id	sid	tid	token	lemma	pos
alkej-792	1	1	4d6963726f736f667420576f7264202d20ddc7d8e3c920e6cf20e3c7e1df20e6cf20dae1ed312d203134	4d6963726f736f667420576f7264202d20ddc7d8e3c920e6cf20e3c7e1df20e6cf20dae1ed312d203134	X
alkej-792	1	2	>	>	X
alkej-792	1	3	this	this	PRON
alkej-792	1	4	is	be	AUX
alkej-792	1	5	an	an	DET
alkej-792	1	6	open	open	ADJ
alkej-792	1	7	access	access	NOUN
alkej-792	1	8	article	article	NOUN
alkej-792	1	9	under	under	ADP
alkej-792	1	10	the	the	DET
alkej-792	1	11	cc	cc	NOUN
alkej-792	1	12	by	by	ADP
alkej-792	1	13	license	license	NOUN
alkej-792	1	14	:	:	PUNCT
alkej-792	1	15	al	al	PROPN
alkej-792	1	16	-	-	PUNCT
alkej-792	1	17	khwarizmi	khwarizmi	PROPN
alkej-792	1	18	engineering	engineering	PROPN
alkej-792	1	19	journal	journal	PROPN
alkej-792	1	20	al	al	PROPN
alkej-792	1	21	-	-	PUNCT
alkej-792	1	22	khwarizmi	khwarizmi	PROPN
alkej-792	1	23	engineering	engineering	NOUN
alkej-792	1	24	journal	journal	PROPN
alkej-792	1	25	,	,	PUNCT
alkej-792	1	26	vol	vol	NOUN
alkej-792	1	27	.	.	PROPN
alkej-792	1	28	18	18	NUM
alkej-792	1	29	,	,	PUNCT
alkej-792	1	30	no	no	INTJ
alkej-792	1	31	.	.	NOUN
alkej-792	1	32	3	3	NUM
alkej-792	1	33	,	,	PUNCT
alkej-792	1	34	september	september	PROPN
alkej-792	1	35	,	,	PUNCT
alkej-792	1	36	(	(	PUNCT
alkej-792	1	37	2022	2022	NUM
alkej-792	1	38	)	)	PUNCT
alkej-792	2	1	p.	p.	NOUN
alkej-792	2	2	p.	p.	NOUN
alkej-792	2	3	114	114	NUM
alkej-792	3	1	design	design	NOUN
alkej-792	3	2	and	and	CCONJ
alkej-792	3	3	analysis	analysis	NOUN
alkej-792	3	4	of	of	ADP
alkej-792	3	5	a	a	DET
alkej-792	3	6	spraying	spray	VERB
alkej-792	3	7	robot	robot	NOUN
alkej-792	3	8	fatima	fatima	PROPN
alkej-792	3	9	m.	m.	PROPN
alkej-792	3	10	jasim	jasim	PROPN
alkej-792	3	11	*	*	PUNCT
alkej-792	3	12	malik	malik	PROPN
alkej-792	3	13	m.	m.	PROPN
alkej-792	3	14	ali	ali	PROPN
alkej-792	3	15	*	*	PROPN
alkej-792	3	16	*	*	PROPN
alkej-792	3	17	ali	ali	PROPN
alkej-792	3	18	h.	h.	PROPN
alkej-792	3	19	hamad	hamad	PROPN
alkej-792	3	20	*	*	PUNCT
alkej-792	4	1	*	*	PUNCT
alkej-792	4	2	*	*	PUNCT
alkej-792	4	3	*	*	PUNCT
alkej-792	4	4	,	,	PUNCT
alkej-792	4	5	*	*	PUNCT
alkej-792	4	6	*	*	NOUN
alkej-792	4	7	department	department	NOUN
alkej-792	4	8	of	of	ADP
alkej-792	4	9	mechatronics	mechatronic	NOUN
alkej-792	4	10	engineering/	engineering/	NUM
alkej-792	4	11	al	al	PROPN
alkej-792	4	12	-	-	PUNCT
alkej-792	4	13	khwarizmi	khwarizmi	PROPN
alkej-792	4	14	college	college	PROPN
alkej-792	4	15	of	of	ADP
alkej-792	4	16	engineering/	engineering/	NUM
alkej-792	4	17	university	university	NOUN
alkej-792	4	18	of	of	ADP
alkej-792	4	19	baghdad/	baghdad/	NUM
alkej-792	4	20	baghdad/	baghdad/	NUM
alkej-792	4	21	iraq	iraq	PROPN
alkej-792	4	22	khwarizmi	khwarizmi	PROPN
alkej-792	4	23	college	college	PROPN
alkej-792	4	24	of	of	ADP
alkej-792	4	25	engineering/	engineering/	NUM
alkej-792	4	26	-al***department	-al***department	PROPN
alkej-792	4	27	of	of	ADP
alkej-792	4	28	information	information	NOUN
alkej-792	4	29	and	and	CCONJ
alkej-792	4	30	communication	communication	NOUN
alkej-792	4	31	engineering/	engineering/	NUM
alkej-792	4	32	baghdad/	baghdad/	NUM
alkej-792	4	33	iraq	iraq	PROPN
alkej-792	4	34	/university	/university	PUNCT
alkej-792	4	35	of	of	ADP
alkej-792	4	36	baghdad	baghdad	PROPN
alkej-792	4	37	*	*	PUNCT
alkej-792	4	38	email	email	NOUN
alkej-792	4	39	:	:	PUNCT
alkej-792	4	40	fatomaa.eng@gmail.com	fatomaa.eng@gmail.com	X
alkej-792	5	1	*	*	PUNCT
alkej-792	5	2	*	*	PUNCT
alkej-792	5	3	email	email	NOUN
alkej-792	5	4	:	:	PUNCT
alkej-792	5	5	malik@kecbu.uobaghdad.edu.iq	malik@kecbu.uobaghdad.edu.iq	NOUN
alkej-792	5	6	*	*	PUNCT
alkej-792	5	7	*	*	PUNCT
alkej-792	5	8	*	*	NOUN
alkej-792	5	9	email	email	NOUN
alkej-792	5	10	:	:	PUNCT
alkej-792	5	11	ahamad@kecbu.uobaghdad.edu.iq	ahamad@kecbu.uobaghdad.edu.iq	NOUN
alkej-792	5	12	)	)	PUNCT
alkej-792	5	13	2022	2022	NUM
alkej-792	5	14	july3	july3	NOUN
alkej-792	5	15	;	;	PUNCT
alkej-792	5	16	accepted	accept	VERB
alkej-792	5	17	220228	220228	NUM
alkej-792	5	18	march	march	NOUN
alkej-792	5	19	received	receive	VERB
alkej-792	5	20	(	(	PUNCT
alkej-792	5	21	https://doi.org/10.22153/kej.2022.07.001	https://doi.org/10.22153/kej.2022.07.001	PROPN
alkej-792	5	22	abstract	abstract	NOUN
alkej-792	5	23	an	an	DET
alkej-792	5	24	indoor	indoor	ADJ
alkej-792	5	25	spraying	spraying	NOUN
alkej-792	5	26	robot	robot	NOUN
alkej-792	5	27	is	be	AUX
alkej-792	5	28	built	build	VERB
alkej-792	5	29	in	in	ADP
alkej-792	5	30	this	this	DET
alkej-792	5	31	research	research	NOUN
alkej-792	5	32	to	to	PART
alkej-792	5	33	solve	solve	VERB
alkej-792	5	34	numerous	numerous	ADJ
alkej-792	5	35	challenges	challenge	NOUN
alkej-792	5	36	associated	associate	VERB
alkej-792	5	37	with	with	ADP
alkej-792	5	38	manual	manual	ADJ
alkej-792	5	39	spraying	spraying	NOUN
alkej-792	5	40	.	.	PUNCT
alkej-792	6	1	the	the	DET
alkej-792	6	2	mechanical	mechanical	ADJ
alkej-792	6	3	,	,	PUNCT
alkej-792	6	4	hardware	hardware	NOUN
alkej-792	6	5	and	and	CCONJ
alkej-792	6	6	essential	essential	ADJ
alkej-792	6	7	technologies	technology	NOUN
alkej-792	6	8	used	use	VERB
alkej-792	6	9	are	be	AUX
alkej-792	6	10	all	all	ADV
alkej-792	6	11	detailed	detailed	ADJ
alkej-792	6	12	and	and	CCONJ
alkej-792	6	13	designed	design	VERB
alkej-792	6	14	.	.	PUNCT
alkej-792	7	1	the	the	DET
alkej-792	7	2	proposed	propose	VERB
alkej-792	7	3	spraying	spray	VERB
alkej-792	7	4	robot	robot	NOUN
alkej-792	7	5	's	's	PART
alkej-792	7	6	conceptual	conceptual	ADJ
alkej-792	7	7	design	design	NOUN
alkej-792	7	8	is	be	AUX
alkej-792	7	9	split	split	VERB
alkej-792	7	10	into	into	ADP
alkej-792	7	11	two	two	NUM
alkej-792	7	12	parts	part	NOUN
alkej-792	7	13	:	:	PUNCT
alkej-792	7	14	hardware	hardware	NOUN
alkej-792	7	15	and	and	CCONJ
alkej-792	7	16	software	software	NOUN
alkej-792	7	17	.	.	PUNCT
alkej-792	8	1	the	the	DET
alkej-792	8	2	mechanical	mechanical	ADJ
alkej-792	8	3	design	design	NOUN
alkej-792	8	4	,	,	PUNCT
alkej-792	8	5	manufacturing	manufacturing	NOUN
alkej-792	8	6	,	,	PUNCT
alkej-792	8	7	electrical	electrical	ADJ
alkej-792	8	8	,	,	PUNCT
alkej-792	8	9	and	and	CCONJ
alkej-792	8	10	electronics	electronic	NOUN
alkej-792	8	11	systems	system	NOUN
alkej-792	8	12	are	be	AUX
alkej-792	8	13	described	describe	VERB
alkej-792	8	14	in	in	ADP
alkej-792	8	15	the	the	DET
alkej-792	8	16	hardware	hardware	NOUN
alkej-792	8	17	part	part	NOUN
alkej-792	8	18	,	,	PUNCT
alkej-792	8	19	while	while	SCONJ
alkej-792	8	20	the	the	DET
alkej-792	8	21	control	control	NOUN
alkej-792	8	22	of	of	ADP
alkej-792	8	23	the	the	DET
alkej-792	8	24	robot	robot	NOUN
alkej-792	8	25	is	be	AUX
alkej-792	8	26	described	describe	VERB
alkej-792	8	27	in	in	ADP
alkej-792	8	28	the	the	DET
alkej-792	8	29	software	software	NOUN
alkej-792	8	30	section	section	NOUN
alkej-792	8	31	.	.	PUNCT
alkej-792	9	1	this	this	DET
alkej-792	9	2	robot	robot	NOUN
alkej-792	9	3	's	's	PART
alkej-792	9	4	kinematic	kinematic	ADJ
alkej-792	9	5	and	and	CCONJ
alkej-792	9	6	dynamic	dynamic	ADJ
alkej-792	9	7	models	model	NOUN
alkej-792	9	8	were	be	AUX
alkej-792	9	9	developed	develop	VERB
alkej-792	9	10	using	use	VERB
alkej-792	9	11	three	three	NUM
alkej-792	9	12	links	link	NOUN
alkej-792	9	13	that	that	PRON
alkej-792	9	14	move	move	VERB
alkej-792	9	15	in	in	ADP
alkej-792	9	16	the	the	DET
alkej-792	9	17	x	x	PROPN
alkej-792	9	18	,	,	PUNCT
alkej-792	9	19	y	y	PROPN
alkej-792	9	20	,	,	PUNCT
alkej-792	9	21	and	and	CCONJ
alkej-792	9	22	z	z	NOUN
alkej-792	9	23	directions	direction	NOUN
alkej-792	9	24	.	.	PUNCT
alkej-792	10	1	the	the	DET
alkej-792	10	2	robot	robot	NOUN
alkej-792	10	3	was	be	AUX
alkej-792	10	4	then	then	ADV
alkej-792	10	5	designed	design	VERB
alkej-792	10	6	using	use	VERB
alkej-792	10	7	solidworks	solidworks	PROPN
alkej-792	10	8	software	software	NOUN
alkej-792	10	9	to	to	PART
alkej-792	10	10	compute	compute	VERB
alkej-792	10	11	each	each	DET
alkej-792	10	12	connection	connection	NOUN
alkej-792	10	13	's	's	PART
alkej-792	10	14	deflection	deflection	NOUN
alkej-792	10	15	and	and	CCONJ
alkej-792	10	16	maximum	maximum	ADJ
alkej-792	10	17	stresses	stress	NOUN
alkej-792	10	18	.	.	PUNCT
alkej-792	11	1	the	the	DET
alkej-792	11	2	characteristics	characteristic	NOUN
alkej-792	11	3	of	of	ADP
alkej-792	11	4	the	the	DET
alkej-792	11	5	stepper	stepper	NOUN
alkej-792	11	6	motors	motor	NOUN
alkej-792	11	7	,	,	PUNCT
alkej-792	11	8	power	power	NOUN
alkej-792	11	9	screw	screw	NOUN
alkej-792	11	10	and	and	CCONJ
alkej-792	11	11	belt	belt	NOUN
alkej-792	11	12	drive	drive	NOUN
alkej-792	11	13	,	,	PUNCT
alkej-792	11	14	are	be	AUX
alkej-792	11	15	calculated	calculate	VERB
alkej-792	11	16	.	.	PUNCT
alkej-792	12	1	finally	finally	ADV
alkej-792	12	2	,	,	PUNCT
alkej-792	12	3	an	an	DET
alkej-792	12	4	arduino	arduino	NOUN
alkej-792	12	5	-	-	PUNCT
alkej-792	12	6	nano	nano	NOUN
alkej-792	12	7	controller	controller	NOUN
alkej-792	12	8	and	and	CCONJ
alkej-792	12	9	stepper	stepper	NOUN
alkej-792	12	10	motor	motor	NOUN
alkej-792	12	11	actuators	actuator	NOUN
alkej-792	12	12	were	be	AUX
alkej-792	12	13	used	use	VERB
alkej-792	12	14	to	to	PART
alkej-792	12	15	build	build	VERB
alkej-792	12	16	and	and	CCONJ
alkej-792	12	17	run	run	VERB
alkej-792	12	18	the	the	DET
alkej-792	12	19	robot	robot	NOUN
alkej-792	12	20	.	.	PUNCT
alkej-792	13	1	as	as	ADP
alkej-792	13	2	a	a	DET
alkej-792	13	3	result	result	NOUN
alkej-792	13	4	,	,	PUNCT
alkej-792	13	5	the	the	DET
alkej-792	13	6	robot	robot	NOUN
alkej-792	13	7	was	be	AUX
alkej-792	13	8	able	able	ADJ
alkej-792	13	9	to	to	PART
alkej-792	13	10	move	move	VERB
alkej-792	13	11	smoothly	smoothly	ADV
alkej-792	13	12	vertically	vertically	ADV
alkej-792	13	13	and	and	CCONJ
alkej-792	13	14	horizontally	horizontally	ADV
alkej-792	13	15	,	,	PUNCT
alkej-792	13	16	according	accord	VERB
alkej-792	13	17	to	to	ADP
alkej-792	13	18	the	the	DET
alkej-792	13	19	findings	finding	NOUN
alkej-792	13	20	of	of	ADP
alkej-792	13	21	the	the	DET
alkej-792	13	22	experiments	experiment	NOUN
alkej-792	13	23	as	as	SCONJ
alkej-792	13	24	shown	show	VERB
alkej-792	13	25	in	in	ADP
alkej-792	13	26	figures	figure	NOUN
alkej-792	13	27	22	22	NUM
alkej-792	13	28	,	,	PUNCT
alkej-792	13	29	23	23	NUM
alkej-792	13	30	,	,	PUNCT
alkej-792	13	31	24	24	NUM
alkej-792	13	32	,	,	PUNCT
alkej-792	13	33	and	and	CCONJ
alkej-792	13	34	25	25	NUM
alkej-792	13	35	.	.	PUNCT
alkej-792	14	1	these	these	DET
alkej-792	14	2	figures	figure	NOUN
alkej-792	14	3	showed	show	VERB
alkej-792	14	4	the	the	DET
alkej-792	14	5	position	position	NOUN
alkej-792	14	6	and	and	CCONJ
alkej-792	14	7	velocity	velocity	NOUN
alkej-792	14	8	curves	curve	NOUN
alkej-792	14	9	of	of	ADP
alkej-792	14	10	the	the	DET
alkej-792	14	11	links	link	NOUN
alkej-792	14	12	of	of	ADP
alkej-792	14	13	the	the	DET
alkej-792	14	14	robot	robot	NOUN
alkej-792	14	15	.	.	PUNCT
alkej-792	15	1	keywords	keyword	NOUN
alkej-792	15	2	:	:	PUNCT
alkej-792	15	3	cartesian	cartesian	ADJ
alkej-792	15	4	robot	robot	NOUN
alkej-792	15	5	,	,	PUNCT
alkej-792	15	6	kinematic	kinematic	ADJ
alkej-792	15	7	,	,	PUNCT
alkej-792	15	8	dynamic	dynamic	ADJ
alkej-792	15	9	,	,	PUNCT
alkej-792	15	10	system	system	NOUN
alkej-792	15	11	design	design	NOUN
alkej-792	15	12	.	.	PUNCT
alkej-792	16	1	1	1	X
alkej-792	16	2	.	.	X
alkej-792	16	3	introduction	introduction	NOUN
alkej-792	16	4	during	during	ADP
alkej-792	16	5	the	the	DET
alkej-792	16	6	development	development	NOUN
alkej-792	16	7	of	of	ADP
alkej-792	16	8	science	science	NOUN
alkej-792	16	9	and	and	CCONJ
alkej-792	16	10	technology	technology	NOUN
alkej-792	16	11	,	,	PUNCT
alkej-792	16	12	industrial	industrial	ADJ
alkej-792	16	13	robots	robot	NOUN
alkej-792	16	14	appeared	appear	VERB
alkej-792	16	15	in	in	ADP
alkej-792	16	16	industrial	industrial	ADJ
alkej-792	16	17	operations	operation	NOUN
alkej-792	16	18	.	.	PUNCT
alkej-792	17	1	industrial	industrial	ADJ
alkej-792	17	2	robots	robot	NOUN
alkej-792	17	3	are	be	AUX
alkej-792	17	4	electromechanical	electromechanical	ADJ
alkej-792	17	5	devices	device	NOUN
alkej-792	17	6	that	that	PRON
alkej-792	17	7	can	can	AUX
alkej-792	17	8	perform	perform	VERB
alkej-792	17	9	industrial	industrial	ADJ
alkej-792	17	10	tasks	task	NOUN
alkej-792	17	11	accurately	accurately	ADV
alkej-792	17	12	;	;	PUNCT
alkej-792	17	13	besides	besides	SCONJ
alkej-792	17	14	that	that	PRON
alkej-792	17	15	,	,	PUNCT
alkej-792	17	16	they	they	PRON
alkej-792	17	17	are	be	AUX
alkej-792	17	18	used	use	VERB
alkej-792	17	19	to	to	PART
alkej-792	17	20	reduce	reduce	VERB
alkej-792	17	21	the	the	DET
alkej-792	17	22	risks	risk	NOUN
alkej-792	17	23	of	of	ADP
alkej-792	17	24	industrial	industrial	ADJ
alkej-792	17	25	processes	process	NOUN
alkej-792	17	26	for	for	ADP
alkej-792	17	27	humans	human	NOUN
alkej-792	17	28	in	in	ADP
alkej-792	17	29	continuous	continuous	ADJ
alkej-792	17	30	work	work	NOUN
alkej-792	17	31	and	and	CCONJ
alkej-792	17	32	reduce	reduce	VERB
alkej-792	17	33	the	the	DET
alkej-792	17	34	consumption	consumption	NOUN
alkej-792	17	35	of	of	ADP
alkej-792	17	36	materials	material	NOUN
alkej-792	17	37	.	.	PUNCT
alkej-792	18	1	industrial	industrial	ADJ
alkej-792	18	2	robots	robot	NOUN
alkej-792	18	3	can	can	AUX
alkej-792	18	4	move	move	VERB
alkej-792	18	5	in	in	ADP
alkej-792	18	6	rotary	rotary	ADJ
alkej-792	18	7	motions	motion	NOUN
alkej-792	18	8	such	such	ADJ
alkej-792	18	9	as	as	ADP
alkej-792	18	10	articulated	articulated	ADJ
alkej-792	18	11	,	,	PUNCT
alkej-792	18	12	scara	scara	NOUN
alkej-792	18	13	,	,	PUNCT
alkej-792	18	14	cylindrical	cylindrical	ADJ
alkej-792	18	15	,	,	PUNCT
alkej-792	18	16	spherical	spherical	ADJ
alkej-792	18	17	or	or	CCONJ
alkej-792	18	18	linear	linear	ADJ
alkej-792	18	19	motion	motion	NOUN
alkej-792	18	20	.	.	PUNCT
alkej-792	19	1	the	the	DET
alkej-792	19	2	cartesian	cartesian	ADJ
alkej-792	19	3	robot	robot	NOUN
alkej-792	19	4	is	be	AUX
alkej-792	19	5	also	also	ADV
alkej-792	19	6	called	call	VERB
alkej-792	19	7	a	a	DET
alkej-792	19	8	rectilinear	rectilinear	ADJ
alkej-792	19	9	or	or	CCONJ
alkej-792	19	10	gantry	gantry	NOUN
alkej-792	19	11	robot	robot	NOUN
alkej-792	19	12	.	.	PUNCT
alkej-792	20	1	it	it	PRON
alkej-792	20	2	has	have	VERB
alkej-792	20	3	three	three	NUM
alkej-792	20	4	linear	linear	ADJ
alkej-792	20	5	joints	joint	NOUN
alkej-792	20	6	(	(	PUNCT
alkej-792	20	7	or	or	CCONJ
alkej-792	20	8	a	a	DET
alkej-792	20	9	combination	combination	NOUN
alkej-792	20	10	of	of	ADP
alkej-792	20	11	them	they	PRON
alkej-792	20	12	)	)	PUNCT
alkej-792	20	13	that	that	PRON
alkej-792	20	14	use	use	VERB
alkej-792	20	15	the	the	DET
alkej-792	20	16	cartesian	cartesian	ADJ
alkej-792	20	17	coordinate	coordinate	NOUN
alkej-792	20	18	system	system	NOUN
alkej-792	20	19	(	(	PUNCT
alkej-792	20	20	x	x	X
alkej-792	20	21	,	,	PUNCT
alkej-792	20	22	y	y	PROPN
alkej-792	20	23	,	,	PUNCT
alkej-792	20	24	and	and	CCONJ
alkej-792	20	25	z	z	NOUN
alkej-792	20	26	)	)	PUNCT
alkej-792	20	27	.	.	PUNCT
alkej-792	21	1	this	this	DET
alkej-792	21	2	robot	robot	NOUN
alkej-792	21	3	may	may	AUX
alkej-792	21	4	also	also	ADV
alkej-792	21	5	have	have	VERB
alkej-792	21	6	an	an	DET
alkej-792	21	7	attached	attach	VERB
alkej-792	21	8	wrist	wrist	NOUN
alkej-792	21	9	to	to	PART
alkej-792	21	10	allow	allow	VERB
alkej-792	21	11	for	for	ADP
alkej-792	21	12	rotational	rotational	ADJ
alkej-792	21	13	movement	movement	NOUN
alkej-792	21	14	.	.	PUNCT
alkej-792	22	1	the	the	DET
alkej-792	22	2	prismatic	prismatic	ADJ
alkej-792	22	3	joints	joint	NOUN
alkej-792	22	4	deliver	deliver	VERB
alkej-792	22	5	linear	linear	ADJ
alkej-792	22	6	motions	motion	NOUN
alkej-792	22	7	along	along	ADP
alkej-792	22	8	the	the	DET
alkej-792	22	9	respective	respective	ADJ
alkej-792	22	10	axes	axis	NOUN
alkej-792	22	11	.	.	PUNCT
alkej-792	23	1	this	this	DET
alkej-792	23	2	robot	robot	NOUN
alkej-792	23	3	is	be	AUX
alkej-792	23	4	employed	employ	VERB
alkej-792	23	5	in	in	ADP
alkej-792	23	6	material	material	NOUN
alkej-792	23	7	handling	handling	NOUN
alkej-792	23	8	,	,	PUNCT
alkej-792	23	9	computer	computer	NOUN
alkej-792	23	10	numeric	numeric	PROPN
alkej-792	23	11	control	control	NOUN
alkej-792	23	12	machine	machine	NOUN
alkej-792	23	13	load	load	NOUN
alkej-792	23	14	/	/	SYM
alkej-792	23	15	unload	unload	NOUN
alkej-792	23	16	,	,	PUNCT
alkej-792	23	17	spraying	spray	VERB
alkej-792	23	18	materials	material	NOUN
alkej-792	23	19	,	,	PUNCT
alkej-792	23	20	etc	etc	X
alkej-792	23	21	.	.	X
alkej-792	24	1	the	the	DET
alkej-792	24	2	spraying	spray	VERB
alkej-792	24	3	operation	operation	NOUN
alkej-792	24	4	is	be	AUX
alkej-792	24	5	one	one	NUM
alkej-792	24	6	of	of	ADP
alkej-792	24	7	the	the	DET
alkej-792	24	8	essential	essential	ADJ
alkej-792	24	9	processes	process	NOUN
alkej-792	24	10	in	in	ADP
alkej-792	24	11	industrial	industrial	ADJ
alkej-792	24	12	robots	robot	NOUN
alkej-792	24	13	,	,	PUNCT
alkej-792	24	14	the	the	DET
alkej-792	24	15	most	most	ADV
alkej-792	24	16	important	important	ADJ
alkej-792	24	17	of	of	ADP
alkej-792	24	18	which	which	PRON
alkej-792	24	19	is	be	AUX
alkej-792	24	20	spraying	spray	VERB
alkej-792	24	21	for	for	ADP
alkej-792	24	22	painting	paint	VERB
alkej-792	24	23	walls	wall	NOUN
alkej-792	24	24	,	,	PUNCT
alkej-792	24	25	cars	car	NOUN
alkej-792	24	26	,	,	PUNCT
alkej-792	24	27	and	and	CCONJ
alkej-792	24	28	devices	device	NOUN
alkej-792	24	29	and	and	CCONJ
alkej-792	24	30	spraying	spray	VERB
alkej-792	24	31	insecticides	insecticide	NOUN
alkej-792	24	32	on	on	ADP
alkej-792	24	33	plants	plant	NOUN
alkej-792	24	34	to	to	PART
alkej-792	24	35	get	get	AUX
alkej-792	24	36	rid	rid	VERB
alkej-792	24	37	of	of	ADP
alkej-792	24	38	agricultural	agricultural	ADJ
alkej-792	24	39	pests	pest	NOUN
alkej-792	24	40	and	and	CCONJ
alkej-792	24	41	others	other	NOUN
alkej-792	24	42	.	.	PUNCT
alkej-792	25	1	also	also	ADV
alkej-792	25	2	,	,	PUNCT
alkej-792	25	3	they	they	PRON
alkej-792	25	4	are	be	AUX
alkej-792	25	5	used	use	VERB
alkej-792	25	6	in	in	ADP
alkej-792	25	7	purgation	purgation	NOUN
alkej-792	25	8	hospitals	hospital	NOUN
alkej-792	25	9	to	to	PART
alkej-792	25	10	prevent	prevent	VERB
alkej-792	25	11	viruses	virus	NOUN
alkej-792	25	12	.	.	PUNCT
alkej-792	26	1	therefore	therefore	ADV
alkej-792	26	2	,	,	PUNCT
alkej-792	26	3	the	the	DET
alkej-792	26	4	use	use	NOUN
alkej-792	26	5	of	of	ADP
alkej-792	26	6	industrial	industrial	ADJ
alkej-792	26	7	robots	robot	NOUN
alkej-792	26	8	to	to	PART
alkej-792	26	9	spray	spray	VERB
alkej-792	26	10	instead	instead	ADV
alkej-792	26	11	of	of	ADP
alkej-792	26	12	humans	human	NOUN
alkej-792	26	13	is	be	AUX
alkej-792	26	14	vital	vital	ADJ
alkej-792	26	15	to	to	ADP
alkej-792	26	16	caring	care	VERB
alkej-792	26	17	for	for	ADP
alkej-792	26	18	the	the	DET
alkej-792	26	19	health	health	NOUN
alkej-792	26	20	of	of	ADP
alkej-792	26	21	the	the	DET
alkej-792	26	22	human	human	ADJ
alkej-792	26	23	body	body	NOUN
alkej-792	26	24	because	because	SCONJ
alkej-792	26	25	it	it	PRON
alkej-792	26	26	is	be	AUX
alkej-792	26	27	affected	affect	VERB
alkej-792	26	28	by	by	ADP
alkej-792	26	29	the	the	DET
alkej-792	26	30	paint	paint	NOUN
alkej-792	26	31	and	and	CCONJ
alkej-792	26	32	ventilation	ventilation	NOUN
alkej-792	26	33	conditions	condition	NOUN
alkej-792	26	34	of	of	ADP
alkej-792	26	35	the	the	DET
alkej-792	26	36	spraying	spraying	NOUN
alkej-792	26	37	room	room	NOUN
alkej-792	26	38	.	.	PUNCT
alkej-792	27	1	furthermore	furthermore	ADV
alkej-792	27	2	,	,	PUNCT
alkej-792	27	3	these	these	DET
alkej-792	27	4	robots	robot	NOUN
alkej-792	27	5	also	also	ADV
alkej-792	27	6	achieve	achieve	VERB
alkej-792	27	7	a	a	DET
alkej-792	27	8	good	good	ADJ
alkej-792	27	9	quality	quality	NOUN
alkej-792	27	10	of	of	ADP
alkej-792	27	11	the	the	DET
alkej-792	27	12	spray	spray	NOUN
alkej-792	27	13	-	-	PUNCT
alkej-792	27	14	painting	painting	NOUN
alkej-792	27	15	of	of	ADP
alkej-792	27	16	the	the	DET
alkej-792	27	17	products	product	NOUN
alkej-792	27	18	.	.	PUNCT
alkej-792	28	1	in	in	ADP
alkej-792	28	2	(	(	PUNCT
alkej-792	28	3	2013	2013	NUM
alkej-792	28	4	)	)	PUNCT
alkej-792	28	5	,	,	PUNCT
alkej-792	28	6	[	[	X
alkej-792	28	7	1	1	X
alkej-792	28	8	]	]	PUNCT
alkej-792	28	9	review	review	NOUN
alkej-792	28	10	the	the	DET
alkej-792	28	11	works	work	NOUN
alkej-792	28	12	related	relate	VERB
alkej-792	28	13	to	to	ADP
alkej-792	28	14	fatima	fatima	PROPN
alkej-792	28	15	m.	m.	PROPN
alkej-792	28	16	jasim	jasim	PROPN
alkej-792	28	17	al	al	PROPN
alkej-792	28	18	-	-	PUNCT
alkej-792	28	19	khwarizmi	khwarizmi	PROPN
alkej-792	28	20	engineering	engineering	NOUN
alkej-792	28	21	journal	journal	PROPN
alkej-792	28	22	,	,	PUNCT
alkej-792	28	23	vol	vol	NOUN
alkej-792	28	24	.	.	PROPN
alkej-792	28	25	18	18	NUM
alkej-792	28	26	,	,	PUNCT
alkej-792	28	27	no	no	INTJ
alkej-792	28	28	.	.	NOUN
alkej-792	28	29	3	3	NUM
alkej-792	28	30	,	,	PUNCT
alkej-792	28	31	p.p	p.p	PROPN
alkej-792	28	32	.	.	NOUN
alkej-792	28	33	114	114	NUM
alkej-792	28	34	(	(	PUNCT
alkej-792	28	35	2022	2022	NUM
alkej-792	28	36	)	)	PUNCT
alkej-792	28	37	2	2	NUM
alkej-792	28	38	coating	coat	VERB
alkej-792	28	39	thickness	thickness	NOUN
alkej-792	28	40	problems	problem	NOUN
alkej-792	28	41	and	and	CCONJ
alkej-792	28	42	improving	improve	VERB
alkej-792	28	43	the	the	DET
alkej-792	28	44	multi	multi	ADJ
alkej-792	28	45	-	-	ADJ
alkej-792	28	46	objective	objective	ADJ
alkej-792	28	47	constraint	constraint	NOUN
alkej-792	28	48	.	.	PUNCT
alkej-792	29	1	however	however	ADV
alkej-792	29	2	,	,	PUNCT
alkej-792	29	3	it	it	PRON
alkej-792	29	4	did	do	AUX
alkej-792	29	5	develop	develop	VERB
alkej-792	29	6	methods	method	NOUN
alkej-792	29	7	for	for	ADP
alkej-792	29	8	modeling	model	VERB
alkej-792	29	9	the	the	DET
alkej-792	29	10	deposition	deposition	NOUN
alkej-792	29	11	of	of	ADP
alkej-792	29	12	materials	material	NOUN
alkej-792	29	13	such	such	ADJ
alkej-792	29	14	as	as	ADP
alkej-792	29	15	gaussian	gaussian	NOUN
alkej-792	29	16	,	,	PUNCT
alkej-792	29	17	cauchy	cauchy	PROPN
alkej-792	29	18	,	,	PUNCT
alkej-792	29	19	parabolic	parabolic	NOUN
alkej-792	29	20	,	,	PUNCT
alkej-792	29	21	and	and	CCONJ
alkej-792	29	22	beta	beta	NOUN
alkej-792	29	23	models	model	NOUN
alkej-792	29	24	,	,	PUNCT
alkej-792	29	25	but	but	CCONJ
alkej-792	29	26	it	it	PRON
alkej-792	29	27	did	do	AUX
alkej-792	29	28	not	not	PART
alkej-792	29	29	come	come	VERB
alkej-792	29	30	with	with	ADP
alkej-792	29	31	satisfactory	satisfactory	ADJ
alkej-792	29	32	results	result	NOUN
alkej-792	29	33	.	.	PUNCT
alkej-792	30	1	fortunately	fortunately	ADV
alkej-792	30	2	,	,	PUNCT
alkej-792	30	3	the	the	DET
alkej-792	30	4	min	min	PROPN
alkej-792	30	5	-	-	ADJ
alkej-792	30	6	max	max	PROPN
alkej-792	30	7	method	method	NOUN
alkej-792	30	8	has	have	AUX
alkej-792	30	9	proven	prove	VERB
alkej-792	30	10	itself	itself	PRON
alkej-792	30	11	in	in	ADP
alkej-792	30	12	formulating	formulate	VERB
alkej-792	30	13	the	the	DET
alkej-792	30	14	paint	paint	NOUN
alkej-792	30	15	film	film	NOUN
alkej-792	30	16	function	function	NOUN
alkej-792	30	17	for	for	ADP
alkej-792	30	18	free	free	ADJ
alkej-792	30	19	-	-	PUNCT
alkej-792	30	20	form	form	NOUN
alkej-792	30	21	surfaces	surface	NOUN
alkej-792	30	22	.	.	PUNCT
alkej-792	31	1	the	the	DET
alkej-792	31	2	appropriate	appropriate	ADJ
alkej-792	31	3	tool	tool	NOUN
alkej-792	31	4	path	path	NOUN
alkej-792	31	5	within	within	ADP
alkej-792	31	6	an	an	DET
alkej-792	31	7	appropriate	appropriate	ADJ
alkej-792	31	8	time	time	NOUN
alkej-792	31	9	and	and	CCONJ
alkej-792	31	10	membrane	membrane	NOUN
alkej-792	31	11	quantity	quantity	NOUN
alkej-792	31	12	deviation	deviation	NOUN
alkej-792	31	13	was	be	AUX
alkej-792	31	14	also	also	ADV
alkej-792	31	15	inferred	infer	VERB
alkej-792	31	16	.	.	PUNCT
alkej-792	32	1	from	from	ADP
alkej-792	32	2	this	this	DET
alkej-792	32	3	data	datum	NOUN
alkej-792	32	4	,	,	PUNCT
alkej-792	32	5	the	the	DET
alkej-792	32	6	paint	paint	NOUN
alkej-792	32	7	deposition	deposition	NOUN
alkej-792	32	8	rate	rate	NOUN
alkej-792	32	9	model	model	NOUN
alkej-792	32	10	algorithm	algorithm	NOUN
alkej-792	32	11	and	and	CCONJ
alkej-792	32	12	the	the	DET
alkej-792	32	13	assumption	assumption	NOUN
alkej-792	32	14	of	of	ADP
alkej-792	32	15	the	the	DET
alkej-792	32	16	gun	gun	NOUN
alkej-792	32	17	shape	shape	NOUN
alkej-792	32	18	of	of	ADP
alkej-792	32	19	the	the	DET
alkej-792	32	20	paint	paint	NOUN
alkej-792	32	21	like	like	ADP
alkej-792	32	22	a	a	DET
alkej-792	32	23	cone	cone	NOUN
alkej-792	32	24	were	be	AUX
alkej-792	32	25	available	available	ADJ
alkej-792	32	26	.	.	PUNCT
alkej-792	33	1	in	in	ADP
alkej-792	33	2	2015	2015	NUM
alkej-792	33	3	,	,	PUNCT
alkej-792	33	4	[	[	X
alkej-792	33	5	2	2	X
alkej-792	33	6	]	]	PUNCT
alkej-792	33	7	compare	compare	VERB
alkej-792	33	8	the	the	DET
alkej-792	33	9	cost	cost	NOUN
alkej-792	33	10	and	and	CCONJ
alkej-792	33	11	risks	risk	NOUN
alkej-792	33	12	of	of	ADP
alkej-792	33	13	hand	hand	NOUN
alkej-792	33	14	painting	painting	NOUN
alkej-792	33	15	over	over	ADP
alkej-792	33	16	painting	paint	VERB
alkej-792	33	17	robots	robot	NOUN
alkej-792	33	18	,	,	PUNCT
alkej-792	33	19	a	a	DET
alkej-792	33	20	threeaxis	threeaxis	NOUN
alkej-792	33	21	(	(	PUNCT
alkej-792	33	22	x	x	X
alkej-792	33	23	,	,	PUNCT
alkej-792	33	24	y	y	PROPN
alkej-792	33	25	,	,	PUNCT
alkej-792	33	26	and	and	CCONJ
alkej-792	33	27	z	z	X
alkej-792	33	28	)	)	PUNCT
alkej-792	33	29	with	with	ADP
alkej-792	33	30	a	a	DET
alkej-792	33	31	two	two	NUM
alkej-792	33	32	-	-	PUNCT
alkej-792	33	33	part	part	NOUN
alkej-792	33	34	cartesian	cartesian	ADJ
alkej-792	33	35	robot	robot	NOUN
alkej-792	33	36	controlled	control	VERB
alkej-792	33	37	by	by	ADP
alkej-792	33	38	a	a	DET
alkej-792	33	39	plc	plc	PROPN
alkej-792	33	40	and	and	CCONJ
alkej-792	33	41	a	a	DET
alkej-792	33	42	computer	computer	NOUN
alkej-792	33	43	was	be	AUX
alkej-792	33	44	implemented	implement	VERB
alkej-792	33	45	.	.	PUNCT
alkej-792	34	1	the	the	DET
alkej-792	34	2	first	first	ADJ
alkej-792	34	3	part	part	NOUN
alkej-792	34	4	is	be	AUX
alkej-792	34	5	the	the	DET
alkej-792	34	6	unit	unit	NOUN
alkej-792	34	7	of	of	ADP
alkej-792	34	8	movement	movement	NOUN
alkej-792	34	9	of	of	ADP
alkej-792	34	10	the	the	DET
alkej-792	34	11	three	three	NUM
alkej-792	34	12	axes	axis	NOUN
alkej-792	34	13	x	x	NOUN
alkej-792	34	14	,	,	PUNCT
alkej-792	34	15	y	y	PROPN
alkej-792	34	16	and	and	CCONJ
alkej-792	34	17	z.	z.	PROPN
alkej-792	34	18	each	each	DET
alkej-792	34	19	axis	axis	NOUN
alkej-792	34	20	contains	contain	VERB
alkej-792	34	21	a	a	DET
alkej-792	34	22	single	single	ADJ
alkej-792	34	23	-	-	PUNCT
alkej-792	34	24	phase	phase	NOUN
alkej-792	34	25	motor	motor	NOUN
alkej-792	34	26	and	and	CCONJ
alkej-792	34	27	transmission	transmission	NOUN
alkej-792	34	28	mechanisms	mechanism	NOUN
alkej-792	34	29	and	and	CCONJ
alkej-792	34	30	sensors	sensor	NOUN
alkej-792	34	31	to	to	PART
alkej-792	34	32	control	control	VERB
alkej-792	34	33	motion	motion	NOUN
alkej-792	34	34	.	.	PUNCT
alkej-792	35	1	the	the	DET
alkej-792	35	2	second	second	ADJ
alkej-792	35	3	is	be	AUX
alkej-792	35	4	the	the	DET
alkej-792	35	5	coating	coat	VERB
alkej-792	35	6	unit	unit	NOUN
alkej-792	35	7	created	create	VERB
alkej-792	35	8	by	by	ADP
alkej-792	35	9	a	a	DET
alkej-792	35	10	pneumatic	pneumatic	ADJ
alkej-792	35	11	system	system	NOUN
alkej-792	35	12	.	.	PUNCT
alkej-792	36	1	in	in	ADP
alkej-792	36	2	2015	2015	NUM
alkej-792	36	3	[	[	X
alkej-792	36	4	3	3	NUM
alkej-792	36	5	]	]	PUNCT
alkej-792	36	6	,	,	PUNCT
alkej-792	36	7	the	the	DET
alkej-792	36	8	robot	robot	NOUN
alkej-792	36	9	chassis	chassis	NOUN
alkej-792	36	10	was	be	AUX
alkej-792	36	11	developed	develop	VERB
alkej-792	36	12	to	to	PART
alkej-792	36	13	suit	suit	VERB
alkej-792	36	14	painting	painting	NOUN
alkej-792	36	15	and	and	CCONJ
alkej-792	36	16	interior	interior	ADJ
alkej-792	36	17	wall	wall	NOUN
alkej-792	36	18	decoration	decoration	NOUN
alkej-792	36	19	works	work	NOUN
alkej-792	36	20	,	,	PUNCT
alkej-792	36	21	and	and	CCONJ
alkej-792	36	22	it	it	PRON
alkej-792	36	23	consists	consist	VERB
alkej-792	36	24	of	of	ADP
alkej-792	36	25	8dof	8dof	NOUN
alkej-792	36	26	,	,	PUNCT
alkej-792	36	27	of	of	ADP
alkej-792	36	28	which	which	PRON
alkej-792	36	29	6dof	6dof	NOUN
alkej-792	36	30	are	be	AUX
alkej-792	36	31	robotic	robotic	ADJ
alkej-792	36	32	arms	arm	NOUN
alkej-792	36	33	mounted	mount	VERB
alkej-792	36	34	on	on	ADP
alkej-792	36	35	a	a	DET
alkej-792	36	36	2dof	2dof	NUM
alkej-792	36	37	movable	movable	ADJ
alkej-792	36	38	base	base	NOUN
alkej-792	36	39	which	which	PRON
alkej-792	36	40	are	be	AUX
alkej-792	36	41	connected	connect	VERB
alkej-792	36	42	to	to	ADP
alkej-792	36	43	it	it	PRON
alkej-792	36	44	by	by	ADP
alkej-792	36	45	four	four	NUM
alkej-792	36	46	points	point	NOUN
alkej-792	36	47	of	of	ADP
alkej-792	36	48	wheels	wheel	NOUN
alkej-792	36	49	.	.	PUNCT
alkej-792	37	1	the	the	DET
alkej-792	37	2	differential	differential	ADJ
alkej-792	37	3	system	system	NOUN
alkej-792	37	4	was	be	AUX
alkej-792	37	5	driven	drive	VERB
alkej-792	37	6	,	,	PUNCT
alkej-792	37	7	and	and	CCONJ
alkej-792	37	8	a	a	DET
alkej-792	37	9	kinematic	kinematic	ADJ
alkej-792	37	10	model	model	NOUN
alkej-792	37	11	of	of	ADP
alkej-792	37	12	the	the	DET
alkej-792	37	13	robot	robot	NOUN
alkej-792	37	14	joints	joint	NOUN
alkej-792	37	15	was	be	AUX
alkej-792	37	16	shown	show	VERB
alkej-792	37	17	,	,	PUNCT
alkej-792	37	18	and	and	CCONJ
alkej-792	37	19	through	through	ADP
alkej-792	37	20	the	the	DET
alkej-792	37	21	resulting	result	VERB
alkej-792	37	22	matrix	matrix	NOUN
alkej-792	37	23	from	from	ADP
alkej-792	37	24	the	the	DET
alkej-792	37	25	jacobin	jacobin	PROPN
alkej-792	37	26	matrix	matrix	NOUN
alkej-792	37	27	,	,	PUNCT
alkej-792	37	28	the	the	DET
alkej-792	37	29	movement	movement	NOUN
alkej-792	37	30	was	be	AUX
alkej-792	37	31	planned	plan	VERB
alkej-792	37	32	and	and	CCONJ
alkej-792	37	33	controlled	control	VERB
alkej-792	37	34	.	.	PUNCT
alkej-792	38	1	in	in	ADP
alkej-792	38	2	2017	2017	NUM
alkej-792	38	3	[	[	SYM
alkej-792	38	4	4	4	NUM
alkej-792	38	5	]	]	PUNCT
alkej-792	38	6	suggested	suggest	VERB
alkej-792	38	7	a	a	DET
alkej-792	38	8	mathematical	mathematical	ADJ
alkej-792	38	9	spray	spray	NOUN
alkej-792	38	10	model	model	NOUN
alkej-792	38	11	of	of	ADP
alkej-792	38	12	robot	robot	NOUN
alkej-792	38	13	painting	painting	NOUN
alkej-792	38	14	system	system	NOUN
alkej-792	38	15	based	base	VERB
alkej-792	38	16	on	on	ADP
alkej-792	38	17	gaussian	gaussian	ADJ
alkej-792	38	18	distribution	distribution	NOUN
alkej-792	38	19	intensity	intensity	NOUN
alkej-792	38	20	of	of	ADP
alkej-792	38	21	spray	spray	NOUN
alkej-792	38	22	painting	painting	NOUN
alkej-792	38	23	operation	operation	NOUN
alkej-792	38	24	,	,	PUNCT
alkej-792	38	25	it	it	PRON
alkej-792	38	26	also	also	ADV
alkej-792	38	27	compared	compare	VERB
alkej-792	38	28	a	a	DET
alkej-792	38	29	characters	character	NOUN
alkej-792	38	30	of	of	ADP
alkej-792	38	31	color	color	NOUN
alkej-792	38	32	-	-	PUNCT
alkej-792	38	33	intensity	intensity	NOUN
alkej-792	38	34	when	when	SCONJ
alkej-792	38	35	changing	change	VERB
alkej-792	38	36	the	the	DET
alkej-792	38	37	distance	distance	NOUN
alkej-792	38	38	between	between	ADP
alkej-792	38	39	airbrush	airbrush	NOUN
alkej-792	38	40	and	and	CCONJ
alkej-792	38	41	painting	paint	VERB
alkej-792	38	42	surface	surface	NOUN
alkej-792	38	43	within	within	ADP
alkej-792	38	44	the	the	DET
alkej-792	38	45	spraying	spraying	NOUN
alkej-792	38	46	time	time	NOUN
alkej-792	38	47	.	.	PUNCT
alkej-792	39	1	in	in	ADP
alkej-792	39	2	2017	2017	NUM
alkej-792	39	3	,	,	PUNCT
alkej-792	39	4	a	a	DET
alkej-792	39	5	gantry	gantry	NOUN
alkej-792	39	6	robot	robot	NOUN
alkej-792	39	7	derived	derive	VERB
alkej-792	39	8	a	a	DET
alkej-792	39	9	mathematical	mathematical	ADJ
alkej-792	39	10	and	and	CCONJ
alkej-792	39	11	dynamic	dynamic	ADJ
alkej-792	39	12	model	model	NOUN
alkej-792	39	13	using	use	VERB
alkej-792	39	14	a	a	DET
alkej-792	39	15	bond	bond	NOUN
alkej-792	39	16	graph	graph	NOUN
alkej-792	39	17	technique	technique	NOUN
alkej-792	39	18	.	.	PUNCT
alkej-792	40	1	furthermore	furthermore	ADV
alkej-792	40	2	,	,	PUNCT
alkej-792	40	3	the	the	DET
alkej-792	40	4	robot	robot	NOUN
alkej-792	40	5	has	have	AUX
alkej-792	40	6	simulated	simulate	VERB
alkej-792	40	7	its	its	PRON
alkej-792	40	8	motion	motion	NOUN
alkej-792	40	9	on	on	ADP
alkej-792	40	10	matlab	matlab	PROPN
alkej-792	40	11	within	within	ADP
alkej-792	40	12	solidworks	solidworks	PROPN
alkej-792	40	13	design	design	NOUN
alkej-792	40	14	and	and	CCONJ
alkej-792	40	15	it	it	PRON
alkej-792	40	16	was	be	AUX
alkej-792	40	17	using	use	VERB
alkej-792	40	18	a	a	DET
alkej-792	40	19	quadratic	quadratic	ADJ
alkej-792	40	20	function	function	NOUN
alkej-792	40	21	with	with	ADP
alkej-792	40	22	a	a	DET
alkej-792	40	23	velocity	velocity	NOUN
alkej-792	40	24	profile	profile	NOUN
alkej-792	40	25	called	call	VERB
alkej-792	40	26	a	a	DET
alkej-792	40	27	trajectory	trajectory	NOUN
alkej-792	40	28	plan	plan	NOUN
alkej-792	40	29	of	of	ADP
alkej-792	40	30	the	the	DET
alkej-792	40	31	robot	robot	NOUN
alkej-792	40	32	as	as	ADP
alkej-792	40	33	in	in	ADP
alkej-792	40	34	[	[	X
alkej-792	40	35	5	5	NUM
alkej-792	40	36	]	]	PUNCT
alkej-792	40	37	.	.	PUNCT
alkej-792	41	1	in	in	ADP
alkej-792	41	2	2019	2019	NUM
alkej-792	41	3	[	[	X
alkej-792	41	4	6	6	NUM
alkej-792	41	5	]	]	PUNCT
alkej-792	41	6	,	,	PUNCT
alkej-792	41	7	the	the	DET
alkej-792	41	8	dynamic	dynamic	ADJ
alkej-792	41	9	model	model	NOUN
alkej-792	41	10	obtained	obtain	VERB
alkej-792	41	11	the	the	DET
alkej-792	41	12	appropriate	appropriate	ADJ
alkej-792	41	13	inertia	inertia	NOUN
alkej-792	41	14	parameters	parameter	NOUN
alkej-792	41	15	of	of	ADP
alkej-792	41	16	the	the	DET
alkej-792	41	17	kuka	kuka	PROPN
alkej-792	41	18	lwr	lwr	PROPN
alkej-792	41	19	robot	robot	PROPN
alkej-792	41	20	and	and	CCONJ
alkej-792	41	21	its	its	PRON
alkej-792	41	22	final	final	ADJ
alkej-792	41	23	efficacy	efficacy	NOUN
alkej-792	41	24	.	.	PUNCT
alkej-792	42	1	the	the	DET
alkej-792	42	2	geometric	geometric	ADJ
alkej-792	42	3	parameters	parameter	NOUN
alkej-792	42	4	also	also	ADV
alkej-792	42	5	distinguished	distinguish	VERB
alkej-792	42	6	as	as	SCONJ
alkej-792	42	7	shown	show	VERB
alkej-792	42	8	in	in	ADP
alkej-792	42	9	the	the	DET
alkej-792	42	10	tables	table	NOUN
alkej-792	42	11	the	the	DET
alkej-792	42	12	fastest	fast	ADJ
alkej-792	42	13	time	time	NOUN
alkej-792	42	14	by	by	ADP
alkej-792	42	15	defining	define	VERB
alkej-792	42	16	those	those	DET
alkej-792	42	17	parameters	parameter	NOUN
alkej-792	42	18	as	as	SCONJ
alkej-792	42	19	the	the	DET
alkej-792	42	20	joint	joint	ADJ
alkej-792	42	21	torque	torque	NOUN
alkej-792	42	22	was	be	AUX
alkej-792	42	23	estimated	estimate	VERB
alkej-792	42	24	with	with	ADP
alkej-792	42	25	the	the	DET
alkej-792	42	26	rms	rm	NOUN
alkej-792	42	27	difference	difference	NOUN
alkej-792	42	28	.	.	PUNCT
alkej-792	43	1	based	base	VERB
alkej-792	43	2	on	on	ADP
alkej-792	43	3	the	the	DET
alkej-792	43	4	robot	robot	NOUN
alkej-792	43	5	's	's	PART
alkej-792	43	6	self	self	NOUN
alkej-792	43	7	-	-	PUNCT
alkej-792	43	8	sensing	sensing	NOUN
alkej-792	43	9	,	,	PUNCT
alkej-792	43	10	the	the	DET
alkej-792	43	11	force	force	NOUN
alkej-792	43	12	sensor	sensor	NOUN
alkej-792	43	13	was	be	AUX
alkej-792	43	14	replaced	replace	VERB
alkej-792	43	15	by	by	ADP
alkej-792	43	16	an	an	DET
alkej-792	43	17	estimate	estimate	NOUN
alkej-792	43	18	of	of	ADP
alkej-792	43	19	the	the	DET
alkej-792	43	20	external	external	ADJ
alkej-792	43	21	forces	force	NOUN
alkej-792	43	22	applied	apply	VERB
alkej-792	43	23	,	,	PUNCT
alkej-792	43	24	and	and	CCONJ
alkej-792	43	25	the	the	DET
alkej-792	43	26	torque	torque	NOUN
alkej-792	43	27	was	be	AUX
alkej-792	43	28	related	relate	VERB
alkej-792	43	29	to	to	ADP
alkej-792	43	30	the	the	DET
alkej-792	43	31	jacobin	jacobin	PROPN
alkej-792	43	32	matrix	matrix	NOUN
alkej-792	43	33	.	.	PUNCT
alkej-792	44	1	the	the	DET
alkej-792	44	2	kinetic	kinetic	ADJ
alkej-792	44	3	accuracy	accuracy	NOUN
alkej-792	44	4	clarified	clarify	VERB
alkej-792	44	5	the	the	DET
alkej-792	44	6	accuracy	accuracy	NOUN
alkej-792	44	7	of	of	ADP
alkej-792	44	8	the	the	DET
alkej-792	44	9	external	external	ADJ
alkej-792	44	10	forces	force	NOUN
alkej-792	44	11	.	.	PUNCT
alkej-792	45	1	in	in	ADP
alkej-792	45	2	(	(	PUNCT
alkej-792	45	3	2020	2020	NUM
alkej-792	45	4	)	)	PUNCT
alkej-792	46	1	[	[	X
alkej-792	46	2	7	7	NUM
alkej-792	46	3	]	]	PUNCT
alkej-792	46	4	,	,	PUNCT
alkej-792	46	5	a	a	DET
alkej-792	46	6	suitable	suitable	ADJ
alkej-792	46	7	material	material	NOUN
alkej-792	46	8	was	be	AUX
alkej-792	46	9	proposed	propose	VERB
alkej-792	46	10	to	to	PART
alkej-792	46	11	design	design	VERB
alkej-792	46	12	industrial	industrial	ADJ
alkej-792	46	13	robots	robot	NOUN
alkej-792	46	14	,	,	PUNCT
alkej-792	46	15	especially	especially	ADV
alkej-792	46	16	spray	spray	NOUN
alkej-792	46	17	-	-	PUNCT
alkej-792	46	18	painting	paint	VERB
alkej-792	46	19	robots	robot	NOUN
alkej-792	46	20	.	.	PUNCT
alkej-792	47	1	so	so	ADV
alkej-792	47	2	,	,	PUNCT
alkej-792	47	3	it	it	PRON
alkej-792	47	4	had	have	AUX
alkej-792	47	5	agreed	agree	VERB
alkej-792	47	6	to	to	PART
alkej-792	47	7	choose	choose	VERB
alkej-792	47	8	aluminum	aluminum	NOUN
alkej-792	47	9	alloy	alloy	NOUN
alkej-792	47	10	to	to	PART
alkej-792	47	11	create	create	VERB
alkej-792	47	12	the	the	DET
alkej-792	47	13	arm	arm	NOUN
alkej-792	47	14	to	to	PART
alkej-792	47	15	reduce	reduce	VERB
alkej-792	47	16	the	the	DET
alkej-792	47	17	weight	weight	NOUN
alkej-792	47	18	of	of	ADP
alkej-792	47	19	the	the	DET
alkej-792	47	20	portable	portable	ADJ
alkej-792	47	21	arm	arm	NOUN
alkej-792	47	22	and	and	CCONJ
alkej-792	47	23	to	to	PART
alkej-792	47	24	choose	choose	VERB
alkej-792	47	25	steel	steel	NOUN
alkej-792	47	26	alloy	alloy	NOUN
alkej-792	47	27	in	in	ADP
alkej-792	47	28	the	the	DET
alkej-792	47	29	design	design	NOUN
alkej-792	47	30	of	of	ADP
alkej-792	47	31	the	the	DET
alkej-792	47	32	base	base	NOUN
alkej-792	47	33	because	because	SCONJ
alkej-792	47	34	it	it	PRON
alkej-792	47	35	requires	require	VERB
alkej-792	47	36	high	high	ADJ
alkej-792	47	37	rigidity	rigidity	NOUN
alkej-792	47	38	and	and	CCONJ
alkej-792	47	39	strength	strength	NOUN
alkej-792	47	40	.	.	PUNCT
alkej-792	48	1	in	in	ADP
alkej-792	48	2	(	(	PUNCT
alkej-792	48	3	2021	2021	NUM
alkej-792	48	4	)	)	PUNCT
alkej-792	49	1	[	[	X
alkej-792	49	2	8	8	NUM
alkej-792	49	3	]	]	PUNCT
alkej-792	49	4	,	,	PUNCT
alkej-792	49	5	a	a	DET
alkej-792	49	6	painting	paint	VERB
alkej-792	49	7	mobile	mobile	ADJ
alkej-792	49	8	robot	robot	NOUN
alkej-792	49	9	was	be	AUX
alkej-792	49	10	designed	design	VERB
alkej-792	49	11	to	to	PART
alkej-792	49	12	avoid	avoid	VERB
alkej-792	49	13	accidents	accident	NOUN
alkej-792	49	14	of	of	ADP
alkej-792	49	15	painting	paint	VERB
alkej-792	49	16	buildings	building	NOUN
alkej-792	49	17	on	on	ADP
alkej-792	49	18	humans	human	NOUN
alkej-792	49	19	.	.	PUNCT
alkej-792	50	1	the	the	DET
alkej-792	50	2	structure	structure	NOUN
alkej-792	50	3	is	be	AUX
alkej-792	50	4	designed	design	VERB
alkej-792	50	5	from	from	ADP
alkej-792	50	6	a	a	DET
alkej-792	50	7	moving	move	VERB
alkej-792	50	8	part	part	NOUN
alkej-792	50	9	with	with	ADP
alkej-792	50	10	a	a	DET
alkej-792	50	11	spray	spray	NOUN
alkej-792	50	12	gun	gun	NOUN
alkej-792	50	13	using	use	VERB
alkej-792	50	14	two	two	NUM
alkej-792	50	15	arduino	arduino	NOUN
alkej-792	50	16	uno	uno	PROPN
alkej-792	50	17	boards	board	NOUN
alkej-792	50	18	connected	connect	VERB
alkej-792	50	19	wirelessly	wirelessly	ADV
alkej-792	50	20	(	(	PUNCT
alkej-792	50	21	to	to	PART
alkej-792	50	22	get	get	AUX
alkej-792	50	23	rid	rid	VERB
alkej-792	50	24	of	of	ADP
alkej-792	50	25	the	the	DET
alkej-792	50	26	burden	burden	NOUN
alkej-792	50	27	of	of	ADP
alkej-792	50	28	long	long	ADJ
alkej-792	50	29	electrical	electrical	ADJ
alkej-792	50	30	wires	wire	NOUN
alkej-792	50	31	)	)	PUNCT
alkej-792	50	32	.	.	PUNCT
alkej-792	51	1	first	first	ADV
alkej-792	51	2	,	,	PUNCT
alkej-792	51	3	the	the	DET
alkej-792	51	4	robot	robot	NOUN
alkej-792	51	5	detects	detect	VERB
alkej-792	51	6	the	the	DET
alkej-792	51	7	area	area	NOUN
alkej-792	51	8	to	to	PART
alkej-792	51	9	be	be	AUX
alkej-792	51	10	painted	paint	VERB
alkej-792	51	11	and	and	CCONJ
alkej-792	51	12	completes	complete	VERB
alkej-792	51	13	it	it	PRON
alkej-792	51	14	with	with	ADP
alkej-792	51	15	high	high	ADJ
alkej-792	51	16	accuracy	accuracy	NOUN
alkej-792	51	17	on	on	ADP
alkej-792	51	18	its	its	PRON
alkej-792	51	19	own	own	ADJ
alkej-792	51	20	.	.	PUNCT
alkej-792	52	1	next	next	ADV
alkej-792	52	2	,	,	PUNCT
alkej-792	52	3	the	the	DET
alkej-792	52	4	robot	robot	NOUN
alkej-792	52	5	moves	move	VERB
alkej-792	52	6	through	through	ADP
alkej-792	52	7	the	the	DET
alkej-792	52	8	dc	dc	PROPN
alkej-792	52	9	motor	motor	NOUN
alkej-792	52	10	to	to	PART
alkej-792	52	11	move	move	VERB
alkej-792	52	12	the	the	DET
alkej-792	52	13	four	four	NUM
alkej-792	52	14	wheels	wheel	NOUN
alkej-792	52	15	,	,	PUNCT
alkej-792	52	16	where	where	SCONJ
alkej-792	52	17	the	the	DET
alkej-792	52	18	position	position	NOUN
alkej-792	52	19	of	of	ADP
alkej-792	52	20	the	the	DET
alkej-792	52	21	wall	wall	NOUN
alkej-792	52	22	to	to	PART
alkej-792	52	23	be	be	AUX
alkej-792	52	24	painted	paint	VERB
alkej-792	52	25	is	be	AUX
alkej-792	52	26	detected	detect	VERB
alkej-792	52	27	using	use	VERB
alkej-792	52	28	the	the	DET
alkej-792	52	29	ultrasonic	ultrasonic	ADJ
alkej-792	52	30	sensor	sensor	NOUN
alkej-792	52	31	.	.	PUNCT
alkej-792	53	1	then	then	ADV
alkej-792	53	2	the	the	DET
alkej-792	53	3	spray	spray	NOUN
alkej-792	53	4	gun	gun	NOUN
alkej-792	53	5	paints	paint	VERB
alkej-792	53	6	the	the	DET
alkej-792	53	7	wall	wall	NOUN
alkej-792	53	8	either	either	CCONJ
alkej-792	53	9	horizontally	horizontally	ADV
alkej-792	53	10	or	or	CCONJ
alkej-792	53	11	vertically	vertically	ADV
alkej-792	53	12	.	.	PUNCT
alkej-792	54	1	this	this	DET
alkej-792	54	2	paper	paper	NOUN
alkej-792	54	3	presents	present	VERB
alkej-792	54	4	the	the	DET
alkej-792	54	5	kinematic	kinematic	ADJ
alkej-792	54	6	and	and	CCONJ
alkej-792	54	7	dynamic	dynamic	ADJ
alkej-792	54	8	model	model	NOUN
alkej-792	54	9	of	of	ADP
alkej-792	54	10	the	the	DET
alkej-792	54	11	3	3	NUM
alkej-792	54	12	-	-	PUNCT
alkej-792	54	13	dof	dof	ADJ
alkej-792	54	14	cartesian	cartesian	ADJ
alkej-792	54	15	robot	robot	NOUN
alkej-792	54	16	(	(	PUNCT
alkej-792	54	17	x	x	X
alkej-792	54	18	,	,	PUNCT
alkej-792	54	19	y	y	PROPN
alkej-792	54	20	,	,	PUNCT
alkej-792	54	21	and	and	CCONJ
alkej-792	54	22	z	z	X
alkej-792	54	23	)	)	PUNCT
alkej-792	54	24	for	for	ADP
alkej-792	54	25	painting	paint	VERB
alkej-792	54	26	wall	wall	PROPN
alkej-792	54	27	operation	operation	PROPN
alkej-792	54	28	and	and	CCONJ
alkej-792	54	29	analyzes	analyze	VERB
alkej-792	54	30	robot	robot	NOUN
alkej-792	54	31	fabrication	fabrication	NOUN
alkej-792	54	32	for	for	ADP
alkej-792	54	33	each	each	DET
alkej-792	54	34	link	link	NOUN
alkej-792	54	35	of	of	ADP
alkej-792	54	36	it	it	PRON
alkej-792	54	37	.	.	PUNCT
alkej-792	55	1	in	in	ADP
alkej-792	55	2	addition	addition	NOUN
alkej-792	55	3	,	,	PUNCT
alkej-792	55	4	the	the	DET
alkej-792	55	5	mechanical	mechanical	ADJ
alkej-792	55	6	structure	structure	NOUN
alkej-792	55	7	of	of	ADP
alkej-792	55	8	this	this	DET
alkej-792	55	9	robot	robot	NOUN
alkej-792	55	10	with	with	ADP
alkej-792	55	11	its	its	PRON
alkej-792	55	12	details	detail	NOUN
alkej-792	55	13	is	be	AUX
alkej-792	55	14	discussed	discuss	VERB
alkej-792	55	15	.	.	PUNCT
alkej-792	56	1	section	section	NOUN
alkej-792	56	2	2	2	NUM
alkej-792	56	3	presents	present	VERB
alkej-792	56	4	the	the	DET
alkej-792	56	5	derivation	derivation	NOUN
alkej-792	56	6	of	of	ADP
alkej-792	56	7	the	the	DET
alkej-792	56	8	kinematic	kinematic	ADJ
alkej-792	56	9	and	and	CCONJ
alkej-792	56	10	dynamic	dynamic	ADJ
alkej-792	56	11	model	model	NOUN
alkej-792	56	12	of	of	ADP
alkej-792	56	13	the	the	DET
alkej-792	56	14	3	3	NUM
alkej-792	56	15	-	-	PUNCT
alkej-792	56	16	dof	dof	ADJ
alkej-792	56	17	cartesian	cartesian	ADJ
alkej-792	56	18	robot	robot	NOUN
alkej-792	56	19	.	.	PUNCT
alkej-792	57	1	section	section	NOUN
alkej-792	57	2	3	3	NUM
alkej-792	57	3	explains	explain	VERB
alkej-792	57	4	the	the	DET
alkej-792	57	5	mechanical	mechanical	ADJ
alkej-792	57	6	structure	structure	NOUN
alkej-792	57	7	and	and	CCONJ
alkej-792	57	8	electronic	electronic	ADJ
alkej-792	57	9	circuit	circuit	NOUN
alkej-792	57	10	design	design	NOUN
alkej-792	57	11	.	.	PUNCT
alkej-792	58	1	finally	finally	ADV
alkej-792	58	2	,	,	PUNCT
alkej-792	58	3	section	section	NOUN
alkej-792	58	4	4	4	NUM
alkej-792	58	5	discusses	discuss	VERB
alkej-792	58	6	the	the	DET
alkej-792	58	7	numerical	numerical	ADJ
alkej-792	58	8	and	and	CCONJ
alkej-792	58	9	graphic	graphic	ADJ
alkej-792	58	10	results	result	NOUN
alkej-792	58	11	of	of	ADP
alkej-792	58	12	the	the	DET
alkej-792	58	13	proposed	propose	VERB
alkej-792	58	14	models	model	NOUN
alkej-792	58	15	and	and	CCONJ
alkej-792	58	16	the	the	DET
alkej-792	58	17	experimental	experimental	ADJ
alkej-792	58	18	results	result	NOUN
alkej-792	58	19	of	of	ADP
alkej-792	58	20	the	the	DET
alkej-792	58	21	movement	movement	NOUN
alkej-792	58	22	.	.	PUNCT
alkej-792	59	1	2	2	X
alkej-792	59	2	.	.	X
alkej-792	59	3	mathematical	mathematical	ADJ
alkej-792	59	4	models	model	NOUN
alkej-792	59	5	2.1	2.1	NUM
alkej-792	59	6	kinematic	kinematic	NOUN
alkej-792	59	7	model	model	NOUN
alkej-792	59	8	the	the	DET
alkej-792	59	9	robot	robot	NOUN
alkej-792	59	10	manipulator	manipulator	NOUN
alkej-792	59	11	is	be	AUX
alkej-792	59	12	designed	design	VERB
alkej-792	59	13	by	by	ADP
alkej-792	59	14	a	a	DET
alkej-792	59	15	set	set	NOUN
alkej-792	59	16	of	of	ADP
alkej-792	59	17	links	link	NOUN
alkej-792	59	18	that	that	PRON
alkej-792	59	19	are	be	AUX
alkej-792	59	20	connected	connect	VERB
alkej-792	59	21	within	within	ADP
alkej-792	59	22	by	by	ADP
alkej-792	59	23	joints	joint	NOUN
alkej-792	59	24	which	which	PRON
alkej-792	59	25	are	be	AUX
alkej-792	59	26	revolute	revolute	ADJ
alkej-792	59	27	or	or	CCONJ
alkej-792	59	28	prismatic	prismatic	ADJ
alkej-792	59	29	,	,	PUNCT
alkej-792	59	30	so	so	CCONJ
alkej-792	59	31	n	n	NUM
alkej-792	59	32	joints	joint	NOUN
alkej-792	59	33	will	will	AUX
alkej-792	59	34	haven	haven	VERB
alkej-792	59	35	+	+	CCONJ
alkej-792	59	36	1	1	NUM
alkej-792	59	37	links	link	NOUN
alkej-792	59	38	,	,	PUNCT
alkej-792	59	39	because	because	SCONJ
alkej-792	59	40	each	each	DET
alkej-792	59	41	joint	joint	NOUN
alkej-792	59	42	connects	connect	VERB
alkej-792	59	43	two	two	NUM
alkej-792	59	44	links	link	NOUN
alkej-792	59	45	.	.	PUNCT
alkej-792	60	1	with	with	ADP
alkej-792	60	2	the	the	DET
alkej-792	60	3	joint	joint	NOUN
alkej-792	60	4	,	,	PUNCT
alkej-792	60	5	there	there	PRON
alkej-792	60	6	is	be	VERB
alkej-792	60	7	a	a	DET
alkej-792	60	8	joint	joint	ADJ
alkej-792	60	9	variable	variable	NOUN
alkej-792	60	10	,	,	PUNCT
alkej-792	60	11	denoted	denote	VERB
alkej-792	60	12	by	by	ADP
alkej-792	60	13	qi	qi	X
alkej-792	60	14	.	.	PUNCT
alkej-792	61	1	in	in	ADP
alkej-792	61	2	the	the	DET
alkej-792	61	3	case	case	NOUN
alkej-792	61	4	of	of	ADP
alkej-792	61	5	a	a	DET
alkej-792	61	6	revolute	revolute	ADJ
alkej-792	61	7	joint	joint	NOUN
alkej-792	61	8	,	,	PUNCT
alkej-792	61	9	qi	qi	PROPN
alkej-792	61	10	is	be	AUX
alkej-792	61	11	the	the	DET
alkej-792	61	12	angle	angle	NOUN
alkej-792	61	13	of	of	ADP
alkej-792	61	14	rotation	rotation	NOUN
alkej-792	61	15	,	,	PUNCT
alkej-792	61	16	and	and	CCONJ
alkej-792	61	17	in	in	ADP
alkej-792	61	18	the	the	DET
alkej-792	61	19	case	case	NOUN
alkej-792	61	20	of	of	ADP
alkej-792	61	21	a	a	DET
alkej-792	61	22	prismatic	prismatic	ADJ
alkej-792	61	23	joint	joint	NOUN
alkej-792	61	24	,	,	PUNCT
alkej-792	61	25	qi	qi	PROPN
alkej-792	61	26	is	be	AUX
alkej-792	61	27	the	the	DET
alkej-792	61	28	joint	joint	ADJ
alkej-792	61	29	displacement	displacement	NOUN
alkej-792	62	1	[	[	X
alkej-792	62	2	9	9	NUM
alkej-792	62	3	]	]	PUNCT
alkej-792	62	4	.	.	PUNCT
alkej-792	63	1	the	the	DET
alkej-792	63	2	kinematic	kinematic	ADJ
alkej-792	63	3	model	model	NOUN
alkej-792	63	4	represents	represent	VERB
alkej-792	63	5	the	the	DET
alkej-792	63	6	motion	motion	NOUN
alkej-792	63	7	of	of	ADP
alkej-792	63	8	each	each	DET
alkej-792	63	9	link	link	NOUN
alkej-792	63	10	without	without	ADP
alkej-792	63	11	respect	respect	NOUN
alkej-792	63	12	to	to	ADP
alkej-792	63	13	force	force	NOUN
alkej-792	63	14	;	;	PUNCT
alkej-792	63	15	however	however	ADV
alkej-792	63	16	,	,	PUNCT
alkej-792	63	17	the	the	DET
alkej-792	63	18	forward	forward	ADJ
alkej-792	63	19	kinematics	kinematic	NOUN
alkej-792	63	20	model	model	NOUN
alkej-792	63	21	is	be	AUX
alkej-792	63	22	an	an	DET
alkej-792	63	23	analysis	analysis	NOUN
alkej-792	63	24	that	that	PRON
alkej-792	63	25	gives	give	VERB
alkej-792	63	26	the	the	DET
alkej-792	63	27	relationship	relationship	NOUN
alkej-792	63	28	between	between	ADP
alkej-792	63	29	the	the	DET
alkej-792	63	30	individual	individual	ADJ
alkej-792	63	31	joints	joint	NOUN
alkej-792	63	32	of	of	ADP
alkej-792	63	33	the	the	DET
alkej-792	63	34	robot	robot	NOUN
alkej-792	63	35	and	and	CCONJ
alkej-792	63	36	the	the	DET
alkej-792	63	37	position	position	NOUN
alkej-792	63	38	and	and	CCONJ
alkej-792	63	39	orientation	orientation	NOUN
alkej-792	63	40	of	of	ADP
alkej-792	63	41	the	the	DET
alkej-792	63	42	endeffector	endeffector	NOUN
alkej-792	63	43	.	.	PUNCT
alkej-792	64	1	denavit	denavit	PROPN
alkej-792	64	2	-	-	PUNCT
alkej-792	64	3	hartenberg	hartenberg	PROPN
alkej-792	64	4	's	's	PART
alkej-792	64	5	(	(	PUNCT
alkej-792	64	6	dh	dh	NOUN
alkej-792	64	7	)	)	PUNCT
alkej-792	64	8	method	method	NOUN
alkej-792	64	9	finds	find	VERB
alkej-792	64	10	a	a	DET
alkej-792	64	11	forward	forward	ADV
alkej-792	64	12	kinematic	kinematic	ADJ
alkej-792	64	13	consisting	consist	VERB
alkej-792	64	14	of	of	ADP
alkej-792	64	15	four	four	NUM
alkej-792	64	16	variables	variable	NOUN
alkej-792	64	17	for	for	ADP
alkej-792	64	18	each	each	DET
alkej-792	64	19	link	link	NOUN
alkej-792	64	20	,	,	PUNCT
alkej-792	64	21	such	such	ADJ
alkej-792	64	22	as	as	ADP
alkej-792	64	23	a	a	PRON
alkej-792	64	24	,	,	PUNCT
alkej-792	64	25	d	d	NOUN
alkej-792	64	26	,	,	PUNCT
alkej-792	64	27	ɵ	ɵ	SYM
alkej-792	64	28	,	,	PUNCT
alkej-792	64	29	and	and	CCONJ
alkej-792	64	30	α	α	X
alkej-792	64	31	[	[	X
alkej-792	64	32	14	14	NUM
alkej-792	64	33	]	]	PUNCT
alkej-792	64	34	and	and	CCONJ
alkej-792	64	35	[	[	X
alkej-792	64	36	15	15	NUM
alkej-792	64	37	]	]	PUNCT
alkej-792	64	38	.	.	PUNCT
alkej-792	65	1	a	a	PRON
alkej-792	65	2	is	be	AUX
alkej-792	65	3	the	the	DET
alkej-792	65	4	link	link	NOUN
alkej-792	65	5	length	length	NOUN
alkej-792	65	6	,	,	PUNCT
alkej-792	65	7	d	d	PROPN
alkej-792	65	8	is	be	AUX
alkej-792	65	9	the	the	DET
alkej-792	65	10	link	link	NOUN
alkej-792	65	11	offset	offset	NOUN
alkej-792	65	12	,	,	PUNCT
alkej-792	65	13	ɵ	ɵ	VERB
alkej-792	65	14	is	be	AUX
alkej-792	65	15	the	the	DET
alkej-792	65	16	joint	joint	ADJ
alkej-792	65	17	angle	angle	NOUN
alkej-792	65	18	,	,	PUNCT
alkej-792	65	19	and	and	CCONJ
alkej-792	65	20	α	α	PRON
alkej-792	65	21	is	be	AUX
alkej-792	65	22	the	the	DET
alkej-792	65	23	joint	joint	ADJ
alkej-792	65	24	twist	twist	NOUN
alkej-792	65	25	[	[	X
alkej-792	65	26	10	10	NUM
alkej-792	65	27	]	]	PUNCT
alkej-792	65	28	.	.	PUNCT
alkej-792	66	1	a	a	DET
alkej-792	66	2	manipulator	manipulator	NOUN
alkej-792	66	3	whose	whose	DET
alkej-792	66	4	first	first	ADJ
alkej-792	66	5	three	three	NUM
alkej-792	66	6	joints	joint	NOUN
alkej-792	66	7	are	be	AUX
alkej-792	66	8	prismatic	prismatic	ADJ
alkej-792	66	9	is	be	AUX
alkej-792	66	10	a	a	DET
alkej-792	66	11	cartesian	cartesian	ADJ
alkej-792	66	12	manipulator	manipulator	NOUN
alkej-792	66	13	.	.	PUNCT
alkej-792	67	1	it	it	PRON
alkej-792	67	2	has	have	VERB
alkej-792	67	3	cartesian	cartesian	ADJ
alkej-792	67	4	coordinates	coordinate	NOUN
alkej-792	67	5	representing	represent	VERB
alkej-792	67	6	the	the	DET
alkej-792	67	7	joint	joint	ADJ
alkej-792	67	8	variables	variable	NOUN
alkej-792	67	9	—	—	PUNCT
alkej-792	67	10	the	the	DET
alkej-792	67	11	structure	structure	NOUN
alkej-792	67	12	and	and	CCONJ
alkej-792	67	13	workspace	workspace	NOUN
alkej-792	67	14	of	of	ADP
alkej-792	67	15	the	the	DET
alkej-792	67	16	robot	robot	NOUN
alkej-792	67	17	are	be	AUX
alkej-792	67	18	shown	show	VERB
alkej-792	67	19	in	in	ADP
alkej-792	67	20	figures	figure	NOUN
alkej-792	67	21	1	1	NUM
alkej-792	67	22	and	and	CCONJ
alkej-792	67	23	2	2	NUM
alkej-792	67	24	.	.	X
alkej-792	68	1	fatima	fatima	PROPN
alkej-792	68	2	m.	m.	PROPN
alkej-792	68	3	jasim	jasim	PROPN
alkej-792	68	4	al	al	PROPN
alkej-792	68	5	-	-	PUNCT
alkej-792	68	6	khwarizmi	khwarizmi	PROPN
alkej-792	68	7	engineering	engineering	NOUN
alkej-792	68	8	journal	journal	PROPN
alkej-792	68	9	,	,	PUNCT
alkej-792	68	10	vol	vol	NOUN
alkej-792	68	11	.	.	PROPN
alkej-792	68	12	18	18	NUM
alkej-792	68	13	,	,	PUNCT
alkej-792	68	14	no	no	INTJ
alkej-792	68	15	.	.	NOUN
alkej-792	68	16	3	3	NUM
alkej-792	68	17	,	,	PUNCT
alkej-792	68	18	p.p	p.p	PROPN
alkej-792	68	19	.	.	NOUN
alkej-792	68	20	114	114	NUM
alkej-792	68	21	(	(	PUNCT
alkej-792	68	22	2022	2022	NUM
alkej-792	68	23	)	)	PUNCT
alkej-792	68	24	3	3	NUM
alkej-792	68	25	fig	fig	NOUN
alkej-792	68	26	.	.	PUNCT
alkej-792	69	1	1	1	X
alkej-792	69	2	.	.	X
alkej-792	69	3	workspace	workspace	NOUN
alkej-792	69	4	of	of	ADP
alkej-792	69	5	cartesian	cartesian	ADJ
alkej-792	69	6	robot	robot	NOUN
alkej-792	69	7	.	.	PUNCT
alkej-792	70	1	fig	fig	NOUN
alkej-792	70	2	.	.	PUNCT
alkej-792	71	1	2	2	NUM
alkej-792	71	2	.	.	X
alkej-792	71	3	three	three	NUM
alkej-792	71	4	links	link	NOUN
alkej-792	71	5	cartesian	cartesian	ADJ
alkej-792	71	6	robot	robot	NOUN
alkej-792	71	7	.	.	PUNCT
alkej-792	72	1	table	table	NOUN
alkej-792	72	2	1	1	NUM
alkej-792	72	3	,	,	PUNCT
alkej-792	72	4	d	d	X
alkej-792	72	5	-	-	PUNCT
alkej-792	72	6	h	h	ADJ
alkej-792	72	7	parameters	parameter	NOUN
alkej-792	72	8	of	of	ADP
alkej-792	72	9	robot	robot	NOUN
alkej-792	72	10	.	.	PUNCT
alkej-792	73	1	a	a	DET
alkej-792	73	2	d	d	NOUN
alkej-792	73	3	α	α	PRON
alkej-792	73	4	θ	θ	PROPN
alkej-792	73	5	0	0	SYM
alkej-792	73	6	�	�	PROPN
alkej-792	73	7	�	�	PROPN
alkej-792	73	8	-90	-90	NUM
alkej-792	73	9	-90	-90	NUM
alkej-792	73	10	0	0	NUM
alkej-792	73	11	�	�	PROPN
alkej-792	73	12	�	�	PROPN
alkej-792	73	13	90	90	NUM
alkej-792	73	14	-90	-90	NUM
alkej-792	73	15	0	0	NUM
alkej-792	73	16	�	�	PROPN
alkej-792	73	17	�	�	PROPN
alkej-792	73	18	0	0	NUM
alkej-792	73	19	0	0	NUM
alkej-792	73	20	from	from	ADP
alkej-792	73	21	above	above	ADP
alkej-792	73	22	table	table	NOUN
alkej-792	73	23	matrices	matrix	NOUN
alkej-792	73	24	of	of	ADP
alkej-792	73	25	each	each	DET
alkej-792	73	26	link	link	NOUN
alkej-792	73	27	is	be	AUX
alkej-792	73	28	obtained	obtain	VERB
alkej-792	73	29	as	as	ADP
alkej-792	73	30	follow	follow	NOUN
alkej-792	73	31	:	:	PUNCT
alkej-792	73	32	�	�	PROPN
alkej-792	73	33	�	�	PROPN
alkej-792	73	34	�	�	PROPN
alkej-792	73	35	=	=	SYM
alkej-792	73	36	�	�	PROPN
alkej-792	73	37	1	1	NUM
alkej-792	73	38	0	0	NUM
alkej-792	73	39	0	0	NUM
alkej-792	73	40	00	00	NUM
alkej-792	73	41	1	1	NUM
alkej-792	73	42	0	0	NUM
alkej-792	73	43	000	000	NUM
alkej-792	73	44	00	00	NUM
alkej-792	73	45	10	10	NUM
alkej-792	73	46	�	�	PROPN
alkej-792	73	47	�	�	NOUN
alkej-792	73	48	1	1	NUM
alkej-792	73	49	,	,	PUNCT
alkej-792	73	50	�	�	PROPN
alkej-792	73	51	�	�	PROPN
alkej-792	73	52	�	�	PROPN
alkej-792	73	53	=	=	SYM
alkej-792	73	54	�	�	PROPN
alkej-792	73	55	1	1	NUM
alkej-792	73	56	0	0	NUM
alkej-792	73	57	0	0	NUM
alkej-792	73	58	00	00	NUM
alkej-792	73	59	1	1	NUM
alkej-792	73	60	0	0	NUM
alkej-792	73	61	000	000	NUM
alkej-792	73	62	00	00	NUM
alkej-792	73	63	10	10	NUM
alkej-792	73	64	�	�	PROPN
alkej-792	73	65	�	�	NOUN
alkej-792	73	66	1	1	NUM
alkej-792	73	67	,	,	PUNCT
alkej-792	73	68	�	�	PROPN
alkej-792	73	69	�	�	PROPN
alkej-792	73	70	�	�	PROPN
alkej-792	73	71	=	=	SYM
alkej-792	73	72	�	�	PROPN
alkej-792	73	73	1	1	NUM
alkej-792	73	74	0	0	NUM
alkej-792	73	75	0	0	NUM
alkej-792	73	76	00	00	NUM
alkej-792	73	77	1	1	NUM
alkej-792	73	78	0	0	NUM
alkej-792	73	79	000	000	NUM
alkej-792	73	80	00	00	NUM
alkej-792	73	81	10	10	NUM
alkej-792	73	82	�	�	PROPN
alkej-792	73	83	�	�	NOUN
alkej-792	73	84	1	1	NUM
alkej-792	73	85	where	where	SCONJ
alkej-792	73	86	t	t	PROPN
alkej-792	73	87	is	be	AUX
alkej-792	73	88	the	the	DET
alkej-792	73	89	transformation	transformation	NOUN
alkej-792	73	90	matrix	matrix	NOUN
alkej-792	73	91	for	for	ADP
alkej-792	73	92	the	the	DET
alkej-792	73	93	axes	axis	NOUN
alkej-792	73	94	of	of	ADP
alkej-792	73	95	frame	frame	PROPN
alkej-792	73	96	�	�	PROPN
alkej-792	73	97	�	�	PROPN
alkej-792	73	98	�	�	PROPN
alkej-792	73	99	�	�	PROPN
alkej-792	73	100	�	�	PROPN
alkej-792	73	101	�	�	PROPN
alkej-792	73	102	�	�	PROPN
alkej-792	73	103	(	(	PUNCT
alkej-792	73	104	last	last	ADJ
alkej-792	73	105	frame	frame	NOUN
alkej-792	73	106	)	)	PUNCT
alkej-792	73	107	with	with	ADP
alkej-792	73	108	respect	respect	NOUN
alkej-792	73	109	to	to	ADP
alkej-792	73	110	the	the	DET
alkej-792	73	111	coordinate	coordinate	NOUN
alkej-792	73	112	frame	frame	NOUN
alkej-792	73	113	�	�	PROPN
alkej-792	73	114	�	�	PROPN
alkej-792	73	115	�	�	PROPN
alkej-792	73	116	�	�	PROPN
alkej-792	73	117	�	�	PROPN
alkej-792	73	118	�	�	PROPN
alkej-792	73	119	�	�	PROPN
alkej-792	73	120	(	(	PUNCT
alkej-792	73	121	previous	previous	ADJ
alkej-792	73	122	frame	frame	NOUN
alkej-792	73	123	)	)	PUNCT
alkej-792	73	124	.	.	PUNCT
alkej-792	74	1	the	the	DET
alkej-792	74	2	transformation	transformation	NOUN
alkej-792	74	3	matrix	matrix	NOUN
alkej-792	74	4	of	of	ADP
alkej-792	74	5	the	the	DET
alkej-792	74	6	end	end	NOUN
alkej-792	74	7	-	-	PUNCT
alkej-792	74	8	effector	effector	NOUN
alkej-792	74	9	to	to	ADP
alkej-792	74	10	the	the	DET
alkej-792	74	11	reference	reference	NOUN
alkej-792	74	12	frame	frame	NOUN
alkej-792	74	13	is	be	AUX
alkej-792	74	14	concluded	conclude	VERB
alkej-792	74	15	by	by	ADP
alkej-792	74	16	multiplying	multiply	VERB
alkej-792	74	17	the	the	DET
alkej-792	74	18	previous	previous	ADJ
alkej-792	74	19	matrices	matrix	NOUN
alkej-792	74	20	,	,	PUNCT
alkej-792	74	21	so	so	SCONJ
alkej-792	74	22	�	�	PROPN
alkej-792	74	23	�	�	PROPN
alkej-792	74	24	�	�	PROPN
alkej-792	74	25	=	=	SYM
alkej-792	74	26	�	�	PROPN
alkej-792	74	27	�	�	PROPN
alkej-792	74	28	�	�	PROPN
alkej-792	74	29	×	×	PROPN
alkej-792	74	30	�	�	PROPN
alkej-792	74	31	�	�	PROPN
alkej-792	74	32	�	�	PROPN
alkej-792	74	33	×	×	PROPN
alkej-792	74	34	�	�	PROPN
alkej-792	74	35	�	�	PROPN
alkej-792	74	36	�	�	PROPN
alkej-792	74	37	…	…	PUNCT
alkej-792	74	38	(	(	PUNCT
alkej-792	74	39	1	1	NUM
alkej-792	74	40	)	)	PUNCT
alkej-792	74	41	�	�	PROPN
alkej-792	74	42	�	�	PROPN
alkej-792	74	43	�	�	PROPN
alkej-792	74	44	=	=	SYM
alkej-792	74	45	�	�	PROPN
alkej-792	74	46	1	1	NUM
alkej-792	74	47	0	0	NUM
alkej-792	74	48	0	0	NUM
alkej-792	74	49	�	�	PROPN
alkej-792	74	50	�	�	PROPN
alkej-792	74	51	0	0	NUM
alkej-792	74	52	1	1	NUM
alkej-792	74	53	0	0	NUM
alkej-792	74	54	�	�	PROPN
alkej-792	74	55	�	�	PROPN
alkej-792	74	56	00	00	NUM
alkej-792	74	57	00	00	NUM
alkej-792	74	58	10	10	NUM
alkej-792	74	59	�	�	PROPN
alkej-792	74	60	�	�	PROPN
alkej-792	74	61	1	1	NUM
alkej-792	74	62	�	�	PROPN
alkej-792	74	63	where	where	SCONJ
alkej-792	74	64	�	�	PROPN
alkej-792	74	65	�	�	PROPN
alkej-792	74	66	,	,	PUNCT
alkej-792	74	67	�	�	PROPN
alkej-792	74	68	�	�	PROPN
alkej-792	74	69	,	,	PUNCT
alkej-792	74	70	�	�	PROPN
alkej-792	74	71	�	�	PROPN
alkej-792	74	72	�	�	PROPN
alkej-792	74	73	�	�	PROPN
alkej-792	74	74	�	�	PROPN
alkej-792	74	75	are	be	AUX
alkej-792	74	76	the	the	DET
alkej-792	74	77	joint	joint	ADJ
alkej-792	74	78	space	space	NOUN
alkej-792	74	79	of	of	ADP
alkej-792	74	80	each	each	DET
alkej-792	74	81	link	link	NOUN
alkej-792	74	82	.	.	PUNCT
alkej-792	75	1	joint	joint	ADJ
alkej-792	75	2	velocity	velocity	NOUN
alkej-792	75	3	and	and	CCONJ
alkej-792	75	4	acceleration	acceleration	NOUN
alkej-792	75	5	of	of	ADP
alkej-792	75	6	end	end	NOUN
alkej-792	75	7	-	-	PUNCT
alkej-792	75	8	effector	effector	NOUN
alkej-792	75	9	are	be	AUX
alkej-792	75	10	determined	determine	VERB
alkej-792	75	11	with	with	ADP
alkej-792	75	12	respect	respect	NOUN
alkej-792	75	13	to	to	ADP
alkej-792	75	14	the	the	DET
alkej-792	75	15	base	base	NOUN
alkej-792	75	16	frame	frame	NOUN
alkej-792	75	17	,	,	PUNCT
alkej-792	75	18	hence	hence	ADV
alkej-792	75	19	:	:	PUNCT
alkej-792	75	20	�	�	PROPN
alkej-792	75	21	�	�	PROPN
alkej-792	75	22	�	�	PROPN
alkej-792	75	23	=	=	SYM
alkej-792	75	24	�	�	PROPN
alkej-792	75	25	�	�	PROPN
alkej-792	75	26	�	�	PROPN
alkej-792	75	27	�	�	PROPN
alkej-792	75	28	−	−	PROPN
alkej-792	75	29	�	�	PROPN
alkej-792	75	30	�	�	PROPN
alkej-792	75	31	�	�	PROPN
alkej-792	75	32	�	�	PROPN
alkej-792	75	33	+	+	SYM
alkej-792	75	34	�	�	PROPN
alkej-792	75	35	�	�	PROPN
alkej-792	75	36	�	�	PROPN
alkej-792	75	37	�	�	PROPN
alkej-792	75	38	…	…	PUNCT
alkej-792	75	39	(	(	PUNCT
alkej-792	75	40	2	2	NUM
alkej-792	75	41	)	)	PUNCT
alkej-792	75	42	�	�	PROPN
alkej-792	75	43	�	�	PROPN
alkej-792	75	44	�	�	PROPN
alkej-792	75	45	=	=	SYM
alkej-792	75	46	(	(	PUNCT
alkej-792	75	47	�	�	PROPN
alkej-792	75	48	�	�	PROPN
alkej-792	75	49	�	�	PROPN
alkej-792	75	50	−g	−g	NOUN
alkej-792	75	51	)	)	PUNCT
alkej-792	75	52	�	�	PROPN
alkej-792	75	53	−	−	PROPN
alkej-792	75	54	�	�	PROPN
alkej-792	75	55	�	�	PROPN
alkej-792	75	56	�	�	PROPN
alkej-792	75	57	�	�	PROPN
alkej-792	75	58	+	+	SYM
alkej-792	75	59	�	�	PROPN
alkej-792	75	60	�	�	PROPN
alkej-792	75	61	�	�	PROPN
alkej-792	75	62	�	�	PROPN
alkej-792	75	63	…	…	PUNCT
alkej-792	75	64	(	(	PUNCT
alkej-792	75	65	3	3	NUM
alkej-792	75	66	)	)	PUNCT
alkej-792	75	67	where	where	SCONJ
alkej-792	75	68	g	g	PROPN
alkej-792	75	69	is	be	AUX
alkej-792	75	70	the	the	DET
alkej-792	75	71	gravitational	gravitational	ADJ
alkej-792	75	72	acceleration	acceleration	NOUN
alkej-792	75	73	,	,	PUNCT
alkej-792	75	74	�	�	PROPN
alkej-792	75	75	�	�	PROPN
alkej-792	75	76	is	be	AUX
alkej-792	75	77	the	the	DET
alkej-792	75	78	joint	joint	ADJ
alkej-792	75	79	velocity	velocity	NOUN
alkej-792	75	80	of	of	ADP
alkej-792	75	81	links	link	NOUN
alkej-792	75	82	,	,	PUNCT
alkej-792	75	83	and	and	CCONJ
alkej-792	75	84	�	�	PROPN
alkej-792	75	85	�	�	PROPN
alkej-792	75	86	is	be	AUX
alkej-792	75	87	the	the	DET
alkej-792	75	88	joint	joint	ADJ
alkej-792	75	89	acceleration	acceleration	NOUN
alkej-792	75	90	.	.	PUNCT
alkej-792	76	1	2.2	2.2	NUM
alkej-792	76	2	dynamic	dynamic	ADJ
alkej-792	76	3	model	model	NOUN
alkej-792	76	4	from	from	ADP
alkej-792	76	5	the	the	DET
alkej-792	76	6	dynamic	dynamic	ADJ
alkej-792	76	7	model	model	NOUN
alkej-792	76	8	,	,	PUNCT
alkej-792	76	9	the	the	DET
alkej-792	76	10	equation	equation	NOUN
alkej-792	76	11	of	of	ADP
alkej-792	76	12	motion	motion	NOUN
alkej-792	76	13	is	be	AUX
alkej-792	76	14	achieved	achieve	VERB
alkej-792	76	15	.	.	PUNCT
alkej-792	77	1	besides	besides	SCONJ
alkej-792	77	2	that	that	PRON
alkej-792	77	3	,	,	PUNCT
alkej-792	77	4	the	the	DET
alkej-792	77	5	system	system	NOUN
alkej-792	77	6	's	's	PART
alkej-792	77	7	response	response	NOUN
alkej-792	77	8	can	can	AUX
alkej-792	77	9	be	be	AUX
alkej-792	77	10	obtained	obtain	VERB
alkej-792	77	11	by	by	ADP
alkej-792	77	12	using	use	VERB
alkej-792	77	13	the	the	DET
alkej-792	77	14	state	state	NOUN
alkej-792	77	15	-	-	PUNCT
alkej-792	77	16	space	space	NOUN
alkej-792	77	17	model	model	NOUN
alkej-792	77	18	found	find	VERB
alkej-792	77	19	from	from	ADP
alkej-792	77	20	the	the	DET
alkej-792	77	21	dynamic	dynamic	ADJ
alkej-792	77	22	model	model	NOUN
alkej-792	78	1	[	[	X
alkej-792	78	2	11	11	NUM
alkej-792	78	3	]	]	PUNCT
alkej-792	78	4	and	and	CCONJ
alkej-792	78	5	[	[	X
alkej-792	78	6	16	16	NUM
alkej-792	78	7	]	]	PUNCT
alkej-792	78	8	.	.	PUNCT
alkej-792	79	1	there	there	PRON
alkej-792	79	2	are	be	VERB
alkej-792	79	3	several	several	ADJ
alkej-792	79	4	techniques	technique	NOUN
alkej-792	79	5	to	to	PART
alkej-792	79	6	find	find	VERB
alkej-792	79	7	dynamic	dynamic	ADJ
alkej-792	79	8	equations	equation	NOUN
alkej-792	79	9	in	in	ADP
alkej-792	79	10	robot	robot	NOUN
alkej-792	79	11	manipulators	manipulator	NOUN
alkej-792	79	12	,	,	PUNCT
alkej-792	79	13	such	such	ADJ
alkej-792	79	14	as	as	ADP
alkej-792	79	15	the	the	DET
alkej-792	79	16	newton	newton	PROPN
alkej-792	79	17	-	-	PUNCT
alkej-792	79	18	euler	euler	PROPN
alkej-792	79	19	equations	equation	NOUN
alkej-792	79	20	.	.	PUNCT
alkej-792	80	1	�	�	PROPN
alkej-792	80	2	�	�	PROPN
alkej-792	80	3	�	�	PROPN
alkej-792	80	4	�	�	PROPN
alkej-792	80	5	�	�	PROPN
alkej-792	80	6	�	�	PROPN
alkej-792	80	7	=	=	SYM
alkej-792	80	8	�	�	PROPN
alkej-792	80	9	˗	˗	NOUN
alkej-792	80	10	!	!	PUNCT
alkej-792	81	1	�	�	PROPN
alkej-792	81	2	�	�	PROPN
alkej-792	81	3	�	�	PROPN
alkej-792	81	4	�	�	PROPN
alkej-792	81	5	�	�	PROPN
alkej-792	81	6	…	…	PUNCT
alkej-792	81	7	(	(	PUNCT
alkej-792	81	8	4	4	NUM
alkej-792	81	9	)	)	PUNCT
alkej-792	81	10	�	�	PROPN
alkej-792	81	11	�	�	PROPN
alkej-792	81	12	�	�	PROPN
alkej-792	81	13	�	�	PROPN
alkej-792	81	14	"	"	PUNCT
alkej-792	81	15	�	�	PROPN
alkej-792	81	16	=	=	SYM
alkej-792	81	17	�	�	PROPN
alkej-792	81	18	˗	˗	NOUN
alkej-792	81	19	!	!	PUNCT
alkej-792	82	1	�	�	PROPN
alkej-792	82	2	�	�	PROPN
alkej-792	82	3	�	�	PROPN
alkej-792	82	4	"	"	PUNCT
alkej-792	82	5	�	�	PROPN
alkej-792	82	6	˗	˗	VERB
alkej-792	82	7	#	#	SYM
alkej-792	82	8	�	�	PROPN
alkej-792	82	9	�	�	PROPN
alkej-792	82	10	"	"	PUNCT
alkej-792	82	11	�	�	PROPN
alkej-792	82	12	…	…	PUNCT
alkej-792	82	13	(	(	PUNCT
alkej-792	82	14	5	5	NUM
alkej-792	82	15	)	)	PUNCT
alkej-792	82	16	�	�	PROPN
alkej-792	82	17	�	�	PROPN
alkej-792	82	18	�	�	PROPN
alkej-792	82	19	�	�	PROPN
alkej-792	82	20	$	$	SYM
alkej-792	82	21	�	�	PROPN
alkej-792	82	22	=	=	SYM
alkej-792	82	23	�	�	PROPN
alkej-792	82	24	˗	˗	NOUN
alkej-792	82	25	!	!	PUNCT
alkej-792	83	1	�	�	PROPN
alkej-792	83	2	�	�	PROPN
alkej-792	83	3	�	�	PROPN
alkej-792	83	4	$	$	SYM
alkej-792	83	5	�	�	NOUN
alkej-792	83	6	…	…	PUNCT
alkej-792	83	7	(	(	PUNCT
alkej-792	83	8	6	6	NUM
alkej-792	83	9	)	)	PUNCT
alkej-792	83	10	where	where	SCONJ
alkej-792	83	11	�	�	PROPN
alkej-792	83	12	�	�	PROPN
alkej-792	83	13	,	,	PUNCT
alkej-792	83	14	�	�	PROPN
alkej-792	83	15	�	�	PROPN
alkej-792	83	16	�	�	PROPN
alkej-792	83	17	,	,	PUNCT
alkej-792	83	18	�	�	PROPN
alkej-792	83	19	�	�	PROPN
alkej-792	83	20	�	�	PROPN
alkej-792	83	21	�	�	PROPN
alkej-792	83	22	,	,	PUNCT
alkej-792	83	23	�	�	PROPN
alkej-792	83	24	�	�	PROPN
alkej-792	83	25	�	�	PROPN
alkej-792	83	26	�	�	PROPN
alkej-792	83	27	,	,	PUNCT
alkej-792	83	28	!	!	PUNCT
alkej-792	83	29	�	�	PROPN
alkej-792	83	30	,	,	PUNCT
alkej-792	83	31	and	and	CCONJ
alkej-792	83	32	�	�	PROPN
alkej-792	83	33	are	be	AUX
alkej-792	83	34	the	the	DET
alkej-792	83	35	mass	mass	ADJ
alkej-792	83	36	,	,	PUNCT
alkej-792	83	37	joint	joint	ADJ
alkej-792	83	38	position	position	NOUN
alkej-792	83	39	,	,	PUNCT
alkej-792	83	40	joint	joint	ADJ
alkej-792	83	41	velocity	velocity	NOUN
alkej-792	83	42	,	,	PUNCT
alkej-792	83	43	joint	joint	ADJ
alkej-792	83	44	acceleration	acceleration	NOUN
alkej-792	83	45	,	,	PUNCT
alkej-792	83	46	damper	damper	NOUN
alkej-792	83	47	coefficient	coefficient	NOUN
alkej-792	83	48	,	,	PUNCT
alkej-792	83	49	and	and	CCONJ
alkej-792	83	50	force	force	NOUN
alkej-792	83	51	applied	apply	VERB
alkej-792	83	52	respectively	respectively	ADV
alkej-792	83	53	,	,	PUNCT
alkej-792	83	54	and	and	CCONJ
alkej-792	83	55	#	#	PRON
alkej-792	83	56	�	�	NOUN
alkej-792	83	57	is	be	AUX
alkej-792	83	58	the	the	DET
alkej-792	83	59	stiffness	stiffness	ADJ
alkej-792	83	60	coefficient	coefficient	NOUN
alkej-792	83	61	of	of	ADP
alkej-792	83	62	second	second	ADJ
alkej-792	83	63	link	link	NOUN
alkej-792	83	64	that	that	PRON
alkej-792	83	65	is	be	AUX
alkej-792	83	66	caused	cause	VERB
alkej-792	83	67	by	by	ADP
alkej-792	83	68	the	the	DET
alkej-792	83	69	belt	belt	NOUN
alkej-792	83	70	.	.	PUNCT
alkej-792	84	1	the	the	DET
alkej-792	84	2	subscript	subscript	NOUN
alkej-792	84	3	y1	y1	PROPN
alkej-792	84	4	,	,	PUNCT
alkej-792	84	5	x1	x1	PROPN
alkej-792	84	6	,	,	PUNCT
alkej-792	84	7	and	and	CCONJ
alkej-792	84	8	z1	z1	PROPN
alkej-792	84	9	represent	represent	VERB
alkej-792	84	10	the	the	DET
alkej-792	84	11	first	first	ADJ
alkej-792	84	12	link	link	NOUN
alkej-792	84	13	,	,	PUNCT
alkej-792	84	14	second	second	ADJ
alkej-792	84	15	link	link	NOUN
alkej-792	84	16	and	and	CCONJ
alkej-792	84	17	the	the	DET
alkej-792	84	18	third	third	ADJ
alkej-792	84	19	link	link	NOUN
alkej-792	84	20	.	.	PUNCT
alkej-792	85	1	to	to	PART
alkej-792	85	2	derive	derive	VERB
alkej-792	85	3	the	the	DET
alkej-792	85	4	dynamic	dynamic	ADJ
alkej-792	85	5	model	model	NOUN
alkej-792	85	6	of	of	ADP
alkej-792	85	7	robot	robot	NOUN
alkej-792	85	8	manipulator	manipulator	NOUN
alkej-792	85	9	,	,	PUNCT
alkej-792	85	10	the	the	DET
alkej-792	85	11	masses	masse	NOUN
alkej-792	85	12	are	be	AUX
alkej-792	85	13	weight	weight	NOUN
alkej-792	85	14	using	use	VERB
alkej-792	85	15	a	a	DET
alkej-792	85	16	suitable	suitable	ADJ
alkej-792	85	17	scale	scale	NOUN
alkej-792	85	18	.	.	PUNCT
alkej-792	86	1	this	this	DET
alkej-792	86	2	robot	robot	NOUN
alkej-792	86	3	has	have	VERB
alkej-792	86	4	three	three	NUM
alkej-792	86	5	masses	masse	NOUN
alkej-792	86	6	moving	move	VERB
alkej-792	86	7	vertically	vertically	ADV
alkej-792	86	8	and	and	CCONJ
alkej-792	86	9	two	two	NUM
alkej-792	86	10	masses	masse	NOUN
alkej-792	86	11	moving	move	VERB
alkej-792	86	12	horizontally	horizontally	ADV
alkej-792	86	13	,	,	PUNCT
alkej-792	86	14	subsequently	subsequently	ADV
alkej-792	86	15	[	[	X
alkej-792	86	16	9	9	NUM
alkej-792	86	17	]	]	PUNCT
alkej-792	86	18	.	.	PUNCT
alkej-792	87	1	%	%	PROPN
alkej-792	87	2	&	&	CCONJ
alkej-792	87	3	�	�	PROPN
alkej-792	87	4	�	�	PROPN
alkej-792	87	5	'	'	PART
alkej-792	87	6	�	�	PROPN
alkej-792	87	7	�	�	PROPN
alkej-792	87	8	'	'	PART
alkej-792	87	9	�	�	PROPN
alkej-792	87	10	�	�	PROPN
alkej-792	87	11	(	(	PUNCT
alkej-792	87	12	0	0	NUM
alkej-792	87	13	00	00	NUM
alkej-792	87	14	&	&	CCONJ
alkej-792	87	15	�	�	PROPN
alkej-792	87	16	�	�	PROPN
alkej-792	87	17	'	'	PART
alkej-792	87	18	�	�	PROPN
alkej-792	87	19	�	�	PROPN
alkej-792	87	20	(	(	PUNCT
alkej-792	87	21	00	00	NUM
alkej-792	87	22	0	0	NUM
alkej-792	87	23	�	�	PROPN
alkej-792	87	24	�	�	PROPN
alkej-792	87	25	)	)	PUNCT
alkej-792	87	26	*	*	PUNCT
alkej-792	87	27	�	�	PROPN
alkej-792	87	28	�	�	PROPN
alkej-792	87	29	�	�	PROPN
alkej-792	87	30	�	�	PROPN
alkej-792	87	31	'	'	PART
alkej-792	87	32	+	+	PROPN
alkej-792	87	33	�	�	PROPN
alkej-792	87	34	�	�	PROPN
alkej-792	87	35	"	"	PUNCT
alkej-792	87	36	�	�	PROPN
alkej-792	87	37	�	�	PROPN
alkej-792	87	38	�	�	PROPN
alkej-792	87	39	$	$	SYM
alkej-792	87	40	�	�	PROPN
alkej-792	87	41	,	,	PUNCT
alkej-792	87	42	+	+	NOUN
alkej-792	87	43	%	%	NOUN
alkej-792	87	44	!	!	PUNCT
alkej-792	87	45	�	�	PROPN
alkej-792	87	46	0	0	NUM
alkej-792	87	47	00	00	PUNCT
alkej-792	87	48	!	!	PUNCT
alkej-792	88	1	�	�	PROPN
alkej-792	88	2	00	00	NUM
alkej-792	88	3	0	0	NUM
alkej-792	88	4	!	!	PUNCT
alkej-792	88	5	�	�	PROPN
alkej-792	88	6	)	)	PUNCT
alkej-792	88	7	*	*	PUNCT
alkej-792	88	8	�	�	PROPN
alkej-792	88	9	�	�	PROPN
alkej-792	88	10	�	�	PROPN
alkej-792	88	11	�	�	PROPN
alkej-792	88	12	�	�	PROPN
alkej-792	88	13	�	�	PROPN
alkej-792	88	14	"	"	PUNCT
alkej-792	88	15	�	�	PROPN
alkej-792	88	16	�	�	PROPN
alkej-792	88	17	�	�	PROPN
alkej-792	88	18	$	$	SYM
alkej-792	88	19	�	�	PROPN
alkej-792	88	20	,	,	PUNCT
alkej-792	88	21	+	+	NOUN
alkej-792	88	22	%	%	NOUN
alkej-792	88	23	0	0	SYM
alkej-792	88	24	0	0	NUM
alkej-792	88	25	00	00	NUM
alkej-792	88	26	-	-	PUNCT
alkej-792	88	27	�	�	PROPN
alkej-792	88	28	00	00	NUM
alkej-792	88	29	0	0	NUM
alkej-792	88	30	0	0	NUM
alkej-792	88	31	)	)	PUNCT
alkej-792	88	32	.	.	PUNCT
alkej-792	89	1	�	�	PROPN
alkej-792	89	2	�	�	PROPN
alkej-792	89	3	�	�	PROPN
alkej-792	89	4	�	�	PROPN
alkej-792	89	5	"	"	PUNCT
alkej-792	89	6	�	�	PROPN
alkej-792	89	7	�	�	PROPN
alkej-792	89	8	$	$	SYM
alkej-792	89	9	�	�	PROPN
alkej-792	89	10	/	/	SYM
alkej-792	89	11	=	=	SYM
alkej-792	89	12	%	%	NOUN
alkej-792	89	13	�	�	PROPN
alkej-792	89	14	�	�	PROPN
alkej-792	89	15	�	�	PROPN
alkej-792	89	16	)	)	PUNCT
alkej-792	89	17	…	…	PUNCT
alkej-792	89	18	(	(	PUNCT
alkej-792	89	19	7	7	X
alkej-792	89	20	)	)	PUNCT
alkej-792	89	21	fatima	fatima	PROPN
alkej-792	89	22	m.	m.	PROPN
alkej-792	89	23	jasim	jasim	PROPN
alkej-792	89	24	al	al	PROPN
alkej-792	89	25	-	-	PUNCT
alkej-792	89	26	khwarizmi	khwarizmi	PROPN
alkej-792	89	27	engineering	engineering	NOUN
alkej-792	89	28	journal	journal	PROPN
alkej-792	89	29	,	,	PUNCT
alkej-792	89	30	vol	vol	NOUN
alkej-792	89	31	.	.	PROPN
alkej-792	89	32	18	18	NUM
alkej-792	89	33	,	,	PUNCT
alkej-792	89	34	no	no	INTJ
alkej-792	89	35	.	.	NOUN
alkej-792	89	36	3	3	NUM
alkej-792	89	37	,	,	PUNCT
alkej-792	89	38	p.p	p.p	PROPN
alkej-792	89	39	.	.	NOUN
alkej-792	89	40	114	114	NUM
alkej-792	89	41	(	(	PUNCT
alkej-792	89	42	2022	2022	NUM
alkej-792	89	43	)	)	PUNCT
alkej-792	89	44	4	4	NUM
alkej-792	89	45	above	above	ADV
alkej-792	89	46	are	be	AUX
alkej-792	89	47	the	the	DET
alkej-792	89	48	equations	equation	NOUN
alkej-792	89	49	of	of	ADP
alkej-792	89	50	motion	motion	NOUN
alkej-792	89	51	of	of	ADP
alkej-792	89	52	each	each	DET
alkej-792	89	53	link	link	NOUN
alkej-792	89	54	;	;	PUNCT
alkej-792	89	55	however	however	ADV
alkej-792	89	56	,	,	PUNCT
alkej-792	89	57	those	those	DET
alkej-792	89	58	equations	equation	NOUN
alkej-792	89	59	can	can	AUX
alkej-792	89	60	be	be	AUX
alkej-792	89	61	simulated	simulate	VERB
alkej-792	89	62	by	by	ADP
alkej-792	89	63	using	use	VERB
alkej-792	89	64	the	the	DET
alkej-792	89	65	state	state	NOUN
alkej-792	89	66	-	-	PUNCT
alkej-792	89	67	space	space	NOUN
alkej-792	89	68	model	model	NOUN
alkej-792	89	69	as	as	SCONJ
alkej-792	89	70	follows	follow	VERB
alkej-792	89	71	:	:	PUNCT
alkej-792	89	72	�	�	PROPN
alkej-792	89	73	�	�	PROPN
alkej-792	89	74	0	0	NUM
alkej-792	89	75	=	=	SYM
alkej-792	89	76	�	�	PROPN
alkej-792	89	77	�	�	PROPN
alkej-792	89	78	�	�	PROPN
alkej-792	89	79	�	�	PROPN
alkej-792	89	80	...	...	PUNCT
alkej-792	89	81	(	(	PUNCT
alkej-792	89	82	8)	8)	NUM
alkej-792	89	83	�	�	PROPN
alkej-792	89	84	"	"	PUNCT
alkej-792	89	85	0=	0=	NUM
alkej-792	89	86	�	�	PROPN
alkej-792	89	87	�	�	PROPN
alkej-792	89	88	"	"	PUNCT
alkej-792	89	89	�	�	PROPN
alkej-792	89	90	…	…	PUNCT
alkej-792	89	91	(	(	PUNCT
alkej-792	89	92	9	9	NUM
alkej-792	89	93	)	)	PUNCT
alkej-792	89	94	�	�	NOUN
alkej-792	89	95	$	$	SYM
alkej-792	89	96	0=	0=	NUM
alkej-792	89	97	�	�	PROPN
alkej-792	89	98	�	�	PROPN
alkej-792	89	99	$	$	SYM
alkej-792	89	100	�	�	NOUN
alkej-792	89	101	…	…	PUNCT
alkej-792	89	102	(	(	PUNCT
alkej-792	89	103	10	10	NUM
alkej-792	89	104	)	)	PUNCT
alkej-792	89	105	the	the	DET
alkej-792	89	106	state	state	NOUN
alkej-792	89	107	space	space	NOUN
alkej-792	89	108	formula	formula	NOUN
alkej-792	89	109	given	give	VERB
alkej-792	89	110	by	by	ADP
alkej-792	89	111	:	:	PUNCT
alkej-792	89	112	2	2	NUM
alkej-792	89	113	�	�	NOUN
alkej-792	89	114	=	=	SYM
alkej-792	89	115	3	3	NUM
alkej-792	89	116	2	2	NUM
alkej-792	89	117	'	'	NUM
alkej-792	89	118	4	4	NUM
alkej-792	89	119	5	5	NUM
alkej-792	89	120	…	…	PUNCT
alkej-792	89	121	(	(	PUNCT
alkej-792	89	122	11	11	NUM
alkej-792	89	123	)	)	PUNCT
alkej-792	89	124	the	the	DET
alkej-792	89	125	output	output	NOUN
alkej-792	89	126	of	of	ADP
alkej-792	89	127	the	the	DET
alkej-792	89	128	proposed	propose	VERB
alkej-792	89	129	system	system	NOUN
alkej-792	89	130	is	be	AUX
alkej-792	89	131	the	the	DET
alkej-792	89	132	position	position	NOUN
alkej-792	89	133	of	of	ADP
alkej-792	89	134	the	the	DET
alkej-792	89	135	end	end	NOUN
alkej-792	89	136	-	-	PUNCT
alkej-792	89	137	effector	effector	NOUN
alkej-792	89	138	for	for	ADP
alkej-792	89	139	cartesian	cartesian	ADJ
alkej-792	89	140	coordinates	coordinate	NOUN
alkej-792	89	141	(	(	PUNCT
alkej-792	89	142	x	x	X
alkej-792	89	143	,	,	PUNCT
alkej-792	89	144	y	y	PROPN
alkej-792	89	145	,	,	PUNCT
alkej-792	89	146	and	and	CCONJ
alkej-792	89	147	z	z	PROPN
alkej-792	89	148	of	of	ADP
alkej-792	89	149	robot	robot	NOUN
alkej-792	89	150	links	link	NOUN
alkej-792	89	151	)	)	PUNCT
alkej-792	89	152	are	be	AUX
alkej-792	89	153	obtained	obtain	VERB
alkej-792	89	154	through	through	ADP
alkej-792	89	155	the	the	DET
alkej-792	89	156	equation	equation	NOUN
alkej-792	89	157	below	below	ADV
alkej-792	89	158	:	:	PUNCT
alkej-792	90	1	y=	y=	NUM
alkej-792	90	2	c	c	NOUN
alkej-792	91	1	x	x	PUNCT
alkej-792	92	1	+	+	PUNCT
alkej-792	92	2	d	d	X
alkej-792	92	3	u	u	NOUN
alkej-792	92	4	...	...	PUNCT
alkej-792	92	5	(	(	PUNCT
alkej-792	92	6	12	12	NUM
alkej-792	92	7	)	)	PUNCT
alkej-792	92	8	from	from	ADP
alkej-792	92	9	equation	equation	NOUN
alkej-792	92	10	11	11	NUM
alkej-792	92	11	the	the	DET
alkej-792	92	12	state	state	NOUN
alkej-792	92	13	space	space	NOUN
alkej-792	92	14	model	model	NOUN
alkej-792	92	15	for	for	ADP
alkej-792	92	16	cartesian	cartesian	ADJ
alkej-792	92	17	robot	robot	NOUN
alkej-792	92	18	is	be	AUX
alkej-792	92	19	given	give	VERB
alkej-792	92	20	by	by	ADP
alkej-792	92	21	:	:	PUNCT
alkej-792	92	22	⎣⎢⎢	⎣⎢⎢	PROPN
alkej-792	92	23	⎢⎢⎢	⎢⎢⎢	PROPN
alkej-792	92	24	⎡	⎡	PROPN
alkej-792	92	25	�	�	PROPN
alkej-792	92	26	�	�	PROPN
alkej-792	92	27	�	�	PROPN
alkej-792	92	28	�	�	PROPN
alkej-792	92	29	�	�	PROPN
alkej-792	92	30	�	�	PROPN
alkej-792	92	31	�	�	PROPN
alkej-792	92	32	0	0	NUM
alkej-792	92	33	�	�	PROPN
alkej-792	92	34	�	�	PROPN
alkej-792	92	35	"	"	PUNCT
alkej-792	92	36	�	�	PROPN
alkej-792	92	37	�	�	PROPN
alkej-792	92	38	�	�	PROPN
alkej-792	92	39	"0	"0	NUM
alkej-792	92	40	�	�	PROPN
alkej-792	92	41	�	�	PROPN
alkej-792	92	42	$	$	SYM
alkej-792	92	43	�	�	PROPN
alkej-792	92	44	�	�	PROPN
alkej-792	92	45	�	�	PROPN
alkej-792	92	46	$0	$0	NUM
alkej-792	92	47	⎦⎥⎥	⎦⎥⎥	NOUN
alkej-792	92	48	⎥⎥⎥	⎥⎥⎥	X
alkej-792	92	49	⎤	⎤	NOUN
alkej-792	92	50	=	=	SYM
alkej-792	92	51	⎣⎢	⎣⎢	PROPN
alkej-792	92	52	⎢⎢	⎢⎢	VERB
alkej-792	92	53	⎢⎡000000	⎢⎡000000	PROPN
alkej-792	92	54	1	1	NUM
alkej-792	92	55	<	<	X
alkej-792	92	56	=	=	ADJ
alkej-792	92	57	>	>	SYM
alkej-792	92	58	�	�	PROPN
alkej-792	92	59	?	?	SYM
alkej-792	92	60	�	�	PROPN
alkej-792	92	61	@?0@?ab0000	@?0@?ab0000	PUNCT
alkej-792	92	62	000	000	NUM
alkej-792	92	63	<	<	X
alkej-792	92	64	=	=	ADJ
alkej-792	92	65	c0?0@?ab00	c0?0@?ab00	NOUN
alkej-792	92	66	001	001	NOUN
alkej-792	92	67	<	<	X
alkej-792	92	68	=	=	NOUN
alkej-792	92	69	>	>	NOUN
alkej-792	92	70	0?0@?ab00	0?0@?ab00	NOUN
alkej-792	92	71	000000	000000	NUM
alkej-792	93	1	00001<=>	00001<=>	PROPN
alkej-792	93	2	�	�	PROPN
alkej-792	93	3	?a	?a	NOUN
alkej-792	93	4	b	b	PROPN
alkej-792	93	5	⎦⎥	⎦⎥	VERB
alkej-792	93	6	⎥⎥	⎥⎥	PROPN
alkej-792	93	7	⎥⎤	⎥⎤	PROPN
alkej-792	93	8	⎩⎪⎨	⎩⎪⎨	PROPN
alkej-792	93	9	⎪⎧	⎪⎧	PROPN
alkej-792	93	10	�	�	PROPN
alkej-792	93	11	�	�	PROPN
alkej-792	93	12	�	�	PROPN
alkej-792	93	13	�	�	PROPN
alkej-792	93	14	�	�	PROPN
alkej-792	93	15	0	0	NUM
alkej-792	93	16	�	�	PROPN
alkej-792	93	17	"	"	PUNCT
alkej-792	93	18	�	�	PROPN
alkej-792	93	19	�	�	PROPN
alkej-792	93	20	"0	"0	VERB
alkej-792	93	21	�	�	PROPN
alkej-792	93	22	$	$	SYM
alkej-792	93	23	�	�	PROPN
alkej-792	93	24	�	�	PROPN
alkej-792	93	25	$0	$0	NUM
alkej-792	93	26	⎭⎪⎬	⎭⎪⎬	PROPN
alkej-792	93	27	⎪⎫	⎪⎫	NOUN
alkej-792	93	28	+	+	CCONJ
alkej-792	93	29	⎣⎢⎢	⎣⎢⎢	PROPN
alkej-792	93	30	⎢⎢	⎢⎢	VERB
alkej-792	93	31	⎡000000	⎡000000	PROPN
alkej-792	93	32	0	0	NUM
alkej-792	93	33	&	&	CCONJ
alkej-792	93	34	�	�	PROPN
alkej-792	93	35	?	?	SYM
alkej-792	93	36	�	�	PROPN
alkej-792	93	37	@?0@?a(0000	@?0@?a(0000	PROPN
alkej-792	93	38	000000	000000	NUM
alkej-792	93	39	000	000	NUM
alkej-792	93	40	&	&	CCONJ
alkej-792	93	41	�	�	PROPN
alkej-792	93	42	?	?	PROPN
alkej-792	93	43	0@?a(00	0@?a(00	NOUN
alkej-792	93	44	000000	000000	NUM
alkej-792	93	45	00000	00000	NUM
alkej-792	93	46	&	&	CCONJ
alkej-792	93	47	�	�	PROPN
alkej-792	93	48	?	?	PROPN
alkej-792	94	1	a(⎦⎥⎥	a(⎦⎥⎥	PROPN
alkej-792	94	2	⎥⎥	⎥⎥	PRON
alkej-792	94	3	⎤	⎤	VERB
alkej-792	94	4	⎩⎪⎨	⎩⎪⎨	PROPN
alkej-792	94	5	⎪⎧	⎪⎧	NOUN
alkej-792	94	6	0	0	NUM
alkej-792	94	7	�	�	PROPN
alkej-792	94	8	−	−	PROPN
alkej-792	94	9	&	&	CCONJ
alkej-792	94	10	�	�	PROPN
alkej-792	94	11	1	1	NUM
alkej-792	94	12	'	'	PART
alkej-792	94	13	�	�	PROPN
alkej-792	94	14	2	2	NUM
alkej-792	94	15	'	'	PART
alkej-792	94	16	�	�	PROPN
alkej-792	94	17	3(+0	3(+0	PROPN
alkej-792	94	18	�	�	PROPN
alkej-792	94	19	0	0	NUM
alkej-792	94	20	�	�	PROPN
alkej-792	94	21	⎭⎪⎬	⎭⎪⎬	PROPN
alkej-792	94	22	⎪⎫	⎪⎫	NOUN
alkej-792	94	23	…	…	PUNCT
alkej-792	94	24	(	(	PUNCT
alkej-792	94	25	13	13	NUM
alkej-792	94	26	)	)	SYM
alkej-792	94	27	3	3	NUM
alkej-792	94	28	.	.	X
alkej-792	95	1	design	design	NOUN
alkej-792	95	2	of	of	ADP
alkej-792	95	3	the	the	DET
alkej-792	95	4	cartesian	cartesian	ADJ
alkej-792	95	5	robot	robot	NOUN
alkej-792	95	6	3.1	3.1	NUM
alkej-792	95	7	the	the	DET
alkej-792	95	8	structure	structure	NOUN
alkej-792	95	9	of	of	ADP
alkej-792	95	10	cartesian	cartesian	ADJ
alkej-792	95	11	robot	robot	NOUN
alkej-792	95	12	the	the	DET
alkej-792	95	13	cartesian	cartesian	ADJ
alkej-792	95	14	robot	robot	NOUN
alkej-792	95	15	is	be	AUX
alkej-792	95	16	designed	design	VERB
alkej-792	95	17	with	with	ADP
alkej-792	95	18	three	three	NUM
alkej-792	95	19	links	link	NOUN
alkej-792	95	20	in	in	ADP
alkej-792	95	21	the	the	DET
alkej-792	95	22	x	x	NOUN
alkej-792	95	23	-	-	NOUN
alkej-792	95	24	direction	direction	NOUN
alkej-792	95	25	,	,	PUNCT
alkej-792	95	26	y	y	NOUN
alkej-792	95	27	-	-	PUNCT
alkej-792	95	28	direction	direction	NOUN
alkej-792	95	29	,	,	PUNCT
alkej-792	95	30	and	and	CCONJ
alkej-792	95	31	z	z	NOUN
alkej-792	95	32	-	-	NOUN
alkej-792	95	33	direction	direction	NOUN
alkej-792	95	34	.	.	PUNCT
alkej-792	96	1	this	this	DET
alkej-792	96	2	robot	robot	NOUN
alkej-792	96	3	is	be	AUX
alkej-792	96	4	designed	design	VERB
alkej-792	96	5	for	for	ADP
alkej-792	96	6	wall	wall	NOUN
alkej-792	96	7	operations	operation	NOUN
alkej-792	96	8	,	,	PUNCT
alkej-792	96	9	as	as	SCONJ
alkej-792	96	10	shown	show	VERB
alkej-792	96	11	in	in	ADP
alkej-792	96	12	fig.3	fig.3	PROPN
alkej-792	96	13	;	;	PUNCT
alkej-792	96	14	the	the	DET
alkej-792	96	15	structure	structure	NOUN
alkej-792	96	16	of	of	ADP
alkej-792	96	17	the	the	DET
alkej-792	96	18	cartesian	cartesian	ADJ
alkej-792	96	19	robot	robot	NOUN
alkej-792	96	20	was	be	AUX
alkej-792	96	21	designed	design	VERB
alkej-792	96	22	with	with	ADP
alkej-792	96	23	the	the	DET
alkej-792	96	24	help	help	NOUN
alkej-792	96	25	of	of	ADP
alkej-792	96	26	solidworks	solidworks	PROPN
alkej-792	96	27	software	software	PROPN
alkej-792	96	28	.	.	PUNCT
alkej-792	97	1	the	the	DET
alkej-792	97	2	first	first	ADJ
alkej-792	97	3	link	link	NOUN
alkej-792	97	4	moves	move	NOUN
alkej-792	97	5	in	in	ADP
alkej-792	97	6	the	the	DET
alkej-792	97	7	y	y	NOUN
alkej-792	97	8	-	-	PUNCT
alkej-792	97	9	direction	direction	NOUN
alkej-792	97	10	,	,	PUNCT
alkej-792	97	11	ranging	range	VERB
alkej-792	97	12	from	from	ADP
alkej-792	97	13	0	0	NUM
alkej-792	97	14	to	to	ADP
alkej-792	97	15	90	90	NUM
alkej-792	97	16	cm	cm	NOUN
alkej-792	97	17	.	.	PUNCT
alkej-792	98	1	two	two	NUM
alkej-792	98	2	stepper	stepper	NOUN
alkej-792	98	3	motors	motor	NOUN
alkej-792	98	4	create	create	VERB
alkej-792	98	5	the	the	DET
alkej-792	98	6	motion	motion	NOUN
alkej-792	98	7	;	;	PUNCT
alkej-792	98	8	each	each	DET
alkej-792	98	9	one	one	NOUN
alkej-792	98	10	has	have	VERB
alkej-792	98	11	a	a	DET
alkej-792	98	12	maximum	maximum	ADJ
alkej-792	98	13	power	power	NOUN
alkej-792	98	14	equal	equal	ADJ
alkej-792	98	15	to	to	ADP
alkej-792	98	16	18	18	NUM
alkej-792	98	17	watts	watt	NOUN
alkej-792	98	18	and	and	CCONJ
alkej-792	98	19	transforms	transform	VERB
alkej-792	98	20	rotational	rotational	ADJ
alkej-792	98	21	motion	motion	NOUN
alkej-792	98	22	to	to	PART
alkej-792	98	23	linear	linear	VERB
alkej-792	98	24	motion	motion	NOUN
alkej-792	98	25	by	by	ADP
alkej-792	98	26	using	use	VERB
alkej-792	98	27	two	two	NUM
alkej-792	98	28	lead	lead	NOUN
alkej-792	98	29	screws	screw	NOUN
alkej-792	98	30	,	,	PUNCT
alkej-792	98	31	as	as	SCONJ
alkej-792	98	32	shown	show	VERB
alkej-792	98	33	in	in	ADP
alkej-792	98	34	fig.4	fig.4	PROPN
alkej-792	98	35	.	.	PUNCT
alkej-792	99	1	the	the	DET
alkej-792	99	2	link	link	NOUN
alkej-792	99	3	choice	choice	NOUN
alkej-792	99	4	for	for	ADP
alkej-792	99	5	the	the	DET
alkej-792	99	6	structure	structure	NOUN
alkej-792	99	7	is	be	AUX
alkej-792	99	8	made	make	VERB
alkej-792	99	9	from	from	ADP
alkej-792	99	10	an	an	DET
alkej-792	99	11	aluminum	aluminum	NOUN
alkej-792	99	12	beam	beam	NOUN
alkej-792	99	13	that	that	PRON
alkej-792	99	14	is	be	AUX
alkej-792	99	15	2040	2040	NUM
alkej-792	99	16	v	v	NOUN
alkej-792	99	17	-	-	PUNCT
alkej-792	99	18	slot	slot	NOUN
alkej-792	99	19	type	type	NOUN
alkej-792	99	20	made	make	VERB
alkej-792	99	21	from	from	ADP
alkej-792	99	22	6063	6063	NUM
alkej-792	99	23	-	-	PUNCT
alkej-792	99	24	t5	t5	PROPN
alkej-792	99	25	aluminum	aluminum	NOUN
alkej-792	99	26	material	material	NOUN
alkej-792	99	27	,	,	PUNCT
alkej-792	99	28	because	because	SCONJ
alkej-792	99	29	it	it	PRON
alkej-792	99	30	achieves	achieve	VERB
alkej-792	99	31	a	a	DET
alkej-792	99	32	rigid	rigid	ADJ
alkej-792	99	33	and	and	CCONJ
alkej-792	99	34	lightweight	lightweight	ADJ
alkej-792	99	35	frame	frame	NOUN
alkej-792	99	36	,	,	PUNCT
alkej-792	99	37	as	as	SCONJ
alkej-792	99	38	shown	show	VERB
alkej-792	99	39	in	in	ADP
alkej-792	99	40	fig.5	fig.5	PROPN
alkej-792	99	41	.	.	PUNCT
alkej-792	100	1	the	the	DET
alkej-792	100	2	mechanical	mechanical	ADJ
alkej-792	100	3	specifications	specification	NOUN
alkej-792	100	4	are	be	AUX
alkej-792	100	5	listed	list	VERB
alkej-792	100	6	in	in	ADP
alkej-792	100	7	table	table	NOUN
alkej-792	100	8	2	2	NUM
alkej-792	100	9	.	.	PUNCT
alkej-792	100	10	fig	fig	NOUN
alkej-792	100	11	.	.	PUNCT
alkej-792	101	1	3	3	X
alkej-792	101	2	.	.	X
alkej-792	101	3	structural	structural	ADJ
alkej-792	101	4	design	design	NOUN
alkej-792	101	5	of	of	ADP
alkej-792	101	6	robot	robot	NOUN
alkej-792	101	7	in	in	ADP
alkej-792	101	8	solidworks	solidworks	PROPN
alkej-792	101	9	.	.	PUNCT
alkej-792	102	1	fig	fig	NOUN
alkej-792	102	2	.	.	PUNCT
alkej-792	103	1	4	4	X
alkej-792	103	2	.	.	X
alkej-792	103	3	front	front	ADJ
alkej-792	103	4	view	view	NOUN
alkej-792	103	5	of	of	ADP
alkej-792	103	6	the	the	DET
alkej-792	103	7	first	first	ADJ
alkej-792	103	8	link	link	NOUN
alkej-792	103	9	.	.	PUNCT
alkej-792	104	1	fatima	fatima	PROPN
alkej-792	104	2	m.	m.	PROPN
alkej-792	104	3	jasim	jasim	PROPN
alkej-792	104	4	al	al	PROPN
alkej-792	104	5	-	-	PUNCT
alkej-792	104	6	khwarizmi	khwarizmi	PROPN
alkej-792	104	7	engineering	engineering	NOUN
alkej-792	104	8	journal	journal	PROPN
alkej-792	104	9	,	,	PUNCT
alkej-792	104	10	vol	vol	NOUN
alkej-792	104	11	.	.	PROPN
alkej-792	104	12	18	18	NUM
alkej-792	104	13	,	,	PUNCT
alkej-792	104	14	no	no	INTJ
alkej-792	104	15	.	.	NOUN
alkej-792	104	16	3	3	NUM
alkej-792	104	17	,	,	PUNCT
alkej-792	104	18	p.p	p.p	PROPN
alkej-792	104	19	.	.	NOUN
alkej-792	104	20	114	114	NUM
alkej-792	104	21	(	(	PUNCT
alkej-792	104	22	2022	2022	NUM
alkej-792	104	23	)	)	PUNCT
alkej-792	104	24	5	5	NUM
alkej-792	104	25	fig	fig	NOUN
alkej-792	104	26	.	.	PUNCT
alkej-792	105	1	5	5	X
alkej-792	105	2	.	.	X
alkej-792	105	3	aluminum	aluminum	NOUN
alkej-792	105	4	profile	profile	NOUN
alkej-792	105	5	2040	2040	NUM
alkej-792	105	6	for	for	ADP
alkej-792	105	7	first	first	ADJ
alkej-792	105	8	link	link	NOUN
alkej-792	105	9	.	.	PUNCT
alkej-792	106	1	table	table	NOUN
alkej-792	106	2	2	2	NUM
alkej-792	106	3	,	,	PUNCT
alkej-792	106	4	mechanical	mechanical	ADJ
alkej-792	106	5	properties	property	NOUN
alkej-792	106	6	of	of	ADP
alkej-792	106	7	aluminum	aluminum	NOUN
alkej-792	106	8	profile	profile	NOUN
alkej-792	106	9	2040	2040	NUM
alkej-792	106	10	property	property	NOUN
alkej-792	106	11	value	value	NOUN
alkej-792	106	12	profile	profile	NOUN
alkej-792	106	13	dimensions	dimension	NOUN
alkej-792	106	14	20x40	20x40	NUM
alkej-792	106	15	mm	mm	NOUN
alkej-792	106	16	slot	slot	NOUN
alkej-792	106	17	width	width	VERB
alkej-792	106	18	6	6	NUM
alkej-792	106	19	mm	mm	NOUN
alkej-792	106	20	slot	slot	NOUN
alkej-792	106	21	depth	depth	NOUN
alkej-792	106	22	6	6	NUM
alkej-792	106	23	mm	mm	NOUN
alkej-792	106	24	weight	weight	NOUN
alkej-792	106	25	0.5	0.5	NUM
alkej-792	106	26	kg	kg	NOUN
alkej-792	106	27	/	/	SYM
alkej-792	106	28	m	m	VERB
alkej-792	106	29	available	available	ADJ
alkej-792	106	30	sizes	size	NOUN
alkej-792	106	31	do	do	VERB
alkej-792	106	32	3000	3000	NUM
alkej-792	106	33	mm	mm	NOUN
alkej-792	106	34	thickness	thickness	NOUN
alkej-792	106	35	0.30mm	0.30mm	NOUN
alkej-792	106	36	-	-	PUNCT
alkej-792	106	37	customized	customize	VERB
alkej-792	106	38	mass	mass	NOUN
alkej-792	106	39	of	of	ADP
alkej-792	106	40	inertia(ix	inertia(ix	PROPN
alkej-792	106	41	)	)	PUNCT
alkej-792	106	42	4.64n	4.64n	NUM
alkej-792	106	43	�	�	NOUN
alkej-792	106	44	o	o	NOUN
alkej-792	106	45	mass	mass	NOUN
alkej-792	106	46	of	of	ADP
alkej-792	106	47	inertia(iy	inertia(iy	PROPN
alkej-792	106	48	)	)	PUNCT
alkej-792	106	49	1.42n	1.42n	PROPN
alkej-792	106	50	�	�	NOUN
alkej-792	106	51	o	o	NOUN
alkej-792	106	52	section	section	NOUN
alkej-792	106	53	modulus(zx	modulus(zx	PROPN
alkej-792	106	54	)	)	PUNCT
alkej-792	106	55	2.32n	2.32n	NUM
alkej-792	106	56	�	�	PROPN
alkej-792	106	57	�	�	PROPN
alkej-792	106	58	section	section	NOUN
alkej-792	106	59	modulus(zy	modulus(zy	ADJ
alkej-792	106	60	)	)	PUNCT
alkej-792	106	61	1.32n	1.32n	PROPN
alkej-792	106	62	�	�	SYM
alkej-792	106	63	�	�	NOUN
alkej-792	106	64	working	work	VERB
alkej-792	106	65	tension	tension	NOUN
alkej-792	106	66	2.205n	2.205n	NUM
alkej-792	106	67	/	/	SYM
alkej-792	106	68	mm	mm	NOUN
alkej-792	106	69	product	product	NOUN
alkej-792	106	70	force	force	NOUN
alkej-792	106	71	110mpa	110mpa	PROPN
alkej-792	107	1	the	the	DET
alkej-792	107	2	vertical	vertical	ADJ
alkej-792	107	3	beams	beam	NOUN
alkej-792	107	4	may	may	AUX
alkej-792	107	5	be	be	AUX
alkej-792	107	6	exposed	expose	VERB
alkej-792	107	7	to	to	ADP
alkej-792	107	8	buckling	buckle	VERB
alkej-792	107	9	,	,	PUNCT
alkej-792	107	10	so	so	CCONJ
alkej-792	107	11	the	the	DET
alkej-792	107	12	critical	critical	ADJ
alkej-792	107	13	load	load	NOUN
alkej-792	107	14	of	of	ADP
alkej-792	107	15	each	each	DET
alkej-792	107	16	beam	beam	NOUN
alkej-792	107	17	is	be	AUX
alkej-792	107	18	calculated	calculate	VERB
alkej-792	107	19	as	as	ADP
alkej-792	107	20	equal	equal	ADJ
alkej-792	107	21	to	to	ADP
alkej-792	107	22	8005.99n	8005.99n	NUM
alkej-792	107	23	.	.	PUNCT
alkej-792	108	1	next	next	ADV
alkej-792	108	2	,	,	PUNCT
alkej-792	108	3	the	the	DET
alkej-792	108	4	maximum	maximum	ADJ
alkej-792	108	5	stress	stress	NOUN
alkej-792	108	6	and	and	CCONJ
alkej-792	108	7	deflection	deflection	NOUN
alkej-792	108	8	of	of	ADP
alkej-792	108	9	each	each	DET
alkej-792	108	10	beam	beam	NOUN
alkej-792	108	11	is	be	AUX
alkej-792	108	12	calculated	calculate	VERB
alkej-792	108	13	by	by	ADP
alkej-792	108	14	using	use	VERB
alkej-792	108	15	solidworks	solidworks	PROPN
alkej-792	108	16	software	software	NOUN
alkej-792	108	17	,	,	PUNCT
alkej-792	108	18	as	as	SCONJ
alkej-792	108	19	shown	show	VERB
alkej-792	108	20	in	in	ADP
alkej-792	108	21	figs	fig	NOUN
alkej-792	108	22	6	6	NUM
alkej-792	108	23	and	and	CCONJ
alkej-792	108	24	7	7	NUM
alkej-792	108	25	.	.	PUNCT
alkej-792	109	1	the	the	DET
alkej-792	109	2	lead	lead	NOUN
alkej-792	109	3	screw	screw	VERB
alkej-792	109	4	that	that	PRON
alkej-792	109	5	transforms	transform	VERB
alkej-792	109	6	rotational	rotational	ADJ
alkej-792	109	7	motion	motion	NOUN
alkej-792	109	8	to	to	PART
alkej-792	109	9	linear	linear	VERB
alkej-792	109	10	motion	motion	NOUN
alkej-792	109	11	is	be	AUX
alkej-792	109	12	made	make	VERB
alkej-792	109	13	from	from	ADP
alkej-792	109	14	stainless	stainless	ADJ
alkej-792	109	15	steel	steel	NOUN
alkej-792	109	16	and	and	CCONJ
alkej-792	109	17	connected	connect	VERB
alkej-792	109	18	with	with	ADP
alkej-792	109	19	a	a	DET
alkej-792	109	20	brass	brass	NOUN
alkej-792	109	21	copper	copper	NOUN
alkej-792	109	22	nut	nut	NOUN
alkej-792	109	23	.	.	PUNCT
alkej-792	110	1	the	the	DET
alkej-792	110	2	capacity	capacity	NOUN
alkej-792	110	3	and	and	CCONJ
alkej-792	110	4	basic	basic	ADJ
alkej-792	110	5	life	life	NOUN
alkej-792	110	6	of	of	ADP
alkej-792	110	7	lead	lead	NOUN
alkej-792	110	8	screw	screw	NOUN
alkej-792	110	9	are	be	AUX
alkej-792	110	10	obtained	obtain	VERB
alkej-792	110	11	by	by	ADP
alkej-792	110	12	solidworks	solidwork	NOUN
alkej-792	110	13	,	,	PUNCT
alkej-792	110	14	as	as	SCONJ
alkej-792	110	15	shown	show	VERB
alkej-792	110	16	in	in	ADP
alkej-792	110	17	figs	fig	NOUN
alkej-792	110	18	8	8	NUM
alkej-792	110	19	and	and	CCONJ
alkej-792	110	20	9	9	NUM
alkej-792	110	21	.	.	PUNCT
alkej-792	111	1	also	also	ADV
alkej-792	111	2	,	,	PUNCT
alkej-792	111	3	the	the	DET
alkej-792	111	4	standard	standard	ADJ
alkej-792	111	5	parameters	parameter	NOUN
alkej-792	111	6	of	of	ADP
alkej-792	111	7	the	the	DET
alkej-792	111	8	chosen	choose	VERB
alkej-792	111	9	lead	lead	NOUN
alkej-792	111	10	screw	screw	NOUN
alkej-792	111	11	are	be	AUX
alkej-792	111	12	indicated	indicate	VERB
alkej-792	111	13	in	in	ADP
alkej-792	111	14	table	table	NOUN
alkej-792	111	15	3	3	NUM
alkej-792	111	16	.	.	PUNCT
alkej-792	111	17	fig	fig	NOUN
alkej-792	111	18	.	.	PUNCT
alkej-792	112	1	6	6	NUM
alkej-792	112	2	.	.	X
alkej-792	112	3	stress	stress	ADJ
alkej-792	112	4	calculation	calculation	NOUN
alkej-792	112	5	of	of	ADP
alkej-792	112	6	first	first	ADJ
alkej-792	112	7	link	link	NOUN
alkej-792	112	8	beams	beam	NOUN
alkej-792	112	9	.	.	PUNCT
alkej-792	113	1	fig	fig	NOUN
alkej-792	113	2	.	.	PUNCT
alkej-792	114	1	7	7	X
alkej-792	114	2	.	.	X
alkej-792	114	3	deflection	deflection	NOUN
alkej-792	114	4	calculation	calculation	NOUN
alkej-792	114	5	of	of	ADP
alkej-792	114	6	first	first	ADJ
alkej-792	114	7	link	link	NOUN
alkej-792	114	8	beams	beam	NOUN
alkej-792	114	9	.	.	PUNCT
alkej-792	115	1	fig	fig	NOUN
alkej-792	115	2	.	.	PUNCT
alkej-792	116	1	8	8	NUM
alkej-792	116	2	.	.	X
alkej-792	116	3	stainless	stainless	ADJ
alkej-792	116	4	steel	steel	NOUN
alkej-792	116	5	lead	lead	NOUN
alkej-792	116	6	screw	screw	VERB
alkej-792	116	7	.	.	PUNCT
alkej-792	117	1	fatima	fatima	PROPN
alkej-792	117	2	m.	m.	PROPN
alkej-792	117	3	jasim	jasim	PROPN
alkej-792	117	4	al	al	PROPN
alkej-792	117	5	-	-	PUNCT
alkej-792	117	6	khwarizmi	khwarizmi	PROPN
alkej-792	117	7	engineering	engineering	NOUN
alkej-792	117	8	journal	journal	PROPN
alkej-792	117	9	,	,	PUNCT
alkej-792	117	10	vol	vol	NOUN
alkej-792	117	11	.	.	PROPN
alkej-792	117	12	18	18	NUM
alkej-792	117	13	,	,	PUNCT
alkej-792	117	14	no	no	INTJ
alkej-792	117	15	.	.	NOUN
alkej-792	117	16	3	3	NUM
alkej-792	117	17	,	,	PUNCT
alkej-792	117	18	p.p	p.p	PROPN
alkej-792	117	19	.	.	NOUN
alkej-792	117	20	114	114	NUM
alkej-792	117	21	(	(	PUNCT
alkej-792	117	22	2022	2022	NUM
alkej-792	117	23	)	)	PUNCT
alkej-792	117	24	6	6	NUM
alkej-792	117	25	fig	fig	NOUN
alkej-792	117	26	.	.	PUNCT
alkej-792	118	1	9	9	X
alkej-792	118	2	.	.	X
alkej-792	118	3	solidworks	solidworks	PROPN
alkej-792	118	4	calculation	calculation	NOUN
alkej-792	118	5	of	of	ADP
alkej-792	118	6	stainless	stainless	ADJ
alkej-792	118	7	screw	screw	NOUN
alkej-792	118	8	.	.	PUNCT
alkej-792	119	1	table	table	NOUN
alkej-792	119	2	3	3	NUM
alkej-792	119	3	,	,	PUNCT
alkej-792	119	4	parameters	parameter	NOUN
alkej-792	119	5	of	of	ADP
alkej-792	119	6	lead	lead	NOUN
alkej-792	119	7	screw	screw	VERB
alkej-792	119	8	.	.	PUNCT
alkej-792	120	1	parameters	parameter	NOUN
alkej-792	120	2	value	value	VERB
alkej-792	120	3	pitch	pitch	NOUN
alkej-792	120	4	2	2	NUM
alkej-792	120	5	mm	mm	NOUN
alkej-792	120	6	outer	outer	ADJ
alkej-792	120	7	diameter	diameter	NOUN
alkej-792	120	8	8	8	NUM
alkej-792	120	9	mm	mm	PROPN
alkej-792	120	10	coefficient	coefficient	NOUN
alkej-792	120	11	of	of	ADP
alkej-792	120	12	friction	friction	NOUN
alkej-792	120	13	for	for	ADP
alkej-792	120	14	screw	screw	PROPN
alkej-792	120	15	&	&	CCONJ
alkej-792	120	16	μ	μ	PROPN
alkej-792	120	17	�	�	PROPN
alkej-792	120	18	(	(	PUNCT
alkej-792	120	19	0,08	0,08	ADJ
alkej-792	120	20	coefficient	coefficient	NOUN
alkej-792	120	21	of	of	ADP
alkej-792	120	22	friction	friction	NOUN
alkej-792	120	23	for	for	ADP
alkej-792	120	24	nut	nut	NOUN
alkej-792	120	25	&	&	CCONJ
alkej-792	120	26	μ	μ	PROPN
alkej-792	120	27	�	�	PROPN
alkej-792	120	28	(	(	PUNCT
alkej-792	120	29	0.06	0.06	NUM
alkej-792	120	30	nut	nut	NOUN
alkej-792	120	31	diameter	diameter	NOUN
alkej-792	120	32	20	20	NUM
alkej-792	120	33	mm	mm	INTJ
alkej-792	120	34	the	the	DET
alkej-792	120	35	second	second	ADJ
alkej-792	120	36	link	link	NOUN
alkej-792	120	37	of	of	ADP
alkej-792	120	38	the	the	DET
alkej-792	120	39	robot	robot	NOUN
alkej-792	120	40	moves	move	VERB
alkej-792	120	41	a	a	DET
alkej-792	120	42	48	48	NUM
alkej-792	120	43	cm	cm	NOUN
alkej-792	120	44	range	range	NOUN
alkej-792	120	45	horizontally	horizontally	ADV
alkej-792	120	46	in	in	ADP
alkej-792	120	47	the	the	DET
alkej-792	120	48	x	x	NOUN
alkej-792	120	49	-	-	NOUN
alkej-792	120	50	direction	direction	NOUN
alkej-792	120	51	.	.	PUNCT
alkej-792	121	1	this	this	DET
alkej-792	121	2	motion	motion	NOUN
alkej-792	121	3	is	be	AUX
alkej-792	121	4	created	create	VERB
alkej-792	121	5	by	by	ADP
alkej-792	121	6	on	on	ADP
alkej-792	121	7	stepper	stepper	NOUN
alkej-792	121	8	motor	motor	NOUN
alkej-792	121	9	with	with	ADP
alkej-792	121	10	a	a	DET
alkej-792	121	11	maximum	maximum	ADJ
alkej-792	121	12	power	power	NOUN
alkej-792	121	13	of	of	ADP
alkej-792	121	14	20.4	20.4	NUM
alkej-792	121	15	watts	watt	NOUN
alkej-792	121	16	.	.	PUNCT
alkej-792	122	1	the	the	DET
alkej-792	122	2	link	link	NOUN
alkej-792	122	3	was	be	AUX
alkej-792	122	4	made	make	VERB
alkej-792	122	5	from	from	ADP
alkej-792	122	6	the	the	DET
alkej-792	122	7	same	same	ADJ
alkej-792	122	8	aluminum	aluminum	NOUN
alkej-792	122	9	beam	beam	NOUN
alkej-792	122	10	as	as	ADP
alkej-792	122	11	the	the	DET
alkej-792	122	12	first	first	ADJ
alkej-792	122	13	link	link	NOUN
alkej-792	122	14	,	,	PUNCT
alkej-792	122	15	and	and	CCONJ
alkej-792	122	16	the	the	DET
alkej-792	122	17	belt	belt	NOUN
alkej-792	122	18	drive	drive	NOUN
alkej-792	122	19	is	be	AUX
alkej-792	122	20	transformed	transform	VERB
alkej-792	122	21	from	from	ADP
alkej-792	122	22	rotational	rotational	ADJ
alkej-792	122	23	motion	motion	NOUN
alkej-792	122	24	to	to	PART
alkej-792	122	25	linear	linear	VERB
alkej-792	122	26	motion	motion	NOUN
alkej-792	122	27	,	,	PUNCT
alkej-792	122	28	as	as	SCONJ
alkej-792	122	29	shown	show	VERB
alkej-792	122	30	in	in	ADP
alkej-792	122	31	fig.10	fig.10	PRON
alkej-792	122	32	.	.	PUNCT
alkej-792	123	1	the	the	DET
alkej-792	123	2	horizontal	horizontal	ADJ
alkej-792	123	3	beam	beam	NOUN
alkej-792	123	4	that	that	PRON
alkej-792	123	5	carries	carry	VERB
alkej-792	123	6	the	the	DET
alkej-792	123	7	x	x	X
alkej-792	123	8	and	and	CCONJ
alkej-792	123	9	z	z	NOUN
alkej-792	123	10	link	link	NOUN
alkej-792	123	11	in	in	ADP
alkej-792	123	12	this	this	DET
alkej-792	123	13	system	system	NOUN
alkej-792	123	14	bears	bear	VERB
alkej-792	123	15	the	the	DET
alkej-792	123	16	overall	overall	ADJ
alkej-792	123	17	load	load	NOUN
alkej-792	123	18	,	,	PUNCT
alkej-792	123	19	so	so	ADV
alkej-792	123	20	,	,	PUNCT
alkej-792	123	21	the	the	DET
alkej-792	123	22	maximum	maximum	ADJ
alkej-792	123	23	stress	stress	NOUN
alkej-792	123	24	and	and	CCONJ
alkej-792	123	25	deflection	deflection	NOUN
alkej-792	123	26	are	be	AUX
alkej-792	123	27	1.6876	1.6876	NUM
alkej-792	123	28	mm	mm	NOUN
alkej-792	123	29	,	,	PUNCT
alkej-792	123	30	and	and	CCONJ
alkej-792	123	31	12.6013	12.6013	NUM
alkej-792	123	32	mpa	mpa	NOUN
alkej-792	123	33	,	,	PUNCT
alkej-792	123	34	as	as	SCONJ
alkej-792	123	35	shown	show	VERB
alkej-792	123	36	in	in	ADP
alkej-792	123	37	figs	fig	NOUN
alkej-792	123	38	11	11	NUM
alkej-792	123	39	and	and	CCONJ
alkej-792	123	40	12	12	NUM
alkej-792	123	41	.	.	PUNCT
alkej-792	124	1	the	the	DET
alkej-792	124	2	belt	belt	NOUN
alkej-792	124	3	used	use	VERB
alkej-792	124	4	in	in	ADP
alkej-792	124	5	the	the	DET
alkej-792	124	6	xdirection	xdirection	NOUN
alkej-792	124	7	to	to	PART
alkej-792	124	8	achieve	achieve	VERB
alkej-792	124	9	the	the	DET
alkej-792	124	10	smoothest	smooth	ADJ
alkej-792	124	11	-	-	PUNCT
alkej-792	124	12	movement	movement	NOUN
alkej-792	124	13	is	be	AUX
alkej-792	124	14	called	call	VERB
alkej-792	124	15	2gt	2gt	ADJ
alkej-792	124	16	timing	timing	NOUN
alkej-792	124	17	belt	belt	NOUN
alkej-792	124	18	(	(	PUNCT
alkej-792	124	19	flat	flat	ADJ
alkej-792	124	20	belt	belt	NOUN
alkej-792	124	21	)	)	PUNCT
alkej-792	124	22	,	,	PUNCT
alkej-792	124	23	as	as	SCONJ
alkej-792	124	24	shown	show	VERB
alkej-792	124	25	in	in	ADP
alkej-792	124	26	fig.13	fig.13	NOUN
alkej-792	124	27	and	and	CCONJ
alkej-792	124	28	table	table	NOUN
alkej-792	124	29	4	4	NUM
alkej-792	124	30	.	.	PUNCT
alkej-792	124	31	fig	fig	NOUN
alkej-792	124	32	.	.	PUNCT
alkej-792	125	1	10	10	NUM
alkej-792	125	2	.	.	PUNCT
alkej-792	126	1	front	front	ADJ
alkej-792	126	2	view	view	NOUN
alkej-792	126	3	of	of	ADP
alkej-792	126	4	the	the	DET
alkej-792	126	5	second	second	ADJ
alkej-792	126	6	link	link	NOUN
alkej-792	126	7	of	of	ADP
alkej-792	126	8	the	the	DET
alkej-792	126	9	robot	robot	NOUN
alkej-792	126	10	.	.	PUNCT
alkej-792	127	1	fig	fig	NOUN
alkej-792	127	2	.	.	PUNCT
alkej-792	128	1	11	11	NUM
alkej-792	128	2	.	.	PUNCT
alkej-792	129	1	deflection	deflection	NOUN
alkej-792	129	2	calculation	calculation	NOUN
alkej-792	129	3	of	of	ADP
alkej-792	129	4	second	second	ADJ
alkej-792	129	5	link	link	NOUN
alkej-792	129	6	beam	beam	NOUN
alkej-792	129	7	.	.	PUNCT
alkej-792	130	1	fatima	fatima	PROPN
alkej-792	130	2	m.	m.	PROPN
alkej-792	130	3	jasim	jasim	PROPN
alkej-792	130	4	al	al	PROPN
alkej-792	130	5	-	-	PUNCT
alkej-792	130	6	khwarizmi	khwarizmi	PROPN
alkej-792	130	7	engineering	engineering	NOUN
alkej-792	130	8	journal	journal	PROPN
alkej-792	130	9	,	,	PUNCT
alkej-792	130	10	vol	vol	NOUN
alkej-792	130	11	.	.	PROPN
alkej-792	130	12	18	18	NUM
alkej-792	130	13	,	,	PUNCT
alkej-792	130	14	no	no	INTJ
alkej-792	130	15	.	.	NOUN
alkej-792	130	16	3	3	NUM
alkej-792	130	17	,	,	PUNCT
alkej-792	130	18	p.p	p.p	PROPN
alkej-792	130	19	.	.	NOUN
alkej-792	130	20	114	114	NUM
alkej-792	130	21	(	(	PUNCT
alkej-792	130	22	2022	2022	NUM
alkej-792	130	23	)	)	PUNCT
alkej-792	130	24	7	7	NUM
alkej-792	130	25	fig	fig	NOUN
alkej-792	130	26	.	.	PUNCT
alkej-792	131	1	12	12	NUM
alkej-792	131	2	.	.	PUNCT
alkej-792	131	3	stress	stress	NOUN
alkej-792	131	4	calculation	calculation	NOUN
alkej-792	131	5	of	of	ADP
alkej-792	131	6	second	second	ADJ
alkej-792	131	7	link	link	NOUN
alkej-792	131	8	beam	beam	NOUN
alkej-792	131	9	.	.	PUNCT
alkej-792	132	1	fig	fig	NOUN
alkej-792	132	2	.	.	PUNCT
alkej-792	133	1	13	13	NUM
alkej-792	133	2	.	.	X
alkej-792	133	3	gt2	gt2	PROPN
alkej-792	133	4	timing	timing	NOUN
alkej-792	133	5	belt	belt	NOUN
alkej-792	133	6	structure	structure	NOUN
alkej-792	133	7	.	.	PUNCT
alkej-792	134	1	table	table	NOUN
alkej-792	134	2	4	4	NUM
alkej-792	134	3	,	,	PUNCT
alkej-792	134	4	the	the	DET
alkej-792	134	5	specifications	specification	NOUN
alkej-792	134	6	of	of	ADP
alkej-792	134	7	belt	belt	NOUN
alkej-792	134	8	.	.	PUNCT
alkej-792	135	1	specification	specification	NOUN
alkej-792	135	2	value	value	NOUN
alkej-792	135	3	pitch	pitch	NOUN
alkej-792	135	4	2	2	NUM
alkej-792	135	5	mm	mm	NOUN
alkej-792	135	6	width	width	NOUN
alkej-792	135	7	6	6	NUM
alkej-792	135	8	mm	mm	NOUN
alkej-792	135	9	length	length	NOUN
alkej-792	135	10	160	160	NUM
alkej-792	135	11	cm	cm	NOUN
alkej-792	135	12	height	height	NOUN
alkej-792	135	13	1.38	1.38	NUM
alkej-792	135	14	mm	mm	NOUN
alkej-792	135	15	tooth	tooth	NOUN
alkej-792	135	16	height	height	NOUN
alkej-792	135	17	0.75	0.75	NUM
alkej-792	135	18	mm	mm	NOUN
alkej-792	135	19	breaking	breaking	NOUN
alkej-792	135	20	strength	strength	NOUN
alkej-792	135	21	0.55158kn	0.55158kn	X
alkej-792	135	22	working	work	VERB
alkej-792	135	23	tension	tension	NOUN
alkej-792	135	24	0.027801kn	0.027801kn	NOUN
alkej-792	135	25	modulus	modulus	NOUN
alkej-792	135	26	of	of	ADP
alkej-792	135	27	elasticity	elasticity	NOUN
alkej-792	135	28	0.05	0.05	NUM
alkej-792	135	29	gpa	gpa	NOUN
alkej-792	135	30	the	the	DET
alkej-792	135	31	final	final	ADJ
alkej-792	135	32	link	link	NOUN
alkej-792	135	33	of	of	ADP
alkej-792	135	34	the	the	DET
alkej-792	135	35	robot	robot	NOUN
alkej-792	135	36	moves	move	VERB
alkej-792	135	37	in	in	ADP
alkej-792	135	38	the	the	DET
alkej-792	135	39	zdirection	zdirection	NOUN
alkej-792	135	40	with	with	ADP
alkej-792	135	41	a	a	DET
alkej-792	135	42	30	30	NUM
alkej-792	135	43	cm	cm	NOUN
alkej-792	135	44	range	range	NOUN
alkej-792	135	45	.	.	PUNCT
alkej-792	136	1	this	this	DET
alkej-792	136	2	link	link	NOUN
alkej-792	136	3	is	be	AUX
alkej-792	136	4	manufactured	manufacture	VERB
alkej-792	136	5	the	the	DET
alkej-792	136	6	same	same	ADJ
alkej-792	136	7	as	as	ADP
alkej-792	136	8	the	the	DET
alkej-792	136	9	first	first	ADJ
alkej-792	136	10	link	link	NOUN
alkej-792	136	11	,	,	PUNCT
alkej-792	136	12	i.e.	i.e.	X
alkej-792	136	13	the	the	DET
alkej-792	136	14	same	same	ADJ
alkej-792	136	15	beam	beam	NOUN
alkej-792	136	16	and	and	CCONJ
alkej-792	136	17	screw	screw	VERB
alkej-792	136	18	,	,	PUNCT
alkej-792	136	19	as	as	SCONJ
alkej-792	136	20	shown	show	VERB
alkej-792	136	21	in	in	ADP
alkej-792	136	22	fig.14	fig.14	NOUN
alkej-792	136	23	.	.	PUNCT
alkej-792	137	1	the	the	DET
alkej-792	137	2	assembly	assembly	NOUN
alkej-792	137	3	structure	structure	NOUN
alkej-792	137	4	of	of	ADP
alkej-792	137	5	the	the	DET
alkej-792	137	6	robot	robot	NOUN
alkej-792	137	7	is	be	AUX
alkej-792	137	8	shown	show	VERB
alkej-792	137	9	in	in	ADP
alkej-792	137	10	fig.15	fig.15	PROPN
alkej-792	137	11	.	.	PUNCT
alkej-792	138	1	fig	fig	NOUN
alkej-792	138	2	.	.	PUNCT
alkej-792	139	1	14	14	NUM
alkej-792	139	2	.	.	PUNCT
alkej-792	139	3	side	side	ADJ
alkej-792	139	4	view	view	NOUN
alkej-792	139	5	for	for	ADP
alkej-792	139	6	the	the	DET
alkej-792	139	7	final	final	ADJ
alkej-792	139	8	link	link	NOUN
alkej-792	139	9	of	of	ADP
alkej-792	139	10	the	the	DET
alkej-792	139	11	robot	robot	NOUN
alkej-792	139	12	.	.	PUNCT
alkej-792	140	1	fig	fig	NOUN
alkej-792	140	2	.	.	PUNCT
alkej-792	141	1	15	15	NUM
alkej-792	141	2	the	the	DET
alkej-792	141	3	structure	structure	NOUN
alkej-792	141	4	of	of	ADP
alkej-792	141	5	cartesian	cartesian	ADJ
alkej-792	141	6	robot	robot	NOUN
alkej-792	141	7	.	.	PUNCT
alkej-792	142	1	3.2	3.2	NUM
alkej-792	142	2	electrical	electrical	ADJ
alkej-792	142	3	and	and	CCONJ
alkej-792	142	4	electronic	electronic	ADJ
alkej-792	142	5	design	design	NOUN
alkej-792	142	6	the	the	DET
alkej-792	142	7	robot	robot	NOUN
alkej-792	142	8	should	should	AUX
alkej-792	142	9	move	move	VERB
alkej-792	142	10	in	in	ADP
alkej-792	142	11	a	a	DET
alkej-792	142	12	smooth	smooth	ADJ
alkej-792	142	13	and	and	CCONJ
alkej-792	142	14	accurate	accurate	ADJ
alkej-792	142	15	movement	movement	NOUN
alkej-792	142	16	.	.	PUNCT
alkej-792	143	1	to	to	PART
alkej-792	143	2	achieve	achieve	VERB
alkej-792	143	3	that	that	PRON
alkej-792	143	4	,	,	PUNCT
alkej-792	143	5	a	a	DET
alkej-792	143	6	particular	particular	ADJ
alkej-792	143	7	motor	motor	NOUN
alkej-792	143	8	like	like	ADP
alkej-792	143	9	a	a	DET
alkej-792	143	10	stepper	stepper	NOUN
alkej-792	143	11	motor	motor	NOUN
alkej-792	143	12	was	be	AUX
alkej-792	143	13	used	use	VERB
alkej-792	143	14	to	to	PART
alkej-792	143	15	indicate	indicate	VERB
alkej-792	143	16	precise	precise	ADJ
alkej-792	143	17	and	and	CCONJ
alkej-792	143	18	calculated	calculate	VERB
alkej-792	143	19	steps	step	NOUN
alkej-792	143	20	without	without	ADP
alkej-792	143	21	building	build	VERB
alkej-792	143	22	a	a	DET
alkej-792	143	23	complex	complex	ADJ
alkej-792	143	24	control	control	NOUN
alkej-792	143	25	system	system	NOUN
alkej-792	143	26	.	.	PUNCT
alkej-792	144	1	this	this	DET
alkej-792	144	2	motor	motor	NOUN
alkej-792	144	3	has	have	VERB
alkej-792	144	4	a	a	DET
alkej-792	144	5	highpower	highpower	NOUN
alkej-792	144	6	density	density	NOUN
alkej-792	144	7	and	and	CCONJ
alkej-792	144	8	is	be	AUX
alkej-792	144	9	capable	capable	ADJ
alkej-792	144	10	of	of	ADP
alkej-792	144	11	high	high	ADJ
alkej-792	144	12	micro	micro	ADJ
alkej-792	144	13	-	-	NOUN
alkej-792	144	14	step	step	NOUN
alkej-792	144	15	resolution	resolution	NOUN
alkej-792	144	16	and	and	CCONJ
alkej-792	144	17	quiet	quiet	ADJ
alkej-792	144	18	operation	operation	NOUN
alkej-792	144	19	with	with	ADP
alkej-792	144	20	minimal	minimal	ADJ
alkej-792	144	21	resonance	resonance	NOUN
alkej-792	144	22	.	.	PUNCT
alkej-792	145	1	the	the	DET
alkej-792	145	2	bipolar	bipolar	ADJ
alkej-792	145	3	type	type	NOUN
alkej-792	145	4	of	of	ADP
alkej-792	145	5	this	this	DET
alkej-792	145	6	motor	motor	NOUN
alkej-792	145	7	is	be	AUX
alkej-792	145	8	used	use	VERB
alkej-792	145	9	to	to	PART
alkej-792	145	10	obtain	obtain	VERB
alkej-792	145	11	direction	direction	NOUN
alkej-792	145	12	and	and	CCONJ
alkej-792	145	13	effort	effort	NOUN
alkej-792	145	14	.	.	PUNCT
alkej-792	146	1	to	to	PART
alkej-792	146	2	control	control	VERB
alkej-792	146	3	a	a	DET
alkej-792	146	4	stepper	stepper	NOUN
alkej-792	146	5	fatima	fatima	PROPN
alkej-792	146	6	m.	m.	PROPN
alkej-792	146	7	jasim	jasim	PROPN
alkej-792	146	8	al	al	PROPN
alkej-792	146	9	-	-	PUNCT
alkej-792	146	10	khwarizmi	khwarizmi	PROPN
alkej-792	146	11	engineering	engineering	NOUN
alkej-792	146	12	journal	journal	PROPN
alkej-792	146	13	,	,	PUNCT
alkej-792	146	14	vol	vol	NOUN
alkej-792	146	15	.	.	PROPN
alkej-792	146	16	18	18	NUM
alkej-792	146	17	,	,	PUNCT
alkej-792	146	18	no	no	INTJ
alkej-792	146	19	.	.	NOUN
alkej-792	146	20	3	3	NUM
alkej-792	146	21	,	,	PUNCT
alkej-792	146	22	p.p	p.p	PROPN
alkej-792	146	23	.	.	NOUN
alkej-792	146	24	114	114	NUM
alkej-792	146	25	(	(	PUNCT
alkej-792	146	26	2022	2022	NUM
alkej-792	146	27	)	)	PUNCT
alkej-792	146	28	8	8	NUM
alkej-792	146	29	motor	motor	NOUN
alkej-792	146	30	,	,	PUNCT
alkej-792	146	31	an	an	DET
alkej-792	146	32	arduino	arduino	NOUN
alkej-792	146	33	-	-	PUNCT
alkej-792	146	34	nano	nano	NOUN
alkej-792	146	35	connects	connect	VERB
alkej-792	146	36	to	to	ADP
alkej-792	146	37	the	the	DET
alkej-792	146	38	driver	driver	NOUN
alkej-792	146	39	(	(	PUNCT
alkej-792	146	40	drv8825	drv8825	PROPN
alkej-792	146	41	)	)	PUNCT
alkej-792	146	42	for	for	ADP
alkej-792	146	43	the	the	DET
alkej-792	146	44	stepper	stepper	NOUN
alkej-792	146	45	motor	motor	NOUN
alkej-792	146	46	,	,	PUNCT
alkej-792	146	47	as	as	SCONJ
alkej-792	146	48	shown	show	VERB
alkej-792	146	49	in	in	ADP
alkej-792	146	50	fig.16	fig.16	PROPN
alkej-792	146	51	.	.	PUNCT
alkej-792	147	1	the	the	DET
alkej-792	147	2	stepper	stepper	NOUN
alkej-792	147	3	motor	motor	NOUN
alkej-792	147	4	specifications	specification	NOUN
alkej-792	147	5	are	be	AUX
alkej-792	147	6	shown	show	VERB
alkej-792	147	7	in	in	ADP
alkej-792	147	8	table	table	NOUN
alkej-792	147	9	5	5	NUM
alkej-792	147	10	,	,	PUNCT
alkej-792	147	11	and	and	CCONJ
alkej-792	147	12	the	the	DET
alkej-792	147	13	block	block	NOUN
alkej-792	147	14	diagram	diagram	NOUN
alkej-792	147	15	of	of	ADP
alkej-792	147	16	the	the	DET
alkej-792	147	17	electrical	electrical	ADJ
alkej-792	147	18	circuit	circuit	NOUN
alkej-792	147	19	of	of	ADP
alkej-792	147	20	the	the	DET
alkej-792	147	21	robot	robot	NOUN
alkej-792	147	22	is	be	AUX
alkej-792	147	23	shown	show	VERB
alkej-792	147	24	in	in	ADP
alkej-792	147	25	fig17	fig17	NOUN
alkej-792	147	26	.	.	PUNCT
alkej-792	148	1	table	table	NOUN
alkej-792	148	2	5	5	NUM
alkej-792	148	3	,	,	PUNCT
alkej-792	148	4	hybrid	hybrid	ADJ
alkej-792	148	5	stepper	stepper	NOUN
alkej-792	148	6	motor	motor	NOUN
alkej-792	148	7	features	feature	NOUN
alkej-792	148	8	feature	feature	VERB
alkej-792	148	9	17hs1538	17hs1538	NUM
alkej-792	148	10	17hs1600	17hs1600	NUM
alkej-792	148	11	(	(	PUNCT
alkej-792	148	12	x&z	x&z	PROPN
alkej-792	148	13	-	-	PUNCT
alkej-792	148	14	link	link	NOUN
alkej-792	148	15	)	)	PUNCT
alkej-792	148	16	(	(	PUNCT
alkej-792	148	17	y	y	NOUN
alkej-792	148	18	-	-	PUNCT
alkej-792	148	19	link	link	NOUN
alkej-792	148	20	)	)	PUNCT
alkej-792	148	21	maximum	maximum	ADJ
alkej-792	148	22	axial	axial	ADJ
alkej-792	148	23	force	force	NOUN
alkej-792	148	24	10n	10n	NOUN
alkej-792	148	25	10n	10n	NOUN
alkej-792	148	26	maximum	maximum	ADJ
alkej-792	148	27	radial	radial	ADJ
alkej-792	148	28	force	force	NOUN
alkej-792	148	29	28n	28n	NUM
alkej-792	148	30	28n	28n	X
alkej-792	149	1	holding	hold	VERB
alkej-792	149	2	torque	torque	NOUN
alkej-792	149	3	0.45	0.45	NUM
alkej-792	149	4	n.m	n.m	NOUN
alkej-792	149	5	0.80	0.80	NUM
alkej-792	149	6	n.m	n.m	NOUN
alkej-792	149	7	step	step	NOUN
alkej-792	149	8	angle	angle	NOUN
alkej-792	149	9	1.8º	1.8º	NUM
alkej-792	149	10	1.8º	1.8º	NUM
alkej-792	149	11	operating	operating	NOUN
alkej-792	149	12	voltage	voltage	NOUN
alkej-792	149	13	12volt	12volt	PROPN
alkej-792	149	14	12volt	12volt	NUM
alkej-792	149	15	rated	rate	VERB
alkej-792	149	16	current	current	ADJ
alkej-792	149	17	1.7	1.7	NUM
alkej-792	149	18	ampere	ampere	ADP
alkej-792	149	19	1.5	1.5	NUM
alkej-792	149	20	ampere	ampere	NOUN
alkej-792	149	21	weight	weight	NOUN
alkej-792	149	22	320	320	NUM
alkej-792	149	23	g	g	ADP
alkej-792	149	24	550	550	NUM
alkej-792	149	25	g	g	NOUN
alkej-792	149	26	inductance	inductance	NOUN
alkej-792	149	27	3.2	3.2	NUM
alkej-792	149	28	m.h	m.h	NOUN
alkej-792	149	29	/	/	SYM
alkej-792	149	30	phase	phase	NOUN
alkej-792	149	31	7.0	7.0	NUM
alkej-792	149	32	m.h	m.h	NOUN
alkej-792	149	33	/	/	SYM
alkej-792	149	34	phase	phase	NOUN
alkej-792	149	35	insulation	insulation	NOUN
alkej-792	149	36	resistance	resistance	NOUN
alkej-792	149	37	100	100	NUM
alkej-792	149	38	mω,/500vdc	mω,/500vdc	PROPN
alkej-792	149	39	100	100	NUM
alkej-792	149	40	mω,/500vdc	mω,/500vdc	PROPN
alkej-792	149	41	dielectric	dielectric	ADJ
alkej-792	149	42	strength	strength	NOUN
alkej-792	149	43	500	500	NUM
alkej-792	149	44	vac	vac	NOUN
alkej-792	149	45	500	500	NUM
alkej-792	149	46	vac	vac	NOUN
alkej-792	149	47	rotor	rotor	NOUN
alkej-792	149	48	inertia	inertia	NOUN
alkej-792	149	49	54	54	NUM
alkej-792	149	50	g.n	g.n	PROPN
alkej-792	149	51	�	�	PROPN
alkej-792	149	52	�	�	PROPN
alkej-792	149	53	102	102	NUM
alkej-792	149	54	g.n	g.n	PROPN
alkej-792	149	55	�	�	PROPN
alkej-792	149	56	�	�	PROPN
alkej-792	149	57	shaft	shaft	NOUN
alkej-792	149	58	radial	radial	ADJ
alkej-792	149	59	play	play	NOUN
alkej-792	149	60	0.2	0.2	NUM
alkej-792	149	61	max	max	PROPN
alkej-792	149	62	0.2	0.2	NUM
alkej-792	149	63	max	max	PROPN
alkej-792	149	64	shaft	shaft	NOUN
alkej-792	149	65	diameter	diameter	NOUN
alkej-792	149	66	5	5	NUM
alkej-792	149	67	mm	mm	NUM
alkej-792	149	68	5	5	NUM
alkej-792	149	69	mm	mm	PROPN
alkej-792	149	70	shaft	shaft	NOUN
alkej-792	149	71	axial	axial	ADJ
alkej-792	149	72	play	play	VERB
alkej-792	149	73	0.8	0.8	NUM
alkej-792	149	74	max	max	PROPN
alkej-792	149	75	0.8	0.8	NUM
alkej-792	149	76	max	max	PROPN
alkej-792	149	77	fig	fig	NOUN
alkej-792	149	78	.	.	PUNCT
alkej-792	150	1	16	16	NUM
alkej-792	150	2	stepper	stepper	NOUN
alkej-792	150	3	motor	motor	NOUN
alkej-792	150	4	nema17	nema17	NOUN
alkej-792	150	5	and	and	CCONJ
alkej-792	150	6	its	its	PRON
alkej-792	150	7	driver	driver	NOUN
alkej-792	150	8	.	.	PUNCT
alkej-792	151	1	fig	fig	NOUN
alkej-792	151	2	.	.	PUNCT
alkej-792	152	1	17	17	NUM
alkej-792	152	2	.	.	PUNCT
alkej-792	153	1	block	block	NOUN
alkej-792	153	2	diagram	diagram	NOUN
alkej-792	153	3	of	of	ADP
alkej-792	153	4	motion	motion	NOUN
alkej-792	153	5	sequence	sequence	NOUN
alkej-792	153	6	.	.	PUNCT
alkej-792	154	1	4	4	X
alkej-792	154	2	.	.	X
alkej-792	154	3	experimental	experimental	ADJ
alkej-792	154	4	and	and	CCONJ
alkej-792	154	5	simulation	simulation	NOUN
alkej-792	154	6	results	result	VERB
alkej-792	154	7	4.1	4.1	NUM
alkej-792	154	8	stepper	stepper	NOUN
alkej-792	154	9	motor	motor	NOUN
alkej-792	154	10	results	result	VERB
alkej-792	154	11	the	the	DET
alkej-792	154	12	characteristics	characteristic	NOUN
alkej-792	154	13	of	of	ADP
alkej-792	154	14	the	the	DET
alkej-792	154	15	stepper	stepper	NOUN
alkej-792	154	16	motor	motor	NOUN
alkej-792	154	17	are	be	AUX
alkej-792	154	18	calculated	calculate	VERB
alkej-792	154	19	and	and	CCONJ
alkej-792	154	20	shown	show	VERB
alkej-792	154	21	in	in	ADP
alkej-792	154	22	table	table	NOUN
alkej-792	154	23	6	6	NUM
alkej-792	154	24	.	.	PUNCT
alkej-792	155	1	it	it	PRON
alkej-792	155	2	can	can	AUX
alkej-792	155	3	be	be	AUX
alkej-792	155	4	observed	observe	VERB
alkej-792	155	5	that	that	SCONJ
alkej-792	155	6	the	the	DET
alkej-792	155	7	motor	motor	NOUN
alkej-792	155	8	's	's	PART
alkej-792	155	9	powers	power	NOUN
alkej-792	155	10	are	be	AUX
alkej-792	155	11	different	different	ADJ
alkej-792	155	12	depending	depend	VERB
alkej-792	155	13	on	on	ADP
alkej-792	155	14	the	the	DET
alkej-792	155	15	position	position	NOUN
alkej-792	155	16	and	and	CCONJ
alkej-792	155	17	the	the	DET
alkej-792	155	18	load	load	NOUN
alkej-792	155	19	that	that	PRON
alkej-792	155	20	carries	carry	VERB
alkej-792	155	21	it	it	PRON
alkej-792	155	22	out	out	ADP
alkej-792	155	23	.	.	PUNCT
alkej-792	156	1	table	table	NOUN
alkej-792	156	2	6	6	NUM
alkej-792	156	3	,	,	PUNCT
alkej-792	156	4	17hs6001	17hs6001	NUM
alkej-792	156	5	and	and	CCONJ
alkej-792	156	6	17hs1538	17hs1538	NUM
alkej-792	156	7	motors	motor	NOUN
alkej-792	156	8	calculations	calculation	NOUN
alkej-792	156	9	.	.	PUNCT
alkej-792	157	1	term	term	NOUN
alkej-792	157	2	17hs6001	17hs6001	NUM
alkej-792	157	3	17hs1538	17hs1538	NUM
alkej-792	157	4	(	(	PUNCT
alkej-792	157	5	x&z	x&z	PROPN
alkej-792	157	6	-	-	PUNCT
alkej-792	157	7	link	link	NOUN
alkej-792	157	8	)	)	PUNCT
alkej-792	157	9	(	(	PUNCT
alkej-792	157	10	y	y	NOUN
alkej-792	157	11	-	-	PUNCT
alkej-792	157	12	link	link	NOUN
alkej-792	157	13	)	)	PUNCT
alkej-792	157	14	maximum	maximum	ADJ
alkej-792	157	15	speed	speed	NOUN
alkej-792	157	16	(	(	PUNCT
alkej-792	157	17	[	[	X
alkej-792	157	18	�	�	NOUN
alkej-792	157	19	)	)	PUNCT
alkej-792	157	20	2.86	2.86	NUM
alkej-792	157	21	rev	rev	X
alkej-792	157	22	/	/	SYM
alkej-792	157	23	sec	sec	PROPN
alkej-792	157	24	5.51	5.51	NUM
alkej-792	157	25	rev	rev	VERB
alkej-792	157	26	/	/	SYM
alkej-792	157	27	sec	sec	PROPN
alkej-792	157	28	step	step	NOUN
alkej-792	157	29	per	per	ADP
alkej-792	157	30	revolution	revolution	NOUN
alkej-792	157	31	200	200	NUM
alkej-792	157	32	step	step	NOUN
alkej-792	157	33	/	/	SYM
alkej-792	157	34	rev	rev	VERB
alkej-792	157	35	200	200	NUM
alkej-792	157	36	step	step	NOUN
alkej-792	157	37	/	/	SYM
alkej-792	157	38	rev	rev	VERB
alkej-792	157	39	minimum	minimum	ADJ
alkej-792	157	40	time	time	NOUN
alkej-792	157	41	step	step	NOUN
alkej-792	157	42	1.75	1.75	NUM
alkej-792	157	43	ms	ms	NOUN
alkej-792	157	44	0.907	0.907	NUM
alkej-792	157	45	ms	ms	PROPN
alkej-792	157	46	maximum	maximum	ADJ
alkej-792	157	47	power	power	NOUN
alkej-792	157	48	18	18	NUM
alkej-792	157	49	watt	watt	NOUN
alkej-792	157	50	20.4	20.4	NUM
alkej-792	157	51	watt	watt	NOUN
alkej-792	157	52	angular	angular	ADJ
alkej-792	157	53	velocity	velocity	NOUN
alkej-792	157	54	17.96	17.96	NUM
alkej-792	157	55	rad	rad	PROPN
alkej-792	157	56	/	/	SYM
alkej-792	157	57	sec	sec	PROPN
alkej-792	157	58	34.6	34.6	NUM
alkej-792	157	59	rad	rad	PROPN
alkej-792	157	60	/	/	SYM
alkej-792	157	61	sec	sec	PROPN
alkej-792	157	62	4.2	4.2	NUM
alkej-792	157	63	lead	lead	NOUN
alkej-792	157	64	screw	screw	VERB
alkej-792	157	65	and	and	CCONJ
alkej-792	157	66	belt	belt	NOUN
alkej-792	157	67	results	result	VERB
alkej-792	157	68	the	the	DET
alkej-792	157	69	terms	term	NOUN
alkej-792	157	70	of	of	ADP
alkej-792	157	71	power	power	NOUN
alkej-792	157	72	screw	screw	NOUN
alkej-792	157	73	and	and	CCONJ
alkej-792	157	74	belt	belt	NOUN
alkej-792	157	75	drive	drive	NOUN
alkej-792	157	76	are	be	AUX
alkej-792	157	77	determined	determine	VERB
alkej-792	157	78	by	by	ADP
alkej-792	157	79	standard	standard	ADJ
alkej-792	157	80	equations	equation	NOUN
alkej-792	157	81	in	in	ADP
alkej-792	157	82	[	[	X
alkej-792	157	83	12	12	NUM
alkej-792	157	84	]	]	PUNCT
alkej-792	157	85	and	and	CCONJ
alkej-792	157	86	these	these	DET
alkej-792	157	87	values	value	NOUN
alkej-792	157	88	are	be	AUX
alkej-792	157	89	shown	show	VERB
alkej-792	157	90	in	in	ADP
alkej-792	157	91	tables	table	NOUN
alkej-792	157	92	7	7	NUM
alkej-792	157	93	and	and	CCONJ
alkej-792	157	94	8	8	NUM
alkej-792	157	95	.	.	PUNCT
alkej-792	158	1	fatima	fatima	PROPN
alkej-792	158	2	m.	m.	PROPN
alkej-792	158	3	jasim	jasim	PROPN
alkej-792	158	4	al	al	PROPN
alkej-792	158	5	-	-	PUNCT
alkej-792	158	6	khwarizmi	khwarizmi	PROPN
alkej-792	158	7	engineering	engineering	NOUN
alkej-792	158	8	journal	journal	PROPN
alkej-792	158	9	,	,	PUNCT
alkej-792	158	10	vol	vol	NOUN
alkej-792	158	11	.	.	PROPN
alkej-792	158	12	18	18	NUM
alkej-792	158	13	,	,	PUNCT
alkej-792	158	14	no	no	INTJ
alkej-792	158	15	.	.	NOUN
alkej-792	158	16	3	3	NUM
alkej-792	158	17	,	,	PUNCT
alkej-792	158	18	p.p	p.p	PROPN
alkej-792	158	19	.	.	NOUN
alkej-792	158	20	114	114	NUM
alkej-792	158	21	(	(	PUNCT
alkej-792	158	22	2022	2022	NUM
alkej-792	158	23	)	)	PUNCT
alkej-792	158	24	9	9	NUM
alkej-792	158	25	table	table	NOUN
alkej-792	158	26	7	7	NUM
alkej-792	158	27	,	,	PUNCT
alkej-792	158	28	lead	lead	NOUN
alkej-792	158	29	screw	screw	NOUN
alkej-792	158	30	of	of	ADP
alkej-792	158	31	first	first	ADJ
alkej-792	158	32	link	link	NOUN
alkej-792	158	33	and	and	CCONJ
alkej-792	158	34	last	last	ADJ
alkej-792	158	35	link	link	NOUN
alkej-792	158	36	results	result	NOUN
alkej-792	158	37	.	.	PUNCT
alkej-792	159	1	term	term	NOUN
alkej-792	159	2	y	y	NOUN
alkej-792	159	3	-	-	PUNCT
alkej-792	159	4	link	link	NOUN
alkej-792	159	5	screw	screw	NOUN
alkej-792	159	6	z	z	NOUN
alkej-792	159	7	-	-	PUNCT
alkej-792	159	8	link	link	NOUN
alkej-792	159	9	screw	screw	NOUN
alkej-792	159	10	load	load	NOUN
alkej-792	159	11	(	(	PUNCT
alkej-792	159	12	\	\	PROPN
alkej-792	159	13	�	�	PROPN
alkej-792	159	14	(	(	PUNCT
alkej-792	159	15	27.28	27.28	NUM
alkej-792	159	16	n	n	DET
alkej-792	159	17	7.85	7.85	NUM
alkej-792	159	18	n	n	DET
alkej-792	159	19	force	force	NOUN
alkej-792	159	20	applied	apply	VERB
alkej-792	159	21	(	(	PUNCT
alkej-792	159	22	]	]	PUNCT
alkej-792	159	23	�	�	PROPN
alkej-792	159	24	(	(	PUNCT
alkej-792	159	25	4.365	4.365	NUM
alkej-792	159	26	n	n	ADP
alkej-792	159	27	1.26	1.26	NUM
alkej-792	159	28	n	n	DET
alkej-792	159	29	�	�	PROPN
alkej-792	159	30	^_	^_	NOUN
alkej-792	159	31	�	�	PROPN
alkej-792	159	32	5	5	NUM
alkej-792	159	33	`	`	PUNCT
alkej-792	159	34	�	�	PROPN
alkej-792	159	35	28.92	28.92	NUM
alkej-792	159	36	n.mm	n.mm	PROPN
alkej-792	159	37	8.34	8.34	NUM
alkej-792	159	38	n.mm	n.mm	NOUN
alkej-792	159	39	power	power	NOUN
alkej-792	159	40	(	(	PUNCT
alkej-792	159	41	a	a	DET
alkej-792	159	42	�	�	PROPN
alkej-792	159	43	(	(	PUNCT
alkej-792	159	44	519.4	519.4	NUM
alkej-792	159	45	watt	watt	NOUN
alkej-792	159	46	288.56	288.56	NUM
alkej-792	159	47	watt	watt	NOUN
alkej-792	159	48	helix	helix	ADJ
alkej-792	159	49	angle	angle	NOUN
alkej-792	159	50	4.516985	4.516985	NUM
alkej-792	159	51	4.516985	4.516985	NUM
alkej-792	159	52	average	average	ADJ
alkej-792	159	53	diameter(r	diameter(r	NOUN
alkej-792	159	54	)	)	PUNCT
alkej-792	159	55	7	7	NUM
alkej-792	159	56	mm	mm	NOUN
alkej-792	159	57	7	7	NUM
alkej-792	159	58	mm	mm	NOUN
alkej-792	159	59	table	table	NOUN
alkej-792	159	60	8	8	NUM
alkej-792	159	61	,	,	PUNCT
alkej-792	159	62	belt	belt	NOUN
alkej-792	159	63	of	of	ADP
alkej-792	159	64	second	second	ADJ
alkej-792	159	65	link	link	NOUN
alkej-792	159	66	results	result	NOUN
alkej-792	159	67	.	.	PUNCT
alkej-792	160	1	term	term	NOUN
alkej-792	160	2	value	value	NOUN
alkej-792	160	3	load	load	NOUN
alkej-792	160	4	(	(	PUNCT
alkej-792	160	5	\	\	PROPN
alkej-792	160	6	�	�	PROPN
alkej-792	160	7	(	(	PUNCT
alkej-792	160	8	15	15	NUM
alkej-792	160	9	mm	mm	PROPN
alkej-792	160	10	force	force	NOUN
alkej-792	160	11	applied	apply	VERB
alkej-792	160	12	(	(	PUNCT
alkej-792	160	13	]	]	PUNCT
alkej-792	160	14	�	�	PROPN
alkej-792	160	15	(	(	PUNCT
alkej-792	160	16	4.365	4.365	NUM
alkej-792	160	17	n	n	ADP
alkej-792	160	18	1.26	1.26	NUM
alkej-792	160	19	n	n	DET
alkej-792	160	20	�	�	PROPN
alkej-792	160	21	^_	^_	NOUN
alkej-792	160	22	�	�	PROPN
alkej-792	160	23	5	5	NUM
alkej-792	160	24	`	`	PUNCT
alkej-792	160	25	�	�	PROPN
alkej-792	160	26	28.92	28.92	NUM
alkej-792	160	27	n.mm	n.mm	PROPN
alkej-792	160	28	8.34	8.34	NUM
alkej-792	160	29	n.mm	n.mm	NOUN
alkej-792	160	30	power	power	NOUN
alkej-792	160	31	(	(	PUNCT
alkej-792	160	32	a	a	DET
alkej-792	160	33	�	�	PROPN
alkej-792	160	34	(	(	PUNCT
alkej-792	160	35	519.4	519.4	NUM
alkej-792	160	36	watt	watt	NOUN
alkej-792	160	37	288.56	288.56	NUM
alkej-792	160	38	watt	watt	NOUN
alkej-792	160	39	helix	helix	ADJ
alkej-792	160	40	angle	angle	NOUN
alkej-792	160	41	4.516985	4.516985	NUM
alkej-792	160	42	4.516985	4.516985	NUM
alkej-792	160	43	average	average	ADJ
alkej-792	160	44	diameter(r	diameter(r	NOUN
alkej-792	160	45	)	)	PUNCT
alkej-792	160	46	7	7	NUM
alkej-792	160	47	mm	mm	NOUN
alkej-792	160	48	7	7	NUM
alkej-792	160	49	mm	mm	PROPN
alkej-792	160	50	4.3	4.3	NUM
alkej-792	160	51	simulation	simulation	NOUN
alkej-792	160	52	results	result	VERB
alkej-792	160	53	4.3.1	4.3.1	NUM
alkej-792	160	54	kinematic	kinematic	ADJ
alkej-792	160	55	model	model	NOUN
alkej-792	160	56	response	response	NOUN
alkej-792	160	57	when	when	SCONJ
alkej-792	160	58	entering	enter	VERB
alkej-792	160	59	the	the	DET
alkej-792	160	60	dh	dh	NOUN
alkej-792	160	61	parameters	parameter	NOUN
alkej-792	160	62	of	of	ADP
alkej-792	160	63	the	the	DET
alkej-792	160	64	robot	robot	NOUN
alkej-792	160	65	in	in	ADP
alkej-792	160	66	matlab	matlab	PROPN
alkej-792	160	67	,	,	PUNCT
alkej-792	160	68	we	we	PRON
alkej-792	160	69	can	can	AUX
alkej-792	160	70	conclude	conclude	VERB
alkej-792	160	71	the	the	DET
alkej-792	160	72	plot	plot	NOUN
alkej-792	160	73	directions	direction	NOUN
alkej-792	160	74	of	of	ADP
alkej-792	160	75	the	the	DET
alkej-792	160	76	robot	robot	NOUN
alkej-792	160	77	's	's	PART
alkej-792	160	78	links	link	NOUN
alkej-792	160	79	and	and	CCONJ
alkej-792	160	80	the	the	DET
alkej-792	160	81	robot	robot	NOUN
alkej-792	160	82	's	's	PART
alkej-792	160	83	path	path	NOUN
alkej-792	160	84	,	,	PUNCT
alkej-792	160	85	as	as	SCONJ
alkej-792	160	86	shown	show	VERB
alkej-792	160	87	in	in	ADP
alkej-792	160	88	fig	fig	NOUN
alkej-792	160	89	.	.	PUNCT
alkej-792	161	1	18	18	NUM
alkej-792	161	2	and	and	CCONJ
alkej-792	161	3	fig.19	fig.19	ADJ
alkej-792	161	4	.	.	PROPN
alkej-792	161	5	figure	figure	NOUN
alkej-792	161	6	18	18	NUM
alkej-792	161	7	shows	show	VERB
alkej-792	161	8	the	the	DET
alkej-792	161	9	robot	robot	NOUN
alkej-792	161	10	's	's	PART
alkej-792	161	11	configuration	configuration	NOUN
alkej-792	161	12	in	in	ADP
alkej-792	161	13	three	three	NUM
alkej-792	161	14	dimensions	dimension	NOUN
alkej-792	161	15	and	and	CCONJ
alkej-792	161	16	the	the	DET
alkej-792	161	17	endeffector	endeffector	NOUN
alkej-792	161	18	's	's	PART
alkej-792	161	19	initial	initial	ADJ
alkej-792	161	20	position	position	NOUN
alkej-792	161	21	,	,	PUNCT
alkej-792	161	22	while	while	SCONJ
alkej-792	161	23	figure	figure	NOUN
alkej-792	161	24	19	19	NUM
alkej-792	161	25	shows	show	VERB
alkej-792	161	26	the	the	DET
alkej-792	161	27	path	path	NOUN
alkej-792	161	28	of	of	ADP
alkej-792	161	29	the	the	DET
alkej-792	161	30	robot	robot	NOUN
alkej-792	161	31	motion	motion	NOUN
alkej-792	161	32	for	for	ADP
alkej-792	161	33	two	two	NUM
alkej-792	161	34	cycles	cycle	NOUN
alkej-792	161	35	.	.	PUNCT
alkej-792	162	1	fig	fig	NOUN
alkej-792	162	2	.	.	PUNCT
alkej-792	163	1	18	18	NUM
alkej-792	163	2	.	.	PUNCT
alkej-792	163	3	simulation	simulation	NOUN
alkej-792	163	4	of	of	ADP
alkej-792	163	5	cartesian	cartesian	ADJ
alkej-792	163	6	robot	robot	NOUN
alkej-792	163	7	on	on	ADP
alkej-792	163	8	matlab	matlab	PROPN
alkej-792	163	9	.	.	PUNCT
alkej-792	163	10	fig	fig	PROPN
alkej-792	163	11	.	.	PUNCT
alkej-792	164	1	19	19	NUM
alkej-792	164	2	.	.	X
alkej-792	164	3	path	path	NOUN
alkej-792	164	4	of	of	ADP
alkej-792	164	5	two	two	NUM
alkej-792	164	6	cycles	cycle	NOUN
alkej-792	164	7	.	.	PUNCT
alkej-792	165	1	fatima	fatima	PROPN
alkej-792	165	2	m.	m.	PROPN
alkej-792	165	3	jasim	jasim	PROPN
alkej-792	165	4	al	al	PROPN
alkej-792	165	5	-	-	PUNCT
alkej-792	165	6	khwarizmi	khwarizmi	PROPN
alkej-792	165	7	engineering	engineering	NOUN
alkej-792	165	8	journal	journal	PROPN
alkej-792	165	9	,	,	PUNCT
alkej-792	165	10	vol	vol	NOUN
alkej-792	165	11	.	.	PROPN
alkej-792	165	12	18	18	NUM
alkej-792	165	13	,	,	PUNCT
alkej-792	165	14	no	no	INTJ
alkej-792	165	15	.	.	NOUN
alkej-792	165	16	3	3	NUM
alkej-792	165	17	,	,	PUNCT
alkej-792	165	18	p.p	p.p	PROPN
alkej-792	165	19	.	.	NOUN
alkej-792	165	20	114	114	NUM
alkej-792	165	21	(	(	PUNCT
alkej-792	165	22	2022	2022	NUM
alkej-792	165	23	)	)	PUNCT
alkej-792	165	24	10	10	NUM
alkej-792	165	25	4.3.2	4.3.2	NUM
alkej-792	165	26	dynamic	dynamic	ADJ
alkej-792	165	27	model	model	NOUN
alkej-792	165	28	response	response	NOUN
alkej-792	165	29	to	to	PART
alkej-792	165	30	simulate	simulate	VERB
alkej-792	165	31	the	the	DET
alkej-792	165	32	behavior	behavior	NOUN
alkej-792	165	33	of	of	ADP
alkej-792	165	34	each	each	DET
alkej-792	165	35	joint	joint	ADJ
alkej-792	165	36	space	space	NOUN
alkej-792	165	37	of	of	ADP
alkej-792	165	38	the	the	DET
alkej-792	165	39	robot	robot	NOUN
alkej-792	165	40	,	,	PUNCT
alkej-792	165	41	input	input	VERB
alkej-792	165	42	the	the	DET
alkej-792	165	43	parameters	parameter	NOUN
alkej-792	165	44	from	from	ADP
alkej-792	165	45	table	table	NOUN
alkej-792	165	46	9	9	NUM
alkej-792	165	47	of	of	ADP
alkej-792	165	48	the	the	DET
alkej-792	165	49	state	state	NOUN
alkej-792	165	50	-	-	PUNCT
alkej-792	165	51	space	space	NOUN
alkej-792	165	52	were	be	AUX
alkej-792	165	53	modelled	model	VERB
alkej-792	165	54	(	(	PUNCT
alkej-792	165	55	eq	eq	NOUN
alkej-792	165	56	.	.	PROPN
alkej-792	165	57	13	13	NUM
alkej-792	165	58	)	)	PUNCT
alkej-792	165	59	in	in	ADP
alkej-792	165	60	matlab	matlab	PROPN
alkej-792	165	61	simulink	simulink	PROPN
alkej-792	165	62	.	.	PUNCT
alkej-792	166	1	table	table	NOUN
alkej-792	166	2	9	9	NUM
alkej-792	166	3	,	,	PUNCT
alkej-792	166	4	parameters	parameter	NOUN
alkej-792	166	5	of	of	ADP
alkej-792	166	6	dynamic	dynamic	ADJ
alkej-792	166	7	model	model	NOUN
alkej-792	166	8	.	.	PUNCT
alkej-792	167	1	parameter	parameter	PROPN
alkej-792	167	2	value	value	PROPN
alkej-792	167	3	&	&	CCONJ
alkej-792	167	4	�	�	PROPN
alkej-792	167	5	�	�	PROPN
alkej-792	167	6	'	'	PART
alkej-792	167	7	�	�	PROPN
alkej-792	167	8	�	�	PROPN
alkej-792	167	9	'	'	PART
alkej-792	167	10	�	�	PROPN
alkej-792	167	11	�	�	PROPN
alkej-792	167	12	(	(	PUNCT
alkej-792	167	13	2.4	2.4	NUM
alkej-792	167	14	kg	kg	NOUN
alkej-792	167	15	(	(	PUNCT
alkej-792	167	16	�	�	PROPN
alkej-792	167	17	�	�	PROPN
alkej-792	167	18	'	'	PART
alkej-792	167	19	�	�	PROPN
alkej-792	167	20	�	�	PROPN
alkej-792	167	21	(	(	PUNCT
alkej-792	167	22	1	1	NUM
alkej-792	167	23	kg	kg	NOUN
alkej-792	167	24	�	�	PROPN
alkej-792	167	25	�	�	PROPN
alkej-792	167	26	0.8	0.8	NUM
alkej-792	167	27	kg	kg	NOUN
alkej-792	167	28	stiffness	stiffness	NOUN
alkej-792	167	29	coefficient(-	coefficient(-	ADJ
alkej-792	167	30	�	�	NOUN
alkej-792	167	31	(	(	PUNCT
alkej-792	167	32	0.53n	0.53n	PROPN
alkej-792	167	33	/	/	SYM
alkej-792	167	34	m	m	PROPN
alkej-792	167	35	damper	damper	NOUN
alkej-792	167	36	coefficient	coefficient	NOUN
alkej-792	167	37	of	of	ADP
alkej-792	167	38	screws[13	screws[13	PROPN
alkej-792	167	39	]	]	X
alkej-792	168	1	0.0064	0.0064	NUM
alkej-792	168	2	n.s	n.s	PROPN
alkej-792	168	3	/	/	SYM
alkej-792	168	4	m	m	PROPN
alkej-792	168	5	damper	damper	NOUN
alkej-792	168	6	coefficient	coefficient	NOUN
alkej-792	168	7	of	of	ADP
alkej-792	168	8	belt	belt	NOUN
alkej-792	168	9	0.000001n.s	0.000001n.	NOUN
alkej-792	168	10	/	/	SYM
alkej-792	168	11	m	m	VERB
alkej-792	168	12	�	�	PROPN
alkej-792	168	13	4.365n	4.365n	PROPN
alkej-792	168	14	�	�	PROPN
alkej-792	168	15	0.1429n	0.1429n	PROPN
alkej-792	168	16	�	�	PROPN
alkej-792	168	17	1.26n	1.26n	PROPN
alkej-792	168	18	&	&	CCONJ
alkej-792	168	19	�	�	PROPN
alkej-792	168	20	�	�	PROPN
alkej-792	168	21	'	'	PART
alkej-792	168	22	�	�	PROPN
alkej-792	168	23	�	�	PROPN
alkej-792	168	24	'	'	PART
alkej-792	168	25	�	�	PROPN
alkej-792	168	26	�	�	PROPN
alkej-792	168	27	(	(	PUNCT
alkej-792	168	28	+	+	NOUN
alkej-792	168	29	23.544n	23.544n	NUM
alkej-792	168	30	fig	fig	NOUN
alkej-792	168	31	.	.	PUNCT
alkej-792	169	1	20	20	NUM
alkej-792	169	2	.	.	PUNCT
alkej-792	170	1	first	first	ADJ
alkej-792	170	2	response	response	NOUN
alkej-792	170	3	of	of	ADP
alkej-792	170	4	end	end	NOUN
alkej-792	170	5	-	-	PUNCT
alkej-792	170	6	effector	effector	NOUN
alkej-792	170	7	position	position	NOUN
alkej-792	170	8	.	.	PUNCT
alkej-792	171	1	figure20	figure20	PROPN
alkej-792	171	2	represents	represent	VERB
alkej-792	171	3	the	the	DET
alkej-792	171	4	system	system	NOUN
alkej-792	171	5	's	's	PART
alkej-792	171	6	response	response	NOUN
alkej-792	171	7	;	;	PUNCT
alkej-792	171	8	the	the	DET
alkej-792	171	9	blue	blue	ADJ
alkej-792	171	10	line	line	NOUN
alkej-792	171	11	is	be	AUX
alkej-792	171	12	the	the	DET
alkej-792	171	13	end	end	NOUN
alkej-792	171	14	-	-	PUNCT
alkej-792	171	15	effector	effector	NOUN
alkej-792	171	16	’s	’s	PART
alkej-792	171	17	position	position	NOUN
alkej-792	171	18	in	in	ADP
alkej-792	171	19	the	the	DET
alkej-792	171	20	ydirection	ydirection	NOUN
alkej-792	171	21	,	,	PUNCT
alkej-792	171	22	the	the	DET
alkej-792	171	23	red	red	ADJ
alkej-792	171	24	line	line	NOUN
alkej-792	171	25	is	be	AUX
alkej-792	171	26	the	the	DET
alkej-792	171	27	end	end	NOUN
alkej-792	171	28	-	-	PUNCT
alkej-792	171	29	effector	effector	NOUN
alkej-792	171	30	’s	’s	PART
alkej-792	171	31	position	position	NOUN
alkej-792	171	32	in	in	ADP
alkej-792	171	33	the	the	DET
alkej-792	171	34	x	x	NOUN
alkej-792	171	35	-	-	NOUN
alkej-792	171	36	direction	direction	NOUN
alkej-792	171	37	,	,	PUNCT
alkej-792	171	38	and	and	CCONJ
alkej-792	171	39	the	the	DET
alkej-792	171	40	yellow	yellow	ADJ
alkej-792	171	41	line	line	NOUN
alkej-792	171	42	is	be	AUX
alkej-792	171	43	the	the	DET
alkej-792	171	44	endeffector	endeffector	NOUN
alkej-792	171	45	’s	’s	PART
alkej-792	171	46	position	position	NOUN
alkej-792	171	47	in	in	ADP
alkej-792	171	48	the	the	DET
alkej-792	171	49	z	z	NOUN
alkej-792	171	50	-	-	NOUN
alkej-792	171	51	direction	direction	NOUN
alkej-792	171	52	.	.	PUNCT
alkej-792	172	1	as	as	SCONJ
alkej-792	172	2	shown	show	VERB
alkej-792	172	3	,	,	PUNCT
alkej-792	172	4	xposition	xposition	PROPN
alkej-792	172	5	oscillates	oscillate	NOUN
alkej-792	172	6	because	because	SCONJ
alkej-792	172	7	of	of	ADP
alkej-792	172	8	the	the	DET
alkej-792	172	9	spring	spring	NOUN
alkej-792	172	10	effect	effect	NOUN
alkej-792	172	11	(	(	PUNCT
alkej-792	172	12	stiffness	stiffness	NOUN
alkej-792	172	13	)	)	PUNCT
alkej-792	172	14	created	create	VERB
alkej-792	172	15	by	by	ADP
alkej-792	172	16	the	the	DET
alkej-792	172	17	reaction	reaction	NOUN
alkej-792	172	18	of	of	ADP
alkej-792	172	19	the	the	DET
alkej-792	172	20	belt	belt	NOUN
alkej-792	172	21	.	.	PUNCT
alkej-792	173	1	figure21	figure21	PROPN
alkej-792	173	2	represents	represent	VERB
alkej-792	173	3	the	the	DET
alkej-792	173	4	response	response	NOUN
alkej-792	173	5	of	of	ADP
alkej-792	173	6	the	the	DET
alkej-792	173	7	system	system	NOUN
alkej-792	173	8	when	when	SCONJ
alkej-792	173	9	value	value	NOUN
alkej-792	173	10	is	be	AUX
alkej-792	173	11	neglected	neglect	VERB
alkej-792	173	12	.	.	PUNCT
alkej-792	174	1	therefore	therefore	ADV
alkej-792	174	2	,	,	PUNCT
alkej-792	174	3	we	we	PRON
alkej-792	174	4	notice	notice	VERB
alkej-792	174	5	the	the	DET
alkej-792	174	6	position	position	NOUN
alkej-792	174	7	in	in	ADP
alkej-792	174	8	the	the	DET
alkej-792	174	9	y	y	PROPN
alkej-792	174	10	-	-	PUNCT
alkej-792	174	11	link	link	NOUN
alkej-792	174	12	increasing	increase	VERB
alkej-792	174	13	because	because	SCONJ
alkej-792	174	14	the	the	DET
alkej-792	174	15	applied	apply	VERB
alkej-792	174	16	force	force	NOUN
alkej-792	174	17	is	be	AUX
alkej-792	174	18	rising	rise	VERB
alkej-792	174	19	after	after	SCONJ
alkej-792	174	20	the	the	DET
alkej-792	174	21	weight	weight	NOUN
alkej-792	174	22	of	of	ADP
alkej-792	174	23	the	the	DET
alkej-792	174	24	links	link	NOUN
alkej-792	174	25	is	be	AUX
alkej-792	174	26	neglected	neglect	VERB
alkej-792	174	27	.	.	PUNCT
alkej-792	175	1	fig	fig	NOUN
alkej-792	175	2	.	.	PUNCT
alkej-792	176	1	21	21	NUM
alkej-792	176	2	.	.	PUNCT
alkej-792	177	1	second	second	ADJ
alkej-792	177	2	response	response	NOUN
alkej-792	177	3	of	of	ADP
alkej-792	177	4	end	end	NOUN
alkej-792	177	5	-	-	PUNCT
alkej-792	177	6	effector	effector	NOUN
alkej-792	177	7	position	position	NOUN
alkej-792	177	8	.	.	PUNCT
alkej-792	178	1	fatima	fatima	PROPN
alkej-792	178	2	m.	m.	PROPN
alkej-792	178	3	jasim	jasim	PROPN
alkej-792	178	4	al	al	PROPN
alkej-792	178	5	-	-	PUNCT
alkej-792	178	6	khwarizmi	khwarizmi	PROPN
alkej-792	178	7	engineering	engineering	NOUN
alkej-792	178	8	journal	journal	PROPN
alkej-792	178	9	,	,	PUNCT
alkej-792	178	10	vol	vol	NOUN
alkej-792	178	11	.	.	PROPN
alkej-792	178	12	18	18	NUM
alkej-792	178	13	,	,	PUNCT
alkej-792	178	14	no	no	INTJ
alkej-792	178	15	.	.	NOUN
alkej-792	178	16	3	3	NUM
alkej-792	178	17	,	,	PUNCT
alkej-792	178	18	p.p	p.p	PROPN
alkej-792	178	19	.	.	NOUN
alkej-792	178	20	114	114	NUM
alkej-792	178	21	(	(	PUNCT
alkej-792	178	22	2022	2022	NUM
alkej-792	178	23	)	)	PUNCT
alkej-792	178	24	11	11	NUM
alkej-792	178	25	4.3.3	4.3.3	NUM
alkej-792	178	26	experimental	experimental	ADJ
alkej-792	178	27	result	result	NOUN
alkej-792	178	28	when	when	SCONJ
alkej-792	178	29	running	run	VERB
alkej-792	178	30	the	the	DET
alkej-792	178	31	robot	robot	NOUN
alkej-792	178	32	,	,	PUNCT
alkej-792	178	33	position	position	NOUN
alkej-792	178	34	and	and	CCONJ
alkej-792	178	35	velocity	velocity	NOUN
alkej-792	178	36	with	with	ADP
alkej-792	178	37	time	time	NOUN
alkej-792	178	38	have	have	AUX
alkej-792	178	39	been	be	AUX
alkej-792	178	40	calculated	calculate	VERB
alkej-792	178	41	for	for	ADP
alkej-792	178	42	link	link	NOUN
alkej-792	178	43	x	x	NOUN
alkej-792	178	44	-	-	NOUN
alkej-792	178	45	direction	direction	NOUN
alkej-792	178	46	(	(	PUNCT
alkej-792	178	47	second	second	ADJ
alkej-792	178	48	link	link	NOUN
alkej-792	178	49	)	)	PUNCT
alkej-792	178	50	with	with	ADP
alkej-792	178	51	a	a	DET
alkej-792	178	52	belt	belt	NOUN
alkej-792	178	53	transformation	transformation	NOUN
alkej-792	178	54	element	element	NOUN
alkej-792	178	55	and	and	CCONJ
alkej-792	178	56	z	z	NOUN
alkej-792	178	57	-	-	PUNCT
alkej-792	178	58	direction	direction	NOUN
alkej-792	178	59	(	(	PUNCT
alkej-792	178	60	last	last	ADJ
alkej-792	178	61	link	link	NOUN
alkej-792	178	62	)	)	PUNCT
alkej-792	178	63	with	with	ADP
alkej-792	178	64	a	a	DET
alkej-792	178	65	screw	screw	ADJ
alkej-792	178	66	transformation	transformation	NOUN
alkej-792	178	67	element	element	NOUN
alkej-792	178	68	.	.	PUNCT
alkej-792	179	1	the	the	DET
alkej-792	179	2	motion	motion	NOUN
alkej-792	179	3	starts	start	VERB
alkej-792	179	4	from	from	ADP
alkej-792	179	5	the	the	DET
alkej-792	179	6	initial	initial	ADJ
alkej-792	179	7	position	position	NOUN
alkej-792	179	8	,	,	PUNCT
alkej-792	179	9	as	as	SCONJ
alkej-792	179	10	shown	show	VERB
alkej-792	179	11	in	in	ADP
alkej-792	179	12	fig	fig	NOUN
alkej-792	179	13	.	.	PUNCT
alkej-792	180	1	22	22	NUM
alkej-792	180	2	;	;	PUNCT
alkej-792	180	3	the	the	DET
alkej-792	180	4	second	second	ADJ
alkej-792	180	5	link	link	NOUN
alkej-792	180	6	moves	move	VERB
alkej-792	180	7	gradually	gradually	ADV
alkej-792	180	8	in	in	ADP
alkej-792	180	9	the	the	DET
alkej-792	180	10	x	x	NOUN
alkej-792	180	11	-	-	NOUN
alkej-792	180	12	direction	direction	NOUN
alkej-792	180	13	for	for	ADP
alkej-792	180	14	1.2	1.2	NUM
alkej-792	180	15	seconds	second	NOUN
alkej-792	180	16	for	for	ADP
alkej-792	180	17	the	the	DET
alkej-792	180	18	transient	transient	ADJ
alkej-792	180	19	time	time	NOUN
alkej-792	180	20	of	of	ADP
alkej-792	180	21	the	the	DET
alkej-792	180	22	robot	robot	NOUN
alkej-792	180	23	system	system	NOUN
alkej-792	180	24	to	to	PART
alkej-792	180	25	get	get	VERB
alkej-792	180	26	a	a	DET
alkej-792	180	27	steady	steady	ADJ
alkej-792	180	28	state	state	NOUN
alkej-792	180	29	.	.	PUNCT
alkej-792	181	1	after	after	ADP
alkej-792	181	2	that	that	PRON
alkej-792	181	3	,	,	PUNCT
alkej-792	181	4	this	this	DET
alkej-792	181	5	link	link	NOUN
alkej-792	181	6	moves	move	VERB
alkej-792	181	7	at	at	ADP
alkej-792	181	8	a	a	DET
alkej-792	181	9	constant	constant	ADJ
alkej-792	181	10	velocity	velocity	NOUN
alkej-792	181	11	,	,	PUNCT
alkej-792	181	12	as	as	SCONJ
alkej-792	181	13	shown	show	VERB
alkej-792	181	14	in	in	ADP
alkej-792	181	15	fig	fig	NOUN
alkej-792	181	16	23	23	NUM
alkej-792	181	17	.	.	PUNCT
alkej-792	182	1	fig	fig	NOUN
alkej-792	182	2	.	.	PUNCT
alkej-792	183	1	22	22	NUM
alkej-792	183	2	.	.	PUNCT
alkej-792	184	1	x	x	X
alkej-792	184	2	-	-	PUNCT
alkej-792	184	3	position	position	NOUN
alkej-792	184	4	result	result	NOUN
alkej-792	184	5	for	for	ADP
alkej-792	184	6	the	the	DET
alkej-792	184	7	second	second	ADJ
alkej-792	184	8	link	link	NOUN
alkej-792	184	9	.	.	PUNCT
alkej-792	185	1	fig	fig	NOUN
alkej-792	185	2	.	.	PUNCT
alkej-792	186	1	23	23	NUM
alkej-792	186	2	.	.	PUNCT
alkej-792	187	1	velocity	velocity	NOUN
alkej-792	187	2	for	for	ADP
alkej-792	187	3	the	the	DET
alkej-792	187	4	second	second	ADJ
alkej-792	187	5	link	link	NOUN
alkej-792	187	6	.	.	PUNCT
alkej-792	188	1	while	while	SCONJ
alkej-792	188	2	in	in	ADP
alkej-792	188	3	the	the	DET
alkej-792	188	4	z	z	NOUN
alkej-792	188	5	-	-	PUNCT
alkej-792	188	6	direction	direction	NOUN
alkej-792	188	7	,	,	PUNCT
alkej-792	188	8	the	the	DET
alkej-792	188	9	motion	motion	NOUN
alkej-792	188	10	starts	start	VERB
alkej-792	188	11	from	from	ADP
alkej-792	188	12	an	an	DET
alkej-792	188	13	initial	initial	ADJ
alkej-792	188	14	position	position	NOUN
alkej-792	188	15	until	until	ADP
alkej-792	188	16	500	500	NUM
alkej-792	188	17	mm	mm	NOUN
alkej-792	188	18	,	,	PUNCT
alkej-792	188	19	as	as	SCONJ
alkej-792	188	20	shown	show	VERB
alkej-792	188	21	in	in	ADP
alkej-792	188	22	fig	fig	NOUN
alkej-792	188	23	.	.	PUNCT
alkej-792	189	1	24	24	NUM
alkej-792	189	2	,	,	PUNCT
alkej-792	189	3	the	the	DET
alkej-792	189	4	last	last	ADJ
alkej-792	189	5	link	link	NOUN
alkej-792	189	6	moves	move	NOUN
alkej-792	189	7	for	for	ADP
alkej-792	189	8	13.55	13.55	NUM
alkej-792	189	9	seconds	second	NOUN
alkej-792	189	10	.	.	PUNCT
alkej-792	190	1	this	this	DET
alkej-792	190	2	time	time	NOUN
alkej-792	190	3	is	be	AUX
alkej-792	190	4	low	low	ADJ
alkej-792	190	5	compared	compare	VERB
alkej-792	190	6	with	with	ADP
alkej-792	190	7	the	the	DET
alkej-792	190	8	x	x	NOUN
alkej-792	190	9	-	-	NOUN
alkej-792	190	10	direction	direction	NOUN
alkej-792	190	11	’s	’s	PART
alkej-792	190	12	motion	motion	NOUN
alkej-792	190	13	because	because	SCONJ
alkej-792	190	14	the	the	DET
alkej-792	190	15	previous	previous	ADJ
alkej-792	190	16	link	link	NOUN
alkej-792	190	17	moves	move	VERB
alkej-792	190	18	the	the	DET
alkej-792	190	19	screw	screw	NOUN
alkej-792	190	20	slowly	slowly	ADV
alkej-792	190	21	at	at	ADP
alkej-792	190	22	3.3	3.3	NUM
alkej-792	190	23	mm	mm	NOUN
alkej-792	190	24	/	/	SYM
alkej-792	190	25	sec	sec	PROPN
alkej-792	190	26	.	.	PROPN
alkej-792	190	27	fig	fig	PROPN
alkej-792	190	28	.	.	PUNCT
alkej-792	191	1	25	25	NUM
alkej-792	191	2	shows	show	VERB
alkej-792	191	3	that	that	SCONJ
alkej-792	191	4	the	the	DET
alkej-792	191	5	velocity	velocity	NOUN
alkej-792	191	6	moves	move	VERB
alkej-792	191	7	from	from	ADP
alkej-792	191	8	zero	zero	NUM
alkej-792	191	9	until	until	SCONJ
alkej-792	191	10	it	it	PRON
alkej-792	191	11	reaches	reach	VERB
alkej-792	191	12	the	the	DET
alkej-792	191	13	maximum	maximum	ADJ
alkej-792	191	14	velocity	velocity	NOUN
alkej-792	191	15	,	,	PUNCT
alkej-792	191	16	and	and	CCONJ
alkej-792	191	17	it	it	PRON
alkej-792	191	18	decreases	decrease	VERB
alkej-792	191	19	to	to	ADP
alkej-792	191	20	zero	zero	NUM
alkej-792	191	21	after	after	ADP
alkej-792	191	22	getting	get	VERB
alkej-792	191	23	to	to	ADP
alkej-792	191	24	the	the	DET
alkej-792	191	25	final	final	ADJ
alkej-792	191	26	position	position	NOUN
alkej-792	191	27	.	.	PUNCT
alkej-792	192	1	fig	fig	NOUN
alkej-792	192	2	.	.	PUNCT
alkej-792	193	1	24	24	NUM
alkej-792	193	2	.	.	PUNCT
alkej-792	194	1	z	z	X
alkej-792	194	2	-	-	PUNCT
alkej-792	194	3	position	position	NOUN
alkej-792	194	4	result	result	NOUN
alkej-792	194	5	for	for	ADP
alkej-792	194	6	the	the	DET
alkej-792	194	7	third	third	ADJ
alkej-792	194	8	link	link	NOUN
alkej-792	194	9	.	.	PUNCT
alkej-792	195	1	fig	fig	NOUN
alkej-792	195	2	.	.	PUNCT
alkej-792	196	1	25	25	NUM
alkej-792	196	2	.	.	PUNCT
alkej-792	196	3	velocity	velocity	NOUN
alkej-792	196	4	for	for	ADP
alkej-792	196	5	the	the	DET
alkej-792	196	6	third	third	ADJ
alkej-792	196	7	link	link	NOUN
alkej-792	196	8	.	.	PUNCT
alkej-792	197	1	fatima	fatima	PROPN
alkej-792	197	2	m.	m.	PROPN
alkej-792	197	3	jasim	jasim	PROPN
alkej-792	197	4	al	al	PROPN
alkej-792	197	5	-	-	PUNCT
alkej-792	197	6	khwarizmi	khwarizmi	PROPN
alkej-792	197	7	engineering	engineering	NOUN
alkej-792	197	8	journal	journal	PROPN
alkej-792	197	9	,	,	PUNCT
alkej-792	197	10	vol	vol	NOUN
alkej-792	197	11	.	.	PROPN
alkej-792	197	12	18	18	NUM
alkej-792	197	13	,	,	PUNCT
alkej-792	197	14	no	no	INTJ
alkej-792	197	15	.	.	NOUN
alkej-792	197	16	3	3	NUM
alkej-792	197	17	,	,	PUNCT
alkej-792	197	18	p.p	p.p	PROPN
alkej-792	197	19	.	.	NOUN
alkej-792	197	20	114	114	NUM
alkej-792	197	21	(	(	PUNCT
alkej-792	197	22	2022	2022	NUM
alkej-792	197	23	)	)	PUNCT
alkej-792	197	24	12	12	NUM
alkej-792	197	25	figure26	figure26	NOUN
alkej-792	197	26	represents	represent	VERB
alkej-792	197	27	the	the	DET
alkej-792	197	28	difference	difference	NOUN
alkej-792	197	29	between	between	ADP
alkej-792	197	30	the	the	DET
alkej-792	197	31	response	response	NOUN
alkej-792	197	32	of	of	ADP
alkej-792	197	33	a	a	DET
alkej-792	197	34	dynamic	dynamic	ADJ
alkej-792	197	35	system	system	NOUN
alkej-792	197	36	model	model	NOUN
alkej-792	197	37	(	(	PUNCT
alkej-792	197	38	measurement	measurement	NOUN
alkej-792	197	39	data	data	PROPN
alkej-792	197	40	)	)	PUNCT
alkej-792	197	41	and	and	CCONJ
alkej-792	197	42	the	the	DET
alkej-792	197	43	experimental	experimental	ADJ
alkej-792	197	44	results	result	NOUN
alkej-792	197	45	when	when	SCONJ
alkej-792	197	46	running	run	VERB
alkej-792	197	47	the	the	DET
alkej-792	197	48	robot	robot	NOUN
alkej-792	197	49	;	;	PUNCT
alkej-792	197	50	the	the	DET
alkej-792	197	51	blue	blue	ADJ
alkej-792	197	52	line	line	NOUN
alkej-792	197	53	is	be	AUX
alkej-792	197	54	the	the	DET
alkej-792	197	55	endeffector	endeffector	NOUN
alkej-792	197	56	’s	’s	PART
alkej-792	197	57	position	position	NOUN
alkej-792	197	58	in	in	ADP
alkej-792	197	59	the	the	DET
alkej-792	197	60	z	z	NOUN
alkej-792	197	61	-	-	PUNCT
alkej-792	197	62	direction	direction	NOUN
alkej-792	197	63	when	when	SCONJ
alkej-792	197	64	computing	compute	VERB
alkej-792	197	65	the	the	DET
alkej-792	197	66	system	system	NOUN
alkej-792	197	67	’s	’s	PART
alkej-792	197	68	parameters	parameter	NOUN
alkej-792	197	69	and	and	CCONJ
alkej-792	197	70	the	the	DET
alkej-792	197	71	red	red	ADJ
alkej-792	197	72	line	line	NOUN
alkej-792	197	73	is	be	AUX
alkej-792	197	74	the	the	DET
alkej-792	197	75	actual	actual	ADJ
alkej-792	197	76	result	result	NOUN
alkej-792	197	77	of	of	ADP
alkej-792	197	78	end	end	NOUN
alkej-792	197	79	-	-	PUNCT
alkej-792	197	80	effector	effector	NOUN
alkej-792	197	81	’s	’s	PART
alkej-792	197	82	position	position	NOUN
alkej-792	197	83	in	in	ADP
alkej-792	197	84	the	the	DET
alkej-792	197	85	z	z	NOUN
alkej-792	197	86	-	-	PUNCT
alkej-792	197	87	direction	direction	NOUN
alkej-792	197	88	.	.	PUNCT
alkej-792	198	1	fig	fig	NOUN
alkej-792	198	2	.	.	PUNCT
alkej-792	199	1	26	26	NUM
alkej-792	199	2	.	.	X
alkej-792	200	1	comparison	comparison	NOUN
alkej-792	200	2	between	between	ADP
alkej-792	200	3	dynamic	dynamic	ADJ
alkej-792	200	4	model	model	NOUN
alkej-792	200	5	and	and	CCONJ
alkej-792	200	6	experimental	experimental	ADJ
alkej-792	200	7	result	result	NOUN
alkej-792	200	8	of	of	ADP
alkej-792	200	9	z	z	NOUN
alkej-792	200	10	-	-	PUNCT
alkej-792	200	11	position	position	NOUN
alkej-792	200	12	.	.	PUNCT
alkej-792	201	1	figure	figure	NOUN
alkej-792	201	2	27	27	NUM
alkej-792	201	3	also	also	ADV
alkej-792	201	4	shows	show	VERB
alkej-792	201	5	the	the	DET
alkej-792	201	6	same	same	ADJ
alkej-792	201	7	difference	difference	NOUN
alkej-792	201	8	but	but	CCONJ
alkej-792	201	9	for	for	ADP
alkej-792	201	10	the	the	DET
alkej-792	201	11	end	end	NOUN
alkej-792	201	12	-	-	PUNCT
alkej-792	201	13	effector	effector	NOUN
alkej-792	201	14	’s	’s	PART
alkej-792	201	15	position	position	NOUN
alkej-792	201	16	in	in	ADP
alkej-792	201	17	the	the	DET
alkej-792	201	18	x	x	NOUN
alkej-792	201	19	-	-	NOUN
alkej-792	201	20	direction	direction	NOUN
alkej-792	201	21	.	.	PUNCT
alkej-792	202	1	as	as	SCONJ
alkej-792	202	2	shown	show	VERB
alkej-792	202	3	the	the	DET
alkej-792	202	4	blue	blue	ADJ
alkej-792	202	5	line	line	NOUN
alkej-792	202	6	is	be	AUX
alkej-792	202	7	linear	linear	ADJ
alkej-792	202	8	,	,	PUNCT
alkej-792	202	9	the	the	DET
alkej-792	202	10	robot	robot	NOUN
alkej-792	202	11	actually	actually	ADV
alkej-792	202	12	moves	move	VERB
alkej-792	202	13	smoothly	smoothly	ADV
alkej-792	202	14	in	in	ADP
alkej-792	202	15	the	the	DET
alkej-792	202	16	x	x	NOUN
alkej-792	202	17	-	-	NOUN
alkej-792	202	18	direction	direction	NOUN
alkej-792	202	19	as	as	SCONJ
alkej-792	202	20	shown	show	VERB
alkej-792	202	21	.	.	PUNCT
alkej-792	203	1	fig	fig	NOUN
alkej-792	203	2	.	.	PUNCT
alkej-792	204	1	27	27	NUM
alkej-792	204	2	.	.	PUNCT
alkej-792	205	1	comparison	comparison	NOUN
alkej-792	205	2	between	between	ADP
alkej-792	205	3	dynamic	dynamic	ADJ
alkej-792	205	4	model	model	NOUN
alkej-792	205	5	and	and	CCONJ
alkej-792	205	6	experimental	experimental	ADJ
alkej-792	205	7	result	result	NOUN
alkej-792	205	8	of	of	ADP
alkej-792	205	9	x	x	NOUN
alkej-792	205	10	-	-	NOUN
alkej-792	205	11	position	position	NOUN
alkej-792	205	12	.	.	PUNCT
alkej-792	206	1	5	5	X
alkej-792	206	2	.	.	X
alkej-792	206	3	conclusion	conclusion	NOUN
alkej-792	206	4	compared	compare	VERB
alkej-792	206	5	to	to	ADP
alkej-792	206	6	manual	manual	ADJ
alkej-792	206	7	painting	painting	NOUN
alkej-792	206	8	,	,	PUNCT
alkej-792	206	9	the	the	DET
alkej-792	206	10	robotic	robotic	ADJ
alkej-792	206	11	spraying	spray	VERB
alkej-792	206	12	system	system	NOUN
alkej-792	206	13	has	have	AUX
alkej-792	206	14	achieved	achieve	VERB
alkej-792	206	15	optimal	optimal	ADJ
alkej-792	206	16	durability	durability	NOUN
alkej-792	206	17	,	,	PUNCT
alkej-792	206	18	safety	safety	NOUN
alkej-792	206	19	,	,	PUNCT
alkej-792	206	20	efficiency	efficiency	NOUN
alkej-792	206	21	,	,	PUNCT
alkej-792	206	22	and	and	CCONJ
alkej-792	206	23	ease	ease	NOUN
alkej-792	206	24	of	of	ADP
alkej-792	206	25	use	use	NOUN
alkej-792	206	26	.	.	PUNCT
alkej-792	207	1	all	all	PRON
alkej-792	207	2	of	of	ADP
alkej-792	207	3	the	the	DET
alkej-792	207	4	goals	goal	NOUN
alkej-792	207	5	set	set	VERB
alkej-792	207	6	for	for	ADP
alkej-792	207	7	the	the	DET
alkej-792	207	8	proposed	propose	VERB
alkej-792	207	9	spraying	spraying	NOUN
alkej-792	207	10	robot	robot	NOUN
alkej-792	207	11	have	have	AUX
alkej-792	207	12	-	-	PUNCT
alkej-792	207	13	been	be	AUX
alkej-792	207	14	completed	complete	VERB
alkej-792	207	15	.	.	PUNCT
alkej-792	208	1	the	the	DET
alkej-792	208	2	x	x	NOUN
alkej-792	208	3	-	-	ADJ
alkej-792	208	4	axis	axis	ADJ
alkej-792	208	5	,	,	PUNCT
alkej-792	208	6	y	y	NOUN
alkej-792	208	7	-	-	PUNCT
alkej-792	208	8	axis	axis	ADJ
alkej-792	208	9	,	,	PUNCT
alkej-792	208	10	z	z	NOUN
alkej-792	208	11	-	-	PUNCT
alkej-792	208	12	axis	axis	ADJ
alkej-792	208	13	,	,	PUNCT
alkej-792	208	14	and	and	CCONJ
alkej-792	208	15	endeffector	endeffector	NOUN
alkej-792	208	16	modules	module	NOUN
alkej-792	208	17	were	be	AUX
alkej-792	208	18	all	all	ADV
alkej-792	208	19	properly	properly	ADV
alkej-792	208	20	developed	develop	VERB
alkej-792	208	21	and	and	CCONJ
alkej-792	208	22	built	build	VERB
alkej-792	208	23	-	-	PUNCT
alkej-792	208	24	in	in	ADP
alkej-792	208	25	terms	term	NOUN
alkej-792	208	26	of	of	ADP
alkej-792	208	27	mechanical	mechanical	ADJ
alkej-792	208	28	design	design	NOUN
alkej-792	208	29	.	.	PUNCT
alkej-792	209	1	all	all	DET
alkej-792	209	2	motors	motor	NOUN
alkej-792	209	3	are	be	AUX
alkej-792	209	4	mountings	mounting	NOUN
alkej-792	209	5	and	and	CCONJ
alkej-792	209	6	couplings	coupling	NOUN
alkej-792	209	7	,	,	PUNCT
alkej-792	209	8	and	and	CCONJ
alkej-792	209	9	they	they	PRON
alkej-792	209	10	are	be	AUX
alkej-792	209	11	p	p	ADJ
alkej-792	209	12	o	o	X
alkej-792	209	13	s	s	VERB
alkej-792	209	14	it	it	PRON
alkej-792	209	15	io	io	SYM
alkej-792	209	16	n	n	PROPN
alkej-792	209	17	(	(	PUNCT
alkej-792	209	18	m	m	VERB
alkej-792	209	19	m	m	VERB
alkej-792	209	20	)	)	PUNCT
alkej-792	210	1	fatima	fatima	PROPN
alkej-792	210	2	m.	m.	PROPN
alkej-792	210	3	jasim	jasim	PROPN
alkej-792	210	4	al	al	PROPN
alkej-792	210	5	-	-	PUNCT
alkej-792	210	6	khwarizmi	khwarizmi	PROPN
alkej-792	210	7	engineering	engineering	NOUN
alkej-792	210	8	journal	journal	PROPN
alkej-792	210	9	,	,	PUNCT
alkej-792	210	10	vol	vol	NOUN
alkej-792	210	11	.	.	PROPN
alkej-792	210	12	18	18	NUM
alkej-792	210	13	,	,	PUNCT
alkej-792	210	14	no	no	INTJ
alkej-792	210	15	.	.	NOUN
alkej-792	210	16	3	3	NUM
alkej-792	210	17	,	,	PUNCT
alkej-792	210	18	p.p	p.p	PROPN
alkej-792	210	19	.	.	NOUN
alkej-792	210	20	114	114	NUM
alkej-792	210	21	(	(	PUNCT
alkej-792	210	22	2022	2022	NUM
alkej-792	210	23	)	)	PUNCT
alkej-792	210	24	13	13	NUM
alkej-792	210	25	correctly	correctly	ADV
alkej-792	210	26	adjusted	adjust	VERB
alkej-792	210	27	.	.	PUNCT
alkej-792	211	1	all	all	PRON
alkej-792	211	2	of	of	ADP
alkej-792	211	3	the	the	DET
alkej-792	211	4	prismatic	prismatic	ADJ
alkej-792	211	5	joints	joint	NOUN
alkej-792	211	6	were	be	AUX
alkej-792	211	7	successfully	successfully	ADV
alkej-792	211	8	developed	develop	VERB
alkej-792	211	9	.	.	PUNCT
alkej-792	212	1	the	the	DET
alkej-792	212	2	structure	structure	NOUN
alkej-792	212	3	is	be	AUX
alkej-792	212	4	designed	design	VERB
alkej-792	212	5	with	with	ADP
alkej-792	212	6	sturdy	sturdy	ADJ
alkej-792	212	7	and	and	CCONJ
alkej-792	212	8	flexible	flexible	ADJ
alkej-792	212	9	arms	arm	NOUN
alkej-792	212	10	to	to	PART
alkej-792	212	11	move	move	VERB
alkej-792	212	12	smoothly	smoothly	ADV
alkej-792	212	13	,	,	PUNCT
alkej-792	212	14	and	and	CCONJ
alkej-792	212	15	the	the	DET
alkej-792	212	16	stress	stress	NOUN
alkej-792	212	17	values	value	NOUN
alkej-792	212	18	for	for	ADP
alkej-792	212	19	each	each	DET
alkej-792	212	20	link	link	NOUN
alkej-792	212	21	have	have	AUX
alkej-792	212	22	been	be	AUX
alkej-792	212	23	adjusted	adjust	VERB
alkej-792	212	24	to	to	PART
alkej-792	212	25	ensure	ensure	VERB
alkej-792	212	26	that	that	SCONJ
alkej-792	212	27	the	the	DET
alkej-792	212	28	weights	weight	NOUN
alkej-792	212	29	are	be	AUX
alkej-792	212	30	handled	handle	VERB
alkej-792	212	31	to	to	PART
alkej-792	212	32	prevent	prevent	VERB
alkej-792	212	33	bending	bending	NOUN
alkej-792	212	34	and	and	CCONJ
alkej-792	212	35	abrasion	abrasion	NOUN
alkej-792	212	36	.	.	PUNCT
alkej-792	213	1	the	the	DET
alkej-792	213	2	power	power	NOUN
alkej-792	213	3	systems	system	NOUN
alkej-792	213	4	module	module	NOUN
alkej-792	213	5	and	and	CCONJ
alkej-792	213	6	the	the	DET
alkej-792	213	7	arduino	arduino	NOUN
alkej-792	213	8	-	-	PUNCT
alkej-792	213	9	nano	nano	NOUN
alkej-792	213	10	controller	controller	NOUN
alkej-792	213	11	were	be	AUX
alkej-792	213	12	successfully	successfully	ADV
alkej-792	213	13	created	create	VERB
alkej-792	213	14	in	in	ADP
alkej-792	213	15	electrical	electrical	ADJ
alkej-792	213	16	and	and	CCONJ
alkej-792	213	17	electronic	electronic	ADJ
alkej-792	213	18	systems	system	NOUN
alkej-792	213	19	.	.	PUNCT
alkej-792	214	1	the	the	DET
alkej-792	214	2	software	software	NOUN
alkej-792	214	3	effectively	effectively	ADV
alkej-792	214	4	controlled	control	VERB
alkej-792	214	5	each	each	DET
alkej-792	214	6	joint	joint	NOUN
alkej-792	214	7	of	of	ADP
alkej-792	214	8	the	the	DET
alkej-792	214	9	spraying	spray	VERB
alkej-792	214	10	robot	robot	NOUN
alkej-792	214	11	that	that	PRON
alkej-792	214	12	completed	complete	VERB
alkej-792	214	13	the	the	DET
alkej-792	214	14	appropriate	appropriate	ADJ
alkej-792	214	15	path	path	NOUN
alkej-792	214	16	for	for	ADP
alkej-792	214	17	painting	paint	VERB
alkej-792	214	18	the	the	DET
alkej-792	214	19	wall	wall	NOUN
alkej-792	214	20	.	.	PUNCT
alkej-792	215	1	according	accord	VERB
alkej-792	215	2	to	to	ADP
alkej-792	215	3	the	the	DET
alkej-792	215	4	experiment	experiment	NOUN
alkej-792	215	5	results	result	NOUN
alkej-792	215	6	,	,	PUNCT
alkej-792	215	7	the	the	DET
alkej-792	215	8	proposed	propose	VERB
alkej-792	215	9	robot	robot	NOUN
alkej-792	215	10	could	could	AUX
alkej-792	215	11	move	move	VERB
alkej-792	215	12	quickly	quickly	ADV
alkej-792	215	13	in	in	ADP
alkej-792	215	14	both	both	CCONJ
alkej-792	215	15	vertical	vertical	ADJ
alkej-792	215	16	and	and	CCONJ
alkej-792	215	17	horizontal	horizontal	ADJ
alkej-792	215	18	motions	motion	NOUN
alkej-792	215	19	.	.	PUNCT
alkej-792	216	1	in	in	ADP
alkej-792	216	2	future	future	ADJ
alkej-792	216	3	work	work	NOUN
alkej-792	216	4	,	,	PUNCT
alkej-792	216	5	a	a	DET
alkej-792	216	6	raspberry	raspberry	NOUN
alkej-792	216	7	pi	pi	NOUN
alkej-792	216	8	controller	controller	NOUN
alkej-792	216	9	could	could	AUX
alkej-792	216	10	be	be	AUX
alkej-792	216	11	used	use	VERB
alkej-792	216	12	instead	instead	ADV
alkej-792	216	13	of	of	ADP
alkej-792	216	14	an	an	DET
alkej-792	216	15	arduino	arduino	NOUN
alkej-792	216	16	-	-	PUNCT
alkej-792	216	17	nano	nano	NOUN
alkej-792	216	18	controller	controller	NOUN
alkej-792	216	19	.	.	PUNCT
alkej-792	217	1	also	also	ADV
alkej-792	217	2	,	,	PUNCT
alkej-792	217	3	a	a	DET
alkej-792	217	4	machine	machine	NOUN
alkej-792	217	5	vision	vision	NOUN
alkej-792	217	6	and	and	CCONJ
alkej-792	217	7	a	a	DET
alkej-792	217	8	camera	camera	NOUN
alkej-792	217	9	are	be	AUX
alkej-792	217	10	mounted	mount	VERB
alkej-792	217	11	on	on	ADP
alkej-792	217	12	the	the	DET
alkej-792	217	13	robot	robot	NOUN
alkej-792	217	14	to	to	PART
alkej-792	217	15	visualize	visualize	VERB
alkej-792	217	16	and	and	CCONJ
alkej-792	217	17	map	map	VERB
alkej-792	217	18	for	for	ADP
alkej-792	217	19	the	the	DET
alkej-792	217	20	path	path	NOUN
alkej-792	217	21	of	of	ADP
alkej-792	217	22	the	the	DET
alkej-792	217	23	end	end	NOUN
alkej-792	217	24	-	-	PUNCT
alkej-792	217	25	effector	effector	NOUN
alkej-792	217	26	and	and	CCONJ
alkej-792	217	27	to	to	PART
alkej-792	217	28	detect	detect	VERB
alkej-792	217	29	the	the	DET
alkej-792	217	30	windows	window	NOUN
alkej-792	217	31	and	and	CCONJ
alkej-792	217	32	the	the	DET
alkej-792	217	33	door	door	NOUN
alkej-792	217	34	.	.	PUNCT
alkej-792	218	1	6	6	X
alkej-792	218	2	.	.	NUM
alkej-792	218	3	references	reference	NOUN
alkej-792	218	4	[	[	X
alkej-792	218	5	1	1	NUM
alkej-792	218	6	]	]	X
alkej-792	218	7	chen	chen	PROPN
alkej-792	218	8	,	,	PUNCT
alkej-792	218	9	wei	wei	PROPN
alkej-792	218	10	,	,	PUNCT
alkej-792	218	11	and	and	CCONJ
alkej-792	218	12	dean	dean	PROPN
alkej-792	218	13	zhao	zhao	PROPN
alkej-792	218	14	.	.	PUNCT
alkej-792	219	1	“	"	PUNCT
alkej-792	219	2	path	path	NOUN
alkej-792	219	3	planning	planning	NOUN
alkej-792	219	4	for	for	ADP
alkej-792	219	5	spray	spray	NOUN
alkej-792	219	6	painting	painting	NOUN
alkej-792	219	7	robot	robot	NOUN
alkej-792	219	8	of	of	ADP
alkej-792	219	9	workpiece	workpiece	NOUN
alkej-792	219	10	surfaces	surface	NOUN
alkej-792	219	11	.	.	PUNCT
alkej-792	219	12	”	"	PUNCT
alkej-792	220	1	mathematical	mathematical	ADJ
alkej-792	220	2	problems	problem	NOUN
alkej-792	220	3	in	in	ADP
alkej-792	220	4	engineering	engineering	NOUN
alkej-792	220	5	,	,	PUNCT
alkej-792	220	6	vol	vol	NOUN
alkej-792	220	7	.	.	PROPN
alkej-792	220	8	2013	2013	NUM
alkej-792	220	9	,	,	PUNCT
alkej-792	220	10	2013	2013	NUM
alkej-792	220	11	,	,	PUNCT
alkej-792	220	12	pp	pp	ADJ
alkej-792	220	13	.	.	PUNCT
alkej-792	221	1	1–6	1–6	NUM
alkej-792	221	2	.	.	NUM
alkej-792	221	3	,	,	PUNCT
alkej-792	221	4	https://doi.org/10.1155/2013/659457	https://doi.org/10.1155/2013/659457	PROPN
alkej-792	221	5	.	.	PUNCT
alkej-792	222	1	[	[	X
alkej-792	222	2	2	2	NUM
alkej-792	222	3	]	]	X
alkej-792	222	4	aris	aris	PROPN
alkej-792	222	5	,	,	PUNCT
alkej-792	222	6	ishak	ishak	PROPN
alkej-792	222	7	bin	bin	PROPN
alkej-792	222	8	,	,	PUNCT
alkej-792	222	9	and	and	CCONJ
alkej-792	222	10	a.	a.	PROPN
alkej-792	222	11	k.	k.	PROPN
alkej-792	222	12	iqbal	iqbal	PROPN
alkej-792	222	13	.	.	PUNCT
alkej-792	223	1	“	"	PUNCT
alkej-792	223	2	design	design	NOUN
alkej-792	223	3	and	and	CCONJ
alkej-792	223	4	fabrication	fabrication	NOUN
alkej-792	223	5	of	of	ADP
alkej-792	223	6	a	a	DET
alkej-792	223	7	cartesian	cartesian	ADJ
alkej-792	223	8	painter	painter	NOUN
alkej-792	223	9	robot	robot	NOUN
alkej-792	223	10	for	for	ADP
alkej-792	223	11	the	the	DET
alkej-792	223	12	construction	construction	NOUN
alkej-792	223	13	industry	industry	NOUN
alkej-792	223	14	.	.	PUNCT
alkej-792	223	15	”	"	PUNCT
alkej-792	224	1	international	international	ADJ
alkej-792	224	2	journal	journal	NOUN
alkej-792	224	3	of	of	ADP
alkej-792	224	4	mechanical	mechanical	ADJ
alkej-792	224	5	engineering	engineering	NOUN
alkej-792	224	6	education	education	NOUN
alkej-792	224	7	,	,	PUNCT
alkej-792	224	8	vol	vol	NOUN
alkej-792	224	9	.	.	PROPN
alkej-792	224	10	34	34	NUM
alkej-792	224	11	,	,	PUNCT
alkej-792	224	12	no	no	INTJ
alkej-792	224	13	.	.	NOUN
alkej-792	224	14	2	2	NUM
alkej-792	224	15	,	,	PUNCT
alkej-792	224	16	2006	2006	NUM
alkej-792	224	17	,	,	PUNCT
alkej-792	224	18	pp	pp	ADV
alkej-792	224	19	.	.	PUNCT
alkej-792	225	1	125–144	125–144	NUM
alkej-792	225	2	.	.	PUNCT
alkej-792	226	1	[	[	X
alkej-792	226	2	3	3	NUM
alkej-792	226	3	]	]	X
alkej-792	226	4	sorour	sorour	PROPN
alkej-792	226	5	,	,	PUNCT
alkej-792	226	6	mohamed	mohamed	PROPN
alkej-792	226	7	.	.	PUNCT
alkej-792	227	1	"	"	PUNCT
alkej-792	227	2	robopainter	robopainter	NOUN
alkej-792	227	3	–	–	PUNCT
alkej-792	227	4	a	a	DET
alkej-792	227	5	conceptual	conceptual	ADJ
alkej-792	227	6	towards	towards	ADP
alkej-792	227	7	robotized	robotize	VERB
alkej-792	227	8	interior	interior	ADJ
alkej-792	227	9	finishes	finish	NOUN
alkej-792	227	10	.	.	PUNCT
alkej-792	227	11	"	"	PUNCT
alkej-792	228	1	(	(	PUNCT
alkej-792	228	2	2015	2015	NUM
alkej-792	228	3	)	)	PUNCT
alkej-792	228	4	.	.	PUNCT
alkej-792	229	1	[	[	X
alkej-792	229	2	4	4	NUM
alkej-792	229	3	]	]	PUNCT
alkej-792	229	4	scalera	scalera	NOUN
alkej-792	229	5	,	,	PUNCT
alkej-792	229	6	lorenzo	lorenzo	PROPN
alkej-792	229	7	,	,	PUNCT
alkej-792	229	8	et	et	PROPN
alkej-792	229	9	al	al	PROPN
alkej-792	229	10	.	.	PUNCT
alkej-792	230	1	“	"	PUNCT
alkej-792	230	2	airbrush	airbrush	ADJ
alkej-792	230	3	robotic	robotic	ADJ
alkej-792	230	4	painting	painting	NOUN
alkej-792	230	5	system	system	NOUN
alkej-792	230	6	:	:	PUNCT
alkej-792	230	7	experimental	experimental	ADJ
alkej-792	230	8	validation	validation	NOUN
alkej-792	230	9	of	of	ADP
alkej-792	230	10	a	a	DET
alkej-792	230	11	colour	colour	NOUN
alkej-792	230	12	spray	spray	NOUN
alkej-792	230	13	model	model	NOUN
alkej-792	230	14	.	.	PUNCT
alkej-792	230	15	”	"	PUNCT
alkej-792	230	16	advances	advance	NOUN
alkej-792	230	17	in	in	ADP
alkej-792	230	18	service	service	NOUN
alkej-792	230	19	and	and	CCONJ
alkej-792	230	20	industrial	industrial	ADJ
alkej-792	230	21	robotics	robotic	NOUN
alkej-792	230	22	,	,	PUNCT
alkej-792	230	23	2017	2017	NUM
alkej-792	230	24	,	,	PUNCT
alkej-792	230	25	pp	pp	ADJ
alkej-792	230	26	.	.	PUNCT
alkej-792	231	1	549–556	549–556	NUM
alkej-792	231	2	.	.	NUM
alkej-792	231	3	,	,	PUNCT
alkej-792	231	4	https://doi.org/10.1007/978-3-319-612768_57	https://doi.org/10.1007/978-3-319-612768_57	PROPN
alkej-792	231	5	.	.	PUNCT
alkej-792	232	1	[	[	X
alkej-792	232	2	5	5	NUM
alkej-792	232	3	]	]	SYM
alkej-792	232	4	tuli	tuli	NOUN
alkej-792	232	5	,	,	PUNCT
alkej-792	232	6	tadele	tadele	PROPN
alkej-792	232	7	belay	belay	NOUN
alkej-792	232	8	.	.	PUNCT
alkej-792	233	1	"	"	PUNCT
alkej-792	233	2	mathematical	mathematical	ADJ
alkej-792	233	3	modeling	modeling	NOUN
alkej-792	233	4	and	and	CCONJ
alkej-792	233	5	dynamic	dynamic	ADJ
alkej-792	233	6	simulation	simulation	NOUN
alkej-792	233	7	of	of	ADP
alkej-792	233	8	gantry	gantry	NOUN
alkej-792	233	9	robot	robot	NOUN
alkej-792	233	10	using	use	VERB
alkej-792	233	11	bond	bond	NOUN
alkej-792	233	12	graph	graph	NOUN
alkej-792	233	13	.	.	PUNCT
alkej-792	233	14	"	"	PUNCT
alkej-792	233	15	international	international	ADJ
alkej-792	233	16	conference	conference	NOUN
alkej-792	233	17	on	on	ADP
alkej-792	233	18	information	information	NOUN
alkej-792	233	19	and	and	CCONJ
alkej-792	233	20	communication	communication	NOUN
alkej-792	233	21	technology	technology	NOUN
alkej-792	233	22	for	for	ADP
alkej-792	233	23	develoment	develoment	NOUN
alkej-792	233	24	for	for	ADP
alkej-792	233	25	africa	africa	PROPN
alkej-792	233	26	.	.	PUNCT
alkej-792	234	1	springer	springer	PROPN
alkej-792	234	2	,	,	PUNCT
alkej-792	234	3	cham	cham	PROPN
alkej-792	234	4	,	,	PUNCT
alkej-792	234	5	2017	2017	NUM
alkej-792	234	6	.	.	PUNCT
alkej-792	235	1	[	[	X
alkej-792	235	2	6	6	NUM
alkej-792	235	3	]	]	X
alkej-792	235	4	katsumata	katsumata	PROPN
alkej-792	235	5	,	,	PUNCT
alkej-792	235	6	takuma	takuma	NOUN
alkej-792	235	7	,	,	PUNCT
alkej-792	235	8	et	et	PROPN
alkej-792	235	9	al	al	PROPN
alkej-792	235	10	.	.	PUNCT
alkej-792	236	1	“	"	PUNCT
alkej-792	236	2	optimal	optimal	ADJ
alkej-792	236	3	exciting	exciting	ADJ
alkej-792	236	4	motion	motion	NOUN
alkej-792	236	5	for	for	ADP
alkej-792	236	6	fast	fast	ADJ
alkej-792	236	7	robot	robot	NOUN
alkej-792	236	8	identification	identification	NOUN
alkej-792	236	9	.	.	PUNCT
alkej-792	237	1	application	application	NOUN
alkej-792	237	2	to	to	PART
alkej-792	237	3	contact	contact	VERB
alkej-792	237	4	painting	painting	NOUN
alkej-792	237	5	tasks	task	NOUN
alkej-792	237	6	with	with	ADP
alkej-792	237	7	estimated	estimate	VERB
alkej-792	237	8	external	external	ADJ
alkej-792	237	9	forces	force	NOUN
alkej-792	237	10	.	.	PUNCT
alkej-792	237	11	”	"	PUNCT
alkej-792	238	1	robotics	robotic	NOUN
alkej-792	238	2	and	and	CCONJ
alkej-792	238	3	autonomous	autonomous	ADJ
alkej-792	238	4	systems	system	NOUN
alkej-792	238	5	,	,	PUNCT
alkej-792	238	6	vol	vol	NOUN
alkej-792	238	7	.	.	PROPN
alkej-792	238	8	113	113	NUM
alkej-792	238	9	,	,	PUNCT
alkej-792	238	10	2019	2019	NUM
alkej-792	238	11	,	,	PUNCT
alkej-792	238	12	pp	pp	ADJ
alkej-792	238	13	.	.	PUNCT
alkej-792	239	1	149–159	149–159	NUM
alkej-792	239	2	.	.	PUNCT
alkej-792	240	1	[	[	X
alkej-792	240	2	7	7	X
alkej-792	240	3	]	]	X
alkej-792	240	4	n.	n.	NOUN
alkej-792	240	5	patel	patel	PROPN
alkej-792	240	6	and	and	CCONJ
alkej-792	240	7	r.	r.	PROPN
alkej-792	240	8	sarvaiya	sarvaiya	PROPN
alkej-792	240	9	,	,	PUNCT
alkej-792	240	10	“	"	PUNCT
alkej-792	240	11	study	study	NOUN
alkej-792	240	12	of	of	ADP
alkej-792	240	13	material	material	NOUN
alkej-792	240	14	characteristics	characteristic	NOUN
alkej-792	240	15	for	for	ADP
alkej-792	240	16	efficient	efficient	ADJ
alkej-792	240	17	design	design	NOUN
alkej-792	240	18	of	of	ADP
alkej-792	240	19	spray	spray	NOUN
alkej-792	240	20	painting	painting	NOUN
alkej-792	240	21	robot	robot	NOUN
alkej-792	240	22	,	,	PUNCT
alkej-792	240	23	”	"	PUNCT
alkej-792	240	24	,	,	PUNCT
alkej-792	240	25	international	international	ADJ
alkej-792	240	26	research	research	NOUN
alkej-792	240	27	journal	journal	NOUN
alkej-792	240	28	of	of	ADP
alkej-792	240	29	engineering	engineering	NOUN
alkej-792	240	30	and	and	CCONJ
alkej-792	240	31	technology	technology	NOUN
alkej-792	240	32	(	(	PUNCT
alkej-792	240	33	irjet	irjet	NOUN
alkej-792	240	34	)	)	PUNCT
alkej-792	240	35	,	,	PUNCT
alkej-792	240	36	vol.07	vol.07	PROPN
alkej-792	240	37	,	,	PUNCT
alkej-792	240	38	issue03	issue03	NOUN
alkej-792	240	39	,	,	PUNCT
alkej-792	240	40	2020	2020	NUM
alkej-792	240	41	.	.	PUNCT
alkej-792	241	1	[	[	X
alkej-792	241	2	8	8	NUM
alkej-792	241	3	]	]	SYM
alkej-792	241	4	muneer	muneer	NOUN
alkej-792	241	5	,	,	PUNCT
alkej-792	241	6	amgad	amgad	NOUN
alkej-792	241	7	,	,	PUNCT
alkej-792	241	8	and	and	CCONJ
alkej-792	241	9	zhan	zhan	PROPN
alkej-792	241	10	dairabayev	dairabayev	PROPN
alkej-792	241	11	.	.	PUNCT
alkej-792	242	1	“	"	PUNCT
alkej-792	242	2	design	design	NOUN
alkej-792	242	3	and	and	CCONJ
alkej-792	242	4	implementation	implementation	NOUN
alkej-792	242	5	of	of	ADP
alkej-792	242	6	automatic	automatic	ADJ
alkej-792	242	7	painting	painting	NOUN
alkej-792	242	8	mobile	mobile	NOUN
alkej-792	242	9	robot	robot	NOUN
alkej-792	242	10	.	.	PUNCT
alkej-792	242	11	”	"	PUNCT
alkej-792	243	1	iaes	iaes	PROPN
alkej-792	243	2	international	international	PROPN
alkej-792	243	3	journal	journal	PROPN
alkej-792	243	4	of	of	ADP
alkej-792	243	5	robotics	robotic	NOUN
alkej-792	243	6	and	and	CCONJ
alkej-792	243	7	automation	automation	NOUN
alkej-792	243	8	(	(	PUNCT
alkej-792	243	9	ijra	ijra	PROPN
alkej-792	243	10	)	)	PUNCT
alkej-792	243	11	,	,	PUNCT
alkej-792	243	12	vol	vol	NOUN
alkej-792	243	13	.	.	PROPN
alkej-792	243	14	10	10	NUM
alkej-792	243	15	,	,	PUNCT
alkej-792	243	16	no	no	INTJ
alkej-792	243	17	.	.	NOUN
alkej-792	243	18	1	1	NUM
alkej-792	243	19	,	,	PUNCT
alkej-792	243	20	2021	2021	NUM
alkej-792	243	21	,	,	PUNCT
alkej-792	243	22	p.	p.	NOUN
alkej-792	243	23	68	68	NUM
alkej-792	243	24	.	.	PUNCT
alkej-792	244	1	[	[	X
alkej-792	244	2	9	9	NUM
alkej-792	244	3	]	]	SYM
alkej-792	244	4	spong	spong	PROPN
alkej-792	244	5	,	,	PUNCT
alkej-792	244	6	mark	mark	PROPN
alkej-792	244	7	w.	w.	PROPN
alkej-792	244	8	,	,	PUNCT
alkej-792	244	9	et	et	PROPN
alkej-792	244	10	al	al	PROPN
alkej-792	244	11	.	.	PROPN
alkej-792	244	12	robot	robot	NOUN
alkej-792	244	13	modeling	modeling	NOUN
alkej-792	244	14	and	and	CCONJ
alkej-792	244	15	control	control	NOUN
alkej-792	244	16	.	.	PUNCT
alkej-792	245	1	new	new	PROPN
alkej-792	245	2	york	york	PROPN
alkej-792	245	3	:	:	PUNCT
alkej-792	245	4	wiley	wiley	PROPN
alkej-792	245	5	,	,	PUNCT
alkej-792	245	6	2020	2020	NUM
alkej-792	245	7	.	.	PUNCT
alkej-792	246	1	[	[	X
alkej-792	246	2	10	10	NUM
alkej-792	246	3	]	]	X
alkej-792	246	4	siciliano	siciliano	PROPN
alkej-792	246	5	,	,	PUNCT
alkej-792	246	6	bruno	bruno	PROPN
alkej-792	246	7	,	,	PUNCT
alkej-792	246	8	et	et	PROPN
alkej-792	246	9	al	al	PROPN
alkej-792	246	10	.	.	PROPN
alkej-792	246	11	force	force	PROPN
alkej-792	246	12	control	control	PROPN
alkej-792	246	13	.	.	PUNCT
alkej-792	246	14	springer	springer	PROPN
alkej-792	246	15	london	london	PROPN
alkej-792	246	16	,	,	PUNCT
alkej-792	246	17	2009	2009	NUM
alkej-792	246	18	.	.	PUNCT
alkej-792	247	1	[	[	X
alkej-792	247	2	11	11	NUM
alkej-792	247	3	]	]	SYM
alkej-792	247	4	ljung	ljung	PROPN
alkej-792	247	5	,	,	PUNCT
alkej-792	247	6	lennart	lennart	PROPN
alkej-792	247	7	,	,	PUNCT
alkej-792	247	8	and	and	CCONJ
alkej-792	247	9	torkel	torkel	VERB
alkej-792	247	10	glad	glad	ADJ
alkej-792	247	11	.	.	PUNCT
alkej-792	248	1	modeling	modeling	NOUN
alkej-792	248	2	of	of	ADP
alkej-792	248	3	dynamic	dynamic	ADJ
alkej-792	248	4	systems	system	NOUN
alkej-792	248	5	.	.	PUNCT
alkej-792	249	1	prentice	prentice	NOUN
alkej-792	249	2	-	-	PUNCT
alkej-792	249	3	hall	hall	PROPN
alkej-792	249	4	,	,	PUNCT
alkej-792	249	5	inc	inc	PROPN
alkej-792	249	6	.	.	PROPN
alkej-792	249	7	,	,	PUNCT
alkej-792	249	8	2002	2002	NUM
alkej-792	249	9	.	.	PUNCT
alkej-792	250	1	[	[	X
alkej-792	250	2	12	12	NUM
alkej-792	250	3	]	]	PUNCT
alkej-792	250	4	khurmi	khurmi	NOUN
alkej-792	250	5	,	,	PUNCT
alkej-792	250	6	r.	r.	PROPN
alkej-792	250	7	s.	s.	PROPN
alkej-792	250	8	,	,	PUNCT
alkej-792	250	9	and	and	CCONJ
alkej-792	250	10	j.	j.	PROPN
alkej-792	250	11	k.	k.	PROPN
alkej-792	250	12	gupta	gupta	PROPN
alkej-792	250	13	.	.	PUNCT
alkej-792	251	1	a	a	DET
alkej-792	251	2	textbook	textbook	NOUN
alkej-792	251	3	of	of	ADP
alkej-792	251	4	machine	machine	NOUN
alkej-792	251	5	design	design	NOUN
alkej-792	251	6	.	.	PUNCT
alkej-792	252	1	eurasia	eurasia	PROPN
alkej-792	252	2	publishing	publishing	PROPN
alkej-792	252	3	house	house	PROPN
alkej-792	252	4	,	,	PUNCT
alkej-792	252	5	2005	2005	NUM
alkej-792	252	6	.	.	PUNCT
alkej-792	253	1	[	[	X
alkej-792	253	2	13	13	NUM
alkej-792	253	3	]	]	X
alkej-792	253	4	ansoategui	ansoategui	NOUN
alkej-792	253	5	,	,	PUNCT
alkej-792	253	6	igor	igor	NOUN
alkej-792	253	7	,	,	PUNCT
alkej-792	253	8	and	and	CCONJ
alkej-792	253	9	francisco	francisco	PROPN
alkej-792	253	10	j.	j.	PROPN
alkej-792	253	11	campa	campa	PROPN
alkej-792	253	12	.	.	PUNCT
alkej-792	254	1	“	"	PUNCT
alkej-792	254	2	mechatronics	mechatronic	NOUN
alkej-792	254	3	of	of	ADP
alkej-792	254	4	a	a	DET
alkej-792	254	5	ball	ball	NOUN
alkej-792	254	6	screw	screw	NOUN
alkej-792	254	7	drive	drive	VERB
alkej-792	254	8	using	use	VERB
alkej-792	254	9	an	an	DET
alkej-792	254	10	n	n	NOUN
alkej-792	254	11	degrees	degree	NOUN
alkej-792	254	12	of	of	ADP
alkej-792	254	13	freedom	freedom	NOUN
alkej-792	254	14	dynamic	dynamic	ADJ
alkej-792	254	15	model	model	NOUN
alkej-792	254	16	.	.	PUNCT
alkej-792	254	17	”	"	PUNCT
alkej-792	255	1	the	the	DET
alkej-792	255	2	international	international	ADJ
alkej-792	255	3	journal	journal	NOUN
alkej-792	255	4	of	of	ADP
alkej-792	255	5	advanced	advanced	ADJ
alkej-792	255	6	manufacturing	manufacturing	NOUN
alkej-792	255	7	technology	technology	NOUN
alkej-792	255	8	,	,	PUNCT
alkej-792	255	9	vol	vol	NOUN
alkej-792	255	10	.	.	PROPN
alkej-792	255	11	93	93	NUM
alkej-792	255	12	,	,	PUNCT
alkej-792	255	13	no	no	INTJ
alkej-792	255	14	.	.	NOUN
alkej-792	255	15	1	1	NUM
alkej-792	255	16	-	-	SYM
alkej-792	255	17	4	4	NUM
alkej-792	255	18	,	,	PUNCT
alkej-792	255	19	2017	2017	NUM
alkej-792	255	20	,	,	PUNCT
alkej-792	255	21	pp	pp	ADJ
alkej-792	255	22	.	.	PUNCT
alkej-792	255	23	1307–1318	1307–1318	NUM
alkej-792	255	24	.	.	PUNCT
alkej-792	256	1	[	[	X
alkej-792	256	2	14	14	NUM
alkej-792	256	3	]	]	PUNCT
alkej-792	256	4	tahseen	tahseen	PROPN
alkej-792	256	5	f.	f.	PROPN
alkej-792	256	6	abaas	abaas	PROPN
alkej-792	256	7	,	,	PUNCT
alkej-792	256	8	ali	ali	PROPN
alkej-792	256	9	a.	a.	NOUN
alkej-792	256	10	khleif	khleif	NOUN
alkej-792	256	11	,	,	PUNCT
alkej-792	256	12	and	and	CCONJ
alkej-792	256	13	mohanad	mohanad	PROPN
alkej-792	256	14	q.	q.	PROPN
alkej-792	256	15	abbood	abbood	PROPN
alkej-792	256	16	,	,	PUNCT
alkej-792	256	17	"	"	PUNCT
alkej-792	256	18	inverse	inverse	ADJ
alkej-792	256	19	kinematics	kinematic	NOUN
alkej-792	256	20	analysis	analysis	NOUN
alkej-792	256	21	and	and	CCONJ
alkej-792	256	22	simulation	simulation	NOUN
alkej-792	256	23	of	of	ADP
alkej-792	256	24	a	a	DET
alkej-792	256	25	5	5	NUM
alkej-792	256	26	dof	dof	NOUN
alkej-792	256	27	robotic	robotic	ADJ
alkej-792	256	28	arm	arm	NOUN
alkej-792	256	29	using	use	VERB
alkej-792	256	30	matlab	matlab	PROPN
alkej-792	256	31	,	,	PUNCT
alkej-792	256	32	"	"	PUNCT
alkej-792	256	33	al	al	PROPN
alkej-792	256	34	-	-	PUNCT
alkej-792	256	35	khwarizmi	khwarizmi	PROPN
alkej-792	256	36	engineering	engineering	NOUN
alkej-792	256	37	journal	journal	PROPN
alkej-792	256	38	,	,	PUNCT
alkej-792	256	39	vol	vol	NOUN
alkej-792	256	40	.	.	PROPN
alkej-792	256	41	16	16	NUM
alkej-792	256	42	,	,	PUNCT
alkej-792	256	43	p.	p.	NOUN
alkej-792	257	1	p.	p.	NOUN
alkej-792	257	2	110	110	NUM
alkej-792	257	3	,	,	PUNCT
alkej-792	257	4	march	march	PROPN
alkej-792	257	5	,	,	PUNCT
alkej-792	257	6	(	(	PUNCT
alkej-792	257	7	2020	2020	NUM
alkej-792	257	8	)	)	PUNCT
alkej-792	257	9	.	.	PUNCT
alkej-792	258	1	[	[	X
alkej-792	258	2	15	15	NUM
alkej-792	258	3	]	]	X
alkej-792	258	4	iman	iman	PROPN
alkej-792	258	5	s.	s.	PROPN
alkej-792	258	6	karem	karem	PROPN
alkej-792	258	7	,	,	PUNCT
alkej-792	258	8	talal	talal	PROPN
alkej-792	258	9	a.	a.	PROPN
alkej-792	258	10	jabbar	jabbar	PROPN
alkej-792	258	11	a.wahab	a.wahab	PROPN
alkej-792	258	12	,	,	PUNCT
alkej-792	258	13	and	and	CCONJ
alkej-792	258	14	mawadah	mawadah	PROPN
alkej-792	258	15	j.	j.	PROPN
alkej-792	258	16	yahyh	yahyh	PROPN
alkej-792	258	17	.	.	PUNCT
alkej-792	259	1	“	"	PUNCT
alkej-792	259	2	design	design	NOUN
alkej-792	259	3	and	and	CCONJ
alkej-792	259	4	implementation	implementation	NOUN
alkej-792	259	5	for	for	ADP
alkej-792	259	6	3	3	NUM
alkej-792	259	7	-	-	PUNCT
alkej-792	259	8	dof	dof	NOUN
alkej-792	259	9	scara	scara	NOUN
alkej-792	259	10	robot	robot	PROPN
alkej-792	259	11	based	base	VERB
alkej-792	259	12	plc	plc	PROPN
alkej-792	259	13	,	,	PUNCT
alkej-792	259	14	”	"	PUNCT
alkej-792	259	15	al	al	PROPN
alkej-792	259	16	-	-	PUNCT
alkej-792	259	17	khwarizmi	khwarizmi	PROPN
alkej-792	259	18	engineering	engineering	NOUN
alkej-792	259	19	journal	journal	PROPN
alkej-792	259	20	,	,	PUNCT
alkej-792	259	21	vol	vol	NOUN
alkej-792	259	22	.	.	PROPN
alkej-792	259	23	13	13	NUM
alkej-792	259	24	,	,	PUNCT
alkej-792	259	25	no	no	INTJ
alkej-792	259	26	.	.	NOUN
alkej-792	259	27	1	1	NUM
alkej-792	259	28	,	,	PUNCT
alkej-792	259	29	p.p	p.p	PROPN
alkej-792	259	30	.	.	NOUN
alkej-792	259	31	4050	4050	NUM
alkej-792	259	32	(	(	PUNCT
alkej-792	259	33	2017	2017	NUM
alkej-792	259	34	)	)	PUNCT
alkej-792	259	35	.	.	PUNCT
alkej-792	260	1	[	[	X
alkej-792	260	2	16	16	NUM
alkej-792	260	3	]	]	X
alkej-792	260	4	maryam	maryam	PROPN
alkej-792	260	5	sadeq	sadeq	PROPN
alkej-792	260	6	ahmed	ahmed	PROPN
alkej-792	260	7	,	,	PUNCT
alkej-792	260	8	and	and	CCONJ
alkej-792	260	9	et	et	PROPN
alkej-792	260	10	al	al	PROPN
alkej-792	260	11	.	.	PUNCT
alkej-792	261	1	“	"	PUNCT
alkej-792	261	2	robust	robust	ADJ
alkej-792	261	3	computed	compute	VERB
alkej-792	261	4	torque	torque	NOUN
alkej-792	261	5	control	control	NOUN
alkej-792	261	6	for	for	ADP
alkej-792	261	7	uncertain	uncertain	ADJ
alkej-792	261	8	robotic	robotic	ADJ
alkej-792	261	9	manipulatorss	manipulatorss	NOUN
alkej-792	261	10	.	.	PUNCT
alkej-792	261	11	”	"	PUNCT
alkej-792	262	1	al	al	PROPN
alkej-792	262	2	-	-	PUNCT
alkej-792	262	3	khwarizmi	khwarizmi	PROPN
alkej-792	262	4	engineering	engineering	NOUN
alkej-792	262	5	journal	journal	PROPN
alkej-792	262	6	,	,	PUNCT
alkej-792	262	7	vol	vol	NOUN
alkej-792	262	8	.	.	PROPN
alkej-792	262	9	17	17	NUM
alkej-792	262	10	,	,	PUNCT
alkej-792	262	11	no	no	INTJ
alkej-792	262	12	.	.	NOUN
alkej-792	262	13	3	3	NUM
alkej-792	262	14	,	,	PUNCT
alkej-792	262	15	2021	2021	NUM
alkej-792	262	16	,	,	PUNCT
alkej-792	262	17	pp	pp	ADJ
alkej-792	262	18	.	.	PUNCT
alkej-792	263	1	22–28	22–28	NUM
alkej-792	263	2	.	.	NUM
alkej-792	263	3	,	,	PUNCT
alkej-792	263	4	https://doi.org/10.22153/kej.2021.09.002	https://doi.org/10.22153/kej.2021.09.002	PROPN
alkej-792	263	5	.	.	PUNCT
alkej-792	263	6	)	)	PUNCT
alkej-792	263	7	2022	2022	NUM
alkej-792	263	8	(	(	PUNCT
alkej-792	263	9	1	1	NUM
alkej-792	263	10	-	-	SYM
alkej-792	263	11	14	14	NUM
alkej-792	263	12	،	،	NOUN
alkej-792	263	13	صفحة	صفحة	PROPN
alkej-792	263	14	3العدد	3العدد	PROPN
alkej-792	263	15	،	،	NOUN
alkej-792	263	16	18مجلة	18مجلة	NUM
alkej-792	263	17	الخوارزمي	الخوارزمي	VERB
alkej-792	263	18	الهندسية	الهندسية	NOUN
alkej-792	263	19	المجلد	المجلد	VERB
alkej-792	263	20	فاطمة	فاطمة	PROPN
alkej-792	263	21	محمد	محمد	ADJ
alkej-792	263	22	جاسم	جاسم	NOUN
alkej-792	263	23	14	14	NUM
alkej-792	263	24	تصميم	تصميم	NOUN
alkej-792	263	25	وتحليل	وتحليل	VERB
alkej-792	263	26	روبوت	روبوت	PROPN
alkej-792	263	27	الرش	الرش	PROPN
alkej-792	264	1	مالك	مالك	PROPN
alkej-792	264	2	محمد	محمد	PROPN
alkej-792	264	3	علي	علي	NOUN
alkej-792	264	4	*	*	PUNCT
alkej-792	264	5	*	*	PUNCT
alkej-792	264	6	فاطمة	فاطمة	PROPN
alkej-792	264	7	محمد	محمد	ADJ
alkej-792	264	8	جاسم	جاسم	NOUN
alkej-792	264	9	*	*	SYM
alkej-792	264	10	علي	علي	NOUN
alkej-792	264	11	حسين	حسين	PROPN
alkej-792	264	12	حمد	حمد	PROPN
alkej-792	264	13	*	*	PUNCT
alkej-792	264	14	*	*	PUNCT
alkej-792	264	15	*	*	PUNCT
alkej-792	264	16	جامعة	جامعة	PROPN
alkej-792	264	17	بغداد	بغداد	PROPN
alkej-792	264	18	كلية	كلية	NOUN
alkej-792	264	19	الهندسة	الهندسة	VERB
alkej-792	264	20	الخوارزمي/	الخوارزمي/	NUM
alkej-792	264	21	*	*	PUNCT
alkej-792	264	22	*	*	ADJ
alkej-792	264	23	قسم	قسم	PROPN
alkej-792	264	24	هندسة	هندسة	NOUN
alkej-792	264	25	الميكاترونيكس/	الميكاترونيكس/	PROPN
alkej-792	264	26	،	،	X
alkej-792	264	27	*	*	X
alkej-792	264	28	بغدادجامعة	بغدادجامعة	ADJ
alkej-792	264	29	كلية	كلية	NOUN
alkej-792	264	30	الهندسة	الهندسة	NOUN
alkej-792	264	31	الخوارزمي/	الخوارزمي/	NUM
alkej-792	265	1	والمعلومات/	والمعلومات/	NUM
alkej-792	265	2	قسم	قسم	PROPN
alkej-792	265	3	هندسة	هندسة	NOUN
alkej-792	265	4	االتصاالت	االتصاالت	NOUN
alkej-792	266	1	*	*	PUNCT
alkej-792	267	1	*	*	PUNCT
alkej-792	267	2	*	*	PUNCT
alkej-792	267	3	fatomaa.eng@gmail.com	fatomaa.eng@gmail.com	X
alkej-792	267	4	:	:	PUNCT
alkej-792	267	5	البريد	البريد	VERB
alkej-792	267	6	االلكتروني	االلكتروني	NOUN
alkej-792	267	7	*	*	PUNCT
alkej-792	267	8	malik@kecbu.uobaghdad.edu.iq	malik@kecbu.uobaghdad.edu.iq	NOUN
alkej-792	267	9	:	:	PUNCT
alkej-792	267	10	البريد	البريد	VERB
alkej-792	267	11	االلكتروني	االلكتروني	NOUN
alkej-792	267	12	*	*	PUNCT
alkej-792	267	13	*	*	PUNCT
alkej-792	267	14	ahamad@kecbu.uobaghdad.edu.iq	ahamad@kecbu.uobaghdad.edu.iq	PROPN
alkej-792	267	15	*	*	PUNCT
alkej-792	267	16	*	*	PUNCT
alkej-792	267	17	*	*	NOUN
alkej-792	267	18	البريد	البريد	NOUN
alkej-792	267	19	االلكتروني	االلكتروني	NOUN
alkej-792	267	20	:	:	PUNCT
alkej-792	267	21	الخالصة	الخالصة	PROPN
alkej-792	267	22	المرتبطة	المرتبطة	PROPN
alkej-792	267	23	بالرش	بالرش	PROPN
alkej-792	267	24	اليدوي	اليدوي	PROPN
alkej-792	267	25	.	.	PUNCT
alkej-792	268	1	تم	تم	PROPN
alkej-792	268	2	تفصيل	تفصيل	PROPN
alkej-792	268	3	وتصميم	وتصميم	PROPN
alkej-792	268	4	التقنيات	التقنيات	PROPN
alkej-792	268	5	الميكانيكية	الميكانيكية	PROPN
alkej-792	268	6	واألجهزة	واألجهزة	PROPN
alkej-792	268	7	المشاكلتم	المشاكلتم	PROPN
alkej-792	268	8	بناء	بناء	PROPN
alkej-792	268	9	روبوت	روبوت	PROPN
alkej-792	268	10	رش	رش	PROPN
alkej-792	268	11	داخلي	داخلي	PROPN
alkej-792	268	12	في	في	ADP
alkej-792	268	13	هذا	هذا	NOUN
alkej-792	268	14	البحث	البحث	NOUN
alkej-792	269	1	لحل	لحل	AUX
alkej-792	269	2	العديد	العديد	VERB
alkej-792	269	3	من	من	PRON
alkej-792	269	4	كي	كي	PROPN
alkej-792	269	5	والتقنيات	والتقنيات	PROPN
alkej-792	269	6	األساسية	األساسية	NOUN
alkej-792	269	7	المستخدمة	المستخدمة	ADJ
alkej-792	269	8	.	.	PUNCT
alkej-792	270	1	ينقسم	ينقسم	PROPN
alkej-792	270	2	التصميم	التصميم	PROPN
alkej-792	270	3	التصوري	التصوري	PROPN
alkej-792	270	4	لروبوت	لروبوت	PROPN
alkej-792	270	5	الرش	الرش	PROPN
alkej-792	270	6	المقترح	المقترح	NOUN
alkej-792	270	7	إلى	إلى	NOUN
alkej-792	270	8	جزأين	جزأين	NOUN
alkej-792	270	9	:	:	PUNCT
alkej-792	270	10	األجهزة	األجهزة	PROPN
alkej-792	270	11	والبرامج	والبرامج	PROPN
alkej-792	270	12	.	.	PUNCT
alkej-792	271	1	يتم	يتم	PROPN
alkej-792	271	2	وصف	وصف	PROPN
alkej-792	271	3	التصميم	التصميم	PROPN
alkej-792	271	4	الميكاني	الميكاني	PROPN
alkej-792	271	5	بينما	بينما	VERB
alkej-792	271	6	يتم	يتم	PROPN
alkej-792	271	7	وصف	وصف	PROPN
alkej-792	271	8	التحكم	التحكم	VERB
alkej-792	271	9	في	في	ADP
alkej-792	271	10	الروبوت	الروبوت	PROPN
alkej-792	272	1	في	في	ADP
alkej-792	272	2	قسم	قسم	PROPN
alkej-792	272	3	البرنامج	البرنامج	PROPN
alkej-792	272	4	.	.	PUNCT
alkej-792	273	1	تم	تم	PROPN
alkej-792	273	2	تطوير	تطوير	PROPN
alkej-792	273	3	النماذج	النماذج	PROPN
alkej-792	273	4	الحركية	الحركية	PROPN
alkej-792	273	5	األجهزة،والتصنيع	األجهزة،والتصنيع	PROPN
alkej-792	273	6	واألنظمة	واألنظمة	PROPN
alkej-792	273	7	الكهربائية	الكهربائية	NOUN
alkej-792	273	8	واإللكترونية	واإللكترونية	PROPN
alkej-792	273	9	في	في	ADP
alkej-792	273	10	جزء	جزء	PROPN
alkej-792	273	11	solidworksتم	solidworksتم	PROPN
alkej-792	273	12	تصميم	تصميم	PROPN
alkej-792	273	13	الروبوت	الروبوت	PROPN
alkej-792	273	14	بعد	بعد	PROPN
alkej-792	273	15	ذلك	ذلك	PROPN
alkej-792	273	16	باستخدام	باستخدام	PROPN
alkej-792	273	17	برنامج	برنامج	NOUN
alkej-792	273	18	)	)	PUNCT
alkej-792	273	19	.x	.x	PROPN
alkej-792	273	20	,	,	PUNCT
alkej-792	273	21	y	y	PROPN
alkej-792	273	22	,	,	PUNCT
alkej-792	274	1	z	z	PROPN
alkej-792	274	2	(	(	PUNCT
alkej-792	274	3	والديناميكية	والديناميكية	VERB
alkej-792	274	4	لهذا	لهذا	PROPN
alkej-792	274	5	الروبوت	الروبوت	PROPN
alkej-792	274	6	باستخدام	باستخدام	PROPN
alkej-792	274	7	ثالثة	ثالثة	PROPN
alkej-792	274	8	روابط	روابط	PROPN
alkej-792	274	9	تتحرك	تتحرك	VERB
alkej-792	274	10	في	في	X
alkej-792	274	11	اتجاهات	اتجاهات	VERB
alkej-792	274	12	والمحركات	والمحركات	PROPN
alkej-792	274	13	المتدرجة	المتدرجة	PROPN
alkej-792	274	14	لبناء	لبناء	PROPN
alkej-792	274	15	وتشغيل	وتشغيل	PROPN
alkej-792	274	16	الروبوت	الروبوت	PROPN
alkej-792	274	17	.	.	PUNCT
alkej-792	275	1	arduino	arduino	PROPN
alkej-792	275	2	-	-	PUNCT
alkej-792	275	3	nanoتم	nanoتم	NOUN
alkej-792	275	4	استخدام	استخدام	NOUN
alkej-792	276	1	وحدة	وحدة	PROPN
alkej-792	276	2	تحكم	تحكم	AUX
alkej-792	276	3	أخيًرا	أخيًرا	PROPN
alkej-792	276	4	،	،	PROPN
alkej-792	276	5	لحساب	لحساب	NOUN
alkej-792	276	6	انحراف	انحراف	ADP
alkej-792	276	7	كل	كل	PROPN
alkej-792	276	8	اتصال	اتصال	PROPN
alkej-792	276	9	والضغوط	والضغوط	PROPN
alkej-792	276	10	القصوى	القصوى	PROPN
alkej-792	276	11	.	.	PUNCT
alkej-792	277	1	وفًقا	وفًقا	NOUN
alkej-792	277	2	لنتائج	لنتائج	NOUN
alkej-792	277	3	التجارب	التجارب	VERB
alkej-792	277	4	.	.	PUNCT
alkej-792	278	1	وأفقًيا،تمكن	وأفقًيا،تمكن	PROPN
alkej-792	278	2	الروبوت	الروبوت	PROPN
alkej-792	278	3	من	من	PROPN
alkej-792	278	4	التحرك	التحرك	PROPN
alkej-792	278	5	بسالسة	بسالسة	NOUN
alkej-792	278	6	عمودًيا	عمودًيا	PROPN
alkej-792	278	7	لذلك	لذلك	PROPN
alkej-792	278	8	،	،	PROPN
alkej-792	278	9	ونتيجة	ونتيجة	PROPN