,	,	PUNCT
alkej-442	35	149	which	which	PRON
alkej-442	35	150	are	be	AUX
alkej-442	35	151	do	do	AUX
alkej-442	35	152	not	not	PART
alkej-442	35	153	change	change	VERB
alkej-442	35	154	if	if	SCONJ
alkej-442	35	155	this	this	DET
alkej-442	35	156	surface	surface	NOUN
alkej-442	35	157	has	have	AUX
alkej-442	35	158	been	be	AUX
alkej-442	35	159	applied	apply	VERB
alkej-442	35	160	for	for	ADP
alkej-442	35	161	certain	certain	ADJ
alkej-442	35	162	deformations	deformation	NOUN
alkej-442	35	163	,	,	PUNCT
alkej-442	35	164	such	such	ADJ
alkej-442	35	165	as	as	ADP
alkej-442	35	166	bending	bend	VERB
alkej-442	35	167	or	or	CCONJ
alkej-442	35	168	stretching	stretching	NOUN
alkej-442	35	169	,	,	PUNCT
alkej-442	35	170	is	be	AUX
alkej-442	35	171	called	call	VERB
alkej-442	35	172	topology	topology	NOUN
alkej-442	35	173	of	of	ADP
alkej-442	35	174	space	space	NOUN
alkej-442	35	175	.	.	PUNCT
alkej-442	36	1	the	the	DET
alkej-442	36	2	topology	topology	NOUN
alkej-442	36	3	for	for	ADP
alkej-442	36	4	robot	robot	NOUN
alkej-442	36	5	arm	arm	NOUN
alkej-442	36	6	with	with	ADP
alkej-442	36	7	two	two	NUM
alkej-442	36	8	revolute	revolute	ADJ
alkej-442	36	9	joints	joint	NOUN
alkej-442	36	10	can	can	AUX
alkej-442	36	11	be	be	AUX
alkej-442	36	12	described	describe	VERB
alkej-442	36	13	as	as	ADP
alkej-442	36	14	[	[	X
alkej-442	36	15	12	12	NUM
alkej-442	36	16	]	]	X
alkej-442	36	17	:	:	PUNCT
alkej-442	36	18	�	�	PROPN
alkej-442	36	19	�	�	PROPN
alkej-442	36	20	∗	∗	NOUN
alkej-442	36	21	�	�	PROPN
alkej-442	36	22	�	�	PROPN
alkej-442	36	23	=	=	PUNCT
alkej-442	36	24	!	!	PUNCT
alkej-442	37	1	…	…	PUNCT
alkej-442	37	2	�	�	X
alkej-442	37	3	4	4	NUM
alkej-442	37	4	the	the	DET
alkej-442	37	5	above	above	ADJ
alkej-442	37	6	equation	equation	NOUN
alkej-442	37	7	means	mean	VERB
alkej-442	37	8	that	that	SCONJ
alkej-442	37	9	the	the	DET
alkej-442	37	10	c	c	NOUN
alkej-442	37	11	-	-	PUNCT
alkej-442	37	12	space	space	NOUN
alkej-442	37	13	for	for	ADP
alkej-442	37	14	two	two	NUM
alkej-442	37	15	revolute	revolute	ADJ
alkej-442	37	16	joints	joint	NOUN
alkej-442	37	17	robot	robot	NOUN
alkej-442	37	18	arm	arm	NOUN
alkej-442	37	19	is	be	AUX
alkej-442	37	20	a	a	DET
alkej-442	37	21	torus	torus	NOUN
alkej-442	37	22	(	(	PUNCT
alkej-442	37	23	with	with	ADP
alkej-442	37	24	no	no	DET
alkej-442	37	25	joint	joint	ADJ
alkej-442	37	26	limits	limit	NOUN
alkej-442	37	27	for	for	ADP
alkej-442	37	28	the	the	DET
alkej-442	37	29	joints	joint	NOUN
alkej-442	37	30	)	)	PUNCT
alkej-442	37	31	.	.	PUNCT
alkej-442	38	1	where	where	SCONJ
alkej-442	38	2	�	�	PROPN
alkej-442	38	3	�	�	PROPN
alkej-442	38	4	is	be	AUX
alkej-442	38	5	the	the	DET
alkej-442	38	6	circle	circle	NOUN
alkej-442	38	7	description	description	NOUN
alkej-442	38	8	,	,	PUNCT
alkej-442	38	9	and	and	CCONJ
alkej-442	38	10	!	!	PUNCT
alkej-442	38	11	is	be	AUX
alkej-442	38	12	the	the	DET
alkej-442	38	13	2	2	NUM
alkej-442	38	14	-	-	PUNCT
alkej-442	38	15	dimensional	dimensional	ADJ
alkej-442	38	16	torus	torus	NOUN
alkej-442	38	17	surface	surface	NOUN
alkej-442	39	1	[	[	X
alkej-442	39	2	12	12	NUM
alkej-442	39	3	]	]	PUNCT
alkej-442	39	4	.	.	PUNCT
alkej-442	40	1	each	each	DET
alkej-442	40	2	joint	joint	ADJ
alkej-442	40	3	angles	angle	NOUN
alkej-442	40	4	pair	pair	NOUN
alkej-442	40	5	is	be	AUX
alkej-442	40	6	corresponded	correspond	VERB
alkej-442	40	7	by	by	ADP
alkej-442	40	8	a	a	DET
alkej-442	40	9	unique	unique	ADJ
alkej-442	40	10	point	point	NOUN
alkej-442	40	11	on	on	ADP
alkej-442	40	12	the	the	DET
alkej-442	40	13	torus	torus	NOUN
alkej-442	40	14	.	.	PUNCT
alkej-442	41	1	(	(	PUNCT
alkej-442	41	2	a	a	X
alkej-442	41	3	)	)	PUNCT
alkej-442	41	4	2r	2r	NUM
alkej-442	41	5	robot	robot	NOUN
alkej-442	41	6	arm	arm	NOUN
alkej-442	41	7	(	(	PUNCT
alkej-442	41	8	b)2torus	b)2torus	PROPN
alkej-442	41	9	(	(	PUNCT
alkej-442	41	10	c)sample	c)sample	PROPN
alkej-442	41	11	representation	representation	NOUN
alkej-442	41	12	fig	fig	NOUN
alkej-442	41	13	.	.	PUNCT
alkej-442	42	1	1	1	X
alkej-442	42	2	.	.	X
alkej-442	43	1	topologically	topologically	ADJ
alkej-442	43	2	representation	representation	NOUN
alkej-442	43	3	of	of	ADP
alkej-442	43	4	the	the	DET
alkej-442	43	5	2dimensional	2dimensional	PROPN
alkej-442	43	6	c	c	NOUN
alkej-442	43	7	-	-	PUNCT
alkej-442	43	8	space	space	NOUN
alkej-442	43	9	[	[	X
alkej-442	43	10	12	12	NUM
alkej-442	43	11	]	]	PUNCT
alkej-442	43	12	.	.	PUNCT
alkej-442	44	1	to	to	PART
alkej-442	44	2	find	find	VERB
alkej-442	44	3	the	the	DET
alkej-442	44	4	mapping	mapping	NOUN
alkej-442	44	5	of	of	ADP
alkej-442	44	6	c	c	NOUN
alkej-442	44	7	-	-	PUNCT
alkej-442	44	8	space	space	NOUN
alkej-442	44	9	,	,	PUNCT
alkej-442	44	10	there	there	PRON
alkej-442	44	11	are	be	VERB
alkej-442	44	12	some	some	DET
alkej-442	44	13	basic	basic	ADJ
alkej-442	44	14	shapes	shape	NOUN
alkej-442	44	15	of	of	ADP
alkej-442	44	16	the	the	DET
alkej-442	44	17	obstacle(s	obstacle(s	NOUN
alkej-442	44	18	)	)	PUNCT
alkej-442	44	19	will	will	AUX
alkej-442	44	20	be	be	AUX
alkej-442	44	21	analyzed	analyze	VERB
alkej-442	44	22	.	.	PUNCT
alkej-442	45	1	2.1	2.1	NUM
alkej-442	45	2	.	.	PUNCT
alkej-442	46	1	c	c	X
alkej-442	46	2	-	-	PUNCT
alkej-442	46	3	space	space	NOUN
alkej-442	46	4	construction	construction	NOUN
alkej-442	46	5	for	for	ADP
alkej-442	46	6	point	point	NOUN
alkej-442	46	7	obstacle	obstacle	NOUN
alkej-442	46	8	mathematically	mathematically	ADV
alkej-442	46	9	,	,	PUNCT
alkej-442	46	10	the	the	DET
alkej-442	46	11	simplest	simple	ADJ
alkej-442	46	12	obstacle	obstacle	NOUN
alkej-442	46	13	may	may	AUX
alkej-442	46	14	be	be	AUX
alkej-442	46	15	found	find	VERB
alkej-442	46	16	in	in	ADP
alkej-442	46	17	the	the	DET
alkej-442	46	18	workspace	workspace	NOUN
alkej-442	46	19	is	be	AUX
alkej-442	46	20	the	the	DET
alkej-442	46	21	point	point	NOUN
alkej-442	46	22	.	.	PUNCT
alkej-442	47	1	in	in	ADP
alkej-442	47	2	this	this	DET
alkej-442	47	3	paper	paper	NOUN
alkej-442	47	4	,	,	PUNCT
alkej-442	47	5	a	a	DET
alkej-442	47	6	modified	modify	VERB
alkej-442	47	7	derivation	derivation	NOUN
alkej-442	47	8	for	for	ADP
alkej-442	47	9	c	c	NOUN
alkej-442	47	10	-	-	PUNCT
alkej-442	47	11	space	space	NOUN
alkej-442	47	12	analysis	analysis	NOUN
alkej-442	47	13	will	will	AUX
alkej-442	47	14	be	be	AUX
alkej-442	47	15	discussed	discuss	VERB
alkej-442	47	16	,	,	PUNCT
alkej-442	47	17	in	in	ADP
alkej-442	47	18	which	which	PRON
alkej-442	47	19	the	the	DET
alkej-442	47	20	collision	collision	NOUN
alkej-442	47	21	checking	check	VERB
alkej-442	47	22	based	base	VERB
alkej-442	47	23	on	on	ADP
alkej-442	47	24	geometrical	geometrical	ADJ
alkej-442	47	25	analysis	analysis	NOUN
alkej-442	47	26	.	.	PUNCT
alkej-442	48	1	1	1	NUM
alkej-442	48	2	)	)	PUNCT
alkej-442	48	3	first	first	ADJ
alkej-442	48	4	link	link	NOUN
alkej-442	48	5	-	-	PUNCT
alkej-442	48	6	point	point	NOUN
alkej-442	48	7	obstacle	obstacle	NOUN
alkej-442	48	8	a	a	DET
alkej-442	48	9	collision	collision	NOUN
alkej-442	48	10	between	between	ADP
alkej-442	48	11	the	the	DET
alkej-442	48	12	first	first	ADJ
alkej-442	48	13	link	link	NOUN
alkej-442	48	14	and	and	CCONJ
alkej-442	48	15	the	the	DET
alkej-442	48	16	point	point	NOUN
alkej-442	48	17	obstacle	obstacle	NOUN
alkej-442	48	18	will	will	AUX
alkej-442	48	19	acquire	acquire	VERB
alkej-442	48	20	if	if	SCONJ
alkej-442	48	21	the	the	DET
alkej-442	48	22	following	follow	VERB
alkej-442	48	23	condition	condition	NOUN
alkej-442	48	24	achieve	achieve	VERB
alkej-442	48	25	:	:	PUNCT
alkej-442	48	26	#	#	SYM
alkej-442	48	27	�	�	PROPN
alkej-442	48	28	�	�	NOUN
alkej-442	48	29	�	�	NOUN
alkej-442	48	30	=	=	PUNCT
alkej-442	48	31	#	#	SYM
alkej-442	48	32	�	�	PROPN
alkej-442	48	33	$	$	SYM
alkej-442	48	34	%	%	NOUN
alkej-442	48	35	&	&	CCONJ
alkej-442	48	36	'	'	PUNCT
alkej-442	48	37	�	�	PROPN
alkej-442	48	38	≥	≥	PROPN
alkej-442	48	39	)	)	PUNCT
alkej-442	48	40	$	$	SYM
alkej-442	48	41	%	%	NOUN
alkej-442	48	42	&	&	CCONJ
alkej-442	48	43	*	*	PROPN
alkej-442	48	44	�	�	PROPN
alkej-442	48	45	≥	≥	NUM
alkej-442	48	46	%	%	NOUN
alkej-442	48	47	…	…	PUNCT
alkej-442	48	48	�	�	NOUN
alkej-442	48	49	5	5	NUM
alkej-442	49	1	where	where	SCONJ
alkej-442	49	2	:	:	PUNCT
alkej-442	49	3	d	d	X
alkej-442	49	4	�	�	PROPN
alkej-442	49	5	�	�	PROPN
alkej-442	49	6	�	�	PROPN
alkej-442	49	7	=	=	SYM
alkej-442	49	8	-./	-./	X
alkej-442	49	9	0./	0./	NOUN
alkej-442	49	10	;	;	PUNCT
alkej-442	49	11	#	#	SYM
alkej-442	49	12	�	�	PROPN
alkej-442	49	13	�	�	PROPN
alkej-442	49	14	�	�	PROPN
alkej-442	49	15	=	=	PROPN
alkej-442	49	16	tan	tan	PROPN
alkej-442	49	17	.	.	PUNCT
alkej-442	49	18	�	�	PROPN
alkej-442	49	19	0	0	NUM
alkej-442	49	20	;	;	PUNCT
alkej-442	49	21	…	…	PUNCT
alkej-442	49	22	�	�	PROPN
alkej-442	49	23	6	6	NUM
alkej-442	49	24	'	'	SYM
alkej-442	49	25	�	�	PROPN
alkej-442	49	26	,	,	PUNCT
alkej-442	49	27	*	*	ADJ
alkej-442	49	28	�	�	PROPN
alkej-442	49	29	:	:	PUNCT
alkej-442	49	30	first	first	PROPN
alkej-442	49	31	link	link	NOUN
alkej-442	49	32	end	end	NOUN
alkej-442	49	33	effector	effector	NOUN
alkej-442	49	34	coordinate	coordinate	NOUN
alkej-442	49	35	)	)	PUNCT
alkej-442	49	36	,	,	PUNCT
alkej-442	49	37	%	%	INTJ
alkej-442	49	38	:	:	PUNCT
alkej-442	49	39	point	point	NOUN
alkej-442	49	40	obstacle	obstacle	NOUN
alkej-442	49	41	coordinate	coordinate	NOUN
alkej-442	49	42	firas	firas	PROPN
alkej-442	49	43	a.	a.	PROPN
alkej-442	49	44	raheem	raheem	PROPN
alkej-442	49	45	al	al	PROPN
alkej-442	49	46	-	-	PUNCT
alkej-442	49	47	khwarizmi	khwarizmi	PROPN
alkej-442	49	48	engineering	engineering	NOUN
alkej-442	49	49	journal	journal	PROPN
alkej-442	49	50	,	,	PUNCT
alkej-442	49	51	vol	vol	NOUN
alkej-442	49	52	.	.	PROPN
alkej-442	49	53	13	13	NUM
alkej-442	49	54	,	,	PUNCT
alkej-442	49	55	no	no	INTJ
alkej-442	49	56	.	.	NOUN
alkej-442	49	57	4	4	NUM
alkej-442	49	58	,	,	PUNCT
alkej-442	49	59	p.p	p.p	PROPN
alkej-442	49	60	.	.	NOUN
alkej-442	49	61	124136	124136	NUM
alkej-442	49	62	(	(	PUNCT
alkej-442	49	63	2017	2017	NUM
alkej-442	49	64	)	)	PUNCT
alkej-442	49	65	126	126	NUM
alkej-442	49	66	2ᶿ	2ᶿ	NUM
alkej-442	49	67	point	point	NOUN
alkej-442	49	68	obstacle	obstacle	NOUN
alkej-442	49	69	first	first	ADV
alkej-442	49	70	link	link	VERB
alkej-442	49	71	reachability	reachability	NOUN
alkej-442	49	72	circle	circle	NOUN
alkej-442	49	73	1ᶿ	1ᶿ	PROPN
alkej-442	49	74	obsᶿ	obsᶿ	PROPN
alkej-442	49	75	fig	fig	NOUN
alkej-442	49	76	.	.	PUNCT
alkej-442	50	1	2	2	X
alkej-442	50	2	.	.	X
alkej-442	50	3	the	the	DET
alkej-442	50	4	first	first	ADJ
alkej-442	50	5	link	link	NOUN
alkej-442	50	6	with	with	ADP
alkej-442	50	7	the	the	DET
alkej-442	50	8	point	point	NOUN
alkej-442	50	9	obstacle	obstacle	NOUN
alkej-442	50	10	geometrical	geometrical	ADJ
alkej-442	50	11	analysis	analysis	NOUN
alkej-442	50	12	.	.	PUNCT
alkej-442	51	1	for	for	ADP
alkej-442	51	2	fig	fig	NOUN
alkej-442	51	3	.	.	PUNCT
alkej-442	52	1	2	2	NUM
alkej-442	52	2	,	,	PUNCT
alkej-442	52	3	the	the	DET
alkej-442	52	4	coordinate	coordinate	NOUN
alkej-442	52	5	of	of	ADP
alkej-442	52	6	point	point	NOUN
alkej-442	52	7	obstacle	obstacle	NOUN
alkej-442	52	8	is	be	AUX
alkej-442	52	9	inside	inside	ADP
alkej-442	52	10	the	the	DET
alkej-442	52	11	first	first	ADJ
alkej-442	52	12	link	link	NOUN
alkej-442	52	13	reachability	reachability	NOUN
alkej-442	52	14	circle	circle	NOUN
alkej-442	52	15	.	.	PUNCT
alkej-442	53	1	if	if	SCONJ
alkej-442	53	2	the	the	DET
alkej-442	53	3	slope	slope	NOUN
alkej-442	53	4	of	of	ADP
alkej-442	53	5	the	the	DET
alkej-442	53	6	first	first	ADJ
alkej-442	53	7	link	link	NOUN
alkej-442	53	8	equal	equal	ADJ
alkej-442	53	9	to	to	ADP
alkej-442	53	10	the	the	DET
alkej-442	53	11	slope	slope	NOUN
alkej-442	53	12	of	of	ADP
alkej-442	53	13	the	the	DET
alkej-442	53	14	point	point	NOUN
alkej-442	53	15	obstacle	obstacle	NOUN
alkej-442	53	16	,	,	PUNCT
alkej-442	53	17	the	the	DET
alkej-442	53	18	collision	collision	NOUN
alkej-442	53	19	is	be	AUX
alkej-442	53	20	acquire	acquire	NOUN
alkej-442	53	21	.	.	PUNCT
alkej-442	54	1	2	2	X
alkej-442	54	2	.	.	X
alkej-442	54	3	second	second	ADJ
alkej-442	54	4	link	link	NOUN
alkej-442	54	5	-	-	PUNCT
alkej-442	54	6	point	point	NOUN
alkej-442	54	7	obstacle	obstacle	NOUN
alkej-442	54	8	the	the	DET
alkej-442	54	9	following	follow	VERB
alkej-442	54	10	mathematical	mathematical	ADJ
alkej-442	54	11	derivation	derivation	NOUN
alkej-442	54	12	explains	explain	VERB
alkej-442	54	13	the	the	DET
alkej-442	54	14	condition	condition	NOUN
alkej-442	54	15	of	of	ADP
alkej-442	54	16	collision	collision	NOUN
alkej-442	54	17	between	between	ADP
alkej-442	54	18	the	the	DET
alkej-442	54	19	second	second	ADJ
alkej-442	54	20	link	link	NOUN
alkej-442	54	21	and	and	CCONJ
alkej-442	54	22	point	point	NOUN
alkej-442	54	23	obstacle	obstacle	NOUN
alkej-442	54	24	:	:	PUNCT
alkej-442	54	25	7	7	NUM
alkej-442	54	26	=	=	SYM
alkej-442	54	27	8	8	NUM
alkej-442	54	28	−	−	NOUN
alkej-442	54	29	#	#	NOUN
alkej-442	54	30	!	!	PUNCT
alkej-442	54	31	…	…	PUNCT
alkej-442	54	32	�	�	NOUN
alkej-442	54	33	7	7	NUM
alkej-442	54	34	;	;	PUNCT
alkej-442	54	35	=	=	SYM
alkej-442	54	36	#	#	SYM
alkej-442	54	37	�	�	PROPN
alkej-442	54	38	�	�	PROPN
alkej-442	54	39	�	�	PROPN
alkej-442	54	40	−	−	PROPN
alkej-442	54	41	#	#	SYM
alkej-442	54	42	�	�	PROPN
alkej-442	54	43	…	…	PUNCT
alkej-442	54	44	�	�	NOUN
alkej-442	54	45	8	8	NUM
alkej-442	54	46	by	by	ADP
alkej-442	54	47	sine	sine	NOUN
alkej-442	54	48	's	's	PART
alkej-442	54	49	law	law	NOUN
alkej-442	54	50	:	:	PUNCT
alkej-442	55	1	=	=	X
alkej-442	55	2	>	>	X
alkej-442	55	3	?	?	PUNCT
alkej-442	55	4	@a	@a	PROPN
alkej-442	55	5	b	b	X
alkej-442	55	6	=	=	X
alkej-442	55	7	cdef	cdef	NOUN
alkej-442	55	8	?	?	PUNCT
alkej-442	56	1	@a	@a	PROPN
alkej-442	56	2	g	g	PROPN
alkej-442	56	3	h	h	NOUN
alkej-442	56	4	=	=	NOUN
alkej-442	56	5	sin	sin	NOUN
alkej-442	56	6	.	.	PUNCT
alkej-442	56	7	�	�	X
alkej-442	57	1	=	=	SYM
alkej-442	57	2	>	>	X
alkej-442	57	3	∗?@a	∗?@a	X
alkej-442	57	4	g	g	PROPN
alkej-442	57	5	cdef	cdef	NOUN
alkej-442	57	6	…	…	PUNCT
alkej-442	57	7	�	�	NOUN
alkej-442	57	8	9	9	NUM
alkej-442	57	9	while	while	NOUN
alkej-442	57	10	,	,	PUNCT
alkej-442	57	11	l7	l7	PROPN
alkej-442	57	12	+	+	X
alkej-442	57	13	;	;	PUNCT
alkej-442	57	14	+	+	CCONJ
alkej-442	57	15	hn	hn	PROPN
alkej-442	57	16	=	=	SYM
alkej-442	57	17	8	8	NUM
alkej-442	57	18	…	…	PUNCT
alkej-442	57	19	�	�	NOUN
alkej-442	57	20	10	10	NUM
alkej-442	57	21	there	there	PRON
alkej-442	57	22	is	be	VERB
alkej-442	57	23	a	a	DET
alkej-442	57	24	collision	collision	NOUN
alkej-442	57	25	between	between	ADP
alkej-442	57	26	the	the	DET
alkej-442	57	27	robot	robot	NOUN
alkej-442	57	28	and	and	CCONJ
alkej-442	57	29	the	the	DET
alkej-442	57	30	point	point	NOUN
alkej-442	57	31	obstacle	obstacle	NOUN
alkej-442	57	32	,	,	PUNCT
alkej-442	57	33	where	where	SCONJ
alkej-442	57	34	(	(	PUNCT
alkej-442	57	35	7	7	NUM
alkej-442	57	36	,	,	PUNCT
alkej-442	57	37	;	;	PUNCT
alkej-442	57	38	and	and	CCONJ
alkej-442	57	39	h	h	X
alkej-442	57	40	)	)	PUNCT
alkej-442	57	41	are	be	AUX
alkej-442	57	42	the	the	DET
alkej-442	57	43	angles	angle	NOUN
alkej-442	57	44	used	use	VERB
alkej-442	57	45	for	for	ADP
alkej-442	57	46	the	the	DET
alkej-442	57	47	analysis	analysis	NOUN
alkej-442	57	48	as	as	SCONJ
alkej-442	57	49	shown	show	VERB
alkej-442	57	50	in	in	ADP
alkej-442	57	51	fig	fig	NOUN
alkej-442	57	52	.	.	PUNCT
alkej-442	58	1	3	3	X
alkej-442	58	2	.	.	X
alkej-442	58	3	point	point	NOUN
alkej-442	58	4	obstacle	obstacle	PROPN
alkej-442	58	5	fig	fig	NOUN
alkej-442	58	6	.	.	PUNCT
alkej-442	59	1	3	3	X
alkej-442	59	2	.	.	X
alkej-442	59	3	the	the	DET
alkej-442	59	4	second	second	ADJ
alkej-442	59	5	link	link	NOUN
alkej-442	59	6	with	with	ADP
alkej-442	59	7	the	the	DET
alkej-442	59	8	point	point	NOUN
alkej-442	59	9	obstacle	obstacle	NOUN
alkej-442	59	10	geometrical	geometrical	ADJ
alkej-442	59	11	analysis	analysis	NOUN
alkej-442	59	12	.	.	PUNCT
alkej-442	60	1	these	these	DET
alkej-442	60	2	collision	collision	NOUN
alkej-442	60	3	conditions	condition	NOUN
alkej-442	60	4	are	be	AUX
alkej-442	60	5	applied	apply	VERB
alkej-442	60	6	for	for	ADP
alkej-442	60	7	any	any	DET
alkej-442	60	8	position	position	NOUN
alkej-442	60	9	of	of	ADP
alkej-442	60	10	the	the	DET
alkej-442	60	11	point	point	NOUN
alkej-442	60	12	obstacle	obstacle	NOUN
alkej-442	60	13	inside	inside	ADP
alkej-442	60	14	first	first	ADJ
alkej-442	60	15	or	or	CCONJ
alkej-442	60	16	second	second	ADJ
alkej-442	60	17	link	link	NOUN
alkej-442	60	18	,	,	PUNCT
alkej-442	60	19	not	not	PART
alkej-442	60	20	only	only	ADV
alkej-442	60	21	at	at	ADP
alkej-442	60	22	the	the	DET
alkej-442	60	23	end	end	NOUN
alkej-442	60	24	effector	effector	NOUN
alkej-442	60	25	for	for	ADP
alkej-442	60	26	each	each	PRON
alkej-442	60	27	of	of	ADP
alkej-442	60	28	them	they	PRON
alkej-442	60	29	.	.	PUNCT
alkej-442	61	1	2.2	2.2	NUM
alkej-442	61	2	.	.	PUNCT
alkej-442	62	1	c	c	X
alkej-442	62	2	-	-	PUNCT
alkej-442	62	3	space	space	NOUN
alkej-442	62	4	construction	construction	NOUN
alkej-442	62	5	for	for	ADP
alkej-442	62	6	line	line	NOUN
alkej-442	62	7	obstacle	obstacle	NOUN
alkej-442	62	8	the	the	DET
alkej-442	62	9	robot	robot	NOUN
alkej-442	62	10	links	link	NOUN
alkej-442	62	11	can	can	AUX
alkej-442	62	12	be	be	AUX
alkej-442	62	13	handled	handle	VERB
alkej-442	62	14	as	as	ADP
alkej-442	62	15	two	two	NUM
alkej-442	62	16	lines	line	NOUN
alkej-442	62	17	,	,	PUNCT
alkej-442	62	18	with	with	ADP
alkej-442	62	19	regardless	regardless	ADV
alkej-442	62	20	of	of	ADP
alkej-442	62	21	their	their	PRON
alkej-442	62	22	width	width	NOUN
alkej-442	62	23	.	.	PUNCT
alkej-442	63	1	in	in	ADP
alkej-442	63	2	our	our	PRON
alkej-442	63	3	research	research	NOUN
alkej-442	63	4	,	,	PUNCT
alkej-442	63	5	the	the	DET
alkej-442	63	6	modified	modified	ADJ
alkej-442	63	7	derivation	derivation	NOUN
alkej-442	63	8	of	of	ADP
alkej-442	63	9	c	c	NOUN
alkej-442	63	10	-	-	PUNCT
alkej-442	63	11	space	space	NOUN
alkej-442	63	12	analysis	analysis	NOUN
alkej-442	63	13	includes	include	VERB
alkej-442	63	14	two	two	NUM
alkej-442	63	15	analyses	analysis	NOUN
alkej-442	63	16	for	for	ADP
alkej-442	63	17	checking	check	VERB
alkej-442	63	18	collision	collision	NOUN
alkej-442	63	19	.	.	PUNCT
alkej-442	64	1	analysis	analysis	NOUN
alkej-442	64	2	one	one	NUM
alkej-442	64	3	to	to	PART
alkej-442	64	4	implement	implement	VERB
alkej-442	64	5	the	the	DET
alkej-442	64	6	checking	checking	NOUN
alkej-442	64	7	,	,	PUNCT
alkej-442	64	8	there	there	PRON
alkej-442	64	9	are	be	VERB
alkej-442	64	10	several	several	ADJ
alkej-442	64	11	constraints	constraint	NOUN
alkej-442	64	12	can	can	AUX
alkej-442	64	13	be	be	AUX
alkej-442	64	14	put	put	VERB
alkej-442	64	15	:	:	PUNCT
alkej-442	64	16	1	1	NUM
alkej-442	64	17	)	)	PUNCT
alkej-442	64	18	first	first	ADV
alkej-442	64	19	link	link	NOUN
alkej-442	64	20	–	–	PUNCT
alkej-442	64	21	line	line	NOUN
alkej-442	64	22	collision	collision	NOUN
alkej-442	64	23	in	in	ADP
alkej-442	64	24	fig	fig	NOUN
alkej-442	64	25	.	.	PUNCT
alkej-442	65	1	4	4	NUM
alkej-442	65	2	,	,	PUNCT
alkej-442	65	3	if	if	SCONJ
alkej-442	65	4	the	the	DET
alkej-442	65	5	first	first	ADJ
alkej-442	65	6	joint	joint	ADJ
alkej-442	65	7	angle	angle	NOUN
alkej-442	65	8	,	,	PUNCT
alkej-442	65	9	at	at	ADP
alkej-442	65	10	specific	specific	ADJ
alkej-442	65	11	configurations	configuration	NOUN
alkej-442	65	12	,	,	PUNCT
alkej-442	65	13	has	have	VERB
alkej-442	65	14	values	value	NOUN
alkej-442	65	15	locate	locate	ADJ
alkej-442	65	16	at	at	ADP
alkej-442	65	17	the	the	DET
alkej-442	65	18	range	range	NOUN
alkej-442	65	19	of	of	ADP
alkej-442	65	20	angles	angle	NOUN
alkej-442	65	21	of	of	ADP
alkej-442	65	22	end	end	NOUN
alkej-442	65	23	points	point	NOUN
alkej-442	65	24	for	for	ADP
alkej-442	65	25	line	line	NOUN
alkej-442	65	26	obstacle	obstacle	NOUN
alkej-442	65	27	,	,	PUNCT
alkej-442	65	28	this	this	PRON
alkej-442	65	29	may	may	AUX
alkej-442	65	30	cause	cause	VERB
alkej-442	65	31	collision	collision	NOUN
alkej-442	65	32	between	between	ADP
alkej-442	65	33	the	the	DET
alkej-442	65	34	first	first	ADJ
alkej-442	65	35	link	link	NOUN
alkej-442	65	36	and	and	CCONJ
alkej-442	65	37	the	the	DET
alkej-442	65	38	obstacle	obstacle	NOUN
alkej-442	65	39	:	:	PUNCT
alkej-442	65	40	#	#	SYM
alkej-442	65	41	p	p	PROPN
alkej-442	65	42	�	�	PROPN
alkej-442	65	43	≤	≤	PROPN
alkej-442	65	44	#	#	SYM
alkej-442	65	45	�	�	NOUN
alkej-442	65	46	≤	≤	NOUN
alkej-442	65	47	#	#	SYM
alkej-442	65	48	p	p	NOUN
alkej-442	65	49	!	!	PUNCT
alkej-442	66	1	…	…	PUNCT
alkej-442	66	2	�	�	NOUN
alkej-442	66	3	11	11	NUM
alkej-442	66	4	where	where	SCONJ
alkej-442	66	5	:	:	PUNCT
alkej-442	66	6	#	#	ADJ
alkej-442	66	7	pr	pr	NOUN
alkej-442	66	8	:	:	PUNCT
alkej-442	66	9	the	the	DET
alkej-442	66	10	angles	angle	NOUN
alkej-442	66	11	of	of	ADP
alkej-442	66	12	line	line	NOUN
alkej-442	66	13	obstacle	obstacle	NOUN
alkej-442	66	14	end	end	VERB
alkej-442	66	15	points	point	NOUN
alkej-442	66	16	,	,	PUNCT
alkej-442	66	17	i	i	PRON
alkej-442	66	18	=	=	NOUN
alkej-442	66	19	1	1	NUM
alkej-442	66	20	,	,	PUNCT
alkej-442	66	21	2	2	NUM
alkej-442	66	22	.	.	PUNCT
alkej-442	67	1	it	it	PRON
alkej-442	67	2	is	be	AUX
alkej-442	67	3	important	important	ADJ
alkej-442	67	4	to	to	PART
alkej-442	67	5	take	take	VERB
alkej-442	67	6	in	in	ADP
alkej-442	67	7	consideration	consideration	NOUN
alkej-442	67	8	that	that	SCONJ
alkej-442	67	9	the	the	DET
alkej-442	67	10	length	length	NOUN
alkej-442	67	11	of	of	ADP
alkej-442	67	12	the	the	DET
alkej-442	67	13	first	first	ADJ
alkej-442	67	14	link	link	NOUN
alkej-442	67	15	equal	equal	ADJ
alkej-442	67	16	or	or	CCONJ
alkej-442	67	17	more	more	ADJ
alkej-442	67	18	than	than	ADP
alkej-442	67	19	the	the	DET
alkej-442	67	20	distance	distance	NOUN
alkej-442	67	21	between	between	ADP
alkej-442	67	22	the	the	DET
alkej-442	67	23	robot	robot	NOUN
alkej-442	67	24	's	's	PART
alkej-442	67	25	base	base	NOUN
alkej-442	67	26	and	and	CCONJ
alkej-442	67	27	the	the	DET
alkej-442	67	28	line	line	NOUN
alkej-442	67	29	obstacle	obstacle	NOUN
alkej-442	67	30	,	,	PUNCT
alkej-442	67	31	as	as	ADP
alkej-442	67	32	in	in	ADP
alkej-442	67	33	the	the	DET
alkej-442	67	34	following	follow	VERB
alkej-442	67	35	equation	equation	NOUN
alkej-442	67	36	:	:	PUNCT
alkej-442	67	37	s	s	X
alkej-442	67	38	'	'	VERB
alkej-442	67	39	�	�	PROPN
alkej-442	67	40	,	,	PUNCT
alkej-442	67	41	*	*	PUNCT
alkej-442	67	42	�	�	PROPN
alkej-442	67	43	t	t	PROPN
alkej-442	67	44	≥	≥	NOUN
alkej-442	67	45	u'=v	u'=v	ADJ
alkej-442	67	46	,	,	PUNCT
alkej-442	67	47	*	*	PUNCT
alkej-442	67	48	=	=	X
alkej-442	67	49	vw	vw	X
alkej-442	67	50	…	…	PUNCT
alkej-442	67	51	�	�	PROPN
alkej-442	67	52	12	12	NUM
alkej-442	67	53	s	s	NOUN
alkej-442	67	54	'	'	PRON
alkej-442	67	55	�	�	PROPN
alkej-442	67	56	,	,	PUNCT
alkej-442	67	57	*	*	PUNCT
alkej-442	67	58	�	�	PROPN
alkej-442	67	59	t	t	PROPN
alkej-442	67	60	:	:	PUNCT
alkej-442	67	61	the	the	DET
alkej-442	67	62	coordinate	coordinate	NOUN
alkej-442	67	63	of	of	ADP
alkej-442	67	64	first	first	ADJ
alkej-442	67	65	link	link	NOUN
alkej-442	67	66	end	end	NOUN
alkej-442	67	67	effector	effector	NOUN
alkej-442	67	68	s'=v	s'=v	PROPN
alkej-442	67	69	,	,	PUNCT
alkej-442	67	70	*	*	PUNCT
alkej-442	67	71	=	=	ADJ
alkej-442	67	72	vt	vt	ADJ
alkej-442	67	73	:	:	PUNCT
alkej-442	67	74	matrix	matrix	NOUN
alkej-442	67	75	of	of	ADP
alkej-442	67	76	line	line	NOUN
alkej-442	67	77	obstacle	obstacle	NOUN
alkej-442	67	78	points	point	VERB
alkej-442	67	79	j=1	j=1	PROPN
alkej-442	67	80	,	,	PUNCT
alkej-442	67	81	2	2	NUM
alkej-442	67	82	,	,	PUNCT
alkej-442	67	83	…	…	PUNCT
alkej-442	67	84	,	,	PUNCT
alkej-442	67	85	number	number	NOUN
alkej-442	67	86	of	of	ADP
alkej-442	67	87	line	line	NOUN
alkej-442	67	88	obstacle	obstacle	NOUN
alkej-442	67	89	points	point	NOUN
alkej-442	67	90	(	(	PUNCT
alkej-442	67	91	a	a	PRON
alkej-442	67	92	)	)	PUNCT
alkej-442	67	93	horizontal	horizontal	ADJ
alkej-442	67	94	line	line	NOUN
alkej-442	67	95	(	(	PUNCT
alkej-442	67	96	b	b	NOUN
alkej-442	67	97	)	)	PUNCT
alkej-442	67	98	vertical	vertical	ADJ
alkej-442	67	99	line	line	NOUN
alkej-442	67	100	(	(	PUNCT
alkej-442	67	101	c	c	NOUN
alkej-442	67	102	)	)	PUNCT
alkej-442	67	103	sloping	slope	VERB
alkej-442	67	104	line	line	NOUN
alkej-442	67	105	fig	fig	NOUN
alkej-442	67	106	.	.	PUNCT
alkej-442	68	1	4	4	X
alkej-442	68	2	.	.	NUM
alkej-442	68	3	cases	case	NOUN
alkej-442	68	4	of	of	ADP
alkej-442	68	5	first	first	ADJ
alkej-442	68	6	link	link	NOUN
alkej-442	68	7	–	–	PUNCT
alkej-442	68	8	line	line	NOUN
alkej-442	68	9	obstacle	obstacle	NOUN
alkej-442	68	10	collision	collision	NOUN
alkej-442	68	11	.	.	PUNCT
alkej-442	69	1	1	1	NUM
alkej-442	69	2	)	)	PUNCT
alkej-442	69	3	second	second	ADJ
alkej-442	69	4	link	link	NOUN
alkej-442	69	5	–	–	PUNCT
alkej-442	69	6	line	line	NOUN
alkej-442	69	7	collision	collision	NOUN
alkej-442	69	8	as	as	SCONJ
alkej-442	69	9	it	it	PRON
alkej-442	69	10	was	be	AUX
alkej-442	69	11	done	do	VERB
alkej-442	69	12	in	in	ADP
alkej-442	69	13	checking	check	VERB
alkej-442	69	14	collision	collision	NOUN
alkej-442	69	15	with	with	ADP
alkej-442	69	16	point	point	NOUN
alkej-442	69	17	obstacle	obstacle	NOUN
alkej-442	69	18	,	,	PUNCT
alkej-442	69	19	the	the	DET
alkej-442	69	20	geometrical	geometrical	ADJ
alkej-442	69	21	analysis	analysis	NOUN
alkej-442	69	22	can	can	AUX
alkej-442	69	23	be	be	AUX
alkej-442	69	24	used	use	VERB
alkej-442	69	25	to	to	PART
alkej-442	69	26	find	find	VERB
alkej-442	69	27	the	the	DET
alkej-442	69	28	collision	collision	NOUN
alkej-442	69	29	angle	angle	NOUN
alkej-442	69	30	between	between	ADP
alkej-442	69	31	the	the	DET
alkej-442	69	32	second	second	ADJ
alkej-442	69	33	link	link	NOUN
alkej-442	69	34	and	and	CCONJ
alkej-442	69	35	the	the	DET
alkej-442	69	36	line	line	NOUN
alkej-442	69	37	obstacle	obstacle	NOUN
alkej-442	69	38	.	.	PUNCT
alkej-442	70	1	equations	equation	NOUN
alkej-442	70	2	(	(	PUNCT
alkej-442	70	3	5	5	NUM
alkej-442	70	4	,	,	PUNCT
alkej-442	70	5	6	6	NUM
alkej-442	70	6	,	,	PUNCT
alkej-442	70	7	7	7	NUM
alkej-442	70	8	,	,	PUNCT
alkej-442	70	9	8	8	NUM
alkej-442	70	10	,	,	PUNCT
alkej-442	70	11	and	and	CCONJ
alkej-442	70	12	9	9	NUM
alkej-442	70	13	)	)	PUNCT
alkej-442	70	14	can	can	AUX
alkej-442	70	15	be	be	AUX
alkej-442	70	16	used	use	VERB
alkej-442	70	17	but	but	CCONJ
alkej-442	70	18	it	it	PRON
alkej-442	70	19	is	be	AUX
alkej-442	70	20	applied	apply	VERB
alkej-442	70	21	for	for	ADP
alkej-442	70	22	the	the	DET
alkej-442	70	23	intersection	intersection	NOUN
alkej-442	70	24	point	point	NOUN
alkej-442	70	25	between	between	ADP
alkej-442	70	26	the	the	DET
alkej-442	70	27	second	second	ADJ
alkej-442	70	28	link	link	NOUN
alkej-442	70	29	and	and	CCONJ
alkej-442	70	30	the	the	DET
alkej-442	70	31	line	line	NOUN
alkej-442	70	32	obstacle	obstacle	NOUN
alkej-442	70	33	.	.	PUNCT
alkej-442	71	1	firas	firas	PROPN
alkej-442	71	2	a.	a.	PROPN
alkej-442	71	3	raheem	raheem	PROPN
alkej-442	71	4	al	al	PROPN
alkej-442	71	5	-	-	PUNCT
alkej-442	71	6	khwarizmi	khwarizmi	PROPN
alkej-442	71	7	engineering	engineering	NOUN
alkej-442	71	8	journal	journal	PROPN
alkej-442	71	9	,	,	PUNCT
alkej-442	71	10	vol	vol	NOUN
alkej-442	71	11	.	.	PROPN
alkej-442	71	12	13	13	NUM
alkej-442	71	13	,	,	PUNCT
alkej-442	71	14	no	no	INTJ
alkej-442	71	15	.	.	NOUN
alkej-442	71	16	4	4	NUM
alkej-442	71	17	,	,	PUNCT
alkej-442	71	18	p.p	p.p	PROPN
alkej-442	71	19	.	.	NOUN
alkej-442	71	20	124136	124136	NUM
alkej-442	71	21	(	(	PUNCT
alkej-442	71	22	2017	2017	NUM
alkej-442	71	23	)	)	PUNCT
alkej-442	71	24	127	127	NUM
alkej-442	71	25	fig	fig	NOUN
alkej-442	71	26	.	.	PUNCT
alkej-442	72	1	5	5	NUM
alkej-442	72	2	illustrate	illustrate	VERB
alkej-442	72	3	the	the	DET
alkej-442	72	4	situations	situation	NOUN
alkej-442	72	5	of	of	ADP
alkej-442	72	6	collision	collision	NOUN
alkej-442	72	7	between	between	ADP
alkej-442	72	8	the	the	DET
alkej-442	72	9	second	second	ADJ
alkej-442	72	10	link	link	NOUN
alkej-442	72	11	and	and	CCONJ
alkej-442	72	12	the	the	DET
alkej-442	72	13	line	line	NOUN
alkej-442	72	14	obstacle	obstacle	NOUN
alkej-442	72	15	.	.	PUNCT
alkej-442	73	1	obsᶿ	obsᶿ	NOUN
alkej-442	73	2	obsᶿ	obsᶿ	NOUN
alkej-442	73	3	obsᶿ	obsᶿ	NOUN
alkej-442	73	4	obsd	obsd	VERB
alkej-442	73	5	obsd	obsd	NOUN
alkej-442	73	6	(	(	PUNCT
alkej-442	73	7	a	a	X
alkej-442	73	8	)	)	PUNCT
alkej-442	73	9	horizontal	horizontal	ADJ
alkej-442	73	10	line	line	NOUN
alkej-442	73	11	(	(	PUNCT
alkej-442	73	12	b	b	NOUN
alkej-442	73	13	)	)	PUNCT
alkej-442	73	14	vertical	vertical	ADJ
alkej-442	73	15	line	line	NOUN
alkej-442	73	16	(	(	PUNCT
alkej-442	73	17	c	c	NOUN
alkej-442	73	18	)	)	PUNCT
alkej-442	73	19	sloping	slope	VERB
alkej-442	73	20	line	line	NOUN
alkej-442	73	21	fig	fig	NOUN
alkej-442	73	22	.	.	PUNCT
alkej-442	74	1	5	5	X
alkej-442	74	2	.	.	NUM
alkej-442	74	3	cases	case	NOUN
alkej-442	74	4	of	of	ADP
alkej-442	74	5	second	second	ADJ
alkej-442	74	6	link	link	NOUN
alkej-442	74	7	–	–	PUNCT
alkej-442	74	8	line	line	NOUN
alkej-442	74	9	obstacle	obstacle	NOUN
alkej-442	74	10	collision	collision	NOUN
alkej-442	74	11	.	.	PUNCT
alkej-442	75	1	analysis	analysis	NOUN
alkej-442	75	2	two	two	NUM
alkej-442	75	3	another	another	DET
alkej-442	75	4	method	method	NOUN
alkej-442	75	5	for	for	ADP
alkej-442	75	6	checking	check	VERB
alkej-442	75	7	collision	collision	NOUN
alkej-442	75	8	by	by	ADP
alkej-442	75	9	checking	check	VERB
alkej-442	75	10	the	the	DET
alkej-442	75	11	equality	equality	NOUN
alkej-442	75	12	of	of	ADP
alkej-442	75	13	each	each	DET
alkej-442	75	14	link	link	NOUN
alkej-442	75	15	slop	slop	NOUN
alkej-442	75	16	with	with	ADP
alkej-442	75	17	the	the	DET
alkej-442	75	18	slop	slop	NOUN
alkej-442	75	19	of	of	ADP
alkej-442	75	20	each	each	DET
alkej-442	75	21	point	point	NOUN
alkej-442	75	22	in	in	ADP
alkej-442	75	23	the	the	DET
alkej-442	75	24	line	line	NOUN
alkej-442	75	25	obstacle	obstacle	NOUN
alkej-442	75	26	:	:	PUNCT
alkej-442	75	27	for	for	ADP
alkej-442	75	28	the	the	DET
alkej-442	75	29	first	first	ADJ
alkej-442	75	30	link	link	NOUN
alkej-442	75	31	:	:	PUNCT
alkej-442	75	32	x>./	x>./	SYM
alkej-442	75	33	y>./	y>./	PROPN
alkej-442	75	34	=	=	SYM
alkej-442	75	35	xz[./	xz[./	PROPN
alkej-442	75	36	yz[./	yz[./	PROPN
alkej-442	75	37	…	…	PUNCT
alkej-442	75	38	�	�	PROPN
alkej-442	75	39	13	13	NUM
alkej-442	75	40	for	for	ADP
alkej-442	75	41	the	the	DET
alkej-442	75	42	second	second	ADJ
alkej-442	75	43	link	link	NOUN
alkej-442	75	44	:	:	PUNCT
alkej-442	75	45	x\.x	x\.x	PROPN
alkej-442	75	46	>	>	X
alkej-442	75	47	y\.y	y\.y	NOUN
alkej-442	75	48	>	>	X
alkej-442	75	49	=	=	PUNCT
alkej-442	75	50	xz[.x	xz[.x	PROPN
alkej-442	75	51	>	>	X
alkej-442	75	52	yz[.y	yz[.y	PROPN
alkej-442	75	53	>	>	X
alkej-442	75	54	…	…	PUNCT
alkej-442	75	55	�	�	PROPN
alkej-442	75	56	14	14	NUM
alkej-442	75	57	an	an	DET
alkej-442	75	58	important	important	ADJ
alkej-442	75	59	condition	condition	NOUN
alkej-442	75	60	must	must	AUX
alkej-442	75	61	be	be	AUX
alkej-442	75	62	considered	consider	VERB
alkej-442	75	63	for	for	ADP
alkej-442	75	64	equations	equation	NOUN
alkej-442	75	65	(	(	PUNCT
alkej-442	75	66	13	13	NUM
alkej-442	75	67	)	)	PUNCT
alkej-442	75	68	and	and	CCONJ
alkej-442	75	69	(	(	PUNCT
alkej-442	75	70	14	14	NUM
alkej-442	75	71	):	):	PUNCT
alkej-442	75	72	the	the	DET
alkej-442	75	73	length	length	NOUN
alkej-442	75	74	of	of	ADP
alkej-442	75	75	each	each	DET
alkej-442	75	76	link	link	NOUN
alkej-442	75	77	should	should	AUX
alkej-442	75	78	be	be	AUX
alkej-442	75	79	more	more	ADJ
alkej-442	75	80	than	than	ADP
alkej-442	75	81	or	or	CCONJ
alkej-442	75	82	equal	equal	ADJ
alkej-442	75	83	to	to	ADP
alkej-442	75	84	the	the	DET
alkej-442	75	85	distance	distance	NOUN
alkej-442	75	86	of	of	ADP
alkej-442	75	87	the	the	DET
alkej-442	75	88	robot	robot	NOUN
alkej-442	75	89	's	's	PART
alkej-442	75	90	base	base	NOUN
alkej-442	75	91	to	to	ADP
alkej-442	75	92	that	that	DET
alkej-442	75	93	point	point	NOUN
alkej-442	75	94	(	(	PUNCT
alkej-442	75	95	for	for	ADP
alkej-442	75	96	equation	equation	NOUN
alkej-442	75	97	13	13	NUM
alkej-442	75	98	)	)	PUNCT
alkej-442	75	99	or	or	CCONJ
alkej-442	75	100	from	from	ADP
alkej-442	75	101	the	the	DET
alkej-442	75	102	first	first	ADJ
alkej-442	75	103	link	link	NOUN
alkej-442	75	104	end	end	NOUN
alkej-442	75	105	effector	effector	NOUN
alkej-442	75	106	to	to	ADP
alkej-442	75	107	the	the	DET
alkej-442	75	108	point	point	NOUN
alkej-442	75	109	(	(	PUNCT
alkej-442	75	110	for	for	ADP
alkej-442	75	111	equation	equation	NOUN
alkej-442	75	112	14	14	NUM
alkej-442	75	113	)	)	PUNCT
alkej-442	75	114	.	.	PUNCT
alkej-442	76	1	2.3	2.3	NUM
alkej-442	76	2	.	.	X
alkej-442	77	1	c	c	X
alkej-442	77	2	-	-	PUNCT
alkej-442	77	3	space	space	NOUN
alkej-442	77	4	construction	construction	NOUN
alkej-442	77	5	for	for	ADP
alkej-442	77	6	polygonal	polygonal	ADJ
alkej-442	77	7	shapes	shape	NOUN
alkej-442	77	8	obstacle	obstacle	VERB
alkej-442	77	9	any	any	DET
alkej-442	77	10	two	two	NUM
alkej-442	77	11	dimensions	dimension	NOUN
alkej-442	77	12	shape	shape	NOUN
alkej-442	77	13	formed	form	VERB
alkej-442	77	14	by	by	ADP
alkej-442	77	15	straight	straight	ADJ
alkej-442	77	16	lines	line	NOUN
alkej-442	77	17	,	,	PUNCT
alkej-442	77	18	is	be	AUX
alkej-442	77	19	called	call	VERB
alkej-442	77	20	polygon	polygon	NOUN
alkej-442	77	21	.	.	PUNCT
alkej-442	78	1	it	it	PRON
alkej-442	78	2	has	have	VERB
alkej-442	78	3	three	three	NUM
alkej-442	78	4	lines	line	NOUN
alkej-442	78	5	(	(	PUNCT
alkej-442	78	6	such	such	ADJ
alkej-442	78	7	as	as	ADP
alkej-442	78	8	triangle	triangle	NOUN
alkej-442	78	9	)	)	PUNCT
alkej-442	78	10	,	,	PUNCT
alkej-442	78	11	four	four	NUM
alkej-442	78	12	lines	line	NOUN
alkej-442	78	13	(	(	PUNCT
alkej-442	78	14	such	such	ADJ
alkej-442	78	15	as	as	ADP
alkej-442	78	16	square	square	ADJ
alkej-442	78	17	,	,	PUNCT
alkej-442	78	18	rectangle	rectangle	NOUN
alkej-442	78	19	,	,	PUNCT
alkej-442	78	20	rhombic	rhombic	NOUN
alkej-442	78	21	…	…	SYM
alkej-442	78	22	etc	etc	X
alkej-442	78	23	.	.	X
alkej-442	78	24	)	)	PUNCT
alkej-442	78	25	,	,	PUNCT
alkej-442	78	26	or	or	CCONJ
alkej-442	78	27	more	more	ADJ
alkej-442	78	28	[	[	X
alkej-442	78	29	13	13	NUM
alkej-442	78	30	]	]	PUNCT
alkej-442	78	31	.	.	PUNCT
alkej-442	79	1	so	so	ADV
alkej-442	79	2	the	the	DET
alkej-442	79	3	same	same	ADJ
alkej-442	79	4	methods	method	NOUN
alkej-442	79	5	that	that	PRON
alkej-442	79	6	have	have	AUX
alkej-442	79	7	been	be	AUX
alkej-442	79	8	used	use	VERB
alkej-442	79	9	for	for	ADP
alkej-442	79	10	line	line	NOUN
alkej-442	79	11	obstacle	obstacle	NOUN
alkej-442	79	12	can	can	AUX
alkej-442	79	13	be	be	AUX
alkej-442	79	14	used	use	VERB
alkej-442	79	15	here	here	ADV
alkej-442	79	16	.	.	PUNCT
alkej-442	80	1	2.4	2.4	NUM
alkej-442	80	2	.	.	X
alkej-442	81	1	c	c	X
alkej-442	81	2	-	-	PUNCT
alkej-442	81	3	space	space	NOUN
alkej-442	81	4	construction	construction	NOUN
alkej-442	81	5	for	for	ADP
alkej-442	81	6	circle	circle	NOUN
alkej-442	81	7	obstacle	obstacle	NOUN
alkej-442	81	8	for	for	ADP
alkej-442	81	9	a	a	DET
alkej-442	81	10	circle	circle	NOUN
alkej-442	81	11	that	that	PRON
alkej-442	81	12	is	be	AUX
alkej-442	81	13	known	know	VERB
alkej-442	81	14	in	in	ADP
alkej-442	81	15	center	center	NOUN
alkej-442	81	16	(	(	PUNCT
alkej-442	81	17	'	'	PUNCT
alkej-442	81	18	�	�	PROPN
alkej-442	81	19	,	,	PUNCT
alkej-442	81	20	*	*	NOUN
alkej-442	81	21	�	�	PROPN
alkej-442	81	22	)	)	PUNCT
alkej-442	81	23	and	and	CCONJ
alkej-442	81	24	radius	radius	NOUN
alkej-442	81	25	(	(	PUNCT
alkej-442	81	26	rad	rad	PROPN
alkej-442	81	27	)	)	PUNCT
alkej-442	81	28	,	,	PUNCT
alkej-442	81	29	the	the	DET
alkej-442	81	30	collision	collision	NOUN
alkej-442	81	31	can	can	AUX
alkej-442	81	32	be	be	AUX
alkej-442	81	33	checked	check	VERB
alkej-442	81	34	by	by	ADP
alkej-442	81	35	the	the	DET
alkej-442	81	36	following	follow	VERB
alkej-442	81	37	modified	modify	VERB
alkej-442	81	38	derivation	derivation	NOUN
alkej-442	81	39	of	of	ADP
alkej-442	81	40	c	c	NOUN
alkej-442	81	41	-	-	PUNCT
alkej-442	81	42	space	space	NOUN
alkej-442	81	43	analysis	analysis	NOUN
alkej-442	81	44	:	:	PUNCT
alkej-442	81	45	the	the	DET
alkej-442	81	46	distance	distance	NOUN
alkej-442	81	47	from	from	ADP
alkej-442	81	48	the	the	DET
alkej-442	81	49	center	center	NOUN
alkej-442	81	50	of	of	ADP
alkej-442	81	51	the	the	DET
alkej-442	81	52	circle	circle	NOUN
alkej-442	81	53	to	to	ADP
alkej-442	81	54	each	each	DET
alkej-442	81	55	point	point	NOUN
alkej-442	81	56	on	on	ADP
alkej-442	81	57	the	the	DET
alkej-442	81	58	first	first	ADJ
alkej-442	81	59	and	and	CCONJ
alkej-442	81	60	second	second	ADJ
alkej-442	81	61	link	link	NOUN
alkej-442	81	62	will	will	AUX
alkej-442	81	63	be	be	AUX
alkej-442	81	64	calculated	calculate	VERB
alkej-442	81	65	:	:	PUNCT
alkej-442	81	66	for	for	ADP
alkej-442	81	67	the	the	DET
alkej-442	81	68	first	first	ADJ
alkej-442	81	69	link	link	NOUN
alkej-442	81	70	:	:	PUNCT
alkej-442	81	71	&	&	CCONJ
alkej-442	81	72	�	�	PROPN
alkej-442	81	73	�	�	PROPN
alkej-442	81	74	]	]	X
alkej-442	81	75	=	=	SYM
alkej-442	81	76	^	^	SYM
alkej-442	81	77	�	�	PROPN
alkej-442	81	78	'	'	PART
alkej-442	81	79	�	�	PROPN
alkej-442	81	80	−	−	PROPN
alkej-442	81	81	]	]	PUNCT
alkej-442	81	82	∗	∗	PROPN
alkej-442	81	83	'	'	PUNCT
alkej-442	81	84	�	�	PROPN
alkej-442	81	85	!	!	PUNCT
alkej-442	82	1	+	+	CCONJ
alkej-442	82	2	�	�	PROPN
alkej-442	82	3	*	*	PUNCT
alkej-442	82	4	�	�	PROPN
alkej-442	82	5	−	−	PROPN
alkej-442	82	6	]	]	PUNCT
alkej-442	82	7	∗	∗	PROPN
alkej-442	82	8	*	*	PUNCT
alkej-442	82	9	�	�	PROPN
alkej-442	82	10	!	!	PUNCT
alkej-442	82	11	…	…	PUNCT
alkej-442	82	12	(	(	PUNCT
alkej-442	82	13	15	15	NUM
alkej-442	82	14	)	)	PUNCT
alkej-442	82	15	for	for	ADP
alkej-442	82	16	the	the	DET
alkej-442	82	17	second	second	ADJ
alkej-442	82	18	link	link	NOUN
alkej-442	82	19	:	:	PUNCT
alkej-442	82	20	&	&	CCONJ
alkej-442	82	21	!	!	PUNCT
alkej-442	82	22	�	�	PROPN
alkej-442	82	23	]	]	X
alkej-442	82	24	=	=	SYM
alkej-442	82	25	^	^	SYM
alkej-442	82	26	�	�	PROPN
alkej-442	82	27	'	'	PART
alkej-442	82	28	�	�	NOUN
alkej-442	82	29	−	−	ADP
alkej-442	82	30	_	_	PROPN
alkej-442	82	31	!	!	PUNCT
alkej-442	82	32	!	!	PUNCT
alkej-442	83	1	+	+	CCONJ
alkej-442	83	2	�	�	PROPN
alkej-442	83	3	*	*	PUNCT
alkej-442	83	4	�	�	PROPN
alkej-442	83	5	−	−	PROPN
alkej-442	83	6	!	!	PUNCT
alkej-442	84	1	̀	̀	VERB
alkej-442	84	2	!	!	PUNCT
alkej-442	85	1	…	…	PUNCT
alkej-442	85	2	�	�	X
alkej-442	85	3	16	16	NUM
alkej-442	85	4	_	_	NOUN
alkej-442	85	5	!	!	PUNCT
alkej-442	86	1	=	=	PRON
alkej-442	86	2	'	'	PUNCT
alkej-442	86	3	�	�	NOUN
alkej-442	86	4	+	+	NUM
alkej-442	86	5	]	]	PUNCT
alkej-442	86	6	∗	∗	NOUN
alkej-442	86	7	a	a	PROPN
alkej-442	86	8	!	!	PUNCT
alkej-442	87	1	∗	∗	PROPN
alkej-442	87	2	cos	cos	PROPN
alkej-442	87	3	�	�	PROPN
alkej-442	87	4	#	#	SYM
alkej-442	87	5	�	�	NOUN
alkej-442	87	6	+	+	CCONJ
alkej-442	87	7	#	#	NOUN
alkej-442	87	8	!	!	PUNCT
alkej-442	87	9	…	…	PUNCT
alkej-442	87	10	�	�	PROPN
alkej-442	87	11	17	17	NUM
alkej-442	87	12	!	!	PUNCT
alkej-442	88	1	̀	̀	VERB
alkej-442	88	2	=	=	SYM
alkej-442	88	3	*	*	PUNCT
alkej-442	88	4	�	�	PROPN
alkej-442	88	5	+	+	NUM
alkej-442	88	6	]	]	PUNCT
alkej-442	88	7	∗	∗	NOUN
alkej-442	88	8	a	a	PROPN
alkej-442	88	9	!	!	PUNCT
alkej-442	89	1	∗	∗	NOUN
alkej-442	89	2	sin	sin	PROPN
alkej-442	89	3	�	�	PROPN
alkej-442	89	4	#	#	NOUN
alkej-442	89	5	�	�	NOUN
alkej-442	89	6	+	+	CCONJ
alkej-442	89	7	#	#	NOUN
alkej-442	89	8	!	!	PUNCT
alkej-442	89	9	…	…	PUNCT
alkej-442	89	10	�	�	PROPN
alkej-442	89	11	18	18	NUM
alkej-442	89	12	d	d	PROPN
alkej-442	89	13	�	�	PROPN
alkej-442	89	14	=	=	PUNCT
alkej-442	89	15	mins	mins	PROPN
alkej-442	89	16	&	&	CCONJ
alkej-442	89	17	�	�	PROPN
alkej-442	89	18	�	�	PROPN
alkej-442	89	19	]	]	X
alkej-442	89	20	t	t	PROPN
alkej-442	89	21	…	…	PUNCT
alkej-442	89	22	�	�	PROPN
alkej-442	89	23	19	19	NUM
alkej-442	89	24	d	d	NOUN
alkej-442	89	25	!	!	PUNCT
alkej-442	90	1	=	=	SYM
alkej-442	90	2	mins	mins	PROPN
alkej-442	90	3	&	&	CCONJ
alkej-442	90	4	!	!	PUNCT
alkej-442	90	5	�	�	PROPN
alkej-442	90	6	]	]	PUNCT
alkej-442	90	7	t	t	PROPN
alkej-442	90	8	…	…	PUNCT
alkej-442	90	9	�	�	PROPN
alkej-442	90	10	20	20	NUM
alkej-442	90	11	where	where	SCONJ
alkej-442	90	12	:	:	PUNCT
alkej-442	90	13	]	]	X
alkej-442	90	14	=	=	SYM
alkej-442	90	15	0.1	0.1	NUM
alkej-442	90	16	,	,	PUNCT
alkej-442	90	17	0.2	0.2	NUM
alkej-442	90	18	,	,	PUNCT
alkej-442	90	19	…	…	PUNCT
alkej-442	90	20	,	,	PUNCT
alkej-442	90	21	�	�	PROPN
alkej-442	90	22	it	it	PRON
alkej-442	90	23	is	be	AUX
alkej-442	90	24	important	important	ADJ
alkej-442	90	25	to	to	PART
alkej-442	90	26	denote	denote	VERB
alkej-442	90	27	that	that	PRON
alkej-442	90	28	]	]	PUNCT
alkej-442	90	29	is	be	AUX
alkej-442	90	30	the	the	DET
alkej-442	90	31	resolution	resolution	NOUN
alkej-442	90	32	step	step	NOUN
alkej-442	90	33	of	of	ADP
alkej-442	90	34	deviation	deviation	NOUN
alkej-442	90	35	of	of	ADP
alkej-442	90	36	each	each	DET
alkej-442	90	37	link	link	NOUN
alkej-442	90	38	,	,	PUNCT
alkej-442	90	39	while	while	SCONJ
alkej-442	90	40	�	�	PROPN
alkej-442	90	41	is	be	AUX
alkej-442	90	42	the	the	DET
alkej-442	90	43	total	total	ADJ
alkej-442	90	44	length	length	NOUN
alkej-442	90	45	of	of	ADP
alkej-442	90	46	link	link	NOUN
alkej-442	90	47	.	.	PUNCT
alkej-442	91	1	theoretically	theoretically	ADV
alkej-442	91	2	,	,	PUNCT
alkej-442	91	3	the	the	DET
alkej-442	91	4	step	step	NOUN
alkej-442	91	5	]	]	PUNCT
alkej-442	91	6	may	may	AUX
alkej-442	91	7	be	be	AUX
alkej-442	91	8	taken	take	VERB
alkej-442	91	9	0.1	0.1	NUM
alkej-442	91	10	,	,	PUNCT
alkej-442	91	11	smaller	small	ADJ
alkej-442	91	12	than	than	ADP
alkej-442	91	13	0.1	0.1	NUM
alkej-442	91	14	,	,	PUNCT
alkej-442	91	15	or	or	CCONJ
alkej-442	91	16	biggest	big	ADJ
alkej-442	91	17	.	.	PUNCT
alkej-442	92	1	if	if	SCONJ
alkej-442	92	2	the	the	DET
alkej-442	92	3	following	follow	VERB
alkej-442	92	4	condition	condition	NOUN
alkej-442	92	5	verified	verify	VERB
alkej-442	92	6	,	,	PUNCT
alkej-442	92	7	that	that	PRON
alkej-442	92	8	means	mean	VERB
alkej-442	92	9	there	there	PRON
alkej-442	92	10	is	be	VERB
alkej-442	92	11	a	a	DET
alkej-442	92	12	collision	collision	NOUN
alkej-442	92	13	between	between	ADP
alkej-442	92	14	the	the	DET
alkej-442	92	15	circle	circle	NOUN
alkej-442	92	16	obstacle	obstacle	NOUN
alkej-442	92	17	and	and	CCONJ
alkej-442	92	18	the	the	DET
alkej-442	92	19	robot	robot	NOUN
alkej-442	92	20	arm	arm	NOUN
alkej-442	92	21	:	:	PUNCT
alkej-442	92	22	dr	dr	PROPN
alkej-442	92	23	≤	≤	PROPN
alkej-442	92	24	g$	g$	PROPN
alkej-442	92	25	&	&	CCONJ
alkej-442	92	26	…	…	PUNCT
alkej-442	92	27	�	�	PROPN
alkej-442	92	28	21	21	NUM
alkej-442	92	29	h	h	NOUN
alkej-442	92	30	=	=	SYM
alkej-442	92	31	1	1	NUM
alkej-442	92	32	,	,	PUNCT
alkej-442	92	33	2	2	NUM
alkej-442	92	34	.	.	PUNCT
alkej-442	93	1	the	the	DET
alkej-442	93	2	distances	distance	NOUN
alkej-442	93	3	&	&	CCONJ
alkej-442	93	4	r	r	NOUN
alkej-442	93	5	can	can	AUX
alkej-442	93	6	be	be	AUX
alkej-442	93	7	implemented	implement	VERB
alkej-442	93	8	by	by	ADP
alkej-442	93	9	the	the	DET
alkej-442	93	10	form	form	NOUN
alkej-442	93	11	of	of	ADP
alkej-442	93	12	deviation	deviation	NOUN
alkej-442	93	13	as	as	ADP
alkej-442	93	14	below	below	ADV
alkej-442	93	15	:	:	PUNCT
alkej-442	93	16	&	&	CCONJ
alkej-442	93	17	r	r	PROPN
alkej-442	93	18	�	�	PROPN
alkej-442	93	19	=	=	SYM
alkej-442	93	20	s&r	s&r	PROPN
alkej-442	93	21	�	�	PROPN
alkej-442	93	22	,	,	PUNCT
alkej-442	93	23	&	&	CCONJ
alkej-442	93	24	r	r	NOUN
alkej-442	93	25	!	!	PROPN
alkej-442	93	26	,	,	PUNCT
alkej-442	93	27	…	…	PUNCT
alkej-442	93	28	,	,	PUNCT
alkej-442	93	29	&	&	CCONJ
alkej-442	93	30	rit	rit	PROPN
alkej-442	93	31	…	…	SYM
alkej-442	93	32	�	�	PROPN
alkej-442	93	33	22	22	NUM
alkej-442	93	34	j	j	NOUN
alkej-442	93	35	:	:	PUNCT
alkej-442	93	36	number	number	NOUN
alkej-442	93	37	of	of	ADP
alkej-442	93	38	steps	step	NOUN
alkej-442	93	39	of	of	ADP
alkej-442	93	40	deviation	deviation	NOUN
alkej-442	93	41	(	(	PUNCT
alkej-442	93	42	]	]	PUNCT
alkej-442	93	43	)	)	PUNCT
alkej-442	93	44	.	.	PUNCT
alkej-442	94	1	fig	fig	NOUN
alkej-442	94	2	.6	.6	PRON
alkej-442	94	3	show	show	VERB
alkej-442	94	4	the	the	DET
alkej-442	94	5	distances	distance	NOUN
alkej-442	94	6	that	that	PRON
alkej-442	94	7	used	use	VERB
alkej-442	94	8	in	in	ADP
alkej-442	94	9	the	the	DET
alkej-442	94	10	analysis	analysis	NOUN
alkej-442	94	11	for	for	ADP
alkej-442	94	12	checking	check	VERB
alkej-442	94	13	collision	collision	NOUN
alkej-442	94	14	with	with	ADP
alkej-442	94	15	circle	circle	NOUN
alkej-442	94	16	obstacle	obstacle	NOUN
alkej-442	94	17	.	.	PUNCT
alkej-442	94	18	)	)	PUNCT
alkej-442	95	1	cy	cy	PROPN
alkej-442	95	2	,	,	PUNCT
alkej-442	95	3	cx	cx	PROPN
alkej-442	95	4	(	(	PUNCT
alkej-442	95	5	fig	fig	NOUN
alkej-442	95	6	.	.	PUNCT
alkej-442	96	1	6	6	NUM
alkej-442	96	2	.	.	X
alkej-442	96	3	geometrical	geometrical	ADJ
alkej-442	96	4	analysis	analysis	NOUN
alkej-442	96	5	of	of	ADP
alkej-442	96	6	circle	circle	NOUN
alkej-442	96	7	obstacle	obstacle	NOUN
alkej-442	96	8	.	.	PUNCT
alkej-442	97	1	3	3	X
alkej-442	97	2	.	.	X
alkej-442	97	3	a	a	DET
alkej-442	97	4	*	*	PUNCT
alkej-442	97	5	algorithm	algorithm	NOUN
alkej-442	97	6	a	a	DET
alkej-442	97	7	*	*	PUNCT
alkej-442	97	8	algorithm	algorithm	NOUN
alkej-442	97	9	is	be	AUX
alkej-442	97	10	most	most	ADV
alkej-442	97	11	familiar	familiar	ADJ
alkej-442	97	12	search	search	NOUN
alkej-442	97	13	algorithm	algorithm	NOUN
alkej-442	97	14	that	that	PRON
alkej-442	97	15	is	be	AUX
alkej-442	97	16	used	use	VERB
alkej-442	97	17	to	to	PART
alkej-442	97	18	find	find	VERB
alkej-442	97	19	the	the	DET
alkej-442	97	20	shortest	short	ADJ
alkej-442	97	21	path	path	NOUN
alkej-442	97	22	.	.	PUNCT
alkej-442	98	1	it	it	PRON
alkej-442	98	2	represent	represent	VERB
alkej-442	98	3	an	an	DET
alkej-442	98	4	extension	extension	NOUN
alkej-442	98	5	of	of	ADP
alkej-442	98	6	dijkstra	dijkstra	PROPN
alkej-442	98	7	's	's	PART
alkej-442	98	8	algorithm	algorithm	NOUN
alkej-442	98	9	.	.	PUNCT
alkej-442	99	1	the	the	DET
alkej-442	99	2	usage	usage	NOUN
alkej-442	99	3	of	of	ADP
alkej-442	99	4	heuristic	heuristic	NOUN
alkej-442	99	5	is	be	AUX
alkej-442	99	6	what	what	PRON
alkej-442	99	7	make	make	VERB
alkej-442	99	8	the	the	DET
alkej-442	99	9	a	a	NOUN
alkej-442	99	10	*	*	X
alkej-442	99	11	different	different	ADJ
alkej-442	99	12	from	from	ADP
alkej-442	99	13	another	another	DET
alkej-442	99	14	graph	graph	NOUN
alkej-442	99	15	search	search	NOUN
alkej-442	99	16	algorithms	algorithm	NOUN
alkej-442	99	17	.	.	PUNCT
alkej-442	100	1	the	the	DET
alkej-442	100	2	heuristic	heuristic	NOUN
alkej-442	100	3	provides	provide	VERB
alkej-442	100	4	an	an	DET
alkej-442	100	5	estimated	estimate	VERB
alkej-442	100	6	distance	distance	NOUN
alkej-442	100	7	from	from	ADP
alkej-442	100	8	a	a	DET
alkej-442	100	9	current	current	ADJ
alkej-442	100	10	node	node	NOUN
alkej-442	100	11	to	to	ADP
alkej-442	100	12	the	the	DET
alkej-442	100	13	goal	goal	NOUN
alkej-442	100	14	node	node	NOUN
alkej-442	100	15	,	,	PUNCT
alkej-442	100	16	it	it	PRON
alkej-442	100	17	denoted	denote	VERB
alkej-442	100	18	by	by	ADP
alkej-442	100	19	h(n	h(n	PROPN
alkej-442	100	20	)	)	PUNCT
alkej-442	100	21	,	,	PUNCT
alkej-442	100	22	also	also	ADV
alkej-442	100	23	the	the	DET
alkej-442	100	24	a	a	PROPN
alkej-442	100	25	*	*	PUNCT
alkej-442	100	26	take	take	NOUN
alkej-442	100	27	in	in	ADP
alkej-442	100	28	account	account	NOUN
alkej-442	100	29	the	the	DET
alkej-442	100	30	cost	cost	NOUN
alkej-442	100	31	from	from	ADP
alkej-442	100	32	the	the	DET
alkej-442	100	33	start	start	NOUN
alkej-442	100	34	node	node	NOUN
alkej-442	100	35	to	to	ADP
alkej-442	100	36	the	the	DET
alkej-442	100	37	current	current	ADJ
alkej-442	100	38	node	node	NOUN
alkej-442	100	39	,	,	PUNCT
alkej-442	100	40	and	and	CCONJ
alkej-442	100	41	it	it	PRON
alkej-442	100	42	is	be	AUX
alkej-442	100	43	denoted	denote	VERB
alkej-442	100	44	as	as	ADP
alkej-442	100	45	g(n	g(n	PROPN
alkej-442	100	46	)	)	PUNCT
alkej-442	100	47	.	.	PUNCT
alkej-442	101	1	the	the	DET
alkej-442	101	2	cost	cost	NOUN
alkej-442	101	3	function	function	NOUN
alkej-442	101	4	is	be	AUX
alkej-442	101	5	determined	determine	VERB
alkej-442	101	6	as	as	ADP
alkej-442	101	7	below	below	ADP
alkej-442	101	8	[	[	PUNCT
alkej-442	101	9	9	9	NUM
alkej-442	101	10	]	]	SYM
alkej-442	101	11	:	:	PUNCT
alkej-442	101	12	f(n	f(n	PROPN
alkej-442	101	13	)	)	PUNCT
alkej-442	102	1	=	=	PUNCT
alkej-442	102	2	g(n	g(n	PROPN
alkej-442	102	3	)	)	PUNCT
alkej-442	103	1	+	+	CCONJ
alkej-442	104	1	h(n	h(n	PROPN
alkej-442	104	2	)	)	PUNCT
alkej-442	104	3	…	…	PUNCT
alkej-442	104	4	�	�	PROPN
alkej-442	104	5	23	23	NUM
alkej-442	104	6	firas	firas	PROPN
alkej-442	104	7	a.	a.	PROPN
alkej-442	104	8	raheem	raheem	PROPN
alkej-442	105	1	al	al	PROPN
alkej-442	105	2	-	-	PUNCT
alkej-442	105	3	khwarizmi	khwarizmi	PROPN
alkej-442	105	4	engineering	engineering	NOUN
alkej-442	105	5	journal	journal	PROPN
alkej-442	105	6	,	,	PUNCT
alkej-442	105	7	vol	vol	NOUN
alkej-442	105	8	.	.	PROPN
alkej-442	105	9	13	13	NUM
alkej-442	105	10	,	,	PUNCT
alkej-442	105	11	no	no	INTJ
alkej-442	105	12	.	.	NOUN
alkej-442	105	13	4	4	NUM
alkej-442	105	14	,	,	PUNCT
alkej-442	105	15	p.p	p.p	PROPN
alkej-442	105	16	.	.	NOUN
alkej-442	105	17	124136	124136	NUM
alkej-442	105	18	(	(	PUNCT
alkej-442	105	19	2017	2017	NUM
alkej-442	105	20	)	)	PUNCT
alkej-442	105	21	128	128	NUM
alkej-442	105	22	for	for	ADP
alkej-442	105	23	c	c	NOUN
alkej-442	105	24	-	-	PUNCT
alkej-442	105	25	space	space	NOUN
alkej-442	105	26	map	map	NOUN
alkej-442	105	27	,	,	PUNCT
alkej-442	105	28	each	each	DET
alkej-442	105	29	node	node	NOUN
alkej-442	105	30	represented	represent	VERB
alkej-442	105	31	by	by	ADP
alkej-442	105	32	a	a	DET
alkej-442	105	33	pair	pair	NOUN
alkej-442	105	34	of	of	ADP
alkej-442	105	35	joint	joint	ADJ
alkej-442	105	36	angles	angle	NOUN
alkej-442	105	37	,	,	PUNCT
alkej-442	105	38	n	n	CCONJ
alkej-442	105	39	:	:	PUNCT
alkej-442	105	40	(	(	PUNCT
alkej-442	105	41	#	#	SYM
alkej-442	105	42	�	�	NOUN
alkej-442	105	43	,	,	PUNCT
alkej-442	105	44	#	#	NOUN
alkej-442	105	45	!	!	PUNCT
alkej-442	105	46	)	)	PUNCT
alkej-442	105	47	.	.	PUNCT
alkej-442	106	1	the	the	DET
alkej-442	106	2	a	a	PROPN
alkej-442	106	3	*	*	ADJ
alkej-442	106	4	algorithm	algorithm	NOUN
alkej-442	106	5	includes	include	VERB
alkej-442	106	6	two	two	NUM
alkej-442	106	7	lists	list	NOUN
alkej-442	106	8	:	:	PUNCT
alkej-442	106	9	open	open	ADJ
alkej-442	106	10	list	list	NOUN
alkej-442	106	11	(	(	PUNCT
alkej-442	106	12	o_list	o_list	PROPN
alkej-442	106	13	)	)	PUNCT
alkej-442	106	14	and	and	CCONJ
alkej-442	106	15	closed	closed	ADJ
alkej-442	106	16	list	list	NOUN
alkej-442	106	17	(	(	PUNCT
alkej-442	106	18	c_list	c_list	NOUN
alkej-442	106	19	)	)	PUNCT
alkej-442	106	20	.	.	PUNCT
alkej-442	107	1	it	it	PRON
alkej-442	107	2	choose	choose	VERB
alkej-442	107	3	the	the	DET
alkej-442	107	4	nodes	node	NOUN
alkej-442	107	5	that	that	PRON
alkej-442	107	6	have	have	VERB
alkej-442	107	7	minimum	minimum	ADJ
alkej-442	107	8	cost	cost	NOUN
alkej-442	107	9	functions	function	NOUN
alkej-442	107	10	to	to	PART
alkej-442	107	11	create	create	VERB
alkej-442	107	12	a	a	DET
alkej-442	107	13	path	path	NOUN
alkej-442	107	14	from	from	ADP
alkej-442	107	15	start	start	NOUN
alkej-442	107	16	node	node	NOUN
alkej-442	107	17	to	to	ADP
alkej-442	107	18	goal	goal	NOUN
alkej-442	107	19	node	node	NOUN
alkej-442	107	20	.	.	PUNCT
alkej-442	108	1	the	the	DET
alkej-442	108	2	fulfillment	fulfillment	NOUN
alkej-442	108	3	of	of	ADP
alkej-442	108	4	this	this	DET
alkej-442	108	5	algorithm	algorithm	NOUN
alkej-442	108	6	on	on	ADP
alkej-442	108	7	c	c	NOUN
alkej-442	108	8	-	-	PUNCT
alkej-442	108	9	space	space	NOUN
alkej-442	108	10	map	map	NOUN
alkej-442	108	11	can	can	AUX
alkej-442	108	12	be	be	AUX
alkej-442	108	13	explained	explain	VERB
alkej-442	108	14	briefly	briefly	ADV
alkej-442	108	15	by	by	ADP
alkej-442	108	16	the	the	DET
alkej-442	108	17	following	follow	VERB
alkej-442	108	18	flowchart	flowchart	NOUN
alkej-442	108	19	:	:	PUNCT
alkej-442	108	20	c	c	X
alkej-442	108	21	-	-	PUNCT
alkej-442	108	22	space	space	NOUN
alkej-442	108	23	construction	construction	NOUN
alkej-442	108	24	discretizing	discretize	VERB
alkej-442	108	25	c	c	NOUN
alkej-442	108	26	-	-	PUNCT
alkej-442	108	27	space	space	NOUN
alkej-442	108	28	map	map	NOUN
alkej-442	108	29	initialization	initialization	NOUN
alkej-442	108	30	of	of	ADP
alkej-442	108	31	start	start	NOUN
alkej-442	108	32	configuration	configuration	NOUN
alkej-442	108	33	end	end	NOUN
alkej-442	108	34	remove	remove	VERB
alkej-442	108	35	n_best	n_best	NOUN
alkej-442	108	36	at	at	ADP
alkej-442	108	37	which	which	PRON
alkej-442	108	38	f(n_best)<=f(n	f(n_best)<=f(n	PROPN
alkej-442	108	39	)	)	PUNCT
alkej-442	108	40	from	from	ADP
alkej-442	108	41	o	o	NOUN
alkej-442	108	42	-	-	NOUN
alkej-442	108	43	list	list	NOUN
alkej-442	108	44	to	to	PART
alkej-442	108	45	c_list	c_list	VERB
alkej-442	108	46	end	end	NOUN
alkej-442	108	47	expand	expand	VERB
alkej-442	108	48	all	all	DET
alkej-442	108	49	n_best	n_b	ADJ
alkej-442	108	50	neighbor	neighbor	NOUN
alkej-442	108	51	nodes	node	NOUN
alkej-442	108	52	that	that	SCONJ
alkej-442	108	53	not	not	PART
alkej-442	108	54	in	in	ADP
alkej-442	108	55	c_list	c_list	NOUN
alkej-442	108	56	add	add	VERB
alkej-442	108	57	current	current	ADJ
alkej-442	108	58	node	node	NOUN
alkej-442	108	59	to	to	ADP
alkej-442	108	60	o_list	o_list	VERB
alkej-442	108	61	if	if	SCONJ
alkej-442	108	62	g(n_best)+path	g(n_best)+path	PROPN
alkej-442	108	63	cost	cost	NOUN
alkej-442	108	64	<	<	X
alkej-442	108	65	g(current	g(current	NOUN
alkej-442	108	66	node):update	node):update	INTJ
alkej-442	108	67	back	back	ADJ
alkej-442	108	68	pointer(current	pointer(current	PROPN
alkej-442	109	1	node)=n_best	node)=n_best	NOUN
alkej-442	110	1	yes	yes	INTJ
alkej-442	111	1	no	no	INTJ
alkej-442	112	1	yes	yes	INTJ
alkej-442	113	1	no	no	INTJ
alkej-442	114	1	yes	yes	INTJ
alkej-442	114	2	no	no	DET
alkej-442	114	3	start	start	NOUN
alkej-442	114	4	is	be	AUX
alkej-442	114	5	o_list	o_list	ADV
alkej-442	114	6	empty	empty	ADJ
alkej-442	114	7	?	?	PUNCT
alkej-442	115	1	n_best	n_b	ADJ
alkej-442	115	2	=	=	ADJ
alkej-442	115	3	goal	goal	NOUN
alkej-442	115	4	configuration	configuration	NOUN
alkej-442	115	5	?	?	PUNCT
alkej-442	116	1	current	current	ADJ
alkej-442	116	2	node	node	NOUN
alkej-442	116	3	is	be	AUX
alkej-442	116	4	in	in	ADP
alkej-442	116	5	o_list	o_list	PROPN
alkej-442	116	6	?	?	PUNCT
alkej-442	117	1	fig	fig	NOUN
alkej-442	117	2	.	.	PUNCT
alkej-442	118	1	7	7	X
alkej-442	118	2	.	.	X
alkej-442	118	3	a	a	DET
alkej-442	118	4	*	*	PUNCT
alkej-442	118	5	algorithm	algorithm	NOUN
alkej-442	118	6	on	on	ADP
alkej-442	118	7	c	c	NOUN
alkej-442	118	8	-	-	PUNCT
alkej-442	118	9	space	space	NOUN
alkej-442	118	10	map	map	NOUN
alkej-442	118	11	flowchart	flowchart	NOUN
alkej-442	118	12	.	.	PUNCT
alkej-442	119	1	4	4	NUM
alkej-442	119	2	.	.	NOUN
alkej-442	119	3	results	result	NOUN
alkej-442	119	4	and	and	CCONJ
alkej-442	119	5	discussion	discussion	VERB
alkej-442	119	6	the	the	DET
alkej-442	119	7	results	result	NOUN
alkej-442	119	8	of	of	ADP
alkej-442	119	9	finding	find	VERB
alkej-442	119	10	c	c	NOUN
alkej-442	119	11	-	-	PUNCT
alkej-442	119	12	space	space	NOUN
alkej-442	119	13	construction	construction	NOUN
alkej-442	119	14	and	and	CCONJ
alkej-442	119	15	applying	apply	VERB
alkej-442	119	16	a	a	DET
alkej-442	119	17	*	*	ADJ
alkej-442	119	18	algorithm	algorithm	NOUN
alkej-442	119	19	on	on	ADP
alkej-442	119	20	it	it	PRON
alkej-442	119	21	,	,	PUNCT
alkej-442	119	22	will	will	AUX
alkej-442	119	23	be	be	AUX
alkej-442	119	24	displayed	display	VERB
alkej-442	119	25	and	and	CCONJ
alkej-442	119	26	discussed	discuss	VERB
alkej-442	119	27	in	in	ADP
alkej-442	119	28	section	section	NOUN
alkej-442	119	29	4.1	4.1	NUM
alkej-442	119	30	and	and	CCONJ
alkej-442	119	31	4.2	4.2	NUM
alkej-442	119	32	respectively	respectively	ADV
alkej-442	119	33	.	.	PUNCT
alkej-442	120	1	4.1	4.1	NUM
alkej-442	120	2	.	.	PUNCT
alkej-442	121	1	c	c	X
alkej-442	121	2	-	-	PUNCT
alkej-442	121	3	space	space	NOUN
alkej-442	121	4	construction	construction	NOUN
alkej-442	121	5	results	result	NOUN
alkej-442	121	6	for	for	ADP
alkej-442	121	7	the	the	DET
alkej-442	121	8	point	point	NOUN
alkej-442	121	9	obstacle	obstacle	NOUN
alkej-442	121	10	,	,	PUNCT
alkej-442	121	11	it	it	PRON
alkej-442	121	12	can	can	AUX
alkej-442	121	13	be	be	AUX
alkej-442	121	14	observed	observe	VERB
alkej-442	121	15	that	that	SCONJ
alkej-442	121	16	the	the	DET
alkej-442	121	17	c	c	NOUN
alkej-442	121	18	-	-	PUNCT
alkej-442	121	19	space	space	NOUN
alkej-442	121	20	map	map	NOUN
alkej-442	121	21	of	of	ADP
alkej-442	121	22	the	the	DET
alkej-442	121	23	collision	collision	NOUN
alkej-442	121	24	between	between	ADP
alkej-442	121	25	the	the	DET
alkej-442	121	26	first	first	ADJ
alkej-442	121	27	link	link	NOUN
alkej-442	121	28	and	and	CCONJ
alkej-442	121	29	the	the	DET
alkej-442	121	30	point	point	NOUN
alkej-442	121	31	obstacle	obstacle	NOUN
alkej-442	121	32	has	have	VERB
alkej-442	121	33	the	the	DET
alkej-442	121	34	straight	straight	ADJ
alkej-442	121	35	-	-	PUNCT
alkej-442	121	36	line	line	NOUN
alkej-442	121	37	shape	shape	NOUN
alkej-442	121	38	,	,	PUNCT
alkej-442	121	39	fig	fig	NOUN
alkej-442	121	40	.	.	PUNCT
alkej-442	122	1	9	9	NUM
alkej-442	122	2	,	,	PUNCT
alkej-442	122	3	while	while	SCONJ
alkej-442	122	4	the	the	DET
alkej-442	122	5	collision	collision	NOUN
alkej-442	122	6	between	between	ADP
alkej-442	122	7	the	the	DET
alkej-442	122	8	second	second	ADJ
alkej-442	122	9	link	link	NOUN
alkej-442	122	10	and	and	CCONJ
alkej-442	122	11	the	the	DET
alkej-442	122	12	point	point	NOUN
alkej-442	122	13	obstacle	obstacle	NOUN
alkej-442	122	14	has	have	VERB
alkej-442	122	15	a	a	DET
alkej-442	122	16	curved	curved	ADJ
alkej-442	122	17	shape	shape	NOUN
alkej-442	122	18	.	.	PUNCT
alkej-442	123	1	the	the	DET
alkej-442	123	2	upper	upper	ADJ
alkej-442	123	3	curvature	curvature	NOUN
alkej-442	123	4	is	be	AUX
alkej-442	123	5	the	the	DET
alkej-442	123	6	result	result	NOUN
alkej-442	123	7	of	of	ADP
alkej-442	123	8	elbow	elbow	VERB
alkej-442	123	9	down	down	ADP
alkej-442	123	10	configuration	configuration	NOUN
alkej-442	123	11	,	,	PUNCT
alkej-442	123	12	fig	fig	NOUN
alkej-442	123	13	.	.	PUNCT
alkej-442	123	14	8	8	NUM
alkej-442	123	15	,	,	PUNCT
alkej-442	123	16	and	and	CCONJ
alkej-442	123	17	elbow	elbow	VERB
alkej-442	123	18	up	up	ADP
alkej-442	123	19	configuration	configuration	NOUN
alkej-442	123	20	form	form	NOUN
alkej-442	123	21	the	the	DET
alkej-442	123	22	lower	low	ADJ
alkej-442	123	23	curvature	curvature	NOUN
alkej-442	123	24	as	as	ADP
alkej-442	123	25	in	in	ADP
alkej-442	123	26	fig	fig	NOUN
alkej-442	123	27	.	.	PUNCT
alkej-442	124	1	10	10	NUM
alkej-442	124	2	.	.	PUNCT
alkej-442	125	1	(	(	PUNCT
alkej-442	125	2	a	a	X
alkej-442	125	3	)	)	PUNCT
alkej-442	125	4	ra	ra	PROPN
alkej-442	125	5	d	d	NOUN
alkej-442	125	6	,	,	PUNCT
alkej-442	125	7	2	2	NUM
alkej-442	125	8	ө	ө	NOUN
alkej-442	125	9	rad	rad	PROPN
alkej-442	125	10	,	,	PUNCT
alkej-442	125	11	1ө	1ө	NUM
alkej-442	125	12	(	(	PUNCT
alkej-442	125	13	b	b	NOUN
alkej-442	125	14	)	)	PUNCT
alkej-442	125	15	fig	fig	NOUN
alkej-442	125	16	.	.	PUNCT
alkej-442	126	1	8	8	NUM
alkej-442	126	2	.	.	PUNCT
alkej-442	126	3	(	(	PUNCT
alkej-442	126	4	a	a	X
alkej-442	126	5	)	)	PUNCT
alkej-442	126	6	second	second	ADJ
alkej-442	126	7	link	link	NOUN
alkej-442	126	8	-	-	PUNCT
alkej-442	126	9	point	point	NOUN
alkej-442	126	10	collision	collision	NOUN
alkej-442	126	11	in	in	ADP
alkej-442	126	12	elbow	elbow	NOUN
alkej-442	126	13	down	down	ADP
alkej-442	126	14	in	in	ADP
alkej-442	126	15	cartesian	cartesian	ADJ
alkej-442	126	16	w	w	NOUN
alkej-442	126	17	-	-	NOUN
alkej-442	126	18	space	space	NOUN
alkej-442	126	19	.	.	PUNCT
alkej-442	127	1	(	(	PUNCT
alkej-442	127	2	b	b	X
alkej-442	127	3	)	)	PUNCT
alkej-442	127	4	corresponding	correspond	VERB
alkej-442	127	5	c	c	NOUN
alkej-442	127	6	-	-	PUNCT
alkej-442	127	7	space	space	NOUN
alkej-442	127	8	map	map	NOUN
alkej-442	127	9	.	.	PUNCT
alkej-442	128	1	firas	firas	PROPN
alkej-442	128	2	a.	a.	PROPN
alkej-442	128	3	raheem	raheem	PROPN
alkej-442	128	4	al	al	PROPN
alkej-442	128	5	-	-	PUNCT
alkej-442	128	6	khwarizmi	khwarizmi	PROPN
alkej-442	128	7	engineering	engineering	NOUN
alkej-442	128	8	journal	journal	PROPN
alkej-442	128	9	,	,	PUNCT
alkej-442	128	10	vol	vol	NOUN
alkej-442	128	11	.	.	PROPN
alkej-442	128	12	13	13	NUM
alkej-442	128	13	,	,	PUNCT
alkej-442	128	14	no	no	INTJ
alkej-442	128	15	.	.	NOUN
alkej-442	128	16	4	4	NUM
alkej-442	128	17	,	,	PUNCT
alkej-442	128	18	p.p	p.p	PROPN
alkej-442	128	19	.	.	NOUN
alkej-442	128	20	124136	124136	NUM
alkej-442	128	21	(	(	PUNCT
alkej-442	128	22	2017	2017	NUM
alkej-442	128	23	)	)	PUNCT
alkej-442	128	24	129	129	NUM
alkej-442	128	25	(	(	PUNCT
alkej-442	128	26	a	a	NOUN
alkej-442	128	27	)	)	PUNCT
alkej-442	128	28	ra	ra	PROPN
alkej-442	129	1	d	d	NOUN
alkej-442	129	2	,	,	PUNCT
alkej-442	129	3	2	2	NUM
alkej-442	129	4	ө	ө	NOUN
alkej-442	129	5	rad	rad	PROPN
alkej-442	129	6	,	,	PUNCT
alkej-442	129	7	1ө	1ө	NUM
alkej-442	129	8	(	(	PUNCT
alkej-442	129	9	b	b	NOUN
alkej-442	129	10	)	)	PUNCT
alkej-442	129	11	fig	fig	NOUN
alkej-442	129	12	.	.	PUNCT
alkej-442	130	1	9	9	X
alkej-442	130	2	.	.	X
alkej-442	130	3	(	(	PUNCT
alkej-442	130	4	a	a	X
alkej-442	130	5	)	)	PUNCT
alkej-442	130	6	first	first	ADJ
alkej-442	130	7	link	link	NOUN
alkej-442	130	8	-	-	PUNCT
alkej-442	130	9	point	point	NOUN
alkej-442	130	10	collision	collision	NOUN
alkej-442	130	11	.	.	PUNCT
alkej-442	131	1	(	(	PUNCT
alkej-442	131	2	b	b	X
alkej-442	131	3	)	)	PUNCT
alkej-442	131	4	corresponding	correspond	VERB
alkej-442	131	5	c	c	NOUN
alkej-442	131	6	-	-	PUNCT
alkej-442	131	7	space	space	NOUN
alkej-442	131	8	map	map	NOUN
alkej-442	131	9	.	.	PUNCT
alkej-442	132	1	(	(	PUNCT
alkej-442	132	2	a	a	X
alkej-442	132	3	)	)	PUNCT
alkej-442	132	4	ra	ra	PROPN
alkej-442	132	5	d	d	NOUN
alkej-442	132	6	,	,	PUNCT
alkej-442	132	7	2	2	NUM
alkej-442	132	8	ө	ө	NOUN
alkej-442	132	9	rad	rad	PROPN
alkej-442	132	10	,	,	PUNCT
alkej-442	132	11	1ө	1ө	NUM
alkej-442	132	12	(	(	PUNCT
alkej-442	132	13	b	b	NOUN
alkej-442	132	14	)	)	PUNCT
alkej-442	132	15	fig	fig	NOUN
alkej-442	132	16	.	.	PUNCT
alkej-442	133	1	10	10	NUM
alkej-442	133	2	.	.	PUNCT
alkej-442	134	1	(	(	PUNCT
alkej-442	134	2	a	a	X
alkej-442	134	3	)	)	PUNCT
alkej-442	134	4	second	second	ADJ
alkej-442	134	5	link	link	NOUN
alkej-442	134	6	-	-	PUNCT
alkej-442	134	7	point	point	NOUN
alkej-442	134	8	collision	collision	NOUN
alkej-442	134	9	in	in	ADP
alkej-442	134	10	elbow	elbow	NOUN
alkej-442	134	11	up	up	ADP
alkej-442	134	12	.	.	PUNCT
alkej-442	135	1	(	(	PUNCT
alkej-442	135	2	b	b	X
alkej-442	135	3	)	)	PUNCT
alkej-442	135	4	corresponding	correspond	VERB
alkej-442	135	5	c	c	NOUN
alkej-442	135	6	-	-	PUNCT
alkej-442	135	7	space	space	NOUN
alkej-442	135	8	map	map	NOUN
alkej-442	135	9	.	.	PUNCT
alkej-442	136	1	as	as	ADP
alkej-442	136	2	the	the	DET
alkej-442	136	3	point	point	NOUN
alkej-442	136	4	obstacle	obstacle	NOUN
alkej-442	136	5	approaching	approach	VERB
alkej-442	136	6	to	to	ADP
alkej-442	136	7	the	the	DET
alkej-442	136	8	end	end	NOUN
alkej-442	136	9	effector	effector	NOUN
alkej-442	136	10	of	of	ADP
alkej-442	136	11	the	the	DET
alkej-442	136	12	robot	robot	NOUN
alkej-442	136	13	arm	arm	NOUN
alkej-442	136	14	,	,	PUNCT
alkej-442	136	15	the	the	DET
alkej-442	136	16	c	c	NOUN
alkej-442	136	17	-	-	PUNCT
alkej-442	136	18	space	space	NOUN
alkej-442	136	19	obstacle	obstacle	NOUN
alkej-442	136	20	points	point	NOUN
alkej-442	136	21	will	will	AUX
alkej-442	136	22	decrease	decrease	VERB
alkej-442	136	23	,	,	PUNCT
alkej-442	136	24	as	as	SCONJ
alkej-442	136	25	shown	show	VERB
alkej-442	136	26	in	in	ADP
alkej-442	136	27	fig	fig	NOUN
alkej-442	136	28	.	.	PUNCT
alkej-442	137	1	11	11	NUM
alkej-442	137	2	.	.	PUNCT
alkej-442	138	1	(	(	PUNCT
alkej-442	138	2	a	a	X
alkej-442	138	3	)	)	PUNCT
alkej-442	138	4	ra	ra	PROPN
alkej-442	138	5	d	d	NOUN
alkej-442	138	6	,	,	PUNCT
alkej-442	138	7	2	2	NUM
alkej-442	138	8	ө	ө	NOUN
alkej-442	138	9	rad	rad	PROPN
alkej-442	138	10	,	,	PUNCT
alkej-442	138	11	1ө	1ө	NUM
alkej-442	138	12	(	(	PUNCT
alkej-442	138	13	b	b	NOUN
alkej-442	138	14	)	)	PUNCT
alkej-442	138	15	fig	fig	NOUN
alkej-442	138	16	.	.	PUNCT
alkej-442	139	1	11	11	NUM
alkej-442	139	2	.	.	PUNCT
alkej-442	140	1	(	(	PUNCT
alkej-442	140	2	a	a	X
alkej-442	140	3	)	)	PUNCT
alkej-442	140	4	point	point	NOUN
alkej-442	140	5	obstacle	obstacle	NOUN
alkej-442	140	6	collides	collide	VERB
alkej-442	140	7	with	with	ADP
alkej-442	140	8	second	second	ADJ
alkej-442	140	9	link	link	NOUN
alkej-442	140	10	only	only	ADV
alkej-442	140	11	.	.	PUNCT
alkej-442	141	1	(	(	PUNCT
alkej-442	141	2	b	b	X
alkej-442	141	3	)	)	PUNCT
alkej-442	141	4	curve	curve	NOUN
alkej-442	141	5	points	point	NOUN
alkej-442	141	6	decrease	decrease	NOUN
alkej-442	141	7	as	as	ADP
alkej-442	141	8	the	the	DET
alkej-442	141	9	point	point	NOUN
alkej-442	141	10	be	be	AUX
alkej-442	141	11	nearest	near	ADJ
alkej-442	141	12	to	to	ADP
alkej-442	141	13	the	the	DET
alkej-442	141	14	end	end	NOUN
alkej-442	141	15	effector	effector	NOUN
alkej-442	141	16	.	.	PUNCT
alkej-442	142	1	firas	firas	PROPN
alkej-442	142	2	a.	a.	PROPN
alkej-442	142	3	raheem	raheem	PROPN
alkej-442	142	4	al	al	PROPN
alkej-442	142	5	-	-	PUNCT
alkej-442	142	6	khwarizmi	khwarizmi	PROPN
alkej-442	142	7	engineering	engineering	NOUN
alkej-442	142	8	journal	journal	PROPN
alkej-442	142	9	,	,	PUNCT
alkej-442	142	10	vol	vol	NOUN
alkej-442	142	11	.	.	PROPN
alkej-442	142	12	13	13	NUM
alkej-442	142	13	,	,	PUNCT
alkej-442	142	14	no	no	INTJ
alkej-442	142	15	.	.	NOUN
alkej-442	142	16	4	4	NUM
alkej-442	142	17	,	,	PUNCT
alkej-442	142	18	p.p	p.p	PROPN
alkej-442	142	19	.	.	NOUN
alkej-442	142	20	124136	124136	NUM
alkej-442	142	21	(	(	PUNCT
alkej-442	142	22	2017	2017	NUM
alkej-442	142	23	)	)	PUNCT
alkej-442	142	24	130	130	NUM
alkej-442	142	25	the	the	DET
alkej-442	142	26	c	c	NOUN
alkej-442	142	27	-	-	PUNCT
alkej-442	142	28	space	space	NOUN
alkej-442	142	29	map	map	NOUN
alkej-442	142	30	of	of	ADP
alkej-442	142	31	line	line	NOUN
alkej-442	142	32	obstacle	obstacle	NOUN
alkej-442	142	33	and	and	CCONJ
alkej-442	142	34	polygonal	polygonal	ADJ
alkej-442	142	35	shape	shape	NOUN
alkej-442	142	36	obstacle	obstacle	NOUN
alkej-442	142	37	is	be	AUX
alkej-442	142	38	achieved	achieve	VERB
alkej-442	142	39	by	by	ADP
alkej-442	142	40	the	the	DET
alkej-442	142	41	analysis	analysis	NOUN
alkej-442	142	42	introduced	introduce	VERB
alkej-442	142	43	previously	previously	ADV
alkej-442	142	44	in	in	ADP
alkej-442	142	45	section	section	NOUN
alkej-442	142	46	2.2	2.2	NUM
alkej-442	142	47	and	and	CCONJ
alkej-442	142	48	2.3	2.3	NUM
alkej-442	142	49	.	.	PUNCT
alkej-442	143	1	the	the	DET
alkej-442	143	2	same	same	ADJ
alkej-442	143	3	shape	shape	NOUN
alkej-442	143	4	of	of	ADP
alkej-442	143	5	the	the	DET
alkej-442	143	6	curve	curve	NOUN
alkej-442	143	7	of	of	ADP
alkej-442	143	8	c	c	NOUN
alkej-442	143	9	-	-	PUNCT
alkej-442	143	10	space	space	NOUN
alkej-442	143	11	map	map	NOUN
alkej-442	143	12	for	for	ADP
alkej-442	143	13	point	point	NOUN
alkej-442	143	14	obstacle	obstacle	NOUN
alkej-442	143	15	applied	apply	VERB
alkej-442	143	16	for	for	ADP
alkej-442	143	17	each	each	DET
alkej-442	143	18	point	point	NOUN
alkej-442	143	19	on	on	ADP
alkej-442	143	20	the	the	DET
alkej-442	143	21	line(s	line(s	NOUN
alkej-442	143	22	)	)	PUNCT
alkej-442	143	23	.	.	PUNCT
alkej-442	144	1	here	here	ADV
alkej-442	144	2	,	,	PUNCT
alkej-442	144	3	these	these	DET
alkej-442	144	4	curves	curve	NOUN
alkej-442	144	5	in	in	ADP
alkej-442	144	6	compact	compact	ADJ
alkej-442	144	7	form	form	NOUN
alkej-442	144	8	will	will	AUX
alkej-442	144	9	represent	represent	VERB
alkej-442	144	10	the	the	DET
alkej-442	144	11	cspace	cspace	NOUN
alkej-442	144	12	line	line	NOUN
alkej-442	144	13	or	or	CCONJ
alkej-442	144	14	polygonal	polygonal	ADJ
alkej-442	144	15	obstacles	obstacle	NOUN
alkej-442	144	16	,	,	PUNCT
alkej-442	144	17	as	as	SCONJ
alkej-442	144	18	illustrated	illustrate	VERB
alkej-442	144	19	in	in	ADP
alkej-442	144	20	fig	fig	NOUN
alkej-442	144	21	.	.	PUNCT
alkej-442	145	1	12	12	NUM
alkej-442	145	2	through	through	ADP
alkej-442	145	3	fig.15	fig.15	NOUN
alkej-442	145	4	.	.	PUNCT
alkej-442	146	1	(	(	PUNCT
alkej-442	146	2	a	a	X
alkej-442	146	3	)	)	PUNCT
alkej-442	146	4	ra	ra	PROPN
alkej-442	146	5	d	d	NOUN
alkej-442	146	6	,	,	PUNCT
alkej-442	146	7	2	2	NUM
alkej-442	146	8	ө	ө	NOUN
alkej-442	146	9	rad	rad	PROPN
alkej-442	146	10	,	,	PUNCT
alkej-442	146	11	1ө	1ө	NUM
alkej-442	146	12	(	(	PUNCT
alkej-442	146	13	b	b	NOUN
alkej-442	146	14	)	)	PUNCT
alkej-442	146	15	fig	fig	NOUN
alkej-442	146	16	.	.	PUNCT
alkej-442	147	1	12	12	NUM
alkej-442	147	2	.	.	PUNCT
alkej-442	148	1	(	(	PUNCT
alkej-442	148	2	a	a	X
alkej-442	148	3	)	)	PUNCT
alkej-442	148	4	robot	robot	NOUN
alkej-442	148	5	arm	arm	NOUN
alkej-442	148	6	with	with	ADP
alkej-442	148	7	line	line	NOUN
alkej-442	148	8	obstacle	obstacle	NOUN
alkej-442	148	9	in	in	ADP
alkej-442	148	10	workspace	workspace	NOUN
alkej-442	148	11	.	.	PUNCT
alkej-442	149	1	(	(	PUNCT
alkej-442	149	2	b	b	X
alkej-442	149	3	)	)	PUNCT
alkej-442	149	4	corresponding	correspond	VERB
alkej-442	149	5	c	c	NOUN
alkej-442	149	6	-	-	PUNCT
alkej-442	149	7	space	space	NOUN
alkej-442	149	8	map	map	NOUN
alkej-442	149	9	.	.	PUNCT
alkej-442	150	1	(	(	PUNCT
alkej-442	150	2	a	a	X
alkej-442	150	3	)	)	PUNCT
alkej-442	150	4	ra	ra	PROPN
alkej-442	150	5	d	d	NOUN
alkej-442	150	6	,	,	PUNCT
alkej-442	150	7	2	2	NUM
alkej-442	150	8	ө	ө	NOUN
alkej-442	150	9	rad	rad	PROPN
alkej-442	150	10	,	,	PUNCT
alkej-442	150	11	1ө	1ө	NUM
alkej-442	150	12	(	(	PUNCT
alkej-442	150	13	b	b	NOUN
alkej-442	150	14	)	)	PUNCT
alkej-442	150	15	fig	fig	NOUN
alkej-442	150	16	.	.	PUNCT
alkej-442	151	1	13	13	NUM
alkej-442	151	2	.	.	PUNCT
alkej-442	152	1	(	(	PUNCT
alkej-442	152	2	a	a	X
alkej-442	152	3	)	)	PUNCT
alkej-442	152	4	robot	robot	NOUN
alkej-442	152	5	arm	arm	NOUN
alkej-442	152	6	with	with	ADP
alkej-442	152	7	square	square	ADJ
alkej-442	152	8	obstacle	obstacle	NOUN
alkej-442	152	9	in	in	ADP
alkej-442	152	10	cartesian	cartesian	ADJ
alkej-442	152	11	w	w	NOUN
alkej-442	152	12	-	-	NOUN
alkej-442	152	13	space	space	NOUN
alkej-442	152	14	.	.	PUNCT
alkej-442	153	1	(	(	PUNCT
alkej-442	153	2	b	b	X
alkej-442	153	3	)	)	PUNCT
alkej-442	153	4	corresponding	correspond	VERB
alkej-442	153	5	c	c	NOUN
alkej-442	153	6	-	-	PUNCT
alkej-442	153	7	space	space	NOUN
alkej-442	153	8	map	map	NOUN
alkej-442	153	9	.	.	PUNCT
alkej-442	154	1	(	(	PUNCT
alkej-442	154	2	a	a	X
alkej-442	154	3	)	)	PUNCT
alkej-442	154	4	(	(	PUNCT
alkej-442	154	5	b	b	X
alkej-442	154	6	)	)	PUNCT
alkej-442	154	7	fig	fig	NOUN
alkej-442	154	8	.	.	PUNCT
alkej-442	155	1	14	14	NUM
alkej-442	155	2	.	.	PUNCT
alkej-442	156	1	(	(	PUNCT
alkej-442	156	2	a	a	X
alkej-442	156	3	)	)	PUNCT
alkej-442	156	4	robot	robot	NOUN
alkej-442	156	5	arm	arm	NOUN
alkej-442	156	6	with	with	ADP
alkej-442	156	7	rectangular	rectangular	ADJ
alkej-442	156	8	obstacle	obstacle	NOUN
alkej-442	156	9	in	in	ADP
alkej-442	156	10	cartesian	cartesian	ADJ
alkej-442	156	11	w	w	NOUN
alkej-442	156	12	-	-	NOUN
alkej-442	156	13	space	space	NOUN
alkej-442	156	14	.	.	PUNCT
alkej-442	157	1	(	(	PUNCT
alkej-442	157	2	b	b	X
alkej-442	157	3	)	)	PUNCT
alkej-442	157	4	corresponding	correspond	VERB
alkej-442	157	5	c	c	NOUN
alkej-442	157	6	-	-	PUNCT
alkej-442	157	7	space	space	NOUN
alkej-442	157	8	map	map	NOUN
alkej-442	157	9	.	.	PUNCT
alkej-442	158	1	firas	firas	PROPN
alkej-442	158	2	a.	a.	PROPN
alkej-442	158	3	raheem	raheem	PROPN
alkej-442	158	4	al	al	PROPN
alkej-442	158	5	-	-	PUNCT
alkej-442	158	6	khwarizmi	khwarizmi	PROPN
alkej-442	158	7	engineering	engineering	NOUN
alkej-442	158	8	journal	journal	PROPN
alkej-442	158	9	,	,	PUNCT
alkej-442	158	10	vol	vol	NOUN
alkej-442	158	11	.	.	PROPN
alkej-442	158	12	13	13	NUM
alkej-442	158	13	,	,	PUNCT
alkej-442	158	14	no	no	INTJ
alkej-442	158	15	.	.	NOUN
alkej-442	158	16	4	4	NUM
alkej-442	158	17	,	,	PUNCT
alkej-442	158	18	p.p	p.p	PROPN
alkej-442	158	19	.	.	NOUN
alkej-442	158	20	124136	124136	NUM
alkej-442	158	21	(	(	PUNCT
alkej-442	158	22	2017	2017	NUM
alkej-442	158	23	)	)	PUNCT
alkej-442	158	24	131	131	NUM
alkej-442	158	25	(	(	PUNCT
alkej-442	158	26	a	a	NOUN
alkej-442	158	27	)	)	PUNCT
alkej-442	158	28	ra	ra	PROPN
alkej-442	159	1	d	d	NOUN
alkej-442	159	2	,	,	PUNCT
alkej-442	159	3	2	2	NUM
alkej-442	159	4	ө	ө	NOUN
alkej-442	159	5	rad	rad	PROPN
alkej-442	159	6	,	,	PUNCT
alkej-442	159	7	1ө	1ө	NUM
alkej-442	159	8	(	(	PUNCT
alkej-442	159	9	b	b	NOUN
alkej-442	159	10	)	)	PUNCT
alkej-442	159	11	fig	fig	NOUN
alkej-442	159	12	.	.	PUNCT
alkej-442	160	1	15	15	NUM
alkej-442	160	2	.	.	PUNCT
alkej-442	161	1	(	(	PUNCT
alkej-442	161	2	a	a	X
alkej-442	161	3	)	)	PUNCT
alkej-442	161	4	robot	robot	NOUN
alkej-442	161	5	arm	arm	NOUN
alkej-442	161	6	with	with	ADP
alkej-442	161	7	octagonal	octagonal	ADJ
alkej-442	161	8	obstacle	obstacle	NOUN
alkej-442	161	9	in	in	ADP
alkej-442	161	10	cartesian	cartesian	ADJ
alkej-442	161	11	w	w	NOUN
alkej-442	161	12	-	-	NOUN
alkej-442	161	13	space	space	NOUN
alkej-442	161	14	.	.	PUNCT
alkej-442	162	1	(	(	PUNCT
alkej-442	162	2	b	b	X
alkej-442	162	3	)	)	PUNCT
alkej-442	162	4	corresponding	correspond	VERB
alkej-442	162	5	c	c	NOUN
alkej-442	162	6	-	-	PUNCT
alkej-442	162	7	space	space	NOUN
alkej-442	162	8	map	map	NOUN
alkej-442	162	9	.	.	PUNCT
alkej-442	163	1	the	the	DET
alkej-442	163	2	figures	figure	NOUN
alkej-442	163	3	(	(	PUNCT
alkej-442	163	4	12	12	NUM
alkej-442	163	5	-	-	SYM
alkej-442	163	6	15	15	NUM
alkej-442	163	7	)	)	PUNCT
alkej-442	163	8	,	,	PUNCT
alkej-442	163	9	represent	represent	VERB
alkej-442	163	10	the	the	DET
alkej-442	163	11	case	case	NOUN
alkej-442	163	12	of	of	ADP
alkej-442	163	13	collision	collision	NOUN
alkej-442	163	14	with	with	ADP
alkej-442	163	15	both	both	DET
alkej-442	163	16	links	link	NOUN
alkej-442	163	17	.	.	PUNCT
alkej-442	164	1	the	the	DET
alkej-442	164	2	number	number	NOUN
alkej-442	164	3	of	of	ADP
alkej-442	164	4	points	point	NOUN
alkej-442	164	5	on	on	ADP
alkej-442	164	6	c	c	NOUN
alkej-442	164	7	-	-	PUNCT
alkej-442	164	8	space	space	NOUN
alkej-442	164	9	map	map	NOUN
alkej-442	164	10	are	be	AUX
alkej-442	164	11	increase	increase	NOUN
alkej-442	164	12	as	as	SCONJ
alkej-442	164	13	the	the	DET
alkej-442	164	14	obstacle	obstacle	NOUN
alkej-442	164	15	in	in	ADP
alkej-442	164	16	the	the	DET
alkej-442	164	17	cartesian	cartesian	ADJ
alkej-442	164	18	w	w	NOUN
alkej-442	164	19	-	-	PUNCT
alkej-442	164	20	space	space	NOUN
alkej-442	164	21	be	be	AUX
alkej-442	164	22	near	near	ADJ
alkej-442	164	23	to	to	ADP
alkej-442	164	24	the	the	DET
alkej-442	164	25	first	first	ADJ
alkej-442	164	26	link	link	NOUN
alkej-442	164	27	.	.	PUNCT
alkej-442	165	1	in	in	ADP
alkej-442	165	2	addition	addition	NOUN
alkej-442	165	3	,	,	PUNCT
alkej-442	165	4	it	it	PRON
alkej-442	165	5	can	can	AUX
alkej-442	165	6	be	be	AUX
alkej-442	165	7	observed	observe	VERB
alkej-442	165	8	that	that	SCONJ
alkej-442	165	9	the	the	DET
alkej-442	165	10	�	�	PROPN
alkej-442	165	11	�	�	PROPN
alkej-442	165	12	�	�	PROPN
alkej-442	165	13	�	�	PROPN
alkej-442	165	14	�	�	PROPN
alkej-442	165	15	is	be	AUX
alkej-442	165	16	on	on	ADP
alkej-442	165	17	the	the	DET
alkej-442	165	18	both	both	DET
alkej-442	165	19	sides	side	NOUN
alkej-442	165	20	of	of	ADP
alkej-442	165	21	the	the	DET
alkej-442	165	22	�	�	PROPN
alkej-442	165	23	�	�	PROPN
alkej-442	165	24	�	�	PROPN
alkej-442	165	25	�	�	PROPN
alkej-442	165	26	.	.	PUNCT
alkej-442	166	1	therefore	therefore	ADV
alkej-442	166	2	,	,	PUNCT
alkej-442	166	3	to	to	PART
alkej-442	166	4	find	find	VERB
alkej-442	166	5	the	the	DET
alkej-442	166	6	path	path	NOUN
alkej-442	166	7	from	from	ADP
alkej-442	166	8	one	one	NUM
alkej-442	166	9	side	side	NOUN
alkej-442	166	10	to	to	ADP
alkej-442	166	11	other	other	ADJ
alkej-442	166	12	,	,	PUNCT
alkej-442	166	13	the	the	DET
alkej-442	166	14	range	range	NOUN
alkej-442	166	15	of	of	ADP
alkej-442	166	16	changing	change	VERB
alkej-442	166	17	#	#	SYM
alkej-442	166	18	�	�	PROPN
alkej-442	166	19	is	be	AUX
alkej-442	166	20	chosen	choose	VERB
alkej-442	166	21	in	in	ADP
alkej-442	166	22	somehow	somehow	ADV
alkej-442	166	23	for	for	ADP
alkej-442	166	24	unification	unification	NOUN
alkej-442	166	25	the	the	DET
alkej-442	166	26	region	region	NOUN
alkej-442	166	27	of	of	ADP
alkej-442	166	28	�	�	PROPN
alkej-442	166	29	�	�	PROPN
alkej-442	166	30	�	�	PROPN
alkej-442	166	31	�	�	PROPN
alkej-442	166	32	�	�	PROPN
alkej-442	166	33	which	which	PRON
alkej-442	166	34	make	make	VERB
alkej-442	166	35	the	the	DET
alkej-442	166	36	path	path	NOUN
alkej-442	166	37	planning	planning	NOUN
alkej-442	166	38	easier	easy	ADJ
alkej-442	166	39	.	.	PUNCT
alkej-442	167	1	for	for	ADP
alkej-442	167	2	circle	circle	NOUN
alkej-442	167	3	obstacle	obstacle	NOUN
alkej-442	167	4	,	,	PUNCT
alkej-442	167	5	fig	fig	NOUN
alkej-442	167	6	.	.	PUNCT
alkej-442	168	1	16	16	NUM
alkej-442	168	2	,	,	PUNCT
alkej-442	168	3	there	there	PRON
alkej-442	168	4	are	be	VERB
alkej-442	168	5	two	two	NUM
alkej-442	168	6	main	main	ADJ
alkej-442	168	7	parts	part	NOUN
alkej-442	168	8	of	of	ADP
alkej-442	168	9	edges	edge	NOUN
alkej-442	168	10	of	of	ADP
alkej-442	168	11	the	the	DET
alkej-442	168	12	c	c	NOUN
alkej-442	168	13	-	-	PUNCT
alkej-442	168	14	space	space	NOUN
alkej-442	168	15	map	map	NOUN
alkej-442	168	16	.	.	PUNCT
alkej-442	169	1	first	first	ADV
alkej-442	169	2	,	,	PUNCT
alkej-442	169	3	the	the	DET
alkej-442	169	4	collision	collision	NOUN
alkej-442	169	5	between	between	ADP
alkej-442	169	6	the	the	DET
alkej-442	169	7	first	first	ADJ
alkej-442	169	8	link	link	NOUN
alkej-442	169	9	and	and	CCONJ
alkej-442	169	10	the	the	DET
alkej-442	169	11	circle	circle	NOUN
alkej-442	169	12	obstacle	obstacle	NOUN
alkej-442	169	13	circumference	circumference	NOUN
alkej-442	169	14	,	,	PUNCT
alkej-442	169	15	which	which	PRON
alkej-442	169	16	represented	represent	VERB
alkej-442	169	17	by	by	ADP
alkej-442	169	18	the	the	DET
alkej-442	169	19	vertical	vertical	ADJ
alkej-442	169	20	straight	straight	ADJ
alkej-442	169	21	lines	line	NOUN
alkej-442	169	22	with	with	ADP
alkej-442	169	23	all	all	DET
alkej-442	169	24	values	value	NOUN
alkej-442	169	25	of	of	ADP
alkej-442	169	26	#	#	SYM
alkej-442	169	27	!	!	PUNCT
alkej-442	169	28	.	.	PUNCT
alkej-442	170	1	second	second	ADJ
alkej-442	170	2	,	,	PUNCT
alkej-442	170	3	the	the	DET
alkej-442	170	4	outer	outer	ADJ
alkej-442	170	5	upper	upper	ADJ
alkej-442	170	6	and	and	CCONJ
alkej-442	170	7	lower	low	ADJ
alkej-442	170	8	curved	curved	ADJ
alkej-442	170	9	shapes	shape	NOUN
alkej-442	170	10	represents	represent	VERB
alkej-442	170	11	the	the	DET
alkej-442	170	12	collision	collision	NOUN
alkej-442	170	13	between	between	ADP
alkej-442	170	14	the	the	DET
alkej-442	170	15	second	second	ADJ
alkej-442	170	16	link	link	NOUN
alkej-442	170	17	and	and	CCONJ
alkej-442	170	18	the	the	DET
alkej-442	170	19	circle	circle	NOUN
alkej-442	170	20	obstacle	obstacle	NOUN
alkej-442	170	21	circumference	circumference	NOUN
alkej-442	170	22	.	.	PUNCT
alkej-442	171	1	(	(	PUNCT
alkej-442	171	2	a	a	X
alkej-442	171	3	)	)	PUNCT
alkej-442	171	4	r	r	NOUN
alkej-442	171	5	a	a	PROPN
alkej-442	171	6	d	d	NOUN
alkej-442	171	7	,	,	PUNCT
alkej-442	171	8	2	2	NUM
alkej-442	171	9	ө	ө	NOUN
alkej-442	171	10	rad	rad	PROPN
alkej-442	171	11	,	,	PUNCT
alkej-442	171	12	1ө	1ө	NUM
alkej-442	171	13	(	(	PUNCT
alkej-442	171	14	b	b	NOUN
alkej-442	171	15	)	)	PUNCT
alkej-442	171	16	fig	fig	NOUN
alkej-442	171	17	.	.	PUNCT
alkej-442	172	1	16	16	NUM
alkej-442	172	2	.	.	PUNCT
alkej-442	173	1	(	(	PUNCT
alkej-442	173	2	a	a	X
alkej-442	173	3	)	)	PUNCT
alkej-442	173	4	robot	robot	NOUN
alkej-442	173	5	arm	arm	NOUN
alkej-442	173	6	with	with	ADP
alkej-442	173	7	circular	circular	ADJ
alkej-442	173	8	obstacle	obstacle	NOUN
alkej-442	173	9	in	in	ADP
alkej-442	173	10	cartesian	cartesian	ADJ
alkej-442	173	11	w	w	NOUN
alkej-442	173	12	-	-	NOUN
alkej-442	173	13	space	space	NOUN
alkej-442	173	14	.	.	PUNCT
alkej-442	174	1	(	(	PUNCT
alkej-442	174	2	b	b	X
alkej-442	174	3	)	)	PUNCT
alkej-442	174	4	corresponding	correspond	VERB
alkej-442	174	5	c	c	NOUN
alkej-442	174	6	-	-	PUNCT
alkej-442	174	7	space	space	NOUN
alkej-442	174	8	map	map	NOUN
alkej-442	174	9	.	.	PUNCT
alkej-442	175	1	for	for	ADP
alkej-442	175	2	any	any	DET
alkej-442	175	3	c	c	NOUN
alkej-442	175	4	-	-	PUNCT
alkej-442	175	5	space	space	NOUN
alkej-442	175	6	obstacle	obstacle	NOUN
alkej-442	175	7	shape	shape	NOUN
alkej-442	175	8	,	,	PUNCT
alkej-442	175	9	the	the	DET
alkej-442	175	10	map	map	NOUN
alkej-442	175	11	of	of	ADP
alkej-442	175	12	cspace	cspace	NOUN
alkej-442	175	13	is	be	AUX
alkej-442	175	14	formed	form	VERB
alkej-442	175	15	by	by	ADP
alkej-442	175	16	matched	match	VERB
alkej-442	175	17	angles	angle	NOUN
alkej-442	175	18	.	.	PUNCT
alkej-442	176	1	each	each	DET
alkej-442	176	2	pair	pair	NOUN
alkej-442	176	3	of	of	ADP
alkej-442	176	4	matched	match	VERB
alkej-442	176	5	points	point	NOUN
alkej-442	176	6	in	in	ADP
alkej-442	176	7	the	the	DET
alkej-442	176	8	obstacle	obstacle	NOUN
alkej-442	176	9	in	in	ADP
alkej-442	176	10	cartesian	cartesian	ADJ
alkej-442	176	11	wspace	wspace	NOUN
alkej-442	176	12	has	have	VERB
alkej-442	176	13	a	a	DET
alkej-442	176	14	pair	pair	NOUN
alkej-442	176	15	of	of	ADP
alkej-442	176	16	matched	match	VERB
alkej-442	176	17	angles	angle	NOUN
alkej-442	176	18	in	in	ADP
alkej-442	176	19	c	c	NOUN
alkej-442	176	20	-	-	NOUN
alkej-442	176	21	space	space	NOUN
alkej-442	176	22	.	.	PUNCT
alkej-442	177	1	for	for	ADP
alkej-442	177	2	example	example	NOUN
alkej-442	177	3	:	:	PUNCT
alkej-442	177	4	table	table	NOUN
alkej-442	177	5	1	1	NUM
alkej-442	177	6	,	,	PUNCT
alkej-442	177	7	two	two	NUM
alkej-442	177	8	matched	match	VERB
alkej-442	177	9	points	point	NOUN
alkej-442	177	10	in	in	ADP
alkej-442	177	11	cartesian	cartesian	ADJ
alkej-442	177	12	w	w	NOUN
alkej-442	177	13	-	-	PUNCT
alkej-442	177	14	space	space	NOUN
alkej-442	177	15	and	and	CCONJ
alkej-442	177	16	their	their	PRON
alkej-442	177	17	symmetry	symmetry	NOUN
alkej-442	177	18	angles	angle	VERB
alkej-442	177	19	in	in	ADP
alkej-442	177	20	c	c	NOUN
alkej-442	177	21	-	-	PUNCT
alkej-442	177	22	space	space	NOUN
alkej-442	177	23	x(m	x(m	PROPN
alkej-442	177	24	)	)	PUNCT
alkej-442	178	1	y(m	y(m	PROPN
alkej-442	179	1	)	)	PUNCT
alkej-442	179	2	kl	kl	PROPN
alkej-442	179	3	�	�	PROPN
alkej-442	179	4	mno	mno	PROPN
alkej-442	179	5	.	.	PUNCT
alkej-442	179	6	kp(deg	kp(deg	PROPN
alkej-442	179	7	.	.	PUNCT
alkej-442	179	8	)	)	PUNCT
alkej-442	180	1	0.5808	0.5808	NUM
alkej-442	180	2	0.2111	0.2111	NUM
alkej-442	180	3	-52	-52	PUNCT
alkej-442	180	4	144	144	NUM
alkej-442	180	5	0.211	0.211	NUM
alkej-442	180	6	0.5808	0.5808	NUM
alkej-442	180	7	142	142	NUM
alkej-442	180	8	-144	-144	INTJ
alkej-442	180	9	this	this	DET
alkej-442	180	10	pair	pair	NOUN
alkej-442	180	11	of	of	ADP
alkej-442	180	12	points	point	NOUN
alkej-442	180	13	represent	represent	VERB
alkej-442	180	14	the	the	DET
alkej-442	180	15	first	first	ADJ
alkej-442	180	16	point	point	NOUN
alkej-442	180	17	and	and	CCONJ
alkej-442	180	18	last	last	ADJ
alkej-442	180	19	point	point	NOUN
alkej-442	180	20	on	on	ADP
alkej-442	180	21	the	the	DET
alkej-442	180	22	c	c	NOUN
alkej-442	180	23	-	-	PUNCT
alkej-442	180	24	space	space	NOUN
alkej-442	180	25	map	map	NOUN
alkej-442	180	26	for	for	ADP
alkej-442	180	27	circle	circle	NOUN
alkej-442	180	28	obstacle	obstacle	NOUN
alkej-442	180	29	with	with	ADP
alkej-442	180	30	center	center	NOUN
alkej-442	180	31	of	of	ADP
alkej-442	180	32	(	(	PUNCT
alkej-442	180	33	0.5	0.5	NUM
alkej-442	180	34	,	,	PUNCT
alkej-442	180	35	0.5	0.5	NUM
alkej-442	180	36	)	)	PUNCT
alkej-442	180	37	and	and	CCONJ
alkej-442	180	38	radius	radius	NOUN
alkej-442	180	39	equal	equal	ADJ
alkej-442	180	40	to	to	ADP
alkej-442	180	41	0.3	0.3	NUM
alkej-442	180	42	m	m	NOUN
alkej-442	180	43	,	,	PUNCT
alkej-442	180	44	which	which	PRON
alkej-442	180	45	is	be	AUX
alkej-442	180	46	illustrated	illustrate	VERB
alkej-442	180	47	in	in	ADP
alkej-442	180	48	fig	fig	NOUN
alkej-442	180	49	.	.	PUNCT
alkej-442	181	1	17	17	NUM
alkej-442	181	2	.	.	PUNCT
alkej-442	182	1	it	it	PRON
alkej-442	182	2	can	can	AUX
alkej-442	182	3	be	be	AUX
alkej-442	182	4	seen	see	VERB
alkej-442	182	5	that	that	SCONJ
alkej-442	182	6	the	the	DET
alkej-442	182	7	symmetry	symmetry	NOUN
alkej-442	182	8	points	point	VERB
alkej-442	182	9	on	on	ADP
alkej-442	182	10	c	c	NOUN
alkej-442	182	11	-	-	PUNCT
alkej-442	182	12	space	space	NOUN
alkej-442	182	13	have	have	VERB
alkej-442	182	14	the	the	DET
alkej-442	182	15	same	same	ADJ
alkej-442	182	16	#	#	NOUN
alkej-442	182	17	!	!	PUNCT
alkej-442	182	18	value	value	NOUN
alkej-442	182	19	with	with	ADP
alkej-442	182	20	different	different	ADJ
alkej-442	182	21	sign	sign	NOUN
alkej-442	182	22	,	,	PUNCT
alkej-442	182	23	which	which	PRON
alkej-442	182	24	is	be	AUX
alkej-442	182	25	verifies	verifie	NOUN
alkej-442	182	26	the	the	DET
alkej-442	182	27	two	two	NUM
alkej-442	182	28	solutions	solution	NOUN
alkej-442	182	29	of	of	ADP
alkej-442	182	30	elbow	elbow	NOUN
alkej-442	182	31	up	up	ADP
alkej-442	182	32	and	and	CCONJ
alkej-442	182	33	elbow	elbow	VERB
alkej-442	182	34	down	down	ADP
alkej-442	182	35	of	of	ADP
alkej-442	182	36	the	the	DET
alkej-442	182	37	second	second	ADJ
alkej-442	182	38	joint	joint	NOUN
alkej-442	182	39	.	.	PUNCT
alkej-442	183	1	firas	firas	PROPN
alkej-442	183	2	a.	a.	PROPN
alkej-442	183	3	raheem	raheem	PROPN
alkej-442	183	4	al	al	PROPN
alkej-442	183	5	-	-	PUNCT
alkej-442	183	6	khwarizmi	khwarizmi	PROPN
alkej-442	183	7	engineering	engineering	NOUN
alkej-442	183	8	journal	journal	PROPN
alkej-442	183	9	,	,	PUNCT
alkej-442	183	10	vol	vol	NOUN
alkej-442	183	11	.	.	PROPN
alkej-442	183	12	13	13	NUM
alkej-442	183	13	,	,	PUNCT
alkej-442	183	14	no	no	INTJ
alkej-442	183	15	.	.	NOUN
alkej-442	183	16	4	4	NUM
alkej-442	183	17	,	,	PUNCT
alkej-442	183	18	p.p	p.p	PROPN
alkej-442	183	19	.	.	NOUN
alkej-442	183	20	124136	124136	NUM
alkej-442	183	21	(	(	PUNCT
alkej-442	183	22	2017	2017	NUM
alkej-442	183	23	)	)	PUNCT
alkej-442	183	24	132	132	NUM
alkej-442	183	25	fig	fig	NOUN
alkej-442	183	26	.	.	PUNCT
alkej-442	184	1	17	17	NUM
alkej-442	184	2	.	.	PUNCT
alkej-442	185	1	the	the	DET
alkej-442	185	2	matched	match	VERB
alkej-442	185	3	points	point	NOUN
alkej-442	185	4	analyzing	analyze	VERB
alkej-442	185	5	for	for	ADP
alkej-442	185	6	circle	circle	NOUN
alkej-442	185	7	obstacle	obstacle	NOUN
alkej-442	185	8	.	.	PUNCT
alkej-442	186	1	for	for	ADP
alkej-442	186	2	any	any	DET
alkej-442	186	3	obstacle	obstacle	NOUN
alkej-442	186	4	shape	shape	NOUN
alkej-442	186	5	,	,	PUNCT
alkej-442	186	6	if	if	SCONJ
alkej-442	186	7	there	there	PRON
alkej-442	186	8	is	be	VERB
alkej-442	186	9	a	a	DET
alkej-442	186	10	collision	collision	NOUN
alkej-442	186	11	between	between	ADP
alkej-442	186	12	the	the	DET
alkej-442	186	13	robot	robot	NOUN
alkej-442	186	14	links	link	NOUN
alkej-442	186	15	and	and	CCONJ
alkej-442	186	16	the	the	DET
alkej-442	186	17	circumference	circumference	NOUN
alkej-442	186	18	of	of	ADP
alkej-442	186	19	that	that	DET
alkej-442	186	20	obstacle	obstacle	NOUN
alkej-442	186	21	,	,	PUNCT
alkej-442	186	22	by	by	ADP
alkej-442	186	23	the	the	DET
alkej-442	186	24	way	way	NOUN
alkej-442	186	25	any	any	DET
alkej-442	186	26	inner	inner	ADJ
alkej-442	186	27	point	point	NOUN
alkej-442	186	28	of	of	ADP
alkej-442	186	29	the	the	DET
alkej-442	186	30	obstacle	obstacle	NOUN
alkej-442	186	31	has	have	VERB
alkej-442	186	32	a	a	DET
alkej-442	186	33	corresponding	corresponding	ADJ
alkej-442	186	34	point	point	NOUN
alkej-442	186	35	on	on	ADP
alkej-442	186	36	the	the	DET
alkej-442	186	37	c	c	NOUN
alkej-442	186	38	-	-	PUNCT
alkej-442	186	39	space	space	NOUN
alkej-442	186	40	map	map	NOUN
alkej-442	186	41	.	.	PUNCT
alkej-442	187	1	4.2	4.2	NUM
alkej-442	187	2	.	.	PUNCT
alkej-442	187	3	results	result	NOUN
alkej-442	187	4	of	of	ADP
alkej-442	187	5	applying	apply	VERB
alkej-442	187	6	a	a	DET
alkej-442	187	7	*	*	ADJ
alkej-442	187	8	algorithm	algorithm	NOUN
alkej-442	187	9	on	on	ADP
alkej-442	187	10	modified	modify	VERB
alkej-442	187	11	c	c	NOUN
alkej-442	187	12	-	-	PUNCT
alkej-442	187	13	space	space	NOUN
alkej-442	187	14	the	the	DET
alkej-442	187	15	following	follow	VERB
alkej-442	187	16	two	two	NUM
alkej-442	187	17	environments	environment	NOUN
alkej-442	187	18	have	have	VERB
alkej-442	187	19	different	different	ADJ
alkej-442	187	20	obstacle	obstacle	NOUN
alkej-442	187	21	shapes	shape	NOUN
alkej-442	187	22	and	and	CCONJ
alkej-442	187	23	tasks	task	NOUN
alkej-442	187	24	.	.	PUNCT
alkej-442	188	1	first	first	ADV
alkej-442	188	2	,	,	PUNCT
alkej-442	188	3	we	we	PRON
alkej-442	188	4	do	do	VERB
alkej-442	188	5	all	all	DET
alkej-442	188	6	the	the	DET
alkej-442	188	7	steps	step	NOUN
alkej-442	188	8	of	of	ADP
alkej-442	188	9	c	c	NOUN
alkej-442	188	10	-	-	PUNCT
alkej-442	188	11	space	space	NOUN
alkej-442	188	12	analysis	analysis	NOUN
alkej-442	188	13	and	and	CCONJ
alkej-442	188	14	then	then	ADV
alkej-442	188	15	the	the	DET
alkej-442	188	16	construction	construction	NOUN
alkej-442	188	17	to	to	PART
alkej-442	188	18	get	get	VERB
alkej-442	188	19	the	the	DET
alkej-442	188	20	exact	exact	ADJ
alkej-442	188	21	map	map	NOUN
alkej-442	188	22	,	,	PUNCT
alkej-442	188	23	which	which	PRON
alkej-442	188	24	includes	include	VERB
alkej-442	188	25	the	the	DET
alkej-442	188	26	collision	collision	NOUN
alkej-442	188	27	and	and	CCONJ
alkej-442	188	28	free	free	ADJ
alkej-442	188	29	areas	area	NOUN
alkej-442	188	30	.	.	PUNCT
alkej-442	189	1	second	second	ADJ
alkej-442	189	2	,	,	PUNCT
alkej-442	189	3	the	the	DET
alkej-442	189	4	start	start	NOUN
alkej-442	189	5	and	and	CCONJ
alkej-442	189	6	goal	goal	NOUN
alkej-442	189	7	configuration	configuration	NOUN
alkej-442	189	8	,	,	PUNCT
alkej-442	189	9	which	which	PRON
alkej-442	189	10	are	be	AUX
alkej-442	189	11	represented	represent	VERB
alkej-442	189	12	by	by	ADP
alkej-442	189	13	the	the	DET
alkej-442	189	14	dot	dot	NOUN
alkej-442	189	15	and	and	CCONJ
alkej-442	189	16	the	the	DET
alkej-442	189	17	star	star	NOUN
alkej-442	189	18	shape	shape	NOUN
alkej-442	189	19	respectively	respectively	ADV
alkej-442	189	20	,	,	PUNCT
alkej-442	189	21	have	have	AUX
alkej-442	189	22	been	be	AUX
alkej-442	189	23	computed	compute	VERB
alkej-442	189	24	by	by	ADP
alkej-442	189	25	the	the	DET
alkej-442	189	26	inverse	inverse	NOUN
alkej-442	189	27	kinematic	kinematic	NOUN
alkej-442	189	28	equations	equation	NOUN
alkej-442	189	29	.	.	PUNCT
alkej-442	190	1	for	for	ADP
alkej-442	190	2	the	the	DET
alkej-442	190	3	first	first	ADJ
alkej-442	190	4	and	and	CCONJ
alkej-442	190	5	second	second	ADJ
alkej-442	190	6	environment	environment	NOUN
alkej-442	190	7	,	,	PUNCT
alkej-442	190	8	the	the	DET
alkej-442	190	9	start	start	NOUN
alkej-442	190	10	and	and	CCONJ
alkej-442	190	11	goal	goal	NOUN
alkej-442	190	12	points	point	NOUN
alkej-442	190	13	represented	represent	VERB
alkej-442	190	14	by	by	ADP
alkej-442	190	15	the	the	DET
alkej-442	190	16	dot	dot	NOUN
alkej-442	190	17	and	and	CCONJ
alkej-442	190	18	the	the	DET
alkej-442	190	19	star	star	NOUN
alkej-442	190	20	shape	shape	NOUN
alkej-442	190	21	respectively	respectively	ADV
alkej-442	190	22	.	.	PUNCT
alkej-442	191	1	fig	fig	NOUN
alkej-442	191	2	.	.	PUNCT
alkej-442	192	1	18	18	NUM
alkej-442	192	2	.	.	PUNCT
alkej-442	193	1	cartesian	cartesian	ADJ
alkej-442	193	2	w	w	NOUN
alkej-442	193	3	-	-	PUNCT
alkej-442	193	4	space	space	NOUN
alkej-442	193	5	of	of	ADP
alkej-442	193	6	the	the	DET
alkej-442	193	7	first	first	ADJ
alkej-442	193	8	environment	environment	NOUN
alkej-442	193	9	.	.	PUNCT
alkej-442	194	1	fig	fig	NOUN
alkej-442	194	2	.	.	PUNCT
alkej-442	195	1	19	19	NUM
alkej-442	195	2	.	.	X
alkej-442	195	3	c	c	X
alkej-442	195	4	-	-	PUNCT
alkej-442	195	5	space	space	NOUN
alkej-442	195	6	map	map	NOUN
alkej-442	195	7	of	of	ADP
alkej-442	195	8	the	the	DET
alkej-442	195	9	first	first	ADJ
alkej-442	195	10	environment	environment	NOUN
alkej-442	195	11	.	.	PUNCT
alkej-442	196	1	d	d	X
alkej-442	196	2	e	e	X
alkej-442	196	3	g	g	PROPN
alkej-442	196	4	,	,	PUNCT
alkej-442	196	5	2	2	NUM
alkej-442	196	6	ө	ө	NOUN
alkej-442	196	7	deg	deg	NOUN
alkej-442	196	8	,	,	PUNCT
alkej-442	196	9	1ө	1ө	NUM
alkej-442	196	10	start	start	NOUN
alkej-442	196	11	point	point	NOUN
alkej-442	196	12	goal	goal	NOUN
alkej-442	196	13	point	point	NOUN
alkej-442	196	14	fig	fig	NOUN
alkej-442	196	15	.	.	PUNCT
alkej-442	197	1	20	20	NUM
alkej-442	197	2	.	.	PUNCT
alkej-442	198	1	a	a	DET
alkej-442	198	2	*	*	PUNCT
alkej-442	198	3	path	path	NOUN
alkej-442	198	4	in	in	ADP
alkej-442	198	5	c	c	NOUN
alkej-442	198	6	-	-	PUNCT
alkej-442	198	7	space	space	NOUN
alkej-442	198	8	map	map	NOUN
alkej-442	198	9	for	for	ADP
alkej-442	198	10	the	the	DET
alkej-442	198	11	first	first	ADJ
alkej-442	198	12	environment	environment	NOUN
alkej-442	198	13	.	.	PUNCT
alkej-442	199	1	start	start	VERB
alkej-442	199	2	point	point	NOUN
alkej-442	199	3	goal	goal	NOUN
alkej-442	199	4	point	point	NOUN
alkej-442	199	5	fig	fig	NOUN
alkej-442	199	6	.	.	PUNCT
alkej-442	200	1	21	21	NUM
alkej-442	200	2	.	.	PUNCT
alkej-442	201	1	the	the	DET
alkej-442	201	2	movement	movement	NOUN
alkej-442	201	3	of	of	ADP
alkej-442	201	4	robot	robot	NOUN
alkej-442	201	5	arm	arm	NOUN
alkej-442	201	6	from	from	ADP
alkej-442	201	7	start	start	NOUN
alkej-442	201	8	to	to	ADP
alkej-442	201	9	goal	goal	NOUN
alkej-442	201	10	point	point	NOUN
alkej-442	201	11	for	for	ADP
alkej-442	201	12	the	the	DET
alkej-442	201	13	first	first	ADJ
alkej-442	201	14	environment	environment	NOUN
alkej-442	201	15	.	.	PUNCT
alkej-442	202	1	firas	firas	PROPN
alkej-442	202	2	a.	a.	PROPN
alkej-442	202	3	raheem	raheem	PROPN
alkej-442	202	4	al	al	PROPN
alkej-442	202	5	-	-	PUNCT
alkej-442	202	6	khwarizmi	khwarizmi	PROPN
alkej-442	202	7	engineering	engineering	NOUN
alkej-442	202	8	journal	journal	PROPN
alkej-442	202	9	,	,	PUNCT
alkej-442	202	10	vol	vol	NOUN
alkej-442	202	11	.	.	PROPN
alkej-442	202	12	13	13	NUM
alkej-442	202	13	,	,	PUNCT
alkej-442	202	14	no	no	INTJ
alkej-442	202	15	.	.	NOUN
alkej-442	202	16	4	4	NUM
alkej-442	202	17	,	,	PUNCT
alkej-442	202	18	p.p	p.p	PROPN
alkej-442	202	19	.	.	NOUN
alkej-442	202	20	124136	124136	NUM
alkej-442	202	21	(	(	PUNCT
alkej-442	202	22	2017	2017	NUM
alkej-442	202	23	)	)	PUNCT
alkej-442	202	24	133	133	NUM
alkej-442	202	25	fig	fig	NOUN
alkej-442	202	26	.	.	PUNCT
alkej-442	203	1	22	22	NUM
alkej-442	203	2	.	.	X
alkej-442	203	3	two	two	NUM
alkej-442	203	4	-	-	PUNCT
alkej-442	203	5	link	link	NOUN
alkej-442	203	6	robot	robot	NOUN
alkej-442	203	7	arm	arm	NOUN
alkej-442	203	8	end	end	VERB
alkej-442	203	9	effector	effector	NOUN
alkej-442	203	10	path	path	NOUN
alkej-442	203	11	in	in	ADP
alkej-442	203	12	cartesian	cartesian	ADJ
alkej-442	203	13	w	w	NOUN
alkej-442	203	14	-	-	PUNCT
alkej-442	203	15	space	space	NOUN
alkej-442	203	16	for	for	ADP
alkej-442	203	17	the	the	DET
alkej-442	203	18	first	first	ADJ
alkej-442	203	19	environment	environment	NOUN
alkej-442	203	20	.	.	PUNCT
alkej-442	204	1	start	start	VERB
alkej-442	204	2	point	point	NOUN
alkej-442	204	3	goal	goal	NOUN
alkej-442	204	4	point	point	NOUN
alkej-442	204	5	fig	fig	NOUN
alkej-442	204	6	.	.	PUNCT
alkej-442	205	1	23	23	NUM
alkej-442	205	2	.	.	PUNCT
alkej-442	206	1	cartesian	cartesian	ADJ
alkej-442	206	2	w	w	NOUN
alkej-442	206	3	-	-	PUNCT
alkej-442	206	4	space	space	NOUN
alkej-442	206	5	of	of	ADP
alkej-442	206	6	the	the	DET
alkej-442	206	7	second	second	ADJ
alkej-442	206	8	environment	environment	NOUN
alkej-442	206	9	.	.	PUNCT
alkej-442	207	1	ra	ra	PROPN
alkej-442	208	1	d	d	NOUN
alkej-442	208	2	,	,	PUNCT
alkej-442	208	3	2	2	NUM
alkej-442	208	4	ө	ө	NOUN
alkej-442	208	5	rad	rad	PROPN
alkej-442	208	6	,	,	PUNCT
alkej-442	208	7	1ө	1ө	NUM
alkej-442	208	8	start	start	NOUN
alkej-442	208	9	point	point	NOUN
alkej-442	208	10	goal	goal	NOUN
alkej-442	208	11	point	point	NOUN
alkej-442	208	12	fig	fig	NOUN
alkej-442	208	13	.	.	PUNCT
alkej-442	209	1	24	24	NUM
alkej-442	209	2	.	.	X
alkej-442	210	1	c	c	X
alkej-442	210	2	-	-	PUNCT
alkej-442	210	3	space	space	NOUN
alkej-442	210	4	map	map	NOUN
alkej-442	210	5	of	of	ADP
alkej-442	210	6	the	the	DET
alkej-442	210	7	second	second	ADJ
alkej-442	210	8	environment	environment	NOUN
alkej-442	210	9	.	.	PUNCT
alkej-442	211	1	d	d	X
alkej-442	211	2	e	e	X
alkej-442	211	3	g	g	PROPN
alkej-442	211	4	,	,	PUNCT
alkej-442	211	5	2	2	NUM
alkej-442	211	6	ө	ө	NOUN
alkej-442	211	7	deg	deg	NOUN
alkej-442	211	8	,	,	PUNCT
alkej-442	211	9	1ө	1ө	NUM
alkej-442	211	10	start	start	NOUN
alkej-442	211	11	point	point	NOUN
alkej-442	211	12	goal	goal	NOUN
alkej-442	211	13	point	point	NOUN
alkej-442	211	14	fig	fig	NOUN
alkej-442	211	15	.	.	PUNCT
alkej-442	212	1	25	25	NUM
alkej-442	212	2	.	.	PUNCT
alkej-442	213	1	a	a	DET
alkej-442	213	2	*	*	PUNCT
alkej-442	213	3	path	path	NOUN
alkej-442	213	4	in	in	ADP
alkej-442	213	5	c	c	NOUN
alkej-442	213	6	-	-	PUNCT
alkej-442	213	7	space	space	NOUN
alkej-442	213	8	map	map	NOUN
alkej-442	213	9	for	for	ADP
alkej-442	213	10	the	the	DET
alkej-442	213	11	second	second	ADJ
alkej-442	213	12	environment	environment	NOUN
alkej-442	213	13	.	.	PUNCT
alkej-442	214	1	start	start	VERB
alkej-442	214	2	point	point	NOUN
alkej-442	214	3	goal	goal	NOUN
alkej-442	214	4	point	point	NOUN
alkej-442	214	5	fig	fig	NOUN
alkej-442	214	6	.	.	PUNCT
alkej-442	215	1	26	26	NUM
alkej-442	215	2	.	.	PUNCT
alkej-442	216	1	the	the	DET
alkej-442	216	2	movement	movement	NOUN
alkej-442	216	3	of	of	ADP
alkej-442	216	4	robot	robot	NOUN
alkej-442	216	5	arm	arm	NOUN
alkej-442	216	6	from	from	ADP
alkej-442	216	7	start	start	NOUN
alkej-442	216	8	to	to	ADP
alkej-442	216	9	goal	goal	NOUN
alkej-442	216	10	point	point	NOUN
alkej-442	216	11	for	for	ADP
alkej-442	216	12	the	the	DET
alkej-442	216	13	second	second	ADJ
alkej-442	216	14	environment	environment	NOUN
alkej-442	216	15	.	.	PUNCT
alkej-442	217	1	start	start	VERB
alkej-442	217	2	point	point	NOUN
alkej-442	217	3	goal	goal	NOUN
alkej-442	217	4	point	point	NOUN
alkej-442	217	5	region	region	NOUN
alkej-442	217	6	(	(	PUNCT
alkej-442	217	7	b	b	NOUN
alkej-442	217	8	)	)	PUNCT
alkej-442	217	9	region	region	NOUN
alkej-442	217	10	(	(	PUNCT
alkej-442	217	11	c	c	NOUN
alkej-442	217	12	)	)	PUNCT
alkej-442	217	13	fig	fig	NOUN
alkej-442	217	14	.	.	PUNCT
alkej-442	218	1	27	27	NUM
alkej-442	218	2	.	.	X
alkej-442	218	3	two	two	NUM
alkej-442	218	4	-	-	PUNCT
alkej-442	218	5	link	link	NOUN
alkej-442	218	6	robot	robot	NOUN
alkej-442	218	7	arm	arm	NOUN
alkej-442	218	8	end	end	VERB
alkej-442	218	9	effector	effector	NOUN
alkej-442	218	10	path	path	NOUN
alkej-442	218	11	in	in	ADP
alkej-442	218	12	cartesian	cartesian	ADJ
alkej-442	218	13	w	w	NOUN
alkej-442	218	14	-	-	PUNCT
alkej-442	218	15	space	space	NOUN
alkej-442	218	16	for	for	ADP
alkej-442	218	17	the	the	DET
alkej-442	218	18	second	second	ADJ
alkej-442	218	19	environment	environment	NOUN
alkej-442	218	20	.	.	PUNCT
alkej-442	219	1	firas	firas	PROPN
alkej-442	219	2	a.	a.	PROPN
alkej-442	219	3	raheem	raheem	PROPN
alkej-442	219	4	al	al	PROPN
alkej-442	219	5	-	-	PUNCT
alkej-442	219	6	khwarizmi	khwarizmi	PROPN
alkej-442	219	7	engineering	engineering	NOUN
alkej-442	219	8	journal	journal	PROPN
alkej-442	219	9	,	,	PUNCT
alkej-442	219	10	vol	vol	NOUN
alkej-442	219	11	.	.	PROPN
alkej-442	219	12	13	13	NUM
alkej-442	219	13	,	,	PUNCT
alkej-442	219	14	no	no	INTJ
alkej-442	219	15	.	.	NOUN
alkej-442	219	16	4	4	NUM
alkej-442	219	17	,	,	PUNCT
alkej-442	219	18	p.p	p.p	PROPN
alkej-442	219	19	.	.	NOUN
alkej-442	219	20	124136	124136	NUM
alkej-442	219	21	(	(	PUNCT
alkej-442	219	22	2017	2017	NUM
alkej-442	219	23	)	)	PUNCT
alkej-442	219	24	134	134	NUM
alkej-442	219	25	from	from	ADP
alkej-442	219	26	fig.18	fig.18	NOUN
alkej-442	219	27	and	and	CCONJ
alkej-442	219	28	fig.23	fig.23	NOUN
alkej-442	219	29	,	,	PUNCT
alkej-442	219	30	both	both	DET
alkej-442	219	31	environments	environment	NOUN
alkej-442	219	32	considered	consider	VERB
alkej-442	219	33	as	as	ADP
alkej-442	219	34	a	a	DET
alkej-442	219	35	crowded	crowded	ADJ
alkej-442	219	36	environments	environment	NOUN
alkej-442	219	37	because	because	SCONJ
alkej-442	219	38	all	all	DET
alkej-442	219	39	obstacles	obstacle	NOUN
alkej-442	219	40	are	be	AUX
alkej-442	219	41	closed	close	VERB
alkej-442	219	42	to	to	ADP
alkej-442	219	43	the	the	DET
alkej-442	219	44	arm	arm	NOUN
alkej-442	219	45	links	link	NOUN
alkej-442	219	46	with	with	ADP
alkej-442	219	47	different	different	ADJ
alkej-442	219	48	distances	distance	NOUN
alkej-442	219	49	.	.	PUNCT
alkej-442	220	1	after	after	ADP
alkej-442	220	2	getting	get	VERB
alkej-442	220	3	the	the	DET
alkej-442	220	4	c	c	NOUN
alkej-442	220	5	-	-	PUNCT
alkej-442	220	6	space	space	NOUN
alkej-442	220	7	construction	construction	NOUN
alkej-442	220	8	of	of	ADP
alkej-442	220	9	these	these	DET
alkej-442	220	10	environments	environment	NOUN
alkej-442	220	11	,	,	PUNCT
alkej-442	220	12	fig.19	fig.19	ADJ
alkej-442	220	13	and	and	CCONJ
alkej-442	220	14	fig.24	fig.24	NOUN
alkej-442	220	15	show	show	VERB
alkej-442	220	16	the	the	DET
alkej-442	220	17	overall	overall	ADJ
alkej-442	220	18	c	c	NOUN
alkej-442	220	19	-	-	PUNCT
alkej-442	220	20	space	space	NOUN
alkej-442	220	21	map	map	NOUN
alkej-442	220	22	,	,	PUNCT
alkej-442	220	23	which	which	PRON
alkej-442	220	24	include	include	VERB
alkej-442	220	25	the	the	DET
alkej-442	220	26	�	�	PROPN
alkej-442	220	27	�	�	PROPN
alkej-442	220	28	�	�	PROPN
alkej-442	220	29	�	�	PROPN
alkej-442	220	30	�	�	PROPN
alkej-442	220	31	,	,	PUNCT
alkej-442	220	32	�	�	PROPN
alkej-442	220	33	�	�	PROPN
alkej-442	220	34	�	�	PROPN
alkej-442	220	35	�	�	PROPN
alkej-442	220	36	and	and	CCONJ
alkej-442	220	37	the	the	DET
alkej-442	220	38	start	start	NOUN
alkej-442	220	39	and	and	CCONJ
alkej-442	220	40	goal	goal	NOUN
alkej-442	220	41	configuration	configuration	NOUN
alkej-442	220	42	.	.	PUNCT
alkej-442	221	1	according	accord	VERB
alkej-442	221	2	to	to	ADP
alkej-442	221	3	the	the	DET
alkej-442	221	4	a	a	PROPN
alkej-442	221	5	*	*	X
alkej-442	221	6	path	path	NOUN
alkej-442	221	7	on	on	ADP
alkej-442	221	8	c	c	NOUN
alkej-442	221	9	-	-	PUNCT
alkej-442	221	10	space	space	NOUN
alkej-442	221	11	map	map	NOUN
alkej-442	221	12	,	,	PUNCT
alkej-442	221	13	as	as	SCONJ
alkej-442	221	14	observed	observe	VERB
alkej-442	221	15	in	in	ADP
alkej-442	221	16	fig.20	fig.20	NOUN
alkej-442	221	17	and	and	CCONJ
alkej-442	221	18	fig.25	fig.25	NOUN
alkej-442	221	19	,	,	PUNCT
alkej-442	221	20	the	the	DET
alkej-442	221	21	movement	movement	NOUN
alkej-442	221	22	of	of	ADP
alkej-442	221	23	the	the	DET
alkej-442	221	24	robot	robot	NOUN
alkej-442	221	25	arm	arm	NOUN
alkej-442	221	26	prove	prove	VERB
alkej-442	221	27	the	the	DET
alkej-442	221	28	success	success	NOUN
alkej-442	221	29	of	of	ADP
alkej-442	221	30	a	a	DET
alkej-442	221	31	*	*	ADJ
alkej-442	221	32	algorithm	algorithm	NOUN
alkej-442	221	33	on	on	ADP
alkej-442	221	34	these	these	DET
alkej-442	221	35	maps	map	NOUN
alkej-442	221	36	,	,	PUNCT
alkej-442	221	37	because	because	SCONJ
alkej-442	221	38	in	in	ADP
alkej-442	221	39	spite	spite	NOUN
alkej-442	221	40	of	of	ADP
alkej-442	221	41	the	the	DET
alkej-442	221	42	nearness	nearness	NOUN
alkej-442	221	43	of	of	ADP
alkej-442	221	44	obstacles	obstacle	NOUN
alkej-442	221	45	from	from	ADP
alkej-442	221	46	the	the	DET
alkej-442	221	47	robot	robot	NOUN
alkej-442	221	48	links	link	NOUN
alkej-442	221	49	,	,	PUNCT
alkej-442	221	50	it	it	PRON
alkej-442	221	51	can	can	AUX
alkej-442	221	52	rescue	rescue	VERB
alkej-442	221	53	itself	itself	PRON
alkej-442	221	54	from	from	ADP
alkej-442	221	55	the	the	DET
alkej-442	221	56	crowded	crowded	ADJ
alkej-442	221	57	region	region	NOUN
alkej-442	221	58	and	and	CCONJ
alkej-442	221	59	complete	complete	VERB
alkej-442	221	60	a	a	DET
alkej-442	221	61	smoothed	smoothed	ADJ
alkej-442	221	62	path	path	NOUN
alkej-442	221	63	,	,	PUNCT
alkej-442	221	64	as	as	ADP
alkej-442	221	65	in	in	ADP
alkej-442	221	66	fig.21	fig.21	PROPN
alkej-442	221	67	and	and	CCONJ
alkej-442	221	68	fig.26	fig.26	NOUN
alkej-442	221	69	.	.	PUNCT
alkej-442	222	1	in	in	ADP
alkej-442	222	2	addition	addition	NOUN
alkej-442	222	3	,	,	PUNCT
alkej-442	222	4	it	it	PRON
alkej-442	222	5	is	be	AUX
alkej-442	222	6	clear	clear	ADJ
alkej-442	222	7	that	that	SCONJ
alkej-442	222	8	if	if	SCONJ
alkej-442	222	9	the	the	DET
alkej-442	222	10	a	a	PROPN
alkej-442	222	11	*	*	X
alkej-442	222	12	path	path	NOUN
alkej-442	222	13	on	on	ADP
alkej-442	222	14	c	c	NOUN
alkej-442	222	15	-	-	PUNCT
alkej-442	222	16	space	space	NOUN
alkej-442	222	17	is	be	AUX
alkej-442	222	18	optimal	optimal	ADJ
alkej-442	222	19	;	;	PUNCT
alkej-442	222	20	it	it	PRON
alkej-442	222	21	is	be	AUX
alkej-442	222	22	not	not	PART
alkej-442	222	23	a	a	DET
alkej-442	222	24	condition	condition	NOUN
alkej-442	222	25	to	to	PART
alkej-442	222	26	be	be	AUX
alkej-442	222	27	optimal	optimal	ADJ
alkej-442	222	28	on	on	ADP
alkej-442	222	29	cartesian	cartesian	ADJ
alkej-442	222	30	w	w	NOUN
alkej-442	222	31	-	-	PUNCT
alkej-442	222	32	space	space	NOUN
alkej-442	222	33	for	for	ADP
alkej-442	222	34	the	the	DET
alkej-442	222	35	same	same	ADJ
alkej-442	222	36	environment	environment	NOUN
alkej-442	222	37	,	,	PUNCT
alkej-442	222	38	and	and	CCONJ
alkej-442	222	39	vice	vice	ADV
alkej-442	222	40	versa	versa	ADV
alkej-442	222	41	,	,	PUNCT
alkej-442	222	42	but	but	CCONJ
alkej-442	222	43	it	it	PRON
alkej-442	222	44	represent	represent	VERB
alkej-442	222	45	a	a	DET
alkej-442	222	46	best	good	ADJ
alkej-442	222	47	solution	solution	NOUN
alkej-442	222	48	for	for	ADP
alkej-442	222	49	planning	plan	VERB
alkej-442	222	50	the	the	DET
alkej-442	222	51	path	path	NOUN
alkej-442	222	52	of	of	ADP
alkej-442	222	53	the	the	DET
alkej-442	222	54	two	two	NUM
alkej-442	222	55	revolute	revolute	ADJ
alkej-442	222	56	joints	joint	NOUN
alkej-442	222	57	planar	planar	ADJ
alkej-442	222	58	robot	robot	NOUN
alkej-442	222	59	arm	arm	NOUN
alkej-442	222	60	between	between	ADP
alkej-442	222	61	obstacles	obstacle	NOUN
alkej-442	222	62	.	.	PUNCT
alkej-442	223	1	in	in	ADP
alkej-442	223	2	the	the	DET
alkej-442	223	3	end	end	NOUN
alkej-442	223	4	effector	effector	NOUN
alkej-442	223	5	path	path	NOUN
alkej-442	223	6	for	for	ADP
alkej-442	223	7	both	both	DET
alkej-442	223	8	environments	environment	NOUN
alkej-442	223	9	,	,	PUNCT
alkej-442	223	10	fig.22	fig.22	NOUN
alkej-442	223	11	and	and	CCONJ
alkej-442	223	12	fig.27	fig.27	PROPN
alkej-442	223	13	,	,	PUNCT
alkej-442	223	14	it	it	PRON
alkej-442	223	15	is	be	AUX
alkej-442	223	16	transparent	transparent	ADJ
alkej-442	223	17	there	there	PRON
alkej-442	223	18	are	be	VERB
alkej-442	223	19	several	several	ADJ
alkej-442	223	20	curved	curved	ADJ
alkej-442	223	21	regions	region	NOUN
alkej-442	223	22	,	,	PUNCT
alkej-442	223	23	denoted	denote	VERB
alkej-442	223	24	by	by	ADP
alkej-442	223	25	region	region	NOUN
alkej-442	223	26	(	(	PUNCT
alkej-442	223	27	a	a	NOUN
alkej-442	223	28	)	)	PUNCT
alkej-442	223	29	in	in	ADP
alkej-442	223	30	fig.22	fig.22	NOUN
alkej-442	223	31	and	and	CCONJ
alkej-442	223	32	regions	region	NOUN
alkej-442	223	33	(	(	PUNCT
alkej-442	223	34	b	b	NOUN
alkej-442	223	35	)	)	PUNCT
alkej-442	223	36	and	and	CCONJ
alkej-442	223	37	(	(	PUNCT
alkej-442	223	38	c	c	NOUN
alkej-442	223	39	)	)	PUNCT
alkej-442	223	40	in	in	ADP
alkej-442	223	41	fig.27	fig.27	PROPN
alkej-442	223	42	,	,	PUNCT
alkej-442	223	43	represent	represent	VERB
alkej-442	223	44	a	a	DET
alkej-442	223	45	reflection	reflection	NOUN
alkej-442	223	46	of	of	ADP
alkej-442	223	47	robot	robot	NOUN
alkej-442	223	48	arm	arm	NOUN
alkej-442	223	49	carful	carful	ADJ
alkej-442	223	50	movement	movement	NOUN
alkej-442	223	51	at	at	ADP
alkej-442	223	52	these	these	DET
alkej-442	223	53	regions	region	NOUN
alkej-442	223	54	to	to	PART
alkej-442	223	55	avoid	avoid	VERB
alkej-442	223	56	collision	collision	NOUN
alkej-442	223	57	with	with	ADP
alkej-442	223	58	obstacles	obstacle	NOUN
alkej-442	223	59	.	.	PUNCT
alkej-442	224	1	this	this	DET
alkej-442	224	2	sudden	sudden	ADJ
alkej-442	224	3	change	change	NOUN
alkej-442	224	4	insure	insure	VERB
alkej-442	224	5	the	the	DET
alkej-442	224	6	complete	complete	ADJ
alkej-442	224	7	avoidance	avoidance	NOUN
alkej-442	224	8	of	of	ADP
alkej-442	224	9	the	the	DET
alkej-442	224	10	robot	robot	NOUN
alkej-442	224	11	arm	arm	NOUN
alkej-442	224	12	from	from	ADP
alkej-442	224	13	obstacles	obstacle	NOUN
alkej-442	224	14	.	.	PUNCT
alkej-442	225	1	the	the	DET
alkej-442	225	2	resulted	resulted	ADJ
alkej-442	225	3	path	path	NOUN
alkej-442	225	4	and	and	CCONJ
alkej-442	225	5	the	the	DET
alkej-442	225	6	changing	changing	NOUN
alkej-442	225	7	of	of	ADP
alkej-442	225	8	joint	joint	ADJ
alkej-442	225	9	angles	angle	NOUN
alkej-442	225	10	in	in	ADP
alkej-442	225	11	c	c	NOUN
alkej-442	225	12	-	-	PUNCT
alkej-442	225	13	space	space	NOUN
alkej-442	225	14	has	have	VERB
alkej-442	225	15	the	the	DET
alkej-442	225	16	behavior	behavior	NOUN
alkej-442	225	17	shown	show	VERB
alkej-442	225	18	in	in	ADP
alkej-442	225	19	fig	fig	NOUN
alkej-442	225	20	.	.	PUNCT
alkej-442	226	1	28	28	NUM
alkej-442	226	2	and	and	CCONJ
alkej-442	226	3	fig	fig	NOUN
alkej-442	226	4	.	.	PUNCT
alkej-442	227	1	29	29	NUM
alkej-442	227	2	respectively	respectively	ADV
alkej-442	227	3	:	:	PUNCT
alkej-442	227	4	iterationsiterations	iterationsiteration	NOUN
alkej-442	227	5	d	d	X
alkej-442	227	6	e	e	PRON
alkej-442	227	7	g	g	PROPN
alkej-442	227	8	,	,	PUNCT
alkej-442	227	9	p	p	X
alkej-442	227	10	a	a	DET
alkej-442	227	11	th	th	X
alkej-442	227	12	_	_	NOUN
alkej-442	227	13	1	1	NUM
alkej-442	227	14	ө	ө	NOUN
alkej-442	227	15	d	d	X
alkej-442	227	16	e	e	ADP
alkej-442	227	17	g	g	PROPN
alkej-442	227	18	,	,	PUNCT
alkej-442	227	19	p	p	X
alkej-442	227	20	a	a	DET
alkej-442	227	21	th	th	X
alkej-442	227	22	_	_	NOUN
alkej-442	227	23	2	2	NUM
alkej-442	227	24	ө	ө	NOUN
alkej-442	227	25	fig	fig	NOUN
alkej-442	227	26	.	.	PUNCT
alkej-442	228	1	28	28	NUM
alkej-442	228	2	.	.	PUNCT
alkej-442	229	1	the	the	DET
alkej-442	229	2	path	path	NOUN
alkej-442	229	3	of	of	ADP
alkej-442	229	4	first	first	ADJ
alkej-442	229	5	and	and	CCONJ
alkej-442	229	6	second	second	ADJ
alkej-442	229	7	joint	joint	ADJ
alkej-442	229	8	angles	angle	NOUN
alkej-442	229	9	along	along	ADP
alkej-442	229	10	the	the	DET
alkej-442	229	11	iterations	iteration	NOUN
alkej-442	229	12	for	for	ADP
alkej-442	229	13	the	the	DET
alkej-442	229	14	first	first	ADJ
alkej-442	229	15	environment	environment	NOUN
alkej-442	229	16	.	.	PUNCT
alkej-442	230	1	the	the	DET
alkej-442	230	2	change	change	NOUN
alkej-442	230	3	of	of	ADP
alkej-442	230	4	joint	joint	ADJ
alkej-442	230	5	angles	angle	NOUN
alkej-442	230	6	can	can	AUX
alkej-442	230	7	be	be	AUX
alkej-442	230	8	calculated	calculate	VERB
alkej-442	230	9	from	from	ADP
alkej-442	230	10	the	the	DET
alkej-442	230	11	following	follow	VERB
alkej-442	230	12	equation	equation	NOUN
alkej-442	230	13	:	:	PUNCT
alkej-442	230	14	∆#r	∆#r	ADJ
alkej-442	230	15	=	=	NOUN
alkej-442	230	16	#	#	SYM
alkej-442	230	17	r	r	NOUN
alkej-442	230	18	�	�	NOUN
alkej-442	230	19	r	r	NOUN
alkej-442	230	20	−	−	NOUN
alkej-442	230	21	#	#	SYM
alkej-442	230	22	r	r	NOUN
alkej-442	230	23	�	�	NOUN
alkej-442	230	24	r	r	NOUN
alkej-442	230	25	−	−	NUM
alkej-442	230	26	1	1	NUM
alkej-442	230	27	…	…	PUNCT
alkej-442	230	28	�	�	NOUN
alkej-442	230	29	24	24	NUM
alkej-442	230	30	where	where	SCONJ
alkej-442	230	31	:	:	PUNCT
alkej-442	230	32	∆#r=	∆#r=	X
alkej-442	230	33	change	change	NOUN
alkej-442	230	34	of	of	ADP
alkej-442	230	35	joint	joint	ADJ
alkej-442	230	36	angles	angle	NOUN
alkej-442	230	37	,	,	PUNCT
alkej-442	230	38	i=	i=	PROPN
alkej-442	230	39	1	1	NUM
alkej-442	230	40	,	,	PUNCT
alkej-442	230	41	2	2	NUM
alkej-442	230	42	.	.	PUNCT
alkej-442	230	43	t	t	PROPN
alkej-442	230	44	:	:	PUNCT
alkej-442	230	45	current	current	ADJ
alkej-442	230	46	iteration	iteration	NOUN
alkej-442	230	47	.	.	PUNCT
alkej-442	231	1	iterationsiterations	iterationsiteration	NOUN
alkej-442	231	2	p	p	X
alkej-442	231	3	a	a	DET
alkej-442	231	4	th	th	X
alkej-442	231	5	_	_	NOUN
alkej-442	231	6	2	2	NUM
alkej-442	231	7	ө	ө	NOUN
alkej-442	231	8	∆	∆	PROPN
alkej-442	231	9	p	p	NOUN
alkej-442	231	10	a	a	DET
alkej-442	231	11	th	th	X
alkej-442	231	12	_	_	NOUN
alkej-442	231	13	1	1	NUM
alkej-442	231	14	ө	ө	NOUN
alkej-442	231	15	∆	∆	PROPN
alkej-442	231	16	fig	fig	NOUN
alkej-442	231	17	.	.	PUNCT
alkej-442	232	1	29	29	NUM
alkej-442	232	2	.	.	X
alkej-442	233	1	changing	change	VERB
alkej-442	233	2	of	of	ADP
alkej-442	233	3	first	first	ADJ
alkej-442	233	4	and	and	CCONJ
alkej-442	233	5	second	second	ADJ
alkej-442	233	6	joint	joint	ADJ
alkej-442	233	7	angles	angle	NOUN
alkej-442	233	8	along	along	ADP
alkej-442	233	9	iterations	iteration	NOUN
alkej-442	233	10	for	for	ADP
alkej-442	233	11	the	the	DET
alkej-442	233	12	first	first	ADJ
alkej-442	233	13	environment	environment	NOUN
alkej-442	233	14	.	.	PUNCT
alkej-442	234	1	d	d	X
alkej-442	234	2	e	e	X
alkej-442	234	3	g	g	PROPN
alkej-442	234	4	,	,	PUNCT
alkej-442	234	5	p	p	X
alkej-442	234	6	a	a	DET
alkej-442	234	7	th	th	X
alkej-442	234	8	_	_	NOUN
alkej-442	234	9	1	1	NUM
alkej-442	234	10	ө	ө	NOUN
alkej-442	234	11	d	d	X
alkej-442	234	12	e	e	ADP
alkej-442	234	13	g	g	PROPN
alkej-442	234	14	,	,	PUNCT
alkej-442	234	15	p	p	X
alkej-442	234	16	a	a	DET
alkej-442	234	17	th	th	X
alkej-442	234	18	_	_	NOUN
alkej-442	234	19	2	2	NUM
alkej-442	234	20	ө	ө	NOUN
alkej-442	234	21	fig	fig	NOUN
alkej-442	234	22	.	.	PUNCT
alkej-442	235	1	30	30	NUM
alkej-442	235	2	.	.	PUNCT
alkej-442	236	1	the	the	DET
alkej-442	236	2	path	path	NOUN
alkej-442	236	3	of	of	ADP
alkej-442	236	4	first	first	ADJ
alkej-442	236	5	and	and	CCONJ
alkej-442	236	6	second	second	ADJ
alkej-442	236	7	joint	joint	ADJ
alkej-442	236	8	angles	angle	NOUN
alkej-442	236	9	along	along	ADP
alkej-442	236	10	the	the	DET
alkej-442	236	11	iterations	iteration	NOUN
alkej-442	236	12	for	for	ADP
alkej-442	236	13	the	the	DET
alkej-442	236	14	second	second	ADJ
alkej-442	236	15	environment	environment	NOUN
alkej-442	236	16	.	.	PUNCT
alkej-442	237	1	p	p	X
alkej-442	237	2	a	a	DET
alkej-442	237	3	th	th	X
alkej-442	237	4	_	_	NOUN
alkej-442	237	5	2	2	NUM
alkej-442	237	6	ө	ө	NOUN
alkej-442	237	7	∆	∆	PROPN
alkej-442	237	8	p	p	NOUN
alkej-442	237	9	a	a	DET
alkej-442	237	10	th	th	X
alkej-442	237	11	_	_	NOUN
alkej-442	237	12	1	1	NUM
alkej-442	237	13	ө	ө	NOUN
alkej-442	237	14	∆	∆	PROPN
alkej-442	237	15	fig	fig	NOUN
alkej-442	237	16	.	.	PUNCT
alkej-442	238	1	31	31	NUM
alkej-442	238	2	.	.	PUNCT
alkej-442	239	1	changing	change	VERB
alkej-442	239	2	of	of	ADP
alkej-442	239	3	first	first	ADJ
alkej-442	239	4	and	and	CCONJ
alkej-442	239	5	second	second	ADJ
alkej-442	239	6	joint	joint	ADJ
alkej-442	239	7	angles	angle	NOUN
alkej-442	239	8	along	along	ADP
alkej-442	239	9	iterations	iteration	NOUN
alkej-442	239	10	for	for	ADP
alkej-442	239	11	the	the	DET
alkej-442	239	12	second	second	ADJ
alkej-442	239	13	environment	environment	NOUN
alkej-442	239	14	.	.	PUNCT
alkej-442	240	1	from	from	ADP
alkej-442	240	2	the	the	DET
alkej-442	240	3	above	above	ADJ
alkej-442	240	4	results	result	NOUN
alkej-442	240	5	,	,	PUNCT
alkej-442	240	6	fig	fig	NOUN
alkej-442	240	7	.	.	PUNCT
alkej-442	240	8	30	30	NUM
alkej-442	240	9	and	and	CCONJ
alkej-442	240	10	fig	fig	NOUN
alkej-442	240	11	.	.	PUNCT
alkej-442	241	1	31	31	NUM
alkej-442	241	2	,	,	PUNCT
alkej-442	241	3	the	the	DET
alkej-442	241	4	path	path	NOUN
alkej-442	241	5	and	and	CCONJ
alkej-442	241	6	the	the	DET
alkej-442	241	7	behavior	behavior	NOUN
alkej-442	241	8	of	of	ADP
alkej-442	241	9	changing	change	VERB
alkej-442	241	10	each	each	DET
alkej-442	241	11	joint	joint	ADJ
alkej-442	241	12	angle	angle	NOUN
alkej-442	241	13	for	for	ADP
alkej-442	241	14	the	the	DET
alkej-442	241	15	first	first	ADJ
alkej-442	241	16	environment	environment	NOUN
alkej-442	241	17	is	be	AUX
alkej-442	241	18	smooth	smooth	ADJ
alkej-442	241	19	.	.	PUNCT
alkej-442	242	1	while	while	SCONJ
alkej-442	242	2	the	the	DET
alkej-442	242	3	results	result	NOUN
alkej-442	242	4	of	of	ADP
alkej-442	242	5	the	the	DET
alkej-442	242	6	second	second	ADJ
alkej-442	242	7	environment	environment	NOUN
alkej-442	242	8	show	show	VERB
alkej-442	242	9	there	there	PRON
alkej-442	242	10	is	be	VERB
alkej-442	242	11	a	a	DET
alkej-442	242	12	little	little	ADJ
alkej-442	242	13	of	of	ADP
alkej-442	242	14	zigzag	zigzag	NOUN
alkej-442	242	15	in	in	ADP
alkej-442	242	16	the	the	DET
alkej-442	242	17	behavior	behavior	NOUN
alkej-442	242	18	of	of	ADP
alkej-442	242	19	first	first	ADJ
alkej-442	242	20	joint	joint	ADJ
alkej-442	242	21	angle	angle	NOUN
alkej-442	242	22	because	because	SCONJ
alkej-442	242	23	of	of	ADP
alkej-442	242	24	the	the	DET
alkej-442	242	25	nearness	nearness	NOUN
alkej-442	242	26	of	of	ADP
alkej-442	242	27	the	the	DET
alkej-442	242	28	triangular	triangular	NOUN
alkej-442	242	29	obstacle	obstacle	NOUN
alkej-442	242	30	from	from	ADP
alkej-442	242	31	the	the	DET
alkej-442	242	32	end	end	NOUN
alkej-442	242	33	effector	effector	NOUN
alkej-442	242	34	path	path	NOUN
alkej-442	242	35	,	,	PUNCT
alkej-442	242	36	so	so	SCONJ
alkej-442	242	37	that	that	PRON
alkej-442	242	38	was	be	AUX
alkej-442	242	39	reflected	reflect	VERB
alkej-442	242	40	on	on	ADP
alkej-442	242	41	c	c	NOUN
alkej-442	242	42	-	-	PUNCT
alkej-442	242	43	space	space	NOUN
alkej-442	242	44	by	by	ADP
alkej-442	242	45	making	make	VERB
alkej-442	242	46	the	the	DET
alkej-442	242	47	path	path	NOUN
alkej-442	242	48	take	take	VERB
alkej-442	242	49	the	the	DET
alkej-442	242	50	form	form	NOUN
alkej-442	242	51	of	of	ADP
alkej-442	242	52	the	the	DET
alkej-442	242	53	same	same	ADJ
alkej-442	242	54	obstacle	obstacle	NOUN
alkej-442	242	55	border	border	NOUN
alkej-442	242	56	at	at	ADP
alkej-442	242	57	particular	particular	ADJ
alkej-442	242	58	region	region	NOUN
alkej-442	242	59	.	.	PUNCT
alkej-442	243	1	firas	firas	PROPN
alkej-442	243	2	a.	a.	PROPN
alkej-442	243	3	raheem	raheem	PROPN
alkej-442	243	4	al	al	PROPN
alkej-442	243	5	-	-	PUNCT
alkej-442	243	6	khwarizmi	khwarizmi	PROPN
alkej-442	243	7	engineering	engineering	NOUN
alkej-442	243	8	journal	journal	PROPN
alkej-442	243	9	,	,	PUNCT
alkej-442	243	10	vol	vol	NOUN
alkej-442	243	11	.	.	PROPN
alkej-442	243	12	13	13	NUM
alkej-442	243	13	,	,	PUNCT
alkej-442	243	14	no	no	INTJ
alkej-442	243	15	.	.	NOUN
alkej-442	243	16	4	4	NUM
alkej-442	243	17	,	,	PUNCT
alkej-442	243	18	p.p	p.p	PROPN
alkej-442	243	19	.	.	NOUN
alkej-442	243	20	124136	124136	NUM
alkej-442	243	21	(	(	PUNCT
alkej-442	243	22	2017	2017	NUM
alkej-442	243	23	)	)	PUNCT
alkej-442	243	24	135	135	NUM
alkej-442	243	25	5	5	NUM
alkej-442	243	26	.	.	PUNCT
alkej-442	243	27	conclusion	conclusion	NOUN
alkej-442	243	28	and	and	CCONJ
alkej-442	243	29	discussion	discussion	NOUN
alkej-442	243	30	the	the	DET
alkej-442	243	31	methodology	methodology	NOUN
alkej-442	243	32	of	of	ADP
alkej-442	243	33	this	this	DET
alkej-442	243	34	work	work	NOUN
alkej-442	243	35	can	can	AUX
alkej-442	243	36	be	be	AUX
alkej-442	243	37	applied	apply	VERB
alkej-442	243	38	for	for	ADP
alkej-442	243	39	any	any	DET
alkej-442	243	40	type	type	NOUN
alkej-442	243	41	of	of	ADP
alkej-442	243	42	robot	robot	NOUN
alkej-442	243	43	manipulator	manipulator	NOUN
alkej-442	243	44	.	.	PUNCT
alkej-442	244	1	here	here	ADV
alkej-442	244	2	,	,	PUNCT
alkej-442	244	3	we	we	PRON
alkej-442	244	4	tested	test	VERB
alkej-442	244	5	it	it	PRON
alkej-442	244	6	on	on	ADP
alkej-442	244	7	2r	2r	NUM
alkej-442	244	8	planar	planar	ADJ
alkej-442	244	9	robot	robot	NOUN
alkej-442	244	10	arm	arm	NOUN
alkej-442	244	11	.	.	PUNCT
alkej-442	245	1	in	in	ADP
alkej-442	245	2	c	c	NOUN
alkej-442	245	3	-	-	PUNCT
alkej-442	245	4	space	space	NOUN
alkej-442	245	5	,	,	PUNCT
alkej-442	245	6	in	in	ADP
alkej-442	245	7	general	general	ADJ
alkej-442	245	8	,	,	PUNCT
alkej-442	245	9	the	the	DET
alkej-442	245	10	robot	robot	NOUN
alkej-442	245	11	arm	arm	NOUN
alkej-442	245	12	at	at	ADP
alkej-442	245	13	specific	specific	ADJ
alkej-442	245	14	configuration	configuration	NOUN
alkej-442	245	15	can	can	AUX
alkej-442	245	16	be	be	AUX
alkej-442	245	17	represented	represent	VERB
alkej-442	245	18	as	as	ADP
alkej-442	245	19	a	a	DET
alkej-442	245	20	point	point	NOUN
alkej-442	245	21	in	in	ADP
alkej-442	245	22	c	c	NOUN
alkej-442	245	23	-	-	PUNCT
alkej-442	245	24	space	space	NOUN
alkej-442	245	25	map	map	NOUN
alkej-442	245	26	,	,	PUNCT
alkej-442	245	27	which	which	PRON
alkej-442	245	28	represent	represent	VERB
alkej-442	245	29	the	the	DET
alkej-442	245	30	values	value	NOUN
alkej-442	245	31	of	of	ADP
alkej-442	245	32	first	first	ADJ
alkej-442	245	33	and	and	CCONJ
alkej-442	245	34	second	second	ADJ
alkej-442	245	35	joint	joint	ADJ
alkej-442	245	36	angles	angle	NOUN
alkej-442	245	37	at	at	ADP
alkej-442	245	38	this	this	DET
alkej-442	245	39	configuration	configuration	NOUN
alkej-442	245	40	.	.	PUNCT
alkej-442	246	1	the	the	DET
alkej-442	246	2	step	step	NOUN
alkej-442	246	3	of	of	ADP
alkej-442	246	4	changing	change	VERB
alkej-442	246	5	joint	joint	ADJ
alkej-442	246	6	angles	angle	NOUN
alkej-442	246	7	had	have	AUX
alkej-442	246	8	been	be	AUX
alkej-442	246	9	chosen	choose	VERB
alkej-442	246	10	with	with	ADP
alkej-442	246	11	particular	particular	ADJ
alkej-442	246	12	value	value	NOUN
alkej-442	246	13	in	in	ADP
alkej-442	246	14	order	order	NOUN
alkej-442	246	15	to	to	PART
alkej-442	246	16	achieve	achieve	VERB
alkej-442	246	17	sufficient	sufficient	ADJ
alkej-442	246	18	discretization	discretization	NOUN
alkej-442	246	19	resolution	resolution	NOUN
alkej-442	246	20	for	for	ADP
alkej-442	246	21	getting	get	VERB
alkej-442	246	22	accurate	accurate	ADJ
alkej-442	246	23	c	c	NOUN
alkej-442	246	24	-	-	PUNCT
alkej-442	246	25	space	space	NOUN
alkej-442	246	26	map	map	NOUN
alkej-442	246	27	.	.	PUNCT
alkej-442	247	1	the	the	DET
alkej-442	247	2	modification	modification	NOUN
alkej-442	247	3	on	on	ADP
alkej-442	247	4	c	c	NOUN
alkej-442	247	5	-	-	PUNCT
alkej-442	247	6	space	space	NOUN
alkej-442	247	7	has	have	AUX
alkej-442	247	8	been	be	AUX
alkej-442	247	9	done	do	VERB
alkej-442	247	10	by	by	ADP
alkej-442	247	11	checking	check	VERB
alkej-442	247	12	all	all	DET
alkej-442	247	13	the	the	DET
alkej-442	247	14	odds	odd	NOUN
alkej-442	247	15	of	of	ADP
alkej-442	247	16	collision	collision	NOUN
alkej-442	247	17	by	by	ADP
alkej-442	247	18	modified	modify	VERB
alkej-442	247	19	derivation	derivation	NOUN
alkej-442	247	20	depending	depend	VERB
alkej-442	247	21	on	on	ADP
alkej-442	247	22	geometrical	geometrical	ADJ
alkej-442	247	23	analysis	analysis	NOUN
alkej-442	247	24	.	.	PUNCT
alkej-442	248	1	this	this	DET
alkej-442	248	2	analysis	analysis	NOUN
alkej-442	248	3	ease	ease	NOUN
alkej-442	248	4	in	in	ADP
alkej-442	248	5	application	application	NOUN
alkej-442	248	6	and	and	CCONJ
alkej-442	248	7	gave	give	VERB
alkej-442	248	8	accurate	accurate	ADJ
alkej-442	248	9	and	and	CCONJ
alkej-442	248	10	exact	exact	ADJ
alkej-442	248	11	c	c	NOUN
alkej-442	248	12	-	-	PUNCT
alkej-442	248	13	space	space	NOUN
alkej-442	248	14	map	map	NOUN
alkej-442	248	15	.	.	PUNCT
alkej-442	249	1	after	after	ADP
alkej-442	249	2	applying	apply	VERB
alkej-442	249	3	a	a	DET
alkej-442	249	4	*	*	ADJ
alkej-442	249	5	algorithm	algorithm	NOUN
alkej-442	249	6	on	on	ADP
alkej-442	249	7	modified	modify	VERB
alkej-442	249	8	cspace	cspace	NOUN
alkej-442	249	9	,	,	PUNCT
alkej-442	249	10	we	we	PRON
alkej-442	249	11	achieve	achieve	VERB
alkej-442	249	12	a	a	DET
alkej-442	249	13	shortest	short	ADJ
alkej-442	249	14	,	,	PUNCT
alkej-442	249	15	safe	safe	ADJ
alkej-442	249	16	,	,	PUNCT
alkej-442	249	17	and	and	CCONJ
alkej-442	249	18	rather	rather	ADV
alkej-442	249	19	smooth	smooth	ADJ
alkej-442	249	20	path	path	NOUN
alkej-442	249	21	.	.	PUNCT
alkej-442	250	1	(	(	PUNCT
alkej-442	250	2	matlab	matlab	PROPN
alkej-442	250	3	r2015a	r2015a	PROPN
alkej-442	250	4	)	)	PUNCT
alkej-442	250	5	was	be	AUX
alkej-442	250	6	used	use	VERB
alkej-442	250	7	to	to	PART
alkej-442	250	8	program	program	VERB
alkej-442	250	9	the	the	DET
alkej-442	250	10	c	c	NOUN
alkej-442	250	11	-	-	PUNCT
alkej-442	250	12	space	space	NOUN
alkej-442	250	13	construction	construction	NOUN
alkej-442	250	14	and	and	CCONJ
alkej-442	250	15	the	the	DET
alkej-442	250	16	algorithm	algorithm	NOUN
alkej-442	250	17	of	of	ADP
alkej-442	250	18	a	a	PROPN
alkej-442	250	19	*	*	NOUN
alkej-442	250	20	,	,	PUNCT
alkej-442	250	21	that	that	PRON
alkej-442	250	22	was	be	AUX
alkej-442	250	23	by	by	ADP
alkej-442	250	24	intel	intel	PROPN
alkej-442	250	25	(	(	PUNCT
alkej-442	250	26	r	r	NOUN
alkej-442	250	27	)	)	PUNCT
alkej-442	250	28	core	core	NOUN
alkej-442	250	29	(	(	PUNCT
alkej-442	250	30	tm	tm	NOUN
alkej-442	250	31	)	)	PUNCT
alkej-442	250	32	i3	i3	NOUN
alkej-442	250	33	-	-	PUNCT
alkej-442	250	34	3120	3120	NUM
alkej-442	250	35	m	m	NOUN
alkej-442	250	36	cpu	cpu	NOUN
alkej-442	250	37	.	.	PUNCT
alkej-442	251	1	the	the	DET
alkej-442	251	2	key	key	ADJ
alkej-442	251	3	advantage	advantage	NOUN
alkej-442	251	4	of	of	ADP
alkej-442	251	5	applying	apply	VERB
alkej-442	251	6	a	a	DET
alkej-442	251	7	*	*	NOUN
alkej-442	251	8	on	on	ADP
alkej-442	251	9	c	c	NOUN
alkej-442	251	10	-	-	PUNCT
alkej-442	251	11	space	space	NOUN
alkej-442	251	12	map	map	NOUN
alkej-442	251	13	not	not	PART
alkej-442	251	14	on	on	ADP
alkej-442	251	15	cartesian	cartesian	ADJ
alkej-442	251	16	w	w	NOUN
alkej-442	251	17	-	-	PUNCT
alkej-442	251	18	space	space	NOUN
alkej-442	251	19	is	be	AUX
alkej-442	251	20	insuring	insure	VERB
alkej-442	251	21	the	the	DET
alkej-442	251	22	path	path	NOUN
alkej-442	251	23	in	in	ADP
alkej-442	251	24	the	the	DET
alkej-442	251	25	safe	safe	ADJ
alkej-442	251	26	area	area	NOUN
alkej-442	251	27	.	.	PUNCT
alkej-442	252	1	for	for	ADP
alkej-442	252	2	future	future	ADJ
alkej-442	252	3	work	work	NOUN
alkej-442	252	4	,	,	PUNCT
alkej-442	252	5	the	the	DET
alkej-442	252	6	a	a	PROPN
alkej-442	252	7	*	*	NOUN
alkej-442	252	8	algorithm	algorithm	NOUN
alkej-442	252	9	results	result	NOUN
alkej-442	252	10	can	can	AUX
alkej-442	252	11	be	be	AUX
alkej-442	252	12	enhanced	enhance	VERB
alkej-442	252	13	by	by	ADP
alkej-442	252	14	using	use	VERB
alkej-442	252	15	classical	classical	ADJ
alkej-442	252	16	interpolation	interpolation	NOUN
alkej-442	252	17	equations	equation	NOUN
alkej-442	252	18	.	.	PUNCT
alkej-442	253	1	6	6	NUM
alkej-442	253	2	.	.	NUM
alkej-442	253	3	references	reference	NOUN
alkej-442	253	4	[	[	X
alkej-442	253	5	1	1	NUM
alkej-442	253	6	]	]	X
alkej-442	253	7	jia	jia	PROPN
alkej-442	253	8	pan	pan	PROPN
alkej-442	253	9	,	,	PUNCT
alkej-442	253	10	dinesh	dinesh	PROPN
alkej-442	253	11	mancha	mancha	PROPN
alkej-442	253	12	,	,	PUNCT
alkej-442	253	13	"	"	PUNCT
alkej-442	253	14	efficient	efficient	ADJ
alkej-442	253	15	configuration	configuration	NOUN
alkej-442	253	16	space	space	NOUN
alkej-442	253	17	construction	construction	NOUN
alkej-442	253	18	and	and	CCONJ
alkej-442	253	19	optimization	optimization	NOUN
alkej-442	253	20	for	for	ADP
alkej-442	253	21	motion	motion	NOUN
alkej-442	253	22	planning	planning	NOUN
alkej-442	253	23	"	"	PUNCT
alkej-442	253	24	,	,	PUNCT
alkej-442	253	25	published	publish	VERB
alkej-442	253	26	by	by	ADP
alkej-442	253	27	engineering	engineer	VERB
alkej-442	253	28	sciences	sciences	PROPN
alkej-442	253	29	press	press	NOUN
alkej-442	253	30	,	,	PUNCT
alkej-442	253	31	2015	2015	NUM
alkej-442	253	32	.	.	PUNCT
alkej-442	254	1	[	[	X
alkej-442	254	2	2	2	NUM
alkej-442	254	3	]	]	X
alkej-442	254	4	benjamin	benjamin	PROPN
alkej-442	254	5	wah	wah	PROPN
alkej-442	254	6	,	,	PUNCT
alkej-442	254	7	"	"	PUNCT
alkej-442	254	8	robot	robot	NOUN
alkej-442	254	9	motion	motion	NOUN
alkej-442	254	10	planning	planning	NOUN
alkej-442	254	11	"	"	PUNCT
alkej-442	254	12	,	,	PUNCT
alkej-442	254	13	wiley	wiley	PROPN
alkej-442	254	14	encyclopedia	encyclopedia	NOUN
alkej-442	254	15	of	of	ADP
alkej-442	254	16	computer	computer	NOUN
alkej-442	254	17	science	science	NOUN
alkej-442	254	18	and	and	CCONJ
alkej-442	254	19	engineering	engineering	NOUN
alkej-442	254	20	,	,	PUNCT
alkej-442	254	21	2008	2008	NUM
alkej-442	254	22	.	.	PUNCT
alkej-442	255	1	[	[	X
alkej-442	255	2	3	3	X
alkej-442	255	3	]	]	PUNCT
alkej-442	255	4	t.	t.	PROPN
alkej-442	255	5	lozanopérez	lozanopérez	PROPN
alkej-442	255	6	,	,	PUNCT
alkej-442	255	7	"	"	PUNCT
alkej-442	255	8	spatial	spatial	ADJ
alkej-442	255	9	planning	planning	NOUN
alkej-442	255	10	:	:	PUNCT
alkej-442	255	11	a	a	DET
alkej-442	255	12	configuration	configuration	NOUN
alkej-442	255	13	space	space	NOUN
alkej-442	255	14	approach	approach	NOUN
alkej-442	255	15	"	"	PUNCT
alkej-442	255	16	,	,	PUNCT
alkej-442	255	17	ieee	ieee	NOUN
alkej-442	255	18	computer	computer	PROPN
alkej-442	255	19	society	society	PROPN
alkej-442	255	20	washington	washington	PROPN
alkej-442	255	21	,	,	PUNCT
alkej-442	255	22	dc	dc	PROPN
alkej-442	255	23	,	,	PUNCT
alkej-442	255	24	usa	usa	PROPN
alkej-442	255	25	,	,	PUNCT
alkej-442	255	26	1983	1983	NUM
alkej-442	255	27	.	.	PUNCT
alkej-442	256	1	[	[	X
alkej-442	256	2	4	4	NUM
alkej-442	256	3	]	]	X
alkej-442	256	4	kasper	kasper	NOUN
alkej-442	256	5	althoefer	althoefer	VERB
alkej-442	256	6	,	,	PUNCT
alkej-442	256	7	"	"	PUNCT
alkej-442	256	8	neuro	neuro	ADJ
alkej-442	256	9	-	-	PUNCT
alkej-442	256	10	fuzzy	fuzzy	ADJ
alkej-442	256	11	motion	motion	NOUN
alkej-442	256	12	planning	planning	NOUN
alkej-442	256	13	for	for	ADP
alkej-442	256	14	robotic	robotic	ADJ
alkej-442	256	15	manipulators	manipulator	NOUN
alkej-442	256	16	"	"	PUNCT
alkej-442	256	17	,	,	PUNCT
alkej-442	256	18	department	department	NOUN
alkej-442	256	19	of	of	ADP
alkej-442	256	20	electronic	electronic	ADJ
alkej-442	256	21	and	and	CCONJ
alkej-442	256	22	electrical	electrical	ADJ
alkej-442	256	23	engineering	engineering	NOUN
alkej-442	256	24	,	,	PUNCT
alkej-442	256	25	king	king	NOUN
alkej-442	256	26	's	's	PART
alkej-442	256	27	college	college	PROPN
alkej-442	256	28	london	london	PROPN
alkej-442	256	29	,	,	PUNCT
alkej-442	256	30	university	university	PROPN
alkej-442	256	31	of	of	ADP
alkej-442	256	32	london	london	PROPN
alkej-442	256	33	,	,	PUNCT
alkej-442	256	34	1996	1996	NUM
alkej-442	256	35	.	.	PUNCT
alkej-442	257	1	[	[	X
alkej-442	257	2	5	5	X
alkej-442	257	3	]	]	PUNCT
alkej-442	257	4	wyatt	wyatt	PROPN
alkej-442	257	5	s.	s.	PROPN
alkej-442	257	6	newman	newman	PROPN
alkej-442	257	7	,	,	PUNCT
alkej-442	257	8	michael	michael	PROPN
alkej-442	257	9	s.	s.	PROPN
alkej-442	257	10	branicky	branicky	PROPN
alkej-442	257	11	,	,	PUNCT
alkej-442	257	12	"	"	PUNCT
alkej-442	257	13	realtime	realtime	ADJ
alkej-442	257	14	configuration	configuration	NOUN
alkej-442	257	15	space	space	NOUN
alkej-442	257	16	transforms	transform	VERB
alkej-442	257	17	for	for	ADP
alkej-442	257	18	obstacle	obstacle	NOUN
alkej-442	257	19	avoidance	avoidance	NOUN
alkej-442	257	20	"	"	PUNCT
alkej-442	257	21	,	,	PUNCT
alkej-442	257	22	the	the	DET
alkej-442	257	23	international	international	ADJ
alkej-442	257	24	journal	journal	NOUN
alkej-442	257	25	of	of	ADP
alkej-442	257	26	robotics	robotic	NOUN
alkej-442	257	27	,	,	PUNCT
alkej-442	257	28	1991	1991	NUM
alkej-442	257	29	.	.	PUNCT
alkej-442	258	1	[	[	X
alkej-442	258	2	6	6	NUM
alkej-442	258	3	]	]	SYM
alkej-442	258	4	debanik	debanik	PROPN
alkej-442	258	5	roy	roy	PROPN
alkej-442	258	6	,	,	PUNCT
alkej-442	258	7	"	"	PUNCT
alkej-442	258	8	serial	serial	ADJ
alkej-442	258	9	and	and	CCONJ
alkej-442	258	10	parallel	parallel	ADJ
alkej-442	258	11	robot	robot	NOUN
alkej-442	258	12	manipulators	manipulator	NOUN
alkej-442	258	13	–	–	PUNCT
alkej-442	258	14	kinematics	kinematic	NOUN
alkej-442	258	15	,	,	PUNCT
alkej-442	258	16	dynamics	dynamic	NOUN
alkej-442	258	17	,	,	PUNCT
alkej-442	258	18	control	control	NOUN
alkej-442	258	19	and	and	CCONJ
alkej-442	258	20	optimization	optimization	NOUN
alkej-442	258	21	"	"	PUNCT
alkej-442	258	22	,	,	PUNCT
alkej-442	258	23	edited	edit	VERB
alkej-442	258	24	by	by	ADP
alkej-442	258	25	serdar	serdar	PROPN
alkej-442	258	26	küçük	küçük	PROPN
alkej-442	258	27	,	,	PUNCT
alkej-442	258	28	janeza	janeza	ADV
alkej-442	258	29	trdine	trdine	NOUN
alkej-442	258	30	9	9	NUM
alkej-442	258	31	,	,	PUNCT
alkej-442	258	32	51000	51000	NUM
alkej-442	258	33	rijeka	rijeka	NOUN
alkej-442	258	34	,	,	PUNCT
alkej-442	258	35	croatia	croatia	PROPN
alkej-442	258	36	,	,	PUNCT
alkej-442	258	37	2012	2012	NUM
alkej-442	258	38	.	.	PUNCT
alkej-442	259	1	[	[	X
alkej-442	259	2	7	7	X
alkej-442	259	3	]	]	X
alkej-442	259	4	[	[	X
alkej-442	259	5	yan	yan	X
alkej-442	259	6	yan	yan	PROPN
alkej-442	259	7	,	,	PUNCT
alkej-442	259	8	"	"	PUNCT
alkej-442	259	9	geometric	geometric	ADJ
alkej-442	259	10	motion	motion	NOUN
alkej-442	259	11	planning	planning	NOUN
alkej-442	259	12	methods	method	NOUN
alkej-442	259	13	for	for	ADP
alkej-442	259	14	robotics	robotic	NOUN
alkej-442	259	15	and	and	CCONJ
alkej-442	259	16	biological	biological	ADJ
alkej-442	259	17	crystallography	crystallography	NOUN
alkej-442	259	18	"	"	PUNCT
alkej-442	259	19	,	,	PUNCT
alkej-442	259	20	baltimore	baltimore	PROPN
alkej-442	259	21	,	,	PUNCT
alkej-442	259	22	maryland	maryland	PROPN
alkej-442	259	23	,	,	PUNCT
alkej-442	259	24	2014	2014	NUM
alkej-442	259	25	.	.	PUNCT
alkej-442	260	1	[	[	X
alkej-442	260	2	8	8	X
alkej-442	260	3	]	]	PUNCT
alkej-442	260	4	s.	s.	PROPN
alkej-442	260	5	m.	m.	PROPN
alkej-442	260	6	masudur	masudur	PROPN
alkej-442	260	7	rahman	rahman	PROPN
alkej-442	260	8	al	al	PROPN
alkej-442	260	9	-	-	PUNCT
alkej-442	260	10	arif	arif	PROPN
alkej-442	260	11	,	,	PUNCT
alkej-442	260	12	a.	a.	PROPN
alkej-442	260	13	h.	h.	PROPN
alkej-442	260	14	m.	m.	PROPN
alkej-442	260	15	iftekharul	iftekharul	PROPN
alkej-442	260	16	ferdous	ferdous	ADJ
alkej-442	260	17	,	,	PUNCT
alkej-442	260	18	sohrab	sohrab	PROPN
alkej-442	260	19	hassan	hassan	PROPN
alkej-442	260	20	nijami	nijami	PROPN
alkej-442	260	21	,	,	PUNCT
alkej-442	260	22	"	"	PUNCT
alkej-442	260	23	comparative	comparative	ADJ
alkej-442	260	24	study	study	NOUN
alkej-442	260	25	of	of	ADP
alkej-442	260	26	different	different	ADJ
alkej-442	260	27	path	path	NOUN
alkej-442	260	28	planning	planning	NOUN
alkej-442	260	29	algorithms	algorithm	NOUN
alkej-442	260	30	:	:	PUNCT
alkej-442	260	31	a	a	DET
alkej-442	260	32	water	water	NOUN
alkej-442	260	33	based	base	VERB
alkej-442	260	34	rescue	rescue	NOUN
alkej-442	260	35	system	system	NOUN
alkej-442	260	36	"	"	PUNCT
alkej-442	260	37	,	,	PUNCT
alkej-442	260	38	international	international	ADJ
alkej-442	260	39	journal	journal	NOUN
alkej-442	260	40	of	of	ADP
alkej-442	260	41	computer	computer	NOUN
alkej-442	260	42	applications	application	NOUN
alkej-442	260	43	(	(	PUNCT
alkej-442	260	44	0975	0975	NUM
alkej-442	260	45	–	–	PUNCT
alkej-442	260	46	8887	8887	NUM
alkej-442	260	47	)	)	PUNCT
alkej-442	260	48	volume	volume	NOUN
alkej-442	260	49	39	39	NUM
alkej-442	260	50	–	–	PUNCT
alkej-442	260	51	no.5	no.5	PROPN
alkej-442	260	52	,	,	PUNCT
alkej-442	260	53	february	february	PROPN
alkej-442	260	54	2012	2012	NUM
alkej-442	260	55	.	.	PUNCT
alkej-442	261	1	[	[	X
alkej-442	261	2	9	9	NUM
alkej-442	261	3	]	]	PUNCT
alkej-442	261	4	sung	sung	PROPN
alkej-442	261	5	hyun	hyun	PROPN
alkej-442	261	6	kim	kim	PROPN
alkej-442	261	7	,	,	PUNCT
alkej-442	261	8	"	"	PUNCT
alkej-442	261	9	multi	multi	ADJ
alkej-442	261	10	-	-	ADJ
alkej-442	261	11	layer	layer	ADJ
alkej-442	261	12	approach	approach	NOUN
alkej-442	261	13	to	to	ADP
alkej-442	261	14	motion	motion	NOUN
alkej-442	261	15	planning	planning	NOUN
alkej-442	261	16	in	in	ADP
alkej-442	261	17	obstacle	obstacle	PROPN
alkej-442	261	18	rich	rich	ADJ
alkej-442	261	19	environment	environment	NOUN
alkej-442	261	20	"	"	PUNCT
alkej-442	261	21	,	,	PUNCT
alkej-442	261	22	texas	texas	PROPN
alkej-442	261	23	a&m	a&m	PROPN
alkej-442	261	24	university	university	PROPN
alkej-442	261	25	,	,	PUNCT
alkej-442	261	26	may	may	PROPN
alkej-442	261	27	2008	2008	NUM
alkej-442	261	28	.	.	PUNCT
alkej-442	262	1	[	[	X
alkej-442	262	2	10	10	NUM
alkej-442	262	3	]	]	X
alkej-442	262	4	suraya	suraya	PROPN
alkej-442	262	5	binti	binti	PROPN
alkej-442	262	6	abu	abu	PROPN
alkej-442	262	7	bakar	bakar	PROPN
alkej-442	262	8	,	,	PUNCT
alkej-442	262	9	"	"	PUNCT
alkej-442	262	10	high	high	ADJ
alkej-442	262	11	-	-	PUNCT
alkej-442	262	12	speed	speed	NOUN
alkej-442	262	13	shortest	short	ADJ
alkej-442	262	14	path	path	NOUN
alkej-442	262	15	co	co	NOUN
alkej-442	262	16	-	-	NOUN
alkej-442	262	17	processor	processor	ADJ
alkej-442	262	18	design	design	NOUN
alkej-442	262	19	"	"	PUNCT
alkej-442	262	20	,	,	PUNCT
alkej-442	262	21	university	university	PROPN
alkej-442	262	22	of	of	ADP
alkej-442	262	23	malaya	malaya	PROPN
alkej-442	262	24	,	,	PUNCT
alkej-442	262	25	kuala	kuala	PROPN
alkej-442	262	26	lumpur	lumpur	PROPN
alkej-442	262	27	,	,	PUNCT
alkej-442	262	28	october	october	PROPN
alkej-442	262	29	2010	2010	NUM
alkej-442	262	30	.	.	PUNCT
alkej-442	263	1	[	[	X
alkej-442	263	2	11	11	NUM
alkej-442	263	3	]	]	X
alkej-442	263	4	steven	steven	PROPN
alkej-442	263	5	bell	bell	PROPN
alkej-442	263	6	student	student	NOUN
alkej-442	263	7	member	member	NOUN
alkej-442	263	8	,	,	PUNCT
alkej-442	263	9	"	"	PUNCT
alkej-442	263	10	an	an	DET
alkej-442	263	11	overview	overview	NOUN
alkej-442	263	12	of	of	ADP
alkej-442	263	13	optimal	optimal	ADJ
alkej-442	263	14	graph	graph	NOUN
alkej-442	263	15	search	search	NOUN
alkej-442	263	16	algorithms	algorithm	NOUN
alkej-442	263	17	for	for	ADP
alkej-442	263	18	robot	robot	NOUN
alkej-442	263	19	path	path	NOUN
alkej-442	263	20	planning	planning	NOUN
alkej-442	263	21	in	in	ADP
alkej-442	263	22	dynamic	dynamic	ADJ
alkej-442	263	23	or	or	CCONJ
alkej-442	263	24	uncertain	uncertain	ADJ
alkej-442	263	25	environments	environment	NOUN
alkej-442	263	26	"	"	PUNCT
alkej-442	263	27	,	,	PUNCT
alkej-442	263	28	ieee	ieee	NOUN
alkej-442	263	29	student	student	NOUN
alkej-442	263	30	member	member	PROPN
alkej-442	263	31	no	no	PROPN
alkej-442	263	32	.	.	PROPN
alkej-442	263	33	90691022	90691022	NUM
alkej-442	263	34	,	,	PUNCT
alkej-442	263	35	oklahoma	oklahoma	PROPN
alkej-442	263	36	christian	christian	PROPN
alkej-442	263	37	university	university	PROPN
alkej-442	263	38	,	,	PUNCT
alkej-442	263	39	19	19	NUM
alkej-442	263	40	march	march	NOUN
alkej-442	263	41	2010	2010	NUM
alkej-442	263	42	.	.	PUNCT
alkej-442	264	1	[	[	X
alkej-442	264	2	12	12	NUM
alkej-442	264	3	]	]	X
alkej-442	264	4	f.	f.	PROPN
alkej-442	264	5	c.	c.	PROPN
alkej-442	264	6	park	park	PROPN
alkej-442	264	7	,	,	PUNCT
alkej-442	264	8	k.	k.	PROPN
alkej-442	264	9	m.	m.	PROPN
alkej-442	264	10	lynch	lynch	PROPN
alkej-442	264	11	,	,	PUNCT
alkej-442	264	12	"	"	PUNCT
alkej-442	264	13	introduction	introduction	NOUN
alkej-442	264	14	to	to	ADP
alkej-442	264	15	robotics	robotic	NOUN
alkej-442	264	16	:	:	PUNCT
alkej-442	264	17	mechanics	mechanic	NOUN
alkej-442	264	18	,	,	PUNCT
alkej-442	264	19	planning	planning	NOUN
alkej-442	264	20	,	,	PUNCT
alkej-442	264	21	and	and	CCONJ
alkej-442	264	22	control	control	NOUN
alkej-442	264	23	"	"	PUNCT
alkej-442	264	24	,	,	PUNCT
alkej-442	264	25	2015	2015	NUM
alkej-442	264	26	.	.	PUNCT
alkej-442	265	1	[	[	X
alkej-442	265	2	13	13	NUM
alkej-442	265	3	]	]	PUNCT
alkej-442	265	4	ethan	ethan	PROPN
alkej-442	265	5	d.	d.	PROPN
alkej-442	265	6	bloch	bloch	PROPN
alkej-442	265	7	,	,	PUNCT
alkej-442	265	8	"	"	PUNCT
alkej-442	265	9	polygons	polygon	NOUN
alkej-442	265	10	,	,	PUNCT
alkej-442	265	11	polyhedra	polyhedra	NOUN
alkej-442	265	12	,	,	PUNCT
alkej-442	265	13	patterns	pattern	NOUN
alkej-442	265	14	&	&	CCONJ
alkej-442	265	15	beyond	beyond	ADP
alkej-442	265	16	"	"	PUNCT
alkej-442	265	17	,	,	PUNCT
alkej-442	265	18	2015	2015	NUM
alkej-442	265	19	.	.	PUNCT
alkej-442	265	20	)	)	PUNCT
alkej-442	265	21	2017	2017	NUM
alkej-442	265	22	(	(	PUNCT
alkej-442	265	23	124	124	NUM
alkej-442	265	24	-	-	SYM
alkej-442	265	25	136	136	NUM
alkej-442	265	26	،	،	NOUN
alkej-442	265	27	صفحة	صفحة	PROPN
alkej-442	265	28	4د	4د	PROPN
alkej-442	265	29	،	،	X
alkej-442	265	30	العد13دجلة	العد13دجلة	PROPN
alkej-442	265	31	الخوارزمي	الخوارزمي	PROPN
alkej-442	265	32	الهندسية	الهندسية	PROPN
alkej-442	265	33	المجلم	المجلم	PROPN
alkej-442	265	34	فراس	فراس	PROPN
alkej-442	265	35	عبد	عبد	PROPN
alkej-442	265	36	الرزاق	الرزاق	ADJ
alkej-442	266	1	رحيم	رحيم	NOUN
alkej-442	266	2	136	136	NUM
alkej-442	266	3	المعدل	المعدل	ADJ
alkej-442	266	4	c	c	NOUN
alkej-442	266	5	-	-	PUNCT
alkej-442	266	6	spaceلتخطيط	spaceلتخطيط	ADJ
alkej-442	266	7	المسار	المسار	NOUN
alkej-442	266	8	على	على	NOUN
alkej-442	266	9	تحليل	تحليل	PROPN
alkej-442	267	1	*	*	PUNCT
alkej-442	267	2	aتطبيق	aتطبيق	DET
alkej-442	267	3	خوارزمية	خوارزمية	ADJ
alkej-442	267	4	فراس	فراس	PROPN
alkej-442	267	5	عبد	عبد	PROPN
alkej-442	267	6	الرزاق	الرزاق	PROPN
alkej-442	267	7	رحيم	رحيم	PROPN
alkej-442	267	8	*	*	SYM
alkej-442	267	9	أسماء	أسماء	PROPN
alkej-442	267	10	عبد	عبد	PROPN
alkej-442	267	11	اللطيف	اللطيف	NOUN
alkej-442	267	12	حسين	حسين	X
alkej-442	267	13	*	*	PUNCT
alkej-442	267	14	*	*	PUNCT
alkej-442	267	15	الجامعة	الجامعة	NOUN
alkej-442	267	16	التكنولوجية	التكنولوجية	NOUN
alkej-442	267	17	/**قسم	/**قسم	PUNCT
alkej-442	267	18	هندسة	هندسة	NOUN
alkej-442	267	19	السيطرة	السيطرة	PROPN
alkej-442	267	20	والنظم	والنظم	PROPN
alkej-442	267	21	،	،	PROPN
alkej-442	267	22	*	*	PROPN
alkej-442	267	23	uotechnology.edu.iq@60124*البريد	uotechnology.edu.iq@60124*البريد	NOUN
alkej-442	267	24	االلكتروني	االلكتروني	NOUN
alkej-442	267	25	:	:	PUNCT
alkej-442	267	26	asmaa.alshawi@yahoo.com**البريد	asmaa.alshawi@yahoo.com**البريد	PROPN
alkej-442	267	27	االلكتروني	االلكتروني	NOUN
alkej-442	267	28	:	:	PUNCT
alkej-442	267	29	الخالصة	الخالصة	PROPN
alkej-442	267	30	وسهولة	وسهولة	PROPN
alkej-442	267	31	.	.	PUNCT
alkej-442	267	32	)	)	PUNCT
alkej-442	268	1	هي	هي	VERB
alkej-442	268	2	لجعل	لجعل	VERB
alkej-442	268	3	عملية	عملية	NOUN
alkej-442	268	4	تخطيط	تخطيط	ADJ
alkej-442	268	5	المسار	المسار	PROPN
alkej-442	268	6	أكثر	أكثر	PROPN
alkej-442	268	7	امانc	امانc	PROPN
alkej-442	268	8	-	-	PUNCT
alkej-442	268	9	space	space	NOUN
alkej-442	268	10	.	.	PUNCT
alkej-442	269	1	الفائدة	الفائدة	PROPN
alkej-442	270	1	من	من	INTJ
alkej-442	270	2	استخدام	استخدام	PROPN
alkej-442	270	3	(	(	PUNCT
alkej-442	270	4	)	)	PUNCT
alkej-442	270	5	c	c	NOUN
alkej-442	270	6	-	-	PUNCT
alkej-442	270	7	spaceفي	spaceفي	NOUN
alkej-442	270	8	هذا	هذا	NOUN
alkej-442	270	9	البحث	البحث	NOUN
alkej-442	270	10	،	،	PROPN
alkej-442	270	11	تم	تم	PROPN
alkej-442	270	12	تقديم	تقديم	PROPN
alkej-442	271	1	اشتقاق	اشتقاق	PROPN
alkej-442	271	2	مستحدث	مستحدث	VERB
alkej-442	271	3	لتحليل	لتحليل	PROPN
alkej-442	271	4	بنية	بنية	PROPN
alkej-442	271	5	(	(	PUNCT
alkej-442	271	6	)	)	PUNCT
alkej-442	271	7	لذراع	لذراع	PROPN
alkej-442	271	8	الروبوت	الروبوت	PROPN
alkej-442	271	9	ثنائي	ثنائي	PROPN
alkej-442	271	10	الذراع	الذراع	PROPN
alkej-442	271	11	،	،	PROPN
alkej-442	271	12	والتي	والتي	PROPN
alkej-442	271	13	تتضمن	تتضمن	PROPN
alkej-442	271	14	كل	كل	PROPN
alkej-442	271	15	احتماالت	احتماالت	PROPN
alkej-442	271	16	االصطدام	االصطدام	VERB
alkej-442	272	1	بين	بين	ADV
alkej-442	272	2	أجزاء	أجزاء	PROPN
alkej-442	272	3	الروبوت	الروبوت	PROPN
alkej-442	272	4	والعوائق	والعوائق	PROPN
alkej-442	272	5	المحيطة	المحيطة	PROPN
alkej-442	272	6	به	به	NOUN
alkej-442	272	7	،	،	X
alkej-442	272	8	c	c	NOUN
alkej-442	272	9	-	-	PUNCT
alkej-442	272	10	space	space	NOUN
alkej-442	273	1	(	(	PUNCT
alkej-442	273	2	بعد	بعد	PROPN
alkej-442	273	3	الحصول	الحصول	PROPN
alkej-442	273	4	على	على	PROPN
alkej-442	273	5	بنية	بنية	PROPN
alkej-442	273	6	وخارطة	وخارطة	VERB
alkej-442	273	7	-cمسار	-cمسار	PROPN
alkej-442	273	8	المخمن	المخمن	ADJ
alkej-442	273	9	على	على	NOUN
alkej-442	273	10	خارطة	خارطة	VERB
alkej-442	273	11	(	(	PUNCT
alkej-442	273	12	،	،	PROPN
alkej-442	273	13	والتي	والتي	PROPN
alkej-442	273	14	عادة	عادة	VERB
alkej-442	273	15	يتم	يتم	PROPN
alkej-442	273	16	تطبيقها	تطبيقها	VERB
alkej-442	273	17	في	في	X
alkej-442	273	18	مجال	مجال	X
alkej-442	273	19	العمل	العمل	PROPN
alkej-442	274	1	الكارتيزي	الكارتيزي	PROPN
alkej-442	274	2	للروبوت	للروبوت	PROPN
alkej-442	274	3	إليجاد	إليجاد	PROPN
alkej-442	274	4	المسار	المسار	PROPN
alkej-442	274	5	المخمن	المخمن	PROPN
alkej-442	274	6	،	،	PROPN
alkej-442	274	7	تم	تم	PROPN
alkej-442	274	8	تطبيقها	تطبيقها	VERB
alkej-442	274	9	إليجاد	إليجاد	PROPN
alkej-442	274	10	ال*aخوارزمية	ال*aخوارزمية	ADJ
alkej-442	274	11	spaceحريات	spaceحريات	NOUN
alkej-442	274	12	حركة	حركة	NOUN
alkej-442	274	13	أكثر	أكثر	PROPN
alkej-442	274	14	من	من	PRON
alkej-442	274	15	اثنين	اثنين	NOUN
alkej-442	274	16	.	.	PUNCT
alkej-442	275	1	نتائج	نتائج	PROPN
alkej-442	275	2	خارطة	خارطة	PROPN
alkej-442	275	3	(	(	PUNCT
alkej-442	275	4	يريقتنا	يريقتنا	NOUN
alkej-442	275	5	المطورة	المطورة	VERB
alkej-442	275	6	على	على	NOUN
alkej-442	275	7	ذراع	ذراع	NOUN
alkej-442	275	8	روبوت	روبوت	NOUN
alkej-442	275	9	ذ	ذ	PROPN
alkej-442	275	10	)	)	PUNCT
alkej-442	275	11	.	.	PUNCT
alkej-442	276	1	بضع	بضع	NOUN
alkej-442	276	2	تعديالت	تعديالت	VERB
alkej-442	276	3	الزمة	الزمة	PROPN
alkej-442	276	4	لتطبيق	لتطبيق	VERB
alkej-442	276	5	طc	طc	PROPN
alkej-442	276	6	-	-	PUNCT
alkej-442	276	7	space	space	NOUN
alkej-442	276	8	والتي	والتي	PROPN
alkej-442	276	9	تم	تم	PUNCT
alkej-442	276	10	اشتقاقها	اشتقاقها	PROPN
alkej-442	276	11	،	،	X
alkej-442	276	12	(	(	PUNCT
alkej-442	276	13	ية	ية	PROPN
alkej-442	276	14	الى	الى	PROPN
alkej-442	276	15	نقطة	نقطة	ADJ
alkej-442	276	16	الهدف	الهدف	ADV
alkej-442	276	17	تم	تم	NOUN
alkej-442	276	18	الحصول	الحصول	PROPN
alkej-442	276	19	عليه	عليه	NOUN
alkej-442	276	20	بدون	بدون	NOUN
alkej-442	276	21	أي	أي	ADJ
alkej-442	276	22	)	)	PUNCT
alkej-442	276	23	وبنيته	وبنيته	PROPN
alkej-442	276	24	،	،	PROPN
alkej-442	276	25	ومن	ومن	PROPN
alkej-442	276	26	ثم	ثم	ADP
alkej-442	276	27	مسار	مسار	PROPN
alkej-442	276	28	ناجح	ناجح	PROPN
alkej-442	276	29	ومضمون	ومضمون	PROPN
alkej-442	276	30	من	من	PROPN
alkej-442	276	31	نقطة	نقطة	ADJ
alkej-442	276	32	البداc	البداc	ADJ
alkej-442	276	33	-	-	PUNCT
alkej-442	276	34	spaceبطريقتنا	spaceبطريقتنا	ADJ
alkej-442	276	35	المطورة	المطورة	X
alkej-442	276	36	،	،	X
alkej-442	276	37	تثبت	تثبت	NOUN
alkej-442	276	38	دقة	دقة	NOUN
alkej-442	276	39	الخارطة	الخارطة	VERB
alkej-442	276	40	الكلية	الكلية	PROPN
alkej-442	276	41	(	(	PUNCT
alkej-442	276	42	intel	intel	PROPN
alkej-442	276	43	(	(	PUNCT
alkej-442	276	44	r	r	NOUN
alkej-442	276	45	)	)	PUNCT
alkej-442	276	46	core	core	NOUN
alkej-442	276	47	(	(	PUNCT
alkej-442	276	48	tm	tm	NOUN
alkej-442	276	49	)	)	PUNCT
alkej-442	276	50	i3	i3	NOUN
alkej-442	276	51	-	-	PUNCT
alkej-442	276	52	3120	3120	NUM
alkej-442	276	53	m	m	PROPN
alkej-442	276	54	باستخدام	باستخدام	NOUN
alkej-442	276	55	حاسبة	حاسبة	PROPN
alkej-442	276	56	بالمواصفات	بالمواصفات	PROPN
alkej-442	276	57	التالية	التالية	VERB
alkej-442	276	58	:	:	PUNCT
alkej-442	276	59	(	(	PUNCT
alkej-442	276	60	matlab	matlab	PROPN
alkej-442	276	61	r2015a)طة	r2015a)طة	PROPN
alkej-442	276	62	برنامجاستم	برنامجاستم	NOUN
alkej-442	276	63	الحصول	الحصول	PROPN
alkej-442	276	64	على	على	PROPN
alkej-442	276	65	النتائج	النتائج	PROPN
alkej-442	276	66	بو	بو	PROPN
alkej-442	276	67	احتمالية	احتمالية	PROPN
alkej-442	276	68	اصطدام	اصطدام	PROPN
alkej-442	276	69	.	.	PUNCT
alkej-442	277	1	cpu	cpu	PROPN
alkej-442	277	2	.	.	PUNCT