id	sid	tid	token	lemma	pos
alkej-616	1	1	the	the	DET
alkej-616	1	2	inverse	inverse	NOUN
alkej-616	1	3	solution	solution	NOUN
alkej-616	1	4	of	of	ADP
alkej-616	1	5	dexterous	dexterous	ADJ
alkej-616	1	6	robot	robot	NOUN
alkej-616	1	7	by	by	ADP
alkej-616	1	8	using	use	VERB
alkej-616	1	9	neural	neural	ADJ
alkej-616	1	10	networks	network	NOUN
alkej-616	1	11	١	١	NUM
alkej-616	1	12	the	the	DET
alkej-616	1	13	inverse	inverse	NOUN
alkej-616	1	14	solution	solution	NOUN
alkej-616	1	15	of	of	ADP
alkej-616	1	16	dexterous	dexterous	ADJ
alkej-616	1	17	robot	robot	NOUN
alkej-616	1	18	by	by	ADP
alkej-616	1	19	using	use	VERB
alkej-616	1	20	neural	neural	ADJ
alkej-616	1	21	networks	network	NOUN
alkej-616	1	22	dr	dr	PROPN
alkej-616	1	23	.	.	PROPN
alkej-616	1	24	bahaa	bahaa	PROPN
alkej-616	1	25	ibraheem	ibraheem	PROPN
alkej-616	1	26	kazem	kazem	PROPN
alkej-616	1	27	samer	samer	PROPN
alkej-616	1	28	yahya	yahya	PROPN
alkej-616	1	29	hadi	hadi	PROPN
alkej-616	1	30	mechatronics	mechatronics	PROPN
alkej-616	1	31	dept	dept	PROPN
alkej-616	1	32	al	al	PROPN
alkej-616	1	33	-	-	PUNCT
alkej-616	1	34	kwarizmi	kwarizmi	PROPN
alkej-616	1	35	college	college	PROPN
alkej-616	1	36	of	of	ADP
alkej-616	1	37	engineering	engineering	NOUN
alkej-616	1	38	control	control	NOUN
alkej-616	1	39	and	and	CCONJ
alkej-616	1	40	computers	computer	NOUN
alkej-616	1	41	engineering	engineering	PROPN
alkej-616	1	42	university	university	PROPN
alkej-616	1	43	of	of	ADP
alkej-616	1	44	baghdad	baghdad	PROPN
alkej-616	1	45	,	,	PUNCT
alkej-616	1	46	,	,	PUNCT
alkej-616	1	47	iraq	iraq	PROPN
alkej-616	1	48	,	,	PUNCT
alkej-616	1	49	university	university	NOUN
alkej-616	1	50	of	of	ADP
alkej-616	1	51	technology	technology	NOUN
alkej-616	1	52	,	,	PUNCT
alkej-616	1	53	iraq	iraq	PROPN
alkej-616	1	54	(	(	PUNCT
alkej-616	1	55	received	receive	VERB
alkej-616	1	56	1٣	1٣	NUM
alkej-616	1	57	june	june	PROPN
alkej-616	1	58	200٦	200٦	NUM
alkej-616	1	59	;	;	PUNCT
alkej-616	1	60	accepted	accept	VERB
alkej-616	1	61	19	19	NUM
alkej-616	1	62	december	december	PROPN
alkej-616	1	63	2006	2006	NUM
alkej-616	1	64	)	)	PUNCT
alkej-616	2	1	abstract	abstract	NOUN
alkej-616	2	2	:	:	PUNCT
alkej-616	2	3	the	the	DET
alkej-616	2	4	inverse	inverse	ADJ
alkej-616	2	5	kinematics	kinematic	NOUN
alkej-616	2	6	of	of	ADP
alkej-616	2	7	redundant	redundant	ADJ
alkej-616	2	8	manipulators	manipulator	NOUN
alkej-616	2	9	has	have	AUX
alkej-616	2	10	infinite	infinite	ADJ
alkej-616	2	11	solutions	solution	NOUN
alkej-616	2	12	by	by	ADP
alkej-616	2	13	using	use	VERB
alkej-616	2	14	conventional	conventional	ADJ
alkej-616	2	15	methods	method	NOUN
alkej-616	2	16	,	,	PUNCT
alkej-616	2	17	so	so	SCONJ
alkej-616	2	18	that	that	SCONJ
alkej-616	2	19	,	,	PUNCT
alkej-616	2	20	this	this	DET
alkej-616	2	21	work	work	NOUN
alkej-616	2	22	presents	present	VERB
alkej-616	2	23	applicability	applicability	NOUN
alkej-616	2	24	of	of	ADP
alkej-616	2	25	intelligent	intelligent	ADJ
alkej-616	2	26	tool	tool	NOUN
alkej-616	2	27	(	(	PUNCT
alkej-616	2	28	artificial	artificial	ADJ
alkej-616	2	29	neural	neural	ADJ
alkej-616	2	30	network	network	NOUN
alkej-616	2	31	ann	ann	PROPN
alkej-616	2	32	)	)	PUNCT
alkej-616	2	33	for	for	ADP
alkej-616	2	34	finding	find	VERB
alkej-616	2	35	one	one	NUM
alkej-616	2	36	desired	desire	VERB
alkej-616	2	37	solution	solution	NOUN
alkej-616	2	38	from	from	ADP
alkej-616	2	39	these	these	DET
alkej-616	2	40	solutions	solution	NOUN
alkej-616	2	41	.	.	PUNCT
alkej-616	3	1	the	the	DET
alkej-616	3	2	inverse	inverse	ADJ
alkej-616	3	3	analysis	analysis	NOUN
alkej-616	3	4	and	and	CCONJ
alkej-616	3	5	trajectory	trajectory	NOUN
alkej-616	3	6	planning	planning	NOUN
alkej-616	3	7	of	of	ADP
alkej-616	3	8	a	a	DET
alkej-616	3	9	three	three	NUM
alkej-616	3	10	link	link	NOUN
alkej-616	3	11	redundant	redundant	ADJ
alkej-616	3	12	planar	planar	ADJ
alkej-616	3	13	robot	robot	NOUN
alkej-616	3	14	have	have	AUX
alkej-616	3	15	been	be	AUX
alkej-616	3	16	studied	study	VERB
alkej-616	3	17	in	in	ADP
alkej-616	3	18	this	this	DET
alkej-616	3	19	work	work	NOUN
alkej-616	3	20	using	use	VERB
alkej-616	3	21	a	a	DET
alkej-616	3	22	proposed	propose	VERB
alkej-616	3	23	dual	dual	ADJ
alkej-616	3	24	neural	neural	ADJ
alkej-616	3	25	networks	network	NOUN
alkej-616	3	26	model	model	NOUN
alkej-616	3	27	(	(	PUNCT
alkej-616	3	28	dnnm	dnnm	NOUN
alkej-616	3	29	)	)	PUNCT
alkej-616	3	30	,	,	PUNCT
alkej-616	3	31	which	which	PRON
alkej-616	3	32	shows	show	VERB
alkej-616	3	33	a	a	DET
alkej-616	3	34	predictable	predictable	ADJ
alkej-616	3	35	time	time	NOUN
alkej-616	3	36	decreasing	decrease	VERB
alkej-616	3	37	in	in	ADP
alkej-616	3	38	the	the	DET
alkej-616	3	39	training	training	NOUN
alkej-616	3	40	session	session	NOUN
alkej-616	3	41	.	.	PUNCT
alkej-616	4	1	the	the	DET
alkej-616	4	2	effect	effect	NOUN
alkej-616	4	3	of	of	ADP
alkej-616	4	4	the	the	DET
alkej-616	4	5	number	number	NOUN
alkej-616	4	6	of	of	ADP
alkej-616	4	7	the	the	DET
alkej-616	4	8	training	training	NOUN
alkej-616	4	9	sets	set	NOUN
alkej-616	4	10	on	on	ADP
alkej-616	4	11	the	the	DET
alkej-616	4	12	dnnm	dnnm	ADJ
alkej-616	4	13	output	output	NOUN
alkej-616	4	14	and	and	CCONJ
alkej-616	4	15	the	the	DET
alkej-616	4	16	number	number	NOUN
alkej-616	4	17	of	of	ADP
alkej-616	4	18	nn	nn	PROPN
alkej-616	4	19	layers	layer	NOUN
alkej-616	4	20	have	have	AUX
alkej-616	4	21	been	be	AUX
alkej-616	4	22	studied	study	VERB
alkej-616	4	23	.	.	PUNCT
alkej-616	5	1	several	several	ADJ
alkej-616	5	2	trajectories	trajectory	NOUN
alkej-616	5	3	have	have	AUX
alkej-616	5	4	been	be	AUX
alkej-616	5	5	implemented	implement	VERB
alkej-616	5	6	using	use	VERB
alkej-616	5	7	point	point	NOUN
alkej-616	5	8	to	to	PART
alkej-616	5	9	point	point	VERB
alkej-616	5	10	trajectory	trajectory	NOUN
alkej-616	5	11	planning	planning	NOUN
alkej-616	5	12	algorithm	algorithm	NOUN
alkej-616	5	13	with	with	ADP
alkej-616	5	14	dnnm	dnnm	NOUN
alkej-616	5	15	and	and	CCONJ
alkej-616	5	16	the	the	DET
alkej-616	5	17	result	result	NOUN
alkej-616	5	18	shows	show	VERB
alkej-616	5	19	good	good	ADJ
alkej-616	5	20	accuracy	accuracy	NOUN
alkej-616	5	21	of	of	ADP
alkej-616	5	22	the	the	DET
alkej-616	5	23	end	end	NOUN
alkej-616	5	24	effector	effector	NOUN
alkej-616	5	25	position	position	NOUN
alkej-616	5	26	for	for	ADP
alkej-616	5	27	the	the	DET
alkej-616	5	28	desired	desire	VERB
alkej-616	5	29	trajectory	trajectory	NOUN
alkej-616	5	30	.	.	PUNCT
alkej-616	6	1	keywords	keyword	NOUN
alkej-616	6	2	:	:	PUNCT
alkej-616	6	3	inverse	inverse	NOUN
alkej-616	6	4	kinematics	kinematic	NOUN
alkej-616	6	5	,	,	PUNCT
alkej-616	6	6	robotics	robotic	NOUN
alkej-616	6	7	,	,	PUNCT
alkej-616	6	8	neural	neural	ADJ
alkej-616	6	9	network	network	NOUN
alkej-616	6	10	introduction	introduction	NOUN
alkej-616	6	11	:	:	PUNCT
alkej-616	6	12	the	the	DET
alkej-616	6	13	kinematics	kinematic	NOUN
alkej-616	6	14	is	be	AUX
alkej-616	6	15	the	the	DET
alkej-616	6	16	science	science	NOUN
alkej-616	6	17	of	of	ADP
alkej-616	6	18	motion	motion	NOUN
alkej-616	6	19	,	,	PUNCT
alkej-616	6	20	which	which	PRON
alkej-616	6	21	deals	deal	VERB
alkej-616	6	22	with	with	ADP
alkej-616	6	23	motion	motion	NOUN
alkej-616	6	24	without	without	ADP
alkej-616	6	25	consideration	consideration	NOUN
alkej-616	6	26	of	of	ADP
alkej-616	6	27	the	the	DET
alkej-616	6	28	forces	force	NOUN
alkej-616	6	29	that	that	PRON
alkej-616	6	30	cause	cause	VERB
alkej-616	6	31	it	it	PRON
alkej-616	6	32	.	.	PUNCT
alkej-616	7	1	within	within	ADP
alkej-616	7	2	the	the	DET
alkej-616	7	3	science	science	NOUN
alkej-616	7	4	of	of	ADP
alkej-616	7	5	kinematics	kinematic	NOUN
alkej-616	7	6	one	one	PRON
alkej-616	7	7	should	should	AUX
alkej-616	7	8	study	study	VERB
alkej-616	7	9	the	the	DET
alkej-616	7	10	position	position	NOUN
alkej-616	7	11	,	,	PUNCT
alkej-616	7	12	velocity	velocity	NOUN
alkej-616	7	13	,	,	PUNCT
alkej-616	7	14	acceleration	acceleration	NOUN
alkej-616	7	15	,	,	PUNCT
alkej-616	7	16	and	and	CCONJ
alkej-616	7	17	all	all	DET
alkej-616	7	18	higher	high	ADJ
alkej-616	7	19	order	order	NOUN
alkej-616	7	20	derivatives	derivative	NOUN
alkej-616	7	21	of	of	ADP
alkej-616	7	22	the	the	DET
alkej-616	7	23	position	position	NOUN
alkej-616	7	24	variables	variable	NOUN
alkej-616	7	25	(	(	PUNCT
alkej-616	7	26	with	with	ADP
alkej-616	7	27	respect	respect	NOUN
alkej-616	7	28	to	to	ADP
alkej-616	7	29	time	time	NOUN
alkej-616	7	30	or	or	CCONJ
alkej-616	7	31	any	any	DET
alkej-616	7	32	other	other	ADJ
alkej-616	7	33	variable(s	variable(s	NOUN
alkej-616	7	34	)	)	PUNCT
alkej-616	7	35	)	)	PUNCT
alkej-616	7	36	.	.	PUNCT
alkej-616	8	1	hence	hence	ADV
alkej-616	8	2	,	,	PUNCT
alkej-616	8	3	the	the	DET
alkej-616	8	4	study	study	NOUN
alkej-616	8	5	of	of	ADP
alkej-616	8	6	the	the	DET
alkej-616	8	7	kinematics	kinematic	NOUN
alkej-616	8	8	of	of	ADP
alkej-616	8	9	manipulators	manipulator	NOUN
alkej-616	8	10	refers	refer	VERB
alkej-616	8	11	to	to	ADP
alkej-616	8	12	all	all	DET
alkej-616	8	13	the	the	DET
alkej-616	8	14	geometrical	geometrical	ADJ
alkej-616	8	15	and	and	CCONJ
alkej-616	8	16	time	time	NOUN
alkej-616	8	17	-	-	PUNCT
alkej-616	8	18	based	base	VERB
alkej-616	8	19	properties	property	NOUN
alkej-616	8	20	of	of	ADP
alkej-616	8	21	the	the	DET
alkej-616	8	22	motion	motion	NOUN
alkej-616	8	23	.	.	PUNCT
alkej-616	9	1	the	the	DET
alkej-616	9	2	relationships	relationship	NOUN
alkej-616	9	3	between	between	ADP
alkej-616	9	4	these	these	DET
alkej-616	9	5	motions	motion	NOUN
alkej-616	9	6	and	and	CCONJ
alkej-616	9	7	the	the	DET
alkej-616	9	8	forces	force	NOUN
alkej-616	9	9	and	and	CCONJ
alkej-616	9	10	torques	torque	NOUN
alkej-616	9	11	,	,	PUNCT
alkej-616	9	12	which	which	PRON
alkej-616	9	13	cause	cause	VERB
alkej-616	9	14	them	they	PRON
alkej-616	9	15	,	,	PUNCT
alkej-616	9	16	are	be	AUX
alkej-616	9	17	the	the	DET
alkej-616	9	18	problem	problem	NOUN
alkej-616	9	19	of	of	ADP
alkej-616	9	20	dynamics	dynamic	NOUN
alkej-616	9	21	[	[	X
alkej-616	9	22	1	1	NUM
alkej-616	9	23	]	]	PUNCT
alkej-616	9	24	.	.	PUNCT
alkej-616	10	1	there	there	PRON
alkej-616	10	2	are	be	VERB
alkej-616	10	3	two	two	NUM
alkej-616	10	4	types	type	NOUN
alkej-616	10	5	of	of	ADP
alkej-616	10	6	kinematics	kinematic	NOUN
alkej-616	10	7	:	:	PUNCT
alkej-616	10	8	the	the	DET
alkej-616	10	9	forward	forward	ADJ
alkej-616	10	10	and	and	CCONJ
alkej-616	10	11	inverse	inverse	NOUN
alkej-616	10	12	kinematics	kinematic	NOUN
alkej-616	10	13	.	.	PUNCT
alkej-616	11	1	the	the	DET
alkej-616	11	2	forward	forward	ADJ
alkej-616	11	3	kinematics	kinematic	NOUN
alkej-616	11	4	problem	problem	NOUN
alkej-616	11	5	can	can	AUX
alkej-616	11	6	be	be	AUX
alkej-616	11	7	stated	state	VERB
alkej-616	11	8	as	as	SCONJ
alkej-616	11	9	follows	follow	VERB
alkej-616	11	10	:	:	PUNCT
alkej-616	11	11	given	give	VERB
alkej-616	11	12	the	the	DET
alkej-616	11	13	joint	joint	ADJ
alkej-616	11	14	variables	variable	NOUN
alkej-616	11	15	of	of	ADP
alkej-616	11	16	the	the	DET
alkej-616	11	17	robot	robot	NOUN
alkej-616	11	18	,	,	PUNCT
alkej-616	11	19	one	one	PRON
alkej-616	11	20	can	can	AUX
alkej-616	11	21	determine	determine	VERB
alkej-616	11	22	the	the	DET
alkej-616	11	23	position	position	NOUN
alkej-616	11	24	and	and	CCONJ
alkej-616	11	25	orientation	orientation	NOUN
alkej-616	11	26	of	of	ADP
alkej-616	11	27	the	the	DET
alkej-616	11	28	end	end	NOUN
alkej-616	11	29	effecter	effecter	NOUN
alkej-616	11	30	.	.	PUNCT
alkej-616	12	1	the	the	DET
alkej-616	12	2	joint	joint	ADJ
alkej-616	12	3	variables	variable	NOUN
alkej-616	12	4	are	be	AUX
alkej-616	12	5	the	the	DET
alkej-616	12	6	angles	angle	NOUN
alkej-616	12	7	between	between	ADP
alkej-616	12	8	the	the	DET
alkej-616	12	9	links	link	NOUN
alkej-616	12	10	in	in	ADP
alkej-616	12	11	the	the	DET
alkej-616	12	12	case	case	NOUN
alkej-616	12	13	of	of	ADP
alkej-616	12	14	revolute	revolute	ADJ
alkej-616	12	15	or	or	CCONJ
alkej-616	12	16	rotational	rotational	ADJ
alkej-616	12	17	joints	joint	NOUN
alkej-616	12	18	,	,	PUNCT
alkej-616	12	19	and	and	CCONJ
alkej-616	12	20	the	the	DET
alkej-616	12	21	link	link	NOUN
alkej-616	12	22	extension	extension	NOUN
alkej-616	12	23	in	in	ADP
alkej-616	12	24	the	the	DET
alkej-616	12	25	case	case	NOUN
alkej-616	12	26	of	of	ADP
alkej-616	12	27	prismatic	prismatic	ADJ
alkej-616	12	28	or	or	CCONJ
alkej-616	12	29	sliding	sliding	ADJ
alkej-616	12	30	joints	joint	NOUN
alkej-616	12	31	.	.	PUNCT
alkej-616	13	1	the	the	DET
alkej-616	13	2	forward	forward	ADJ
alkej-616	13	3	kinematics	kinematic	NOUN
alkej-616	13	4	problem	problem	NOUN
alkej-616	13	5	is	be	AUX
alkej-616	13	6	to	to	PART
alkej-616	13	7	be	be	AUX
alkej-616	13	8	contrasted	contrast	VERB
alkej-616	13	9	with	with	ADP
alkej-616	13	10	the	the	DET
alkej-616	13	11	inverse	inverse	NOUN
alkej-616	13	12	kinematics	kinematic	NOUN
alkej-616	13	13	problem	problem	NOUN
alkej-616	13	14	,	,	PUNCT
alkej-616	13	15	which	which	PRON
alkej-616	13	16	can	can	AUX
alkej-616	13	17	be	be	AUX
alkej-616	13	18	stated	state	VERB
alkej-616	13	19	as	as	SCONJ
alkej-616	13	20	follows	follow	VERB
alkej-616	13	21	:	:	PUNCT
alkej-616	13	22	given	give	VERB
alkej-616	13	23	a	a	DET
alkej-616	13	24	desired	desire	VERB
alkej-616	13	25	position	position	NOUN
alkej-616	13	26	and	and	CCONJ
alkej-616	13	27	orientation	orientation	NOUN
alkej-616	13	28	for	for	ADP
alkej-616	13	29	the	the	DET
alkej-616	13	30	endeffecter	endeffecter	NOUN
alkej-616	13	31	of	of	ADP
alkej-616	13	32	the	the	DET
alkej-616	13	33	robot	robot	NOUN
alkej-616	13	34	,	,	PUNCT
alkej-616	13	35	one	one	PRON
alkej-616	13	36	can	can	AUX
alkej-616	13	37	determine	determine	VERB
alkej-616	13	38	a	a	DET
alkej-616	13	39	set	set	NOUN
alkej-616	13	40	of	of	ADP
alkej-616	13	41	joint	joint	ADJ
alkej-616	13	42	variables	variable	NOUN
alkej-616	13	43	that	that	PRON
alkej-616	13	44	achieve	achieve	VERB
alkej-616	13	45	the	the	DET
alkej-616	13	46	desired	desire	VERB
alkej-616	13	47	position	position	NOUN
alkej-616	13	48	and	and	CCONJ
alkej-616	13	49	orientation	orientation	NOUN
alkej-616	13	50	[	[	X
alkej-616	13	51	2	2	NUM
alkej-616	13	52	]	]	PUNCT
alkej-616	13	53	.	.	PUNCT
alkej-616	14	1	execution	execution	NOUN
alkej-616	14	2	of	of	ADP
alkej-616	14	3	a	a	DET
alkej-616	14	4	task	task	NOUN
alkej-616	14	5	by	by	ADP
alkej-616	14	6	a	a	DET
alkej-616	14	7	robot	robot	NOUN
alkej-616	14	8	generally	generally	ADV
alkej-616	14	9	requires	require	VERB
alkej-616	14	10	many	many	ADJ
alkej-616	14	11	movements	movement	NOUN
alkej-616	14	12	of	of	ADP
alkej-616	14	13	its	its	PRON
alkej-616	14	14	end	end	NOUN
alkej-616	14	15	effecter	effecter	NOUN
alkej-616	14	16	.	.	PUNCT
alkej-616	15	1	the	the	DET
alkej-616	15	2	set	set	NOUN
alkej-616	15	3	of	of	ADP
alkej-616	15	4	situations	situation	NOUN
alkej-616	15	5	corresponding	correspond	VERB
alkej-616	15	6	to	to	ADP
alkej-616	15	7	these	these	DET
alkej-616	15	8	moves	move	NOUN
alkej-616	15	9	define	define	VERB
alkej-616	15	10	the	the	DET
alkej-616	15	11	geometrical	geometrical	ADJ
alkej-616	15	12	trajectories	trajectory	NOUN
alkej-616	15	13	of	of	ADP
alkej-616	15	14	the	the	DET
alkej-616	15	15	operations	operation	NOUN
alkej-616	15	16	space	space	NOUN
alkej-616	15	17	.	.	PUNCT
alkej-616	16	1	a	a	DET
alkej-616	16	2	trajectory	trajectory	NOUN
alkej-616	16	3	is	be	AUX
alkej-616	16	4	,	,	PUNCT
alkej-616	16	5	therefore	therefore	ADV
alkej-616	16	6	defined	define	VERB
alkej-616	16	7	by	by	ADP
alkej-616	16	8	the	the	DET
alkej-616	16	9	application	application	NOUN
alkej-616	16	10	and	and	CCONJ
alkej-616	16	11	the	the	DET
alkej-616	16	12	geometrical	geometrical	ADJ
alkej-616	16	13	constraints	constraint	NOUN
alkej-616	16	14	of	of	ADP
alkej-616	16	15	the	the	DET
alkej-616	16	16	robot	robot	NOUN
alkej-616	16	17	and	and	CCONJ
alkej-616	16	18	its	its	PRON
alkej-616	16	19	environment	environment	NOUN
alkej-616	16	20	.	.	PUNCT
alkej-616	17	1	a	a	DET
alkej-616	17	2	distinction	distinction	NOUN
alkej-616	17	3	is	be	AUX
alkej-616	17	4	generally	generally	ADV
alkej-616	17	5	made	make	VERB
alkej-616	17	6	between	between	ADP
alkej-616	17	7	point	point	NOUN
alkej-616	17	8	-	-	PUNCT
alkej-616	17	9	topoint	topoint	NOUN
alkej-616	17	10	trajectories	trajectory	NOUN
alkej-616	17	11	and	and	CCONJ
alkej-616	17	12	continuous	continuous	ADJ
alkej-616	17	13	path	path	NOUN
alkej-616	17	14	trajectories	trajectory	NOUN
alkej-616	17	15	,	,	PUNCT
alkej-616	17	16	depending	depend	VERB
alkej-616	17	17	on	on	ADP
alkej-616	17	18	the	the	DET
alkej-616	17	19	number	number	NOUN
alkej-616	17	20	of	of	ADP
alkej-616	17	21	geometrical	geometrical	ADJ
alkej-616	17	22	constraints	constraint	NOUN
alkej-616	17	23	applied	apply	VERB
alkej-616	17	24	to	to	ADP
alkej-616	17	25	the	the	DET
alkej-616	17	26	trajectory	trajectory	NOUN
alkej-616	17	27	.	.	PUNCT
alkej-616	18	1	motion	motion	NOUN
alkej-616	18	2	results	result	NOUN
alkej-616	18	3	from	from	ADP
alkej-616	18	4	a	a	DET
alkej-616	18	5	particular	particular	ADJ
alkej-616	18	6	parametric	parametric	ADJ
alkej-616	18	7	description	description	NOUN
alkej-616	18	8	of	of	ADP
alkej-616	18	9	the	the	DET
alkej-616	18	10	trajectory	trajectory	NOUN
alkej-616	18	11	where	where	SCONJ
alkej-616	18	12	the	the	DET
alkej-616	18	13	parameter	parameter	NOUN
alkej-616	18	14	is	be	AUX
alkej-616	18	15	time	time	NOUN
alkej-616	18	16	[	[	X
alkej-616	18	17	3	3	NUM
alkej-616	18	18	]	]	PUNCT
alkej-616	18	19	.	.	PUNCT
alkej-616	19	1	if	if	SCONJ
alkej-616	19	2	the	the	DET
alkej-616	19	3	number	number	NOUN
alkej-616	19	4	of	of	ADP
alkej-616	19	5	joints	joint	NOUN
alkej-616	19	6	of	of	ADP
alkej-616	19	7	the	the	DET
alkej-616	19	8	robotic	robotic	ADJ
alkej-616	19	9	arm	arm	NOUN
alkej-616	19	10	exceeds	exceed	VERB
alkej-616	19	11	the	the	DET
alkej-616	19	12	dimension	dimension	NOUN
alkej-616	19	13	of	of	ADP
alkej-616	19	14	the	the	DET
alkej-616	19	15	toolconfiguration	toolconfiguration	NOUN
alkej-616	19	16	space	space	NOUN
alkej-616	19	17	,	,	PUNCT
alkej-616	19	18	then	then	ADV
alkej-616	19	19	robotic	robotic	ADJ
alkej-616	19	20	arm	arm	NOUN
alkej-616	19	21	is	be	AUX
alkej-616	19	22	said	say	VERB
alkej-616	19	23	to	to	PART
alkej-616	19	24	alkhwarizmi	alkhwarizmi	NOUN
alkej-616	19	25	engineering	engineering	PROPN
alkej-616	19	26	journal	journal	PROPN
alkej-616	19	27	alkhwarizmi	alkhwarizmi	PROPN
alkej-616	19	28	engineering	engineering	PROPN
alkej-616	19	29	journal	journal	PROPN
alkej-616	19	30	,	,	PUNCT
alkej-616	19	31	vol	vol	NOUN
alkej-616	19	32	.	.	PROPN
alkej-616	19	33	3	3	NUM
alkej-616	19	34	,	,	PUNCT
alkej-616	19	35	no.1	no.1	X
alkej-616	19	36	,	,	PUNCT
alkej-616	19	37	pp	pp	ADP
alkej-616	19	38	1	1	NUM
alkej-616	19	39	-	-	SYM
alkej-616	19	40	11	11	NUM
alkej-616	19	41	(	(	PUNCT
alkej-616	19	42	2007	2007	NUM
alkej-616	19	43	)	)	PUNCT
alkej-616	19	44	dr	dr	PROPN
alkej-616	19	45	.	.	PROPN
alkej-616	19	46	bahaa	bahaa	PROPN
alkej-616	19	47	ibraheem	ibraheem	VERB
alkej-616	19	48	kazem	kazem	PROPN
alkej-616	19	49	/al	/al	PROPN
alkej-616	19	50	-	-	PUNCT
alkej-616	19	51	khwarizmi	khwarizmi	PROPN
alkej-616	19	52	engineering	engineering	NOUN
alkej-616	19	53	journal	journal	PROPN
alkej-616	19	54	,	,	PUNCT
alkej-616	19	55	vol.3	vol.3	PROPN
alkej-616	19	56	,	,	PUNCT
alkej-616	19	57	no.1	no.1	NUM
alkej-616	19	58	,	,	PUNCT
alkej-616	19	59	pp	pp	ADP
alkej-616	19	60	1	1	NUM
alkej-616	19	61	-	-	SYM
alkej-616	19	62	11	11	NUM
alkej-616	19	63	(	(	PUNCT
alkej-616	19	64	2007	2007	NUM
alkej-616	19	65	)	)	PUNCT
alkej-616	19	66	٢	٢	AUX
alkej-616	19	67	be	be	AUX
alkej-616	19	68	kinematically	kinematically	ADV
alkej-616	19	69	redundant	redundant	ADJ
alkej-616	19	70	.	.	PUNCT
alkej-616	20	1	robots	robot	NOUN
alkej-616	20	2	with	with	ADP
alkej-616	20	3	more	more	ADJ
alkej-616	20	4	than	than	ADP
alkej-616	20	5	six	six	NUM
alkej-616	20	6	axes	axis	NOUN
alkej-616	20	7	are	be	AUX
alkej-616	20	8	always	always	ADV
alkej-616	20	9	kinematically	kinematically	ADV
alkej-616	20	10	.	.	PUNCT
alkej-616	21	1	redundant	redundant	ADJ
alkej-616	21	2	.	.	PUNCT
alkej-616	22	1	however	however	ADV
alkej-616	22	2	it	it	PRON
alkej-616	22	3	is	be	AUX
alkej-616	22	4	also	also	ADV
alkej-616	22	5	possible	possible	ADJ
alkej-616	22	6	for	for	SCONJ
alkej-616	22	7	robots	robot	NOUN
alkej-616	22	8	with	with	ADP
alkej-616	22	9	fewer	few	ADJ
alkej-616	22	10	axes	axis	NOUN
alkej-616	22	11	to	to	PART
alkej-616	22	12	be	be	AUX
alkej-616	22	13	redundant	redundant	ADJ
alkej-616	22	14	if	if	SCONJ
alkej-616	22	15	the	the	DET
alkej-616	22	16	dimension	dimension	NOUN
alkej-616	22	17	of	of	ADP
alkej-616	22	18	the	the	DET
alkej-616	22	19	tool	tool	NOUN
alkej-616	22	20	-	-	PUNCT
alkej-616	22	21	configuration	configuration	NOUN
alkej-616	22	22	space	space	NOUN
alkej-616	22	23	is	be	AUX
alkej-616	22	24	restricted	restrict	VERB
alkej-616	22	25	[	[	PUNCT
alkej-616	22	26	4	4	NUM
alkej-616	22	27	]	]	PUNCT
alkej-616	22	28	.	.	PUNCT
alkej-616	23	1	dexterity	dexterity	NOUN
alkej-616	23	2	has	have	AUX
alkej-616	23	3	been	be	AUX
alkej-616	23	4	interpreted	interpret	VERB
alkej-616	23	5	to	to	PART
alkej-616	23	6	mean	mean	VERB
alkej-616	23	7	different	different	ADJ
alkej-616	23	8	physical	physical	ADJ
alkej-616	23	9	concepts	concept	NOUN
alkej-616	23	10	such	such	ADJ
alkej-616	23	11	as	as	ADP
alkej-616	23	12	a	a	DET
alkej-616	23	13	measure	measure	NOUN
alkej-616	23	14	of	of	ADP
alkej-616	23	15	kinematics	kinematic	NOUN
alkej-616	23	16	feature	feature	VERB
alkej-616	23	17	over	over	ADP
alkej-616	23	18	which	which	PRON
alkej-616	23	19	a	a	DET
alkej-616	23	20	manipulator	manipulator	NOUN
alkej-616	23	21	can	can	AUX
alkej-616	23	22	kinematically	kinematically	ADV
alkej-616	23	23	reach	reach	VERB
alkej-616	23	24	all	all	DET
alkej-616	23	25	orientations	orientation	NOUN
alkej-616	23	26	,	,	PUNCT
alkej-616	23	27	the	the	DET
alkej-616	23	28	operation	operation	NOUN
alkej-616	23	29	of	of	ADP
alkej-616	23	30	manipulators	manipulator	NOUN
alkej-616	23	31	with	with	ADP
alkej-616	23	32	multiple	multiple	ADJ
alkej-616	23	33	,	,	PUNCT
alkej-616	23	34	actively	actively	ADV
alkej-616	23	35	powered	powered	ADJ
alkej-616	23	36	fingers	finger	NOUN
alkej-616	23	37	,	,	PUNCT
alkej-616	23	38	and	and	CCONJ
alkej-616	23	39	a	a	DET
alkej-616	23	40	global	global	ADJ
alkej-616	23	41	measure	measure	NOUN
alkej-616	23	42	applied	apply	VERB
alkej-616	23	43	over	over	ADP
alkej-616	23	44	a	a	DET
alkej-616	23	45	complete	complete	ADJ
alkej-616	23	46	end	end	NOUN
alkej-616	23	47	-	-	PUNCT
alkej-616	23	48	effecter	effecter	NOUN
alkej-616	23	49	trajectory	trajectory	NOUN
alkej-616	23	50	.	.	PUNCT
alkej-616	24	1	in	in	ADP
alkej-616	24	2	one	one	NUM
alkej-616	24	3	way	way	NOUN
alkej-616	24	4	or	or	CCONJ
alkej-616	24	5	another	another	PRON
alkej-616	24	6	,	,	PUNCT
alkej-616	24	7	the	the	DET
alkej-616	24	8	aim	aim	NOUN
alkej-616	24	9	of	of	ADP
alkej-616	24	10	considering	consider	VERB
alkej-616	24	11	dexterity	dexterity	NOUN
alkej-616	24	12	is	be	AUX
alkej-616	24	13	to	to	PART
alkej-616	24	14	lead	lead	VERB
alkej-616	24	15	to	to	ADP
alkej-616	24	16	robots	robot	NOUN
alkej-616	24	17	which	which	PRON
alkej-616	24	18	are	be	AUX
alkej-616	24	19	similar	similar	ADJ
alkej-616	24	20	to	to	ADP
alkej-616	24	21	the	the	DET
alkej-616	24	22	human	human	ADJ
alkej-616	24	23	arm	arm	NOUN
alkej-616	24	24	since	since	SCONJ
alkej-616	24	25	many	many	ADJ
alkej-616	24	26	desirable	desirable	ADJ
alkej-616	24	27	features	feature	NOUN
alkej-616	24	28	are	be	AUX
alkej-616	24	29	ingeniously	ingeniously	ADV
alkej-616	24	30	integrated	integrate	VERB
alkej-616	24	31	in	in	ADP
alkej-616	24	32	it	it	PRON
alkej-616	24	33	and	and	CCONJ
alkej-616	24	34	apparently	apparently	ADV
alkej-616	24	35	constitutes	constitute	VERB
alkej-616	24	36	the	the	DET
alkej-616	24	37	ultimate	ultimate	ADJ
alkej-616	24	38	model	model	NOUN
alkej-616	24	39	of	of	ADP
alkej-616	24	40	a	a	DET
alkej-616	24	41	dexterous	dexterous	ADJ
alkej-616	24	42	robot	robot	NOUN
alkej-616	24	43	.	.	PUNCT
alkej-616	25	1	a	a	DET
alkej-616	25	2	dexterous	dexterous	ADJ
alkej-616	25	3	device	device	NOUN
alkej-616	25	4	would	would	AUX
alkej-616	25	5	have	have	VERB
alkej-616	25	6	many	many	ADJ
alkej-616	25	7	sensors	sensor	NOUN
alkej-616	25	8	since	since	SCONJ
alkej-616	25	9	a	a	DET
alkej-616	25	10	high	high	ADJ
alkej-616	25	11	level	level	NOUN
alkej-616	25	12	understanding	understanding	NOUN
alkej-616	25	13	of	of	ADP
alkej-616	25	14	the	the	DET
alkej-616	25	15	situations	situation	NOUN
alkej-616	25	16	is	be	AUX
alkej-616	25	17	of	of	ADP
alkej-616	25	18	the	the	DET
alkej-616	25	19	extreme	extreme	ADJ
alkej-616	25	20	importance	importance	NOUN
alkej-616	25	21	to	to	PART
alkej-616	25	22	achieve	achieve	VERB
alkej-616	25	23	complex	complex	ADJ
alkej-616	25	24	tasks	task	NOUN
alkej-616	25	25	.	.	PUNCT
alkej-616	26	1	it	it	PRON
alkej-616	26	2	would	would	AUX
alkej-616	26	3	have	have	VERB
alkej-616	26	4	many	many	ADJ
alkej-616	26	5	degrees	degree	NOUN
alkej-616	26	6	of	of	ADP
alkej-616	26	7	freedom	freedom	NOUN
alkej-616	26	8	(	(	PUNCT
alkej-616	26	9	dof	dof	NOUN
alkej-616	26	10	)	)	PUNCT
alkej-616	26	11	,	,	PUNCT
alkej-616	26	12	may	may	AUX
alkej-616	26	13	be	be	AUX
alkej-616	26	14	more	more	ADJ
alkej-616	26	15	than	than	ADP
alkej-616	26	16	a	a	DET
alkej-616	26	17	complete	complete	ADJ
alkej-616	26	18	human	human	ADJ
alkej-616	26	19	arm	arm	NOUN
alkej-616	27	1	[	[	X
alkej-616	27	2	5	5	NUM
alkej-616	27	3	]	]	PUNCT
alkej-616	27	4	.	.	PUNCT
alkej-616	28	1	there	there	PRON
alkej-616	28	2	are	be	VERB
alkej-616	28	3	many	many	ADJ
alkej-616	28	4	references	reference	NOUN
alkej-616	28	5	that	that	PRON
alkej-616	28	6	deal	deal	VERB
alkej-616	28	7	with	with	ADP
alkej-616	28	8	robot	robot	NOUN
alkej-616	28	9	kinematics	kinematic	NOUN
alkej-616	28	10	and	and	CCONJ
alkej-616	28	11	trajectory	trajectory	NOUN
alkej-616	28	12	planning	planning	NOUN
alkej-616	28	13	;	;	PUNCT
alkej-616	28	14	some	some	PRON
alkej-616	28	15	of	of	ADP
alkej-616	28	16	them	they	PRON
alkej-616	28	17	are	be	AUX
alkej-616	28	18	mentioned	mention	VERB
alkej-616	28	19	below	below	ADP
alkej-616	28	20	:	:	PUNCT
alkej-616	28	21	robot	robot	NOUN
alkej-616	28	22	kinematics	kinematic	NOUN
alkej-616	28	23	generally	generally	ADV
alkej-616	28	24	includes	include	VERB
alkej-616	28	25	forward	forward	ADV
alkej-616	28	26	and	and	CCONJ
alkej-616	28	27	inverse	inverse	ADJ
alkej-616	28	28	kinematics	kinematic	NOUN
alkej-616	28	29	at	at	ADP
alkej-616	28	30	the	the	DET
alkej-616	28	31	position	position	NOUN
alkej-616	28	32	,	,	PUNCT
alkej-616	28	33	velocity	velocity	NOUN
alkej-616	28	34	,	,	PUNCT
alkej-616	28	35	and	and	CCONJ
alkej-616	28	36	acceleration	acceleration	NOUN
alkej-616	28	37	level	level	NOUN
alkej-616	28	38	.	.	PUNCT
alkej-616	29	1	these	these	DET
alkej-616	29	2	constructs	construct	NOUN
alkej-616	29	3	are	be	AUX
alkej-616	29	4	essential	essential	ADJ
alkej-616	29	5	for	for	ADP
alkej-616	29	6	the	the	DET
alkej-616	29	7	cartesian	cartesian	ADJ
alkej-616	29	8	control	control	NOUN
alkej-616	29	9	of	of	ADP
alkej-616	29	10	serial	serial	ADJ
alkej-616	29	11	manipulators	manipulator	NOUN
alkej-616	29	12	.	.	PUNCT
alkej-616	30	1	c.	c.	PROPN
alkej-616	30	2	kapoor	kapoor	PROPN
alkej-616	30	3	and	and	CCONJ
alkej-616	30	4	d.	d.	PROPN
alkej-616	30	5	tesar	tesar	PROPN
alkej-616	31	1	[	[	X
alkej-616	31	2	6	6	NUM
alkej-616	31	3	]	]	PUNCT
alkej-616	31	4	presented	present	VERB
alkej-616	31	5	the	the	DET
alkej-616	31	6	development	development	NOUN
alkej-616	31	7	of	of	ADP
alkej-616	31	8	a	a	DET
alkej-616	31	9	c++	c++	NOUN
alkej-616	31	10	class	class	NOUN
alkej-616	31	11	library	library	NOUN
alkej-616	31	12	that	that	PRON
alkej-616	31	13	supports	support	VERB
alkej-616	31	14	the	the	DET
alkej-616	31	15	forward	forward	ADJ
alkej-616	31	16	and	and	CCONJ
alkej-616	31	17	inverse	inverse	ADJ
alkej-616	31	18	kinematics	kinematic	NOUN
alkej-616	31	19	of	of	ADP
alkej-616	31	20	all	all	DET
alkej-616	31	21	possible	possible	ADJ
alkej-616	31	22	geometries	geometry	NOUN
alkej-616	31	23	of	of	ADP
alkej-616	31	24	serial	serial	ADJ
alkej-616	31	25	manipulators	manipulator	NOUN
alkej-616	31	26	.	.	PUNCT
alkej-616	32	1	object	object	NOUN
alkej-616	32	2	-	-	PUNCT
alkej-616	32	3	oriented	orient	VERB
alkej-616	32	4	analysis	analysis	NOUN
alkej-616	32	5	and	and	CCONJ
alkej-616	32	6	design	design	NOUN
alkej-616	32	7	are	be	AUX
alkej-616	32	8	the	the	DET
alkej-616	32	9	primary	primary	ADJ
alkej-616	32	10	software	software	NOUN
alkej-616	32	11	development	development	NOUN
alkej-616	32	12	methodology	methodology	NOUN
alkej-616	32	13	used	use	VERB
alkej-616	32	14	.	.	PUNCT
alkej-616	33	1	application	application	NOUN
alkej-616	33	2	of	of	ADP
alkej-616	33	3	this	this	DET
alkej-616	33	4	methodology	methodology	NOUN
alkej-616	33	5	led	lead	VERB
alkej-616	33	6	to	to	ADP
alkej-616	33	7	the	the	DET
alkej-616	33	8	sub	sub	NOUN
alkej-616	33	9	-	-	NOUN
alkej-616	33	10	division	division	NOUN
alkej-616	33	11	of	of	ADP
alkej-616	33	12	the	the	DET
alkej-616	33	13	kinematics	kinematic	NOUN
alkej-616	33	14	domain	domain	NOUN
alkej-616	33	15	into	into	ADP
alkej-616	33	16	forward	forward	ADV
alkej-616	33	17	and	and	CCONJ
alkej-616	33	18	inverse	inverse	NOUN
alkej-616	33	19	kinematics	kinematic	NOUN
alkej-616	33	20	.	.	PUNCT
alkej-616	34	1	analysis	analysis	NOUN
alkej-616	34	2	of	of	ADP
alkej-616	34	3	these	these	DET
alkej-616	34	4	sub	sub	NOUN
alkej-616	34	5	-	-	NOUN
alkej-616	34	6	domains	domain	NOUN
alkej-616	34	7	resulted	result	VERB
alkej-616	34	8	in	in	ADP
alkej-616	34	9	their	their	PRON
alkej-616	34	10	further	further	ADJ
alkej-616	34	11	sub	sub	NOUN
alkej-616	34	12	-	-	NOUN
alkej-616	34	13	division	division	NOUN
alkej-616	34	14	,	,	PUNCT
alkej-616	34	15	identification	identification	NOUN
alkej-616	34	16	of	of	ADP
alkej-616	34	17	abstract	abstract	ADJ
alkej-616	34	18	components	component	NOUN
alkej-616	34	19	,	,	PUNCT
alkej-616	34	20	development	development	NOUN
alkej-616	34	21	of	of	ADP
alkej-616	34	22	classes	class	NOUN
alkej-616	34	23	,	,	PUNCT
alkej-616	34	24	interface	interface	NOUN
alkej-616	34	25	specifications	specification	NOUN
alkej-616	34	26	,	,	PUNCT
alkej-616	34	27	and	and	CCONJ
alkej-616	34	28	finally	finally	ADV
alkej-616	34	29	implementation	implementation	NOUN
alkej-616	34	30	and	and	CCONJ
alkej-616	34	31	testing	testing	NOUN
alkej-616	34	32	.	.	PUNCT
alkej-616	35	1	an	an	DET
alkej-616	35	2	approach	approach	NOUN
alkej-616	35	3	to	to	PART
alkej-616	35	4	solve	solve	VERB
alkej-616	35	5	the	the	DET
alkej-616	35	6	inverse	inverse	NOUN
alkej-616	35	7	kinematics	kinematic	NOUN
alkej-616	35	8	problem	problem	NOUN
alkej-616	35	9	for	for	ADP
alkej-616	35	10	hyper	hyper	ADJ
alkej-616	35	11	-	-	ADJ
alkej-616	35	12	redundant	redundant	ADJ
alkej-616	35	13	planar	planar	ADJ
alkej-616	35	14	manipulators	manipulator	NOUN
alkej-616	35	15	following	follow	VERB
alkej-616	35	16	any	any	DET
alkej-616	35	17	desired	desire	VERB
alkej-616	35	18	path	path	NOUN
alkej-616	35	19	was	be	AUX
alkej-616	35	20	presented	present	VERB
alkej-616	35	21	by	by	ADP
alkej-616	35	22	f.	f.	PROPN
alkej-616	35	23	m.	m.	PROPN
alkej-616	35	24	asi	asi	PROPN
alkej-616	36	1	[	[	X
alkej-616	36	2	7	7	NUM
alkej-616	36	3	]	]	PUNCT
alkej-616	36	4	,	,	PUNCT
alkej-616	36	5	his	his	PRON
alkej-616	36	6	approach	approach	NOUN
alkej-616	36	7	is	be	AUX
alkej-616	36	8	based	base	VERB
alkej-616	36	9	on	on	ADP
alkej-616	36	10	defining	define	VERB
alkej-616	36	11	virtual	virtual	ADJ
alkej-616	36	12	layers	layer	NOUN
alkej-616	36	13	and	and	CCONJ
alkej-616	36	14	dividing	divide	VERB
alkej-616	36	15	them	they	PRON
alkej-616	36	16	into	into	ADP
alkej-616	36	17	virtual	virtual	ADJ
alkej-616	36	18	/	/	SYM
alkej-616	36	19	real	real	ADJ
alkej-616	36	20	three	three	NUM
alkej-616	36	21	-	-	PUNCT
alkej-616	36	22	link	link	NOUN
alkej-616	36	23	or	or	CCONJ
alkej-616	36	24	four	four	NUM
alkej-616	36	25	-	-	PUNCT
alkej-616	36	26	link	link	NOUN
alkej-616	36	27	sub	sub	NOUN
alkej-616	36	28	-	-	NOUN
alkej-616	36	29	robots	robot	NOUN
alkej-616	36	30	.	.	PUNCT
alkej-616	37	1	this	this	DET
alkej-616	37	2	approach	approach	NOUN
alkej-616	37	3	starts	start	VERB
alkej-616	37	4	by	by	ADP
alkej-616	37	5	solving	solve	VERB
alkej-616	37	6	for	for	ADP
alkej-616	37	7	the	the	DET
alkej-616	37	8	inverse	inverse	NOUN
alkej-616	37	9	kinematics	kinematic	NOUN
alkej-616	37	10	problem	problem	NOUN
alkej-616	37	11	for	for	ADP
alkej-616	37	12	the	the	DET
alkej-616	37	13	subrobot	subrobot	NOUN
alkej-616	37	14	located	locate	VERB
alkej-616	37	15	in	in	ADP
alkej-616	37	16	the	the	DET
alkej-616	37	17	lowest	low	ADJ
alkej-616	37	18	virtual	virtual	ADJ
alkej-616	37	19	layer	layer	NOUN
alkej-616	37	20	.	.	PUNCT
alkej-616	38	1	the	the	DET
alkej-616	38	2	data	datum	NOUN
alkej-616	38	3	obtained	obtain	VERB
alkej-616	38	4	from	from	ADP
alkej-616	38	5	the	the	DET
alkej-616	38	6	solution	solution	NOUN
alkej-616	38	7	of	of	ADP
alkej-616	38	8	this	this	DET
alkej-616	38	9	subrobot	subrobot	NOUN
alkej-616	38	10	are	be	AUX
alkej-616	38	11	used	use	VERB
alkej-616	38	12	to	to	PART
alkej-616	38	13	solve	solve	VERB
alkej-616	38	14	the	the	DET
alkej-616	38	15	inverse	inverse	NOUN
alkej-616	38	16	kinematics	kinematic	NOUN
alkej-616	38	17	equations	equation	NOUN
alkej-616	38	18	for	for	ADP
alkej-616	38	19	the	the	DET
alkej-616	38	20	sub	sub	NOUN
alkej-616	38	21	-	-	NOUN
alkej-616	38	22	robots	robot	NOUN
alkej-616	38	23	located	locate	VERB
alkej-616	38	24	in	in	ADP
alkej-616	38	25	the	the	DET
alkej-616	38	26	upper	upper	ADJ
alkej-616	38	27	virtual	virtual	ADJ
alkej-616	38	28	layers	layer	NOUN
alkej-616	38	29	.	.	PUNCT
alkej-616	39	1	the	the	DET
alkej-616	39	2	data	datum	NOUN
alkej-616	39	3	obtained	obtain	VERB
alkej-616	39	4	by	by	ADP
alkej-616	39	5	solving	solve	VERB
alkej-616	39	6	the	the	DET
alkej-616	39	7	equations	equation	NOUN
alkej-616	39	8	of	of	ADP
alkej-616	39	9	the	the	DET
alkej-616	39	10	sub	sub	NOUN
alkej-616	39	11	-	-	NOUN
alkej-616	39	12	robots	robot	NOUN
alkej-616	39	13	located	locate	VERB
alkej-616	39	14	in	in	ADP
alkej-616	39	15	each	each	DET
alkej-616	39	16	virtual	virtual	ADJ
alkej-616	39	17	layer	layer	NOUN
alkej-616	39	18	affect	affect	VERB
alkej-616	39	19	the	the	DET
alkej-616	39	20	solutions	solution	NOUN
alkej-616	39	21	of	of	ADP
alkej-616	39	22	the	the	DET
alkej-616	39	23	equations	equation	NOUN
alkej-616	39	24	of	of	ADP
alkej-616	39	25	the	the	DET
alkej-616	39	26	sub	sub	NOUN
alkej-616	39	27	-	-	NOUN
alkej-616	39	28	robots	robot	NOUN
alkej-616	39	29	located	locate	VERB
alkej-616	39	30	in	in	ADP
alkej-616	39	31	both	both	CCONJ
alkej-616	39	32	the	the	DET
alkej-616	39	33	upper	upper	ADJ
alkej-616	39	34	and	and	CCONJ
alkej-616	39	35	lower	low	ADJ
alkej-616	39	36	virtual	virtual	ADJ
alkej-616	39	37	layers	layer	NOUN
alkej-616	39	38	.	.	PUNCT
alkej-616	40	1	by	by	ADP
alkej-616	40	2	j.	j.	PROPN
alkej-616	40	3	somlo	somlo	PROPN
alkej-616	40	4	,	,	PUNCT
alkej-616	40	5	a.	a.	PROPN
alkej-616	40	6	sokolov	sokolov	PROPN
alkej-616	40	7	,	,	PUNCT
alkej-616	40	8	and	and	CCONJ
alkej-616	40	9	v.	v.	ADP
alkej-616	40	10	lukanyin	lukanyin	X
alkej-616	41	1	[	[	X
alkej-616	41	2	8	8	NUM
alkej-616	41	3	]	]	PUNCT
alkej-616	41	4	carried	carry	VERB
alkej-616	41	5	out	out	ADP
alkej-616	41	6	an	an	DET
alkej-616	41	7	attempt	attempt	NOUN
alkej-616	41	8	in	in	ADP
alkej-616	41	9	order	order	NOUN
alkej-616	41	10	to	to	PART
alkej-616	41	11	develop	develop	VERB
alkej-616	41	12	an	an	DET
alkej-616	41	13	automatic	automatic	ADJ
alkej-616	41	14	trajectory	trajectory	NOUN
alkej-616	41	15	planning	planning	NOUN
alkej-616	41	16	.	.	PUNCT
alkej-616	42	1	it	it	PRON
alkej-616	42	2	is	be	AUX
alkej-616	42	3	shown	show	VERB
alkej-616	42	4	that	that	SCONJ
alkej-616	42	5	different	different	ADJ
alkej-616	42	6	approaches	approach	NOUN
alkej-616	42	7	to	to	ADP
alkej-616	42	8	trajectory	trajectory	NOUN
alkej-616	42	9	planning	planning	NOUN
alkej-616	42	10	are	be	AUX
alkej-616	42	11	possible	possible	ADJ
alkej-616	42	12	.	.	PUNCT
alkej-616	43	1	these	these	PRON
alkej-616	43	2	are	be	AUX
alkej-616	43	3	1	1	NUM
alkej-616	43	4	.	.	PUNCT
alkej-616	43	5	time	time	NOUN
alkej-616	43	6	optimal	optimal	ADJ
alkej-616	43	7	2	2	NUM
alkej-616	43	8	.	.	PUNCT
alkej-616	43	9	process	process	NOUN
alkej-616	43	10	optimal	optimal	ADJ
alkej-616	43	11	3	3	NUM
alkej-616	43	12	.	.	PUNCT
alkej-616	43	13	force	force	NOUN
alkej-616	43	14	effective	effective	ADJ
alkej-616	43	15	4.optimal	4.optimal	NUM
alkej-616	43	16	trapezoidal	trapezoidal	ADJ
alkej-616	43	17	trajectory	trajectory	NOUN
alkej-616	43	18	planning	planning	NOUN
alkej-616	43	19	.	.	PUNCT
alkej-616	44	1	realization	realization	NOUN
alkej-616	44	2	of	of	ADP
alkej-616	44	3	all	all	DET
alkej-616	44	4	these	these	DET
alkej-616	44	5	trajectory	trajectory	NOUN
alkej-616	44	6	-	-	PUNCT
alkej-616	44	7	planning	planning	NOUN
alkej-616	44	8	principles	principle	NOUN
alkej-616	44	9	can	can	AUX
alkej-616	44	10	be	be	AUX
alkej-616	44	11	automatized	automatize	VERB
alkej-616	44	12	.	.	PUNCT
alkej-616	45	1	s.	s.	PROPN
alkej-616	45	2	yue	yue	PROPN
alkej-616	45	3	and	and	CCONJ
alkej-616	45	4	d.	d.	PROPN
alkej-616	45	5	henrich	henrich	PROPN
alkej-616	46	1	[	[	X
alkej-616	46	2	9	9	NUM
alkej-616	46	3	]	]	PUNCT
alkej-616	46	4	focused	focus	VERB
alkej-616	46	5	on	on	ADP
alkej-616	46	6	the	the	DET
alkej-616	46	7	problem	problem	NOUN
alkej-616	46	8	of	of	ADP
alkej-616	46	9	point	point	NOUN
alkej-616	46	10	-	-	PUNCT
alkej-616	46	11	to	to	ADP
alkej-616	46	12	-	-	PUNCT
alkej-616	46	13	point	point	NOUN
alkej-616	46	14	trajectory	trajectory	NOUN
alkej-616	46	15	planning	planning	NOUN
alkej-616	46	16	for	for	ADP
alkej-616	46	17	flexible	flexible	ADJ
alkej-616	46	18	redundant	redundant	ADJ
alkej-616	46	19	robot	robot	NOUN
alkej-616	46	20	manipulators	manipulator	NOUN
alkej-616	46	21	(	(	PUNCT
alkej-616	46	22	frm	frm	PROPN
alkej-616	46	23	)	)	PUNCT
alkej-616	46	24	in	in	ADP
alkej-616	46	25	joint	joint	ADJ
alkej-616	46	26	space	space	NOUN
alkej-616	46	27	.	.	PUNCT
alkej-616	47	1	compared	compare	VERB
alkej-616	47	2	with	with	ADP
alkej-616	47	3	irredundant	irredundant	ADJ
alkej-616	47	4	flexible	flexible	ADJ
alkej-616	47	5	manipulators	manipulator	NOUN
alkej-616	47	6	,	,	PUNCT
alkej-616	47	7	a	a	DET
alkej-616	47	8	frm	frm	PROPN
alkej-616	47	9	possesses	possess	VERB
alkej-616	47	10	additional	additional	ADJ
alkej-616	47	11	possibilities	possibility	NOUN
alkej-616	47	12	during	during	ADP
alkej-616	47	13	pointto	pointto	ADJ
alkej-616	47	14	-	-	PUNCT
alkej-616	47	15	point	point	NOUN
alkej-616	47	16	trajectory	trajectory	NOUN
alkej-616	47	17	planning	planning	NOUN
alkej-616	47	18	due	due	ADP
alkej-616	47	19	to	to	ADP
alkej-616	47	20	its	its	PRON
alkej-616	47	21	kinematics	kinematics	NOUN
alkej-616	47	22	redundancy	redundancy	NOUN
alkej-616	47	23	.	.	PUNCT
alkej-616	48	1	a	a	DET
alkej-616	48	2	trajectory	trajectory	NOUN
alkej-616	48	3	planning	planning	NOUN
alkej-616	48	4	method	method	NOUN
alkej-616	48	5	to	to	PART
alkej-616	48	6	minimize	minimize	VERB
alkej-616	48	7	vibration	vibration	NOUN
alkej-616	48	8	and/or	and/or	CCONJ
alkej-616	48	9	executing	execute	VERB
alkej-616	48	10	time	time	NOUN
alkej-616	48	11	of	of	ADP
alkej-616	48	12	a	a	DET
alkej-616	48	13	point	point	NOUN
alkej-616	48	14	-	-	PUNCT
alkej-616	48	15	to	to	ADP
alkej-616	48	16	-	-	PUNCT
alkej-616	48	17	point	point	NOUN
alkej-616	48	18	motion	motion	NOUN
alkej-616	48	19	is	be	AUX
alkej-616	48	20	presented	present	VERB
alkej-616	48	21	for	for	ADP
alkej-616	48	22	frm	frm	PROPN
alkej-616	48	23	based	base	VERB
alkej-616	48	24	on	on	ADP
alkej-616	48	25	genetic	genetic	ADJ
alkej-616	48	26	algorithms	algorithm	NOUN
alkej-616	48	27	(	(	PUNCT
alkej-616	48	28	gas	gas	NOUN
alkej-616	48	29	)	)	PUNCT
alkej-616	48	30	.	.	PUNCT
alkej-616	49	1	kinematics	kinematic	NOUN
alkej-616	49	2	redundancy	redundancy	NOUN
alkej-616	49	3	is	be	AUX
alkej-616	49	4	integrated	integrate	VERB
alkej-616	49	5	into	into	ADP
alkej-616	49	6	the	the	DET
alkej-616	49	7	presented	present	VERB
alkej-616	49	8	method	method	NOUN
alkej-616	49	9	as	as	ADP
alkej-616	49	10	planning	planning	NOUN
alkej-616	49	11	variables	variable	NOUN
alkej-616	49	12	.	.	PUNCT
alkej-616	50	1	quadrinomial	quadrinomial	ADJ
alkej-616	50	2	and	and	CCONJ
alkej-616	50	3	quintic	quintic	ADJ
alkej-616	50	4	polynomial	polynomial	NOUN
alkej-616	50	5	are	be	AUX
alkej-616	50	6	used	use	VERB
alkej-616	50	7	to	to	PART
alkej-616	50	8	describe	describe	VERB
alkej-616	50	9	the	the	DET
alkej-616	50	10	segments	segment	NOUN
alkej-616	50	11	that	that	PRON
alkej-616	50	12	connect	connect	VERB
alkej-616	50	13	the	the	DET
alkej-616	50	14	initial	initial	ADJ
alkej-616	50	15	,	,	PUNCT
alkej-616	50	16	intermediate	intermediate	ADJ
alkej-616	50	17	,	,	PUNCT
alkej-616	50	18	and	and	CCONJ
alkej-616	50	19	final	final	ADJ
alkej-616	50	20	points	point	NOUN
alkej-616	50	21	in	in	ADP
alkej-616	50	22	joint	joint	ADJ
alkej-616	50	23	space	space	NOUN
alkej-616	50	24	.	.	PUNCT
alkej-616	51	1	the	the	DET
alkej-616	51	2	trajectory	trajectory	NOUN
alkej-616	51	3	planning	planning	NOUN
alkej-616	51	4	of	of	ADP
alkej-616	51	5	frm	frm	PROPN
alkej-616	51	6	is	be	AUX
alkej-616	51	7	formulated	formulate	VERB
alkej-616	51	8	as	as	ADP
alkej-616	51	9	a	a	DET
alkej-616	51	10	problem	problem	NOUN
alkej-616	51	11	of	of	ADP
alkej-616	51	12	optimization	optimization	NOUN
alkej-616	51	13	with	with	ADP
alkej-616	51	14	constraints	constraint	NOUN
alkej-616	51	15	.	.	PUNCT
alkej-616	52	1	a	a	DET
alkej-616	52	2	method	method	NOUN
alkej-616	52	3	for	for	ADP
alkej-616	52	4	solving	solve	VERB
alkej-616	52	5	the	the	DET
alkej-616	52	6	inverse	inverse	NOUN
alkej-616	52	7	kinematics	kinematic	NOUN
alkej-616	52	8	of	of	ADP
alkej-616	52	9	a	a	DET
alkej-616	52	10	humanoid	humanoid	NOUN
alkej-616	52	11	robot	robot	NOUN
alkej-616	52	12	based	base	VERB
alkej-616	52	13	on	on	ADP
alkej-616	52	14	artificial	artificial	ADJ
alkej-616	52	15	neural	neural	ADJ
alkej-616	52	16	networks	network	NOUN
alkej-616	52	17	is	be	AUX
alkej-616	52	18	presented	present	VERB
alkej-616	52	19	by	by	ADP
alkej-616	52	20	j.	j.	PROPN
alkej-616	52	21	de	de	PROPN
alkej-616	52	22	lope	lope	PROPN
alkej-616	52	23	,	,	PUNCT
alkej-616	52	24	t.	t.	PROPN
alkej-616	52	25	zarraonandia	zarraonandia	PROPN
alkej-616	52	26	and	and	CCONJ
alkej-616	52	27	d.	d.	PROPN
alkej-616	52	28	maravall	maravall	VERB
alkej-616	53	1	[	[	X
alkej-616	53	2	10	10	NUM
alkej-616	53	3	]	]	PUNCT
alkej-616	53	4	.	.	PUNCT
alkej-616	54	1	the	the	DET
alkej-616	54	2	inputs	input	NOUN
alkej-616	54	3	of	of	ADP
alkej-616	54	4	the	the	DET
alkej-616	54	5	network	network	NOUN
alkej-616	54	6	are	be	AUX
alkej-616	54	7	the	the	DET
alkej-616	54	8	desired	desire	VERB
alkej-616	54	9	positions	position	NOUN
alkej-616	54	10	and	and	CCONJ
alkej-616	54	11	dr	dr	PROPN
alkej-616	54	12	.	.	PROPN
alkej-616	54	13	bahaa	bahaa	PROPN
alkej-616	54	14	ibraheem	ibraheem	VERB
alkej-616	54	15	kazem	kazem	PROPN
alkej-616	54	16	/al	/al	PROPN
alkej-616	54	17	-	-	PUNCT
alkej-616	54	18	khwarizmi	khwarizmi	PROPN
alkej-616	54	19	engineering	engineering	NOUN
alkej-616	54	20	journal	journal	PROPN
alkej-616	54	21	,	,	PUNCT
alkej-616	54	22	vol.3	vol.3	PROPN
alkej-616	54	23	,	,	PUNCT
alkej-616	54	24	no.1	no.1	NUM
alkej-616	54	25	,	,	PUNCT
alkej-616	54	26	pp	pp	ADP
alkej-616	54	27	1	1	NUM
alkej-616	54	28	-	-	SYM
alkej-616	54	29	11	11	NUM
alkej-616	54	30	(	(	PUNCT
alkej-616	54	31	2007	2007	NUM
alkej-616	54	32	)	)	PUNCT
alkej-616	54	33	٣	٣	NUM
alkej-616	54	34	fig.1	fig.1	PROPN
alkej-616	54	35	.	.	PUNCT
alkej-616	55	1	intermediate	intermediate	ADJ
alkej-616	55	2	point	point	NOUN
alkej-616	55	3	on	on	ADP
alkej-616	55	4	the	the	DET
alkej-616	55	5	point	point	NOUN
alkej-616	55	6	-	-	PUNCT
alkej-616	55	7	to	to	ADP
alkej-616	55	8	-	-	PUNCT
alkej-616	55	9	point	point	NOUN
alkej-616	55	10	path	path	NOUN
alkej-616	55	11	.	.	PUNCT
alkej-616	56	1	orientations	orientation	NOUN
alkej-616	56	2	of	of	ADP
alkej-616	56	3	one	one	NUM
alkej-616	56	4	foot	foot	NOUN
alkej-616	56	5	with	with	ADP
alkej-616	56	6	respect	respect	NOUN
alkej-616	56	7	to	to	ADP
alkej-616	56	8	the	the	DET
alkej-616	56	9	other	other	ADJ
alkej-616	56	10	foot	foot	NOUN
alkej-616	56	11	.	.	PUNCT
alkej-616	57	1	the	the	DET
alkej-616	57	2	output	output	NOUN
alkej-616	57	3	is	be	AUX
alkej-616	57	4	the	the	DET
alkej-616	57	5	joint	joint	ADJ
alkej-616	57	6	coordinates	coordinate	NOUN
alkej-616	57	7	that	that	PRON
alkej-616	57	8	make	make	VERB
alkej-616	57	9	it	it	PRON
alkej-616	57	10	possible	possible	ADJ
alkej-616	57	11	to	to	PART
alkej-616	57	12	reach	reach	VERB
alkej-616	57	13	the	the	DET
alkej-616	57	14	goal	goal	NOUN
alkej-616	57	15	configuration	configuration	NOUN
alkej-616	57	16	of	of	ADP
alkej-616	57	17	the	the	DET
alkej-616	57	18	robot	robot	NOUN
alkej-616	57	19	leg	leg	NOUN
alkej-616	57	20	.	.	PUNCT
alkej-616	58	1	trajectory	trajectory	NOUN
alkej-616	58	2	planning	planning	NOUN
alkej-616	58	3	trajectory	trajectory	NOUN
alkej-616	58	4	refers	refer	VERB
alkej-616	58	5	to	to	ADP
alkej-616	58	6	a	a	DET
alkej-616	58	7	time	time	NOUN
alkej-616	58	8	history	history	NOUN
alkej-616	58	9	of	of	ADP
alkej-616	58	10	position	position	NOUN
alkej-616	58	11	,	,	PUNCT
alkej-616	58	12	velocity	velocity	NOUN
alkej-616	58	13	and	and	CCONJ
alkej-616	58	14	acceleration	acceleration	NOUN
alkej-616	58	15	.	.	PUNCT
alkej-616	59	1	suppose	suppose	VERB
alkej-616	59	2	that	that	SCONJ
alkej-616	59	3	the	the	DET
alkej-616	59	4	point	point	NOUN
alkej-616	59	5	-	-	PUNCT
alkej-616	59	6	to	to	ADP
alkej-616	59	7	-	-	PUNCT
alkej-616	59	8	point	point	NOUN
alkej-616	59	9	trajectory	trajectory	NOUN
alkej-616	59	10	is	be	AUX
alkej-616	59	11	connected	connect	VERB
alkej-616	59	12	by	by	ADP
alkej-616	59	13	several	several	ADJ
alkej-616	59	14	segments	segment	NOUN
alkej-616	59	15	with	with	ADP
alkej-616	59	16	continuous	continuous	ADJ
alkej-616	59	17	acceleration	acceleration	NOUN
alkej-616	59	18	at	at	ADP
alkej-616	59	19	the	the	DET
alkej-616	59	20	intermediate	intermediate	ADJ
alkej-616	59	21	via	via	ADP
alkej-616	59	22	point	point	NOUN
alkej-616	59	23	(	(	PUNCT
alkej-616	59	24	as	as	SCONJ
alkej-616	59	25	shown	show	VERB
alkej-616	59	26	in	in	ADP
alkej-616	59	27	figure	figure	NOUN
alkej-616	59	28	1	1	NUM
alkej-616	59	29	)	)	PUNCT
alkej-616	59	30	.	.	PUNCT
alkej-616	60	1	the	the	DET
alkej-616	60	2	intermediate	intermediate	ADJ
alkej-616	60	3	points	point	NOUN
alkej-616	60	4	can	can	AUX
alkej-616	60	5	be	be	AUX
alkej-616	60	6	given	give	VERB
alkej-616	60	7	as	as	ADP
alkej-616	60	8	particular	particular	ADJ
alkej-616	60	9	points	point	NOUN
alkej-616	60	10	that	that	PRON
alkej-616	60	11	should	should	AUX
alkej-616	60	12	be	be	AUX
alkej-616	60	13	passed	pass	VERB
alkej-616	60	14	through	through	ADP
alkej-616	60	15	.	.	PUNCT
alkej-616	61	1	this	this	PRON
alkej-616	61	2	is	be	AUX
alkej-616	61	3	useful	useful	ADJ
alkej-616	61	4	especially	especially	ADV
alkej-616	61	5	when	when	SCONJ
alkej-616	61	6	there	there	PRON
alkej-616	61	7	are	be	VERB
alkej-616	61	8	obstacles	obstacle	NOUN
alkej-616	61	9	in	in	ADP
alkej-616	61	10	the	the	DET
alkej-616	61	11	working	working	NOUN
alkej-616	61	12	area	area	NOUN
alkej-616	61	13	.	.	PUNCT
alkej-616	62	1	if	if	SCONJ
alkej-616	62	2	one	one	PRON
alkej-616	62	3	wishes	wish	VERB
alkej-616	62	4	to	to	PART
alkej-616	62	5	be	be	AUX
alkej-616	62	6	able	able	ADJ
alkej-616	62	7	to	to	PART
alkej-616	62	8	specify	specify	VERB
alkej-616	62	9	the	the	DET
alkej-616	62	10	position	position	NOUN
alkej-616	62	11	,	,	PUNCT
alkej-616	62	12	velocity	velocity	NOUN
alkej-616	62	13	,	,	PUNCT
alkej-616	62	14	and	and	CCONJ
alkej-616	62	15	acceleration	acceleration	NOUN
alkej-616	62	16	at	at	ADP
alkej-616	62	17	the	the	DET
alkej-616	62	18	beginning	beginning	NOUN
alkej-616	62	19	and	and	CCONJ
alkej-616	62	20	the	the	DET
alkej-616	62	21	end	end	NOUN
alkej-616	62	22	of	of	ADP
alkej-616	62	23	a	a	DET
alkej-616	62	24	path	path	NOUN
alkej-616	62	25	segment	segment	NOUN
alkej-616	62	26	,	,	PUNCT
alkej-616	62	27	a	a	DET
alkej-616	62	28	quadrinomial	quadrinomial	NOUN
alkej-616	62	29	and	and	CCONJ
alkej-616	62	30	a	a	DET
alkej-616	62	31	quintic	quintic	ADJ
alkej-616	62	32	polynomial	polynomial	NOUN
alkej-616	62	33	are	be	AUX
alkej-616	62	34	required	require	VERB
alkej-616	62	35	.	.	PUNCT
alkej-616	63	1	let	let	VERB
alkej-616	63	2	us	we	PRON
alkej-616	63	3	assume	assume	VERB
alkej-616	63	4	that	that	SCONJ
alkej-616	63	5	there	there	PRON
alkej-616	63	6	are	be	VERB
alkej-616	63	7	pm	pm	NOUN
alkej-616	63	8	intermediate	intermediate	ADJ
alkej-616	63	9	via	via	ADP
alkej-616	63	10	points	point	NOUN
alkej-616	63	11	between	between	ADP
alkej-616	63	12	the	the	DET
alkej-616	63	13	initial	initial	NOUN
alkej-616	63	14	and	and	CCONJ
alkej-616	63	15	the	the	DET
alkej-616	63	16	final	final	ADJ
alkej-616	63	17	points	point	NOUN
alkej-616	63	18	.	.	PUNCT
alkej-616	64	1	between	between	ADP
alkej-616	64	2	the	the	DET
alkej-616	64	3	initial	initial	ADJ
alkej-616	64	4	points	point	NOUN
alkej-616	64	5	to	to	PART
alkej-616	64	6	pm	pm	VERB
alkej-616	64	7	intermediate	intermediate	ADJ
alkej-616	64	8	via	via	ADP
alkej-616	64	9	points	point	NOUN
alkej-616	64	10	,	,	PUNCT
alkej-616	64	11	a	a	DET
alkej-616	64	12	quadrinomial	quadrinomial	NOUN
alkej-616	64	13	is	be	AUX
alkej-616	64	14	used	use	VERB
alkej-616	64	15	to	to	PART
alkej-616	64	16	describe	describe	VERB
alkej-616	64	17	these	these	DET
alkej-616	64	18	segments	segment	NOUN
alkej-616	64	19	as	as	ADP
alkej-616	64	20	[	[	X
alkej-616	64	21	9	9	NUM
alkej-616	64	22	]	]	PUNCT
alkej-616	64	23	;	;	PUNCT
alkej-616	64	24	(	(	PUNCT
alkej-616	64	25	)	)	PUNCT
alkej-616	64	26	aitiaitiaitiaiaitx	aitiaitiaitiaiaitx	PROPN
alkej-616	64	27	ii	ii	PROPN
alkej-616	64	28	43322101	43322101	NUM
alkej-616	64	29	,	,	PUNCT
alkej-616	65	1	+	+	PROPN
alkej-616	65	2	+	+	ADJ
alkej-616	65	3	+	+	ADJ
alkej-616	65	4	+	+	ADJ
alkej-616	65	5	=	=	ADJ
alkej-616	65	6	+	+	NUM
alkej-616	65	7	(	(	PUNCT
alkej-616	65	8	1	1	NUM
alkej-616	65	9	)	)	PUNCT
alkej-616	65	10	(	(	PUNCT
alkej-616	65	11	i=0	i=0	PROPN
alkej-616	65	12	,	,	PUNCT
alkej-616	65	13	…	…	PUNCT
alkej-616	65	14	.	.	X
alkej-616	65	15	pm-1	pm-1	NUM
alkej-616	65	16	)	)	PUNCT
alkej-616	65	17	(	(	PUNCT
alkej-616	65	18	2	2	NUM
alkej-616	65	19	)	)	PUNCT
alkej-616	65	20	(	(	PUNCT
alkej-616	65	21	ai0,	ai0,	X
alkej-616	65	22	…	…	X
alkej-616	65	23	,ai4	,ai4	PUNCT
alkej-616	65	24	)	)	PUNCT
alkej-616	65	25	are	be	AUX
alkej-616	65	26	constants	constant	NOUN
alkej-616	65	27	and	and	CCONJ
alkej-616	65	28	ti	ti	NOUN
alkej-616	65	29	is	be	AUX
alkej-616	65	30	the	the	DET
alkej-616	65	31	time	time	NOUN
alkej-616	65	32	from	from	ADP
alkej-616	65	33	the	the	DET
alkej-616	65	34	last	last	ADJ
alkej-616	65	35	intermediate	intermediate	ADJ
alkej-616	65	36	point	point	NOUN
alkej-616	65	37	to	to	ADP
alkej-616	65	38	the	the	DET
alkej-616	65	39	moment	moment	NOUN
alkej-616	65	40	.	.	PUNCT
alkej-616	66	1	the	the	DET
alkej-616	66	2	constrains	constrain	NOUN
alkej-616	66	3	are	be	AUX
alkej-616	66	4	given	give	VERB
alkej-616	66	5	as	as	ADP
alkej-616	66	6	:	:	PUNCT
alkej-616	66	7	ax	ax	NOUN
alkej-616	66	8	ii	ii	NOUN
alkej-616	66	9	0=	0=	PUNCT
alkej-616	67	1	(	(	PUNCT
alkej-616	67	2	3	3	X
alkej-616	67	3	)	)	PUNCT
alkej-616	67	4	tiait	tiait	NOUN
alkej-616	67	5	iaitia	iaitia	PROPN
alkej-616	67	6	itia	itia	PROPN
alkej-616	67	7	ia	ia	PROPN
alkej-616	67	8	ixi	ixi	PROPN
alkej-616	67	9	443322101	443322101	NUM
alkej-616	68	1	+	+	PROPN
alkej-616	68	2	+	+	ADJ
alkej-616	68	3	+	+	ADJ
alkej-616	68	4	+	+	ADJ
alkej-616	68	5	=	=	ADJ
alkej-616	68	6	+	+	X
alkej-616	68	7	(	(	PUNCT
alkej-616	68	8	4	4	X
alkej-616	68	9	)	)	PUNCT
alkej-616	68	10	a	a	DET
alkej-616	68	11	ixi	ixi	PROPN
alkej-616	68	12	1=	1=	PROPN
alkej-616	68	13	&	&	CCONJ
alkej-616	68	14	(	(	PUNCT
alkej-616	68	15	5	5	NUM
alkej-616	68	16	)	)	PUNCT
alkej-616	68	17	t	t	PROPN
alkej-616	68	18	ia	ia	PROPN
alkej-616	69	1	it	it	PRON
alkej-616	69	2	ia	ia	VERB
alkej-616	69	3	it	it	PRON
alkej-616	69	4	ia	ia	PROPN
alkej-616	69	5	ia	ia	PROPN
alkej-616	69	6	ixi	ixi	PROPN
alkej-616	69	7	3442332211	3442332211	NUM
alkej-616	70	1	+	+	PROPN
alkej-616	70	2	+	+	ADJ
alkej-616	70	3	+	+	ADJ
alkej-616	70	4	=	=	ADJ
alkej-616	70	5	+	+	ADJ
alkej-616	70	6	&	&	CCONJ
alkej-616	70	7	(	(	PUNCT
alkej-616	70	8	6	6	NUM
alkej-616	70	9	)	)	PUNCT
alkej-616	70	10	a	a	DET
alkej-616	70	11	ix	ix	ADP
alkej-616	70	12	i	i	PROPN
alkej-616	70	13	22=	22=	PROPN
alkej-616	70	14	&	&	CCONJ
alkej-616	70	15	&	&	CCONJ
alkej-616	70	16	(	(	PUNCT
alkej-616	70	17	7	7	NUM
alkej-616	70	18	)	)	PUNCT
alkej-616	70	19	where	where	SCONJ
alkej-616	70	20	ti	ti	PRON
alkej-616	70	21	is	be	AUX
alkej-616	70	22	the	the	DET
alkej-616	70	23	executing	execute	VERB
alkej-616	70	24	time	time	NOUN
alkej-616	70	25	from	from	ADP
alkej-616	70	26	point	point	NOUN
alkej-616	70	27	i	i	PRON
alkej-616	70	28	to	to	PART
alkej-616	70	29	point	point	VERB
alkej-616	70	30	i	i	PRON
alkej-616	71	1	+1	+1	PROPN
alkej-616	71	2	.	.	PUNCT
alkej-616	72	1	the	the	DET
alkej-616	72	2	five	five	NUM
alkej-616	72	3	unknowns	unknown	NOUN
alkej-616	72	4	can	can	AUX
alkej-616	72	5	be	be	AUX
alkej-616	72	6	solved	solve	VERB
alkej-616	72	7	as	as	ADP
alkej-616	72	8	:	:	PUNCT
alkej-616	72	9	xa	xa	PROPN
alkej-616	72	10	ii	ii	PROPN
alkej-616	73	1	=	=	SYM
alkej-616	73	2	0	0	PROPN
alkej-616	73	3	(	(	PUNCT
alkej-616	73	4	8)	8)	NUM
alkej-616	73	5	xa	xa	PROPN
alkej-616	73	6	ii	ii	PROPN
alkej-616	73	7	&	&	CCONJ
alkej-616	73	8	=	=	PROPN
alkej-616	73	9	1	1	NUM
alkej-616	73	10	(	(	PUNCT
alkej-616	73	11	9	9	NUM
alkej-616	73	12	)	)	PUNCT
alkej-616	73	13	2/2	2/2	NUM
alkej-616	73	14	xia	xia	PROPN
alkej-616	73	15	i	i	PROPN
alkej-616	73	16	&	&	CCONJ
alkej-616	73	17	&	&	CCONJ
alkej-616	73	18	=	=	SYM
alkej-616	73	19	(	(	PUNCT
alkej-616	73	20	10	10	NUM
alkej-616	73	21	)	)	PUNCT
alkej-616	73	22	t	t	NOUN
alkej-616	73	23	it	it	PRON
alkej-616	73	24	ixit	ixit	PROPN
alkej-616	73	25	ixi	ixi	PROPN
alkej-616	73	26	xit	xit	PROPN
alkej-616	73	27	ixixi	ixixi	VERB
alkej-616	73	28	a	a	DET
alkej-616	73	29	i	i	NOUN
alkej-616	73	30	3/23	3/23	NUM
alkej-616	73	31	4114	4114	NUM
alkej-616	73	32	3	3	NUM
alkej-616	73	33			NOUN
alkej-616	73	34			NOUN
alkej-616	73	35			PUNCT
alkej-616	74	1			PROPN
alkej-616	74	2			PROPN
alkej-616	74	3			NOUN
alkej-616	74	4			NOUN
alkej-616	74	5			VERB
alkej-616	74	6	−−	−−	NOUN
alkej-616	74	7	−+−+	−+−+	X
alkej-616	75	1	=	=	PROPN
alkej-616	75	2	&	&	CCONJ
alkej-616	75	3	&	&	PROPN
alkej-616	75	4	&	&	CCONJ
alkej-616	75	5	&	&	CCONJ
alkej-616	75	6	(	(	PUNCT
alkej-616	75	7	11	11	NUM
alkej-616	75	8	)	)	PUNCT
alkej-616	75	9	titixitixi	titixitixi	ADJ
alkej-616	75	10	xixitixi	xixitixi	NOUN
alkej-616	75	11	ai	ai	VERB
alkej-616	75	12	4/	4/	PROPN
alkej-616	75	13	2/22	2/22	NUM
alkej-616	75	14	3131	3131	NUM
alkej-616	75	15	4	4	NUM
alkej-616	75	16			NOUN
alkej-616	75	17			NOUN
alkej-616	75	18			PUNCT
alkej-616	76	1			PROPN
alkej-616	76	2			PROPN
alkej-616	76	3			NOUN
alkej-616	76	4			NOUN
alkej-616	76	5			VERB
alkej-616	76	6	+	+	PROPN
alkej-616	77	1	+	+	ADJ
alkej-616	78	1	+	+	ADJ
alkej-616	78	2	+	+	ADJ
alkej-616	78	3	−+	−+	NOUN
alkej-616	78	4	=	=	SYM
alkej-616	78	5	&	&	CCONJ
alkej-616	78	6	&	&	PROPN
alkej-616	78	7	&	&	CCONJ
alkej-616	78	8	&	&	CCONJ
alkej-616	78	9	(	(	PUNCT
alkej-616	78	10	12	12	NUM
alkej-616	78	11	)	)	PUNCT
alkej-616	79	1	the	the	DET
alkej-616	79	2	intermediate	intermediate	ADJ
alkej-616	79	3	point	point	NOUN
alkej-616	79	4	i	i	PRON
alkej-616	79	5	+1	+1	PROPN
alkej-616	79	6	’s	’s	PART
alkej-616	79	7	acceleration	acceleration	NOUN
alkej-616	79	8	can	can	AUX
alkej-616	79	9	be	be	AUX
alkej-616	79	10	obtained	obtain	VERB
alkej-616	79	11	as	as	ADP
alkej-616	79	12	:	:	PUNCT
alkej-616	79	13	tia	tia	PROPN
alkej-616	79	14	itia	itia	PROPN
alkej-616	79	15	ia	ia	PROPN
alkej-616	79	16	ixi	ixi	PROPN
alkej-616	79	17	241236221	241236221	NUM
alkej-616	79	18	+	+	PROPN
alkej-616	79	19	+	+	ADJ
alkej-616	79	20	=	=	ADJ
alkej-616	79	21	+	+	PROPN
alkej-616	79	22	&	&	CCONJ
alkej-616	79	23	&	&	CCONJ
alkej-616	79	24	(	(	PUNCT
alkej-616	79	25	13	13	NUM
alkej-616	79	26	)	)	PUNCT
alkej-616	79	27	the	the	DET
alkej-616	79	28	segment	segment	NOUN
alkej-616	79	29	between	between	ADP
alkej-616	79	30	the	the	DET
alkej-616	79	31	number	number	NOUN
alkej-616	79	32	pm	pm	NOUN
alkej-616	79	33	of	of	ADP
alkej-616	79	34	intermediate	intermediate	ADJ
alkej-616	79	35	points	point	NOUN
alkej-616	79	36	and	and	CCONJ
alkej-616	79	37	the	the	DET
alkej-616	79	38	final	final	ADJ
alkej-616	79	39	point	point	NOUN
alkej-616	79	40	can	can	AUX
alkej-616	79	41	be	be	AUX
alkej-616	79	42	described	describe	VERB
alkej-616	79	43	by	by	ADP
alkej-616	79	44	quitic	quitic	ADJ
alkej-616	79	45	polynomial	polynomial	NOUN
alkej-616	79	46	as	as	ADP
alkej-616	79	47	:	:	PUNCT
alkej-616	79	48	(	(	PUNCT
alkej-616	79	49	)	)	PUNCT
alkej-616	79	50	t	t	PROPN
alkej-616	79	51	ibit	ibit	NOUN
alkej-616	79	52	ibi	ibi	PROPN
alkej-616	79	53	bit	bit	NOUN
alkej-616	79	54	ibit	ibit	PROPN
alkej-616	79	55	ibibitx	ibibitx	PROPN
alkej-616	79	56	ii	ii	PROPN
alkej-616	79	57	5544	5544	NUM
alkej-616	79	58	322101	322101	NUM
alkej-616	79	59	,	,	PUNCT
alkej-616	80	1	+	+	PROPN
alkej-616	80	2	+	+	X
alkej-616	81	1	+	+	ADJ
alkej-616	81	2	+	+	ADJ
alkej-616	81	3	+	+	ADJ
alkej-616	81	4	=	=	ADJ
alkej-616	81	5	+	+	NUM
alkej-616	81	6	(	(	PUNCT
alkej-616	81	7	14	14	NUM
alkej-616	81	8	)	)	PUNCT
alkej-616	81	9	where	where	SCONJ
alkej-616	81	10	(	(	PUNCT
alkej-616	81	11	i=	i=	ADJ
alkej-616	81	12	pm	pm	NOUN
alkej-616	81	13	)	)	PUNCT
alkej-616	81	14	and	and	CCONJ
alkej-616	81	15	the	the	DET
alkej-616	81	16	constraints	constraint	NOUN
alkej-616	81	17	are	be	AUX
alkej-616	81	18	given	give	VERB
alkej-616	81	19	as	as	ADP
alkej-616	81	20	:	:	PUNCT
alkej-616	81	21	bixi	bixi	ADJ
alkej-616	81	22	0=	0=	PUNCT
alkej-616	82	1	(	(	PUNCT
alkej-616	82	2	15	15	NUM
alkej-616	82	3	)	)	PUNCT
alkej-616	82	4	tibitibi	tibitibi	NOUN
alkej-616	82	5	tibitibitibibixi	tibitibitibibixi	NOUN
alkej-616	82	6	5544	5544	NUM
alkej-616	82	7	3322101	3322101	NUM
alkej-616	83	1	+	+	ADJ
alkej-616	83	2	+	+	X
alkej-616	83	3	+	+	ADJ
alkej-616	83	4	+	+	ADJ
alkej-616	83	5	+	+	ADJ
alkej-616	83	6	=	=	ADJ
alkej-616	83	7	+	+	X
alkej-616	83	8	(	(	PUNCT
alkej-616	83	9	16	16	NUM
alkej-616	83	10	)	)	PUNCT
alkej-616	83	11	bixi	bixi	NOUN
alkej-616	83	12	0=	0=	PUNCT
alkej-616	83	13	&	&	CCONJ
alkej-616	83	14	(	(	PUNCT
alkej-616	83	15	17	17	NUM
alkej-616	83	16	)	)	PUNCT
alkej-616	83	17	tibitibi	tibitibi	NOUN
alkej-616	83	18	tibitibibixi	tibitibibixi	VERB
alkej-616	83	19	455344	455344	NUM
alkej-616	83	20	2332211	2332211	NUM
alkej-616	84	1	+	+	PUNCT
alkej-616	84	2	+	+	ADJ
alkej-616	84	3	+	+	ADJ
alkej-616	84	4	+	+	ADJ
alkej-616	84	5	=	=	ADJ
alkej-616	84	6	+	+	ADJ
alkej-616	84	7	&	&	CCONJ
alkej-616	84	8	(	(	PUNCT
alkej-616	84	9	18	18	NUM
alkej-616	84	10	)	)	PUNCT
alkej-616	84	11	bixi	bixi	NOUN
alkej-616	84	12	22=	22=	NUM
alkej-616	84	13	&	&	CCONJ
alkej-616	84	14	&	&	CCONJ
alkej-616	84	15	(	(	PUNCT
alkej-616	84	16	19	19	NUM
alkej-616	84	17	)	)	PUNCT
alkej-616	84	18	dr	dr	PROPN
alkej-616	84	19	.	.	PROPN
alkej-616	84	20	bahaa	bahaa	PROPN
alkej-616	84	21	ibraheem	ibraheem	VERB
alkej-616	84	22	kazem	kazem	PROPN
alkej-616	84	23	/al	/al	PROPN
alkej-616	84	24	-	-	PUNCT
alkej-616	84	25	khwarizmi	khwarizmi	PROPN
alkej-616	84	26	engineering	engineering	NOUN
alkej-616	84	27	journal	journal	PROPN
alkej-616	84	28	,	,	PUNCT
alkej-616	84	29	vol.3	vol.3	PROPN
alkej-616	84	30	,	,	PUNCT
alkej-616	84	31	no.1	no.1	NUM
alkej-616	84	32	,	,	PUNCT
alkej-616	84	33	pp	pp	ADP
alkej-616	84	34	1	1	NUM
alkej-616	84	35	-	-	SYM
alkej-616	84	36	11	11	NUM
alkej-616	84	37	(	(	PUNCT
alkej-616	84	38	2007	2007	NUM
alkej-616	84	39	)	)	PUNCT
alkej-616	85	1	٤	٤	NUM
alkej-616	85	2	tibitibi	tibitibi	NOUN
alkej-616	85	3	tibibixi	tibibixi	VERB
alkej-616	85	4	35202412	35202412	NUM
alkej-616	85	5	36221	36221	NUM
alkej-616	85	6	+	+	PUNCT
alkej-616	86	1	+	+	ADJ
alkej-616	86	2	+	+	ADJ
alkej-616	86	3	=	=	ADJ
alkej-616	86	4	+	+	PROPN
alkej-616	86	5	&	&	CCONJ
alkej-616	86	6	&	&	CCONJ
alkej-616	86	7	(	(	PUNCT
alkej-616	86	8	20	20	NUM
alkej-616	86	9	)	)	PUNCT
alkej-616	86	10	and	and	CCONJ
alkej-616	86	11	these	these	DET
alkej-616	86	12	constraints	constraint	NOUN
alkej-616	86	13	specify	specify	VERB
alkej-616	86	14	a	a	DET
alkej-616	86	15	linear	linear	ADJ
alkej-616	86	16	set	set	NOUN
alkej-616	86	17	of	of	ADP
alkej-616	86	18	six	six	NUM
alkej-616	86	19	equations	equation	NOUN
alkej-616	86	20	with	with	ADP
alkej-616	86	21	six	six	NUM
alkej-616	86	22	unknowns	unknown	NOUN
alkej-616	86	23	whose	whose	DET
alkej-616	86	24	solution	solution	NOUN
alkej-616	86	25	is	be	AUX
alkej-616	86	26	:	:	PUNCT
alkej-616	86	27	xibi	xibi	PROPN
alkej-616	87	1	=	=	SYM
alkej-616	87	2	0	0	PROPN
alkej-616	87	3	(	(	PUNCT
alkej-616	87	4	21	21	NUM
alkej-616	87	5	)	)	PUNCT
alkej-616	87	6	xibi	xibi	PROPN
alkej-616	87	7	&	&	CCONJ
alkej-616	87	8	=	=	PROPN
alkej-616	87	9	1	1	NUM
alkej-616	87	10	(	(	PUNCT
alkej-616	87	11	22	22	NUM
alkej-616	87	12	)	)	PUNCT
alkej-616	87	13	2/2	2/2	NUM
alkej-616	87	14	xibi	xibi	PROPN
alkej-616	87	15	&	&	CCONJ
alkej-616	87	16	&	&	CCONJ
alkej-616	87	17	=	=	SYM
alkej-616	87	18	(	(	PUNCT
alkej-616	87	19	23	23	NUM
alkej-616	87	20	)	)	PUNCT
alkej-616	87	21	t	t	NOUN
alkej-616	88	1	i	i	PRON
alkej-616	88	2	t	t	PROPN
alkej-616	88	3	ixi	ixi	PROPN
alkej-616	88	4	xi	xi	ADP
alkej-616	88	5	t	t	PROPN
alkej-616	89	1	i	i	PRON
alkej-616	89	2	ixi	ixi	PROPN
alkej-616	89	3	xi	xi	PROPN
alkej-616	89	4	xixi	xixi	PROPN
alkej-616	89	5	bi	bi	PROPN
alkej-616	89	6	32/	32/	PROPN
alkej-616	89	7	2	2	NUM
alkej-616	89	8	1	1	NUM
alkej-616	89	9	3	3	NUM
alkej-616	89	10	12	12	NUM
alkej-616	89	11	18	18	NUM
alkej-616	89	12	20120	20120	NUM
alkej-616	89	13	3	3	NUM
alkej-616	89	14			NOUN
alkej-616	89	15			NOUN
alkej-616	89	16			NOUN
alkej-616	89	17			NOUN
alkej-616	89	18			NOUN
alkej-616	89	19			NOUN
alkej-616	89	20			PUNCT
alkej-616	90	1			PROPN
alkej-616	90	2			PROPN
alkej-616	90	3			NOUN
alkej-616	90	4			NOUN
alkej-616	90	5			NOUN
alkej-616	90	6			NOUN
alkej-616	90	7			NOUN
alkej-616	90	8			NOUN
alkej-616	90	9			VERB
alkej-616	90	10	+	+	NOUN
alkej-616	90	11	−	−	NOUN
alkej-616	90	12	−	−	NOUN
alkej-616	90	13			NOUN
alkej-616	90	14			VERB
alkej-616	90	15			PUNCT
alkej-616	91	1			PROPN
alkej-616	91	2			PROPN
alkej-616	91	3			NOUN
alkej-616	91	4			NOUN
alkej-616	91	5			VERB
alkej-616	91	6	+	+	PUNCT
alkej-616	91	7	+	+	CCONJ
alkej-616	91	8	−−+	−−+	PROPN
alkej-616	91	9	=	=	NOUN
alkej-616	91	10			NOUN
alkej-616	91	11			PUNCT
alkej-616	92	1			PROPN
alkej-616	92	2			NOUN
alkej-616	92	3			PROPN
alkej-616	92	4	&	&	CCONJ
alkej-616	92	5	&	&	CCONJ
alkej-616	92	6	&	&	PROPN
alkej-616	92	7	&	&	CCONJ
alkej-616	92	8	&	&	CCONJ
alkej-616	92	9	&	&	CCONJ
alkej-616	92	10	(	(	PUNCT
alkej-616	92	11	24	24	NUM
alkej-616	92	12	)	)	PUNCT
alkej-616	92	13	(	(	PUNCT
alkej-616	92	14	)	)	PUNCT
alkej-616	92	15	t	t	NOUN
alkej-616	93	1	i	i	PRON
alkej-616	93	2	t	t	PROPN
alkej-616	93	3	ixi	ixi	PROPN
alkej-616	93	4	xi	xi	ADP
alkej-616	93	5	t	t	PROPN
alkej-616	94	1	i	i	PRON
alkej-616	94	2	ixi	ixi	PROPN
alkej-616	94	3	xi	xi	PROPN
alkej-616	95	1	xixi	xixi	PROPN
alkej-616	96	1	b	b	PROPN
alkej-616	97	1	i	i	PRON
alkej-616	97	2	42/	42/	NOUN
alkej-616	97	3	2	2	NUM
alkej-616	97	4	12	12	NUM
alkej-616	97	5	3	3	NUM
alkej-616	97	6	16	16	NUM
alkej-616	97	7	114	114	NUM
alkej-616	97	8	13030	13030	NUM
alkej-616	97	9	4	4	NUM
alkej-616	97	10			NOUN
alkej-616	97	11			NOUN
alkej-616	97	12			NOUN
alkej-616	97	13			NOUN
alkej-616	97	14			PUNCT
alkej-616	98	1			PROPN
alkej-616	98	2			PROPN
alkej-616	98	3			NOUN
alkej-616	98	4			NOUN
alkej-616	98	5			NOUN
alkej-616	98	6			NOUN
alkej-616	98	7			NOUN
alkej-616	98	8	+	+	CCONJ
alkej-616	98	9	−	−	X
alkej-616	98	10	+	+	NOUN
alkej-616	98	11			NOUN
alkej-616	98	12			PUNCT
alkej-616	99	1			PROPN
alkej-616	100	1			INTJ
alkej-616	100	2			NOUN
alkej-616	100	3			VERB
alkej-616	100	4	+	+	PUNCT
alkej-616	101	1	+	+	PUNCT
alkej-616	102	1	+	+	ADJ
alkej-616	102	2	+	+	ADJ
alkej-616	102	3	−	−	NOUN
alkej-616	102	4	=	=	SYM
alkej-616	102	5	&	&	CCONJ
alkej-616	102	6	&	&	CCONJ
alkej-616	102	7	&	&	PROPN
alkej-616	102	8	&	&	CCONJ
alkej-616	102	9	&	&	CCONJ
alkej-616	102	10	&	&	CCONJ
alkej-616	102	11	(	(	PUNCT
alkej-616	102	12	25	25	NUM
alkej-616	102	13	)	)	PUNCT
alkej-616	102	14	(	(	PUNCT
alkej-616	102	15	)	)	PUNCT
alkej-616	103	1	t	t	NOUN
alkej-616	104	1	i	i	PRON
alkej-616	104	2	t	t	PROPN
alkej-616	104	3	ixi	ixi	PROPN
alkej-616	104	4	xi	xi	ADP
alkej-616	104	5	t	t	PROPN
alkej-616	105	1	i	i	PRON
alkej-616	105	2	ixi	ixi	PROPN
alkej-616	105	3	xi	xi	PROPN
alkej-616	105	4	xixi	xixi	PROPN
alkej-616	105	5	bi	bi	PROPN
alkej-616	106	1	52/	52/	NUM
alkej-616	106	2	2	2	NUM
alkej-616	106	3	16	16	NUM
alkej-616	106	4	16	16	NUM
alkej-616	106	5	12112	12112	NUM
alkej-616	106	6	5	5	NUM
alkej-616	106	7			NOUN
alkej-616	106	8			NOUN
alkej-616	106	9			NOUN
alkej-616	106	10			NOUN
alkej-616	106	11			PUNCT
alkej-616	107	1			PROPN
alkej-616	107	2			PROPN
alkej-616	107	3			NOUN
alkej-616	107	4			NOUN
alkej-616	107	5			NOUN
alkej-616	107	6			NOUN
alkej-616	107	7			NOUN
alkej-616	107	8	+	+	CCONJ
alkej-616	107	9	−	−	NUM
alkej-616	107	10	−	−	NOUN
alkej-616	107	11			NOUN
alkej-616	107	12			VERB
alkej-616	107	13			PUNCT
alkej-616	108	1			PROPN
alkej-616	108	2			PROPN
alkej-616	108	3			NOUN
alkej-616	108	4			NOUN
alkej-616	108	5			NOUN
alkej-616	108	6	+	+	PUNCT
alkej-616	108	7	+	+	CCONJ
alkej-616	108	8	−	−	PROPN
alkej-616	108	9	−+	−+	PROPN
alkej-616	108	10	=	=	PROPN
alkej-616	108	11	&	&	CCONJ
alkej-616	108	12	&	&	CCONJ
alkej-616	108	13	&	&	PROPN
alkej-616	108	14	&	&	CCONJ
alkej-616	108	15	&	&	CCONJ
alkej-616	108	16	&	&	CCONJ
alkej-616	108	17	(	(	PUNCT
alkej-616	108	18	26	26	NUM
alkej-616	108	19	)	)	PUNCT
alkej-616	108	20	using	use	VERB
alkej-616	108	21	neural	neural	ADJ
alkej-616	108	22	networks	network	NOUN
alkej-616	108	23	in	in	ADP
alkej-616	108	24	robot	robot	NOUN
alkej-616	108	25	kinematics	kinematic	NOUN
alkej-616	108	26	from	from	ADP
alkej-616	108	27	above	above	ADV
alkej-616	108	28	,	,	PUNCT
alkej-616	108	29	it	it	PRON
alkej-616	108	30	is	be	AUX
alkej-616	108	31	clear	clear	ADJ
alkej-616	108	32	that	that	SCONJ
alkej-616	108	33	in	in	ADP
alkej-616	108	34	order	order	NOUN
alkej-616	108	35	to	to	PART
alkej-616	108	36	perform	perform	VERB
alkej-616	108	37	end	end	NOUN
alkej-616	108	38	effecter	effecter	NOUN
alkej-616	108	39	position	position	NOUN
alkej-616	108	40	control	control	NOUN
alkej-616	108	41	of	of	ADP
alkej-616	108	42	a	a	DET
alkej-616	108	43	robotic	robotic	ADJ
alkej-616	108	44	manipulator	manipulator	NOUN
alkej-616	108	45	,	,	PUNCT
alkej-616	108	46	two	two	NUM
alkej-616	108	47	problems	problem	NOUN
alkej-616	108	48	need	need	VERB
alkej-616	108	49	to	to	PART
alkej-616	108	50	be	be	AUX
alkej-616	108	51	solved	solve	VERB
alkej-616	108	52	[	[	PUNCT
alkej-616	108	53	11	11	NUM
alkej-616	108	54	]	]	SYM
alkej-616	108	55	:	:	PUNCT
alkej-616	108	56	1	1	X
alkej-616	108	57	.	.	X
alkej-616	108	58	inverse	inverse	NOUN
alkej-616	108	59	kinematics	kinematic	NOUN
alkej-616	108	60	problem	problem	NOUN
alkej-616	108	61	:	:	PUNCT
alkej-616	108	62	given	give	VERB
alkej-616	108	63	the	the	DET
alkej-616	108	64	cartesian	cartesian	ADJ
alkej-616	108	65	coordinates	coordinate	NOUN
alkej-616	108	66	of	of	ADP
alkej-616	108	67	the	the	DET
alkej-616	108	68	end	end	NOUN
alkej-616	108	69	effecter	effecter	NOUN
alkej-616	108	70	,	,	PUNCT
alkej-616	108	71	specified	specify	VERB
alkej-616	108	72	either	either	CCONJ
alkej-616	108	73	as	as	ADP
alkej-616	108	74	a	a	DET
alkej-616	108	75	single	single	ADJ
alkej-616	108	76	point	point	NOUN
alkej-616	108	77	or	or	CCONJ
alkej-616	108	78	as	as	ADP
alkej-616	108	79	a	a	DET
alkej-616	108	80	set	set	NOUN
alkej-616	108	81	of	of	ADP
alkej-616	108	82	points	point	NOUN
alkej-616	108	83	on	on	ADP
alkej-616	108	84	a	a	DET
alkej-616	108	85	trajectory	trajectory	NOUN
alkej-616	108	86	,	,	PUNCT
alkej-616	108	87	joint	joint	ADJ
alkej-616	108	88	angles	angle	NOUN
alkej-616	108	89	need	need	VERB
alkej-616	108	90	to	to	PART
alkej-616	108	91	be	be	AUX
alkej-616	108	92	found	find	VERB
alkej-616	108	93	.	.	PUNCT
alkej-616	109	1	2	2	X
alkej-616	109	2	.	.	X
alkej-616	109	3	target	target	NOUN
alkej-616	109	4	position	position	NOUN
alkej-616	109	5	control	control	NOUN
alkej-616	109	6	:	:	PUNCT
alkej-616	109	7	given	give	VERB
alkej-616	109	8	the	the	DET
alkej-616	109	9	final	final	ADJ
alkej-616	109	10	end	end	NOUN
alkej-616	109	11	effecter	effecter	NOUN
alkej-616	109	12	position	position	NOUN
alkej-616	109	13	,	,	PUNCT
alkej-616	109	14	a	a	DET
alkej-616	109	15	joint	joint	ADJ
alkej-616	109	16	angles	angle	NOUN
alkej-616	109	17	sequence	sequence	NOUN
alkej-616	109	18	suitable	suitable	ADJ
alkej-616	109	19	for	for	ADP
alkej-616	109	20	achieving	achieve	VERB
alkej-616	109	21	the	the	DET
alkej-616	109	22	final	final	ADJ
alkej-616	109	23	position	position	NOUN
alkej-616	109	24	needs	need	VERB
alkej-616	109	25	to	to	PART
alkej-616	109	26	be	be	AUX
alkej-616	109	27	found	find	VERB
alkej-616	109	28	.	.	PUNCT
alkej-616	110	1	in	in	ADP
alkej-616	110	2	this	this	DET
alkej-616	110	3	work	work	NOUN
alkej-616	110	4	a	a	DET
alkej-616	110	5	dual	dual	ADJ
alkej-616	110	6	nn	nn	PROPN
alkej-616	110	7	model	model	NOUN
alkej-616	110	8	has	have	AUX
alkej-616	110	9	been	be	AUX
alkej-616	110	10	designed	design	VERB
alkej-616	110	11	in	in	ADP
alkej-616	110	12	order	order	NOUN
alkej-616	110	13	to	to	PART
alkej-616	110	14	find	find	VERB
alkej-616	110	15	the	the	DET
alkej-616	110	16	inverse	inverse	NOUN
alkej-616	110	17	solution	solution	NOUN
alkej-616	110	18	for	for	ADP
alkej-616	110	19	three	three	NUM
alkej-616	110	20	degrees	degree	NOUN
alkej-616	110	21	of	of	ADP
alkej-616	110	22	freedom	freedom	NOUN
alkej-616	110	23	redundant	redundant	ADJ
alkej-616	110	24	planner	planner	NOUN
alkej-616	110	25	robot	robot	NOUN
alkej-616	110	26	.	.	PUNCT
alkej-616	111	1	each	each	DET
alkej-616	111	2	architecture	architecture	NOUN
alkej-616	111	3	of	of	ADP
alkej-616	111	4	these	these	DET
alkej-616	111	5	nn	nn	PROPN
alkej-616	111	6	exist	exist	NOUN
alkej-616	111	7	of	of	ADP
alkej-616	111	8	three	three	NUM
alkej-616	111	9	layers	layer	NOUN
alkej-616	111	10	backpropagation	backpropagation	NOUN
alkej-616	111	11	networks	network	NOUN
alkej-616	111	12	.	.	PUNCT
alkej-616	112	1	the	the	DET
alkej-616	112	2	first	first	ADJ
alkej-616	112	3	network	network	NOUN
alkej-616	112	4	is	be	AUX
alkej-616	112	5	used	use	VERB
alkej-616	112	6	to	to	PART
alkej-616	112	7	find	find	VERB
alkej-616	112	8	the	the	DET
alkej-616	112	9	joint	joint	ADJ
alkej-616	112	10	angles	angle	NOUN
alkej-616	112	11	to	to	PART
alkej-616	112	12	reach	reach	VERB
alkej-616	112	13	the	the	DET
alkej-616	112	14	desired	desire	VERB
alkej-616	112	15	point	point	NOUN
alkej-616	112	16	when	when	SCONJ
alkej-616	112	17	it	it	PRON
alkej-616	112	18	located	locate	VERB
alkej-616	112	19	in	in	ADP
alkej-616	112	20	the	the	DET
alkej-616	112	21	circular	circular	ADJ
alkej-616	112	22	work	work	NOUN
alkej-616	112	23	area	area	NOUN
alkej-616	112	24	with	with	ADP
alkej-616	112	25	a	a	DET
alkej-616	112	26	maximum	maximum	ADJ
alkej-616	112	27	radius	radius	NOUN
alkej-616	112	28	equal	equal	ADJ
alkej-616	112	29	to	to	ADP
alkej-616	112	30	(	(	PUNCT
alkej-616	112	31	rmax/2	rmax/2	PROPN
alkej-616	112	32	)	)	PUNCT
alkej-616	112	33	or	or	CCONJ
alkej-616	112	34	(	(	PUNCT
alkej-616	112	35	maximum	maximum	ADJ
alkej-616	112	36	reach/2	reach/2	NOUN
alkej-616	112	37	)	)	PUNCT
alkej-616	112	38	.	.	PUNCT
alkej-616	113	1	the	the	DET
alkej-616	113	2	second	second	ADJ
alkej-616	113	3	network	network	NOUN
alkej-616	113	4	is	be	AUX
alkej-616	113	5	used	use	VERB
alkej-616	113	6	to	to	PART
alkej-616	113	7	find	find	VERB
alkej-616	113	8	the	the	DET
alkej-616	113	9	joint	joint	ADJ
alkej-616	113	10	angles	angle	NOUN
alkej-616	113	11	associated	associate	VERB
alkej-616	113	12	with	with	ADP
alkej-616	113	13	remaining	remain	VERB
alkej-616	113	14	points	point	NOUN
alkej-616	113	15	in	in	ADP
alkej-616	113	16	the	the	DET
alkej-616	113	17	robot	robot	NOUN
alkej-616	113	18	work	work	NOUN
alkej-616	113	19	area	area	NOUN
alkej-616	113	20	,	,	PUNCT
alkej-616	113	21	that	that	PRON
alkej-616	113	22	means	mean	VERB
alkej-616	113	23	(	(	PUNCT
alkej-616	113	24	maximum	maximum	ADJ
alkej-616	113	25	reach/2	reach/2	NOUN
alkej-616	113	26	)	)	PUNCT
alkej-616	113	27	≤	≤	NUM
alkej-616	113	28	r	r	NOUN
alkej-616	113	29	≤	≤	NUM
alkej-616	113	30	(	(	PUNCT
alkej-616	113	31	maximum	maximum	ADJ
alkej-616	113	32	reach	reach	NOUN
alkej-616	113	33	)	)	PUNCT
alkej-616	113	34	.	.	PUNCT
alkej-616	114	1	each	each	PRON
alkej-616	114	2	of	of	ADP
alkej-616	114	3	these	these	DET
alkej-616	114	4	two	two	NUM
alkej-616	114	5	networks	network	NOUN
alkej-616	114	6	has	have	VERB
alkej-616	114	7	three	three	NUM
alkej-616	114	8	layers	layer	NOUN
alkej-616	114	9	.	.	PUNCT
alkej-616	115	1	there	there	PRON
alkej-616	115	2	are	be	VERB
alkej-616	115	3	nineteen	nineteen	NUM
alkej-616	115	4	input	input	NOUN
alkej-616	115	5	vectors	vector	NOUN
alkej-616	115	6	with	with	ADP
alkej-616	115	7	two	two	NUM
alkej-616	115	8	elements	element	NOUN
alkej-616	115	9	,	,	PUNCT
alkej-616	115	10	and	and	CCONJ
alkej-616	115	11	there	there	PRON
alkej-616	115	12	are	be	VERB
alkej-616	115	13	ten	ten	NUM
alkej-616	115	14	neurons	neuron	NOUN
alkej-616	115	15	in	in	ADP
alkej-616	115	16	the	the	DET
alkej-616	115	17	first	first	ADJ
alkej-616	115	18	hidden	hide	VERB
alkej-616	115	19	layer	layer	NOUN
alkej-616	115	20	,	,	PUNCT
alkej-616	115	21	twenty	twenty	NUM
alkej-616	115	22	five	five	NUM
alkej-616	115	23	neurons	neuron	NOUN
alkej-616	115	24	in	in	ADP
alkej-616	115	25	the	the	DET
alkej-616	115	26	second	second	ADJ
alkej-616	115	27	hidden	hide	VERB
alkej-616	115	28	layer	layer	NOUN
alkej-616	115	29	and	and	CCONJ
alkej-616	115	30	three	three	NUM
alkej-616	115	31	neurons	neuron	NOUN
alkej-616	115	32	in	in	ADP
alkej-616	115	33	the	the	DET
alkej-616	115	34	third	third	ADJ
alkej-616	115	35	(	(	PUNCT
alkej-616	115	36	output	output	NOUN
alkej-616	115	37	)	)	PUNCT
alkej-616	115	38	layer	layer	NOUN
alkej-616	115	39	.	.	PUNCT
alkej-616	116	1	the	the	DET
alkej-616	116	2	transfer	transfer	NOUN
alkej-616	116	3	functions	function	NOUN
alkej-616	116	4	in	in	ADP
alkej-616	116	5	the	the	DET
alkej-616	116	6	input	input	NOUN
alkej-616	116	7	and	and	CCONJ
alkej-616	116	8	output	output	NOUN
alkej-616	116	9	layers	layer	NOUN
alkej-616	116	10	are	be	AUX
alkej-616	116	11	(	(	PUNCT
alkej-616	116	12	purelin	purelin	NOUN
alkej-616	116	13	)	)	PUNCT
alkej-616	116	14	and	and	CCONJ
alkej-616	116	15	the	the	DET
alkej-616	116	16	hidden	hide	VERB
alkej-616	116	17	layer	layer	NOUN
alkej-616	116	18	transfer	transfer	NOUN
alkej-616	116	19	functions	function	NOUN
alkej-616	116	20	are	be	AUX
alkej-616	116	21	(	(	PUNCT
alkej-616	116	22	logsig	logsig	NOUN
alkej-616	116	23	)	)	PUNCT
alkej-616	116	24	.	.	PUNCT
alkej-616	117	1	case	case	NOUN
alkej-616	117	2	studies	study	VERB
alkej-616	117	3	a	a	DET
alkej-616	117	4	planar	planar	ADJ
alkej-616	117	5	articulated	articulated	ADJ
alkej-616	117	6	robot	robot	NOUN
alkej-616	117	7	with	with	ADP
alkej-616	117	8	three	three	NUM
alkej-616	117	9	links	link	NOUN
alkej-616	117	10	is	be	AUX
alkej-616	117	11	used	use	VERB
alkej-616	117	12	in	in	ADP
alkej-616	117	13	the	the	DET
alkej-616	117	14	following	follow	VERB
alkej-616	117	15	case	case	NOUN
alkej-616	117	16	studies	study	NOUN
alkej-616	117	17	.	.	PUNCT
alkej-616	118	1	the	the	DET
alkej-616	118	2	robot	robot	NOUN
alkej-616	118	3	has	have	VERB
alkej-616	118	4	one	one	NUM
alkej-616	118	5	redundant	redundant	ADJ
alkej-616	118	6	freedom	freedom	NOUN
alkej-616	118	7	in	in	ADP
alkej-616	118	8	terms	term	NOUN
alkej-616	118	9	of	of	ADP
alkej-616	118	10	positioning	positioning	NOUN
alkej-616	118	11	.	.	PUNCT
alkej-616	119	1	the	the	DET
alkej-616	119	2	first	first	ADJ
alkej-616	119	3	link	link	NOUN
alkej-616	119	4	has	have	VERB
alkej-616	119	5	the	the	DET
alkej-616	119	6	length	length	NOUN
alkej-616	119	7	of	of	ADP
alkej-616	119	8	(	(	PUNCT
alkej-616	119	9	l1=4	l1=4	PROPN
alkej-616	119	10	unit	unit	NOUN
alkej-616	119	11	)	)	PUNCT
alkej-616	119	12	,	,	PUNCT
alkej-616	119	13	the	the	DET
alkej-616	119	14	second	second	ADJ
alkej-616	119	15	link	link	NOUN
alkej-616	119	16	has	have	VERB
alkej-616	119	17	the	the	DET
alkej-616	119	18	length	length	NOUN
alkej-616	119	19	of	of	ADP
alkej-616	119	20	(	(	PUNCT
alkej-616	119	21	l3=3	l3=3	PROPN
alkej-616	119	22	unit	unit	NOUN
alkej-616	119	23	)	)	PUNCT
alkej-616	119	24	,	,	PUNCT
alkej-616	119	25	and	and	CCONJ
alkej-616	119	26	the	the	DET
alkej-616	119	27	third	third	ADJ
alkej-616	119	28	link	link	NOUN
alkej-616	119	29	has	have	VERB
alkej-616	119	30	the	the	DET
alkej-616	119	31	length	length	NOUN
alkej-616	119	32	of	of	ADP
alkej-616	119	33	(	(	PUNCT
alkej-616	119	34	l2=2	l2=2	PROPN
alkej-616	119	35	unit	unit	NOUN
alkej-616	119	36	)	)	PUNCT
alkej-616	119	37	.	.	PUNCT
alkej-616	120	1	all	all	DET
alkej-616	120	2	the	the	DET
alkej-616	120	3	cases	case	NOUN
alkej-616	120	4	are	be	AUX
alkej-616	120	5	simulated	simulate	VERB
alkej-616	120	6	in	in	ADP
alkej-616	120	7	the	the	DET
alkej-616	120	8	horizontal	horizontal	ADJ
alkej-616	120	9	plane	plane	NOUN
alkej-616	120	10	.	.	PUNCT
alkej-616	121	1	inverse	inverse	NOUN
alkej-616	121	2	kinematics	kinematic	NOUN
alkej-616	121	3	if	if	SCONJ
alkej-616	121	4	the	the	DET
alkej-616	121	5	global	global	ADJ
alkej-616	121	6	angle	angle	NOUN
alkej-616	121	7	(	(	PUNCT
alkej-616	121	8	q3	q3	PROPN
alkej-616	121	9	)	)	PUNCT
alkej-616	121	10	which	which	PRON
alkej-616	121	11	is	be	AUX
alkej-616	121	12	equal	equal	ADJ
alkej-616	121	13	to	to	ADP
alkej-616	121	14	the	the	DET
alkej-616	121	15	summation	summation	NOUN
alkej-616	121	16	of	of	ADP
alkej-616	121	17	the	the	DET
alkej-616	121	18	three	three	NUM
alkej-616	121	19	local	local	ADJ
alkej-616	121	20	angles	angle	NOUN
alkej-616	121	21	(	(	PUNCT
alkej-616	121	22	θ1,θ2,θ3	θ1,θ2,θ3	NOUN
alkej-616	121	23	)	)	PUNCT
alkej-616	121	24	takes	take	VERB
alkej-616	121	25	any	any	DET
alkej-616	121	26	random	random	ADJ
alkej-616	121	27	value	value	NOUN
alkej-616	121	28	then	then	ADV
alkej-616	121	29	the	the	DET
alkej-616	121	30	x	x	X
alkej-616	121	31	and	and	CCONJ
alkej-616	121	32	y	y	PROPN
alkej-616	121	33	coordinates	coordinate	NOUN
alkej-616	121	34	of	of	ADP
alkej-616	121	35	the	the	DET
alkej-616	121	36	end	end	NOUN
alkej-616	121	37	of	of	ADP
alkej-616	121	38	second	second	ADJ
alkej-616	121	39	link	link	NOUN
alkej-616	121	40	can	can	AUX
alkej-616	121	41	be	be	AUX
alkej-616	121	42	easily	easily	ADV
alkej-616	121	43	found	find	VERB
alkej-616	121	44	by	by	ADP
alkej-616	121	45	using	use	VERB
alkej-616	121	46	the	the	DET
alkej-616	121	47	conventional	conventional	ADJ
alkej-616	121	48	inverse	inverse	NOUN
alkej-616	121	49	solution[1	solution[1	PROPN
alkej-616	121	50	]	]	PUNCT
alkej-616	121	51	,	,	PUNCT
alkej-616	121	52	where	where	SCONJ
alkej-616	121	53	r	r	NOUN
alkej-616	121	54	r	r	NOUN
alkej-616	121	55	21	21	NUM
alkej-616	121	56	tan	tan	NOUN
alkej-616	121	57	12	12	NUM
alkej-616	121	58	−±	−±	NUM
alkej-616	121	59	−=θ	−=θ	X
alkej-616	121	60	(	(	PUNCT
alkej-616	121	61	27	27	NUM
alkej-616	121	62	)	)	PUNCT
alkej-616	121	63	where	where	SCONJ
alkej-616	121	64	r	r	NOUN
alkej-616	121	65	can	can	AUX
alkej-616	121	66	be	be	AUX
alkej-616	121	67	found	find	VERB
alkej-616	121	68	from	from	ADP
alkej-616	121	69	:	:	PUNCT
alkej-616	121	70	ll	ll	AUX
alkej-616	121	71	lldydx	lldydx	VERB
alkej-616	121	72	r	r	NOUN
alkej-616	121	73	2	2	NUM
alkej-616	121	74	2	2	NUM
alkej-616	121	75	2	2	NUM
alkej-616	121	76	12	12	NUM
alkej-616	121	77	2	2	NUM
alkej-616	121	78	2	2	NUM
alkej-616	121	79	2	2	NUM
alkej-616	121	80	1	1	NUM
alkej-616	121	81	22	22	NUM
alkej-616	121	82	2	2	NUM
alkej-616	121	83	−−+	−−+	NOUN
alkej-616	121	84	=	=	PUNCT
alkej-616	121	85	(	(	PUNCT
alkej-616	121	86	28	28	NUM
alkej-616	121	87	)	)	PUNCT
alkej-616	122	1	cll	cll	PROPN
alkej-616	122	2	sl	sl	INTJ
alkej-616	122	3	dx	dx	PROPN
alkej-616	122	4	dy	dy	PROPN
alkej-616	122	5	221	221	NUM
alkej-616	122	6	22tan	22tan	ADJ
alkej-616	123	1	1tan	1tan	NUM
alkej-616	123	2	11	11	NUM
alkej-616	123	3	+	+	CCONJ
alkej-616	123	4	−−−=θ	−−−=θ	X
alkej-616	123	5	(	(	PUNCT
alkej-616	123	6	29	29	NUM
alkej-616	123	7	)	)	PUNCT
alkej-616	123	8	q3=	q3=	PROPN
alkej-616	123	9	θ1+θ2+θ3	θ1+θ2+θ3	PROPN
alkej-616	123	10	(	(	PUNCT
alkej-616	123	11	30	30	NUM
alkej-616	123	12	)	)	PUNCT
alkej-616	123	13	dr	dr	PROPN
alkej-616	123	14	.	.	PROPN
alkej-616	123	15	bahaa	bahaa	PROPN
alkej-616	123	16	ibraheem	ibraheem	VERB
alkej-616	123	17	kazem	kazem	PROPN
alkej-616	123	18	/al	/al	PROPN
alkej-616	123	19	-	-	PUNCT
alkej-616	123	20	khwarizmi	khwarizmi	PROPN
alkej-616	123	21	engineering	engineering	NOUN
alkej-616	123	22	journal	journal	PROPN
alkej-616	123	23	,	,	PUNCT
alkej-616	123	24	vol.3	vol.3	PROPN
alkej-616	123	25	,	,	PUNCT
alkej-616	123	26	no.1	no.1	NUM
alkej-616	123	27	,	,	PUNCT
alkej-616	123	28	pp	pp	ADP
alkej-616	123	29	1	1	NUM
alkej-616	123	30	-	-	SYM
alkej-616	123	31	11	11	NUM
alkej-616	123	32	(	(	PUNCT
alkej-616	123	33	2007	2007	NUM
alkej-616	123	34	)	)	PUNCT
alkej-616	123	35	٥	٥	NUM
alkej-616	123	36	-3	-3	INTJ
alkej-616	123	37	-2	-2	INTJ
alkej-616	123	38	-1	-1	SYM
alkej-616	123	39	0	0	NUM
alkej-616	123	40	1	1	NUM
alkej-616	123	41	2	2	NUM
alkej-616	123	42	3	3	NUM
alkej-616	123	43	0	0	NUM
alkej-616	123	44	0.5	0.5	NUM
alkej-616	123	45	1	1	NUM
alkej-616	123	46	1.5	1.5	NUM
alkej-616	123	47	2	2	NUM
alkej-616	123	48	2.5	2.5	NUM
alkej-616	123	49	3	3	NUM
alkej-616	123	50	3.5	3.5	NUM
alkej-616	123	51	4	4	NUM
alkej-616	123	52	4.5	4.5	NUM
alkej-616	123	53	5	5	NUM
alkej-616	123	54	the	the	DET
alkej-616	123	55	x	x	NOUN
alkej-616	123	56	-	-	NOUN
alkej-616	123	57	coordinate	coordinate	NOUN
alkej-616	123	58	of	of	ADP
alkej-616	123	59	target	target	NOUN
alkej-616	123	60	point	point	NOUN
alkej-616	123	61	th	th	X
alkej-616	123	62	e	e	NOUN
alkej-616	123	63	yco	yco	NOUN
alkej-616	123	64	or	or	CCONJ
alkej-616	123	65	di	di	VERB
alkej-616	123	66	na	na	NOUN
alkej-616	123	67	te	te	ADP
alkej-616	123	68	o	o	PROPN
alkej-616	123	69	f	f	PROPN
alkej-616	123	70	t	t	PROPN
alkej-616	123	71	ar	ar	PROPN
alkej-616	123	72	ge	ge	PROPN
alkej-616	124	1	t	t	PROPN
alkej-616	124	2	p	p	X
alkej-616	124	3	oi	oi	INTJ
alkej-616	124	4	nt	not	PART
alkej-616	124	5	-3	-3	PUNCT
alkej-616	124	6	-2	-2	INTJ
alkej-616	124	7	-1	-1	SYM
alkej-616	124	8	0	0	NUM
alkej-616	124	9	1	1	NUM
alkej-616	124	10	2	2	NUM
alkej-616	124	11	3	3	NUM
alkej-616	124	12	0	0	NUM
alkej-616	124	13	0.5	0.5	NUM
alkej-616	124	14	1	1	NUM
alkej-616	124	15	1.5	1.5	NUM
alkej-616	124	16	2	2	NUM
alkej-616	124	17	2.5	2.5	NUM
alkej-616	124	18	3	3	NUM
alkej-616	124	19	3.5	3.5	NUM
alkej-616	124	20	4	4	NUM
alkej-616	124	21	4.5	4.5	NUM
alkej-616	124	22	5	5	NUM
alkej-616	124	23	the	the	DET
alkej-616	124	24	x	x	NOUN
alkej-616	124	25	-	-	NOUN
alkej-616	124	26	coordinate	coordinate	NOUN
alkej-616	124	27	of	of	ADP
alkej-616	124	28	target	target	NOUN
alkej-616	124	29	point	point	NOUN
alkej-616	124	30	th	th	X
alkej-616	124	31	e	e	NOUN
alkej-616	124	32	yco	yco	NOUN
alkej-616	124	33	or	or	CCONJ
alkej-616	124	34	di	di	VERB
alkej-616	124	35	na	na	NOUN
alkej-616	124	36	te	te	ADP
alkej-616	124	37	o	o	PROPN
alkej-616	124	38	f	f	PROPN
alkej-616	124	39	t	t	PROPN
alkej-616	124	40	ar	ar	PROPN
alkej-616	124	41	ge	ge	PROPN
alkej-616	125	1	t	t	PROPN
alkej-616	125	2	p	p	X
alkej-616	125	3	oi	oi	INTJ
alkej-616	125	4	nt	not	PART
alkej-616	125	5	then	then	ADV
alkej-616	125	6	θ3=	θ3=	ADJ
alkej-616	125	7	q3θ1	q3θ1	PROPN
alkej-616	125	8	-	-	PUNCT
alkej-616	125	9	θ2	θ2	NOUN
alkej-616	125	10	where	where	SCONJ
alkej-616	125	11	dx	dx	PROPN
alkej-616	125	12	&	&	CCONJ
alkej-616	125	13	dy	dy	PROPN
alkej-616	125	14	are	be	AUX
alkej-616	125	15	the	the	DET
alkej-616	125	16	x	x	X
alkej-616	125	17	and	and	CCONJ
alkej-616	125	18	y	y	PROPN
alkej-616	125	19	coordinates	coordinate	NOUN
alkej-616	125	20	of	of	ADP
alkej-616	125	21	the	the	DET
alkej-616	125	22	end	end	NOUN
alkej-616	125	23	of	of	ADP
alkej-616	125	24	the	the	DET
alkej-616	125	25	second	second	ADJ
alkej-616	125	26	link	link	NOUN
alkej-616	125	27	.	.	PUNCT
alkej-616	126	1	it	it	PRON
alkej-616	126	2	is	be	AUX
alkej-616	126	3	clear	clear	ADJ
alkej-616	126	4	from	from	ADP
alkej-616	126	5	the	the	DET
alkej-616	126	6	previous	previous	ADJ
alkej-616	126	7	equations	equation	NOUN
alkej-616	126	8	that	that	SCONJ
alkej-616	126	9	there	there	PRON
alkej-616	126	10	are	be	VERB
alkej-616	126	11	two	two	NUM
alkej-616	126	12	solutions	solution	NOUN
alkej-616	126	13	for	for	ADP
alkej-616	126	14	any	any	DET
alkej-616	126	15	value	value	NOUN
alkej-616	126	16	of	of	ADP
alkej-616	126	17	q3	q3	NOUN
alkej-616	126	18	,	,	PUNCT
alkej-616	126	19	but	but	CCONJ
alkej-616	126	20	there	there	PRON
alkej-616	126	21	are	be	VERB
alkej-616	126	22	infinite	infinite	ADJ
alkej-616	126	23	possibilities	possibility	NOUN
alkej-616	126	24	for	for	ADP
alkej-616	126	25	the	the	DET
alkej-616	126	26	value	value	NOUN
alkej-616	126	27	of	of	ADP
alkej-616	126	28	q3	q3	NOUN
alkej-616	126	29	,	,	PUNCT
alkej-616	126	30	hence	hence	ADV
alkej-616	126	31	there	there	PRON
alkej-616	126	32	are	be	VERB
alkej-616	126	33	infinite	infinite	ADJ
alkej-616	126	34	solutions	solution	NOUN
alkej-616	126	35	to	to	ADP
alkej-616	126	36	the	the	DET
alkej-616	126	37	three	three	NUM
alkej-616	126	38	links	link	NOUN
alkej-616	126	39	arm	arm	VERB
alkej-616	126	40	to	to	PART
alkej-616	126	41	reach	reach	VERB
alkej-616	126	42	any	any	DET
alkej-616	126	43	point	point	NOUN
alkej-616	126	44	inside	inside	ADP
alkej-616	126	45	the	the	DET
alkej-616	126	46	work	work	NOUN
alkej-616	126	47	space	space	NOUN
alkej-616	126	48	,	,	PUNCT
alkej-616	126	49	therefore	therefore	ADV
alkej-616	126	50	the	the	DET
alkej-616	126	51	neural	neural	ADJ
alkej-616	126	52	network	network	NOUN
alkej-616	126	53	is	be	AUX
alkej-616	126	54	used	use	VERB
alkej-616	126	55	to	to	PART
alkej-616	126	56	find	find	VERB
alkej-616	126	57	one	one	NUM
alkej-616	126	58	desired	desire	VERB
alkej-616	126	59	solution	solution	NOUN
alkej-616	126	60	.	.	PUNCT
alkej-616	127	1	to	to	PART
alkej-616	127	2	find	find	VERB
alkej-616	127	3	the	the	DET
alkej-616	127	4	joint	joint	ADJ
alkej-616	127	5	angles	angle	NOUN
alkej-616	127	6	of	of	ADP
alkej-616	127	7	the	the	DET
alkej-616	127	8	articulated	articulated	ADJ
alkej-616	127	9	robot	robot	NOUN
alkej-616	127	10	in	in	ADP
alkej-616	127	11	order	order	NOUN
alkej-616	127	12	to	to	PART
alkej-616	127	13	reach	reach	VERB
alkej-616	127	14	the	the	DET
alkej-616	127	15	point	point	NOUN
alkej-616	127	16	of	of	ADP
alkej-616	127	17	(	(	PUNCT
alkej-616	127	18	x	x	SYM
alkej-616	127	19	=	=	SYM
alkej-616	127	20	-2.2	-2.2	NUM
alkej-616	127	21	unit	unit	NOUN
alkej-616	127	22	)	)	PUNCT
alkej-616	127	23	and	and	CCONJ
alkej-616	127	24	(	(	PUNCT
alkej-616	127	25	y	y	NOUN
alkej-616	127	26	=	=	SYM
alkej-616	127	27	4.6	4.6	NUM
alkej-616	127	28	unit	unit	NOUN
alkej-616	127	29	)	)	PUNCT
alkej-616	127	30	,	,	PUNCT
alkej-616	127	31	figure	figure	NOUN
alkej-616	127	32	(	(	PUNCT
alkej-616	127	33	2	2	NUM
alkej-616	127	34	)	)	PUNCT
alkej-616	127	35	shows	show	VERB
alkej-616	127	36	the	the	DET
alkej-616	127	37	solution	solution	NOUN
alkej-616	127	38	of	of	ADP
alkej-616	127	39	this	this	DET
alkej-616	127	40	case	case	NOUN
alkej-616	127	41	.	.	PUNCT
alkej-616	128	1	fig	fig	NOUN
alkej-616	128	2	.	.	PUNCT
alkej-616	129	1	2	2	NUM
alkej-616	129	2	.the	.the	NOUN
alkej-616	129	3	end	end	NOUN
alkej-616	129	4	effecter	effecter	NOUN
alkej-616	129	5	at	at	ADP
alkej-616	129	6	point	point	NOUN
alkej-616	129	7	(	(	PUNCT
alkej-616	129	8	x=-2.2	x=-2.2	PROPN
alkej-616	129	9	unit	unit	NOUN
alkej-616	129	10	)	)	PUNCT
alkej-616	129	11	and	and	CCONJ
alkej-616	129	12	(	(	PUNCT
alkej-616	129	13	y=4.6	y=4.6	NOUN
alkej-616	129	14	unit	unit	NOUN
alkej-616	129	15	)	)	PUNCT
alkej-616	129	16	(	(	PUNCT
alkej-616	129	17	a	a	X
alkej-616	129	18	)	)	PUNCT
alkej-616	129	19	two	two	NUM
alkej-616	129	20	hidden	hide	VERB
alkej-616	129	21	layers	layer	NOUN
alkej-616	129	22	n.n	n.n	PROPN
alkej-616	129	23	.	.	PROPN
alkej-616	130	1	and	and	CCONJ
alkej-616	130	2	(	(	PUNCT
alkej-616	130	3	19	19	NUM
alkej-616	130	4	)	)	PUNCT
alkej-616	130	5	training	training	NOUN
alkej-616	130	6	sets	set	NOUN
alkej-616	130	7	(	(	PUNCT
alkej-616	130	8	b	b	NOUN
alkej-616	130	9	)	)	PUNCT
alkej-616	130	10	two	two	NUM
alkej-616	130	11	hidden	hide	VERB
alkej-616	130	12	layers	layer	NOUN
alkej-616	130	13	n.n	n.n	PROPN
alkej-616	130	14	.	.	PROPN
alkej-616	130	15	and	and	CCONJ
alkej-616	130	16	(	(	PUNCT
alkej-616	130	17	37	37	NUM
alkej-616	130	18	)	)	PUNCT
alkej-616	130	19	training	training	NOUN
alkej-616	130	20	sets	set	NOUN
alkej-616	130	21	(	(	PUNCT
alkej-616	130	22	c	c	NOUN
alkej-616	130	23	)	)	PUNCT
alkej-616	130	24	single	single	ADJ
alkej-616	130	25	layer	layer	NOUN
alkej-616	130	26	n.n	n.n	PROPN
alkej-616	130	27	.	.	PROPN
alkej-616	131	1	and	and	CCONJ
alkej-616	131	2	(	(	PUNCT
alkej-616	131	3	19	19	NUM
alkej-616	131	4	)	)	PUNCT
alkej-616	131	5	training	training	NOUN
alkej-616	131	6	sets	set	NOUN
alkej-616	131	7	(	(	PUNCT
alkej-616	131	8	d	d	NOUN
alkej-616	131	9	)	)	PUNCT
alkej-616	131	10	single	single	ADJ
alkej-616	131	11	layer	layer	NOUN
alkej-616	131	12	n.n	n.n	PROPN
alkej-616	131	13	.	.	PROPN
alkej-616	132	1	and	and	CCONJ
alkej-616	132	2	(	(	PUNCT
alkej-616	132	3	37	37	NUM
alkej-616	132	4	)	)	PUNCT
alkej-616	132	5	training	training	NOUN
alkej-616	132	6	sets	set	VERB
alkej-616	132	7	the	the	DET
alkej-616	132	8	tables	table	NOUN
alkej-616	132	9	(	(	PUNCT
alkej-616	132	10	1	1	NUM
alkej-616	132	11	)	)	PUNCT
alkej-616	132	12	&	&	CCONJ
alkej-616	132	13	(	(	PUNCT
alkej-616	132	14	2	2	X
alkej-616	132	15	)	)	PUNCT
alkej-616	132	16	show	show	VERB
alkej-616	132	17	the	the	DET
alkej-616	132	18	value	value	NOUN
alkej-616	132	19	of	of	ADP
alkej-616	132	20	error	error	NOUN
alkej-616	132	21	by	by	ADP
alkej-616	132	22	using	use	VERB
alkej-616	132	23	the	the	DET
alkej-616	132	24	n.n	n.n	PROPN
alkej-616	132	25	.	.	PROPN
alkej-616	132	26	technique	technique	NOUN
alkej-616	132	27	:	:	PUNCT
alkej-616	132	28	where	where	SCONJ
alkej-616	132	29	the	the	DET
alkej-616	132	30	error	error	NOUN
alkej-616	132	31	was	be	AUX
alkej-616	132	32	found	find	VERB
alkej-616	132	33	by	by	ADP
alkej-616	132	34	using	use	VERB
alkej-616	132	35	the	the	DET
alkej-616	132	36	following	follow	VERB
alkej-616	132	37	equation	equation	NOUN
alkej-616	132	38	:	:	PUNCT
alkej-616	133	1	where	where	SCONJ
alkej-616	133	2	xd	xd	INTJ
alkej-616	133	3	:	:	PUNCT
alkej-616	133	4	the	the	DET
alkej-616	133	5	desired	desire	VERB
alkej-616	133	6	x	x	NOUN
alkej-616	133	7	-	-	NOUN
alkej-616	133	8	coordinate	coordinate	NOUN
alkej-616	133	9	of	of	ADP
alkej-616	133	10	target	target	NOUN
alkej-616	133	11	point	point	NOUN
alkej-616	133	12	.	.	PUNCT
alkej-616	134	1	xnn	xnn	PRON
alkej-616	134	2	:	:	PUNCT
alkej-616	135	1	the	the	DET
alkej-616	135	2	x	x	NOUN
alkej-616	135	3	-	-	NOUN
alkej-616	135	4	coordinate	coordinate	NOUN
alkej-616	135	5	of	of	ADP
alkej-616	135	6	the	the	DET
alkej-616	135	7	target	target	NOUN
alkej-616	135	8	point	point	NOUN
alkej-616	135	9	from	from	ADP
alkej-616	135	10	the	the	DET
alkej-616	135	11	neural	neural	ADJ
alkej-616	135	12	networks	network	NOUN
alkej-616	135	13	.	.	PUNCT
alkej-616	136	1	yd	yd	VERB
alkej-616	136	2	:	:	PUNCT
alkej-616	136	3	the	the	DET
alkej-616	136	4	desired	desire	VERB
alkej-616	136	5	y	y	NOUN
alkej-616	136	6	-	-	PUNCT
alkej-616	136	7	coordinate	coordinate	NOUN
alkej-616	136	8	of	of	ADP
alkej-616	136	9	target	target	NOUN
alkej-616	136	10	point	point	NOUN
alkej-616	136	11	.	.	PUNCT
alkej-616	137	1	ynn	ynn	PROPN
alkej-616	137	2	:	:	PUNCT
alkej-616	137	3	the	the	DET
alkej-616	137	4	y	y	NOUN
alkej-616	137	5	-	-	PUNCT
alkej-616	137	6	coordinate	coordinate	NOUN
alkej-616	137	7	of	of	ADP
alkej-616	137	8	the	the	DET
alkej-616	137	9	target	target	NOUN
alkej-616	137	10	point	point	NOUN
alkej-616	137	11	from	from	ADP
alkej-616	137	12	the	the	DET
alkej-616	137	13	neural	neural	ADJ
alkej-616	137	14	networks	network	NOUN
alkej-616	137	15	.	.	PUNCT
alkej-616	138	1	table	table	NOUN
alkej-616	138	2	(	(	PUNCT
alkej-616	138	3	1	1	NUM
alkej-616	138	4	)	)	PUNCT
alkej-616	138	5	error	error	NOUN
alkej-616	138	6	by	by	ADP
alkej-616	138	7	using	use	VERB
alkej-616	138	8	two	two	NUM
alkej-616	138	9	hidden	hidden	ADJ
alkej-616	138	10	layers	layer	NOUN
alkej-616	138	11	n.n	n.n	PROPN
alkej-616	138	12	.	.	PROPN
alkej-616	138	13	no.of	no.of	PROPN
alkej-616	138	14	t.s	t.s	PROPN
alkej-616	138	15	.	.	PROPN
alkej-616	138	16	θ1(deg	θ1(deg	ADJ
alkej-616	138	17	)	)	PUNCT
alkej-616	138	18	θ2(deg	θ2(deg	NOUN
alkej-616	138	19	)	)	PUNCT
alkej-616	138	20	θ3(deg	θ3(deg	NUM
alkej-616	138	21	)	)	PUNCT
alkej-616	138	22	19	19	NUM
alkej-616	138	23	49.6488	49.6488	NUM
alkej-616	138	24	118.0402	118.0402	NUM
alkej-616	138	25	-12.1608	-12.1608	SYM
alkej-616	138	26	37	37	NUM
alkej-616	138	27	50.0103	50.0103	NUM
alkej-616	138	28	117.2505	117.2505	NUM
alkej-616	138	29	-12.4518	-12.4518	SYM
alkej-616	138	30	xd	xd	INTJ
alkej-616	138	31	(	(	PUNCT
alkej-616	138	32	unit	unit	NOUN
alkej-616	138	33	)	)	PUNCT
alkej-616	138	34	yd(unit	yd(unit	NUM
alkej-616	138	35	)	)	PUNCT
alkej-616	138	36	xnn	xnn	PROPN
alkej-616	138	37	(	(	PUNCT
alkej-616	138	38	unit	unit	NOUN
alkej-616	138	39	)	)	PUNCT
alkej-616	138	40	ynn(unit	ynn(unit	NUM
alkej-616	138	41	)	)	PUNCT
alkej-616	138	42	error	error	NOUN
alkej-616	138	43	(	(	PUNCT
alkej-616	138	44	unit	unit	NOUN
alkej-616	138	45	)	)	PUNCT
alkej-616	138	46	-2.2	-2.2	NUM
alkej-616	138	47	4.6	4.6	NUM
alkej-616	138	48	-2.1608	-2.1608	NOUN
alkej-616	138	49	4.5180	4.5180	NUM
alkej-616	138	50	0.090	0.090	NUM
alkej-616	138	51	9	9	NUM
alkej-616	138	52	-2.2	-2.2	NUM
alkej-616	138	53	4.6	4.6	NUM
alkej-616	138	54	-2.1653	-2.1653	NOUN
alkej-616	139	1	4.5770	4.5770	NUM
alkej-616	139	2	0.041	0.041	NUM
alkej-616	139	3	4	4	NUM
alkej-616	139	4	table	table	NOUN
alkej-616	139	5	(	(	PUNCT
alkej-616	139	6	2	2	NUM
alkej-616	139	7	)	)	PUNCT
alkej-616	139	8	error	error	NOUN
alkej-616	139	9	by	by	ADP
alkej-616	139	10	using	use	VERB
alkej-616	139	11	single	single	ADJ
alkej-616	139	12	layer	layer	NOUN
alkej-616	139	13	n.n	n.n	PROPN
alkej-616	139	14	.	.	PROPN
alkej-616	140	1	no.of	no.of	PROPN
alkej-616	140	2	t.s	t.s	PROPN
alkej-616	140	3	.	.	PROPN
alkej-616	140	4	θ1(deg	θ1(deg	ADJ
alkej-616	140	5	)	)	PUNCT
alkej-616	140	6	θ2(deg	θ2(deg	NOUN
alkej-616	140	7	)	)	PUNCT
alkej-616	140	8	θ3(deg	θ3(deg	NUM
alkej-616	140	9	)	)	PUNCT
alkej-616	140	10	19	19	NUM
alkej-616	140	11	51.2902	51.2902	NUM
alkej-616	140	12	116.3237	116.3237	NUM
alkej-616	140	13	-13.6137	-13.6137	SYM
alkej-616	140	14	37	37	NUM
alkej-616	140	15	50.4623	50.4623	NUM
alkej-616	140	16	117.4577	117.4577	NUM
alkej-616	140	17	-13.3115	-13.3115	SYM
alkej-616	140	18	xd	xd	INTJ
alkej-616	140	19	(	(	PUNCT
alkej-616	140	20	unit	unit	NOUN
alkej-616	140	21	)	)	PUNCT
alkej-616	140	22	yd(unit	yd(unit	NUM
alkej-616	140	23	)	)	PUNCT
alkej-616	140	24	xnn	xnn	PROPN
alkej-616	140	25	(	(	PUNCT
alkej-616	140	26	unit	unit	NOUN
alkej-616	140	27	)	)	PUNCT
alkej-616	140	28	ynn(unit	ynn(unit	NUM
alkej-616	140	29	)	)	PUNCT
alkej-616	140	30	error	error	NOUN
alkej-616	140	31	(	(	PUNCT
alkej-616	140	32	unit	unit	NOUN
alkej-616	140	33	)	)	PUNCT
alkej-616	141	1	-2.2	-2.2	NUM
alkej-616	141	2	4.6	4.6	NUM
alkej-616	141	3	-2.2263	-2.2263	NOUN
alkej-616	141	4	4.6415	4.6415	NUM
alkej-616	141	5	0.049	0.049	NUM
alkej-616	141	6	1	1	NUM
alkej-616	141	7	-2.2	-2.2	NUM
alkej-616	141	8	4.6	4.6	NUM
alkej-616	141	9	-2.1940	-2.1940	NOUN
alkej-616	141	10	4.5703	4.5703	NUM
alkej-616	141	11	0.030	0.030	NUM
alkej-616	141	12	3	3	NUM
alkej-616	141	13	point	point	NOUN
alkej-616	141	14	to	to	PART
alkej-616	141	15	point	point	VERB
alkej-616	141	16	trajectory	trajectory	NOUN
alkej-616	141	17	planning	planning	NOUN
alkej-616	141	18	in	in	ADP
alkej-616	141	19	first	first	ADJ
alkej-616	141	20	case	case	NOUN
alkej-616	141	21	study	study	VERB
alkej-616	141	22	the	the	DET
alkej-616	141	23	training	training	NOUN
alkej-616	141	24	sets	set	NOUN
alkej-616	141	25	are	be	AUX
alkej-616	141	26	(	(	PUNCT
alkej-616	141	27	19	19	NUM
alkej-616	141	28	)	)	PUNCT
alkej-616	141	29	and	and	CCONJ
alkej-616	141	30	the	the	DET
alkej-616	141	31	network	network	NOUN
alkej-616	141	32	used	use	VERB
alkej-616	141	33	is	be	AUX
alkej-616	141	34	a	a	DET
alkej-616	141	35	two	two	NUM
alkej-616	141	36	hidden	hide	VERB
alkej-616	141	37	layers	layer	NOUN
alkej-616	141	38	n.n	n.n	PROPN
alkej-616	141	39	.	.	PROPN
alkej-616	141	40	,	,	PUNCT
alkej-616	141	41	where	where	SCONJ
alkej-616	141	42	the	the	DET
alkej-616	141	43	end	end	NOUN
alkej-616	141	44	effector	effector	NOUN
alkej-616	141	45	is	be	AUX
alkej-616	141	46	moved	move	VERB
alkej-616	141	47	from	from	ADP
alkej-616	141	48	the	the	DET
alkej-616	141	49	start	start	NOUN
alkej-616	141	50	point	point	NOUN
alkej-616	141	51	(	(	PUNCT
alkej-616	141	52	x=-3	x=-3	PROPN
alkej-616	141	53	,	,	PUNCT
alkej-616	141	54	y=-5	y=-5	PROPN
alkej-616	141	55	,	,	PUNCT
alkej-616	141	56	vx=1	vx=1	PROPN
alkej-616	141	57	,	,	PUNCT
alkej-616	141	58	vy=2	vy=2	PROPN
alkej-616	141	59	,	,	PUNCT
alkej-616	141	60	ax=1	ax=1	ADJ
alkej-616	141	61	,	,	PUNCT
alkej-616	141	62	ay=0	ay=0	NOUN
alkej-616	141	63	)	)	PUNCT
alkej-616	141	64	to	to	ADP
alkej-616	141	65	the	the	DET
alkej-616	141	66	target	target	NOUN
alkej-616	141	67	point	point	NOUN
alkej-616	141	68	(	(	PUNCT
alkej-616	141	69	x=5	x=5	PROPN
alkej-616	141	70	,	,	PUNCT
alkej-616	141	71	y=2	y=2	PROPN
alkej-616	141	72	,	,	PUNCT
alkej-616	141	73	vx=0	vx=0	NOUN
alkej-616	141	74	,	,	PUNCT
alkej-616	141	75	vy=0	vy=0	NOUN
alkej-616	141	76	,	,	PUNCT
alkej-616	141	77	ax=0	ax=0	NOUN
alkej-616	141	78	,	,	PUNCT
alkej-616	141	79	ay=0	ay=0	NOUN
alkej-616	141	80	)	)	PUNCT
alkej-616	141	81	but	but	CCONJ
alkej-616	141	82	the	the	DET
alkej-616	141	83	end	end	NOUN
alkej-616	141	84	effector	effector	NOUN
alkej-616	141	85	is	be	AUX
alkej-616	141	86	passing	pass	VERB
alkej-616	141	87	through	through	ADP
alkej-616	141	88	the	the	DET
alkej-616	141	89	intermediate	intermediate	ADJ
alkej-616	141	90	point	point	NOUN
alkej-616	141	91	(	(	PUNCT
alkej-616	141	92	x=1	x=1	PROPN
alkej-616	141	93	,	,	PUNCT
alkej-616	141	94	y=-2	y=-2	PROPN
alkej-616	141	95	,	,	PUNCT
alkej-616	141	96	vx=2	vx=2	NOUN
alkej-616	141	97	,	,	PUNCT
alkej-616	141	98	vy=1	vy=1	PROPN
alkej-616	141	99	)	)	PUNCT
alkej-616	141	100	and	and	CCONJ
alkej-616	141	101	the	the	DET
alkej-616	141	102	desired	desire	VERB
alkej-616	141	103	time	time	NOUN
alkej-616	141	104	for	for	ADP
alkej-616	141	105	moving	move	VERB
alkej-616	141	106	the	the	DET
alkej-616	141	107	end	end	NOUN
alkej-616	141	108	effector	effector	NOUN
alkej-616	141	109	from	from	ADP
alkej-616	141	110	the	the	DET
alkej-616	141	111	first	first	ADJ
alkej-616	141	112	point	point	NOUN
alkej-616	141	113	to	to	ADP
alkej-616	141	114	the	the	DET
alkej-616	141	115	intermediate	intermediate	ADJ
alkej-616	141	116	point	point	NOUN
alkej-616	141	117	is	be	AUX
alkej-616	141	118	(	(	PUNCT
alkej-616	141	119	2	2	NUM
alkej-616	141	120	second	second	ADJ
alkej-616	141	121	)	)	PUNCT
alkej-616	141	122	,	,	PUNCT
alkej-616	141	123	and	and	CCONJ
alkej-616	141	124	the	the	DET
alkej-616	141	125	time	time	NOUN
alkej-616	141	126	for	for	ADP
alkej-616	141	127	moving	move	VERB
alkej-616	141	128	the	the	DET
alkej-616	141	129	end	end	NOUN
alkej-616	141	130	effector	effector	NOUN
alkej-616	141	131	from	from	ADP
alkej-616	141	132	the	the	DET
alkej-616	141	133	intermediate	intermediate	ADJ
alkej-616	141	134	point	point	NOUN
alkej-616	141	135	to	to	ADP
alkej-616	141	136	the	the	DET
alkej-616	141	137	target	target	NOUN
alkej-616	141	138	point	point	NOUN
alkej-616	141	139	is	be	AUX
alkej-616	141	140	(	(	PUNCT
alkej-616	141	141	3	3	NUM
alkej-616	141	142	second).by	second).by	VERB
alkej-616	141	143	using	use	VERB
alkej-616	141	144	the	the	DET
alkej-616	141	145	equations	equation	NOUN
alkej-616	141	146	of	of	ADP
alkej-616	141	147	the	the	DET
alkej-616	141	148	trajectory	trajectory	NOUN
alkej-616	141	149	planning	planning	NOUN
alkej-616	141	150	,	,	PUNCT
alkej-616	141	151	the	the	DET
alkej-616	141	152	(	(	PUNCT
alkej-616	141	153	x	x	NOUN
alkej-616	141	154	)	)	PUNCT
alkej-616	141	155	and	and	CCONJ
alkej-616	141	156	(	(	PUNCT
alkej-616	141	157	y	y	NOUN
alkej-616	141	158	)	)	PUNCT
alkej-616	141	159	coordinates	coordinate	NOUN
alkej-616	141	160	,	,	PUNCT
alkej-616	141	161	and	and	CCONJ
alkej-616	141	162	their	their	PRON
alkej-616	141	163	first	first	ADJ
alkej-616	141	164	and	and	CCONJ
alkej-616	141	165	second	second	ADJ
alkej-616	141	166	derivatives	derivative	NOUN
alkej-616	141	167	with	with	ADP
alkej-616	141	168	time	time	NOUN
alkej-616	141	169	can	can	AUX
alkej-616	141	170	be	be	AUX
alkej-616	141	171	found	find	VERB
alkej-616	141	172	.	.	PUNCT
alkej-616	142	1	the	the	DET
alkej-616	142	2	desired	desire	VERB
alkej-616	142	3	path	path	NOUN
alkej-616	142	4	of	of	ADP
alkej-616	142	5	the	the	DET
alkej-616	142	6	end	end	NOUN
alkej-616	142	7	effecter	effecter	NOUN
alkej-616	142	8	from	from	ADP
alkej-616	142	9	the	the	DET
alkej-616	142	10	first	first	ADJ
alkej-616	142	11	point	point	NOUN
alkej-616	142	12	to	to	ADP
alkej-616	142	13	the	the	DET
alkej-616	142	14	target	target	NOUN
alkej-616	142	15	point	point	NOUN
alkej-616	142	16	passing	pass	VERB
alkej-616	142	17	(	(	PUNCT
alkej-616	142	18	a	a	NOUN
alkej-616	142	19	)	)	PUNCT
alkej-616	142	20	(	(	PUNCT
alkej-616	142	21	b	b	X
alkej-616	142	22	)	)	PUNCT
alkej-616	142	23	(	(	PUNCT
alkej-616	142	24	c	c	X
alkej-616	142	25	)	)	PUNCT
alkej-616	142	26	(	(	PUNCT
alkej-616	142	27	d	d	X
alkej-616	142	28	)	)	PUNCT
alkej-616	142	29	(	(	PUNCT
alkej-616	142	30	)	)	PUNCT
alkej-616	142	31	(	(	PUNCT
alkej-616	142	32	)	)	PUNCT
alkej-616	142	33			NOUN
alkej-616	142	34			PUNCT
alkej-616	143	1			PROPN
alkej-616	143	2			NOUN
alkej-616	143	3			NOUN
alkej-616	143	4			PROPN
alkej-616	143	5	−+−=	−+−=	SYM
alkej-616	143	6	ynnydxnnxde	ynnydxnnxde	VERB
alkej-616	143	7	22	22	NUM
alkej-616	143	8	dr	dr	PROPN
alkej-616	143	9	.	.	PROPN
alkej-616	143	10	bahaa	bahaa	PROPN
alkej-616	143	11	ibraheem	ibraheem	VERB
alkej-616	143	12	kazem	kazem	PROPN
alkej-616	143	13	/al	/al	PROPN
alkej-616	143	14	-	-	PUNCT
alkej-616	143	15	khwarizmi	khwarizmi	PROPN
alkej-616	143	16	engineering	engineering	NOUN
alkej-616	143	17	journal	journal	PROPN
alkej-616	143	18	,	,	PUNCT
alkej-616	143	19	vol.3	vol.3	PROPN
alkej-616	143	20	,	,	PUNCT
alkej-616	143	21	no.1	no.1	NUM
alkej-616	143	22	,	,	PUNCT
alkej-616	143	23	pp	pp	ADP
alkej-616	143	24	1	1	NUM
alkej-616	143	25	-	-	SYM
alkej-616	143	26	11	11	NUM
alkej-616	143	27	(	(	PUNCT
alkej-616	143	28	2007	2007	NUM
alkej-616	143	29	)	)	PUNCT
alkej-616	143	30	٦	٦	NUM
alkej-616	143	31	-3	-3	NUM
alkej-616	143	32	-2	-2	INTJ
alkej-616	143	33	-1	-1	SYM
alkej-616	143	34	0	0	NUM
alkej-616	143	35	1	1	NUM
alkej-616	143	36	2	2	NUM
alkej-616	143	37	3	3	NUM
alkej-616	143	38	4	4	NUM
alkej-616	143	39	5	5	NUM
alkej-616	143	40	-5	-5	NOUN
alkej-616	143	41	-4	-4	INTJ
alkej-616	143	42	-3	-3	INTJ
alkej-616	143	43	-2	-2	INTJ
alkej-616	143	44	-1	-1	SYM
alkej-616	143	45	0	0	NUM
alkej-616	143	46	1	1	NUM
alkej-616	143	47	2	2	NUM
alkej-616	143	48	x(m	x(m	PROPN
alkej-616	143	49	)	)	PUNCT
alkej-616	143	50	through	through	ADP
alkej-616	143	51	the	the	DET
alkej-616	143	52	intermediate	intermediate	ADJ
alkej-616	143	53	point	point	NOUN
alkej-616	143	54	is	be	AUX
alkej-616	143	55	shown	show	VERB
alkej-616	143	56	in	in	ADP
alkej-616	143	57	figure	figure	NOUN
alkej-616	143	58	(	(	PUNCT
alkej-616	143	59	3	3	NUM
alkej-616	143	60	)	)	PUNCT
alkej-616	143	61	fig	fig	NOUN
alkej-616	143	62	.	.	PUNCT
alkej-616	144	1	3	3	X
alkej-616	144	2	.	.	X
alkej-616	144	3	the	the	DET
alkej-616	144	4	desired	desire	VERB
alkej-616	144	5	point	point	NOUN
alkej-616	144	6	-	-	PUNCT
alkej-616	144	7	to	to	ADP
alkej-616	144	8	-	-	PUNCT
alkej-616	144	9	point	point	NOUN
alkej-616	144	10	path	path	NOUN
alkej-616	144	11	the	the	DET
alkej-616	144	12	x	x	PROPN
alkej-616	144	13	&	&	CCONJ
alkej-616	144	14	y	y	PROPN
alkej-616	144	15	coordinates	coordinate	NOUN
alkej-616	144	16	of	of	ADP
alkej-616	144	17	the	the	DET
alkej-616	144	18	desired	desire	VERB
alkej-616	144	19	path	path	NOUN
alkej-616	144	20	with	with	ADP
alkej-616	144	21	time	time	NOUN
alkej-616	144	22	are	be	AUX
alkej-616	144	23	shown	show	VERB
alkej-616	144	24	in	in	ADP
alkej-616	144	25	figure	figure	NOUN
alkej-616	144	26	(	(	PUNCT
alkej-616	144	27	4	4	NUM
alkej-616	144	28	):	):	PUNCT
alkej-616	144	29	fig	fig	NOUN
alkej-616	144	30	.	.	PUNCT
alkej-616	145	1	4	4	NUM
alkej-616	145	2	.the	.the	NOUN
alkej-616	145	3	x	x	PROPN
alkej-616	145	4	&	&	CCONJ
alkej-616	145	5	y	y	PROPN
alkej-616	145	6	coordinates	coordinate	NOUN
alkej-616	145	7	of	of	ADP
alkej-616	145	8	desired	desire	VERB
alkej-616	145	9	path	path	NOUN
alkej-616	145	10	with	with	ADP
alkej-616	145	11	respect	respect	NOUN
alkej-616	145	12	to	to	ADP
alkej-616	145	13	time	time	NOUN
alkej-616	145	14	the	the	DET
alkej-616	145	15	first	first	ADJ
alkej-616	145	16	time	time	NOUN
alkej-616	145	17	derivative	derivative	NOUN
alkej-616	145	18	of	of	ADP
alkej-616	145	19	the	the	DET
alkej-616	145	20	x	x	PROPN
alkej-616	145	21	&	&	CCONJ
alkej-616	145	22	y	y	PROPN
alkej-616	145	23	coordinates	coordinate	NOUN
alkej-616	145	24	,	,	PUNCT
alkej-616	145	25	i.e.	i.e.	X
alkej-616	145	26	(	(	PUNCT
alkej-616	145	27	vx)&(vy	vx)&(vy	NOUN
alkej-616	145	28	)	)	PUNCT
alkej-616	145	29	with	with	ADP
alkej-616	145	30	respect	respect	NOUN
alkej-616	145	31	to	to	ADP
alkej-616	145	32	time	time	NOUN
alkej-616	145	33	is	be	AUX
alkej-616	145	34	shown	show	VERB
alkej-616	145	35	in	in	ADP
alkej-616	145	36	figure	figure	NOUN
alkej-616	145	37	(	(	PUNCT
alkej-616	145	38	5	5	NUM
alkej-616	145	39	):	):	PUNCT
alkej-616	145	40	fig	fig	NOUN
alkej-616	145	41	.	.	PUNCT
alkej-616	146	1	5	5	NUM
alkej-616	146	2	.vx	.vx	PUNCT
alkej-616	146	3	&	&	CCONJ
alkej-616	146	4	vy	vy	PROPN
alkej-616	146	5	versus	versus	ADP
alkej-616	146	6	time	time	NOUN
alkej-616	146	7	the	the	DET
alkej-616	146	8	second	second	ADJ
alkej-616	146	9	time	time	NOUN
alkej-616	146	10	derivative	derivative	NOUN
alkej-616	146	11	of	of	ADP
alkej-616	146	12	the	the	DET
alkej-616	146	13	x	x	PROPN
alkej-616	146	14	&	&	CCONJ
alkej-616	146	15	y	y	PROPN
alkej-616	146	16	coordinates	coordinate	NOUN
alkej-616	146	17	,	,	PUNCT
alkej-616	146	18	i.e.	i.e.	X
alkej-616	146	19	(	(	PUNCT
alkej-616	146	20	ax	ax	NOUN
alkej-616	146	21	)	)	PUNCT
alkej-616	146	22	&	&	CCONJ
alkej-616	146	23	(	(	PUNCT
alkej-616	146	24	ay	ay	X
alkej-616	146	25	)	)	PUNCT
alkej-616	146	26	with	with	ADP
alkej-616	146	27	respect	respect	NOUN
alkej-616	146	28	to	to	ADP
alkej-616	146	29	time	time	NOUN
alkej-616	146	30	is	be	AUX
alkej-616	146	31	shown	show	VERB
alkej-616	146	32	in	in	ADP
alkej-616	146	33	figure	figure	NOUN
alkej-616	146	34	(	(	PUNCT
alkej-616	146	35	6	6	NUM
alkej-616	146	36	):	):	PUNCT
alkej-616	146	37	fig	fig	NOUN
alkej-616	146	38	.	.	PUNCT
alkej-616	147	1	6	6	X
alkej-616	147	2	.	.	X
alkej-616	147	3	ax	ax	NOUN
alkej-616	147	4	&	&	CCONJ
alkej-616	147	5	ay	ay	PROPN
alkej-616	147	6	versus	versus	ADP
alkej-616	147	7	time	time	NOUN
alkej-616	147	8	the	the	DET
alkej-616	147	9	first	first	ADJ
alkej-616	147	10	,	,	PUNCT
alkej-616	147	11	second	second	ADJ
alkej-616	147	12	&	&	CCONJ
alkej-616	147	13	third	third	ADJ
alkej-616	147	14	joints	joint	NOUN
alkej-616	147	15	angle	angle	NOUN
alkej-616	147	16	with	with	ADP
alkej-616	147	17	respect	respect	NOUN
alkej-616	147	18	to	to	ADP
alkej-616	147	19	time	time	NOUN
alkej-616	147	20	are	be	AUX
alkej-616	147	21	shown	show	VERB
alkej-616	147	22	in	in	ADP
alkej-616	147	23	figure	figure	NOUN
alkej-616	147	24	(	(	PUNCT
alkej-616	147	25	7	7	NUM
alkej-616	147	26	):	):	PUNCT
alkej-616	147	27	fig	fig	NOUN
alkej-616	147	28	.	.	PUNCT
alkej-616	148	1	7	7	X
alkej-616	148	2	.	.	X
alkej-616	148	3	θ1	θ1	NOUN
alkej-616	148	4	,	,	PUNCT
alkej-616	148	5	θ2	θ2	PROPN
alkej-616	148	6	&	&	CCONJ
alkej-616	148	7	θ3	θ3	PROPN
alkej-616	148	8	versus	versus	ADP
alkej-616	148	9	time	time	NOUN
alkej-616	148	10	figure	figure	NOUN
alkej-616	148	11	(	(	PUNCT
alkej-616	148	12	8)	8)	NUM
alkej-616	148	13	shows	show	VERB
alkej-616	148	14	both	both	PRON
alkej-616	148	15	of	of	ADP
alkej-616	148	16	the	the	DET
alkej-616	148	17	real	real	ADJ
alkej-616	148	18	and	and	CCONJ
alkej-616	148	19	desired	desire	VERB
alkej-616	148	20	paths	path	NOUN
alkej-616	148	21	of	of	ADP
alkej-616	148	22	the	the	DET
alkej-616	148	23	arm	arm	NOUN
alkej-616	148	24	.	.	PUNCT
alkej-616	149	1	x(unit	x(unit	NUM
alkej-616	149	2	)	)	PUNCT
alkej-616	149	3	x(unit	x(unit	NUM
alkej-616	149	4	)	)	PUNCT
alkej-616	150	1	vx(unit	vx(unit	NUM
alkej-616	150	2	/	/	SYM
alkej-616	150	3	s	s	NOUN
alkej-616	150	4	)	)	PUNCT
alkej-616	150	5	vx(unit	vx(unit	PUNCT
alkej-616	150	6	/s	/	NOUN
alkej-616	150	7	)	)	PUNCT
alkej-616	150	8	ax(unit	ax(unit	NOUN
alkej-616	150	9	/s2	/s2	PUNCT
alkej-616	150	10	)	)	PUNCT
alkej-616	151	1	ay(unit	ay(unit	NUM
alkej-616	151	2	/s2	/s2	PUNCT
alkej-616	151	3	)	)	PUNCT
alkej-616	151	4	θ3(deg	θ3(deg	ADJ
alkej-616	151	5	)	)	PUNCT
alkej-616	151	6	θ2(deg	θ2(deg	NOUN
alkej-616	151	7	)	)	PUNCT
alkej-616	151	8	θ1(deg	θ1(deg	ADJ
alkej-616	151	9	)	)	PUNCT
alkej-616	151	10	x(unit	x(unit	NUM
alkej-616	151	11	)	)	PUNCT
alkej-616	151	12	y(unit	y(unit	NOUN
alkej-616	151	13	)	)	PUNCT
alkej-616	151	14	n.n	n.n	PROPN
alkej-616	151	15	.	.	PROPN
alkej-616	151	16	path	path	PROPN
alkej-616	151	17	desired	desire	VERB
alkej-616	151	18	path	path	NOUN
alkej-616	151	19	y(unit	y(unit	NOUN
alkej-616	151	20	)	)	PUNCT
alkej-616	151	21	dr	dr	PROPN
alkej-616	151	22	.	.	PROPN
alkej-616	151	23	bahaa	bahaa	PROPN
alkej-616	151	24	ibraheem	ibraheem	VERB
alkej-616	151	25	kazem	kazem	PROPN
alkej-616	151	26	/al	/al	PROPN
alkej-616	151	27	-	-	PUNCT
alkej-616	151	28	khwarizmi	khwarizmi	PROPN
alkej-616	151	29	engineering	engineering	NOUN
alkej-616	151	30	journal	journal	PROPN
alkej-616	151	31	,	,	PUNCT
alkej-616	151	32	vol.3	vol.3	PROPN
alkej-616	151	33	,	,	PUNCT
alkej-616	151	34	no.1	no.1	NUM
alkej-616	151	35	,	,	PUNCT
alkej-616	151	36	pp	pp	ADP
alkej-616	151	37	1	1	NUM
alkej-616	151	38	-	-	SYM
alkej-616	151	39	11	11	NUM
alkej-616	151	40	(	(	PUNCT
alkej-616	151	41	2007	2007	NUM
alkej-616	151	42	)	)	PUNCT
alkej-616	151	43	٧	٧	NUM
alkej-616	151	44	fig	fig	NOUN
alkej-616	151	45	.	.	PUNCT
alkej-616	152	1	8	8	NUM
alkej-616	153	1	.the	.the	NOUN
alkej-616	153	2	real	real	ADJ
alkej-616	153	3	and	and	CCONJ
alkej-616	153	4	desired	desire	VERB
alkej-616	153	5	paths	path	NOUN
alkej-616	153	6	of	of	ADP
alkej-616	153	7	the	the	DET
alkej-616	153	8	arm	arm	NOUN
alkej-616	153	9	the	the	DET
alkej-616	153	10	configuration	configuration	NOUN
alkej-616	153	11	of	of	ADP
alkej-616	153	12	the	the	DET
alkej-616	153	13	three	three	NUM
alkej-616	153	14	links	link	NOUN
alkej-616	153	15	planar	planar	ADJ
alkej-616	153	16	articulated	articulated	ADJ
alkej-616	153	17	robot	robot	NOUN
alkej-616	153	18	is	be	AUX
alkej-616	153	19	shown	show	VERB
alkej-616	153	20	in	in	ADP
alkej-616	153	21	figure	figure	NOUN
alkej-616	153	22	(	(	PUNCT
alkej-616	153	23	9	9	NUM
alkej-616	153	24	)	)	PUNCT
alkej-616	153	25	.	.	PUNCT
alkej-616	154	1	fig	fig	NOUN
alkej-616	154	2	.	.	PUNCT
alkej-616	155	1	9	9	X
alkej-616	155	2	.	.	X
alkej-616	156	1	the	the	DET
alkej-616	156	2	configuration	configuration	NOUN
alkej-616	156	3	of	of	ADP
alkej-616	156	4	the	the	DET
alkej-616	156	5	arm	arm	NOUN
alkej-616	156	6	to	to	PART
alkej-616	156	7	find	find	VERB
alkej-616	156	8	the	the	DET
alkej-616	156	9	error	error	NOUN
alkej-616	156	10	between	between	ADP
alkej-616	156	11	the	the	DET
alkej-616	156	12	desired	desire	VERB
alkej-616	156	13	trajectory	trajectory	NOUN
alkej-616	156	14	and	and	CCONJ
alkej-616	156	15	neural	neural	ADJ
alkej-616	156	16	network	network	NOUN
alkej-616	156	17	trajectory	trajectory	NOUN
alkej-616	156	18	,	,	PUNCT
alkej-616	156	19	one	one	PRON
alkej-616	156	20	can	can	AUX
alkej-616	156	21	calculate	calculate	VERB
alkej-616	156	22	the	the	DET
alkej-616	156	23	error	error	NOUN
alkej-616	156	24	between	between	ADP
alkej-616	156	25	some	some	DET
alkej-616	156	26	points	point	NOUN
alkej-616	156	27	along	along	ADP
alkej-616	156	28	them	they	PRON
alkej-616	156	29	.	.	PUNCT
alkej-616	157	1	it	it	PRON
alkej-616	157	2	is	be	AUX
alkej-616	157	3	the	the	DET
alkej-616	157	4	best	good	ADJ
alkej-616	157	5	method	method	NOUN
alkej-616	157	6	to	to	PART
alkej-616	157	7	find	find	VERB
alkej-616	157	8	the	the	DET
alkej-616	157	9	accuracy	accuracy	NOUN
alkej-616	157	10	of	of	ADP
alkej-616	157	11	the	the	DET
alkej-616	157	12	neural	neural	ADJ
alkej-616	157	13	network	network	NOUN
alkej-616	157	14	method	method	NOUN
alkej-616	157	15	;	;	PUNCT
alkej-616	157	16	there	there	PRON
alkej-616	157	17	are	be	VERB
alkej-616	157	18	forty	forty	NUM
alkej-616	157	19	one	one	NUM
alkej-616	157	20	points	point	NOUN
alkej-616	157	21	along	along	ADP
alkej-616	157	22	the	the	DET
alkej-616	157	23	desired	desire	VERB
alkej-616	157	24	trajectory	trajectory	NOUN
alkej-616	157	25	and	and	CCONJ
alkej-616	157	26	neural	neural	ADJ
alkej-616	157	27	network	network	NOUN
alkej-616	157	28	trajectory	trajectory	NOUN
alkej-616	157	29	which	which	PRON
alkej-616	157	30	are	be	AUX
alkej-616	157	31	used	use	VERB
alkej-616	157	32	to	to	PART
alkej-616	157	33	find	find	VERB
alkej-616	157	34	the	the	DET
alkej-616	157	35	error	error	NOUN
alkej-616	157	36	,	,	PUNCT
alkej-616	157	37	where	where	SCONJ
alkej-616	157	38	the	the	DET
alkej-616	157	39	error	error	NOUN
alkej-616	157	40	in	in	ADP
alkej-616	157	41	each	each	DET
alkej-616	157	42	point	point	NOUN
alkej-616	157	43	is	be	AUX
alkej-616	157	44	found	find	VERB
alkej-616	157	45	by	by	ADP
alkej-616	157	46	using	use	VERB
alkej-616	157	47	the	the	DET
alkej-616	157	48	equation	equation	NOUN
alkej-616	157	49	(	(	PUNCT
alkej-616	157	50	31).figure	31).figure	NUM
alkej-616	157	51	(	(	PUNCT
alkej-616	157	52	10	10	NUM
alkej-616	157	53	)	)	PUNCT
alkej-616	157	54	shows	show	VERB
alkej-616	157	55	the	the	DET
alkej-616	157	56	error	error	NOUN
alkej-616	157	57	versus	versus	ADP
alkej-616	157	58	the	the	DET
alkej-616	157	59	distance	distance	NOUN
alkej-616	157	60	of	of	ADP
alkej-616	157	61	the	the	DET
alkej-616	157	62	end	end	NOUN
alkej-616	157	63	effector	effector	NOUN
alkej-616	157	64	from	from	ADP
alkej-616	157	65	the	the	DET
alkej-616	157	66	base	base	NOUN
alkej-616	157	67	.	.	PUNCT
alkej-616	158	1	1	1	NUM
alkej-616	158	2	1.5	1.5	NUM
alkej-616	158	3	2	2	NUM
alkej-616	158	4	2.5	2.5	NUM
alkej-616	158	5	3	3	NUM
alkej-616	158	6	3.5	3.5	NUM
alkej-616	158	7	4	4	NUM
alkej-616	158	8	4.5	4.5	NUM
alkej-616	158	9	5	5	NUM
alkej-616	158	10	5.5	5.5	NUM
alkej-616	158	11	6	6	NUM
alkej-616	158	12	0	0	NUM
alkej-616	158	13	0.1	0.1	NUM
alkej-616	158	14	0.2	0.2	NUM
alkej-616	158	15	0.3	0.3	NUM
alkej-616	158	16	0.4	0.4	NUM
alkej-616	158	17	0.5	0.5	NUM
alkej-616	158	18	0.6	0.6	NUM
alkej-616	158	19	0.7	0.7	NUM
alkej-616	158	20	r(m	r(m	NOUN
alkej-616	158	21	)	)	PUNCT
alkej-616	158	22	fig.10	fig.10	ADP
alkej-616	158	23	.the	.the	DET
alkej-616	158	24	error	error	NOUN
alkej-616	158	25	versus	versus	ADP
alkej-616	158	26	the	the	DET
alkej-616	158	27	distance	distance	NOUN
alkej-616	158	28	from	from	ADP
alkej-616	158	29	the	the	DET
alkej-616	158	30	base	base	NOUN
alkej-616	158	31	the	the	DET
alkej-616	158	32	second	second	ADJ
alkej-616	158	33	case	case	NOUN
alkej-616	158	34	is	be	AUX
alkej-616	158	35	similar	similar	ADJ
alkej-616	158	36	to	to	ADP
alkej-616	158	37	the	the	DET
alkej-616	158	38	previous	previous	ADJ
alkej-616	158	39	case	case	NOUN
alkej-616	158	40	but	but	CCONJ
alkej-616	158	41	the	the	DET
alkej-616	158	42	training	training	NOUN
alkej-616	158	43	sets	set	NOUN
alkej-616	158	44	are	be	AUX
alkej-616	158	45	(	(	PUNCT
alkej-616	158	46	37	37	NUM
alkej-616	158	47	)	)	PUNCT
alkej-616	158	48	and	and	CCONJ
alkej-616	158	49	the	the	DET
alkej-616	158	50	network	network	NOUN
alkej-616	158	51	used	use	VERB
alkej-616	158	52	has	have	VERB
alkej-616	158	53	a	a	DET
alkej-616	158	54	two	two	NUM
alkej-616	158	55	hidden	hide	VERB
alkej-616	158	56	layers	layer	NOUN
alkej-616	158	57	n.n	n.n	PROPN
alkej-616	158	58	.	.	PROPN
alkej-616	158	59	,	,	PUNCT
alkej-616	158	60	where	where	SCONJ
alkej-616	158	61	the	the	DET
alkej-616	158	62	end	end	NOUN
alkej-616	158	63	effector	effector	NOUN
alkej-616	158	64	is	be	AUX
alkej-616	158	65	moved	move	VERB
alkej-616	158	66	from	from	ADP
alkej-616	158	67	the	the	DET
alkej-616	158	68	start	start	NOUN
alkej-616	158	69	point	point	NOUN
alkej-616	158	70	(	(	PUNCT
alkej-616	158	71	x=-3	x=-3	PROPN
alkej-616	158	72	,	,	PUNCT
alkej-616	158	73	y=-5	y=-5	PROPN
alkej-616	158	74	,	,	PUNCT
alkej-616	158	75	vx=1	vx=1	PROPN
alkej-616	158	76	,	,	PUNCT
alkej-616	158	77	vy=2	vy=2	PROPN
alkej-616	158	78	,	,	PUNCT
alkej-616	158	79	ax=1	ax=1	ADJ
alkej-616	158	80	,	,	PUNCT
alkej-616	158	81	ay=0	ay=0	NOUN
alkej-616	158	82	)	)	PUNCT
alkej-616	158	83	to	to	ADP
alkej-616	158	84	the	the	DET
alkej-616	158	85	target	target	NOUN
alkej-616	158	86	point	point	NOUN
alkej-616	158	87	(	(	PUNCT
alkej-616	158	88	x=5	x=5	PROPN
alkej-616	158	89	,	,	PUNCT
alkej-616	158	90	y=2	y=2	PROPN
alkej-616	158	91	,	,	PUNCT
alkej-616	158	92	vx=0	vx=0	NOUN
alkej-616	158	93	,	,	PUNCT
alkej-616	158	94	vy=0	vy=0	NOUN
alkej-616	158	95	,	,	PUNCT
alkej-616	158	96	ax=0	ax=0	NOUN
alkej-616	158	97	,	,	PUNCT
alkej-616	158	98	ay=0	ay=0	NOUN
alkej-616	158	99	)	)	PUNCT
alkej-616	158	100	but	but	CCONJ
alkej-616	158	101	the	the	DET
alkej-616	158	102	end	end	NOUN
alkej-616	158	103	effector	effector	NOUN
alkej-616	158	104	is	be	AUX
alkej-616	158	105	passing	pass	VERB
alkej-616	158	106	through	through	ADP
alkej-616	158	107	the	the	DET
alkej-616	158	108	intermediate	intermediate	ADJ
alkej-616	158	109	point	point	NOUN
alkej-616	158	110	(	(	PUNCT
alkej-616	158	111	x=-1	x=-1	PROPN
alkej-616	158	112	,	,	PUNCT
alkej-616	158	113	y=-2	y=-2	PROPN
alkej-616	158	114	,	,	PUNCT
alkej-616	158	115	vx=2	vx=2	NOUN
alkej-616	158	116	,	,	PUNCT
alkej-616	158	117	vy=1	vy=1	PROPN
alkej-616	158	118	)	)	PUNCT
alkej-616	158	119	and	and	CCONJ
alkej-616	158	120	the	the	DET
alkej-616	158	121	desired	desire	VERB
alkej-616	158	122	time	time	NOUN
alkej-616	158	123	for	for	ADP
alkej-616	158	124	moving	move	VERB
alkej-616	158	125	the	the	DET
alkej-616	158	126	end	end	NOUN
alkej-616	158	127	effector	effector	NOUN
alkej-616	158	128	from	from	ADP
alkej-616	158	129	the	the	DET
alkej-616	158	130	first	first	ADJ
alkej-616	158	131	point	point	NOUN
alkej-616	158	132	to	to	ADP
alkej-616	158	133	the	the	DET
alkej-616	158	134	intermediate	intermediate	ADJ
alkej-616	158	135	point	point	NOUN
alkej-616	158	136	is	be	AUX
alkej-616	158	137	(	(	PUNCT
alkej-616	158	138	2	2	NUM
alkej-616	158	139	second	second	ADJ
alkej-616	158	140	)	)	PUNCT
alkej-616	158	141	,	,	PUNCT
alkej-616	158	142	and	and	CCONJ
alkej-616	158	143	the	the	DET
alkej-616	158	144	time	time	NOUN
alkej-616	158	145	for	for	ADP
alkej-616	158	146	moving	move	VERB
alkej-616	158	147	the	the	DET
alkej-616	158	148	end	end	NOUN
alkej-616	158	149	effector	effector	NOUN
alkej-616	158	150	from	from	ADP
alkej-616	158	151	the	the	DET
alkej-616	158	152	intermediate	intermediate	ADJ
alkej-616	158	153	point	point	NOUN
alkej-616	158	154	to	to	ADP
alkej-616	158	155	the	the	DET
alkej-616	158	156	target	target	NOUN
alkej-616	158	157	point	point	NOUN
alkej-616	158	158	is	be	AUX
alkej-616	158	159	(	(	PUNCT
alkej-616	158	160	3	3	NUM
alkej-616	158	161	second	second	ADJ
alkej-616	158	162	)	)	PUNCT
alkej-616	158	163	.	.	PUNCT
alkej-616	159	1	the	the	DET
alkej-616	159	2	first	first	ADJ
alkej-616	159	3	,	,	PUNCT
alkej-616	159	4	second	second	ADJ
alkej-616	159	5	&	&	CCONJ
alkej-616	159	6	third	third	ADJ
alkej-616	159	7	joints	joint	NOUN
alkej-616	159	8	angle	angle	NOUN
alkej-616	159	9	with	with	ADP
alkej-616	159	10	respect	respect	NOUN
alkej-616	159	11	to	to	ADP
alkej-616	159	12	time	time	NOUN
alkej-616	159	13	are	be	AUX
alkej-616	159	14	shown	show	VERB
alkej-616	159	15	in	in	ADP
alkej-616	159	16	figure	figure	NOUN
alkej-616	159	17	(	(	PUNCT
alkej-616	159	18	11	11	NUM
alkej-616	159	19	):	):	SYM
alkej-616	159	20	0	0	NUM
alkej-616	159	21	0.5	0.5	NUM
alkej-616	159	22	1	1	NUM
alkej-616	159	23	1.5	1.5	NUM
alkej-616	159	24	2	2	NUM
alkej-616	159	25	2.5	2.5	NUM
alkej-616	159	26	3	3	NUM
alkej-616	159	27	3.5	3.5	NUM
alkej-616	159	28	4	4	NUM
alkej-616	159	29	4.5	4.5	NUM
alkej-616	159	30	5	5	NUM
alkej-616	159	31	-250	-250	PROPN
alkej-616	159	32	-200	-200	NUM
alkej-616	160	1	-150	-150	PROPN
alkej-616	160	2	-100	-100	PROPN
alkej-616	160	3	-50	-50	PUNCT
alkej-616	160	4	0	0	NUM
alkej-616	160	5	50	50	NUM
alkej-616	160	6	100	100	NUM
alkej-616	160	7	150	150	NUM
alkej-616	160	8	time(sec	time(sec	NOUN
alkej-616	160	9	)	)	PUNCT
alkej-616	160	10	fig	fig	NOUN
alkej-616	160	11	.	.	PUNCT
alkej-616	161	1	11	11	NUM
alkej-616	161	2	.	.	X
alkej-616	162	1	θ1	θ1	NOUN
alkej-616	162	2	,	,	PUNCT
alkej-616	162	3	θ2	θ2	PROPN
alkej-616	162	4	&	&	CCONJ
alkej-616	162	5	θ3	θ3	PROPN
alkej-616	162	6	versus	versus	ADP
alkej-616	162	7	time	time	NOUN
alkej-616	162	8	figure	figure	NOUN
alkej-616	162	9	(	(	PUNCT
alkej-616	162	10	12	12	NUM
alkej-616	162	11	)	)	PUNCT
alkej-616	162	12	shows	show	VERB
alkej-616	162	13	both	both	PRON
alkej-616	162	14	of	of	ADP
alkej-616	162	15	the	the	DET
alkej-616	162	16	real	real	ADJ
alkej-616	162	17	and	and	CCONJ
alkej-616	162	18	desired	desire	VERB
alkej-616	162	19	paths	path	NOUN
alkej-616	162	20	of	of	ADP
alkej-616	162	21	the	the	DET
alkej-616	162	22	arm	arm	NOUN
alkej-616	162	23	.	.	PUNCT
alkej-616	163	1	-3	-3	INTJ
alkej-616	163	2	-2	-2	INTJ
alkej-616	163	3	-1	-1	SYM
alkej-616	163	4	0	0	NUM
alkej-616	163	5	1	1	NUM
alkej-616	163	6	2	2	NUM
alkej-616	163	7	3	3	NUM
alkej-616	163	8	4	4	NUM
alkej-616	163	9	5	5	NUM
alkej-616	163	10	-5	-5	NOUN
alkej-616	163	11	-4	-4	INTJ
alkej-616	163	12	-3	-3	INTJ
alkej-616	163	13	-2	-2	INTJ
alkej-616	163	14	-1	-1	SYM
alkej-616	163	15	0	0	NUM
alkej-616	163	16	1	1	NUM
alkej-616	163	17	2	2	NUM
alkej-616	163	18	3	3	NUM
alkej-616	163	19	x(m	x(m	PROPN
alkej-616	163	20	)	)	PUNCT
alkej-616	163	21	fig	fig	NOUN
alkej-616	163	22	.	.	PUNCT
alkej-616	164	1	12	12	NUM
alkej-616	164	2	.	.	PUNCT
alkej-616	165	1	the	the	DET
alkej-616	165	2	real	real	ADJ
alkej-616	165	3	and	and	CCONJ
alkej-616	165	4	desired	desire	VERB
alkej-616	165	5	paths	path	NOUN
alkej-616	165	6	of	of	ADP
alkej-616	165	7	the	the	DET
alkej-616	165	8	arm	arm	NOUN
alkej-616	165	9	x(unit	x(unit	NUM
alkej-616	165	10	)	)	PUNCT
alkej-616	165	11	y(unit	y(unit	NOUN
alkej-616	165	12	)	)	PUNCT
alkej-616	165	13	r(unit	r(unit	NOUN
alkej-616	165	14	)	)	PUNCT
alkej-616	165	15	error	error	NOUN
alkej-616	165	16	θ1(deg	θ1(deg	ADJ
alkej-616	165	17	)	)	PUNCT
alkej-616	165	18	θ2(deg	θ2(deg	NOUN
alkej-616	165	19	)	)	PUNCT
alkej-616	165	20	θ3(deg	θ3(deg	NUM
alkej-616	165	21	)	)	PUNCT
alkej-616	165	22	y(unit	y(unit	NOUN
alkej-616	165	23	)	)	PUNCT
alkej-616	165	24	x(unit	x(unit	NUM
alkej-616	165	25	)	)	PUNCT
alkej-616	165	26	n.n	n.n	PROPN
alkej-616	165	27	.	.	PROPN
alkej-616	165	28	path	path	PROPN
alkej-616	165	29	desired	desire	VERB
alkej-616	165	30	path	path	PROPN
alkej-616	165	31	dr	dr	PROPN
alkej-616	165	32	.	.	PROPN
alkej-616	165	33	bahaa	bahaa	PROPN
alkej-616	165	34	ibraheem	ibraheem	VERB
alkej-616	165	35	kazem	kazem	PROPN
alkej-616	165	36	/al	/al	PROPN
alkej-616	165	37	-	-	PUNCT
alkej-616	165	38	khwarizmi	khwarizmi	PROPN
alkej-616	165	39	engineering	engineering	NOUN
alkej-616	165	40	journal	journal	PROPN
alkej-616	165	41	,	,	PUNCT
alkej-616	165	42	vol.3	vol.3	PROPN
alkej-616	165	43	,	,	PUNCT
alkej-616	165	44	no.1	no.1	NUM
alkej-616	165	45	,	,	PUNCT
alkej-616	165	46	pp	pp	ADP
alkej-616	165	47	1	1	NUM
alkej-616	165	48	-	-	SYM
alkej-616	165	49	11	11	NUM
alkej-616	165	50	(	(	PUNCT
alkej-616	165	51	2007	2007	NUM
alkej-616	165	52	)	)	PUNCT
alkej-616	165	53	٨	٨	NUM
alkej-616	165	54	the	the	DET
alkej-616	165	55	configuration	configuration	NOUN
alkej-616	165	56	of	of	ADP
alkej-616	165	57	the	the	DET
alkej-616	165	58	robot	robot	NOUN
alkej-616	165	59	is	be	AUX
alkej-616	165	60	shown	show	VERB
alkej-616	165	61	in	in	ADP
alkej-616	165	62	figure	figure	NOUN
alkej-616	165	63	(	(	PUNCT
alkej-616	165	64	13	13	NUM
alkej-616	165	65	)	)	PUNCT
alkej-616	165	66	;	;	PUNCT
alkej-616	165	67	figure	figure	NOUN
alkej-616	165	68	(	(	PUNCT
alkej-616	165	69	14	14	NUM
alkej-616	165	70	)	)	PUNCT
alkej-616	165	71	shows	show	VERB
alkej-616	165	72	the	the	DET
alkej-616	165	73	error	error	NOUN
alkej-616	165	74	versus	versus	ADP
alkej-616	165	75	the	the	DET
alkej-616	165	76	distance	distance	NOUN
alkej-616	165	77	of	of	ADP
alkej-616	165	78	the	the	DET
alkej-616	165	79	end	end	NOUN
alkej-616	165	80	effector	effector	NOUN
alkej-616	165	81	from	from	ADP
alkej-616	165	82	the	the	DET
alkej-616	165	83	base	base	NOUN
alkej-616	165	84	.	.	PUNCT
alkej-616	166	1	fig	fig	NOUN
alkej-616	166	2	.	.	PUNCT
alkej-616	167	1	13	13	NUM
alkej-616	168	1	.the	.the	NOUN
alkej-616	168	2	configuration	configuration	NOUN
alkej-616	168	3	of	of	ADP
alkej-616	168	4	the	the	DET
alkej-616	168	5	arm	arm	NOUN
alkej-616	168	6	1	1	NUM
alkej-616	168	7	1.5	1.5	NUM
alkej-616	168	8	2	2	NUM
alkej-616	168	9	2.5	2.5	NUM
alkej-616	168	10	3	3	NUM
alkej-616	168	11	3.5	3.5	NUM
alkej-616	168	12	4	4	NUM
alkej-616	168	13	4.5	4.5	NUM
alkej-616	168	14	5	5	NUM
alkej-616	168	15	5.5	5.5	NUM
alkej-616	168	16	6	6	NUM
alkej-616	168	17	0	0	NUM
alkej-616	168	18	0.05	0.05	NUM
alkej-616	168	19	0.1	0.1	NUM
alkej-616	168	20	0.15	0.15	NUM
alkej-616	168	21	0.2	0.2	NUM
alkej-616	168	22	0.25	0.25	NUM
alkej-616	168	23	0.3	0.3	NUM
alkej-616	168	24	0.35	0.35	NUM
alkej-616	168	25	0.4	0.4	NUM
alkej-616	168	26	fig	fig	NOUN
alkej-616	168	27	14	14	NUM
alkej-616	168	28	.	.	PUNCT
alkej-616	169	1	the	the	DET
alkej-616	169	2	error	error	NOUN
alkej-616	169	3	versus	versus	ADP
alkej-616	169	4	the	the	DET
alkej-616	169	5	distance	distance	NOUN
alkej-616	169	6	from	from	ADP
alkej-616	169	7	the	the	DET
alkej-616	169	8	base	base	NOUN
alkej-616	169	9	the	the	DET
alkej-616	169	10	same	same	ADJ
alkej-616	169	11	case	case	NOUN
alkej-616	169	12	is	be	AUX
alkej-616	169	13	studied	study	VERB
alkej-616	169	14	by	by	ADP
alkej-616	169	15	using	use	VERB
alkej-616	169	16	the	the	DET
alkej-616	169	17	single	single	ADJ
alkej-616	169	18	layer	layer	NOUN
alkej-616	169	19	nn	nn	PROPN
alkej-616	169	20	instead	instead	ADV
alkej-616	169	21	of	of	ADP
alkej-616	169	22	two	two	NUM
alkej-616	169	23	hidden	hide	VERB
alkej-616	169	24	layers	layer	NOUN
alkej-616	169	25	nn	nn	PROPN
alkej-616	169	26	,	,	PUNCT
alkej-616	169	27	when	when	SCONJ
alkej-616	169	28	the	the	DET
alkej-616	169	29	training	training	NOUN
alkej-616	169	30	sets	set	NOUN
alkej-616	169	31	are	be	AUX
alkej-616	169	32	(	(	PUNCT
alkej-616	169	33	15	15	NUM
alkej-616	169	34	)	)	PUNCT
alkej-616	169	35	we	we	PRON
alkej-616	169	36	got	get	VERB
alkej-616	169	37	the	the	DET
alkej-616	169	38	results	result	NOUN
alkej-616	169	39	shown	show	VERB
alkej-616	169	40	in	in	ADP
alkej-616	169	41	the	the	DET
alkej-616	169	42	following	follow	VERB
alkej-616	169	43	figures	figure	NOUN
alkej-616	169	44	.	.	PUNCT
alkej-616	170	1	and	and	CCONJ
alkej-616	170	2	when	when	SCONJ
alkej-616	170	3	the	the	DET
alkej-616	170	4	training	training	NOUN
alkej-616	170	5	sets	set	NOUN
alkej-616	170	6	are	be	AUX
alkej-616	170	7	(	(	PUNCT
alkej-616	170	8	37	37	NUM
alkej-616	170	9	)	)	PUNCT
alkej-616	170	10	we	we	PRON
alkej-616	170	11	got	get	VERB
alkej-616	170	12	the	the	DET
alkej-616	170	13	results	result	NOUN
alkej-616	170	14	shown	show	VERB
alkej-616	170	15	in	in	ADP
alkej-616	170	16	the	the	DET
alkej-616	170	17	following	follow	VERB
alkej-616	170	18	figures	figure	NOUN
alkej-616	170	19	.	.	PUNCT
alkej-616	171	1	0	0	NUM
alkej-616	171	2	0.5	0.5	NUM
alkej-616	171	3	1	1	NUM
alkej-616	171	4	1.5	1.5	NUM
alkej-616	171	5	2	2	NUM
alkej-616	171	6	2.5	2.5	NUM
alkej-616	171	7	3	3	NUM
alkej-616	171	8	3.5	3.5	NUM
alkej-616	171	9	4	4	NUM
alkej-616	171	10	4.5	4.5	NUM
alkej-616	171	11	5	5	NUM
alkej-616	171	12	-250	-250	PROPN
alkej-616	171	13	-200	-200	NUM
alkej-616	172	1	-150	-150	PROPN
alkej-616	172	2	-100	-100	PROPN
alkej-616	172	3	-50	-50	PUNCT
alkej-616	172	4	0	0	NUM
alkej-616	172	5	50	50	NUM
alkej-616	172	6	100	100	NUM
alkej-616	172	7	150	150	NUM
alkej-616	172	8	time(s	time(s	NOUN
alkej-616	172	9	)	)	PUNCT
alkej-616	172	10	an	an	DET
alkej-616	172	11	gl	gl	NOUN
alkej-616	172	12	es	es	X
alkej-616	172	13	(	(	PUNCT
alkej-616	172	14	d	d	NOUN
alkej-616	172	15	eg	eg	NOUN
alkej-616	172	16	)	)	PUNCT
alkej-616	172	17	fig.15	fig.15	NOUN
alkej-616	172	18	.	.	PUNCT
alkej-616	173	1	θ1	θ1	NOUN
alkej-616	173	2	,	,	PUNCT
alkej-616	173	3	θ2	θ2	PROPN
alkej-616	173	4	&	&	CCONJ
alkej-616	173	5	θ3	θ3	PROPN
alkej-616	173	6	versus	versus	ADP
alkej-616	173	7	time	time	NOUN
alkej-616	173	8	fig	fig	NOUN
alkej-616	173	9	.	.	PUNCT
alkej-616	174	1	16	16	NUM
alkej-616	174	2	.	.	PUNCT
alkej-616	175	1	the	the	DET
alkej-616	175	2	real	real	ADJ
alkej-616	175	3	and	and	CCONJ
alkej-616	175	4	desired	desire	VERB
alkej-616	175	5	paths	path	NOUN
alkej-616	175	6	of	of	ADP
alkej-616	175	7	the	the	DET
alkej-616	175	8	arm	arm	NOUN
alkej-616	175	9	-3	-3	PUNCT
alkej-616	175	10	-2	-2	INTJ
alkej-616	175	11	-1	-1	SYM
alkej-616	175	12	0	0	NUM
alkej-616	175	13	1	1	NUM
alkej-616	175	14	2	2	NUM
alkej-616	175	15	3	3	NUM
alkej-616	175	16	4	4	NUM
alkej-616	175	17	5	5	NUM
alkej-616	175	18	-5	-5	NOUN
alkej-616	175	19	-4	-4	INTJ
alkej-616	175	20	-3	-3	INTJ
alkej-616	175	21	-2	-2	INTJ
alkej-616	175	22	-1	-1	SYM
alkej-616	175	23	0	0	NUM
alkej-616	175	24	1	1	NUM
alkej-616	175	25	2	2	NUM
alkej-616	175	26	x(unit	x(unit	NUM
alkej-616	175	27	)	)	PUNCT
alkej-616	175	28	y(unit	y(unit	NOUN
alkej-616	175	29	)	)	PUNCT
alkej-616	175	30	n.n	n.n	PROPN
alkej-616	175	31	.	.	PROPN
alkej-616	175	32	path	path	PROPN
alkej-616	175	33	desired	desire	VERB
alkej-616	175	34	path	path	NOUN
alkej-616	175	35	y(unit	y(unit	NOUN
alkej-616	175	36	)	)	PUNCT
alkej-616	175	37	x(unit	x(unit	NUM
alkej-616	175	38	)	)	PUNCT
alkej-616	175	39	r(unit	r(unit	PROPN
alkej-616	175	40	)	)	PUNCT
alkej-616	176	1	θ	θ	NOUN
alkej-616	176	2	3(deg	3(deg	NOUN
alkej-616	176	3	)	)	PUNCT
alkej-616	176	4	θ1(deg	θ1(deg	ADJ
alkej-616	176	5	)	)	PUNCT
alkej-616	176	6	θ2(deg	θ2(deg	NOUN
alkej-616	176	7	)	)	PUNCT
alkej-616	176	8	dr	dr	PROPN
alkej-616	176	9	.	.	PROPN
alkej-616	176	10	bahaa	bahaa	PROPN
alkej-616	176	11	ibraheem	ibraheem	VERB
alkej-616	176	12	kazem	kazem	PROPN
alkej-616	176	13	/al	/al	PROPN
alkej-616	176	14	-	-	PUNCT
alkej-616	176	15	khwarizmi	khwarizmi	PROPN
alkej-616	176	16	engineering	engineering	NOUN
alkej-616	176	17	journal	journal	PROPN
alkej-616	176	18	,	,	PUNCT
alkej-616	176	19	vol.3	vol.3	PROPN
alkej-616	176	20	,	,	PUNCT
alkej-616	176	21	no.1	no.1	NUM
alkej-616	176	22	,	,	PUNCT
alkej-616	176	23	pp	pp	ADP
alkej-616	176	24	1	1	NUM
alkej-616	176	25	-	-	SYM
alkej-616	176	26	11	11	NUM
alkej-616	176	27	(	(	PUNCT
alkej-616	176	28	2007	2007	NUM
alkej-616	176	29	)	)	PUNCT
alkej-616	176	30	٩	٩	PROPN
alkej-616	176	31	-4	-4	INTJ
alkej-616	176	32	-3	-3	INTJ
alkej-616	177	1	-2	-2	INTJ
alkej-616	178	1	-1	-1	SYM
alkej-616	178	2	0	0	NUM
alkej-616	178	3	1	1	NUM
alkej-616	178	4	2	2	NUM
alkej-616	178	5	3	3	NUM
alkej-616	178	6	4	4	NUM
alkej-616	178	7	5	5	NUM
alkej-616	178	8	-5	-5	NOUN
alkej-616	178	9	-4	-4	INTJ
alkej-616	178	10	-3	-3	INTJ
alkej-616	178	11	-2	-2	INTJ
alkej-616	178	12	-1	-1	SYM
alkej-616	178	13	0	0	NUM
alkej-616	178	14	1	1	NUM
alkej-616	178	15	2	2	NUM
alkej-616	178	16	3	3	NUM
alkej-616	178	17	x(unit	x(unit	NUM
alkej-616	178	18	)	)	PUNCT
alkej-616	178	19	y	y	PROPN
alkej-616	178	20	(	(	PUNCT
alkej-616	178	21	un	un	PROPN
alkej-616	178	22	it	it	PRON
alkej-616	178	23	)	)	PUNCT
alkej-616	179	1	f	f	PROPN
alkej-616	179	2	ig	ig	PROPN
alkej-616	179	3	.	.	PROPN
alkej-616	179	4	17	17	NUM
alkej-616	179	5	.	.	PUNCT
alkej-616	180	1	the	the	DET
alkej-616	180	2	configuration	configuration	NOUN
alkej-616	180	3	of	of	ADP
alkej-616	180	4	the	the	DET
alkej-616	180	5	arm	arm	NOUN
alkej-616	180	6	1	1	NUM
alkej-616	180	7	1.5	1.5	NUM
alkej-616	180	8	2	2	NUM
alkej-616	180	9	2.5	2.5	NUM
alkej-616	180	10	3	3	NUM
alkej-616	180	11	3.5	3.5	NUM
alkej-616	180	12	4	4	NUM
alkej-616	180	13	4.5	4.5	NUM
alkej-616	180	14	5	5	NUM
alkej-616	180	15	5.5	5.5	NUM
alkej-616	180	16	6	6	NUM
alkej-616	180	17	0	0	NUM
alkej-616	180	18	0.05	0.05	NUM
alkej-616	180	19	0.1	0.1	NUM
alkej-616	180	20	0.15	0.15	NUM
alkej-616	180	21	0.2	0.2	NUM
alkej-616	180	22	0.25	0.25	NUM
alkej-616	180	23	0.3	0.3	NUM
alkej-616	180	24	0.35	0.35	NUM
alkej-616	180	25	r(unit	r(unit	X
alkej-616	180	26	)	)	PUNCT
alkej-616	180	27	er	er	INTJ
alkej-616	180	28	ro	ro	X
alkej-616	180	29	r(u	r(u	PROPN
alkej-616	180	30	ni	ni	PROPN
alkej-616	180	31	t	t	PROPN
alkej-616	180	32	)	)	PUNCT
alkej-616	180	33	fig	fig	NOUN
alkej-616	180	34	.	.	PUNCT
alkej-616	181	1	18	18	NUM
alkej-616	181	2	.the	.the	NOUN
alkej-616	181	3	error	error	NOUN
alkej-616	181	4	versus	versus	ADP
alkej-616	181	5	the	the	DET
alkej-616	181	6	distance	distance	NOUN
alkej-616	181	7	from	from	ADP
alkej-616	181	8	the	the	DET
alkej-616	181	9	base	base	NOUN
alkej-616	181	10	0	0	NUM
alkej-616	181	11	0.5	0.5	NUM
alkej-616	181	12	1	1	NUM
alkej-616	181	13	1.5	1.5	NUM
alkej-616	181	14	2	2	NUM
alkej-616	181	15	2.5	2.5	NUM
alkej-616	181	16	3	3	NUM
alkej-616	181	17	3.5	3.5	NUM
alkej-616	181	18	4	4	NUM
alkej-616	181	19	4.5	4.5	NUM
alkej-616	181	20	5	5	NUM
alkej-616	182	1	-250	-250	PROPN
alkej-616	182	2	-200	-200	NUM
alkej-616	183	1	-150	-150	PROPN
alkej-616	183	2	-100	-100	PROPN
alkej-616	183	3	-50	-50	PUNCT
alkej-616	183	4	0	0	NUM
alkej-616	183	5	50	50	NUM
alkej-616	183	6	100	100	NUM
alkej-616	183	7	150	150	NUM
alkej-616	183	8	time(s	time(s	NOUN
alkej-616	183	9	)	)	PUNCT
alkej-616	183	10	an	an	DET
alkej-616	183	11	gl	gl	NOUN
alkej-616	183	12	es	es	X
alkej-616	183	13	(	(	PUNCT
alkej-616	183	14	d	d	NOUN
alkej-616	183	15	eg	eg	NOUN
alkej-616	183	16	)	)	PUNCT
alkej-616	183	17	figure	figure	NOUN
alkej-616	183	18	19	19	NUM
alkej-616	183	19	θ1	θ1	NOUN
alkej-616	183	20	,	,	PUNCT
alkej-616	183	21	θ2	θ2	PROPN
alkej-616	183	22	&	&	CCONJ
alkej-616	183	23	θ3	θ3	PROPN
alkej-616	183	24	versus	versus	ADP
alkej-616	183	25	time	time	NOUN
alkej-616	183	26	fig.20	fig.20	PROPN
alkej-616	183	27	.the	.the	PRON
alkej-616	183	28	real	real	ADJ
alkej-616	183	29	and	and	CCONJ
alkej-616	183	30	desired	desire	VERB
alkej-616	183	31	paths	path	NOUN
alkej-616	183	32	of	of	ADP
alkej-616	183	33	the	the	DET
alkej-616	183	34	arm	arm	NOUN
alkej-616	183	35	conclusions	conclusion	VERB
alkej-616	183	36	the	the	DET
alkej-616	183	37	major	major	ADJ
alkej-616	183	38	observations	observation	NOUN
alkej-616	183	39	of	of	ADP
alkej-616	183	40	this	this	DET
alkej-616	183	41	work	work	NOUN
alkej-616	183	42	can	can	AUX
alkej-616	183	43	be	be	AUX
alkej-616	183	44	summarized	summarize	VERB
alkej-616	183	45	as	as	SCONJ
alkej-616	183	46	follows	follow	VERB
alkej-616	183	47	:	:	PUNCT
alkej-616	184	1	§	§	PROPN
alkej-616	184	2	for	for	ADP
alkej-616	184	3	a	a	DET
alkej-616	184	4	redundant	redundant	ADJ
alkej-616	184	5	robot	robot	NOUN
alkej-616	184	6	the	the	DET
alkej-616	184	7	inverse	inverse	NOUN
alkej-616	184	8	kinematics	kinematic	NOUN
alkej-616	184	9	has	have	VERB
alkej-616	184	10	infinite	infinite	ADJ
alkej-616	184	11	number	number	NOUN
alkej-616	184	12	of	of	ADP
alkej-616	184	13	solutions	solution	NOUN
alkej-616	184	14	,	,	PUNCT
alkej-616	184	15	but	but	CCONJ
alkej-616	184	16	§	§	PROPN
alkej-616	184	17	when	when	SCONJ
alkej-616	184	18	using	use	VERB
alkej-616	184	19	the	the	DET
alkej-616	184	20	neural	neural	ADJ
alkej-616	184	21	network	network	NOUN
alkej-616	184	22	method	method	NOUN
alkej-616	184	23	there	there	PRON
alkej-616	184	24	is	be	VERB
alkej-616	184	25	only	only	ADV
alkej-616	184	26	one	one	NUM
alkej-616	184	27	desired	desire	VERB
alkej-616	184	28	solution	solution	NOUN
alkej-616	184	29	from	from	ADP
alkej-616	184	30	these	these	DET
alkej-616	184	31	infinite	infinite	ADJ
alkej-616	184	32	§	§	NOUN
alkej-616	184	33	solutions	solution	NOUN
alkej-616	184	34	,	,	PUNCT
alkej-616	184	35	since	since	SCONJ
alkej-616	184	36	the	the	DET
alkej-616	184	37	training	training	NOUN
alkej-616	184	38	session	session	NOUN
alkej-616	184	39	is	be	AUX
alkej-616	184	40	done	do	VERB
alkej-616	184	41	using	use	VERB
alkej-616	184	42	the	the	DET
alkej-616	184	43	non	non	ADJ
alkej-616	184	44	-	-	ADJ
alkej-616	184	45	singular	singular	ADJ
alkej-616	184	46	set	set	NOUN
alkej-616	184	47	of	of	ADP
alkej-616	184	48	solution	solution	NOUN
alkej-616	184	49	.	.	PUNCT
alkej-616	185	1	-4	-4	INTJ
alkej-616	186	1	-3	-3	INTJ
alkej-616	186	2	-2	-2	INTJ
alkej-616	187	1	-1	-1	SYM
alkej-616	187	2	0	0	NUM
alkej-616	187	3	1	1	NUM
alkej-616	187	4	2	2	NUM
alkej-616	187	5	3	3	NUM
alkej-616	187	6	4	4	NUM
alkej-616	187	7	5	5	NUM
alkej-616	188	1	-6	-6	ADP
alkej-616	188	2	-5	-5	INTJ
alkej-616	189	1	-4	-4	INTJ
alkej-616	189	2	-3	-3	INTJ
alkej-616	190	1	-2	-2	INTJ
alkej-616	191	1	-1	-1	SYM
alkej-616	191	2	0	0	NUM
alkej-616	191	3	1	1	NUM
alkej-616	191	4	2	2	NUM
alkej-616	191	5	3	3	NUM
alkej-616	191	6	x(unit	x(unit	NUM
alkej-616	191	7	)	)	PUNCT
alkej-616	192	1	y	y	PROPN
alkej-616	192	2	(	(	PUNCT
alkej-616	192	3	un	un	PROPN
alkej-616	192	4	it	it	PRON
alkej-616	192	5	)	)	PUNCT
alkej-616	192	6	fig	fig	NOUN
alkej-616	192	7	.	.	PUNCT
alkej-616	193	1	21	21	NUM
alkej-616	193	2	.	.	PUNCT
alkej-616	194	1	the	the	DET
alkej-616	194	2	configuration	configuration	NOUN
alkej-616	194	3	of	of	ADP
alkej-616	194	4	the	the	DET
alkej-616	194	5	arm	arm	NOUN
alkej-616	194	6	-4	-4	INTJ
alkej-616	194	7	-3	-3	INTJ
alkej-616	195	1	-2	-2	INTJ
alkej-616	196	1	-1	-1	SYM
alkej-616	196	2	0	0	NUM
alkej-616	196	3	1	1	NUM
alkej-616	196	4	2	2	NUM
alkej-616	196	5	3	3	NUM
alkej-616	196	6	4	4	NUM
alkej-616	196	7	5	5	NUM
alkej-616	197	1	-6	-6	ADP
alkej-616	197	2	-5	-5	INTJ
alkej-616	198	1	-4	-4	INTJ
alkej-616	198	2	-3	-3	INTJ
alkej-616	199	1	-2	-2	INTJ
alkej-616	200	1	-1	-1	SYM
alkej-616	200	2	0	0	NUM
alkej-616	200	3	1	1	NUM
alkej-616	200	4	2	2	NUM
alkej-616	200	5	x(unit	x(unit	NUM
alkej-616	200	6	)	)	PUNCT
alkej-616	200	7	y(unit	y(unit	NOUN
alkej-616	200	8	)	)	PUNCT
alkej-616	200	9	θ2(deg	θ2(deg	NOUN
alkej-616	200	10	)	)	PUNCT
alkej-616	200	11	θ3(deg	θ3(deg	ADJ
alkej-616	200	12	)	)	PUNCT
alkej-616	200	13	θ1(deg	θ1(deg	ADJ
alkej-616	200	14	)	)	PUNCT
alkej-616	200	15	n.n	n.n	PROPN
alkej-616	200	16	.	.	PROPN
alkej-616	200	17	path	path	PROPN
alkej-616	200	18	desired	desire	VERB
alkej-616	200	19	path	path	PROPN
alkej-616	200	20	dr	dr	PROPN
alkej-616	200	21	.	.	PROPN
alkej-616	200	22	bahaa	bahaa	PROPN
alkej-616	200	23	ibraheem	ibraheem	VERB
alkej-616	200	24	kazem	kazem	PROPN
alkej-616	200	25	/al	/al	PROPN
alkej-616	200	26	-	-	PUNCT
alkej-616	200	27	khwarizmi	khwarizmi	PROPN
alkej-616	200	28	engineering	engineering	NOUN
alkej-616	200	29	journal	journal	PROPN
alkej-616	200	30	,	,	PUNCT
alkej-616	200	31	vol.3	vol.3	PROPN
alkej-616	200	32	,	,	PUNCT
alkej-616	200	33	no.1	no.1	NUM
alkej-616	200	34	,	,	PUNCT
alkej-616	200	35	pp	pp	ADP
alkej-616	200	36	1	1	NUM
alkej-616	200	37	-	-	SYM
alkej-616	200	38	11	11	NUM
alkej-616	200	39	(	(	PUNCT
alkej-616	200	40	2007	2007	NUM
alkej-616	200	41	)	)	PUNCT
alkej-616	200	42	١٠	١٠	NUM
alkej-616	200	43	1	1	NUM
alkej-616	200	44	1.5	1.5	NUM
alkej-616	200	45	2	2	NUM
alkej-616	200	46	2.5	2.5	NUM
alkej-616	200	47	3	3	NUM
alkej-616	200	48	3.5	3.5	NUM
alkej-616	200	49	4	4	NUM
alkej-616	200	50	4.5	4.5	NUM
alkej-616	200	51	5	5	NUM
alkej-616	200	52	5.5	5.5	NUM
alkej-616	200	53	6	6	NUM
alkej-616	200	54	0	0	NUM
alkej-616	200	55	0.05	0.05	NUM
alkej-616	200	56	0.1	0.1	NUM
alkej-616	200	57	0.15	0.15	NUM
alkej-616	200	58	0.2	0.2	NUM
alkej-616	200	59	0.25	0.25	NUM
alkej-616	200	60	r(unit	r(unit	NOUN
alkej-616	200	61	)	)	PUNCT
alkej-616	201	1	er	er	INTJ
alkej-616	201	2	ro	ro	PUNCT
alkej-616	201	3	r(u	r(u	PROPN
alkej-616	201	4	ni	ni	PROPN
alkej-616	201	5	t	t	PROPN
alkej-616	201	6	)	)	PUNCT
alkej-616	201	7	fig	fig	NOUN
alkej-616	201	8	.	.	PUNCT
alkej-616	202	1	22	22	NUM
alkej-616	202	2	.	.	PUNCT
alkej-616	203	1	the	the	DET
alkej-616	203	2	error	error	NOUN
alkej-616	203	3	versus	versus	ADP
alkej-616	203	4	the	the	DET
alkej-616	203	5	distance	distance	NOUN
alkej-616	203	6	from	from	ADP
alkej-616	203	7	the	the	DET
alkej-616	203	8	base	base	NOUN
alkej-616	203	9	§	§	PROPN
alkej-616	203	10	in	in	ADP
alkej-616	203	11	conventional	conventional	ADJ
alkej-616	203	12	methods	method	NOUN
alkej-616	203	13	for	for	ADP
alkej-616	203	14	the	the	DET
alkej-616	203	15	inverse	inverse	NOUN
alkej-616	203	16	kinematics	kinematic	NOUN
alkej-616	203	17	,	,	PUNCT
alkej-616	203	18	one	one	PRON
alkej-616	203	19	must	must	AUX
alkej-616	203	20	find	find	VERB
alkej-616	203	21	the	the	DET
alkej-616	203	22	joint	joint	ADJ
alkej-616	203	23	space	space	NOUN
alkej-616	203	24	singularity	singularity	NOUN
alkej-616	203	25	in	in	ADP
alkej-616	203	26	order	order	NOUN
alkej-616	203	27	to	to	PART
alkej-616	203	28	avoid	avoid	VERB
alkej-616	203	29	it	it	PRON
alkej-616	203	30	,	,	PUNCT
alkej-616	203	31	but	but	CCONJ
alkej-616	203	32	when	when	SCONJ
alkej-616	203	33	using	use	VERB
alkej-616	203	34	the	the	DET
alkej-616	203	35	neural	neural	ADJ
alkej-616	203	36	network	network	NOUN
alkej-616	203	37	method	method	NOUN
alkej-616	203	38	there	there	PRON
alkej-616	203	39	is	be	VERB
alkej-616	203	40	no	no	DET
alkej-616	203	41	need	need	NOUN
alkej-616	203	42	to	to	PART
alkej-616	203	43	find	find	VERB
alkej-616	203	44	the	the	DET
alkej-616	203	45	joint	joint	ADJ
alkej-616	203	46	space	space	NOUN
alkej-616	203	47	singularity	singularity	NOUN
alkej-616	203	48	because	because	SCONJ
alkej-616	203	49	this	this	DET
alkej-616	203	50	method	method	NOUN
alkej-616	203	51	gives	give	VERB
alkej-616	203	52	one	one	NUM
alkej-616	203	53	desired	desire	VERB
alkej-616	203	54	solution	solution	NOUN
alkej-616	203	55	only	only	ADV
alkej-616	203	56	.	.	PUNCT
alkej-616	204	1	§	§	PROPN
alkej-616	204	2	since	since	SCONJ
alkej-616	204	3	the	the	DET
alkej-616	204	4	neural	neural	ADJ
alkej-616	204	5	network	network	NOUN
alkej-616	204	6	method	method	NOUN
alkej-616	204	7	is	be	AUX
alkej-616	204	8	an	an	DET
alkej-616	204	9	approximation	approximation	NOUN
alkej-616	204	10	method	method	NOUN
alkej-616	204	11	,	,	PUNCT
alkej-616	204	12	the	the	DET
alkej-616	204	13	results	result	NOUN
alkej-616	204	14	show	show	VERB
alkej-616	204	15	that	that	SCONJ
alkej-616	204	16	the	the	DET
alkej-616	204	17	obtained	obtain	VERB
alkej-616	204	18	solution	solution	NOUN
alkej-616	204	19	from	from	ADP
alkej-616	204	20	the	the	DET
alkej-616	204	21	proposed	propose	VERB
alkej-616	204	22	neural	neural	ADJ
alkej-616	204	23	network	network	NOUN
alkej-616	204	24	model	model	NOUN
alkej-616	204	25	is	be	AUX
alkej-616	204	26	depends	depend	VERB
alkej-616	204	27	on	on	ADP
alkej-616	204	28	the	the	DET
alkej-616	204	29	initial	initial	ADJ
alkej-616	204	30	weights	weight	NOUN
alkej-616	204	31	in	in	ADP
alkej-616	204	32	training	training	NOUN
alkej-616	204	33	session	session	NOUN
alkej-616	204	34	.	.	PUNCT
alkej-616	205	1	i.e.	i.e.	X
alkej-616	205	2	the	the	DET
alkej-616	205	3	use	use	NOUN
alkej-616	205	4	of	of	ADP
alkej-616	205	5	a	a	DET
alkej-616	205	6	neural	neural	ADJ
alkej-616	205	7	network	network	NOUN
alkej-616	205	8	decreases	decrease	VERB
alkej-616	205	9	the	the	DET
alkej-616	205	10	repeatability	repeatability	NOUN
alkej-616	205	11	for	for	ADP
alkej-616	205	12	kinematics	kinematics	NOUN
alkej-616	205	13	solution	solution	NOUN
alkej-616	205	14	of	of	ADP
alkej-616	205	15	the	the	DET
alkej-616	205	16	manipulator	manipulator	NOUN
alkej-616	205	17	arm	arm	NOUN
alkej-616	205	18	.	.	PUNCT
alkej-616	206	1	references	reference	NOUN
alkej-616	206	2	[	[	X
alkej-616	206	3	1	1	X
alkej-616	206	4	]	]	PUNCT
alkej-616	206	5	john	john	PROPN
alkej-616	206	6	j.	j.	PROPN
alkej-616	206	7	craig	craig	PROPN
alkej-616	207	1	"	"	PUNCT
alkej-616	207	2	introduction	introduction	NOUN
alkej-616	207	3	to	to	ADP
alkej-616	207	4	robotics	robotic	NOUN
alkej-616	207	5	mechanics	mechanic	NOUN
alkej-616	207	6	and	and	CCONJ
alkej-616	207	7	control",1986	control",1986	PROPN
alkej-616	207	8	.	.	PUNCT
alkej-616	208	1	[	[	X
alkej-616	208	2	2	2	NUM
alkej-616	208	3	]	]	PUNCT
alkej-616	208	4	mark	mark	PROPN
alkej-616	208	5	w.	w.	PROPN
alkej-616	208	6	spong	spong	PROPN
alkej-616	208	7	and	and	CCONJ
alkej-616	208	8	m.	m.	NOUN
alkej-616	208	9	vidyasagar	vidyasagar	NOUN
alkej-616	208	10	,	,	PUNCT
alkej-616	208	11	"	"	PUNCT
alkej-616	208	12	robot	robot	NOUN
alkej-616	208	13	dynamic	dynamic	ADJ
alkej-616	208	14	and	and	CCONJ
alkej-616	208	15	control	control	NOUN
alkej-616	208	16	"	"	PUNCT
alkej-616	208	17	,	,	PUNCT
alkej-616	208	18	john	john	PROPN
alkej-616	208	19	wiley	wiley	PROPN
alkej-616	208	20	and	and	CCONJ
alkej-616	208	21	sons	son	NOUN
alkej-616	208	22	,	,	PUNCT
alkej-616	208	23	inc	inc	PROPN
alkej-616	208	24	.	.	PROPN
alkej-616	208	25	,	,	PUNCT
alkej-616	208	26	1989	1989	NUM
alkej-616	208	27	.	.	PUNCT
alkej-616	209	1	[	[	X
alkej-616	209	2	3	3	X
alkej-616	209	3	]	]	X
alkej-616	209	4	alain	alain	PROPN
alkej-616	209	5	liegeois	liegeois	PROPN
alkej-616	209	6	"	"	PUNCT
alkej-616	209	7	robot	robot	NOUN
alkej-616	209	8	technology	technology	NOUN
alkej-616	209	9	:	:	PUNCT
alkej-616	209	10	performance	performance	NOUN
alkej-616	209	11	and	and	CCONJ
alkej-616	209	12	computer	computer	NOUN
alkej-616	209	13	-	-	PUNCT
alkej-616	209	14	aided	aid	VERB
alkej-616	209	15	design	design	NOUN
alkej-616	209	16	"	"	PUNCT
alkej-616	209	17	,	,	PUNCT
alkej-616	209	18	volume	volume	NOUN
alkej-616	209	19	7	7	NUM
alkej-616	209	20	,	,	PUNCT
alkej-616	209	21	prentice	prentice	NOUN
alkej-616	209	22	-	-	PUNCT
alkej-616	209	23	hall	hall	NOUN
alkej-616	209	24	,	,	PUNCT
alkej-616	209	25	1985	1985	NUM
alkej-616	209	26	.	.	PUNCT
alkej-616	210	1	[	[	X
alkej-616	210	2	4	4	NUM
alkej-616	210	3	]	]	X
alkej-616	210	4	jacobsen	jacobsen	PROPN
alkej-616	210	5	,	,	PUNCT
alkej-616	210	6	s.c	s.c	PROPN
alkej-616	210	7	.	.	PROPN
alkej-616	210	8	,	,	PUNCT
alkej-616	210	9	iversen	iversen	PROPN
alkej-616	210	10	,	,	PUNCT
alkej-616	210	11	e.k	e.k	PROPN
alkej-616	210	12	.	.	PROPN
alkej-616	210	13	,	,	PUNCT
alkej-616	210	14	knutti	knutti	PROPN
alkej-616	210	15	,	,	PUNCT
alkej-616	210	16	d.f	d.f	PROPN
alkej-616	210	17	.	.	PROPN
alkej-616	210	18	,	,	PUNCT
alkej-616	210	19	johnson	johnson	PROPN
alkej-616	210	20	,	,	PUNCT
alkej-616	210	21	r.t	r.t	PROPN
alkej-616	210	22	.	.	PROPN
alkej-616	210	23	,	,	PUNCT
alkej-616	210	24	and	and	CCONJ
alkej-616	210	25	biggers	bigger	NOUN
alkej-616	210	26	,	,	PUNCT
alkej-616	210	27	k.b	k.b	PROPN
alkej-616	210	28	.	.	PROPN
alkej-616	210	29	,	,	PUNCT
alkej-616	210	30	"	"	PUNCT
alkej-616	210	31	design	design	NOUN
alkej-616	210	32	of	of	ADP
alkej-616	210	33	the	the	DET
alkej-616	210	34	utah	utah	PROPN
alkej-616	210	35	/	/	SYM
alkej-616	210	36	mit	mit	PROPN
alkej-616	210	37	dexterous	dexterous	ADJ
alkej-616	210	38	hand	hand	NOUN
alkej-616	210	39	,	,	PUNCT
alkej-616	210	40	"	"	PUNCT
alkej-616	210	41	in	in	ADP
alkej-616	210	42	proc	proc	NOUN
alkej-616	210	43	.	.	PUNCT
alkej-616	210	44	ieee	ieee	PROPN
alkej-616	210	45	int	int	PROPN
alkej-616	210	46	.	.	PUNCT
alkej-616	210	47	conf	conf	PROPN
alkej-616	210	48	.	.	PUNCT
alkej-616	211	1	robotics	robotic	NOUN
alkej-616	211	2	and	and	CCONJ
alkej-616	211	3	automation	automation	NOUN
alkej-616	211	4	,	,	PUNCT
alkej-616	211	5	san	san	PROPN
alkej-616	211	6	francisco	francisco	PROPN
alkej-616	211	7	,	,	PUNCT
alkej-616	211	8	pp	pp	ADP
alkej-616	211	9	.	.	PUNCT
alkej-616	212	1	1520	1520	NUM
alkej-616	212	2	-	-	SYM
alkej-616	212	3	1532	1532	NUM
alkej-616	212	4	,	,	PUNCT
alkej-616	212	5	april	april	PROPN
alkej-616	212	6	7	7	NUM
alkej-616	212	7	-	-	SYM
alkej-616	212	8	10	10	NUM
alkej-616	212	9	,	,	PUNCT
alkej-616	212	10	1986	1986	NUM
alkej-616	212	11	.	.	PUNCT
alkej-616	213	1	[	[	X
alkej-616	213	2	5	5	X
alkej-616	213	3	]	]	PUNCT
alkej-616	213	4	e.	e.	PROPN
alkej-616	213	5	s.	s.	PROPN
alkej-616	213	6	conkur	conkur	PROPN
alkej-616	213	7	"	"	PUNCT
alkej-616	213	8	real	real	ADJ
alkej-616	213	9	time	time	NOUN
alkej-616	213	10	path	path	NOUN
alkej-616	213	11	planning	planning	NOUN
alkej-616	213	12	and	and	CCONJ
alkej-616	213	13	obstacle	obstacle	VERB
alkej-616	213	14	avoidance	avoidance	NOUN
alkej-616	213	15	algorithms	algorithm	NOUN
alkej-616	213	16	for	for	ADP
alkej-616	213	17	redundant	redundant	ADJ
alkej-616	213	18	manipulators	manipulator	NOUN
alkej-616	213	19	"	"	PUNCT
alkej-616	213	20	,	,	PUNCT
alkej-616	213	21	ph.d	ph.d	PROPN
alkej-616	213	22	.	.	PUNCT
alkej-616	214	1	thesis	thesis	NOUN
alkej-616	214	2	,	,	PUNCT
alkej-616	214	3	department	department	NOUN
alkej-616	214	4	of	of	ADP
alkej-616	214	5	mechanical	mechanical	ADJ
alkej-616	214	6	engineering	engineering	NOUN
alkej-616	214	7	,	,	PUNCT
alkej-616	214	8	university	university	NOUN
alkej-616	214	9	of	of	ADP
alkej-616	214	10	bristol	bristol	PROPN
alkej-616	214	11	,	,	PUNCT
alkej-616	214	12	september	september	PROPN
alkej-616	214	13	1997	1997	NUM
alkej-616	214	14	.	.	PUNCT
alkej-616	215	1	[	[	X
alkej-616	215	2	6	6	NUM
alkej-616	215	3	]	]	X
alkej-616	215	4	chetan	chetan	PROPN
alkej-616	215	5	kapoor	kapoor	PROPN
alkej-616	215	6	and	and	CCONJ
alkej-616	215	7	delbert	delbert	PROPN
alkej-616	215	8	tesar	tesar	PROPN
alkej-616	215	9	"	"	PUNCT
alkej-616	215	10	kinematics	kinematic	NOUN
alkej-616	215	11	abstraction	abstraction	NOUN
alkej-616	215	12	for	for	ADP
alkej-616	215	13	general	general	ADJ
alkej-616	215	14	manipulator	manipulator	NOUN
alkej-616	215	15	control	control	NOUN
alkej-616	215	16	"	"	PUNCT
alkej-616	215	17	,	,	PUNCT
alkej-616	215	18	robotics	robotic	NOUN
alkej-616	215	19	research	research	NOUN
alkej-616	215	20	group	group	NOUN
alkej-616	215	21	,	,	PUNCT
alkej-616	215	22	the	the	DET
alkej-616	215	23	university	university	PROPN
alkej-616	215	24	of	of	ADP
alkej-616	215	25	texas	texas	PROPN
alkej-616	215	26	at	at	ADP
alkej-616	215	27	austin	austin	PROPN
alkej-616	215	28	,	,	PUNCT
alkej-616	215	29	jjprc	jjprc	PROPN
alkej-616	215	30	/	/	SYM
alkej-616	215	31	merb	merb	NOUN
alkej-616	215	32	1.206	1.206	NUM
alkej-616	215	33	,	,	PUNCT
alkej-616	215	34	mail	mail	NOUN
alkej-616	215	35	code	code	NOUN
alkej-616	215	36	r9925	r9925	PROPN
alkej-616	215	37	,	,	PUNCT
alkej-616	215	38	austin	austin	PROPN
alkej-616	215	39	,	,	PUNCT
alkej-616	215	40	texas	texas	PROPN
alkej-616	215	41	78712	78712	NUM
alkej-616	215	42	-	-	SYM
alkej-616	215	43	1100	1100	NUM
alkej-616	215	44	,	,	PUNCT
alkej-616	215	45	1990	1990	NUM
alkej-616	215	46	.	.	PUNCT
alkej-616	216	1	[	[	X
alkej-616	216	2	7	7	NUM
alkej-616	216	3	]	]	PUNCT
alkej-616	216	4	farshid	farshid	VERB
alkej-616	216	5	magami	magami	PROPN
alkej-616	216	6	asi	asi	NOUN
alkej-616	216	7	"	"	PUNCT
alkej-616	216	8	analysis	analysis	NOUN
alkej-616	216	9	of	of	ADP
alkej-616	216	10	hyper	hyper	ADJ
alkej-616	216	11	redundant	redundant	ADJ
alkej-616	216	12	manipulators	manipulator	NOUN
alkej-616	216	13	"	"	PUNCT
alkej-616	216	14	,	,	PUNCT
alkej-616	216	15	m.sc	m.sc	PROPN
alkej-616	216	16	.	.	PUNCT
alkej-616	217	1	thesis	thesis	NOUN
alkej-616	217	2	,	,	PUNCT
alkej-616	217	3	mechanical	mechanical	ADJ
alkej-616	217	4	engineering	engineering	NOUN
alkej-616	217	5	department	department	PROPN
alkej-616	217	6	,	,	PUNCT
alkej-616	217	7	villanova	villanova	PROPN
alkej-616	217	8	university	university	PROPN
alkej-616	217	9	,	,	PUNCT
alkej-616	217	10	august	august	PROPN
alkej-616	217	11	1998	1998	NUM
alkej-616	217	12	.	.	PUNCT
alkej-616	218	1	[	[	X
alkej-616	218	2	8	8	NUM
alkej-616	218	3	]	]	SYM
alkej-616	218	4	j.somlo	j.somlo	NOUN
alkej-616	218	5	,	,	PUNCT
alkej-616	218	6	a.sokolov	a.sokolov	NOUN
alkej-616	218	7	,	,	PUNCT
alkej-616	218	8	v.lukanyin	v.lukanyin	VERB
alkej-616	218	9	"	"	PUNCT
alkej-616	218	10	intelligent	intelligent	ADJ
alkej-616	218	11	robot	robot	NOUN
alkej-616	218	12	control	control	NOUN
alkej-616	218	13	.	.	PUNCT
alkej-616	219	1	the	the	DET
alkej-616	219	2	automation	automation	NOUN
alkej-616	219	3	trajectory	trajectory	NOUN
alkej-616	219	4	planning	planning	NOUN
alkej-616	219	5	"	"	PUNCT
alkej-616	219	6	,	,	PUNCT
alkej-616	219	7	department	department	NOUN
alkej-616	219	8	of	of	ADP
alkej-616	219	9	manufacturing	manufacturing	NOUN
alkej-616	219	10	engineering	engineering	NOUN
alkej-616	219	11	,	,	PUNCT
alkej-616	219	12	budabist	budabist	NOUN
alkej-616	219	13	,	,	PUNCT
alkej-616	219	14	university	university	NOUN
alkej-616	219	15	of	of	ADP
alkej-616	219	16	technology	technology	NOUN
alkej-616	219	17	and	and	CCONJ
alkej-616	219	18	economics	economic	NOUN
alkej-616	219	19	,	,	PUNCT
alkej-616	219	20	2002	2002	NUM
alkej-616	219	21	.	.	PUNCT
alkej-616	220	1	[	[	X
alkej-616	220	2	9	9	NUM
alkej-616	220	3	]	]	PUNCT
alkej-616	220	4	shigang	shigang	PROPN
alkej-616	220	5	yue	yue	PROPN
alkej-616	220	6	and	and	CCONJ
alkej-616	220	7	dominik	dominik	PROPN
alkej-616	220	8	henrich	henrich	ADJ
alkej-616	220	9	"	"	PUNCT
alkej-616	220	10	point	point	VERB
alkej-616	220	11	-	-	PUNCT
alkej-616	220	12	to	to	ADP
alkej-616	220	13	-	-	PUNCT
alkej-616	220	14	point	point	NOUN
alkej-616	220	15	trajectory	trajectory	NOUN
alkej-616	220	16	planning	planning	NOUN
alkej-616	220	17	of	of	ADP
alkej-616	220	18	flexible	flexible	ADJ
alkej-616	220	19	redundant	redundant	ADJ
alkej-616	220	20	robot	robot	NOUN
alkej-616	220	21	manipulators	manipulator	NOUN
alkej-616	220	22	using	use	VERB
alkej-616	220	23	genetic	genetic	ADJ
alkej-616	220	24	algorithms	algorithm	NOUN
alkej-616	220	25	"	"	PUNCT
alkej-616	220	26	,	,	PUNCT
alkej-616	220	27	embedded	embed	VERB
alkej-616	220	28	systems	system	NOUN
alkej-616	220	29	and	and	CCONJ
alkej-616	220	30	robotics	robotic	NOUN
alkej-616	220	31	(	(	PUNCT
alkej-616	220	32	resy	resy	NOUN
alkej-616	220	33	)	)	PUNCT
alkej-616	220	34	,	,	PUNCT
alkej-616	220	35	informatics	informatics	NOUN
alkej-616	220	36	faculty	faculty	NOUN
alkej-616	220	37	,	,	PUNCT
alkej-616	220	38	university	university	NOUN
alkej-616	220	39	of	of	ADP
alkej-616	220	40	kaiserslautern	kaiserslautern	NOUN
alkej-616	220	41	,	,	PUNCT
alkej-616	220	42	d-67653	d-67653	PROPN
alkej-616	220	43	kaiserslautern	kaiserslautern	NOUN
alkej-616	220	44	,	,	PUNCT
alkej-616	220	45	germany	germany	PROPN
alkej-616	220	46	,	,	PUNCT
alkej-616	220	47	2001	2001	NUM
alkej-616	220	48	.	.	PUNCT
alkej-616	221	1	[	[	X
alkej-616	221	2	10	10	NUM
alkej-616	221	3	]	]	X
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alkej-616	221	5	de	de	PROPN
alkej-616	221	6	lope	lope	PROPN
alkej-616	221	7	,	,	PUNCT
alkej-616	221	8	telmo	telmo	PROPN
alkej-616	221	9	zarraonandia	zarraonandia	PROPN
alkej-616	221	10	,	,	PUNCT
alkej-616	221	11	rafaela	rafaela	PROPN
alkej-616	221	12	gonzalez	gonzalez	PROPN
alkej-616	221	13	-	-	PUNCT
alkej-616	221	14	careaga	careaga	PROPN
alkej-616	221	15	,	,	PUNCT
alkej-616	221	16	and	and	CCONJ
alkej-616	221	17	dario	dario	NOUN
alkej-616	221	18	maravall	maravall	VERB
alkej-616	221	19	"	"	PUNCT
alkej-616	221	20	solving	solve	VERB
alkej-616	221	21	the	the	DET
alkej-616	221	22	inverse	inverse	NOUN
alkej-616	221	23	kinematics	kinematic	NOUN
alkej-616	221	24	in	in	ADP
alkej-616	221	25	humanoid	humanoid	NOUN
alkej-616	221	26	robots	robot	NOUN
alkej-616	221	27	:	:	PUNCT
alkej-616	221	28	a	a	DET
alkej-616	221	29	neural	neural	ADJ
alkej-616	221	30	approach	approach	NOUN
alkej-616	221	31	"	"	PUNCT
alkej-616	221	32	,	,	PUNCT
alkej-616	221	33	department	department	NOUN
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alkej-616	221	36	intelligence	intelligence	NOUN
alkej-616	221	37	,	,	PUNCT
alkej-616	221	38	faculty	faculty	NOUN
alkej-616	221	39	of	of	ADP
alkej-616	221	40	computer	computer	NOUN
alkej-616	221	41	science	science	NOUN
alkej-616	221	42	,	,	PUNCT
alkej-616	221	43	university	university	PROPN
alkej-616	221	44	of	of	ADP
alkej-616	221	45	dr	dr	PROPN
alkej-616	221	46	.	.	PROPN
alkej-616	221	47	bahaa	bahaa	PROPN
alkej-616	221	48	ibraheem	ibraheem	VERB
alkej-616	221	49	kazem	kazem	PROPN
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alkej-616	221	54	journal	journal	PROPN
alkej-616	221	55	,	,	PUNCT
alkej-616	221	56	vol.3	vol.3	PROPN
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alkej-616	221	58	no.1	no.1	NUM
alkej-616	221	59	,	,	PUNCT
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alkej-616	221	61	1	1	NUM
alkej-616	221	62	-	-	SYM
alkej-616	221	63	11	11	NUM
alkej-616	221	64	(	(	PUNCT
alkej-616	221	65	2007	2007	NUM
alkej-616	221	66	)	)	PUNCT
alkej-616	221	67	١١	١١	PROPN
alkej-616	221	68	politecnica	politecnica	PROPN
alkej-616	221	69	de	de	PROPN
alkej-616	221	70	madrid	madrid	PROPN
alkej-616	221	71	,	,	PUNCT
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alkej-616	221	73	de	de	X
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alkej-616	221	75	,	,	PUNCT
alkej-616	221	76	28660	28660	NUM
alkej-616	221	77	madrid	madrid	PROPN
alkej-616	221	78	,	,	PUNCT
alkej-616	221	79	spain	spain	PROPN
alkej-616	221	80	,	,	PUNCT
alkej-616	221	81	2004	2004	NUM
alkej-616	221	82	.	.	PUNCT
alkej-616	222	1	[	[	X
alkej-616	222	2	11	11	NUM
alkej-616	222	3	]	]	PUNCT
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alkej-616	222	5	m.	m.	PROPN
alkej-616	222	6	zurada	zurada	PROPN
alkej-616	222	7	"	"	PUNCT
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alkej-616	222	9	to	to	ADP
alkej-616	222	10	artificial	artificial	ADJ
alkej-616	222	11	neural	neural	ADJ
alkej-616	222	12	systems	system	NOUN
alkej-616	222	13	"	"	PUNCT
alkej-616	222	14	,	,	PUNCT
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alkej-616	222	16	publishing	publishing	PROPN
alkej-616	222	17	house	house	PROPN
alkej-616	222	18	,	,	PUNCT
alkej-616	222	19	1996	1996	NUM
alkej-616	222	20	.	.	PUNCT
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alkej-616	223	4	انسان	انسان	NOUN
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alkej-616	223	9	بأستخدام	بأستخدام	PROPN
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alkej-616	224	8	سامر	سامر	ADP
alkej-616	224	9	یحیى	یحیى	NOUN
alkej-616	224	10	ھادي	ھادي	NOUN
alkej-616	224	11	قسم	قسم	PROPN
alkej-616	224	12	ھندسة	ھندسة	PROPN
alkej-616	224	13	السیطرة	السیطرة	PROPN
alkej-616	224	14	والنظم	والنظم	PROPN
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alkej-616	225	4	الجامعة	الجامعة	PROPN
alkej-616	225	5	التكنولوجیة	التكنولوجیة	PROPN
alkej-616	225	6	جامعة	جامعة	PROPN
alkej-616	225	7	بغداد	بغداد	PROPN
alkej-616	225	8	–	–	PUNCT
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alkej-616	225	12	:	:	PUNCT
alkej-616	225	13	الخالصة	الخالصة	PROPN
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alkej-616	225	24	ن	ن	PRON
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alkej-616	225	27	العكس	العكس	NOUN
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alkej-616	225	31	ك	ك	X
alkej-616	225	32	ع	ع	X
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alkej-616	225	34	غی	غی	ADP
alkej-616	225	35	ر	ر	ADP
alkej-616	225	36	منت	منت	NOUN
alkej-616	225	37	ھ	ھ	ADP
alkej-616	225	38	لذلك	لذلك	PROPN
alkej-616	225	39	استخدمت	استخدمت	PROPN
alkej-616	225	40	طریقة	طریقة	PROPN
alkej-616	225	41	الشبكھ	الشبكھ	PROPN
alkej-616	225	42	العص	العص	PROPN
alkej-616	225	43	بیھ	بیھ	NOUN
alkej-616	225	44	,	,	PUNCT
alkej-616	225	45	(	(	PUNCT
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alkej-616	225	47	methods	method	NOUN
alkej-616	225	48	)	)	PUNCT
alkej-616	225	49	باستخدام	باستخدام	NOUN
alkej-616	225	50	الطرق	الطرق	NOUN
alkej-616	225	51	التقلیدیھ	التقلیدیھ	NOUN
alkej-616	225	52	)	)	PUNCT
alkej-616	225	53	(	(	PUNCT
alkej-616	225	54	redundant	redundant	VERB
alkej-616	225	55	armمطولة	armمطولة	NOUN
alkej-616	225	56	(	(	PUNCT
alkej-616	225	57	neural	neural	ADJ
alkej-616	225	58	network	network	NOUN
alkej-616	225	59	technique	technique	NOUN
alkej-616	225	60	)	)	PUNCT
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alkej-616	225	62	حل	حل	PROPN
alkej-616	225	63	واحد	واحد	PROPN
alkej-616	225	64	مرغوب	مرغوب	NOUN
alkej-616	225	65	بھ)one	بھ)one	NOUN
alkej-616	225	66	desired	desire	VERB
alkej-616	225	67	solution	solution	NOUN
alkej-616	225	68	(	(	PUNCT
alkej-616	225	69	من	من	INTJ
alkej-616	225	70	ھذه	ھذه	NOUN
alkej-616	226	1	الحلول	الحلول	ADV
alkej-616	226	2	.	.	PUNCT
alkej-616	227	1	inverse	inverse	PROPN
alkej-616	227	2	kinematics(إلیج	kinematics(إلیج	PROPN
alkej-616	227	3	اد	اد	X
alkej-616	227	4	الحل	الحل	PROPN
alkej-616	228	1	ول	ول	INTJ
alkej-616	228	2	العكس	العكس	VERB
alkej-616	228	3	یة	یة	ADP
alkej-616	228	4	(	(	PUNCT
alkej-616	228	5	dnnm	dnnm	NOUN
alkej-616	228	6	)	)	PUNCT
alkej-616	228	7	مزدوج	مزدوج	PROPN
alkej-616	229	1	ة	ة	X
alkej-616	229	2	حی	حی	PROPN
alkej-616	229	3	ث	ث	PROPN
alkej-616	229	4	اس	اس	ADP
alkej-616	229	5	تخدم	تخدم	NOUN
alkej-616	229	6	ف	ف	X
alkej-616	229	7	ي	ي	X
alkej-616	229	8	ھ	ھ	ADP
alkej-616	229	9	ذه	ذه	ADJ
alkej-616	229	10	البح	البح	PROPN
alkej-616	229	11	ث	ث	PROPN
alkej-616	229	12	ش	ش	PROPN
alkej-616	229	13	بكھ	بكھ	NOUN
alkej-616	229	14	عص	عص	PROPN
alkej-616	229	15	بیھ	بیھ	NOUN
alkej-616	229	16	solutions	solution	NOUN
alkej-616	229	17	(	(	PUNCT
alkej-616	229	18	ل	ل	DET
alkej-616	229	19	ذراع	ذراع	NOUN
alkej-616	229	20	تتك	تتك	NOUN
alkej-616	229	21	ون	ون	NOUN
alkej-616	229	22	م	م	NOUN
alkej-616	229	23	ن	ن	NOUN
alkej-616	229	24	ثالث	ثالث	NOUN
alkej-616	229	25	ة	ة	ADP
alkej-616	229	26	قط	قط	PROPN
alkej-616	229	27	ع	ع	X
alkej-616	229	28	تتح	تتح	NOUN
alkej-616	229	29	رك	رك	INTJ
alkej-616	229	30	جمیعھ	جمیعھ	NOUN
alkej-616	229	31	ا	ا	ADV
alkej-616	229	32	ف	ف	DET
alkej-616	229	33	ي	ي	X
alkej-616	229	34	س	س	X
alkej-616	229	35	طح	طح	VERB
alkej-616	229	36	واح	واح	NOUN
alkej-616	229	37	د)three	د)three	NUM
alkej-616	229	38	links	link	NOUN
alkej-616	229	39	redundant	redundant	VERB
alkej-616	229	40	planar	planar	ADJ
alkej-616	229	41	robot	robot	NOUN
alkej-616	229	42	.	.	PUNCT
alkej-616	230	1	(	(	PUNCT
alkej-616	230	2	إن	إن	X
alkej-616	230	3	لمرحل	لمرحل	PROPN
alkej-616	230	4	ة	ة	PROPN
alkej-616	230	5	الت	الت	ADJ
alkej-616	230	6	دریب	دریب	NOUN
alkej-616	230	7	مزالمستخدمة	مزالمستخدمة	PROPN
alkej-616	231	1	ف	ف	DET
alkej-616	231	2	ي	ي	X
alkej-616	231	3	ھ	ھ	ADP
alkej-616	231	4	ذا	ذا	PROPN
alkej-616	231	5	العم	العم	PROPN
alkej-616	231	6	ل	ل	PROPN
alkej-616	231	7	أظھ	أظھ	X
alkej-616	231	8	رت	رت	ADP
alkej-616	231	9	كف	كف	PROPN
alkej-616	231	10	اءة	اءة	PROPN
alkej-616	231	11	عالی	عالی	PROPN
alkej-616	231	12	ة	ة	ADP
alkej-616	231	13	ف	ف	PROPN
alkej-616	231	14	ي	ي	NUM
alkej-616	231	15	تقلی	تقلی	NOUN
alkej-616	231	16	ل	ل	PROPN
alkej-616	231	17	الوق	الوق	PROPN
alkej-616	231	18	ت	ت	ADP
alkej-616	231	19	ال	ال	PROPN
alkej-616	231	20	ال	ال	PROPN
alkej-616	231	21	(	(	PUNCT
alkej-616	231	22	dnnm)ألشبكھ	dnnm)ألشبكھ	PROPN
alkej-616	231	23	العصبیة	العصبیة	NOUN
alkej-616	231	24	المزدوجة	المزدوجة	VERB
alkej-616	231	25	)	)	PUNCT
alkej-616	231	26	training	training	NOUN
alkej-616	231	27	.	.	PUNCT
alkej-616	232	1	(	(	PUNCT
alkej-616	232	2	ق	ق	PROPN
alkej-616	232	3	د	د	X
alkej-616	232	4	(	(	PUNCT
alkej-616	232	5	dnnm)ألش	dnnm)ألش	VERB
alkej-616	232	6	بكھ	بكھ	PROPN
alkej-616	232	7	العص	العص	PROPN
alkej-616	232	8	بیة	بیة	PROPN
alkej-616	232	9	المزدوج	المزدوج	PROPN
alkej-616	232	10	ة	ة	ADP
alkej-616	232	11	outputs)(عل	outputs)(عل	PROPN
alkej-616	232	12	ى	ى	PROPN
alkej-616	232	13	مخ	مخ	PRON
alkej-616	232	14	ارج	ارج	NOUN
alkej-616	232	15	training	training	NOUN
alkej-616	232	16	sets	set	NOUN
alkej-616	232	17	)	)	PUNCT
alkej-616	232	18	(	(	PUNCT
alkej-616	232	19	إن	إن	X
alkej-616	232	20	تأثیر	تأثیر	VERB
alkej-616	232	21	عدد	عدد	PROPN
alkej-616	232	22	مجموعات	مجموعات	VERB
alkej-616	232	23	التدریب	التدریب	NOUN
alkej-616	232	24	ق	ق	PROPN
alkej-616	232	25	د	د	PROPN
alkej-616	233	1	تزی	تزی	ADV
alkej-616	233	2	د	د	ADV
alkej-616	233	3	عن	عن	ADV
alkej-616	233	4	دما	دما	PROPN
alkej-616	233	5	یض	یض	PROPN
alkej-616	233	6	اعف	اعف	PROPN
alkej-616	233	7	end	end	VERB
alkej-616	233	8	effector	effector	NOUN
alkej-616	233	9	)	)	PUNCT
alkej-616	233	10	(	(	PUNCT
alkej-616	233	11	و	و	PRON
alkej-616	233	12	أظھرت	أظھرت	PROPN
alkej-616	233	13	النتائج	النتائج	PROPN
alkej-616	233	14	بأن	بأن	VERB
alkej-616	233	15	الدقة	الدقة	NOUN
alkej-616	233	16	في	في	ADP
alkej-616	233	17	إیج	إیج	NOUN
alkej-616	233	18	اد	اد	X
alkej-616	233	19	موق	موق	VERB
alkej-616	233	20	ع	ع	PRON
alkej-616	233	21	نھای	نھای	PROPN
alkej-616	233	22	ة	ة	PRON
alkej-616	233	23	ال	ال	ADJ
alkej-616	233	24	ذراع	ذراع	NOUN
alkej-616	233	25	,	,	PUNCT
alkej-616	233	26	تم	تم	X
alkej-616	233	27	دراستھا	دراستھا	NOUN
alkej-616	233	28	في	في	SCONJ
alkej-616	233	29	ھذا	ھذا	PROPN
alkej-616	233	30	العمل	العمل	VERB
alkej-616	233	31	.	.	PUNCT
alkej-616	234	1	training	training	NOUN
alkej-616	234	2	sets	set	NOUN
alkej-616	234	3	)	)	PUNCT
alkej-616	235	1	(	(	PUNCT
alkej-616	235	2	مجموعات	مجموعات	VERB
alkej-616	235	3	التدریب	التدریب	NOUN
alkej-616	235	4	عدد	عدد	PROPN
alkej-616	235	5	ق	ق	PRON
alkej-616	235	6	د	د	PROPN
alkej-616	235	7	ت	ت	PRON
alkej-616	235	8	م	م	PROPN
alkej-616	235	9	دراس	دراس	PROPN
alkej-616	235	10	تھا	تھا	PROPN
alkej-616	236	1	ف	ف	X
alkej-616	236	2	ي	ي	X
alkej-616	236	3	ھ	ھ	ADP
alkej-616	236	4	ذا	ذا	PROPN
alkej-616	236	5	العم	العم	PROPN
alkej-616	236	6	ل	ل	PRON
alkej-616	236	7	point	point	NOUN
alkej-616	236	8	-	-	PUNCT
alkej-616	236	9	to	to	ADP
alkej-616	236	10	-	-	PUNCT
alkej-616	236	11	point	point	NOUN
alkej-616	236	12	trajectory	trajectory	NOUN
alkej-616	236	13	planning	planning	NOUN
alkej-616	236	14	method)(إن	method)(إن	PROPN
alkej-616	236	15	طریقة	طریقة	ADJ
alkej-616	236	16	إیجاد	إیجاد	ADJ
alkej-616	236	17	المسار	المسار	NOUN
alkej-616	236	18	بین	بین	VERB
alkej-616	236	19	نقطت	نقطت	PROPN
alkej-616	236	20	ین	ین	PROPN
alkej-616	236	21	.	.	PUNCT
alkej-616	237	1	على	على	NOUN
alkej-616	237	2	الدقةtraining	الدقةtraining	NOUN
alkej-616	237	3	sets	set	NOUN
alkej-616	237	4	)	)	PUNCT
alkej-616	237	5	(	(	PUNCT
alkej-616	237	6	كذلك	كذلك	PROPN
alkej-616	237	7	تم	تم	PROPN
alkej-616	237	8	دراسة	دراسة	PROPN
alkej-616	237	9	تأثیر	تأثیر	VERB
alkej-616	237	10	تغیر	تغیر	PROPN
alkej-616	237	11	عدد	عدد	PROPN
alkej-616	237	12	مجموعات	مجموعات	VERB
alkej-616	237	13	التدریب	التدریب	NOUN