id	sid	tid	token	lemma	pos
alkej-693	1	1	4d6963726f736f667420576f7264202d20312d3130cacdd3ede420e6dae1ed20e6e3e5e4cf	4d6963726f736f667420576f7264202d20312d3130cacdd3ede420e6dae1ed20e6e3e5e4cf	NUM
alkej-693	1	2	>	>	X
alkej-693	1	3	al	al	PROPN
alkej-693	1	4	-	-	PUNCT
alkej-693	1	5	khwarizmi	khwarizmi	PROPN
alkej-693	1	6	engineering	engineering	PROPN
alkej-693	1	7	journal	journal	PROPN
alkej-693	1	8	al	al	PROPN
alkej-693	1	9	-	-	PUNCT
alkej-693	1	10	khwarizmi	khwarizmi	PROPN
alkej-693	1	11	engineering	engineering	NOUN
alkej-693	1	12	journal	journal	PROPN
alkej-693	1	13	,	,	PUNCT
alkej-693	1	14	vol	vol	NOUN
alkej-693	1	15	.	.	PROPN
alkej-693	1	16	16	16	NUM
alkej-693	1	17	,	,	PUNCT
alkej-693	1	18	no	no	INTJ
alkej-693	1	19	.	.	NOUN
alkej-693	1	20	1	1	NUM
alkej-693	1	21	,	,	PUNCT
alkej-693	1	22	march	march	PROPN
alkej-693	1	23	,	,	PUNCT
alkej-693	1	24	(	(	PUNCT
alkej-693	1	25	2020	2020	NUM
alkej-693	1	26	)	)	PUNCT
alkej-693	2	1	p.	p.	NOUN
alkej-693	2	2	p.	p.	NOUN
alkej-693	3	1	110	110	NUM
alkej-693	3	2	inverse	inverse	ADJ
alkej-693	3	3	kinematics	kinematic	NOUN
alkej-693	3	4	analysis	analysis	NOUN
alkej-693	3	5	and	and	CCONJ
alkej-693	3	6	simulation	simulation	NOUN
alkej-693	3	7	of	of	ADP
alkej-693	3	8	a	a	DET
alkej-693	3	9	5	5	NUM
alkej-693	3	10	dof	dof	NOUN
alkej-693	3	11	robotic	robotic	ADJ
alkej-693	3	12	arm	arm	NOUN
alkej-693	3	13	using	use	VERB
alkej-693	3	14	matlab	matlab	PROPN
alkej-693	3	15	tahseen	tahseen	PROPN
alkej-693	3	16	f.	f.	PROPN
alkej-693	3	17	abaas	abaas	PROPN
alkej-693	3	18	*	*	PUNCT
alkej-693	3	19	ali	ali	PROPN
alkej-693	3	20	a.	a.	NOUN
alkej-693	3	21	khleif	khleif	NOUN
alkej-693	3	22	*	*	PROPN
alkej-693	4	1	*	*	PUNCT
alkej-693	4	2	mohanad	mohanad	PROPN
alkej-693	4	3	q.	q.	PROPN
alkej-693	4	4	abbood	abbood	PROPN
alkej-693	4	5	*	*	PUNCT
alkej-693	4	6	*	*	PUNCT
alkej-693	4	7	*	*	PUNCT
alkej-693	5	1	*	*	PUNCT
alkej-693	5	2	,	,	PUNCT
alkej-693	5	3	*	*	PUNCT
alkej-693	5	4	*	*	PUNCT
alkej-693	5	5	,	,	PUNCT
alkej-693	5	6	*	*	PUNCT
alkej-693	5	7	*	*	PUNCT
alkej-693	5	8	*	*	PUNCT
alkej-693	5	9	department	department	PROPN
alkej-693	5	10	of	of	ADP
alkej-693	5	11	production	production	NOUN
alkej-693	5	12	engineering	engineering	NOUN
alkej-693	5	13	and	and	CCONJ
alkej-693	5	14	metallurgy/	metallurgy/	NUM
alkej-693	5	15	university	university	NOUN
alkej-693	5	16	of	of	ADP
alkej-693	5	17	technology/	technology/	NUM
alkej-693	5	18	baghdad/	baghdad/	NUM
alkej-693	5	19	iraq	iraq	PROPN
alkej-693	5	20	*	*	PUNCT
alkej-693	5	21	email	email	NOUN
alkej-693	5	22	:	:	PUNCT
alkej-693	5	23	70047@uotechnology.edu.iq	70047@uotechnology.edu.iq	NUM
alkej-693	5	24	*	*	PUNCT
alkej-693	5	25	*	*	NOUN
alkej-693	5	26	email	email	NOUN
alkej-693	5	27	:	:	PUNCT
alkej-693	5	28	70080@uotechnology.edu.iq	70080@uotechnology.edu.iq	NUM
alkej-693	5	29	*	*	PUNCT
alkej-693	5	30	*	*	PUNCT
alkej-693	5	31	*	*	NOUN
alkej-693	5	32	email	email	NOUN
alkej-693	5	33	:	:	PUNCT
alkej-693	5	34	70209@uotechnology.edu.iq	70209@uotechnology.edu.iq	NUM
alkej-693	5	35	(	(	PUNCT
alkej-693	5	36	received	receive	VERB
alkej-693	5	37	19	19	NUM
alkej-693	5	38	september	september	PROPN
alkej-693	5	39	2019	2019	NUM
alkej-693	5	40	;	;	PUNCT
alkej-693	5	41	accepted	accept	VERB
alkej-693	5	42	3	3	NUM
alkej-693	5	43	december	december	PROPN
alkej-693	5	44	2019	2019	NUM
alkej-693	5	45	)	)	PUNCT
alkej-693	5	46	https://doi.org/10.22153/kej.2020.12.001	https://doi.org/10.22153/kej.2020.12.001	PROPN
alkej-693	5	47	abstract	abstract	ADJ
alkej-693	5	48	kinematics	kinematic	NOUN
alkej-693	5	49	is	be	AUX
alkej-693	5	50	the	the	DET
alkej-693	5	51	mechanics	mechanic	NOUN
alkej-693	5	52	branch	branch	NOUN
alkej-693	5	53	which	which	PRON
alkej-693	5	54	deals	deal	VERB
alkej-693	5	55	with	with	ADP
alkej-693	5	56	the	the	DET
alkej-693	5	57	movement	movement	NOUN
alkej-693	5	58	of	of	ADP
alkej-693	5	59	the	the	DET
alkej-693	5	60	bodies	body	NOUN
alkej-693	5	61	without	without	ADP
alkej-693	5	62	taking	take	VERB
alkej-693	5	63	the	the	DET
alkej-693	5	64	force	force	NOUN
alkej-693	5	65	into	into	ADP
alkej-693	5	66	account	account	NOUN
alkej-693	5	67	.	.	PUNCT
alkej-693	6	1	in	in	ADP
alkej-693	6	2	robots	robot	NOUN
alkej-693	6	3	,	,	PUNCT
alkej-693	6	4	the	the	DET
alkej-693	6	5	forward	forward	ADJ
alkej-693	6	6	kinematics	kinematic	NOUN
alkej-693	6	7	and	and	CCONJ
alkej-693	6	8	inverse	inverse	NOUN
alkej-693	6	9	kinematics	kinematic	NOUN
alkej-693	6	10	are	be	AUX
alkej-693	6	11	important	important	ADJ
alkej-693	6	12	in	in	ADP
alkej-693	6	13	determining	determine	VERB
alkej-693	6	14	the	the	DET
alkej-693	6	15	position	position	NOUN
alkej-693	6	16	and	and	CCONJ
alkej-693	6	17	orientation	orientation	NOUN
alkej-693	6	18	of	of	ADP
alkej-693	6	19	the	the	DET
alkej-693	6	20	end	end	NOUN
alkej-693	6	21	-	-	PUNCT
alkej-693	6	22	effector	effector	NOUN
alkej-693	6	23	to	to	PART
alkej-693	6	24	perform	perform	VERB
alkej-693	6	25	multi	multi	NOUN
alkej-693	6	26	-	-	NOUN
alkej-693	6	27	tasks	task	NOUN
alkej-693	6	28	.	.	PUNCT
alkej-693	7	1	this	this	DET
alkej-693	7	2	paper	paper	NOUN
alkej-693	7	3	presented	present	VERB
alkej-693	7	4	the	the	DET
alkej-693	7	5	inverse	inverse	NOUN
alkej-693	7	6	kinematics	kinematic	NOUN
alkej-693	7	7	analysis	analysis	NOUN
alkej-693	7	8	for	for	ADP
alkej-693	7	9	a	a	DET
alkej-693	7	10	5	5	NUM
alkej-693	7	11	dof	dof	NOUN
alkej-693	7	12	robotic	robotic	ADJ
alkej-693	7	13	arm	arm	NOUN
alkej-693	7	14	using	use	VERB
alkej-693	7	15	the	the	DET
alkej-693	7	16	robotics	robotic	NOUN
alkej-693	7	17	toolbox	toolbox	NOUN
alkej-693	7	18	of	of	ADP
alkej-693	7	19	matlab	matlab	PROPN
alkej-693	7	20	and	and	CCONJ
alkej-693	7	21	the	the	DET
alkej-693	7	22	denavit	denavit	PROPN
alkej-693	7	23	-	-	PUNCT
alkej-693	7	24	hartenberg	hartenberg	PROPN
alkej-693	7	25	(	(	PUNCT
alkej-693	7	26	d	d	NOUN
alkej-693	7	27	-	-	PUNCT
alkej-693	7	28	h	h	NOUN
alkej-693	7	29	)	)	PUNCT
alkej-693	7	30	parameters	parameter	NOUN
alkej-693	7	31	were	be	AUX
alkej-693	7	32	used	use	VERB
alkej-693	7	33	to	to	PART
alkej-693	7	34	represent	represent	VERB
alkej-693	7	35	the	the	DET
alkej-693	7	36	links	link	NOUN
alkej-693	7	37	and	and	CCONJ
alkej-693	7	38	joints	joint	NOUN
alkej-693	7	39	of	of	ADP
alkej-693	7	40	the	the	DET
alkej-693	7	41	robotic	robotic	ADJ
alkej-693	7	42	arm	arm	NOUN
alkej-693	7	43	.	.	PUNCT
alkej-693	8	1	a	a	DET
alkej-693	8	2	geometric	geometric	ADJ
alkej-693	8	3	approach	approach	NOUN
alkej-693	8	4	was	be	AUX
alkej-693	8	5	used	use	VERB
alkej-693	8	6	in	in	ADP
alkej-693	8	7	the	the	DET
alkej-693	8	8	inverse	inverse	NOUN
alkej-693	8	9	kinematics	kinematic	NOUN
alkej-693	8	10	solution	solution	NOUN
alkej-693	8	11	to	to	PART
alkej-693	8	12	determine	determine	VERB
alkej-693	8	13	the	the	DET
alkej-693	8	14	joints	joint	NOUN
alkej-693	8	15	angles	angle	NOUN
alkej-693	8	16	of	of	ADP
alkej-693	8	17	the	the	DET
alkej-693	8	18	robotic	robotic	ADJ
alkej-693	8	19	arm	arm	NOUN
alkej-693	8	20	and	and	CCONJ
alkej-693	8	21	the	the	DET
alkej-693	8	22	path	path	NOUN
alkej-693	8	23	of	of	ADP
alkej-693	8	24	the	the	DET
alkej-693	8	25	robotic	robotic	ADJ
alkej-693	8	26	arm	arm	NOUN
alkej-693	8	27	was	be	AUX
alkej-693	8	28	divided	divide	VERB
alkej-693	8	29	into	into	ADP
alkej-693	8	30	successive	successive	ADJ
alkej-693	8	31	lines	line	NOUN
alkej-693	8	32	to	to	PART
alkej-693	8	33	accomplish	accomplish	VERB
alkej-693	8	34	the	the	DET
alkej-693	8	35	required	require	VERB
alkej-693	8	36	tasks	task	NOUN
alkej-693	8	37	of	of	ADP
alkej-693	8	38	the	the	DET
alkej-693	8	39	robotic	robotic	ADJ
alkej-693	8	40	arm	arm	NOUN
alkej-693	8	41	.	.	PUNCT
alkej-693	9	1	therefore	therefore	ADV
alkej-693	9	2	,	,	PUNCT
alkej-693	9	3	this	this	DET
alkej-693	9	4	method	method	NOUN
alkej-693	9	5	can	can	AUX
alkej-693	9	6	be	be	AUX
alkej-693	9	7	adopted	adopt	VERB
alkej-693	9	8	for	for	ADP
alkej-693	9	9	engineering	engineering	NOUN
alkej-693	9	10	applications	application	NOUN
alkej-693	9	11	.	.	PUNCT
alkej-693	10	1	matlab	matlab	PROPN
alkej-693	10	2	(	(	PUNCT
alkej-693	10	3	graphical	graphical	ADJ
alkej-693	10	4	user	user	NOUN
alkej-693	10	5	interface	interface	NOUN
alkej-693	10	6	)	)	PUNCT
alkej-693	10	7	program	program	NOUN
alkej-693	10	8	was	be	AUX
alkej-693	10	9	used	use	VERB
alkej-693	10	10	to	to	PART
alkej-693	10	11	simulate	simulate	VERB
alkej-693	10	12	the	the	DET
alkej-693	10	13	movement	movement	NOUN
alkej-693	10	14	of	of	ADP
alkej-693	10	15	the	the	DET
alkej-693	10	16	robotic	robotic	ADJ
alkej-693	10	17	arm	arm	NOUN
alkej-693	10	18	in	in	ADP
alkej-693	10	19	3d	3d	NUM
alkej-693	10	20	.	.	PUNCT
alkej-693	11	1	also	also	ADV
alkej-693	11	2	,	,	PUNCT
alkej-693	11	3	matlab	matlab	PROPN
alkej-693	11	4	(	(	PUNCT
alkej-693	11	5	gui	gui	NOUN
alkej-693	11	6	)	)	PUNCT
alkej-693	11	7	has	have	AUX
alkej-693	11	8	been	be	AUX
alkej-693	11	9	used	use	VERB
alkej-693	11	10	to	to	PART
alkej-693	11	11	view	view	VERB
alkej-693	11	12	the	the	DET
alkej-693	11	13	position	position	NOUN
alkej-693	11	14	of	of	ADP
alkej-693	11	15	each	each	DET
alkej-693	11	16	joint	joint	NOUN
alkej-693	11	17	.	.	PUNCT
alkej-693	12	1	the	the	DET
alkej-693	12	2	results	result	NOUN
alkej-693	12	3	showed	show	VERB
alkej-693	12	4	that	that	SCONJ
alkej-693	12	5	the	the	DET
alkej-693	12	6	maximum	maximum	ADJ
alkej-693	12	7	error	error	NOUN
alkej-693	12	8	in	in	ADP
alkej-693	12	9	the	the	DET
alkej-693	12	10	x	x	PROPN
alkej-693	12	11	,	,	PUNCT
alkej-693	12	12	y	y	PROPN
alkej-693	12	13	,	,	PUNCT
alkej-693	12	14	and	and	CCONJ
alkej-693	12	15	z	z	NOUN
alkej-693	12	16	coordinates	coordinate	NOUN
alkej-693	12	17	of	of	ADP
alkej-693	12	18	the	the	DET
alkej-693	12	19	end	end	NOUN
alkej-693	12	20	-	-	PUNCT
alkej-693	12	21	effector	effector	NOUN
alkej-693	12	22	were	be	AUX
alkej-693	12	23	0.0251	0.0251	NUM
alkej-693	12	24	%	%	NOUN
alkej-693	12	25	,	,	PUNCT
alkej-693	12	26	0.0239	0.0239	NUM
alkej-693	12	27	%	%	NOUN
alkej-693	12	28	,	,	PUNCT
alkej-693	12	29	and	and	CCONJ
alkej-693	12	30	0.1085	0.1085	NUM
alkej-693	12	31	%	%	NOUN
alkej-693	12	32	respectively	respectively	ADV
alkej-693	12	33	.	.	PUNCT
alkej-693	13	1	keywords	keyword	NOUN
alkej-693	13	2	:	:	PUNCT
alkej-693	13	3	robotics	robotic	NOUN
alkej-693	13	4	,	,	PUNCT
alkej-693	13	5	forward	forward	ADJ
alkej-693	13	6	kinematics	kinematic	NOUN
alkej-693	13	7	,	,	PUNCT
alkej-693	13	8	inverse	inverse	NOUN
alkej-693	13	9	kinematics	kinematic	NOUN
alkej-693	13	10	,	,	PUNCT
alkej-693	13	11	d	d	X
alkej-693	13	12	-	-	PUNCT
alkej-693	13	13	h	h	NOUN
alkej-693	13	14	parameters	parameter	NOUN
alkej-693	13	15	,	,	PUNCT
alkej-693	13	16	matlab	matlab	PROPN
alkej-693	13	17	.	.	PROPN
alkej-693	13	18	1	1	NUM
alkej-693	13	19	.	.	X
alkej-693	13	20	introduction	introduction	NOUN
alkej-693	13	21	recently	recently	ADV
alkej-693	13	22	,	,	PUNCT
alkej-693	13	23	the	the	DET
alkej-693	13	24	demands	demand	NOUN
alkej-693	13	25	to	to	PART
alkej-693	13	26	use	use	VERB
alkej-693	13	27	robots	robot	NOUN
alkej-693	13	28	are	be	AUX
alkej-693	13	29	increasing	increase	VERB
alkej-693	13	30	in	in	ADP
alkej-693	13	31	many	many	ADJ
alkej-693	13	32	fields	field	NOUN
alkej-693	13	33	such	such	ADJ
alkej-693	13	34	as	as	ADP
alkej-693	13	35	space	space	NOUN
alkej-693	13	36	,	,	PUNCT
alkej-693	13	37	medical	medical	ADJ
alkej-693	13	38	,	,	PUNCT
alkej-693	13	39	industrial	industrial	ADJ
alkej-693	13	40	application	application	NOUN
alkej-693	13	41	,	,	PUNCT
alkej-693	13	42	etc	etc	X
alkej-693	13	43	..	..	X
alkej-693	13	44	but	but	CCONJ
alkej-693	13	45	the	the	DET
alkej-693	13	46	real	real	ADJ
alkej-693	13	47	challenge	challenge	NOUN
alkej-693	13	48	is	be	AUX
alkej-693	13	49	the	the	DET
alkej-693	13	50	kinematics	kinematics	NOUN
alkej-693	13	51	analysis	analysis	NOUN
alkej-693	13	52	of	of	ADP
alkej-693	13	53	robot	robot	NOUN
alkej-693	13	54	with	with	ADP
alkej-693	13	55	higher	high	ADJ
alkej-693	13	56	dof	dof	NOUN
alkej-693	14	1	[	[	X
alkej-693	14	2	1	1	NUM
alkej-693	14	3	]	]	PUNCT
alkej-693	14	4	.	.	PUNCT
alkej-693	15	1	the	the	DET
alkej-693	15	2	kinematic	kinematic	ADJ
alkej-693	15	3	analysis	analysis	NOUN
alkej-693	15	4	contains	contain	VERB
alkej-693	15	5	two	two	NUM
alkej-693	15	6	components	component	NOUN
alkej-693	15	7	:	:	PUNCT
alkej-693	15	8	forward	forward	ADJ
alkej-693	15	9	kinematics	kinematic	NOUN
alkej-693	15	10	and	and	CCONJ
alkej-693	15	11	inverse	inverse	NOUN
alkej-693	15	12	kinematics	kinematic	NOUN
alkej-693	15	13	to	to	PART
alkej-693	15	14	study	study	VERB
alkej-693	15	15	the	the	DET
alkej-693	15	16	movement	movement	NOUN
alkej-693	15	17	of	of	ADP
alkej-693	15	18	the	the	DET
alkej-693	15	19	robots	robot	NOUN
alkej-693	15	20	.	.	PUNCT
alkej-693	16	1	the	the	DET
alkej-693	16	2	forward	forward	ADJ
alkej-693	16	3	kinematics	kinematic	NOUN
alkej-693	16	4	is	be	AUX
alkej-693	16	5	used	use	VERB
alkej-693	16	6	to	to	PART
alkej-693	16	7	determine	determine	VERB
alkej-693	16	8	the	the	DET
alkej-693	16	9	position	position	NOUN
alkej-693	16	10	of	of	ADP
alkej-693	16	11	the	the	DET
alkej-693	16	12	end	end	NOUN
alkej-693	16	13	-	-	PUNCT
alkej-693	16	14	effector	effector	NOUN
alkej-693	16	15	of	of	ADP
alkej-693	16	16	a	a	DET
alkej-693	16	17	robot	robot	NOUN
alkej-693	16	18	using	use	VERB
alkej-693	16	19	the	the	DET
alkej-693	16	20	angles	angle	NOUN
alkej-693	16	21	of	of	ADP
alkej-693	16	22	the	the	DET
alkej-693	16	23	joints	joint	NOUN
alkej-693	16	24	as	as	ADP
alkej-693	16	25	inputs	input	NOUN
alkej-693	16	26	,	,	PUNCT
alkej-693	16	27	while	while	SCONJ
alkej-693	16	28	the	the	DET
alkej-693	16	29	position	position	NOUN
alkej-693	16	30	is	be	AUX
alkej-693	16	31	used	use	VERB
alkej-693	16	32	as	as	ADP
alkej-693	16	33	input	input	NOUN
alkej-693	16	34	to	to	PART
alkej-693	16	35	determine	determine	VERB
alkej-693	16	36	the	the	DET
alkej-693	16	37	joint	joint	ADJ
alkej-693	16	38	angles	angle	NOUN
alkej-693	16	39	in	in	ADP
alkej-693	16	40	inverse	inverse	ADJ
alkej-693	16	41	kinematics	kinematic	NOUN
alkej-693	17	1	[	[	X
alkej-693	17	2	2	2	NUM
alkej-693	17	3	]	]	PUNCT
alkej-693	17	4	.	.	PUNCT
alkej-693	18	1	the	the	DET
alkej-693	18	2	simplest	simple	ADJ
alkej-693	18	3	method	method	NOUN
alkej-693	18	4	to	to	PART
alkej-693	18	5	represent	represent	VERB
alkej-693	18	6	the	the	DET
alkej-693	18	7	robot	robot	NOUN
alkej-693	18	8	links	link	NOUN
alkej-693	18	9	and	and	CCONJ
alkej-693	18	10	joints	joint	NOUN
alkej-693	18	11	to	to	PART
alkej-693	18	12	solve	solve	VERB
alkej-693	18	13	the	the	DET
alkej-693	18	14	forward	forward	ADJ
alkej-693	18	15	kinematics	kinematic	NOUN
alkej-693	18	16	is	be	AUX
alkej-693	18	17	a	a	DET
alkej-693	18	18	denavid	denavid	PROPN
alkej-693	18	19	-	-	PUNCT
alkej-693	18	20	hartenberg	hartenberg	PROPN
alkej-693	18	21	(	(	PUNCT
alkej-693	18	22	dh	dh	NOUN
alkej-693	18	23	)	)	PUNCT
alkej-693	18	24	method	method	NOUN
alkej-693	18	25	[	[	X
alkej-693	18	26	3	3	NUM
alkej-693	18	27	]	]	PUNCT
alkej-693	18	28	.	.	PUNCT
alkej-693	19	1	on	on	ADP
alkej-693	19	2	the	the	DET
alkej-693	19	3	other	other	ADJ
alkej-693	19	4	hand	hand	NOUN
alkej-693	19	5	,	,	PUNCT
alkej-693	19	6	there	there	PRON
alkej-693	19	7	are	be	VERB
alkej-693	19	8	many	many	ADJ
alkej-693	19	9	methods	method	NOUN
alkej-693	19	10	that	that	PRON
alkej-693	19	11	are	be	AUX
alkej-693	19	12	being	be	AUX
alkej-693	19	13	used	use	VERB
alkej-693	19	14	with	with	ADP
alkej-693	19	15	inverse	inverse	NOUN
alkej-693	19	16	kinematics	kinematic	NOUN
alkej-693	19	17	such	such	ADJ
alkej-693	19	18	as	as	ADP
alkej-693	19	19	geometric	geometric	ADJ
alkej-693	19	20	approach	approach	NOUN
alkej-693	19	21	,	,	PUNCT
alkej-693	19	22	algebraic	algebraic	ADJ
alkej-693	19	23	solution	solution	NOUN
alkej-693	19	24	,	,	PUNCT
alkej-693	19	25	and	and	CCONJ
alkej-693	19	26	iterative	iterative	NOUN
alkej-693	19	27	solution	solution	NOUN
alkej-693	19	28	[	[	X
alkej-693	19	29	4	4	NUM
alkej-693	19	30	]	]	PUNCT
alkej-693	19	31	.	.	PUNCT
alkej-693	20	1	a	a	DET
alkej-693	20	2	matlab	matlab	PROPN
alkej-693	20	3	program	program	NOUN
alkej-693	20	4	is	be	AUX
alkej-693	20	5	one	one	NUM
alkej-693	20	6	of	of	ADP
alkej-693	20	7	the	the	DET
alkej-693	20	8	most	most	ADJ
alkej-693	20	9	programs	program	NOUN
alkej-693	20	10	used	use	VERB
alkej-693	20	11	in	in	ADP
alkej-693	20	12	many	many	ADJ
alkej-693	20	13	applications	application	NOUN
alkej-693	20	14	such	such	ADJ
alkej-693	20	15	as	as	ADP
alkej-693	20	16	image	image	NOUN
alkej-693	20	17	processing	processing	NOUN
alkej-693	20	18	,	,	PUNCT
alkej-693	20	19	optimization	optimization	NOUN
alkej-693	20	20	,	,	PUNCT
alkej-693	20	21	matrices	matrix	NOUN
alkej-693	20	22	,	,	PUNCT
alkej-693	20	23	technical	technical	ADJ
alkej-693	20	24	computing	computing	NOUN
alkej-693	20	25	,	,	PUNCT
alkej-693	20	26	etc	etc	X
alkej-693	20	27	..	..	X
alkej-693	20	28	robotic	robotic	ADJ
alkej-693	20	29	toolbox	toolbox	NOUN
alkej-693	20	30	in	in	ADP
alkej-693	20	31	matlab	matlab	PROPN
alkej-693	20	32	is	be	AUX
alkej-693	20	33	used	use	VERB
alkej-693	20	34	in	in	ADP
alkej-693	20	35	determining	determine	VERB
alkej-693	20	36	the	the	DET
alkej-693	20	37	position	position	NOUN
alkej-693	20	38	of	of	ADP
alkej-693	20	39	the	the	DET
alkej-693	20	40	end	end	NOUN
alkej-693	20	41	effector	effector	NOUN
alkej-693	20	42	of	of	ADP
alkej-693	20	43	the	the	DET
alkej-693	20	44	robotic	robotic	ADJ
alkej-693	20	45	arm	arm	NOUN
alkej-693	20	46	and	and	CCONJ
alkej-693	20	47	in	in	ADP
alkej-693	20	48	simulating	simulate	VERB
alkej-693	20	49	the	the	DET
alkej-693	20	50	movement	movement	NOUN
alkej-693	20	51	of	of	ADP
alkej-693	20	52	this	this	DET
alkej-693	20	53	robotic	robotic	ADJ
alkej-693	20	54	arm	arm	NOUN
alkej-693	20	55	depending	depend	VERB
alkej-693	20	56	on	on	ADP
alkej-693	20	57	the	the	DET
alkej-693	20	58	dh	dh	NOUN
alkej-693	20	59	parameters	parameter	NOUN
alkej-693	20	60	[	[	X
alkej-693	20	61	5	5	NUM
alkej-693	20	62	,	,	PUNCT
alkej-693	20	63	6	6	NUM
alkej-693	20	64	]	]	PUNCT
alkej-693	20	65	.	.	PUNCT
alkej-693	21	1	2	2	X
alkej-693	21	2	.	.	X
alkej-693	21	3	related	relate	VERB
alkej-693	21	4	literature	literature	NOUN
alkej-693	21	5	wathik	wathik	PROPN
alkej-693	21	6	i.	i.	PROPN
alkej-693	21	7	m.	m.	PROPN
alkej-693	21	8	al	al	PROPN
alkej-693	21	9	-	-	PUNCT
alkej-693	21	10	tameemi	tameemi	PROPN
alkej-693	21	11	and	and	CCONJ
alkej-693	21	12	wael	wael	PROPN
alkej-693	21	13	m.	m.	PROPN
alkej-693	21	14	h.	h.	PROPN
alkej-693	21	15	hadi	hadi	PROPN
alkej-693	22	1	[	[	X
alkej-693	22	2	7	7	X
alkej-693	22	3	]	]	PUNCT
alkej-693	22	4	studied	study	VERB
alkej-693	22	5	the	the	DET
alkej-693	22	6	forward	forward	ADJ
alkej-693	22	7	and	and	CCONJ
alkej-693	22	8	inverse	inverse	NOUN
alkej-693	22	9	kinematic	kinematic	ADJ
alkej-693	22	10	analysis	analysis	NOUN
alkej-693	22	11	of	of	ADP
alkej-693	22	12	a	a	DET
alkej-693	22	13	5	5	NUM
alkej-693	22	14	dof	dof	NOUN
alkej-693	22	15	robotic	robotic	ADJ
alkej-693	22	16	arm	arm	NOUN
alkej-693	22	17	(	(	PUNCT
alkej-693	22	18	labvolt	labvolt	NOUN
alkej-693	22	19	5250	5250	NUM
alkej-693	22	20	)	)	PUNCT
alkej-693	22	21	;	;	PUNCT
alkej-693	22	22	where	where	SCONJ
alkej-693	22	23	the	the	DET
alkej-693	22	24	dh	dh	NOUN
alkej-693	22	25	parameters	parameter	NOUN
alkej-693	22	26	were	be	AUX
alkej-693	22	27	used	use	VERB
alkej-693	22	28	tahseen	tahseen	PROPN
alkej-693	22	29	f.	f.	PROPN
alkej-693	22	30	abaas	abaas	PROPN
alkej-693	22	31	al	al	PROPN
alkej-693	22	32	-	-	PUNCT
alkej-693	22	33	khwarizmi	khwarizmi	PROPN
alkej-693	22	34	engineering	engineering	NOUN
alkej-693	22	35	journal	journal	PROPN
alkej-693	22	36	,	,	PUNCT
alkej-693	22	37	vol	vol	NOUN
alkej-693	22	38	.	.	PROPN
alkej-693	23	1	16	16	NUM
alkej-693	23	2	,	,	PUNCT
alkej-693	23	3	no	no	INTJ
alkej-693	23	4	.	.	NOUN
alkej-693	23	5	1	1	NUM
alkej-693	23	6	,	,	PUNCT
alkej-693	23	7	p.p	p.p	PROPN
alkej-693	23	8	.	.	NOUN
alkej-693	23	9	110	110	NUM
alkej-693	23	10	(	(	PUNCT
alkej-693	23	11	2020	2020	NUM
alkej-693	23	12	)	)	PUNCT
alkej-693	23	13	2	2	NUM
alkej-693	24	1	to	to	PART
alkej-693	24	2	solve	solve	VERB
alkej-693	24	3	the	the	DET
alkej-693	24	4	forward	forward	ADJ
alkej-693	24	5	kinematics	kinematic	NOUN
alkej-693	24	6	and	and	CCONJ
alkej-693	24	7	the	the	DET
alkej-693	24	8	analytical	analytical	ADJ
alkej-693	24	9	solution	solution	NOUN
alkej-693	24	10	was	be	AUX
alkej-693	24	11	used	use	VERB
alkej-693	24	12	with	with	ADP
alkej-693	24	13	inverse	inverse	ADJ
alkej-693	24	14	kinematics	kinematic	NOUN
alkej-693	24	15	analysis	analysis	NOUN
alkej-693	25	1	.	.	PUNCT
alkej-693	26	1	matlab	matlab	PROPN
alkej-693	26	2	was	be	AUX
alkej-693	26	3	used	use	VERB
alkej-693	26	4	in	in	ADP
alkej-693	26	5	both	both	CCONJ
alkej-693	26	6	forward	forward	ADJ
alkej-693	26	7	and	and	CCONJ
alkej-693	26	8	inverse	inverse	NOUN
alkej-693	26	9	kinematics	kinematic	NOUN
alkej-693	26	10	.	.	PUNCT
alkej-693	27	1	the	the	DET
alkej-693	27	2	results	result	NOUN
alkej-693	27	3	showed	show	VERB
alkej-693	27	4	that	that	SCONJ
alkej-693	27	5	the	the	DET
alkej-693	27	6	maximum	maximum	ADJ
alkej-693	27	7	error	error	NOUN
alkej-693	27	8	in	in	ADP
alkej-693	27	9	position	position	NOUN
alkej-693	27	10	was	be	AUX
alkej-693	27	11	(	(	PUNCT
alkej-693	27	12	0.5	0.5	NUM
alkej-693	27	13	%	%	NOUN
alkej-693	27	14	)	)	PUNCT
alkej-693	27	15	.	.	PUNCT
alkej-693	28	1	tarun	tarun	PROPN
alkej-693	28	2	p.	p.	PROPN
alkej-693	28	3	singh	singh	PROPN
alkej-693	29	1	et	et	PROPN
alkej-693	29	2	al	al	PROPN
alkej-693	30	1	[	[	X
alkej-693	30	2	8	8	NUM
alkej-693	30	3	]	]	PUNCT
alkej-693	30	4	presented	present	VERB
alkej-693	30	5	the	the	DET
alkej-693	30	6	kinematic	kinematic	ADJ
alkej-693	30	7	analysis	analysis	NOUN
alkej-693	30	8	(	(	PUNCT
alkej-693	30	9	forward	forward	ADV
alkej-693	30	10	and	and	CCONJ
alkej-693	30	11	inverse	inverse	NOUN
alkej-693	30	12	)	)	PUNCT
alkej-693	30	13	of	of	ADP
alkej-693	30	14	6	6	NUM
alkej-693	30	15	dof	dof	NOUN
alkej-693	30	16	manipulator	manipulator	NOUN
alkej-693	30	17	arm	arm	NOUN
alkej-693	30	18	.	.	PUNCT
alkej-693	31	1	the	the	DET
alkej-693	31	2	analysis	analysis	NOUN
alkej-693	31	3	was	be	AUX
alkej-693	31	4	performed	perform	VERB
alkej-693	31	5	using	use	VERB
alkej-693	31	6	matlab	matlab	PROPN
alkej-693	31	7	,	,	PUNCT
alkej-693	31	8	the	the	DET
alkej-693	31	9	dh	dh	NOUN
alkej-693	31	10	parameters	parameter	NOUN
alkej-693	31	11	were	be	AUX
alkej-693	31	12	used	use	VERB
alkej-693	31	13	with	with	ADP
alkej-693	31	14	forward	forward	ADJ
alkej-693	31	15	kinematics	kinematic	NOUN
alkej-693	31	16	and	and	CCONJ
alkej-693	31	17	an	an	DET
alkej-693	31	18	iterative	iterative	NOUN
alkej-693	31	19	solution	solution	NOUN
alkej-693	31	20	was	be	AUX
alkej-693	31	21	used	use	VERB
alkej-693	31	22	with	with	ADP
alkej-693	31	23	inverse	inverse	NOUN
alkej-693	31	24	kinematics	kinematic	NOUN
alkej-693	31	25	.	.	PUNCT
alkej-693	32	1	an	an	DET
alkej-693	32	2	acceptable	acceptable	ADJ
alkej-693	32	3	error	error	NOUN
alkej-693	32	4	was	be	AUX
alkej-693	32	5	obtained	obtain	VERB
alkej-693	32	6	from	from	ADP
alkej-693	32	7	the	the	DET
alkej-693	32	8	comparison	comparison	NOUN
alkej-693	32	9	between	between	ADP
alkej-693	32	10	the	the	DET
alkej-693	32	11	analytical	analytical	ADJ
alkej-693	32	12	results	result	NOUN
alkej-693	32	13	and	and	CCONJ
alkej-693	32	14	software	software	NOUN
alkej-693	32	15	results	result	NOUN
alkej-693	32	16	.	.	PUNCT
alkej-693	33	1	tahseen	tahseen	PROPN
alkej-693	33	2	f.	f.	PROPN
alkej-693	33	3	abaas	abaas	PROPN
alkej-693	33	4	and	and	CCONJ
alkej-693	33	5	hind	hind	PROPN
alkej-693	33	6	h.	h.	PROPN
alkej-693	33	7	abdulridha	abdulridha	PROPN
alkej-693	34	1	[	[	X
alkej-693	34	2	9	9	NUM
alkej-693	34	3	]	]	PUNCT
alkej-693	34	4	presented	present	VERB
alkej-693	34	5	a	a	DET
alkej-693	34	6	modeling	modeling	NOUN
alkej-693	34	7	of	of	ADP
alkej-693	34	8	a	a	DET
alkej-693	34	9	5	5	NUM
alkej-693	34	10	dof	dof	NOUN
alkej-693	34	11	robotic	robotic	ADJ
alkej-693	34	12	arm	arm	NOUN
alkej-693	34	13	(	(	PUNCT
alkej-693	34	14	lab	lab	NOUN
alkej-693	34	15	-	-	PUNCT
alkej-693	34	16	volt	volt	NOUN
alkej-693	34	17	5150	5150	NUM
alkej-693	34	18	)	)	PUNCT
alkej-693	34	19	using	use	VERB
alkej-693	34	20	the	the	DET
alkej-693	34	21	dh	dh	NOUN
alkej-693	34	22	parameters	parameter	NOUN
alkej-693	34	23	and	and	CCONJ
alkej-693	34	24	simulated	simulate	VERB
alkej-693	34	25	the	the	DET
alkej-693	34	26	movement	movement	NOUN
alkej-693	34	27	of	of	ADP
alkej-693	34	28	the	the	DET
alkej-693	34	29	robotic	robotic	ADJ
alkej-693	34	30	arm	arm	NOUN
alkej-693	34	31	using	use	VERB
alkej-693	34	32	the	the	DET
alkej-693	34	33	matlab	matlab	PROPN
alkej-693	34	34	program	program	NOUN
alkej-693	34	35	.	.	PUNCT
alkej-693	35	1	the	the	DET
alkej-693	35	2	comparison	comparison	NOUN
alkej-693	35	3	between	between	ADP
alkej-693	35	4	matlab	matlab	PROPN
alkej-693	35	5	outputs	output	NOUN
alkej-693	35	6	and	and	CCONJ
alkej-693	35	7	robocim	robocim	PROPN
alkej-693	35	8	outputs	outputs	PROPN
alkej-693	35	9	was	be	AUX
alkej-693	35	10	performed	perform	VERB
alkej-693	35	11	to	to	PART
alkej-693	35	12	know	know	VERB
alkej-693	35	13	the	the	DET
alkej-693	35	14	acceptance	acceptance	NOUN
alkej-693	35	15	of	of	ADP
alkej-693	35	16	the	the	DET
alkej-693	35	17	modeling	modeling	NOUN
alkej-693	35	18	of	of	ADP
alkej-693	35	19	the	the	DET
alkej-693	35	20	robotic	robotic	ADJ
alkej-693	35	21	arm	arm	NOUN
alkej-693	35	22	.	.	PUNCT
alkej-693	36	1	alla	alla	PROPN
alkej-693	36	2	n.	n.	PROPN
alkej-693	36	3	barakat	barakat	PROPN
alkej-693	36	4	et	et	PROPN
alkej-693	36	5	al	al	PROPN
alkej-693	37	1	[	[	X
alkej-693	37	2	10	10	NUM
alkej-693	37	3	]	]	PUNCT
alkej-693	37	4	studied	study	VERB
alkej-693	37	5	the	the	DET
alkej-693	37	6	3d	3d	PROPN
alkej-693	37	7	simulation	simulation	NOUN
alkej-693	37	8	of	of	ADP
alkej-693	37	9	a	a	DET
alkej-693	37	10	robotic	robotic	ADJ
alkej-693	37	11	arm	arm	NOUN
alkej-693	37	12	using	use	VERB
alkej-693	37	13	a	a	DET
alkej-693	37	14	matlab	matlab	PROPN
alkej-693	37	15	program	program	NOUN
alkej-693	37	16	depending	depend	VERB
alkej-693	37	17	on	on	ADP
alkej-693	37	18	dh	dh	NOUN
alkej-693	37	19	parameters	parameter	NOUN
alkej-693	37	20	.	.	PUNCT
alkej-693	38	1	the	the	DET
alkej-693	38	2	results	result	NOUN
alkej-693	38	3	explained	explain	VERB
alkej-693	38	4	the	the	DET
alkej-693	38	5	way	way	NOUN
alkej-693	38	6	of	of	ADP
alkej-693	38	7	achieving	achieve	VERB
alkej-693	38	8	the	the	DET
alkej-693	38	9	desired	desire	VERB
alkej-693	38	10	goal	goal	NOUN
alkej-693	38	11	of	of	ADP
alkej-693	38	12	the	the	DET
alkej-693	38	13	work	work	NOUN
alkej-693	38	14	which	which	PRON
alkej-693	38	15	was	be	AUX
alkej-693	38	16	drawing	draw	VERB
alkej-693	38	17	sinewave	sinewave	NOUN
alkej-693	38	18	on	on	ADP
alkej-693	38	19	board	board	NOUN
alkej-693	38	20	.	.	PUNCT
alkej-693	39	1	3	3	X
alkej-693	39	2	.	.	X
alkej-693	39	3	kinematics	kinematic	NOUN
alkej-693	39	4	analysis	analysis	NOUN
alkej-693	39	5	kinematics	kinematic	NOUN
alkej-693	39	6	analysis	analysis	NOUN
alkej-693	39	7	of	of	ADP
alkej-693	39	8	robots	robot	NOUN
alkej-693	39	9	has	have	AUX
alkej-693	39	10	defined	define	VERB
alkej-693	39	11	the	the	DET
alkej-693	39	12	relationship	relationship	NOUN
alkej-693	39	13	between	between	ADP
alkej-693	39	14	the	the	DET
alkej-693	39	15	links	link	NOUN
alkej-693	39	16	and	and	CCONJ
alkej-693	39	17	joints	joint	NOUN
alkej-693	39	18	with	with	ADP
alkej-693	39	19	the	the	DET
alkej-693	39	20	position	position	NOUN
alkej-693	39	21	and	and	CCONJ
alkej-693	39	22	orientation	orientation	NOUN
alkej-693	39	23	of	of	ADP
alkej-693	39	24	the	the	DET
alkej-693	39	25	robot	robot	NOUN
alkej-693	39	26	.	.	PUNCT
alkej-693	40	1	the	the	DET
alkej-693	40	2	kinematics	kinematics	NOUN
alkej-693	40	3	analysis	analysis	NOUN
alkej-693	40	4	is	be	AUX
alkej-693	40	5	divided	divide	VERB
alkej-693	40	6	into	into	ADP
alkej-693	40	7	forward	forward	ADJ
alkej-693	40	8	kinematics	kinematic	NOUN
alkej-693	40	9	and	and	CCONJ
alkej-693	40	10	inverse	inverse	NOUN
alkej-693	40	11	kinematics	kinematic	NOUN
alkej-693	40	12	.	.	PUNCT
alkej-693	41	1	3.1	3.1	NUM
alkej-693	41	2	forward	forward	ADJ
alkej-693	41	3	kinematics	kinematic	NOUN
alkej-693	41	4	forward	forward	PROPN
alkej-693	41	5	kinematics	kinematics	PROPN
alkej-693	41	6	is	be	AUX
alkej-693	41	7	used	use	VERB
alkej-693	41	8	to	to	PART
alkej-693	41	9	determine	determine	VERB
alkej-693	41	10	the	the	DET
alkej-693	41	11	position	position	NOUN
alkej-693	41	12	and	and	CCONJ
alkej-693	41	13	orientation	orientation	NOUN
alkej-693	41	14	of	of	ADP
alkej-693	41	15	the	the	DET
alkej-693	41	16	end	end	NOUN
alkej-693	41	17	-	-	PUNCT
alkej-693	41	18	effector	effector	NOUN
alkej-693	41	19	of	of	ADP
alkej-693	41	20	the	the	DET
alkej-693	41	21	robotic	robotic	ADJ
alkej-693	41	22	arm	arm	NOUN
alkej-693	41	23	from	from	ADP
alkej-693	41	24	the	the	DET
alkej-693	41	25	specified	specified	ADJ
alkej-693	41	26	joints	joint	NOUN
alkej-693	41	27	angles	angle	NOUN
alkej-693	41	28	.	.	PUNCT
alkej-693	42	1	the	the	DET
alkej-693	42	2	dh	dh	PROPN
alkej-693	42	3	method	method	NOUN
alkej-693	42	4	is	be	AUX
alkej-693	42	5	one	one	NUM
alkej-693	42	6	of	of	ADP
alkej-693	42	7	the	the	DET
alkej-693	42	8	most	most	ADJ
alkej-693	42	9	methods	method	NOUN
alkej-693	42	10	used	use	VERB
alkej-693	42	11	in	in	ADP
alkej-693	42	12	forward	forward	ADJ
alkej-693	42	13	kinematics	kinematic	NOUN
alkej-693	42	14	which	which	PRON
alkej-693	42	15	represents	represent	VERB
alkej-693	42	16	the	the	DET
alkej-693	42	17	relationship	relationship	NOUN
alkej-693	42	18	of	of	ADP
alkej-693	42	19	the	the	DET
alkej-693	42	20	joint	joint	ADJ
alkej-693	42	21	coordinate	coordinate	NOUN
alkej-693	42	22	between	between	ADP
alkej-693	42	23	two	two	NUM
alkej-693	42	24	links	link	NOUN
alkej-693	42	25	as	as	SCONJ
alkej-693	42	26	shown	show	VERB
alkej-693	42	27	in	in	ADP
alkej-693	42	28	figure	figure	NOUN
alkej-693	42	29	(	(	PUNCT
alkej-693	42	30	1	1	NUM
alkej-693	42	31	)	)	PUNCT
alkej-693	42	32	.	.	PUNCT
alkej-693	43	1	fig	fig	NOUN
alkej-693	43	2	.	.	PUNCT
alkej-693	44	1	1	1	X
alkej-693	44	2	.	.	X
alkej-693	44	3	the	the	DET
alkej-693	44	4	dh	dh	PROPN
alkej-693	44	5	frame	frame	NOUN
alkej-693	44	6	.	.	PUNCT
alkej-693	45	1	where	where	SCONJ
alkej-693	45	2	:	:	PUNCT
alkej-693	45	3	ai	ai	AUX
alkej-693	45	4	:	:	PUNCT
alkej-693	45	5	link	link	VERB
alkej-693	45	6	length	length	NOUN
alkej-693	45	7	.	.	PUNCT
alkej-693	46	1	αi	αi	NOUN
alkej-693	46	2	:	:	PUNCT
alkej-693	46	3	link	link	VERB
alkej-693	46	4	twist	twist	NOUN
alkej-693	46	5	.	.	PUNCT
alkej-693	47	1	di	di	NOUN
alkej-693	47	2	:	:	PUNCT
alkej-693	47	3	link	link	NOUN
alkej-693	47	4	offset	offset	NOUN
alkej-693	47	5	.	.	PUNCT
alkej-693	48	1	θi	θi	X
alkej-693	48	2	:	:	PUNCT
alkej-693	48	3	joint	joint	ADJ
alkej-693	48	4	angle	angle	NOUN
alkej-693	48	5	.	.	PUNCT
alkej-693	49	1	the	the	DET
alkej-693	49	2	robotic	robotic	ADJ
alkej-693	49	3	arm	arm	NOUN
alkej-693	49	4	used	use	VERB
alkej-693	49	5	has	have	VERB
alkej-693	49	6	5	5	NUM
alkej-693	49	7	dof	dof	NOUN
alkej-693	49	8	and	and	CCONJ
alkej-693	49	9	the	the	DET
alkej-693	49	10	dh	dh	NOUN
alkej-693	49	11	parameters	parameter	NOUN
alkej-693	49	12	of	of	ADP
alkej-693	49	13	this	this	DET
alkej-693	49	14	robotic	robotic	NOUN
alkej-693	49	15	are	be	AUX
alkej-693	49	16	listed	list	VERB
alkej-693	49	17	in	in	ADP
alkej-693	49	18	table	table	NOUN
alkej-693	49	19	(	(	PUNCT
alkej-693	49	20	1	1	NUM
alkej-693	49	21	)	)	PUNCT
alkej-693	49	22	.	.	PUNCT
alkej-693	50	1	table	table	NOUN
alkej-693	50	2	1	1	NUM
alkej-693	50	3	,	,	PUNCT
alkej-693	50	4	dh	dh	NOUN
alkej-693	50	5	parameters	parameter	NOUN
alkej-693	50	6	for	for	ADP
alkej-693	50	7	the	the	DET
alkej-693	50	8	robotic	robotic	ADJ
alkej-693	50	9	arm	arm	NOUN
alkej-693	50	10	.	.	PUNCT
alkej-693	51	1	link	link	PROPN
alkej-693	51	2	�	�	PROPN
alkej-693	51	3	�	�	PROPN
alkej-693	51	4	(	(	PUNCT
alkej-693	51	5	mm	mm	PROPN
alkej-693	51	6	)	)	PUNCT
alkej-693	51	7	�	�	PROPN
alkej-693	51	8	�	�	PROPN
alkej-693	51	9	(	(	PUNCT
alkej-693	51	10	degree	degree	NOUN
alkej-693	51	11	)	)	PUNCT
alkej-693	51	12	�	�	PROPN
alkej-693	51	13	�	�	PROPN
alkej-693	51	14	(	(	PUNCT
alkej-693	51	15	mm	mm	NOUN
alkej-693	51	16	)	)	PUNCT
alkej-693	51	17	�	�	PROPN
alkej-693	51	18	�	�	PROPN
alkej-693	51	19	(	(	PUNCT
alkej-693	51	20	degree	degree	NOUN
alkej-693	51	21	)	)	PUNCT
alkej-693	51	22	1	1	NUM
alkej-693	51	23	0	0	NUM
alkej-693	51	24	90	90	NUM
alkej-693	51	25	105	105	NUM
alkej-693	51	26	�	�	PROPN
alkej-693	51	27	�	�	PROPN
alkej-693	52	1	2	2	NUM
alkej-693	52	2	105	105	NUM
alkej-693	52	3	0	0	NUM
alkej-693	52	4	0	0	NUM
alkej-693	52	5	�	�	PROPN
alkej-693	52	6	�	�	PROPN
alkej-693	52	7	3	3	NUM
alkej-693	52	8	100	100	NUM
alkej-693	52	9	0	0	NUM
alkej-693	52	10	0	0	NUM
alkej-693	52	11	�	�	PROPN
alkej-693	52	12	4	4	NUM
alkej-693	52	13	0	0	NUM
alkej-693	52	14	90	90	NUM
alkej-693	52	15	0	0	NUM
alkej-693	52	16	�	�	PROPN
alkej-693	52	17	5	5	NUM
alkej-693	52	18	0	0	NUM
alkej-693	52	19	0	0	NUM
alkej-693	52	20	150	150	NUM
alkej-693	52	21	�	�	PROPN
alkej-693	52	22	�	�	PROPN
alkej-693	52	23	also	also	ADV
alkej-693	52	24	,	,	PUNCT
alkej-693	52	25	the	the	DET
alkej-693	52	26	transformation	transformation	NOUN
alkej-693	52	27	matrix	matrix	NOUN
alkej-693	52	28	between	between	ADP
alkej-693	52	29	two	two	NUM
alkej-693	52	30	successive	successive	ADJ
alkej-693	52	31	links	link	NOUN
alkej-693	52	32	can	can	AUX
alkej-693	52	33	be	be	AUX
alkej-693	52	34	obtained	obtain	VERB
alkej-693	52	35	using	use	VERB
alkej-693	52	36	the	the	DET
alkej-693	52	37	dh	dh	NOUN
alkej-693	52	38	frame	frame	NOUN
alkej-693	52	39	as	as	SCONJ
alkej-693	52	40	follow	follow	VERB
alkej-693	52	41	:	:	PUNCT
alkej-693	52	42	�	�	PROPN
alkej-693	52	43	�	�	PROPN
alkej-693	52	44	�	�	PROPN
alkej-693	52	45	�	�	PROPN
alkej-693	52	46	,	,	PUNCT
alkej-693	52	47	�	�	PROPN
alkej-693	52	48	�	�	PROPN
alkej-693	52	49	�	�	PROPN
alkej-693	52	50	�	�	PROPN
alkej-693	52	51	,	,	PUNCT
alkej-693	52	52	�	�	PROPN
alkej-693	52	53	�	�	PROPN
alkej-693	52	54	�	�	PROPN
alkej-693	52	55	�	�	PROPN
alkej-693	52	56	,	,	PUNCT
alkej-693	52	57	�	�	PROPN
alkej-693	52	58	�	�	PROPN
alkej-693	52	59	�	�	PROPN
alkej-693	52	60	�	�	PROPN
alkej-693	52	61	,	,	PUNCT
alkej-693	52	62	�	�	PROPN
alkej-693	52	63	�	�	PROPN
alkej-693	52	64	�	�	PROPN
alkej-693	52	65	�	�	PROPN
alkej-693	52	66	�	�	PROPN
alkej-693	52	67	�	�	PROPN
alkej-693	52	68	�	�	PROPN
alkej-693	52	69	�	�	PROPN
alkej-693	52	70	�	�	PROPN
alkej-693	52	71	�	�	PROPN
alkej-693	52	72	�	�	PROPN
alkej-693	52	73	�	�	PROPN
alkej-693	52	74	�	�	PROPN
alkej-693	52	75	�	�	PROPN
alkej-693	52	76	0	0	NUM
alkej-693	52	77	00	00	NUM
alkej-693	52	78	00	00	NUM
alkej-693	52	79	00	00	NUM
alkej-693	52	80	0	0	NUM
alkej-693	52	81	1	1	NUM
alkej-693	52	82	00	00	NUM
alkej-693	52	83	1	1	NUM
alkej-693	52	84	�	�	PROPN
alkej-693	52	85	1	1	NUM
alkej-693	52	86	00	00	NUM
alkej-693	52	87	1	1	NUM
alkej-693	52	88	0	0	NUM
alkej-693	52	89	00	00	NUM
alkej-693	52	90	00	00	NUM
alkej-693	52	91	00	00	NUM
alkej-693	52	92	0	0	NUM
alkej-693	52	93	1	1	NUM
alkej-693	52	94	!	!	NOUN
alkej-693	52	95	0	0	NUM
alkej-693	53	1	1	1	NUM
alkej-693	53	2	"	"	SYM
alkej-693	53	3	1	1	NUM
alkej-693	53	4	00	00	NUM
alkej-693	53	5	1	1	NUM
alkej-693	53	6	0	0	NUM
alkej-693	53	7	#	#	NOUN
alkej-693	53	8	0	0	NUM
alkej-693	53	9	00	00	NUM
alkej-693	53	10	00	00	SYM
alkej-693	53	11	0	0	NUM
alkej-693	53	12	1	1	NUM
alkej-693	53	13	00	00	NUM
alkej-693	53	14	1	1	NUM
alkej-693	53	15	"	"	PUNCT
alkej-693	53	16	�	�	PROPN
alkej-693	53	17	1	1	NUM
alkej-693	53	18	00	00	NUM
alkej-693	53	19	�	�	SYM
alkej-693	53	20	$	$	SYM
alkej-693	53	21	0	0	NUM
alkej-693	53	22	0	0	NUM
alkej-693	53	23	�	�	NOUN
alkej-693	53	24	�	�	NOUN
alkej-693	53	25	$	$	SYM
alkej-693	53	26	00	00	NUM
alkej-693	53	27	�	�	SYM
alkej-693	53	28	$	$	SYM
alkej-693	53	29	0	0	NUM
alkej-693	53	30	0	0	NUM
alkej-693	53	31	�	�	PROPN
alkej-693	53	32	$	$	SYM
alkej-693	53	33	0	0	NUM
alkej-693	53	34	0	0	NUM
alkej-693	53	35	1	1	NUM
alkej-693	53	36	�	�	PROPN
alkej-693	53	37	�	�	PROPN
alkej-693	53	38	�	�	PROPN
alkej-693	53	39	�	�	PROPN
alkej-693	53	40	�	�	PROPN
alkej-693	53	41	�	�	PROPN
alkej-693	53	42	�	�	PROPN
alkej-693	53	43	�	�	PROPN
alkej-693	53	44	�	�	PROPN
alkej-693	53	45	�	�	PROPN
alkej-693	53	46	$	$	SYM
alkej-693	53	47	�	�	PROPN
alkej-693	53	48	�	�	PROPN
alkej-693	53	49	�	�	PROPN
alkej-693	53	50	�	�	PROPN
alkej-693	53	51	�	�	PROPN
alkej-693	53	52	$	$	SYM
alkej-693	53	53	�	�	PROPN
alkej-693	53	54	�	�	PROPN
alkej-693	53	55	�	�	PROPN
alkej-693	53	56	$	$	SYM
alkej-693	53	57	#	#	NOUN
alkej-693	53	58	�	�	PROPN
alkej-693	53	59	�	�	PROPN
alkej-693	53	60	�	�	PROPN
alkej-693	53	61	�	�	PROPN
alkej-693	53	62	�	�	PROPN
alkej-693	53	63	�	�	PROPN
alkej-693	53	64	$	$	SYM
alkej-693	53	65	#	#	NOUN
alkej-693	53	66	�	�	NOUN
alkej-693	53	67	�	�	PROPN
alkej-693	53	68	0	0	NUM
alkej-693	53	69	�	�	PROPN
alkej-693	53	70	$	$	SYM
alkej-693	53	71	0	0	NUM
alkej-693	53	72	0	0	NUM
alkej-693	53	73	�	�	NOUN
alkej-693	53	74	$	$	SYM
alkej-693	53	75	!	!	PUNCT
alkej-693	53	76	0	0	NUM
alkej-693	54	1	1	1	NUM
alkej-693	54	2	�	�	NOUN
alkej-693	54	3	…	…	PUNCT
alkej-693	54	4	(	(	PUNCT
alkej-693	54	5	1	1	NUM
alkej-693	54	6	)	)	PUNCT
alkej-693	54	7	where	where	SCONJ
alkej-693	54	8	:	:	PUNCT
alkej-693	54	9	�	�	PROPN
alkej-693	54	10	�	�	PROPN
alkej-693	54	11	�	�	PROPN
alkej-693	54	12	�	�	PROPN
alkej-693	54	13	%	%	PROPN
alkej-693	54	14	�	�	PROPN
alkej-693	54	15	&	&	CCONJ
alkej-693	54	16	�	�	PROPN
alkej-693	54	17	'	'	PART
alkej-693	54	18	tahseen	tahseen	PROPN
alkej-693	54	19	f.	f.	PROPN
alkej-693	54	20	abaas	abaas	PROPN
alkej-693	54	21	al	al	PROPN
alkej-693	54	22	-	-	PUNCT
alkej-693	54	23	khwarizmi	khwarizmi	PROPN
alkej-693	54	24	engineering	engineering	NOUN
alkej-693	54	25	journal	journal	PROPN
alkej-693	54	26	,	,	PUNCT
alkej-693	54	27	vol	vol	NOUN
alkej-693	54	28	.	.	PROPN
alkej-693	54	29	16	16	NUM
alkej-693	54	30	,	,	PUNCT
alkej-693	54	31	no	no	INTJ
alkej-693	54	32	.	.	NOUN
alkej-693	54	33	1	1	NUM
alkej-693	54	34	,	,	PUNCT
alkej-693	54	35	p.p	p.p	PROPN
alkej-693	54	36	.	.	NOUN
alkej-693	54	37	110	110	NUM
alkej-693	54	38	(	(	PUNCT
alkej-693	54	39	2020	2020	NUM
alkej-693	54	40	)	)	PUNCT
alkej-693	54	41	3	3	NUM
alkej-693	54	42	�	�	PROPN
alkej-693	54	43	�	�	PROPN
alkej-693	54	44	�	�	PROPN
alkej-693	54	45	�	�	PROPN
alkej-693	54	46	(	(	PUNCT
alkej-693	54	47	)	)	PUNCT
alkej-693	54	48	&	&	CCONJ
alkej-693	54	49	�	�	PROPN
alkej-693	54	50	'	'	PART
alkej-693	54	51	�	�	PROPN
alkej-693	54	52	$	$	SYM
alkej-693	54	53	�	�	PROPN
alkej-693	54	54	�	�	PROPN
alkej-693	54	55	%	%	NOUN
alkej-693	54	56	�	�	PROPN
alkej-693	54	57	&	&	CCONJ
alkej-693	54	58	$	$	SYM
alkej-693	54	59	'	'	PUNCT
alkej-693	54	60	�	�	PROPN
alkej-693	54	61	$	$	SYM
alkej-693	54	62	�	�	PROPN
alkej-693	54	63	�	�	PROPN
alkej-693	54	64	(	(	PUNCT
alkej-693	54	65	)	)	PUNCT
alkej-693	54	66	&	&	CCONJ
alkej-693	54	67	$	$	SYM
alkej-693	54	68	'	'	PUNCT
alkej-693	54	69	the	the	DET
alkej-693	54	70	individual	individual	ADJ
alkej-693	54	71	matrices	matrix	NOUN
alkej-693	54	72	and	and	CCONJ
alkej-693	54	73	the	the	DET
alkej-693	54	74	global	global	ADJ
alkej-693	54	75	matrix	matrix	NOUN
alkej-693	54	76	of	of	ADP
alkej-693	54	77	the	the	DET
alkej-693	54	78	5	5	NUM
alkej-693	54	79	dof	dof	NOUN
alkej-693	54	80	robotic	robotic	ADJ
alkej-693	54	81	arm	arm	NOUN
alkej-693	54	82	can	can	AUX
alkej-693	54	83	be	be	AUX
alkej-693	54	84	obtained	obtain	VERB
alkej-693	54	85	by	by	ADP
alkej-693	54	86	substituting	substitute	VERB
alkej-693	54	87	the	the	DET
alkej-693	54	88	dh	dh	NOUN
alkej-693	54	89	parameters	parameter	NOUN
alkej-693	54	90	in	in	ADP
alkej-693	54	91	table	table	NOUN
alkej-693	54	92	(	(	PUNCT
alkej-693	54	93	1	1	NUM
alkej-693	54	94	)	)	PUNCT
alkej-693	54	95	in	in	ADP
alkej-693	54	96	the	the	DET
alkej-693	54	97	equation	equation	NOUN
alkej-693	54	98	(	(	PUNCT
alkej-693	54	99	1	1	NUM
alkej-693	54	100	)	)	PUNCT
alkej-693	54	101	,	,	PUNCT
alkej-693	54	102	as	as	SCONJ
alkej-693	54	103	showed	show	VERB
alkej-693	54	104	in	in	ADP
alkej-693	54	105	figure	figure	NOUN
alkej-693	54	106	(	(	PUNCT
alkej-693	54	107	2	2	NUM
alkej-693	54	108	):	):	PUNCT
alkej-693	54	109	fig	fig	NOUN
alkej-693	54	110	.	.	PUNCT
alkej-693	55	1	2	2	X
alkej-693	55	2	.	.	X
alkej-693	55	3	the	the	DET
alkej-693	55	4	coordinate	coordinate	ADJ
alkej-693	55	5	frame	frame	NOUN
alkej-693	55	6	of	of	ADP
alkej-693	55	7	the	the	DET
alkej-693	55	8	robotic	robotic	ADJ
alkej-693	55	9	arm	arm	NOUN
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alkej-693	56	1	*	*	PUNCT
alkej-693	56	2	�	�	PROPN
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alkej-693	56	7	,	,	PUNCT
alkej-693	56	8	�	�	PROPN
alkej-693	56	9	,	,	PUNCT
alkej-693	56	10	�	�	PROPN
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alkej-693	56	15	�	�	PROPN
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alkej-693	56	20	�	�	PROPN
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alkej-693	56	28	�	�	PROPN
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alkej-693	56	30	�	�	PROPN
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alkej-693	56	42	00	00	NUM
alkej-693	57	1	10	10	NUM
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alkej-693	57	4	!	!	PUNCT
alkej-693	58	1	�	�	PROPN
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alkej-693	58	3	1	1	NUM
alkej-693	58	4	�	�	NOUN
alkej-693	58	5	…	…	PUNCT
alkej-693	58	6	(	(	PUNCT
alkej-693	58	7	2	2	NUM
alkej-693	58	8	)	)	PUNCT
alkej-693	58	9	*	*	PUNCT
alkej-693	58	10	�	�	PROPN
alkej-693	58	11	�	�	PROPN
alkej-693	58	12	�	�	PROPN
alkej-693	58	13	�	�	PROPN
alkej-693	58	14	�	�	PROPN
alkej-693	58	15	�	�	PROPN
alkej-693	58	16	�	�	PROPN
alkej-693	58	17	�	�	PROPN
alkej-693	58	18	�	�	PROPN
alkej-693	58	19	�	�	PROPN
alkej-693	58	20	�	�	PROPN
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alkej-693	58	22	�	�	PROPN
alkej-693	58	23	0	0	NUM
alkej-693	58	24	#	#	SYM
alkej-693	58	25	�	�	PROPN
alkej-693	58	26	�	�	PROPN
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alkej-693	58	29	#	#	SYM
alkej-693	58	30	�	�	PROPN
alkej-693	58	31	�	�	PROPN
alkej-693	58	32	�	�	PROPN
alkej-693	58	33	0	0	NUM
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alkej-693	58	35	0	0	NUM
alkej-693	58	36	1	1	NUM
alkej-693	58	37	00	00	NUM
alkej-693	58	38	1	1	NUM
alkej-693	58	39	�	�	NOUN
alkej-693	58	40	…	…	PUNCT
alkej-693	58	41	(	(	PUNCT
alkej-693	58	42	3	3	NUM
alkej-693	58	43	)	)	PUNCT
alkej-693	58	44	*	*	PUNCT
alkej-693	58	45	�	�	PROPN
alkej-693	58	46	�	�	PROPN
alkej-693	58	47	�	�	PROPN
alkej-693	58	48	�	�	PROPN
alkej-693	58	49	�	�	PROPN
alkej-693	58	50	�	�	PROPN
alkej-693	58	51	�	�	PROPN
alkej-693	58	52	�	�	PROPN
alkej-693	58	53	0	0	NUM
alkej-693	58	54	#	#	NOUN
alkej-693	58	55	�	�	NOUN
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alkej-693	58	57	#	#	NOUN
alkej-693	58	58	�	�	PROPN
alkej-693	58	59	0	0	NUM
alkej-693	58	60	00	00	NUM
alkej-693	58	61	0	0	NUM
alkej-693	58	62	1	1	NUM
alkej-693	58	63	00	00	NUM
alkej-693	58	64	1	1	NUM
alkej-693	58	65	�	�	NOUN
alkej-693	58	66	…	…	PUNCT
alkej-693	58	67	(	(	PUNCT
alkej-693	58	68	4	4	NUM
alkej-693	58	69	)	)	PUNCT
alkej-693	58	70	*	*	PUNCT
alkej-693	58	71	�	�	PROPN
alkej-693	58	72	�	�	PROPN
alkej-693	58	73	�	�	PROPN
alkej-693	58	74	0	0	NUM
alkej-693	58	75	�	�	PROPN
alkej-693	58	76	0	0	NUM
alkej-693	58	77	�	�	PROPN
alkej-693	58	78	0	0	NUM
alkej-693	58	79	�	�	PROPN
alkej-693	58	80	�	�	PROPN
alkej-693	58	81	00	00	NUM
alkej-693	58	82	10	10	NUM
alkej-693	58	83	0	0	NUM
alkej-693	58	84	0	0	NUM
alkej-693	58	85	0	0	NUM
alkej-693	58	86	0	0	NUM
alkej-693	58	87	1	1	NUM
alkej-693	58	88	�	�	NOUN
alkej-693	58	89	…	…	PUNCT
alkej-693	58	90	(	(	PUNCT
alkej-693	58	91	5	5	NUM
alkej-693	58	92	)	)	PUNCT
alkej-693	58	93	*	*	PUNCT
alkej-693	58	94	�	�	PROPN
alkej-693	58	95	�	�	PROPN
alkej-693	58	96	�	�	PROPN
alkej-693	58	97	�	�	PROPN
alkej-693	58	98	�	�	PROPN
alkej-693	58	99	�	�	PROPN
alkej-693	58	100	�	�	PROPN
alkej-693	58	101	�	�	PROPN
alkej-693	58	102	�	�	PROPN
alkej-693	58	103	�	�	PROPN
alkej-693	58	104	�	�	PROPN
alkej-693	58	105	�	�	PROPN
alkej-693	58	106	0	0	NUM
alkej-693	58	107	00	00	NUM
alkej-693	58	108	00	00	NUM
alkej-693	58	109	00	00	NUM
alkej-693	58	110	0	0	NUM
alkej-693	58	111	1	1	NUM
alkej-693	58	112	!	!	PUNCT
alkej-693	58	113	�	�	NOUN
alkej-693	58	114	0	0	NUM
alkej-693	58	115	1	1	NUM
alkej-693	58	116	�	�	NOUN
alkej-693	58	117	…	…	PUNCT
alkej-693	58	118	(	(	PUNCT
alkej-693	58	119	6	6	NUM
alkej-693	58	120	)	)	PUNCT
alkej-693	58	121	and	and	CCONJ
alkej-693	58	122	the	the	DET
alkej-693	58	123	global	global	ADJ
alkej-693	58	124	matrix	matrix	NOUN
alkej-693	58	125	*	*	PUNCT
alkej-693	58	126	�	�	PROPN
alkej-693	58	127	+	+	NOUN
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alkej-693	58	139	43	43	NUM
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alkej-693	58	143	50	50	NUM
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alkej-693	58	146	112121	112121	NUM
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alkej-693	58	150	124131	124131	NUM
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alkej-693	58	152	0	0	NUM
alkej-693	58	153	133	133	NUM
alkej-693	58	154	1340	1340	NUM
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alkej-693	58	156	"	"	PUNCT
alkej-693	58	157	…	…	PUNCT
alkej-693	58	158	(	(	PUNCT
alkej-693	58	159	7	7	NUM
alkej-693	58	160	)	)	SYM
alkej-693	58	161	1	1	NUM
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alkej-693	58	164	�	�	PROPN
alkej-693	58	165	�	�	PROPN
alkej-693	58	166	�	�	PROPN
alkej-693	58	167	�	�	PROPN
alkej-693	58	168	�	�	PROPN
alkej-693	58	169	+	+	CCONJ
alkej-693	58	170	�	�	PROPN
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alkej-693	58	173	1	1	NUM
alkej-693	58	174	�	�	PROPN
alkej-693	58	175	�	�	PROPN
alkej-693	58	176	�	�	PROPN
alkej-693	58	177	�	�	PROPN
alkej-693	58	178	�	�	PROPN
alkej-693	58	179	�	�	PROPN
alkej-693	58	180	�	�	PROPN
alkej-693	58	181	�	�	PROPN
alkej-693	58	182	�	�	PROPN
alkej-693	58	183	+	+	SYM
alkej-693	58	184	�	�	PROPN
alkej-693	58	185	�	�	PROPN
alkej-693	58	186	�	�	PROPN
alkej-693	58	187	�	�	PROPN
alkej-693	58	188	1	1	NUM
alkej-693	58	189	�	�	PROPN
alkej-693	58	190	�	�	PROPN
alkej-693	58	191	�	�	PROPN
alkej-693	58	192	�	�	PROPN
alkej-693	58	193	�	�	PROPN
alkej-693	58	194	�	�	PROPN
alkej-693	58	195	1	1	NUM
alkej-693	58	196	�	�	PROPN
alkej-693	58	197	�	�	PROPN
alkej-693	58	198	�	�	PROPN
alkej-693	58	199	�	�	PROPN
alkej-693	58	200	&	&	CCONJ
alkej-693	58	201	!	!	PUNCT
alkej-693	58	202	�	�	PROPN
alkej-693	58	203	�	�	PROPN
alkej-693	58	204	�	�	PROPN
alkej-693	58	205	+	+	CCONJ
alkej-693	59	1	#	#	PROPN
alkej-693	59	2	�	�	PROPN
alkej-693	59	3	�	�	PROPN
alkej-693	59	4	+	+	CCONJ
alkej-693	59	5	#	#	SYM
alkej-693	59	6	�	�	PROPN
alkej-693	59	7	�	�	PROPN
alkej-693	59	8	�	�	PROPN
alkej-693	59	9	'	'	PART
alkej-693	59	10	1	1	NUM
alkej-693	59	11	�	�	PROPN
alkej-693	59	12	�	�	PROPN
alkej-693	59	13	�	�	PROPN
alkej-693	59	14	�	�	PROPN
alkej-693	59	15	�	�	PROPN
alkej-693	59	16	�	�	PROPN
alkej-693	59	17	�	�	PROPN
alkej-693	59	18	�	�	PROPN
alkej-693	59	19	�	�	PROPN
alkej-693	59	20	�	�	PROPN
alkej-693	59	21	�	�	PROPN
alkej-693	59	22	�	�	PROPN
alkej-693	59	23	�	�	PROPN
alkej-693	59	24	1	1	NUM
alkej-693	59	25	�	�	PROPN
alkej-693	59	26	�	�	PROPN
alkej-693	59	27	�	�	PROPN
alkej-693	59	28	�	�	PROPN
alkej-693	59	29	�	�	PROPN
alkej-693	59	30	�	�	PROPN
alkej-693	59	31	�	�	PROPN
alkej-693	59	32	�	�	PROPN
alkej-693	59	33	�	�	PROPN
alkej-693	59	34	�	�	PROPN
alkej-693	59	35	�	�	PROPN
alkej-693	59	36	�	�	PROPN
alkej-693	59	37	�	�	PROPN
alkej-693	59	38	1	1	NUM
alkej-693	59	39	�	�	PROPN
alkej-693	59	40	�	�	PROPN
alkej-693	59	41	�	�	PROPN
alkej-693	59	42	�	�	PROPN
alkej-693	59	43	�	�	PROPN
alkej-693	59	44	�	�	PROPN
alkej-693	59	45	1	1	NUM
alkej-693	59	46	�	�	PROPN
alkej-693	59	47	�	�	PROPN
alkej-693	59	48	�	�	PROPN
alkej-693	59	49	�	�	PROPN
alkej-693	59	50	&	&	CCONJ
alkej-693	59	51	!	!	PUNCT
alkej-693	59	52	�	�	PROPN
alkej-693	59	53	�	�	PROPN
alkej-693	59	54	�	�	PROPN
alkej-693	59	55	+	+	CCONJ
alkej-693	59	56	#	#	PROPN
alkej-693	59	57	�	�	PROPN
alkej-693	59	58	�	�	PROPN
alkej-693	59	59	+	+	CCONJ
alkej-693	59	60	#	#	SYM
alkej-693	59	61	�	�	PROPN
alkej-693	59	62	�	�	PROPN
alkej-693	59	63	�	�	PROPN
alkej-693	59	64	'	'	PART
alkej-693	59	65	1	1	NUM
alkej-693	59	66	�	�	PROPN
alkej-693	59	67	�	�	PROPN
alkej-693	59	68	�	�	PROPN
alkej-693	59	69	�	�	PROPN
alkej-693	59	70	�	�	PROPN
alkej-693	59	71	�	�	PROPN
alkej-693	59	72	1	1	NUM
alkej-693	59	73	�	�	PROPN
alkej-693	59	74	�	�	PROPN
alkej-693	59	75	�	�	PROPN
alkej-693	59	76	�	�	PROPN
alkej-693	59	77	�	�	PROPN
alkej-693	59	78	�	�	PROPN
alkej-693	59	79	�	�	PROPN
alkej-693	59	80	1	1	NUM
alkej-693	59	81	�	�	PROPN
alkej-693	59	82	�	�	PROPN
alkej-693	59	83	�	�	PROPN
alkej-693	59	84	�	�	PROPN
alkej-693	59	85	1	1	NUM
alkej-693	59	86	�	�	PROPN
alkej-693	59	87	�	�	PROPN
alkej-693	59	88	!	!	SYM
alkej-693	59	89	�	�	PROPN
alkej-693	59	90	�	�	PROPN
alkej-693	59	91	�	�	PROPN
alkej-693	59	92	+	+	CCONJ
alkej-693	59	93	#	#	PROPN
alkej-693	59	94	�	�	PROPN
alkej-693	59	95	�	�	PROPN
alkej-693	59	96	+	+	CCONJ
alkej-693	59	97	#	#	SYM
alkej-693	59	98	�	�	PROPN
alkej-693	59	99	�	�	NOUN
alkej-693	59	100	�	�	PROPN
alkej-693	59	101	+	+	NUM
alkej-693	59	102	!	!	PUNCT
alkej-693	59	103	�	�	PROPN
alkej-693	59	104	where	where	SCONJ
alkej-693	59	105	:	:	PUNCT
alkej-693	59	106	�	�	PROPN
alkej-693	59	107	�	�	PROPN
alkej-693	59	108	�	�	PROPN
alkej-693	59	109	�	�	PROPN
alkej-693	59	110	�	�	PROPN
alkej-693	59	111	�	�	PROPN
alkej-693	59	112	%	%	PROPN
alkej-693	59	113	�	�	PROPN
alkej-693	59	114	&	&	CCONJ
alkej-693	59	115	�	�	PROPN
alkej-693	59	116	�	�	PROPN
alkej-693	59	117	+	+	SYM
alkej-693	59	118	�	�	PROPN
alkej-693	59	119	�	�	PROPN
alkej-693	59	120	+	+	CCONJ
alkej-693	59	121	�	�	PROPN
alkej-693	59	122	+	+	CCONJ
alkej-693	59	123	�	�	PROPN
alkej-693	59	124	+	+	CCONJ
alkej-693	59	125	�	�	PROPN
alkej-693	59	126	�	�	PROPN
alkej-693	59	127	'	'	PART
alkej-693	59	128	�	�	PROPN
alkej-693	59	129	�	�	PROPN
alkej-693	59	130	�	�	PROPN
alkej-693	59	131	�	�	PROPN
alkej-693	59	132	�	�	PROPN
alkej-693	59	133	(	(	PUNCT
alkej-693	59	134	)	)	PUNCT
alkej-693	59	135	&	&	CCONJ
alkej-693	59	136	�	�	PROPN
alkej-693	59	137	�	�	PROPN
alkej-693	59	138	+	+	CCONJ
alkej-693	59	139	�	�	PROPN
alkej-693	59	140	�	�	PROPN
alkej-693	59	141	'	'	PART
alkej-693	59	142	3.2	3.2	NUM
alkej-693	59	143	inverse	inverse	NOUN
alkej-693	59	144	kinematics	kinematic	NOUN
alkej-693	59	145	inverse	inverse	NOUN
alkej-693	59	146	kinematics	kinematic	NOUN
alkej-693	59	147	(	(	PUNCT
alkej-693	59	148	ik	ik	PROPN
alkej-693	59	149	)	)	PUNCT
alkej-693	59	150	is	be	AUX
alkej-693	59	151	used	use	VERB
alkej-693	59	152	to	to	PART
alkej-693	59	153	determine	determine	VERB
alkej-693	59	154	the	the	DET
alkej-693	59	155	required	require	VERB
alkej-693	59	156	joints	joint	NOUN
alkej-693	59	157	angles	angle	NOUN
alkej-693	59	158	of	of	ADP
alkej-693	59	159	the	the	DET
alkej-693	59	160	robotic	robotic	ADJ
alkej-693	59	161	arm	arm	NOUN
alkej-693	59	162	to	to	PART
alkej-693	59	163	achieve	achieve	VERB
alkej-693	59	164	the	the	DET
alkej-693	59	165	specified	specified	ADJ
alkej-693	59	166	position	position	NOUN
alkej-693	59	167	and	and	CCONJ
alkej-693	59	168	orientation	orientation	NOUN
alkej-693	59	169	of	of	ADP
alkej-693	59	170	the	the	DET
alkej-693	59	171	end	end	NOUN
alkej-693	59	172	-	-	PUNCT
alkej-693	59	173	effector	effector	NOUN
alkej-693	59	174	of	of	ADP
alkej-693	59	175	the	the	DET
alkej-693	59	176	robotic	robotic	ADJ
alkej-693	59	177	arm	arm	NOUN
alkej-693	59	178	.	.	PUNCT
alkej-693	60	1	in	in	ADP
alkej-693	60	2	this	this	DET
alkej-693	60	3	work	work	NOUN
alkej-693	60	4	,	,	PUNCT
alkej-693	60	5	the	the	DET
alkej-693	60	6	geometric	geometric	ADJ
alkej-693	60	7	approach	approach	NOUN
alkej-693	60	8	was	be	AUX
alkej-693	60	9	used	use	VERB
alkej-693	60	10	to	to	PART
alkej-693	60	11	solve	solve	VERB
alkej-693	60	12	the	the	DET
alkej-693	60	13	inverse	inverse	NOUN
alkej-693	60	14	kinematics	kinematic	NOUN
alkej-693	60	15	of	of	ADP
alkej-693	60	16	the	the	DET
alkej-693	60	17	5	5	NUM
alkej-693	60	18	dof	dof	NOUN
alkej-693	60	19	robotic	robotic	ADJ
alkej-693	60	20	arm	arm	NOUN
alkej-693	60	21	:	:	PUNCT
alkej-693	60	22	tahseen	tahseen	PROPN
alkej-693	60	23	f.	f.	PROPN
alkej-693	60	24	abaas	abaas	PROPN
alkej-693	60	25	al	al	PROPN
alkej-693	60	26	-	-	PUNCT
alkej-693	60	27	khwarizmi	khwarizmi	PROPN
alkej-693	60	28	engineering	engineering	NOUN
alkej-693	60	29	journal	journal	PROPN
alkej-693	60	30	,	,	PUNCT
alkej-693	60	31	vol	vol	NOUN
alkej-693	60	32	.	.	PROPN
alkej-693	60	33	16	16	NUM
alkej-693	60	34	,	,	PUNCT
alkej-693	60	35	no	no	INTJ
alkej-693	60	36	.	.	NOUN
alkej-693	60	37	1	1	NUM
alkej-693	60	38	,	,	PUNCT
alkej-693	60	39	p.p	p.p	PROPN
alkej-693	60	40	.	.	NOUN
alkej-693	60	41	110	110	NUM
alkej-693	60	42	(	(	PUNCT
alkej-693	60	43	2020	2020	NUM
alkej-693	60	44	)	)	PUNCT
alkej-693	60	45	4	4	NUM
alkej-693	60	46	fig	fig	NOUN
alkej-693	60	47	.	.	PUNCT
alkej-693	61	1	3	3	X
alkej-693	61	2	.	.	X
alkej-693	62	1	the	the	DET
alkej-693	62	2	4	4	NUM
alkej-693	62	3	link	link	NOUN
alkej-693	62	4	articulated	articulated	ADJ
alkej-693	62	5	robot	robot	NOUN
alkej-693	62	6	[	[	X
alkej-693	62	7	9	9	NUM
alkej-693	62	8	]	]	PUNCT
alkej-693	62	9	.	.	PUNCT
alkej-693	63	1	from	from	ADP
alkej-693	63	2	figure	figure	NOUN
alkej-693	63	3	(	(	PUNCT
alkej-693	63	4	3	3	NUM
alkej-693	63	5	)	)	PUNCT
alkej-693	63	6	,	,	PUNCT
alkej-693	63	7	the	the	DET
alkej-693	63	8	wrist	wrist	NOUN
alkej-693	63	9	angle	angle	NOUN
alkej-693	63	10	relative	relative	ADJ
alkej-693	63	11	to	to	ADP
alkej-693	63	12	the	the	DET
alkej-693	63	13	reference	reference	NOUN
alkej-693	63	14	coordinate	coordinate	NOUN
alkej-693	63	15	(	(	PUNCT
alkej-693	63	16	θ234	θ234	NUM
alkej-693	63	17	)	)	PUNCT
alkej-693	63	18	represents	represent	VERB
alkej-693	63	19	the	the	DET
alkej-693	63	20	relation	relation	NOUN
alkej-693	63	21	between	between	ADP
alkej-693	63	22	(	(	PUNCT
alkej-693	63	23	θ2	θ2	PROPN
alkej-693	63	24	,	,	PUNCT
alkej-693	63	25	θ3	θ3	PROPN
alkej-693	63	26	,	,	PUNCT
alkej-693	63	27	and	and	CCONJ
alkej-693	63	28	θ4	θ4	NOUN
alkej-693	63	29	):	):	PUNCT
alkej-693	63	30	�	�	PROPN
alkej-693	63	31	�	�	PROPN
alkej-693	63	32	�	�	PROPN
alkej-693	63	33	�	�	PROPN
alkej-693	63	34	�	�	PROPN
alkej-693	63	35	+	+	CCONJ
alkej-693	63	36	�	�	PROPN
alkej-693	63	37	+	+	CCONJ
alkej-693	63	38	�	�	PROPN
alkej-693	63	39	…	…	PUNCT
alkej-693	63	40	(	(	PUNCT
alkej-693	63	41	8)	8)	NUM
alkej-693	63	42	where	where	SCONJ
alkej-693	63	43	�	�	NOUN
alkej-693	63	44	�	�	PROPN
alkej-693	63	45	can	can	AUX
alkej-693	63	46	be	be	AUX
alkej-693	63	47	calculated	calculate	VERB
alkej-693	63	48	based	base	VERB
alkej-693	63	49	on	on	ADP
alkej-693	63	50	pitch	pitch	NOUN
alkej-693	63	51	wrist	wrist	NOUN
alkej-693	63	52	orientation	orientation	NOUN
alkej-693	63	53	angle	angle	NOUN
alkej-693	63	54	∅	∅	NOUN
alkej-693	63	55	90	90	NUM
alkej-693	63	56	�	�	PROPN
alkej-693	63	57	�	�	PROPN
alkej-693	63	58	�	�	PROPN
alkej-693	63	59	�	�	PROPN
alkej-693	63	60	±∅	±∅	NOUN
alkej-693	63	61	…	…	PUNCT
alkej-693	63	62	(	(	PUNCT
alkej-693	63	63	9	9	NUM
alkej-693	63	64	)	)	PUNCT
alkej-693	63	65	�	�	PROPN
alkej-693	63	66	�	�	PROPN
alkej-693	63	67	!	!	PUNCT
alkej-693	63	68	�	�	PROPN
alkej-693	63	69	∗	∗	NOUN
alkej-693	63	70	cos	cos	PROPN
alkej-693	63	71	∅	∅	NOUN
alkej-693	63	72	…	…	PUNCT
alkej-693	63	73	(	(	PUNCT
alkej-693	63	74	10	10	NUM
alkej-693	63	75	)	)	PUNCT
alkej-693	63	76	:	:	PUNCT
alkej-693	63	77	�	�	PROPN
alkej-693	63	78	;	;	PUNCT
alkej-693	63	79	�	�	PROPN
alkej-693	63	80	:	:	PUNCT
alkej-693	63	81	�	�	PROPN
alkej-693	63	82	�	�	PROPN
alkej-693	63	83	�	�	PROPN
alkej-693	63	84	cos	cos	PROPN
alkej-693	63	85	�	�	PROPN
alkej-693	63	86	�	�	PROPN
alkej-693	63	87	�	�	PROPN
alkej-693	63	88	<	<	X
alkej-693	63	89	=	=	X
alkej-693	63	90	…	…	PUNCT
alkej-693	63	91	(	(	PUNCT
alkej-693	63	92	11	11	NUM
alkej-693	63	93	)	)	PUNCT
alkej-693	63	94	:>	:>	PROPN
alkej-693	63	95	;	;	PUNCT
alkej-693	63	96	�	�	PROPN
alkej-693	63	97	:>	:>	SYM
alkej-693	63	98	�	�	PROPN
alkej-693	63	99	�	�	PROPN
alkej-693	63	100	sin	sin	PROPN
alkej-693	63	101	�	�	PROPN
alkej-693	63	102	�	�	PROPN
alkej-693	63	103	�	�	PROPN
alkej-693	63	104	a=	a=	X
alkej-693	63	105	…	…	PUNCT
alkej-693	63	106	(	(	PUNCT
alkej-693	63	107	12	12	NUM
alkej-693	63	108	)	)	PUNCT
alkej-693	63	109	:	:	PUNCT
alkej-693	63	110	�	�	PROPN
alkej-693	63	111	;	;	PUNCT
alkej-693	63	112	�	�	PROPN
alkej-693	63	113	:	:	PUNCT
alkej-693	63	114	�	�	PROPN
alkej-693	63	115	+	+	NUM
alkej-693	63	116	!	!	PUNCT
alkej-693	63	117	�	�	PROPN
alkej-693	63	118	sin	sin	NOUN
alkej-693	63	119	∅	∅	NOUN
alkej-693	63	120	�	�	PROPN
alkej-693	63	121	b=	b=	NOUN
alkej-693	63	122	…	…	PUNCT
alkej-693	63	123	(	(	PUNCT
alkej-693	63	124	13	13	NUM
alkej-693	63	125	)	)	PUNCT
alkej-693	63	126	�	�	PROPN
alkej-693	63	127	=	=	SYM
alkej-693	63	128	�	�	PROPN
alkej-693	63	129	c	c	PROPN
alkej-693	63	130	:	:	PUNCT
alkej-693	63	131	�	�	PROPN
alkej-693	63	132	�	�	PROPN
alkej-693	63	133	+	+	CCONJ
alkej-693	63	134	:>	:>	PROPN
alkej-693	63	135	�	�	PROPN
alkej-693	63	136	�	�	PROPN
alkej-693	63	137	�	�	PROPN
alkej-693	63	138	�	�	PROPN
alkej-693	63	139	c	c	PROPN
alkej-693	63	140	:	:	PUNCT
alkej-693	63	141	�	�	PROPN
alkej-693	63	142	;	;	PUNCT
alkej-693	63	143	�	�	PROPN
alkej-693	63	144	+	+	CCONJ
alkej-693	63	145	:>	:>	PROPN
alkej-693	63	146	;	;	PUNCT
alkej-693	63	147	�	�	PROPN
alkej-693	63	148	…	…	PUNCT
alkej-693	63	149	(	(	PUNCT
alkej-693	63	150	14	14	NUM
alkej-693	63	151	)	)	PUNCT
alkej-693	63	152	d	d	PROPN
alkej-693	63	153	�	�	PROPN
alkej-693	63	154	ce	ce	PROPN
alkej-693	63	155	:	:	PUNCT
alkej-693	63	156	�	�	PROPN
alkej-693	63	157	;	;	PUNCT
alkej-693	63	158	�	�	PROPN
alkej-693	63	159	!	!	PUNCT
alkej-693	63	160	�	�	PROPN
alkej-693	63	161	f	f	PROPN
alkej-693	63	162	�	�	PROPN
alkej-693	63	163	+	+	NUM
alkej-693	63	164	�	�	PROPN
alkej-693	63	165	=	=	SYM
alkej-693	63	166	�	�	PROPN
alkej-693	63	167	…	…	PUNCT
alkej-693	63	168	(	(	PUNCT
alkej-693	63	169	15	15	NUM
alkej-693	63	170	)	)	PUNCT
alkej-693	63	171	fig	fig	NOUN
alkej-693	63	172	.	.	PUNCT
alkej-693	64	1	4	4	X
alkej-693	64	2	.	.	X
alkej-693	64	3	top	top	ADJ
alkej-693	64	4	view	view	NOUN
alkej-693	64	5	of	of	ADP
alkej-693	64	6	the	the	DET
alkej-693	64	7	robotic	robotic	ADJ
alkej-693	64	8	arm	arm	NOUN
alkej-693	64	9	.	.	PUNCT
alkej-693	65	1	•	•	NUM
alkej-693	65	2	solution	solution	NOUN
alkej-693	65	3	for	for	ADP
alkej-693	65	4	�	�	NOUN
alkej-693	65	5	g	g	NOUN
alkej-693	65	6	:	:	PUNCT
alkej-693	65	7	base	base	NOUN
alkej-693	65	8	angle	angle	NOUN
alkej-693	65	9	can	can	AUX
alkej-693	65	10	be	be	AUX
alkej-693	65	11	calculated	calculate	VERB
alkej-693	65	12	from	from	ADP
alkej-693	65	13	figure	figure	NOUN
alkej-693	65	14	4	4	NUM
alkej-693	65	15	as	as	SCONJ
alkej-693	65	16	follows	follow	VERB
alkej-693	65	17	:	:	PUNCT
alkej-693	65	18	�	�	PROPN
alkej-693	65	19	�	�	PROPN
alkej-693	65	20	�	�	PROPN
alkej-693	65	21	tanj	tanj	PROPN
alkej-693	65	22	�	�	PROPN
alkej-693	65	23	klmlno	klmlno	PROPN
alkej-693	65	24	…	…	PUNCT
alkej-693	65	25	(	(	PUNCT
alkej-693	65	26	16	16	NUM
alkej-693	65	27	)	)	PUNCT
alkej-693	65	28	the	the	DET
alkej-693	65	29	other	other	ADJ
alkej-693	65	30	solution	solution	NOUN
alkej-693	65	31	will	will	AUX
alkej-693	65	32	be	be	AUX
alkej-693	65	33	:	:	PUNCT
alkej-693	65	34	�	�	PROPN
alkej-693	65	35	�	�	PROPN
alkej-693	65	36	p	p	PROPN
alkej-693	65	37	�	�	PROPN
alkej-693	65	38	�	�	PROPN
alkej-693	65	39	�	�	PROPN
alkej-693	65	40	+	+	CCONJ
alkej-693	65	41	180	180	NUM
alkej-693	65	42	…	…	PUNCT
alkej-693	65	43	(	(	PUNCT
alkej-693	65	44	17	17	NUM
alkej-693	65	45	)	)	PUNCT
alkej-693	65	46	•	•	NOUN
alkej-693	65	47	solution	solution	NOUN
alkej-693	65	48	for	for	ADP
alkej-693	65	49	�	�	NOUN
alkej-693	65	50	r	r	NOUN
alkej-693	65	51	:	:	PUNCT
alkej-693	65	52	by	by	ADP
alkej-693	65	53	using	use	VERB
alkej-693	65	54	the	the	DET
alkej-693	65	55	law	law	NOUN
alkej-693	65	56	of	of	ADP
alkej-693	65	57	cosines	cosine	NOUN
alkej-693	65	58	:	:	PUNCT
alkej-693	65	59	#	#	NOUN
alkej-693	65	60	�	�	PROPN
alkej-693	65	61	�	�	PROPN
alkej-693	65	62	d	d	PROPN
alkej-693	65	63	�	�	PROPN
alkej-693	65	64	+	+	CCONJ
alkej-693	65	65	#	#	SYM
alkej-693	65	66	�	�	PROPN
alkej-693	65	67	�	�	PROPN
alkej-693	65	68	�	�	PROPN
alkej-693	65	69	2	2	NUM
alkej-693	65	70	#	#	SYM
alkej-693	65	71	�	�	PROPN
alkej-693	65	72	d	d	NOUN
alkej-693	65	73	cos&s	cos&s	NOUN
alkej-693	65	74	'	'	PART
alkej-693	65	75	⇒	⇒	NOUN
alkej-693	65	76	s	s	PART
alkej-693	65	77	�	�	PROPN
alkej-693	65	78	cosj	cosj	NOUN
alkej-693	65	79	�	�	PROPN
alkej-693	65	80	kuvw	kuvw	PROPN
alkej-693	65	81	�	�	PROPN
alkej-693	65	82	vvj	vvj	PROPN
alkej-693	65	83	�	�	PROPN
alkej-693	65	84	xv	xv	PROPN
alkej-693	65	85	�	�	PROPN
alkej-693	65	86	�	�	PROPN
alkej-693	65	87	v	v	NOUN
alkej-693	65	88	u	u	NOUN
alkej-693	65	89	o	o	NOUN
alkej-693	65	90	…	…	PUNCT
alkej-693	65	91	(	(	PUNCT
alkej-693	65	92	18	18	NUM
alkej-693	65	93	)	)	PUNCT
alkej-693	65	94	y	y	PROPN
alkej-693	65	95	�	�	PROPN
alkej-693	65	96	tanj	tanj	PROPN
alkej-693	65	97	�	�	PROPN
alkej-693	65	98	klz;j	klz;j	PROPN
alkej-693	65	99	�	�	PROPN
alkej-693	65	100	,	,	PUNCT
alkej-693	65	101	[	[	X
alkej-693	65	102	;	;	PUNCT
alkej-693	65	103	o	o	X
alkej-693	65	104	...	...	PUNCT
alkej-693	65	105	(	(	PUNCT
alkej-693	65	106	19	19	NUM
alkej-693	65	107	)	)	PUNCT
alkej-693	65	108	�	�	PROPN
alkej-693	65	109	�	�	PROPN
alkej-693	65	110	�	�	PROPN
alkej-693	65	111	y	y	PROPN
alkej-693	65	112	∓	∓	PROPN
alkej-693	65	113	s	s	PART
alkej-693	65	114	…	…	PUNCT
alkej-693	65	115	(	(	PUNCT
alkej-693	65	116	20	20	NUM
alkej-693	65	117	)	)	PUNCT
alkej-693	65	118	•	•	NUM
alkej-693	65	119	solution	solution	NOUN
alkej-693	65	120	for	for	ADP
alkej-693	65	121	�	�	PROPN
alkej-693	65	122	]	]	PUNCT
alkej-693	65	123	:	:	PUNCT
alkej-693	65	124	d	d	X
alkej-693	65	125	�	�	PROPN
alkej-693	65	126	^	^	PUNCT
alkej-693	65	127	&	&	CCONJ
alkej-693	65	128	#	#	SYM
alkej-693	65	129	�	�	PROPN
alkej-693	65	130	�	�	PROPN
alkej-693	65	131	+	+	CCONJ
alkej-693	65	132	#	#	PROPN
alkej-693	65	133	�	�	PROPN
alkej-693	65	134	�	�	PROPN
alkej-693	65	135	2	2	NUM
alkej-693	65	136	#	#	SYM
alkej-693	65	137	�	�	NOUN
alkej-693	65	138	#	#	NOUN
alkej-693	65	139	cos	cos	PROPN
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alkej-693	65	141	_	_	PROPN
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alkej-693	65	144	''	''	PUNCT
alkej-693	65	145	…	…	PUNCT
alkej-693	65	146	(	(	PUNCT
alkej-693	65	147	21	21	NUM
alkej-693	65	148	)	)	PUNCT
alkej-693	65	149	�	�	PROPN
alkej-693	65	150	�	�	PROPN
alkej-693	65	151	±	±	PROPN
alkej-693	65	152	cosj	cosj	PROPN
alkej-693	65	153	�	�	PROPN
alkej-693	65	154	kuvj	kuvj	PROPN
alkej-693	65	155	�	�	PROPN
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alkej-693	65	157	�	�	PROPN
alkej-693	65	158	xv	xv	PROPN
alkej-693	65	159	�	�	PROPN
alkej-693	65	160	�	�	PROPN
alkej-693	65	161	v	v	NOUN
alkej-693	65	162	�	�	PROPN
alkej-693	65	163	x	x	NOUN
alkej-693	65	164	o	o	NOUN
alkej-693	65	165	…	…	PUNCT
alkej-693	65	166	(	(	PUNCT
alkej-693	65	167	22	22	NUM
alkej-693	65	168	)	)	PUNCT
alkej-693	65	169	•	•	NOUN
alkej-693	65	170	solution	solution	NOUN
alkej-693	65	171	for	for	ADP
alkej-693	65	172	�	�	PROPN
alkej-693	65	173	`	`	PUNCT
alkej-693	65	174	:	:	PUNCT
alkej-693	65	175	�	�	PROPN
alkej-693	65	176	�	�	PROPN
alkej-693	65	177	�	�	PROPN
alkej-693	65	178	�	�	PROPN
alkej-693	65	179	�	�	PROPN
alkej-693	65	180	�	�	PROPN
alkej-693	65	181	�	�	PROPN
alkej-693	65	182	�	�	PROPN
alkej-693	65	183	�	�	PROPN
alkej-693	65	184	…	…	PUNCT
alkej-693	65	185	(	(	PUNCT
alkej-693	65	186	23	23	NUM
alkej-693	65	187	)	)	SYM
alkej-693	65	188	4	4	NUM
alkej-693	65	189	.	.	X
alkej-693	65	190	simulation	simulation	NOUN
alkej-693	65	191	matlab	matlab	PROPN
alkej-693	65	192	graphical	graphical	PROPN
alkej-693	65	193	user	user	NOUN
alkej-693	65	194	interface	interface	PROPN
alkej-693	65	195	(	(	PUNCT
alkej-693	65	196	gui	gui	NOUN
alkej-693	65	197	)	)	PUNCT
alkej-693	65	198	was	be	AUX
alkej-693	65	199	used	use	VERB
alkej-693	65	200	in	in	ADP
alkej-693	65	201	this	this	DET
alkej-693	65	202	work	work	NOUN
alkej-693	65	203	to	to	PART
alkej-693	65	204	perform	perform	VERB
alkej-693	65	205	many	many	ADJ
alkej-693	65	206	functions	function	NOUN
alkej-693	65	207	as	as	SCONJ
alkej-693	65	208	shown	show	VERB
alkej-693	65	209	in	in	ADP
alkej-693	65	210	figure	figure	NOUN
alkej-693	65	211	(	(	PUNCT
alkej-693	65	212	5	5	NUM
alkej-693	65	213	)	)	PUNCT
alkej-693	65	214	.	.	PUNCT
alkej-693	66	1	it	it	PRON
alkej-693	66	2	illustrated	illustrate	VERB
alkej-693	66	3	the	the	DET
alkej-693	66	4	inputs	input	NOUN
alkej-693	66	5	to	to	ADP
alkej-693	66	6	the	the	DET
alkej-693	66	7	program	program	NOUN
alkej-693	66	8	was	be	AUX
alkej-693	66	9	the	the	DET
alkej-693	66	10	position	position	NOUN
alkej-693	66	11	of	of	ADP
alkej-693	66	12	the	the	DET
alkej-693	66	13	end	end	NOUN
alkej-693	66	14	-	-	PUNCT
alkej-693	66	15	effector	effector	NOUN
alkej-693	66	16	of	of	ADP
alkej-693	66	17	the	the	DET
alkej-693	66	18	robotic	robotic	ADJ
alkej-693	66	19	arm	arm	NOUN
alkej-693	66	20	while	while	SCONJ
alkej-693	66	21	the	the	DET
alkej-693	66	22	outputs	output	NOUN
alkej-693	66	23	were	be	AUX
alkej-693	66	24	the	the	DET
alkej-693	66	25	joints	joint	NOUN
alkej-693	66	26	angles	angle	NOUN
alkej-693	66	27	of	of	ADP
alkej-693	66	28	the	the	DET
alkej-693	66	29	robotic	robotic	ADJ
alkej-693	66	30	arm	arm	NOUN
alkej-693	66	31	and	and	CCONJ
alkej-693	66	32	the	the	DET
alkej-693	66	33	position	position	NOUN
alkej-693	66	34	of	of	ADP
alkej-693	66	35	each	each	DET
alkej-693	66	36	joint	joint	NOUN
alkej-693	66	37	.	.	PUNCT
alkej-693	67	1	also	also	ADV
alkej-693	67	2	,	,	PUNCT
alkej-693	67	3	a	a	DET
alkej-693	67	4	3d	3d	NUM
alkej-693	67	5	simulation	simulation	NOUN
alkej-693	67	6	of	of	ADP
alkej-693	67	7	the	the	DET
alkej-693	67	8	robotic	robotic	ADJ
alkej-693	67	9	arm	arm	NOUN
alkej-693	67	10	movement	movement	NOUN
alkej-693	67	11	was	be	AUX
alkej-693	67	12	presented	present	VERB
alkej-693	67	13	in	in	ADP
alkej-693	67	14	gui	gui	NOUN
alkej-693	67	15	as	as	ADP
alkej-693	67	16	an	an	DET
alkej-693	67	17	output	output	NOUN
alkej-693	67	18	.	.	PUNCT
alkej-693	68	1	the	the	DET
alkej-693	68	2	program	program	NOUN
alkej-693	68	3	was	be	AUX
alkej-693	68	4	performed	perform	VERB
alkej-693	68	5	as	as	ADP
alkej-693	68	6	in	in	ADP
alkej-693	68	7	the	the	DET
alkej-693	68	8	following	follow	VERB
alkej-693	68	9	steps	step	NOUN
alkej-693	68	10	:	:	PUNCT
alkej-693	68	11	•	•	NUM
alkej-693	68	12	setting	set	VERB
alkej-693	68	13	the	the	DET
alkej-693	68	14	position	position	NOUN
alkej-693	68	15	(:	(:	NOUN
alkej-693	68	16	�	�	PROPN
alkej-693	68	17	‚	‚	NUM
alkej-693	68	18	:>	:>	X
alkej-693	68	19	‚	‚	NOUN
alkej-693	68	20	#	#	NOUN
alkej-693	68	21	)	)	PUNCT
alkej-693	68	22	!	!	PUNCT
alkej-693	69	1	:	:	PUNCT
alkej-693	69	2	�	�	PROPN
alkej-693	69	3	'	'	PUNCT
alkej-693	69	4	of	of	ADP
alkej-693	69	5	the	the	DET
alkej-693	69	6	goal	goal	NOUN
alkej-693	69	7	relative	relative	ADJ
alkej-693	69	8	to	to	ADP
alkej-693	69	9	the	the	DET
alkej-693	69	10	base	base	NOUN
alkej-693	69	11	of	of	ADP
alkej-693	69	12	the	the	DET
alkej-693	69	13	robotic	robotic	ADJ
alkej-693	69	14	arm	arm	NOUN
alkej-693	69	15	as	as	ADP
alkej-693	69	16	inputs	input	NOUN
alkej-693	69	17	.	.	PUNCT
alkej-693	70	1	tahseen	tahseen	PROPN
alkej-693	70	2	f.	f.	PROPN
alkej-693	70	3	abaas	abaas	PROPN
alkej-693	70	4	al	al	PROPN
alkej-693	70	5	-	-	PUNCT
alkej-693	70	6	khwarizmi	khwarizmi	PROPN
alkej-693	70	7	engineering	engineering	NOUN
alkej-693	70	8	journal	journal	PROPN
alkej-693	70	9	,	,	PUNCT
alkej-693	70	10	vol	vol	NOUN
alkej-693	70	11	.	.	PROPN
alkej-693	70	12	16	16	NUM
alkej-693	70	13	,	,	PUNCT
alkej-693	70	14	no	no	INTJ
alkej-693	70	15	.	.	NOUN
alkej-693	70	16	1	1	NUM
alkej-693	70	17	,	,	PUNCT
alkej-693	70	18	p.p	p.p	PROPN
alkej-693	70	19	.	.	NOUN
alkej-693	70	20	110	110	NUM
alkej-693	70	21	(	(	PUNCT
alkej-693	70	22	2020	2020	NUM
alkej-693	70	23	)	)	PUNCT
alkej-693	70	24	5	5	NUM
alkej-693	70	25	•	•	NOUN
alkej-693	70	26	a	a	DET
alkej-693	70	27	function	function	NOUN
alkej-693	70	28	used	use	VERB
alkej-693	70	29	to	to	PART
alkej-693	70	30	determine	determine	VERB
alkej-693	70	31	the	the	DET
alkej-693	70	32	joints	joint	NOUN
alkej-693	70	33	angles	angle	NOUN
alkej-693	70	34	of	of	ADP
alkej-693	70	35	the	the	DET
alkej-693	70	36	robotic	robotic	ADJ
alkej-693	70	37	arm	arm	NOUN
alkej-693	70	38	using	use	VERB
alkej-693	70	39	the	the	DET
alkej-693	70	40	equations	equation	NOUN
alkej-693	70	41	(	(	PUNCT
alkej-693	70	42	8)	8)	NUM
alkej-693	70	43	to	to	PART
alkej-693	70	44	(	(	PUNCT
alkej-693	70	45	23	23	NUM
alkej-693	70	46	)	)	PUNCT
alkej-693	70	47	.	.	PUNCT
alkej-693	71	1	•	•	NOUN
alkej-693	71	2	a	a	DET
alkej-693	71	3	function	function	NOUN
alkej-693	71	4	used	use	VERB
alkej-693	71	5	to	to	PART
alkej-693	71	6	determine	determine	VERB
alkej-693	71	7	the	the	DET
alkej-693	71	8	position	position	NOUN
alkej-693	71	9	of	of	ADP
alkej-693	71	10	each	each	DET
alkej-693	71	11	joint	joint	NOUN
alkej-693	71	12	of	of	ADP
alkej-693	71	13	the	the	DET
alkej-693	71	14	robotic	robotic	ADJ
alkej-693	71	15	arm	arm	NOUN
alkej-693	71	16	using	use	VERB
alkej-693	71	17	the	the	DET
alkej-693	71	18	equations	equation	NOUN
alkej-693	71	19	from	from	ADP
alkej-693	71	20	(	(	PUNCT
alkej-693	71	21	2	2	NUM
alkej-693	71	22	)	)	PUNCT
alkej-693	71	23	to	to	ADP
alkej-693	71	24	(	(	PUNCT
alkej-693	71	25	6	6	NUM
alkej-693	71	26	)	)	PUNCT
alkej-693	71	27	.	.	PUNCT
alkej-693	72	1	•	•	NUM
alkej-693	72	2	3d	3d	NUM
alkej-693	72	3	simulation	simulation	NOUN
alkej-693	72	4	to	to	ADP
alkej-693	72	5	the	the	DET
alkej-693	72	6	movement	movement	NOUN
alkej-693	72	7	of	of	ADP
alkej-693	72	8	the	the	DET
alkej-693	72	9	robotic	robotic	ADJ
alkej-693	72	10	arm	arm	NOUN
alkej-693	72	11	was	be	AUX
alkej-693	72	12	applied	apply	VERB
alkej-693	72	13	using	use	VERB
alkej-693	72	14	the	the	DET
alkej-693	72	15	robotics	robotic	NOUN
alkej-693	72	16	toolbox	toolbox	NOUN
alkej-693	72	17	in	in	ADP
alkej-693	72	18	matlab	matlab	PROPN
alkej-693	72	19	depending	depend	VERB
alkej-693	72	20	on	on	ADP
alkej-693	72	21	the	the	DET
alkej-693	72	22	dh	dh	NOUN
alkej-693	72	23	parameters	parameter	NOUN
alkej-693	72	24	.	.	PUNCT
alkej-693	73	1	fig	fig	NOUN
alkej-693	73	2	.	.	PUNCT
alkej-693	74	1	5	5	X
alkej-693	74	2	.	.	X
alkej-693	74	3	the	the	DET
alkej-693	74	4	window	window	NOUN
alkej-693	74	5	of	of	ADP
alkej-693	74	6	the	the	DET
alkej-693	74	7	gui	gui	NOUN
alkej-693	74	8	program	program	NOUN
alkej-693	74	9	.	.	PUNCT
alkej-693	75	1	5	5	X
alkej-693	75	2	.	.	X
alkej-693	75	3	results	result	NOUN
alkej-693	75	4	and	and	CCONJ
alkej-693	75	5	discussions	discussion	NOUN
alkej-693	75	6	to	to	PART
alkej-693	75	7	test	test	VERB
alkej-693	75	8	the	the	DET
alkej-693	75	9	efficiency	efficiency	NOUN
alkej-693	75	10	of	of	ADP
alkej-693	75	11	the	the	DET
alkej-693	75	12	geometric	geometric	ADJ
alkej-693	75	13	approach	approach	NOUN
alkej-693	75	14	in	in	ADP
alkej-693	75	15	the	the	DET
alkej-693	75	16	inverse	inverse	NOUN
alkej-693	75	17	kinematics	kinematic	NOUN
alkej-693	75	18	analysis	analysis	NOUN
alkej-693	75	19	,	,	PUNCT
alkej-693	75	20	several	several	ADJ
alkej-693	75	21	cases	case	NOUN
alkej-693	75	22	were	be	AUX
alkej-693	75	23	studied	study	VERB
alkej-693	75	24	.	.	PUNCT
alkej-693	76	1	the	the	DET
alkej-693	76	2	inputs	input	NOUN
alkej-693	76	3	to	to	ADP
alkej-693	76	4	the	the	DET
alkej-693	76	5	gui	gui	NOUN
alkej-693	76	6	program	program	NOUN
alkej-693	76	7	,	,	PUNCT
alkej-693	76	8	shown	show	VERB
alkej-693	76	9	in	in	ADP
alkej-693	76	10	figure	figure	NOUN
alkej-693	76	11	(	(	PUNCT
alkej-693	76	12	5	5	NUM
alkej-693	76	13	)	)	PUNCT
alkej-693	76	14	,	,	PUNCT
alkej-693	76	15	were	be	AUX
alkej-693	76	16	the	the	DET
alkej-693	76	17	position	position	NOUN
alkej-693	76	18	of	of	ADP
alkej-693	76	19	the	the	DET
alkej-693	76	20	goal	goal	NOUN
alkej-693	76	21	(:	(:	VERB
alkej-693	76	22	�	�	PROPN
alkej-693	76	23	,	,	PUNCT
alkej-693	76	24	:>	:>	PROPN
alkej-693	76	25	,	,	PUNCT
alkej-693	76	26	#	#	NOUN
alkej-693	76	27	)	)	PUNCT
alkej-693	76	28	!	!	PUNCT
alkej-693	77	1	:	:	PUNCT
alkej-693	77	2	�	�	PROPN
alkej-693	77	3	)	)	PUNCT
alkej-693	77	4	and	and	CCONJ
alkej-693	77	5	the	the	DET
alkej-693	77	6	outputs	output	NOUN
alkej-693	77	7	were	be	AUX
alkej-693	77	8	the	the	DET
alkej-693	77	9	joints	joint	NOUN
alkej-693	77	10	angles	angle	NOUN
alkej-693	77	11	of	of	ADP
alkej-693	77	12	the	the	DET
alkej-693	77	13	robotic	robotic	ADJ
alkej-693	77	14	arm	arm	NOUN
alkej-693	77	15	.	.	PUNCT
alkej-693	78	1	the	the	DET
alkej-693	78	2	3d	3d	PROPN
alkej-693	78	3	representation	representation	NOUN
alkej-693	78	4	of	of	ADP
alkej-693	78	5	the	the	DET
alkej-693	78	6	robotic	robotic	ADJ
alkej-693	78	7	arm	arm	NOUN
alkej-693	78	8	depending	depend	VERB
alkej-693	78	9	on	on	ADP
alkej-693	78	10	the	the	DET
alkej-693	78	11	dh	dh	NOUN
alkej-693	78	12	parameters	parameter	NOUN
alkej-693	78	13	is	be	AUX
alkej-693	78	14	shown	show	VERB
alkej-693	78	15	in	in	ADP
alkej-693	78	16	figure	figure	NOUN
alkej-693	78	17	(	(	PUNCT
alkej-693	78	18	6	6	NUM
alkej-693	78	19	)	)	PUNCT
alkej-693	78	20	and	and	CCONJ
alkej-693	78	21	figure	figure	NOUN
alkej-693	78	22	(	(	PUNCT
alkej-693	78	23	7	7	NUM
alkej-693	78	24	)	)	PUNCT
alkej-693	78	25	.	.	PUNCT
alkej-693	79	1	the	the	DET
alkej-693	79	2	3d	3d	PROPN
alkej-693	79	3	representation	representation	NOUN
alkej-693	79	4	illustrates	illustrate	VERB
alkej-693	79	5	four	four	NUM
alkej-693	79	6	cases	case	NOUN
alkej-693	79	7	.	.	PUNCT
alkej-693	80	1	the	the	DET
alkej-693	80	2	extracted	extract	VERB
alkej-693	80	3	angles	angle	NOUN
alkej-693	80	4	of	of	ADP
alkej-693	80	5	joints	joint	NOUN
alkej-693	80	6	were	be	AUX
alkej-693	80	7	applied	apply	VERB
alkej-693	80	8	in	in	ADP
alkej-693	80	9	equation	equation	NOUN
alkej-693	80	10	(	(	PUNCT
alkej-693	80	11	7	7	NUM
alkej-693	80	12	)	)	PUNCT
alkej-693	80	13	to	to	PART
alkej-693	80	14	determine	determine	VERB
alkej-693	80	15	the	the	DET
alkej-693	80	16	position	position	NOUN
alkej-693	80	17	of	of	ADP
alkej-693	80	18	the	the	DET
alkej-693	80	19	endeffector	endeffector	NOUN
alkej-693	80	20	and	and	CCONJ
alkej-693	80	21	compare	compare	VERB
alkej-693	80	22	these	these	DET
alkej-693	80	23	results	result	NOUN
alkej-693	80	24	with	with	ADP
alkej-693	80	25	the	the	DET
alkej-693	80	26	input	input	NOUN
alkej-693	80	27	results	result	NOUN
alkej-693	80	28	.	.	PUNCT
alkej-693	81	1	the	the	DET
alkej-693	81	2	errors	error	NOUN
alkej-693	81	3	between	between	ADP
alkej-693	81	4	them	they	PRON
alkej-693	81	5	were	be	AUX
alkej-693	81	6	obtained	obtain	VERB
alkej-693	81	7	and	and	CCONJ
alkej-693	81	8	listed	list	VERB
alkej-693	81	9	in	in	ADP
alkej-693	81	10	table	table	NOUN
alkej-693	81	11	2	2	NUM
alkej-693	81	12	to	to	PART
alkej-693	81	13	indicate	indicate	VERB
alkej-693	81	14	the	the	DET
alkej-693	81	15	efficiency	efficiency	NOUN
alkej-693	81	16	of	of	ADP
alkej-693	81	17	the	the	DET
alkej-693	81	18	program	program	NOUN
alkej-693	81	19	used	use	VERB
alkej-693	81	20	.	.	PUNCT
alkej-693	82	1	the	the	DET
alkej-693	82	2	algorithm	algorithm	NOUN
alkej-693	82	3	of	of	ADP
alkej-693	82	4	the	the	DET
alkej-693	82	5	geometric	geometric	ADJ
alkej-693	82	6	approach	approach	NOUN
alkej-693	82	7	was	be	AUX
alkej-693	82	8	developed	develop	VERB
alkej-693	82	9	for	for	ADP
alkej-693	82	10	the	the	DET
alkej-693	82	11	inverse	inverse	NOUN
alkej-693	82	12	kinematic	kinematic	NOUN
alkej-693	82	13	analysis	analysis	NOUN
alkej-693	82	14	of	of	ADP
alkej-693	82	15	the	the	DET
alkej-693	82	16	robotic	robotic	ADJ
alkej-693	82	17	arm	arm	NOUN
alkej-693	82	18	and	and	CCONJ
alkej-693	82	19	compared	compare	VERB
alkej-693	82	20	the	the	DET
alkej-693	82	21	results	result	NOUN
alkej-693	82	22	of	of	ADP
alkej-693	82	23	this	this	DET
alkej-693	82	24	method	method	NOUN
alkej-693	82	25	with	with	ADP
alkej-693	82	26	results	result	NOUN
alkej-693	82	27	extracted	extract	VERB
alkej-693	82	28	using	use	VERB
alkej-693	82	29	an	an	DET
alkej-693	82	30	algebraic	algebraic	ADJ
alkej-693	82	31	solution	solution	NOUN
alkej-693	82	32	.	.	PUNCT
alkej-693	83	1	there	there	PRON
alkej-693	83	2	was	be	VERB
alkej-693	83	3	a	a	DET
alkej-693	83	4	large	large	ADJ
alkej-693	83	5	match	match	NOUN
alkej-693	83	6	in	in	ADP
alkej-693	83	7	these	these	DET
alkej-693	83	8	results	result	NOUN
alkej-693	83	9	,	,	PUNCT
alkej-693	83	10	so	so	CCONJ
alkej-693	83	11	the	the	DET
alkej-693	83	12	geometric	geometric	ADJ
alkej-693	83	13	approach	approach	NOUN
alkej-693	83	14	method	method	NOUN
alkej-693	83	15	was	be	AUX
alkej-693	83	16	applied	apply	VERB
alkej-693	83	17	.	.	PUNCT
alkej-693	84	1	tahseen	tahseen	PROPN
alkej-693	84	2	f.	f.	PROPN
alkej-693	84	3	abaas	abaas	PROPN
alkej-693	84	4	al	al	PROPN
alkej-693	84	5	-	-	PUNCT
alkej-693	84	6	khwarizmi	khwarizmi	PROPN
alkej-693	84	7	engineering	engineering	NOUN
alkej-693	84	8	journal	journal	PROPN
alkej-693	84	9	,	,	PUNCT
alkej-693	84	10	vol	vol	NOUN
alkej-693	84	11	.	.	PROPN
alkej-693	84	12	16	16	NUM
alkej-693	84	13	,	,	PUNCT
alkej-693	84	14	no	no	INTJ
alkej-693	84	15	.	.	NOUN
alkej-693	84	16	1	1	NUM
alkej-693	84	17	,	,	PUNCT
alkej-693	84	18	p.p	p.p	PROPN
alkej-693	84	19	.	.	NOUN
alkej-693	84	20	110	110	NUM
alkej-693	84	21	(	(	PUNCT
alkej-693	84	22	2020	2020	NUM
alkej-693	84	23	)	)	PUNCT
alkej-693	84	24	6	6	NUM
alkej-693	84	25	case	case	NOUN
alkej-693	84	26	(	(	PUNCT
alkej-693	84	27	1	1	NUM
alkej-693	84	28	)	)	PUNCT
alkej-693	84	29	case	case	NOUN
alkej-693	84	30	(	(	PUNCT
alkej-693	84	31	2	2	NUM
alkej-693	84	32	)	)	PUNCT
alkej-693	84	33	tahseen	tahseen	NOUN
alkej-693	84	34	f.	f.	PROPN
alkej-693	84	35	abaas	abaas	PROPN
alkej-693	84	36	al	al	PROPN
alkej-693	84	37	-	-	PUNCT
alkej-693	84	38	khwarizmi	khwarizmi	PROPN
alkej-693	84	39	engineering	engineering	NOUN
alkej-693	84	40	journal	journal	PROPN
alkej-693	84	41	,	,	PUNCT
alkej-693	84	42	vol	vol	NOUN
alkej-693	84	43	.	.	PROPN
alkej-693	84	44	16	16	NUM
alkej-693	84	45	,	,	PUNCT
alkej-693	84	46	no	no	INTJ
alkej-693	84	47	.	.	NOUN
alkej-693	84	48	1	1	NUM
alkej-693	84	49	,	,	PUNCT
alkej-693	84	50	p.p	p.p	PROPN
alkej-693	84	51	.	.	NOUN
alkej-693	84	52	110	110	NUM
alkej-693	84	53	(	(	PUNCT
alkej-693	84	54	2020	2020	NUM
alkej-693	84	55	)	)	PUNCT
alkej-693	84	56	7	7	NUM
alkej-693	84	57	case	case	NOUN
alkej-693	84	58	(	(	PUNCT
alkej-693	84	59	3	3	NUM
alkej-693	84	60	)	)	PUNCT
alkej-693	84	61	case	case	NOUN
alkej-693	84	62	(	(	PUNCT
alkej-693	84	63	4	4	NUM
alkej-693	84	64	)	)	PUNCT
alkej-693	84	65	fig	fig	NOUN
alkej-693	84	66	.	.	PUNCT
alkej-693	85	1	6	6	NUM
alkej-693	85	2	.	.	X
alkej-693	85	3	gui	gui	NOUN
alkej-693	85	4	for	for	ADP
alkej-693	85	5	four	four	NUM
alkej-693	85	6	cases	case	NOUN
alkej-693	85	7	.	.	PUNCT
alkej-693	86	1	tahseen	tahseen	PROPN
alkej-693	86	2	f.	f.	PROPN
alkej-693	86	3	abaas	abaas	PROPN
alkej-693	86	4	al	al	PROPN
alkej-693	86	5	-	-	PUNCT
alkej-693	86	6	khwarizmi	khwarizmi	PROPN
alkej-693	86	7	engineering	engineering	NOUN
alkej-693	86	8	journal	journal	PROPN
alkej-693	86	9	,	,	PUNCT
alkej-693	86	10	vol	vol	NOUN
alkej-693	86	11	.	.	PROPN
alkej-693	86	12	16	16	NUM
alkej-693	86	13	,	,	PUNCT
alkej-693	86	14	no	no	INTJ
alkej-693	86	15	.	.	NOUN
alkej-693	86	16	1	1	NUM
alkej-693	86	17	,	,	PUNCT
alkej-693	86	18	p.p	p.p	PROPN
alkej-693	86	19	.	.	NOUN
alkej-693	86	20	110	110	NUM
alkej-693	86	21	(	(	PUNCT
alkej-693	86	22	2020	2020	NUM
alkej-693	86	23	)	)	PUNCT
alkej-693	86	24	8	8	NUM
alkej-693	86	25	fig	fig	NOUN
alkej-693	86	26	.	.	PUNCT
alkej-693	87	1	7	7	X
alkej-693	87	2	.	.	X
alkej-693	87	3	the	the	DET
alkej-693	87	4	movement	movement	NOUN
alkej-693	87	5	of	of	ADP
alkej-693	87	6	the	the	DET
alkej-693	87	7	robotic	robotic	ADJ
alkej-693	87	8	arm	arm	NOUN
alkej-693	87	9	of	of	ADP
alkej-693	87	10	four	four	NUM
alkej-693	87	11	cases	case	NOUN
alkej-693	87	12	.	.	PUNCT
alkej-693	88	1	table	table	NOUN
alkej-693	88	2	2	2	NUM
alkej-693	88	3	,	,	PUNCT
alkej-693	88	4	the	the	DET
alkej-693	88	5	error	error	NOUN
alkej-693	88	6	of	of	ADP
alkej-693	88	7	the	the	DET
alkej-693	88	8	end	end	NOUN
alkej-693	88	9	-	-	PUNCT
alkej-693	88	10	effector	effector	NOUN
alkej-693	88	11	position	position	NOUN
alkej-693	88	12	case	case	NOUN
alkej-693	89	1	no	no	INTJ
alkej-693	89	2	.	.	PUNCT
alkej-693	89	3	end	end	NOUN
alkej-693	89	4	-	-	PUNCT
alkej-693	89	5	effector	effector	NOUN
alkej-693	89	6	position	position	NOUN
alkej-693	89	7	true	true	ADJ
alkej-693	89	8	(	(	PUNCT
alkej-693	89	9	mm	mm	NOUN
alkej-693	89	10	)	)	PUNCT
alkej-693	89	11	joint	joint	ADJ
alkej-693	89	12	angle	angle	NOUN
alkej-693	89	13	measured	measure	VERB
alkej-693	89	14	(	(	PUNCT
alkej-693	89	15	degree	degree	NOUN
alkej-693	89	16	)	)	PUNCT
alkej-693	89	17	end	end	NOUN
alkej-693	89	18	-	-	PUNCT
alkej-693	89	19	effector	effector	NOUN
alkej-693	89	20	position	position	NOUN
alkej-693	89	21	measured	measure	VERB
alkej-693	89	22	(	(	PUNCT
alkej-693	89	23	mm	mm	NOUN
alkej-693	89	24	)	)	PUNCT
alkej-693	89	25	bcdefghi	bcdefghi	PROPN
alkej-693	89	26	jkkek	jkkek	PROPN
alkej-693	89	27	�	�	PROPN
alkej-693	89	28	lmkgi	lmkgi	PROPN
alkej-693	89	29	�	�	PROPN
alkej-693	89	30	ni	ni	PROPN
alkej-693	89	31	�	�	PROPN
alkej-693	89	32	dgki	dgki	NOUN
alkej-693	89	33	�	�	PROPN
alkej-693	89	34	mkgi	mkgi	PROPN
alkej-693	89	35	l	l	NOUN
alkej-693	89	36	o	o	NOUN
alkej-693	89	37	gpp%	gpp%	VERB
alkej-693	89	38	1	1	NUM
alkej-693	89	39	rs	rs	PROPN
alkej-693	89	40	�	�	PROPN
alkej-693	89	41	rrp	rrp	PROPN
alkej-693	89	42	�	�	PROPN
alkej-693	89	43	g	g	PROPN
alkej-693	89	44	�	�	PROPN
alkej-693	89	45	36.1973	36.1973	NUM
alkej-693	89	46	�	�	PROPN
alkej-693	89	47	r	r	NOUN
alkej-693	89	48	�	�	PROPN
alkej-693	89	49	69.9029	69.9029	NUM
alkej-693	89	50	�	�	PROPN
alkej-693	89	51	]	]	SYM
alkej-693	89	52	�	�	PROPN
alkej-693	89	53	-43.1499	-43.1499	PUNCT
alkej-693	89	54	�	�	PROPN
alkej-693	89	55	`	`	PUNCT
alkej-693	89	56	�	�	PROPN
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alkej-693	89	58	�	�	PROPN
alkej-693	89	59	t	t	PROPN
alkej-693	89	60	�	�	PROPN
alkej-693	89	61	90	90	NUM
alkej-693	89	62	rs	rs	PROPN
alkej-693	89	63	�	�	PROPN
alkej-693	89	64	rgu	rgu	PROPN
alkej-693	89	65	.	.	PUNCT
alkej-693	90	1	uuwx	uuwx	PROPN
alkej-693	90	2	0.0006	0.0006	NUM
alkej-693	90	3	ry	ry	PROPN
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alkej-693	90	5	gxg	gxg	PROPN
alkej-693	90	6	ry	ry	PROPN
alkej-693	90	7	�	�	PROPN
alkej-693	90	8	gxg	gxg	NOUN
alkej-693	90	9	.	.	PUNCT
alkej-693	91	1	pg`x	pg`x	PROPN
alkej-693	91	2	0.009	0.009	NUM
alkej-693	91	3	rz	rz	PROPN
alkej-693	91	4	�	�	PROPN
alkej-693	91	5	rrp	rrp	PROPN
alkej-693	91	6	rz	rz	PROPN
alkej-693	91	7	�	�	PROPN
alkej-693	91	8	rgu	rgu	PROPN
alkej-693	91	9	.	.	PUNCT
alkej-693	92	1	uu	uu	PROPN
alkej-693	92	2	]	]	X
alkej-693	92	3	`	`	NUM
alkej-693	92	4	0.003	0.003	NUM
alkej-693	92	5	2	2	NUM
alkej-693	92	6	rs	rs	PROPN
alkej-693	92	7	�	�	PROPN
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alkej-693	92	9	r]p	r]p	PROPN
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alkej-693	92	11	g	g	PROPN
alkej-693	92	12	�	�	PROPN
alkej-693	92	13	165.1461	165.1461	NUM
alkej-693	92	14	�	�	PROPN
alkej-693	92	15	r	r	PROPN
alkej-693	92	16	�	�	PROPN
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alkej-693	92	18	�	�	PROPN
alkej-693	92	19	]	]	SYM
alkej-693	92	20	�	�	PROPN
alkej-693	92	21	-65.6204	-65.6204	PUNCT
alkej-693	92	22	�	�	PROPN
alkej-693	92	23	`	`	PUNCT
alkej-693	92	24	�	�	PROPN
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alkej-693	92	26	�	�	PROPN
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alkej-693	92	29	up	up	ADP
alkej-693	92	30	rs	rs	PROPN
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alkej-693	92	33	r]p	r]p	PROPN
alkej-693	92	34	.	.	PUNCT
alkej-693	93	1	pgp	pgp	NOUN
alkej-693	93	2	]	]	PUNCT
alkej-693	93	3	0.0045	0.0045	NUM
alkej-693	93	4	ry	ry	NOUN
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alkej-693	93	7	ry	ry	PROPN
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alkej-693	93	9	xp	xp	PROPN
alkej-693	93	10	.	.	PUNCT
alkej-693	94	1	uwxg	uwxg	PROPN
alkej-693	94	2	0.023	0.023	NUM
alkej-693	94	3	rz	rz	PROPN
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alkej-693	94	5	rrp	rrp	PROPN
alkej-693	94	6	rz	rz	PROPN
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alkej-693	94	9	.	.	PUNCT
alkej-693	95	1	uux	uux	PROPN
alkej-693	95	2	`	`	PROPN
alkej-693	95	3	0.0016	0.0016	NUM
alkej-693	95	4	3	3	NUM
alkej-693	95	5	rs	rs	PROPN
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alkej-693	95	7	rrp	rrp	PROPN
alkej-693	95	8	�	�	PROPN
alkej-693	95	9	g	g	PROPN
alkej-693	95	10	�	�	PROPN
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alkej-693	95	12	�	�	PROPN
alkej-693	95	13	r	r	NOUN
alkej-693	95	14	�	�	PROPN
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alkej-693	95	16	�	�	PROPN
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alkej-693	95	18	�	�	PROPN
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alkej-693	95	21	`	`	PUNCT
alkej-693	95	22	�	�	PROPN
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alkej-693	95	24	�	�	PROPN
alkej-693	95	25	t	t	PROPN
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alkej-693	95	27	up	up	ADP
alkej-693	95	28	rs	rs	PROPN
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alkej-693	95	31	.	.	PUNCT
alkej-693	96	1	ptt	ptt	PROPN
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alkej-693	96	7	ry	ry	PROPN
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alkej-693	96	9	xp	xp	PROPN
alkej-693	96	10	.	.	PUNCT
alkej-693	97	1	uwt	uwt	PROPN
alkej-693	97	2	`	`	PUNCT
alkej-693	97	3	0.0239	0.0239	NUM
alkej-693	97	4	rz	rz	PROPN
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alkej-693	97	6	rrp	rrp	PROPN
alkej-693	97	7	rz	rz	PROPN
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alkej-693	97	9	rrp	rrp	PROPN
alkej-693	97	10	.	.	PUNCT
alkej-693	98	1	r]wx	r]wx	NOUN
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alkej-693	98	3	4	4	NUM
alkej-693	98	4	rs	rs	PROPN
alkej-693	98	5	�	�	PROPN
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alkej-693	98	7	r]p	r]p	PROPN
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alkej-693	98	9	g	g	PROPN
alkej-693	98	10	�	�	PROPN
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alkej-693	98	13	r	r	NOUN
alkej-693	98	14	�	�	PROPN
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alkej-693	98	16	�	�	PROPN
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alkej-693	98	18	�	�	PROPN
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alkej-693	98	21	`	`	SYM
alkej-693	98	22	�	�	PROPN
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alkej-693	98	24	�	�	PROPN
alkej-693	98	25	t	t	PROPN
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alkej-693	98	27	up	up	ADP
alkej-693	98	28	rs	rs	PROPN
alkej-693	98	29	�	�	PROPN
alkej-693	98	30	�	�	PROPN
alkej-693	98	31	r]p	r]p	PROPN
alkej-693	98	32	.	.	PUNCT
alkej-693	99	1	p`u	p`u	PROPN
alkej-693	99	2	]	]	PUNCT
alkej-693	100	1	0.0214	0.0214	NUM
alkej-693	100	2	ry	ry	PROPN
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alkej-693	100	5	ry	ry	PROPN
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alkej-693	100	7	ggg	ggg	PROPN
alkej-693	100	8	.	.	PUNCT
alkej-693	101	1	pgrg	pgrg	PROPN
alkej-693	101	2	0.0109	0.0109	NUM
alkej-693	101	3	rz	rz	NOUN
alkej-693	101	4	�	�	PROPN
alkej-693	101	5	rrp	rrp	PROPN
alkej-693	101	6	rz	rz	PROPN
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alkej-693	101	8	rrp	rrp	PROPN
alkej-693	101	9	.	.	PUNCT
alkej-693	102	1	g{g	g{g	NOUN
alkej-693	102	2	]	]	X
alkej-693	102	3	0.0778	0.0778	NUM
alkej-693	102	4	case	case	NOUN
alkej-693	102	5	(	(	PUNCT
alkej-693	102	6	1	1	NUM
alkej-693	102	7	)	)	PUNCT
alkej-693	102	8	case	case	NOUN
alkej-693	102	9	(	(	PUNCT
alkej-693	102	10	4	4	NUM
alkej-693	102	11	)	)	PUNCT
alkej-693	102	12	case	case	NOUN
alkej-693	102	13	(	(	PUNCT
alkej-693	102	14	3	3	NUM
alkej-693	102	15	)	)	PUNCT
alkej-693	102	16	case	case	NOUN
alkej-693	102	17	(	(	PUNCT
alkej-693	102	18	2	2	NUM
alkej-693	102	19	)	)	PUNCT
alkej-693	102	20	tahseen	tahseen	NOUN
alkej-693	102	21	f.	f.	PROPN
alkej-693	102	22	abaas	abaas	PROPN
alkej-693	102	23	al	al	PROPN
alkej-693	102	24	-	-	PUNCT
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alkej-693	102	30	.	.	PROPN
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alkej-693	102	32	,	,	PUNCT
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alkej-693	102	35	1	1	NUM
alkej-693	102	36	,	,	PUNCT
alkej-693	102	37	p.p	p.p	PROPN
alkej-693	102	38	.	.	NOUN
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alkej-693	102	40	(	(	PUNCT
alkej-693	102	41	2020	2020	NUM
alkej-693	102	42	)	)	PUNCT
alkej-693	102	43	9	9	NUM
alkej-693	102	44	from	from	ADP
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alkej-693	102	46	results	result	NOUN
alkej-693	102	47	of	of	ADP
alkej-693	102	48	the	the	DET
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alkej-693	102	50	in	in	ADP
alkej-693	102	51	table	table	NOUN
alkej-693	102	52	(	(	PUNCT
alkej-693	102	53	2	2	NUM
alkej-693	102	54	)	)	PUNCT
alkej-693	102	55	,	,	PUNCT
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alkej-693	102	60	error	error	NOUN
alkej-693	102	61	occurred	occur	VERB
alkej-693	102	62	in	in	ADP
alkej-693	102	63	the	the	DET
alkej-693	102	64	position	position	NOUN
alkej-693	102	65	of	of	ADP
alkej-693	102	66	the	the	DET
alkej-693	102	67	end	end	NOUN
alkej-693	102	68	-	-	PUNCT
alkej-693	102	69	effector	effector	NOUN
alkej-693	102	70	of	of	ADP
alkej-693	102	71	the	the	DET
alkej-693	102	72	robotic	robotic	ADJ
alkej-693	102	73	arm	arm	NOUN
alkej-693	102	74	that	that	PRON
alkej-693	102	75	confirms	confirm	VERB
alkej-693	102	76	the	the	DET
alkej-693	102	77	effectiveness	effectiveness	NOUN
alkej-693	102	78	of	of	ADP
alkej-693	102	79	the	the	DET
alkej-693	102	80	program	program	NOUN
alkej-693	102	81	used	use	VERB
alkej-693	102	82	,	,	PUNCT
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alkej-693	102	84	the	the	DET
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alkej-693	102	86	error	error	NOUN
alkej-693	102	87	in	in	ADP
alkej-693	102	88	the	the	DET
alkej-693	102	89	x	x	PROPN
alkej-693	102	90	,	,	PUNCT
alkej-693	102	91	y	y	PROPN
alkej-693	102	92	,	,	PUNCT
alkej-693	102	93	and	and	CCONJ
alkej-693	102	94	z	z	NOUN
alkej-693	102	95	coordinates	coordinate	NOUN
alkej-693	102	96	of	of	ADP
alkej-693	102	97	the	the	DET
alkej-693	102	98	end	end	NOUN
alkej-693	102	99	-	-	PUNCT
alkej-693	102	100	effector	effector	NOUN
alkej-693	102	101	were	be	AUX
alkej-693	102	102	(	(	PUNCT
alkej-693	102	103	0.0251	0.0251	NUM
alkej-693	102	104	%	%	NOUN
alkej-693	102	105	,	,	PUNCT
alkej-693	102	106	0.0239	0.0239	NUM
alkej-693	102	107	%	%	NOUN
alkej-693	102	108	,	,	PUNCT
alkej-693	102	109	and	and	CCONJ
alkej-693	102	110	0.1085	0.1085	NUM
alkej-693	102	111	%	%	NOUN
alkej-693	102	112	)	)	PUNCT
alkej-693	102	113	respectively	respectively	ADV
alkej-693	102	114	.	.	PUNCT
alkej-693	103	1	6	6	X
alkej-693	103	2	.	.	X
alkej-693	103	3	conclusions	conclusion	NOUN
alkej-693	103	4	in	in	ADP
alkej-693	103	5	this	this	DET
alkej-693	103	6	work	work	NOUN
alkej-693	103	7	,	,	PUNCT
alkej-693	103	8	the	the	DET
alkej-693	103	9	inverse	inverse	NOUN
alkej-693	103	10	kinematics	kinematic	NOUN
alkej-693	103	11	analysis	analysis	NOUN
alkej-693	103	12	of	of	ADP
alkej-693	103	13	5	5	NUM
alkej-693	103	14	dof	dof	NOUN
alkej-693	103	15	robotic	robotic	ADJ
alkej-693	103	16	arm	arm	NOUN
alkej-693	103	17	was	be	AUX
alkej-693	103	18	accomplished	accomplish	VERB
alkej-693	103	19	using	use	VERB
alkej-693	103	20	the	the	DET
alkej-693	103	21	matlab	matlab	PROPN
alkej-693	103	22	gui	gui	NOUN
alkej-693	103	23	program	program	NOUN
alkej-693	103	24	.	.	PUNCT
alkej-693	104	1	the	the	DET
alkej-693	104	2	results	result	NOUN
alkej-693	104	3	indicated	indicate	VERB
alkej-693	104	4	the	the	DET
alkej-693	104	5	used	use	VERB
alkej-693	104	6	of	of	ADP
alkej-693	104	7	the	the	DET
alkej-693	104	8	geometric	geometric	ADJ
alkej-693	104	9	approach	approach	NOUN
alkej-693	104	10	in	in	ADP
alkej-693	104	11	inverse	inverse	ADJ
alkej-693	104	12	kinematics	kinematic	NOUN
alkej-693	104	13	analysis	analysis	NOUN
alkej-693	104	14	to	to	PART
alkej-693	104	15	determine	determine	VERB
alkej-693	104	16	the	the	DET
alkej-693	104	17	joints	joint	NOUN
alkej-693	104	18	angles	angle	NOUN
alkej-693	104	19	of	of	ADP
alkej-693	104	20	the	the	DET
alkej-693	104	21	robotic	robotic	ADJ
alkej-693	104	22	arm	arm	NOUN
alkej-693	104	23	was	be	AUX
alkej-693	104	24	effectively	effectively	ADV
alkej-693	104	25	and	and	CCONJ
alkej-693	104	26	the	the	DET
alkej-693	104	27	position	position	NOUN
alkej-693	104	28	of	of	ADP
alkej-693	104	29	each	each	DET
alkej-693	104	30	joint	joint	NOUN
alkej-693	104	31	was	be	AUX
alkej-693	104	32	determined	determine	VERB
alkej-693	104	33	in	in	ADP
alkej-693	104	34	the	the	DET
alkej-693	104	35	gui	gui	NOUN
alkej-693	104	36	program	program	NOUN
alkej-693	104	37	and	and	CCONJ
alkej-693	104	38	show	show	VERB
alkej-693	104	39	it	it	PRON
alkej-693	104	40	.	.	PUNCT
alkej-693	105	1	a	a	DET
alkej-693	105	2	3d	3d	NUM
alkej-693	105	3	simulation	simulation	NOUN
alkej-693	105	4	for	for	ADP
alkej-693	105	5	the	the	DET
alkej-693	105	6	movement	movement	NOUN
alkej-693	105	7	of	of	ADP
alkej-693	105	8	the	the	DET
alkej-693	105	9	robotic	robotic	ADJ
alkej-693	105	10	arm	arm	NOUN
alkej-693	105	11	was	be	AUX
alkej-693	105	12	performed	perform	VERB
alkej-693	105	13	depending	depend	VERB
alkej-693	105	14	on	on	ADP
alkej-693	105	15	the	the	DET
alkej-693	105	16	dh	dh	NOUN
alkej-693	105	17	parameters	parameter	NOUN
alkej-693	105	18	in	in	ADP
alkej-693	105	19	representing	represent	VERB
alkej-693	105	20	the	the	DET
alkej-693	105	21	links	link	NOUN
alkej-693	105	22	and	and	CCONJ
alkej-693	105	23	joints	joint	NOUN
alkej-693	105	24	of	of	ADP
alkej-693	105	25	the	the	DET
alkej-693	105	26	robotic	robotic	ADJ
alkej-693	105	27	arm	arm	NOUN
alkej-693	105	28	to	to	PART
alkej-693	105	29	help	help	VERB
alkej-693	105	30	in	in	ADP
alkej-693	105	31	understanding	understanding	NOUN
alkej-693	105	32	and	and	CCONJ
alkej-693	105	33	representing	represent	VERB
alkej-693	105	34	the	the	DET
alkej-693	105	35	movement	movement	NOUN
alkej-693	105	36	of	of	ADP
alkej-693	105	37	the	the	DET
alkej-693	105	38	robotic	robotic	ADJ
alkej-693	105	39	arm	arm	NOUN
alkej-693	105	40	.	.	PUNCT
alkej-693	106	1	the	the	DET
alkej-693	106	2	curve	curve	NOUN
alkej-693	106	3	of	of	ADP
alkej-693	106	4	the	the	DET
alkej-693	106	5	second	second	ADJ
alkej-693	106	6	,	,	PUNCT
alkej-693	106	7	third	third	ADJ
alkej-693	106	8	,	,	PUNCT
alkej-693	106	9	fourth	fourth	ADJ
alkej-693	106	10	,	,	PUNCT
alkej-693	106	11	and	and	CCONJ
alkej-693	106	12	etc	etc	X
alkej-693	106	13	.	.	X
alkej-693	106	14	degree	degree	NOUN
alkej-693	106	15	can	can	AUX
alkej-693	106	16	be	be	AUX
alkej-693	106	17	adopted	adopt	VERB
alkej-693	106	18	as	as	ADP
alkej-693	106	19	the	the	DET
alkej-693	106	20	path	path	NOUN
alkej-693	106	21	of	of	ADP
alkej-693	106	22	the	the	DET
alkej-693	106	23	endeffector	endeffector	NOUN
alkej-693	106	24	of	of	ADP
alkej-693	106	25	the	the	DET
alkej-693	106	26	robotic	robotic	ADJ
alkej-693	106	27	arm	arm	NOUN
alkej-693	106	28	by	by	ADP
alkej-693	106	29	dividing	divide	VERB
alkej-693	106	30	this	this	DET
alkej-693	106	31	curve	curve	NOUN
alkej-693	106	32	into	into	ADP
alkej-693	106	33	many	many	ADJ
alkej-693	106	34	small	small	ADJ
alkej-693	106	35	lines	line	NOUN
alkej-693	106	36	to	to	PART
alkej-693	106	37	enable	enable	VERB
alkej-693	106	38	the	the	DET
alkej-693	106	39	end	end	NOUN
alkej-693	106	40	-	-	PUNCT
alkej-693	106	41	effector	effector	NOUN
alkej-693	106	42	to	to	PART
alkej-693	106	43	perform	perform	VERB
alkej-693	106	44	the	the	DET
alkej-693	106	45	required	require	VERB
alkej-693	106	46	curve	curve	NOUN
alkej-693	106	47	path	path	NOUN
alkej-693	106	48	.	.	PUNCT
alkej-693	107	1	7	7	X
alkej-693	107	2	.	.	NUM
alkej-693	107	3	references	reference	NOUN
alkej-693	107	4	[	[	X
alkej-693	107	5	1	1	NUM
alkej-693	107	6	]	]	X
alkej-693	107	7	s.s	s.s	PROPN
alkej-693	107	8	kamlesh	kamlesh	PROPN
alkej-693	107	9	and	and	CCONJ
alkej-693	107	10	r.	r.	PROPN
alkej-693	107	11	mishra	mishra	PROPN
alkej-693	107	12	,	,	PUNCT
alkej-693	107	13	“	"	PUNCT
alkej-693	107	14	advanced	advanced	ADJ
alkej-693	107	15	path	path	NOUN
alkej-693	107	16	simulation	simulation	NOUN
alkej-693	107	17	of	of	ADP
alkej-693	107	18	a	a	DET
alkej-693	107	19	5r	5r	NUM
alkej-693	107	20	robotic	robotic	ADJ
alkej-693	107	21	arm	arm	NOUN
alkej-693	107	22	for	for	ADP
alkej-693	107	23	ct	ct	PROPN
alkej-693	107	24	guided	guide	VERB
alkej-693	107	25	medical	medical	ADJ
alkej-693	107	26	procedures	procedure	NOUN
alkej-693	107	27	”	"	PUNCT
alkej-693	107	28	,	,	PUNCT
alkej-693	107	29	materials	material	NOUN
alkej-693	107	30	today	today	NOUN
alkej-693	107	31	:	:	PUNCT
alkej-693	107	32	proceedings	proceeding	NOUN
alkej-693	107	33	5	5	NUM
alkej-693	107	34	,	,	PUNCT
alkej-693	107	35	pp	pp	ADP
alkej-693	107	36	6149	6149	NUM
alkej-693	107	37	-	-	SYM
alkej-693	107	38	6156	6156	NUM
alkej-693	107	39	,	,	PUNCT
alkej-693	107	40	2018	2018	NUM
alkej-693	107	41	.	.	PUNCT
alkej-693	108	1	[	[	X
alkej-693	108	2	2	2	X
alkej-693	108	3	]	]	PUNCT
alkej-693	108	4	h.	h.	PROPN
alkej-693	108	5	m.	m.	PROPN
alkej-693	108	6	al	al	PROPN
alkej-693	108	7	-	-	PUNCT
alkej-693	108	8	khafaji	khafaji	PROPN
alkej-693	108	9	and	and	CCONJ
alkej-693	108	10	m.	m.	NOUN
alkej-693	108	11	j.	j.	PROPN
alkej-693	108	12	jweeg	jweeg	PROPN
alkej-693	108	13	,	,	PUNCT
alkej-693	108	14	“	"	PUNCT
alkej-693	108	15	solving	solve	VERB
alkej-693	108	16	the	the	DET
alkej-693	108	17	inverse	inverse	NOUN
alkej-693	108	18	kinematic	kinematic	NOUN
alkej-693	108	19	equations	equation	NOUN
alkej-693	108	20	of	of	ADP
alkej-693	108	21	elastic	elastic	ADJ
alkej-693	108	22	robot	robot	NOUN
alkej-693	108	23	arm	arm	NOUN
alkej-693	108	24	utilizing	utilize	VERB
alkej-693	108	25	neural	neural	ADJ
alkej-693	108	26	network	network	NOUN
alkej-693	108	27	”	"	PUNCT
alkej-693	108	28	,	,	PUNCT
alkej-693	108	29	al	al	PROPN
alkej-693	108	30	-	-	PUNCT
alkej-693	108	31	khwarizmi	khwarizmi	PROPN
alkej-693	108	32	engineering	engineering	NOUN
alkej-693	108	33	journal	journal	PROPN
alkej-693	108	34	,	,	PUNCT
alkej-693	108	35	vol	vol	NOUN
alkej-693	108	36	.	.	PROPN
alkej-693	108	37	13	13	NUM
alkej-693	108	38	,	,	PUNCT
alkej-693	108	39	no	no	INTJ
alkej-693	108	40	.	.	NOUN
alkej-693	108	41	1	1	NUM
alkej-693	108	42	,	,	PUNCT
alkej-693	108	43	pp	pp	ADV
alkej-693	108	44	13	13	NUM
alkej-693	108	45	-	-	SYM
alkej-693	108	46	25	25	NUM
alkej-693	108	47	,	,	PUNCT
alkej-693	108	48	2017	2017	NUM
alkej-693	108	49	.	.	PUNCT
alkej-693	109	1	[	[	X
alkej-693	109	2	3	3	NUM
alkej-693	109	3	]	]	X
alkej-693	109	4	i.	i.	PROPN
alkej-693	109	5	s.	s.	PROPN
alkej-693	109	6	karem	karem	PROPN
alkej-693	109	7	,	,	PUNCT
alkej-693	109	8	t.	t.	PROPN
alkej-693	109	9	a.j	a.j	PROPN
alkej-693	109	10	.	.	PROPN
alkej-693	109	11	wahab	wahab	PROPN
alkej-693	109	12	,	,	PUNCT
alkej-693	109	13	and	and	CCONJ
alkej-693	109	14	m.	m.	PROPN
alkej-693	109	15	j.	j.	PROPN
alkej-693	109	16	yahyh	yahyh	PROPN
alkej-693	109	17	,	,	PUNCT
alkej-693	109	18	“	"	PUNCT
alkej-693	109	19	design	design	NOUN
alkej-693	109	20	and	and	CCONJ
alkej-693	109	21	implementation	implementation	NOUN
alkej-693	109	22	for	for	ADP
alkej-693	109	23	3	3	NUM
alkej-693	109	24	-	-	PUNCT
alkej-693	109	25	dof	dof	NOUN
alkej-693	109	26	scara	scara	NOUN
alkej-693	109	27	robot	robot	PROPN
alkej-693	109	28	based	base	VERB
alkej-693	109	29	plc	plc	PROPN
alkej-693	109	30	”	"	PUNCT
alkej-693	109	31	,	,	PUNCT
alkej-693	109	32	al	al	PROPN
alkej-693	109	33	-	-	PUNCT
alkej-693	109	34	khwarizmi	khwarizmi	PROPN
alkej-693	109	35	engineering	engineering	NOUN
alkej-693	109	36	journal	journal	PROPN
alkej-693	109	37	,	,	PUNCT
alkej-693	109	38	vol	vol	NOUN
alkej-693	109	39	.	.	PROPN
alkej-693	109	40	13	13	NUM
alkej-693	109	41	,	,	PUNCT
alkej-693	109	42	no	no	INTJ
alkej-693	109	43	.	.	NOUN
alkej-693	109	44	1	1	NUM
alkej-693	109	45	,	,	PUNCT
alkej-693	109	46	pp	pp	ADV
alkej-693	109	47	40	40	NUM
alkej-693	109	48	-	-	SYM
alkej-693	109	49	50	50	NUM
alkej-693	109	50	,	,	PUNCT
alkej-693	109	51	2017	2017	NUM
alkej-693	109	52	.	.	PUNCT
alkej-693	110	1	[	[	X
alkej-693	110	2	4	4	X
alkej-693	110	3	]	]	PUNCT
alkej-693	110	4	s.	s.	PROPN
alkej-693	110	5	dereli	dereli	PROPN
alkej-693	110	6	and	and	CCONJ
alkej-693	110	7	r.	r.	PROPN
alkej-693	110	8	köker	köker	PROPN
alkej-693	110	9	,	,	PUNCT
alkej-693	110	10	“	"	PUNCT
alkej-693	110	11	design	design	NOUN
alkej-693	110	12	and	and	CCONJ
alkej-693	110	13	analysis	analysis	NOUN
alkej-693	110	14	of	of	ADP
alkej-693	110	15	multi	multi	ADJ
alkej-693	110	16	-	-	ADJ
alkej-693	110	17	layer	layer	ADJ
alkej-693	110	18	artificial	artificial	ADJ
alkej-693	110	19	neural	neural	ADJ
alkej-693	110	20	network	network	NOUN
alkej-693	110	21	used	use	VERB
alkej-693	110	22	for	for	ADP
alkej-693	110	23	training	training	NOUN
alkej-693	110	24	in	in	ADP
alkej-693	110	25	inverse	inverse	NOUN
alkej-693	110	26	kinematic	kinematic	NOUN
alkej-693	110	27	solution	solution	NOUN
alkej-693	110	28	of	of	ADP
alkej-693	110	29	7dof	7dof	ADJ
alkej-693	110	30	serial	serial	ADJ
alkej-693	110	31	robot	robot	NOUN
alkej-693	110	32	”	"	PUNCT
alkej-693	110	33	,	,	PUNCT
alkej-693	110	34	gaziosmanpasa	gaziosmanpasa	PROPN
alkej-693	110	35	journal	journal	PROPN
alkej-693	110	36	of	of	ADP
alkej-693	110	37	scientific	scientific	ADJ
alkej-693	110	38	research	research	NOUN
alkej-693	110	39	,	,	PUNCT
alkej-693	110	40	vol	vol	NOUN
alkej-693	110	41	.	.	PROPN
alkej-693	110	42	6	6	NUM
alkej-693	110	43	,	,	PUNCT
alkej-693	110	44	pp	pp	ADV
alkej-693	110	45	60	60	NUM
alkej-693	110	46	-	-	SYM
alkej-693	110	47	71	71	NUM
alkej-693	110	48	,	,	PUNCT
alkej-693	110	49	2017	2017	NUM
alkej-693	110	50	.	.	PUNCT
alkej-693	111	1	[	[	X
alkej-693	111	2	5	5	X
alkej-693	111	3	]	]	PUNCT
alkej-693	111	4	d.	d.	PROPN
alkej-693	111	5	l.	l.	PROPN
alkej-693	111	6	rajnor	rajnor	PROPN
alkej-693	111	7	,	,	PUNCT
alkej-693	111	8	and	and	CCONJ
alkej-693	111	9	a.	a.	PROPN
alkej-693	111	10	s.	s.	PROPN
alkej-693	111	11	bhide	bhide	PROPN
alkej-693	111	12	,	,	PUNCT
alkej-693	111	13	“	"	PUNCT
alkej-693	111	14	automatic	automatic	ADJ
alkej-693	111	15	material	material	NOUN
alkej-693	111	16	handling	handling	NOUN
alkej-693	111	17	system	system	NOUN
alkej-693	111	18	using	use	VERB
alkej-693	111	19	pick	pick	NOUN
alkej-693	111	20	&	&	CCONJ
alkej-693	111	21	place	place	VERB
alkej-693	111	22	robotic	robotic	ADJ
alkej-693	111	23	arm	arm	NOUN
alkej-693	111	24	&	&	CCONJ
alkej-693	111	25	image	image	NOUN
alkej-693	111	26	processing	processing	NOUN
alkej-693	111	27	”	"	PUNCT
alkej-693	111	28	,	,	PUNCT
alkej-693	111	29	international	international	ADJ
alkej-693	111	30	journal	journal	NOUN
alkej-693	111	31	for	for	ADP
alkej-693	111	32	scientific	scientific	ADJ
alkej-693	111	33	research	research	NOUN
alkej-693	111	34	&	&	CCONJ
alkej-693	111	35	development	development	NOUN
alkej-693	111	36	,	,	PUNCT
alkej-693	111	37	vol	vol	NOUN
alkej-693	111	38	.	.	PROPN
alkej-693	111	39	2	2	NUM
alkej-693	111	40	,	,	PUNCT
alkej-693	111	41	issue	issue	NOUN
alkej-693	111	42	5	5	NUM
alkej-693	111	43	,	,	PUNCT
alkej-693	111	44	pp	pp	ADV
alkej-693	111	45	168	168	NUM
alkej-693	111	46	-	-	SYM
alkej-693	111	47	171	171	NUM
alkej-693	111	48	,	,	PUNCT
alkej-693	111	49	2014	2014	NUM
alkej-693	111	50	.	.	PUNCT
alkej-693	112	1	[	[	X
alkej-693	112	2	6	6	NUM
alkej-693	112	3	]	]	X
alkej-693	112	4	d.	d.	NOUN
alkej-693	112	5	sivasamy	sivasamy	PROPN
alkej-693	112	6	,	,	PUNCT
alkej-693	112	7	m.	m.	PROPN
alkej-693	112	8	d.	d.	PROPN
alkej-693	112	9	anand	anand	PROPN
alkej-693	112	10	,	,	PUNCT
alkej-693	112	11	and	and	CCONJ
alkej-693	112	12	k.	k.	PROPN
alkej-693	112	13	a.	a.	PROPN
alkej-693	112	14	sheela	sheela	PROPN
alkej-693	112	15	,	,	PUNCT
alkej-693	112	16	“	"	PUNCT
alkej-693	112	17	robot	robot	NOUN
alkej-693	112	18	forward	forward	ADV
alkej-693	112	19	and	and	CCONJ
alkej-693	112	20	inverse	inverse	NOUN
alkej-693	112	21	kinematics	kinematic	NOUN
alkej-693	112	22	research	research	NOUN
alkej-693	112	23	using	use	VERB
alkej-693	112	24	matlab	matlab	PROPN
alkej-693	112	25	”	"	PUNCT
alkej-693	112	26	,	,	PUNCT
alkej-693	112	27	international	international	ADJ
alkej-693	112	28	journal	journal	NOUN
alkej-693	112	29	of	of	ADP
alkej-693	112	30	recent	recent	ADJ
alkej-693	112	31	technology	technology	NOUN
alkej-693	112	32	and	and	CCONJ
alkej-693	112	33	engineering	engineering	NOUN
alkej-693	112	34	,	,	PUNCT
alkej-693	112	35	vol	vol	NOUN
alkej-693	112	36	.	.	PROPN
alkej-693	112	37	8	8	NUM
alkej-693	112	38	,	,	PUNCT
alkej-693	112	39	issue	issue	NOUN
alkej-693	112	40	2s3	2s3	NUM
alkej-693	112	41	,	,	PUNCT
alkej-693	112	42	pp	pp	ADV
alkej-693	112	43	29	29	NUM
alkej-693	112	44	-	-	SYM
alkej-693	112	45	35	35	NUM
alkej-693	112	46	,	,	PUNCT
alkej-693	112	47	2019	2019	NUM
alkej-693	112	48	.	.	PUNCT
alkej-693	113	1	[	[	X
alkej-693	113	2	7	7	X
alkej-693	113	3	]	]	PUNCT
alkej-693	113	4	w.	w.	PROPN
alkej-693	113	5	i.	i.	PROPN
alkej-693	113	6	m.	m.	PROPN
alkej-693	113	7	al	al	PROPN
alkej-693	113	8	-	-	PUNCT
alkej-693	113	9	tameemi	tameemi	PROPN
alkej-693	113	10	and	and	CCONJ
alkej-693	113	11	w.	w.	PROPN
alkej-693	113	12	m.	m.	PROPN
alkej-693	113	13	h.	h.	PROPN
alkej-693	113	14	hadi	hadi	PROPN
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alkej-693	113	17	kinematics	kinematic	NOUN
alkej-693	113	18	analysis	analysis	NOUN
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alkej-693	113	25	-	-	PUNCT
alkej-693	113	26	dof	dof	NOUN
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alkej-693	113	30	,	,	PUNCT
alkej-693	113	31	eng	eng	PROPN
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alkej-693	113	34	tech	tech	PROPN
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alkej-693	114	1	journal	journal	PROPN
alkej-693	114	2	,	,	PUNCT
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alkej-693	114	6	,	,	PUNCT
alkej-693	114	7	part	part	NOUN
alkej-693	114	8	a	a	PRON
alkej-693	114	9	,	,	PUNCT
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alkej-693	114	13	,	,	PUNCT
alkej-693	114	14	pp	pp	ADP
alkej-693	114	15	2196	2196	NUM
alkej-693	114	16	-	-	SYM
alkej-693	114	17	2204	2204	NUM
alkej-693	114	18	,	,	PUNCT
alkej-693	114	19	2014	2014	NUM
alkej-693	114	20	.	.	PUNCT
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alkej-693	115	3	]	]	PUNCT
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alkej-693	115	8	p.	p.	PROPN
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alkej-693	115	16	forward	forward	ADV
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alkej-693	115	18	inverse	inverse	NOUN
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alkej-693	115	20	analysis	analysis	NOUN
alkej-693	115	21	of	of	ADP
alkej-693	115	22	robotic	robotic	ADJ
alkej-693	115	23	manipulators	manipulator	NOUN
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alkej-693	115	25	,	,	PUNCT
alkej-693	115	26	international	international	ADJ
alkej-693	115	27	research	research	NOUN
alkej-693	115	28	journal	journal	NOUN
alkej-693	115	29	of	of	ADP
alkej-693	115	30	engineering	engineering	NOUN
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alkej-693	115	32	technology	technology	NOUN
alkej-693	115	33	,	,	PUNCT
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alkej-693	115	35	.	.	PROPN
alkej-693	115	36	4	4	NUM
alkej-693	115	37	,	,	PUNCT
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alkej-693	115	39	2	2	NUM
alkej-693	115	40	,	,	PUNCT
alkej-693	115	41	pp	pp	ADP
alkej-693	115	42	1459	1459	NUM
alkej-693	115	43	-	-	SYM
alkej-693	115	44	1469	1469	NUM
alkej-693	115	45	,	,	PUNCT
alkej-693	115	46	2017	2017	NUM
alkej-693	115	47	.	.	PUNCT
alkej-693	116	1	[	[	X
alkej-693	116	2	9	9	NUM
alkej-693	116	3	]	]	PUNCT
alkej-693	116	4	t.	t.	PROPN
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alkej-693	116	6	abaas	abaas	PROPN
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alkej-693	116	8	and	and	CCONJ
alkej-693	116	9	h.	h.	PROPN
alkej-693	116	10	h.	h.	PROPN
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alkej-693	116	14	inverse	inverse	NOUN
alkej-693	116	15	kinematic	kinematic	ADJ
alkej-693	116	16	analysis	analysis	NOUN
alkej-693	116	17	of	of	ADP
alkej-693	116	18	lab	lab	NOUN
alkej-693	116	19	-	-	PUNCT
alkej-693	116	20	volt	volt	NOUN
alkej-693	116	21	r5150	r5150	PROPN
alkej-693	116	22	robot	robot	NOUN
alkej-693	116	23	system	system	NOUN
alkej-693	116	24	”	"	PUNCT
alkej-693	116	25	,	,	PUNCT
alkej-693	116	26	international	international	ADJ
alkej-693	116	27	journal	journal	NOUN
alkej-693	116	28	of	of	ADP
alkej-693	116	29	research	research	NOUN
alkej-693	116	30	,	,	PUNCT
alkej-693	116	31	vol	vol	NOUN
alkej-693	116	32	.	.	PROPN
alkej-693	116	33	4	4	NUM
alkej-693	116	34	,	,	PUNCT
alkej-693	116	35	issue	issue	NOUN
alkej-693	116	36	13	13	NUM
alkej-693	116	37	,	,	PUNCT
alkej-693	116	38	pp	pp	ADV
alkej-693	116	39	81	81	NUM
alkej-693	116	40	-	-	SYM
alkej-693	116	41	88	88	NUM
alkej-693	116	42	,	,	PUNCT
alkej-693	116	43	2017	2017	NUM
alkej-693	116	44	.	.	PUNCT
alkej-693	117	1	[	[	X
alkej-693	117	2	10	10	NUM
alkej-693	117	3	]	]	PUNCT
alkej-693	117	4	a.	a.	NOUN
alkej-693	117	5	n.	n.	PROPN
alkej-693	117	6	barakat	barakat	PROPN
alkej-693	117	7	,	,	PUNCT
alkej-693	117	8	k.	k.	PROPN
alkej-693	117	9	a.	a.	PROPN
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alkej-693	117	12	and	and	CCONJ
alkej-693	117	13	k.	k.	PROPN
alkej-693	117	14	a.	a.	PROPN
alkej-693	117	15	bozed	boze	VERB
alkej-693	117	16	,	,	PUNCT
alkej-693	117	17	“	"	PUNCT
alkej-693	117	18	kinematics	kinematics	NOUN
alkej-693	117	19	analysis	analysis	NOUN
alkej-693	117	20	and	and	CCONJ
alkej-693	117	21	simulation	simulation	NOUN
alkej-693	117	22	of	of	ADP
alkej-693	117	23	a	a	DET
alkej-693	117	24	robotic	robotic	ADJ
alkej-693	117	25	arm	arm	NOUN
alkej-693	117	26	using	use	VERB
alkej-693	117	27	matlab	matlab	PROPN
alkej-693	117	28	”	"	PUNCT
alkej-693	117	29	,	,	PUNCT
alkej-693	117	30	4th	4th	ADJ
alkej-693	117	31	international	international	ADJ
alkej-693	117	32	conference	conference	NOUN
alkej-693	117	33	on	on	ADP
alkej-693	117	34	control	control	PROPN
alkej-693	117	35	engineering	engineering	PROPN
alkej-693	117	36	&	&	CCONJ
alkej-693	117	37	information	information	PROPN
alkej-693	117	38	technology	technology	PROPN
alkej-693	117	39	”	"	PUNCT
alkej-693	117	40	,	,	PUNCT
alkej-693	117	41	1618	1618	NUM
alkej-693	117	42	december	december	PROPN
alkej-693	117	43	,	,	PUNCT
alkej-693	117	44	2016	2016	NUM
alkej-693	117	45	,	,	PUNCT
alkej-693	117	46	hammamet	hammamet	PROPN
alkej-693	117	47	,	,	PUNCT
alkej-693	117	48	tunisia	tunisia	PROPN
alkej-693	117	49	.	.	PUNCT
alkej-693	117	50	)	)	PUNCT
alkej-693	118	1	2020	2020	NUM
alkej-693	118	2	(	(	PUNCT
alkej-693	118	3	110	110	NUM
alkej-693	118	4	،	،	NOUN
alkej-693	118	5	صفحة	صفحة	NOUN
alkej-693	118	6	1العدد	1العدد	NUM
alkej-693	118	7	،	،	NOUN
alkej-693	118	8	16دجلة	16دجلة	PROPN
alkej-693	118	9	الخوارزمي	الخوارزمي	PROPN
alkej-693	118	10	الهندسية	الهندسية	PROPN
alkej-693	118	11	المجلمتحسين	المجلمتحسين	PROPN
alkej-693	118	12	فاضل	فاضل	VERB
alkej-693	118	13	عباس	عباس	VERB
alkej-693	118	14	10	10	NUM
alkej-693	118	15	التحليل	التحليل	NOUN
alkej-693	118	16	الحركي	الحركي	PROPN
alkej-693	118	17	العكسي	العكسي	NOUN
alkej-693	118	18	والمحاكاة	والمحاكاة	PROPN
alkej-693	118	19	لذراع	لذراع	PROPN
alkej-693	118	20	روبوت	روبوت	PROPN
alkej-693	119	1	ذو	ذو	PROPN
alkej-693	119	2	خمس	خمس	PROPN
alkej-693	119	3	درجات	درجات	PROPN
alkej-693	119	4	لحرية	لحرية	NOUN
alkej-693	119	5	الحركة	الحركة	NOUN
alkej-693	119	6	بأستخدام	بأستخدام	NOUN
alkej-693	119	7	matlab	matlab	PROPN
alkej-693	119	8	مهند	مهند	PROPN
alkej-693	119	9	قصي	قصي	PROPN
alkej-693	119	10	عبود	عبود	PROPN
alkej-693	119	11	*	*	PUNCT
alkej-693	119	12	*	*	PUNCT
alkej-693	119	13	*	*	PUNCT
alkej-693	119	14	علي	علي	NOUN
alkej-693	119	15	عبار	عبار	NOUN
alkej-693	119	16	خليف	خليف	NOUN
alkej-693	119	17	*	*	SYM
alkej-693	119	18	*	*	PROPN
alkej-693	119	19	تحسين	تحسين	NOUN
alkej-693	119	20	فاضل	فاضل	PROPN
alkej-693	119	21	عباس	عباس	VERB
alkej-693	119	22	*	*	PUNCT
alkej-693	120	1	العراق	العراق	PROPN
alkej-693	120	2	/بغداد	/بغداد	PUNCT
alkej-693	120	3	/الجامعة	/الجامعة	PUNCT
alkej-693	120	4	التكنولوجية	التكنولوجية	NOUN
alkej-693	120	5	/	/	PUNCT
alkej-693	121	1	*	*	PUNCT
alkej-693	121	2	،	،	NOUN
alkej-693	122	1	*	*	PUNCT
alkej-693	123	1	*	*	NOUN
alkej-693	123	2	،	،	X
alkej-693	123	3	*	*	PUNCT
alkej-693	123	4	*	*	PUNCT
alkej-693	123	5	*	*	PUNCT
alkej-693	123	6	قسم	قسم	PROPN
alkej-693	123	7	هندسة	هندسة	PROPN
alkej-693	123	8	االنتاج	االنتاج	PROPN
alkej-693	123	9	والمعادن	والمعادن	PROPN
alkej-693	123	10	uotechnology.edu.iq@70047االلكتروني	uotechnology.edu.iq@70047االلكتروني	PROPN
alkej-693	123	11	:	:	PUNCT
alkej-693	123	12	*	*	PUNCT
alkej-693	123	13	البريد	البريد	VERB
alkej-693	123	14	uotechnology.edu.iq@70080البريد	uotechnology.edu.iq@70080البريد	ADJ
alkej-693	123	15	االلكتروني	االلكتروني	NOUN
alkej-693	123	16	:	:	PUNCT
alkej-693	124	1	*	*	PUNCT
alkej-693	124	2	*	*	PUNCT
alkej-693	124	3	uotechnology.edu.iq@70209البريد	uotechnology.edu.iq@70209البريد	ADJ
alkej-693	124	4	االلكتروني	االلكتروني	NOUN
alkej-693	124	5	:	:	PUNCT
alkej-693	124	6	*	*	PUNCT
alkej-693	124	7	*	*	PUNCT
alkej-693	124	8	*	*	PUNCT
alkej-693	124	9	الخالصة	الخالصة	PROPN
alkej-693	124	10	التحليل	التحليل	PROPN
alkej-693	124	11	الحركي	الحركي	PROPN
alkej-693	124	12	االمامي	االمامي	PROPN
alkej-693	124	13	والعكسي	والعكسي	PROPN
alkej-693	124	14	يعد	يعد	PROPN
alkej-693	124	15	الروبوتات	الروبوتات	PROPN
alkej-693	124	16	،	،	PROPN
alkej-693	124	17	في	في	PROPN
alkej-693	124	18	.	.	PUNCT
alkej-693	124	19	االعتبار	االعتبار	PROPN
alkej-693	124	20	في	في	ADP
alkej-693	124	21	القوة	القوة	PROPN
alkej-693	124	22	أخذ	أخذ	PROPN
alkej-693	124	23	دون	دون	PROPN
alkej-693	124	24	األجسام	األجسام	PROPN
alkej-693	124	25	حركة	حركة	NOUN
alkej-693	125	1	مع	مع	INTJ
alkej-693	125	2	يتعامل	يتعامل	PROPN
alkej-693	125	3	الذي	الذي	PROPN
alkej-693	125	4	الميكانيكي	الميكانيكي	PROPN
alkej-693	125	5	الفرع	الفرع	PROPN
alkej-693	125	6	هو	هو	PROPN
alkej-693	125	7	التحليل	التحليل	PROPN
alkej-693	125	8	الحركي	الحركي	PROPN
alkej-693	125	9	لحرية	لحرية	PROPN
alkej-693	125	10	الحركة	الحركة	PROPN
alkej-693	125	11	روبوت	روبوت	PROPN
alkej-693	125	12	ذو	ذو	PROPN
alkej-693	125	13	خمس	خمس	PROPN
alkej-693	125	14	درجات	درجات	NOUN
alkej-693	125	15	يستعرض	يستعرض	NOUN
alkej-693	125	16	هذا	هذا	NOUN
alkej-693	125	17	العمل	العمل	VERB
alkej-693	125	18	التحليل	التحليل	NOUN
alkej-693	125	19	الحركي	الحركي	PROPN
alkej-693	125	20	العكسي	العكسي	PROPN
alkej-693	125	21	لذراع	لذراع	PROPN
alkej-693	125	22	.	.	PUNCT
alkej-693	126	1	متعددة	متعددة	VERB
alkej-693	126	2	بمهام	بمهام	PROPN
alkej-693	126	3	للقيام	للقيام	PROPN
alkej-693	126	4	واتجاهه	واتجاهه	PROPN
alkej-693	126	5	الماسك	الماسك	PROPN
alkej-693	126	6	موضع	موضع	PROPN
alkej-693	126	7	تحديد	تحديد	NOUN
alkej-693	126	8	مهم	مهم	VERB
alkej-693	126	9	في	في	DET
alkej-693	126	10	استخدم	استخدم	NOUN
alkej-693	126	11	.	.	PUNCT
alkej-693	127	1	الروبوت	الروبوت	PROPN
alkej-693	127	2	ذراع	ذراع	PROPN
alkej-693	127	3	أذرع	أذرع	PROPN
alkej-693	127	4	ومفاصل	ومفاصل	NOUN
alkej-693	127	5	لتمثيل	لتمثيل	ADV
alkej-693	127	6	)	)	PUNCT
alkej-693	128	1	(	(	PUNCT
alkej-693	128	2	denavit	denavit	PROPN
alkej-693	128	3	-	-	PUNCT
alkej-693	128	4	hartenberg	hartenberg	PROPN
alkej-693	128	5	متغيرات	متغيرات	PROPN
alkej-693	128	6	واستخدمت	واستخدمت	PROPN
alkej-693	128	7	matlab	matlab	PROPN
alkej-693	128	8	برنامج	برنامج	PROPN
alkej-693	128	9	في	في	ADP
alkej-693	128	10	robotics	robotic	NOUN
alkej-693	128	11	toolbox	toolbox	NOUN
alkej-693	128	12	باستخدام	باستخدام	PROPN
alkej-693	128	13	المهام	المهام	PROPN
alkej-693	128	14	إلنجاز	إلنجاز	PROPN
alkej-693	128	15	متتالية	متتالية	PROPN
alkej-693	128	16	خطوط	خطوط	PROPN
alkej-693	128	17	إلى	إلى	NOUN
alkej-693	128	18	اآللي	اآللي	PROPN
alkej-693	128	19	الذراع	الذراع	PROPN
alkej-693	128	20	مسار	مسار	PROPN
alkej-693	128	21	تقسيم	تقسيم	PROPN
alkej-693	128	22	لذراع	لذراع	PROPN
alkej-693	128	23	الروبوت	الروبوت	PROPN
alkej-693	128	24	وتم	وتم	PROPN
alkej-693	128	25	المفاصل	المفاصل	VERB
alkej-693	128	26	التحليل	التحليل	PROPN
alkej-693	128	27	الحركي	الحركي	PROPN
alkej-693	128	28	العكسي	العكسي	NOUN
alkej-693	128	29	اليجاد	اليجاد	PROPN
alkej-693	128	30	زوايا	زوايا	NOUN
alkej-693	128	31	حل	حل	NOUN
alkej-693	129	1	في	في	ADP
alkej-693	129	2	الهندسي	الهندسي	NOUN
alkej-693	129	3	النهج	النهج	PROPN
alkej-693	129	4	ثالثية	ثالثية	NOUN
alkej-693	129	5	لمحاكاة	لمحاكاة	NOUN
alkej-693	129	6	)	)	PUNCT
alkej-693	129	7	الرسومية	الرسومية	ADJ
alkej-693	129	8	المستخدم	المستخدم	PROPN
alkej-693	129	9	واجهة	واجهة	PROPN
alkej-693	129	10	(	(	PUNCT
alkej-693	129	11	matlab	matlab	PROPN
alkej-693	129	12	برنامج	برنامج	PROPN
alkej-693	129	13	يستخدم	يستخدم	PROPN
alkej-693	129	14	.الهندسية	.الهندسية	ADP
alkej-693	129	15	للتطبيقات	للتطبيقات	PROPN
alkej-693	129	16	الطريقة	الطريقة	NOUN
alkej-693	129	17	هذه	هذه	PROPN
alkej-693	129	18	اعتماد	اعتماد	ADV
alkej-693	129	19	اآللية	اآللية	PROPN
alkej-693	129	20	،	،	PROPN
alkej-693	129	21	وبالتالي	وبالتالي	PROPN
alkej-693	129	22	،	،	PROPN
alkej-693	129	23	يمكن	يمكن	PROPN
alkej-693	129	24	للذراع	للذراع	PROPN
alkej-693	129	25	المطلوبة	المطلوبة	PROPN
alkej-693	129	26	األقصى	األقصى	PROPN
alkej-693	129	27	الحد	الحد	VERB
alkej-693	129	28	أن	أن	ADP
alkej-693	129	29	النتائج	النتائج	PROPN
alkej-693	129	30	أظهرت	أظهرت	PROPN
alkej-693	129	31	.	.	PUNCT
alkej-693	130	1	لمفص	لمفص	PROPN
alkej-693	130	2	كل	كل	PROPN
alkej-693	130	3	موقع	موقع	NOUN
alkej-693	130	4	لعرض	لعرض	AUX
alkej-693	130	5	matlabلحركة	matlabلحركة	PROPN
alkej-693	130	6	ذراع	ذراع	PROPN
alkej-693	130	7	الروبوت	الروبوت	PROPN
alkej-693	130	8	.أيًضا	.أيًضا	PROPN
alkej-693	130	9	،	،	PROPN
alkej-693	130	10	تم	تم	NOUN
alkej-693	130	11	أستخدام	أستخدام	PROPN
alkej-693	130	12	واجهة	واجهة	NOUN
alkej-693	130	13	الرسوم	الرسوم	PROPN
alkej-693	130	14	الحاسوبية	الحاسوبية	PROPN
alkej-693	130	15	ببرنامج	ببرنامج	PROPN
alkej-693	130	16	األبعاد	األبعاد	ADV
alkej-693	130	17	.التوالي	.التوالي	PUNCT
alkej-693	130	18	على	على	NOUN
alkej-693	130	19	٪	٪	NOUN
alkej-693	130	20	٠٫١٠٨٥	٠٫١٠٨٥	NOUN
alkej-693	130	21	و	و	PRON
alkej-693	130	22	،	،	X
alkej-693	130	23	٪	٪	X
alkej-693	130	24	٠٫٠٢٣٩	٠٫٠٢٣٩	PROPN
alkej-693	130	25	،	،	X
alkej-693	130	26	٪	٪	X
alkej-693	130	27	٠٫٠٢٥١	٠٫٠٢٥١	X
alkej-693	130	28	للماسك	للماسك	NOUN
alkej-693	130	29	هي	هي	PROPN
alkej-693	130	30	x	x	SYM
alkej-693	130	31	،	،	PROPN
alkej-693	130	32	y	y	PROPN
alkej-693	130	33	،	،	PROPN
alkej-693	130	34	z	z	PROPN
alkej-693	130	35	إحداثيات	إحداثيات	PROPN
alkej-693	131	1	في	في	X
alkej-693	131	2	للخطأ	للخطأ	VERB