id	sid	tid	token	lemma	pos
fumecheng-11384	1	1	11384	11384	NUM
fumecheng-11384	1	2	facta	facta	PROPN
fumecheng-11384	1	3	universitatis	universitatis	PROPN
fumecheng-11384	1	4	series	series	NOUN
fumecheng-11384	1	5	:	:	PUNCT
fumecheng-11384	1	6	mechanical	mechanical	ADJ
fumecheng-11384	1	7	engineering	engineering	NOUN
fumecheng-11384	1	8	vol	vol	NOUN
fumecheng-11384	1	9	.	.	PROPN
fumecheng-11384	1	10	23	23	NUM
fumecheng-11384	1	11	,	,	PUNCT
fumecheng-11384	1	12	no	no	DET
fumecheng-11384	1	13	2	2	NUM
fumecheng-11384	1	14	,	,	PUNCT
fumecheng-11384	1	15	2025	2025	NUM
fumecheng-11384	1	16	,	,	PUNCT
fumecheng-11384	1	17	pp	pp	ADJ
fumecheng-11384	1	18	.	.	PUNCT
fumecheng-11384	2	1	265	265	NUM
fumecheng-11384	2	2	286	286	NUM
fumecheng-11384	2	3	https://doi.org/10.22190/fume230215017z	https://doi.org/10.22190/fume230215017z	NOUN
fumecheng-11384	2	4	©	©	PROPN
fumecheng-11384	2	5	2025	2025	NUM
fumecheng-11384	2	6	by	by	ADP
fumecheng-11384	2	7	university	university	PROPN
fumecheng-11384	2	8	of	of	ADP
fumecheng-11384	2	9	niš	niš	PROPN
fumecheng-11384	2	10	,	,	PUNCT
fumecheng-11384	2	11	serbia	serbia	PROPN
fumecheng-11384	2	12	|	|	ADV
fumecheng-11384	2	13	creative	creative	ADJ
fumecheng-11384	2	14	commons	common	NOUN
fumecheng-11384	2	15	license	license	NOUN
fumecheng-11384	2	16	:	:	PUNCT
fumecheng-11384	2	17	cc	cc	VERB
fumecheng-11384	2	18	by	by	ADP
fumecheng-11384	2	19	-	-	PUNCT
fumecheng-11384	2	20	nc	nc	VERB
fumecheng-11384	2	21	-	-	PUNCT
fumecheng-11384	2	22	nd	nd	ADV
fumecheng-11384	2	23	original	original	ADJ
fumecheng-11384	2	24	scientific	scientific	ADJ
fumecheng-11384	2	25	paper	paper	VERB
fumecheng-11384	2	26	modeling	modeling	NOUN
fumecheng-11384	2	27	and	and	CCONJ
fumecheng-11384	2	28	simulation	simulation	NOUN
fumecheng-11384	2	29	of	of	ADP
fumecheng-11384	2	30	industrial	industrial	ADJ
fumecheng-11384	2	31	robot	robot	NOUN
fumecheng-11384	2	32	arms	arm	NOUN
fumecheng-11384	2	33	using	use	VERB
fumecheng-11384	2	34	simscape	simscape	NOUN
fumecheng-11384	2	35	multibody	multibody	PROPN
fumecheng-11384	2	36	cheng	cheng	PROPN
fumecheng-11384	2	37	zhang1	zhang1	PROPN
fumecheng-11384	2	38	,	,	PUNCT
fumecheng-11384	2	39	2	2	NUM
fumecheng-11384	2	40	,	,	PUNCT
fumecheng-11384	2	41	songxiao	songxiao	VERB
fumecheng-11384	2	42	li3	li3	PROPN
fumecheng-11384	2	43	,	,	PUNCT
fumecheng-11384	2	44	zhuo	zhuo	PROPN
fumecheng-11384	2	45	zhang4	zhang4	PROPN
fumecheng-11384	3	1	1faculty	1faculty	NUM
fumecheng-11384	3	2	of	of	ADP
fumecheng-11384	3	3	innovation	innovation	NOUN
fumecheng-11384	3	4	engineering	engineering	NOUN
fumecheng-11384	3	5	,	,	PUNCT
fumecheng-11384	3	6	macau	macau	PROPN
fumecheng-11384	3	7	university	university	PROPN
fumecheng-11384	3	8	of	of	ADP
fumecheng-11384	3	9	science	science	NOUN
fumecheng-11384	3	10	and	and	CCONJ
fumecheng-11384	3	11	technology	technology	NOUN
fumecheng-11384	3	12	,	,	PUNCT
fumecheng-11384	3	13	china	china	PROPN
fumecheng-11384	3	14	2school	2school	NUM
fumecheng-11384	3	15	of	of	ADP
fumecheng-11384	3	16	electronic	electronic	ADJ
fumecheng-11384	3	17	and	and	CCONJ
fumecheng-11384	3	18	information	information	NOUN
fumecheng-11384	3	19	engineering	engineering	NOUN
fumecheng-11384	3	20	,	,	PUNCT
fumecheng-11384	3	21	zhuhai	zhuhai	PROPN
fumecheng-11384	3	22	college	college	PROPN
fumecheng-11384	3	23	of	of	ADP
fumecheng-11384	3	24	science	science	NOUN
fumecheng-11384	3	25	and	and	CCONJ
fumecheng-11384	3	26	technology	technology	NOUN
fumecheng-11384	3	27	,	,	PUNCT
fumecheng-11384	3	28	china	china	PROPN
fumecheng-11384	3	29	3department	3department	NUM
fumecheng-11384	3	30	of	of	ADP
fumecheng-11384	3	31	mathematics	mathematic	NOUN
fumecheng-11384	3	32	,	,	PUNCT
fumecheng-11384	3	33	shantou	shantou	PROPN
fumecheng-11384	3	34	university	university	PROPN
fumecheng-11384	3	35	,	,	PUNCT
fumecheng-11384	3	36	china	china	PROPN
fumecheng-11384	3	37	4college	4college	PROPN
fumecheng-11384	3	38	of	of	ADP
fumecheng-11384	3	39	robotics	robotic	NOUN
fumecheng-11384	3	40	,	,	PUNCT
fumecheng-11384	3	41	guangdong	guangdong	PROPN
fumecheng-11384	3	42	polytechnic	polytechnic	PROPN
fumecheng-11384	3	43	of	of	ADP
fumecheng-11384	3	44	science	science	NOUN
fumecheng-11384	3	45	and	and	CCONJ
fumecheng-11384	3	46	technology	technology	NOUN
fumecheng-11384	3	47	,	,	PUNCT
fumecheng-11384	3	48	china	china	PROPN
fumecheng-11384	3	49	orcid	orcid	PROPN
fumecheng-11384	3	50	ids	ids	PROPN
fumecheng-11384	3	51	:	:	PUNCT
fumecheng-11384	3	52	cheng	cheng	PROPN
fumecheng-11384	3	53	zhang	zhang	PROPN
fumecheng-11384	4	1	https://orcid.org/0009-0009-4892-2374	https://orcid.org/0009-0009-4892-2374	PROPN
fumecheng-11384	4	2	songxiao	songxiao	VERB
fumecheng-11384	4	3	li	li	PROPN
fumecheng-11384	4	4	https://orcid.org/0000-0001-7911-2758	https://orcid.org/0000-0001-7911-2758	PROPN
fumecheng-11384	4	5	zhuo	zhuo	PROPN
fumecheng-11384	4	6	zhang	zhang	PROPN
fumecheng-11384	4	7	https://orcid.org/0009-0009-6240-0046	https://orcid.org/0009-0009-6240-0046	PROPN
fumecheng-11384	4	8	abstract	abstract	NOUN
fumecheng-11384	4	9	.	.	PUNCT
fumecheng-11384	5	1	the	the	DET
fumecheng-11384	5	2	dynamic	dynamic	ADJ
fumecheng-11384	5	3	simulation	simulation	NOUN
fumecheng-11384	5	4	modeling	model	VERB
fumecheng-11384	5	5	problem	problem	NOUN
fumecheng-11384	5	6	of	of	ADP
fumecheng-11384	5	7	industrial	industrial	ADJ
fumecheng-11384	5	8	robot	robot	NOUN
fumecheng-11384	5	9	arm	arm	NOUN
fumecheng-11384	5	10	is	be	AUX
fumecheng-11384	5	11	solved	solve	VERB
fumecheng-11384	5	12	,	,	PUNCT
fumecheng-11384	5	13	and	and	CCONJ
fumecheng-11384	5	14	the	the	DET
fumecheng-11384	5	15	trajectory	trajectory	NOUN
fumecheng-11384	5	16	planning	plan	VERB
fumecheng-11384	5	17	dynamic	dynamic	ADJ
fumecheng-11384	5	18	simulation	simulation	NOUN
fumecheng-11384	5	19	is	be	AUX
fumecheng-11384	5	20	performed	perform	VERB
fumecheng-11384	5	21	in	in	ADP
fumecheng-11384	5	22	this	this	DET
fumecheng-11384	5	23	paper	paper	NOUN
fumecheng-11384	5	24	.	.	PUNCT
fumecheng-11384	6	1	in	in	ADP
fumecheng-11384	6	2	response	response	NOUN
fumecheng-11384	6	3	to	to	ADP
fumecheng-11384	6	4	the	the	DET
fumecheng-11384	6	5	lack	lack	NOUN
fumecheng-11384	6	6	of	of	ADP
fumecheng-11384	6	7	trajectory	trajectory	NOUN
fumecheng-11384	6	8	planning	planning	NOUN
fumecheng-11384	6	9	and	and	CCONJ
fumecheng-11384	6	10	motion	motion	NOUN
fumecheng-11384	6	11	controller	controller	NOUN
fumecheng-11384	6	12	interfaces	interface	NOUN
fumecheng-11384	6	13	in	in	ADP
fumecheng-11384	6	14	the	the	DET
fumecheng-11384	6	15	robotic	robotic	ADJ
fumecheng-11384	6	16	modelling	modelling	NOUN
fumecheng-11384	6	17	study	study	NOUN
fumecheng-11384	6	18	,	,	PUNCT
fumecheng-11384	6	19	including	include	VERB
fumecheng-11384	6	20	the	the	DET
fumecheng-11384	6	21	lack	lack	NOUN
fumecheng-11384	6	22	of	of	ADP
fumecheng-11384	6	23	dynamic	dynamic	ADJ
fumecheng-11384	6	24	simulation	simulation	NOUN
fumecheng-11384	6	25	visualization	visualization	NOUN
fumecheng-11384	6	26	,	,	PUNCT
fumecheng-11384	6	27	a	a	DET
fumecheng-11384	6	28	simscape	simscape	NOUN
fumecheng-11384	6	29	multibodybased	multibodybase	VERB
fumecheng-11384	6	30	method	method	NOUN
fumecheng-11384	6	31	for	for	ADP
fumecheng-11384	6	32	building	build	VERB
fumecheng-11384	6	33	a	a	DET
fumecheng-11384	6	34	dynamic	dynamic	ADJ
fumecheng-11384	6	35	model	model	NOUN
fumecheng-11384	6	36	of	of	ADP
fumecheng-11384	6	37	industrial	industrial	ADJ
fumecheng-11384	6	38	robot	robot	NOUN
fumecheng-11384	6	39	arm	arm	NOUN
fumecheng-11384	6	40	is	be	AUX
fumecheng-11384	6	41	proposed	propose	VERB
fumecheng-11384	6	42	and	and	CCONJ
fumecheng-11384	6	43	the	the	DET
fumecheng-11384	6	44	effectiveness	effectiveness	NOUN
fumecheng-11384	6	45	of	of	ADP
fumecheng-11384	6	46	the	the	DET
fumecheng-11384	6	47	model	model	NOUN
fumecheng-11384	6	48	is	be	AUX
fumecheng-11384	6	49	verified	verify	VERB
fumecheng-11384	6	50	through	through	ADP
fumecheng-11384	6	51	dynamic	dynamic	ADJ
fumecheng-11384	6	52	simulation	simulation	NOUN
fumecheng-11384	6	53	.	.	PUNCT
fumecheng-11384	7	1	the	the	DET
fumecheng-11384	7	2	simulation	simulation	NOUN
fumecheng-11384	7	3	model	model	NOUN
fumecheng-11384	7	4	integrates	integrate	VERB
fumecheng-11384	7	5	the	the	DET
fumecheng-11384	7	6	robotic	robotic	ADJ
fumecheng-11384	7	7	arm	arm	NOUN
fumecheng-11384	7	8	trajectory	trajectory	NOUN
fumecheng-11384	7	9	planning	planning	NOUN
fumecheng-11384	7	10	,	,	PUNCT
fumecheng-11384	7	11	motion	motion	NOUN
fumecheng-11384	7	12	controller	controller	NOUN
fumecheng-11384	7	13	and	and	CCONJ
fumecheng-11384	7	14	data	datum	NOUN
fumecheng-11384	7	15	acquisition	acquisition	NOUN
fumecheng-11384	7	16	module	module	NOUN
fumecheng-11384	7	17	.	.	PUNCT
fumecheng-11384	8	1	it	it	PRON
fumecheng-11384	8	2	has	have	VERB
fumecheng-11384	8	3	a	a	DET
fumecheng-11384	8	4	clear	clear	ADJ
fumecheng-11384	8	5	structure	structure	NOUN
fumecheng-11384	8	6	and	and	CCONJ
fumecheng-11384	8	7	the	the	DET
fumecheng-11384	8	8	parameters	parameter	NOUN
fumecheng-11384	8	9	are	be	AUX
fumecheng-11384	8	10	easy	easy	ADJ
fumecheng-11384	8	11	to	to	PART
fumecheng-11384	8	12	modify	modify	VERB
fumecheng-11384	8	13	.	.	PUNCT
fumecheng-11384	9	1	it	it	PRON
fumecheng-11384	9	2	can	can	AUX
fumecheng-11384	9	3	reasonably	reasonably	ADV
fumecheng-11384	9	4	simulate	simulate	VERB
fumecheng-11384	9	5	the	the	DET
fumecheng-11384	9	6	structure	structure	NOUN
fumecheng-11384	9	7	and	and	CCONJ
fumecheng-11384	9	8	parameters	parameter	NOUN
fumecheng-11384	9	9	of	of	ADP
fumecheng-11384	9	10	the	the	DET
fumecheng-11384	9	11	research	research	NOUN
fumecheng-11384	9	12	object	object	NOUN
fumecheng-11384	9	13	and	and	CCONJ
fumecheng-11384	9	14	facilitate	facilitate	VERB
fumecheng-11384	9	15	the	the	DET
fumecheng-11384	9	16	subsequent	subsequent	ADJ
fumecheng-11384	9	17	research	research	NOUN
fumecheng-11384	9	18	of	of	ADP
fumecheng-11384	9	19	related	related	ADJ
fumecheng-11384	9	20	algorithms	algorithm	NOUN
fumecheng-11384	9	21	.	.	PUNCT
fumecheng-11384	10	1	it	it	PRON
fumecheng-11384	10	2	provides	provide	VERB
fumecheng-11384	10	3	an	an	DET
fumecheng-11384	10	4	innovative	innovative	ADJ
fumecheng-11384	10	5	and	and	CCONJ
fumecheng-11384	10	6	open	open	ADJ
fumecheng-11384	10	7	-	-	PUNCT
fumecheng-11384	10	8	source	source	NOUN
fumecheng-11384	10	9	research	research	NOUN
fumecheng-11384	10	10	and	and	CCONJ
fumecheng-11384	10	11	development	development	NOUN
fumecheng-11384	10	12	platform	platform	NOUN
fumecheng-11384	10	13	for	for	ADP
fumecheng-11384	10	14	the	the	DET
fumecheng-11384	10	15	dynamic	dynamic	ADJ
fumecheng-11384	10	16	simulation	simulation	NOUN
fumecheng-11384	10	17	study	study	NOUN
fumecheng-11384	10	18	of	of	ADP
fumecheng-11384	10	19	the	the	DET
fumecheng-11384	10	20	robot	robot	NOUN
fumecheng-11384	10	21	arm	arm	NOUN
fumecheng-11384	10	22	.	.	PUNCT
fumecheng-11384	11	1	key	key	ADJ
fumecheng-11384	11	2	words	word	NOUN
fumecheng-11384	11	3	:	:	PUNCT
fumecheng-11384	11	4	robotic	robotic	ADJ
fumecheng-11384	11	5	dynamic	dynamic	ADJ
fumecheng-11384	11	6	model	model	NOUN
fumecheng-11384	11	7	,	,	PUNCT
fumecheng-11384	11	8	industrial	industrial	ADJ
fumecheng-11384	11	9	robot	robot	NOUN
fumecheng-11384	11	10	arms	arm	NOUN
fumecheng-11384	11	11	,	,	PUNCT
fumecheng-11384	11	12	robot	robot	NOUN
fumecheng-11384	11	13	simulation	simulation	NOUN
fumecheng-11384	11	14	system	system	NOUN
fumecheng-11384	11	15	,	,	PUNCT
fumecheng-11384	11	16	simscape	simscape	VERB
fumecheng-11384	11	17	multibody	multibody	ADJ
fumecheng-11384	11	18	1	1	NUM
fumecheng-11384	11	19	.	.	PUNCT
fumecheng-11384	12	1	introduction	introduction	NOUN
fumecheng-11384	12	2	robots	robot	NOUN
fumecheng-11384	12	3	are	be	AUX
fumecheng-11384	12	4	known	know	VERB
fumecheng-11384	12	5	as	as	ADP
fumecheng-11384	12	6	the	the	DET
fumecheng-11384	12	7	"	"	PUNCT
fumecheng-11384	12	8	pearl	pearl	NOUN
fumecheng-11384	12	9	at	at	ADP
fumecheng-11384	12	10	the	the	DET
fumecheng-11384	12	11	crown	crown	NOUN
fumecheng-11384	12	12	of	of	ADP
fumecheng-11384	12	13	manufacturing	manufacturing	NOUN
fumecheng-11384	12	14	"	"	PUNCT
fumecheng-11384	12	15	.	.	PUNCT
fumecheng-11384	13	1	at	at	ADP
fumecheng-11384	13	2	present	present	ADJ
fumecheng-11384	13	3	,	,	PUNCT
fumecheng-11384	13	4	the	the	DET
fumecheng-11384	13	5	world	world	NOUN
fumecheng-11384	13	6	is	be	AUX
fumecheng-11384	13	7	experiencing	experience	VERB
fumecheng-11384	13	8	the	the	DET
fumecheng-11384	13	9	wave	wave	NOUN
fumecheng-11384	13	10	of	of	ADP
fumecheng-11384	13	11	"	"	PUNCT
fumecheng-11384	13	12	machine	machine	NOUN
fumecheng-11384	13	13	replacement	replacement	NOUN
fumecheng-11384	13	14	"	"	PUNCT
fumecheng-11384	13	15	,	,	PUNCT
fumecheng-11384	13	16	and	and	CCONJ
fumecheng-11384	13	17	artificial	artificial	ADJ
fumecheng-11384	13	18	intelligence	intelligence	NOUN
fumecheng-11384	13	19	has	have	AUX
fumecheng-11384	13	20	become	become	VERB
fumecheng-11384	13	21	a	a	DET
fumecheng-11384	13	22	strategic	strategic	ADJ
fumecheng-11384	13	23	technology	technology	NOUN
fumecheng-11384	13	24	leading	lead	VERB
fumecheng-11384	13	25	a	a	DET
fumecheng-11384	13	26	new	new	ADJ
fumecheng-11384	13	27	round	round	NOUN
fumecheng-11384	13	28	of	of	ADP
fumecheng-11384	13	29	scientific	scientific	ADJ
fumecheng-11384	13	30	and	and	CCONJ
fumecheng-11384	13	31	technological	technological	ADJ
fumecheng-11384	13	32	revolution	revolution	NOUN
fumecheng-11384	13	33	and	and	CCONJ
fumecheng-11384	13	34	industrial	industrial	ADJ
fumecheng-11384	13	35	transformation	transformation	NOUN
fumecheng-11384	13	36	.	.	PUNCT
fumecheng-11384	14	1	as	as	ADP
fumecheng-11384	14	2	a	a	DET
fumecheng-11384	14	3	representative	representative	NOUN
fumecheng-11384	14	4	of	of	ADP
fumecheng-11384	14	5	artificial	artificial	ADJ
fumecheng-11384	14	6	intelligence	intelligence	NOUN
fumecheng-11384	14	7	,	,	PUNCT
fumecheng-11384	14	8	industrial	industrial	ADJ
fumecheng-11384	14	9	robots	robot	NOUN
fumecheng-11384	14	10	integrate	integrate	VERB
fumecheng-11384	14	11	advanced	advanced	ADJ
fumecheng-11384	14	12	technologies	technology	NOUN
fumecheng-11384	14	13	in	in	ADP
fumecheng-11384	14	14	the	the	DET
fumecheng-11384	14	15	fields	field	NOUN
fumecheng-11384	14	16	of	of	ADP
fumecheng-11384	14	17	machinery	machinery	NOUN
fumecheng-11384	14	18	,	,	PUNCT
fumecheng-11384	14	19	electronics	electronic	NOUN
fumecheng-11384	14	20	,	,	PUNCT
fumecheng-11384	14	21	sensors	sensor	NOUN
fumecheng-11384	14	22	,	,	PUNCT
fumecheng-11384	14	23	wireless	wireless	ADJ
fumecheng-11384	14	24	communication	communication	NOUN
fumecheng-11384	14	25	,	,	PUNCT
fumecheng-11384	14	26	sound	sound	ADJ
fumecheng-11384	14	27	recognition	recognition	NOUN
fumecheng-11384	14	28	,	,	PUNCT
fumecheng-11384	14	29	image	image	NOUN
fumecheng-11384	14	30	processing	processing	NOUN
fumecheng-11384	14	31	and	and	CCONJ
fumecheng-11384	14	32	artificial	artificial	ADJ
fumecheng-11384	14	33	intelligence	intelligence	NOUN
fumecheng-11384	14	34	,	,	PUNCT
fumecheng-11384	14	35	involving	involve	VERB
fumecheng-11384	14	36	received	receive	VERB
fumecheng-11384	14	37	:	:	PUNCT
fumecheng-11384	14	38	february	february	PROPN
fumecheng-11384	14	39	15	15	NUM
fumecheng-11384	14	40	,	,	PUNCT
fumecheng-11384	14	41	2023	2023	NUM
fumecheng-11384	14	42	/	/	PUNCT
fumecheng-11384	14	43	accepted	accept	VERB
fumecheng-11384	14	44	may	may	PROPN
fumecheng-11384	14	45	28	28	NUM
fumecheng-11384	14	46	,	,	PUNCT
fumecheng-11384	14	47	2023	2023	NUM
fumecheng-11384	14	48	corresponding	correspond	VERB
fumecheng-11384	14	49	author	author	NOUN
fumecheng-11384	14	50	:	:	PUNCT
fumecheng-11384	14	51	songxiao	songxiao	PROPN
fumecheng-11384	14	52	li	li	PROPN
fumecheng-11384	14	53	department	department	PROPN
fumecheng-11384	14	54	of	of	ADP
fumecheng-11384	14	55	mathematics	mathematics	PROPN
fumecheng-11384	14	56	,	,	PUNCT
fumecheng-11384	14	57	shantou	shantou	PROPN
fumecheng-11384	14	58	university	university	PROPN
fumecheng-11384	14	59	,	,	PUNCT
fumecheng-11384	14	60	515063	515063	NUM
fumecheng-11384	14	61	,	,	PUNCT
fumecheng-11384	14	62	shantou	shantou	PROPN
fumecheng-11384	14	63	,	,	PUNCT
fumecheng-11384	14	64	guangdong	guangdong	PROPN
fumecheng-11384	14	65	,	,	PUNCT
fumecheng-11384	14	66	china	china	PROPN
fumecheng-11384	14	67	e	e	PROPN
fumecheng-11384	14	68	-	-	NOUN
fumecheng-11384	14	69	mail	mail	NOUN
fumecheng-11384	14	70	:	:	PUNCT
fumecheng-11384	14	71	jyulsx@163.com	jyulsx@163.com	NUM
fumecheng-11384	14	72	https://orcid.org/0009-0009-4892-2374	https://orcid.org/0009-0009-4892-2374	ADJ
fumecheng-11384	14	73	https://orcid.org/0000-0001-7911-2758	https://orcid.org/0000-0001-7911-2758	NOUN
fumecheng-11384	14	74	https://orcid.org/0009-0009-6240-0046	https://orcid.org/0009-0009-6240-0046	VERB
fumecheng-11384	14	75	266	266	NUM
fumecheng-11384	14	76	c.	c.	PROPN
fumecheng-11384	14	77	zhang	zhang	PROPN
fumecheng-11384	14	78	,	,	PUNCT
fumecheng-11384	14	79	s.	s.	PROPN
fumecheng-11384	14	80	li	li	PROPN
fumecheng-11384	14	81	,	,	PUNCT
fumecheng-11384	14	82	z.	z.	PROPN
fumecheng-11384	14	83	zhang	zhang	PROPN
fumecheng-11384	15	1	multiple	multiple	ADJ
fumecheng-11384	15	2	disciplines	discipline	NOUN
fumecheng-11384	15	3	.	.	PUNCT
fumecheng-11384	16	1	it	it	PRON
fumecheng-11384	16	2	is	be	AUX
fumecheng-11384	16	3	a	a	DET
fumecheng-11384	16	4	country	country	NOUN
fumecheng-11384	16	5	's	's	PART
fumecheng-11384	16	6	level	level	NOUN
fumecheng-11384	16	7	of	of	ADP
fumecheng-11384	16	8	science	science	NOUN
fumecheng-11384	16	9	and	and	CCONJ
fumecheng-11384	16	10	technology	technology	NOUN
fumecheng-11384	16	11	development	development	NOUN
fumecheng-11384	16	12	and	and	CCONJ
fumecheng-11384	16	13	an	an	DET
fumecheng-11384	16	14	important	important	ADJ
fumecheng-11384	16	15	symbol	symbol	NOUN
fumecheng-11384	16	16	of	of	ADP
fumecheng-11384	16	17	national	national	ADJ
fumecheng-11384	16	18	economy	economy	NOUN
fumecheng-11384	16	19	modernization	modernization	NOUN
fumecheng-11384	16	20	and	and	CCONJ
fumecheng-11384	16	21	informatization	informatization	NOUN
fumecheng-11384	16	22	.	.	PUNCT
fumecheng-11384	17	1	at	at	ADP
fumecheng-11384	17	2	present	present	ADJ
fumecheng-11384	17	3	,	,	PUNCT
fumecheng-11384	17	4	various	various	ADJ
fumecheng-11384	17	5	industries	industry	NOUN
fumecheng-11384	17	6	have	have	AUX
fumecheng-11384	17	7	integrated	integrate	VERB
fumecheng-11384	17	8	industrial	industrial	ADJ
fumecheng-11384	17	9	robots	robot	NOUN
fumecheng-11384	17	10	into	into	ADP
fumecheng-11384	17	11	the	the	DET
fumecheng-11384	17	12	production	production	NOUN
fumecheng-11384	17	13	line	line	NOUN
fumecheng-11384	17	14	,	,	PUNCT
fumecheng-11384	17	15	and	and	CCONJ
fumecheng-11384	17	16	made	make	VERB
fumecheng-11384	17	17	use	use	NOUN
fumecheng-11384	17	18	of	of	ADP
fumecheng-11384	17	19	industrial	industrial	ADJ
fumecheng-11384	17	20	robot	robot	NOUN
fumecheng-11384	17	21	technology	technology	NOUN
fumecheng-11384	17	22	to	to	PART
fumecheng-11384	17	23	meet	meet	VERB
fumecheng-11384	17	24	the	the	DET
fumecheng-11384	17	25	actual	actual	ADJ
fumecheng-11384	17	26	needs	need	NOUN
fumecheng-11384	17	27	of	of	ADP
fumecheng-11384	17	28	the	the	DET
fumecheng-11384	17	29	development	development	NOUN
fumecheng-11384	17	30	of	of	ADP
fumecheng-11384	17	31	circular	circular	ADJ
fumecheng-11384	17	32	economy	economy	NOUN
fumecheng-11384	17	33	and	and	CCONJ
fumecheng-11384	17	34	improve	improve	VERB
fumecheng-11384	17	35	the	the	DET
fumecheng-11384	17	36	development	development	NOUN
fumecheng-11384	17	37	of	of	ADP
fumecheng-11384	17	38	time	time	NOUN
fumecheng-11384	17	39	efficiency	efficiency	NOUN
fumecheng-11384	17	40	,	,	PUNCT
fumecheng-11384	17	41	making	make	VERB
fumecheng-11384	17	42	the	the	DET
fumecheng-11384	17	43	unique	unique	ADJ
fumecheng-11384	17	44	advantages	advantage	NOUN
fumecheng-11384	17	45	of	of	ADP
fumecheng-11384	17	46	higher	high	ADJ
fumecheng-11384	17	47	production	production	NOUN
fumecheng-11384	17	48	efficiency	efficiency	NOUN
fumecheng-11384	17	49	and	and	CCONJ
fumecheng-11384	17	50	lower	low	ADJ
fumecheng-11384	17	51	cost	cost	NOUN
fumecheng-11384	17	52	.	.	PUNCT
fumecheng-11384	18	1	compared	compare	VERB
fumecheng-11384	18	2	with	with	ADP
fumecheng-11384	18	3	traditional	traditional	ADJ
fumecheng-11384	18	4	industrial	industrial	ADJ
fumecheng-11384	18	5	processing	processing	NOUN
fumecheng-11384	18	6	auxiliary	auxiliary	ADJ
fumecheng-11384	18	7	equipment	equipment	NOUN
fumecheng-11384	18	8	,	,	PUNCT
fumecheng-11384	18	9	industrial	industrial	ADJ
fumecheng-11384	18	10	robots	robot	NOUN
fumecheng-11384	18	11	have	have	VERB
fumecheng-11384	18	12	lower	low	ADJ
fumecheng-11384	18	13	maintenance	maintenance	NOUN
fumecheng-11384	18	14	costs	cost	NOUN
fumecheng-11384	18	15	,	,	PUNCT
fumecheng-11384	18	16	higher	high	ADJ
fumecheng-11384	18	17	degree	degree	NOUN
fumecheng-11384	18	18	of	of	ADP
fumecheng-11384	18	19	intelligence	intelligence	NOUN
fumecheng-11384	18	20	and	and	CCONJ
fumecheng-11384	18	21	better	well	ADJ
fumecheng-11384	18	22	flexibility	flexibility	NOUN
fumecheng-11384	18	23	to	to	PART
fumecheng-11384	18	24	meet	meet	VERB
fumecheng-11384	18	25	the	the	DET
fumecheng-11384	18	26	requirements	requirement	NOUN
fumecheng-11384	18	27	of	of	ADP
fumecheng-11384	18	28	modern	modern	ADJ
fumecheng-11384	18	29	production	production	NOUN
fumecheng-11384	18	30	.	.	PUNCT
fumecheng-11384	19	1	it	it	PRON
fumecheng-11384	19	2	can	can	AUX
fumecheng-11384	19	3	better	well	ADV
fumecheng-11384	19	4	adapt	adapt	VERB
fumecheng-11384	19	5	to	to	ADP
fumecheng-11384	19	6	a	a	DET
fumecheng-11384	19	7	variety	variety	NOUN
fumecheng-11384	19	8	of	of	ADP
fumecheng-11384	19	9	varieties	variety	NOUN
fumecheng-11384	19	10	,	,	PUNCT
fumecheng-11384	19	11	small	small	ADJ
fumecheng-11384	19	12	batch	batch	NOUN
fumecheng-11384	19	13	,	,	PUNCT
fumecheng-11384	19	14	on	on	ADP
fumecheng-11384	19	15	-	-	PUNCT
fumecheng-11384	19	16	site	site	NOUN
fumecheng-11384	19	17	processing	processing	NOUN
fumecheng-11384	19	18	requirements	requirement	NOUN
fumecheng-11384	19	19	.	.	PUNCT
fumecheng-11384	20	1	on	on	ADP
fumecheng-11384	20	2	the	the	DET
fumecheng-11384	20	3	whole	whole	NOUN
fumecheng-11384	20	4	,	,	PUNCT
fumecheng-11384	20	5	industrial	industrial	ADJ
fumecheng-11384	20	6	robots	robot	NOUN
fumecheng-11384	20	7	have	have	AUX
fumecheng-11384	20	8	become	become	VERB
fumecheng-11384	20	9	a	a	DET
fumecheng-11384	20	10	wide	wide	ADJ
fumecheng-11384	20	11	range	range	NOUN
fumecheng-11384	20	12	of	of	ADP
fumecheng-11384	20	13	tools	tool	NOUN
fumecheng-11384	20	14	for	for	ADP
fumecheng-11384	20	15	various	various	ADJ
fumecheng-11384	20	16	tasks	task	NOUN
fumecheng-11384	20	17	in	in	ADP
fumecheng-11384	20	18	modern	modern	ADJ
fumecheng-11384	20	19	society	society	NOUN
fumecheng-11384	20	20	,	,	PUNCT
fumecheng-11384	20	21	forming	form	VERB
fumecheng-11384	20	22	a	a	DET
fumecheng-11384	20	23	new	new	ADJ
fumecheng-11384	20	24	generation	generation	NOUN
fumecheng-11384	20	25	of	of	ADP
fumecheng-11384	20	26	"	"	PUNCT
fumecheng-11384	20	27	intelligent	intelligent	ADJ
fumecheng-11384	20	28	robot	robot	NOUN
fumecheng-11384	20	29	manufacturing"[1	manufacturing"[1	PROPN
fumecheng-11384	20	30	]	]	PUNCT
fumecheng-11384	20	31	.	.	PUNCT
fumecheng-11384	21	1	under	under	ADP
fumecheng-11384	21	2	these	these	DET
fumecheng-11384	21	3	circumstances	circumstance	NOUN
fumecheng-11384	21	4	,	,	PUNCT
fumecheng-11384	21	5	it	it	PRON
fumecheng-11384	21	6	is	be	AUX
fumecheng-11384	21	7	particularly	particularly	ADV
fumecheng-11384	21	8	important	important	ADJ
fumecheng-11384	21	9	to	to	PART
fumecheng-11384	21	10	further	further	ADJ
fumecheng-11384	21	11	research	research	NOUN
fumecheng-11384	21	12	on	on	ADP
fumecheng-11384	21	13	industrial	industrial	ADJ
fumecheng-11384	21	14	robot	robot	NOUN
fumecheng-11384	21	15	related	relate	VERB
fumecheng-11384	21	16	technology	technology	NOUN
fumecheng-11384	21	17	.	.	PUNCT
fumecheng-11384	22	1	many	many	ADJ
fumecheng-11384	22	2	scholars	scholar	NOUN
fumecheng-11384	22	3	have	have	AUX
fumecheng-11384	22	4	carried	carry	VERB
fumecheng-11384	22	5	out	out	ADP
fumecheng-11384	22	6	research	research	NOUN
fumecheng-11384	22	7	and	and	CCONJ
fumecheng-11384	22	8	achieved	achieve	VERB
fumecheng-11384	22	9	many	many	ADJ
fumecheng-11384	22	10	achievements	achievement	NOUN
fumecheng-11384	22	11	,	,	PUNCT
fumecheng-11384	22	12	including	include	VERB
fumecheng-11384	22	13	but	but	CCONJ
fumecheng-11384	22	14	not	not	PART
fumecheng-11384	22	15	limited	limit	VERB
fumecheng-11384	22	16	to	to	ADP
fumecheng-11384	22	17	the	the	DET
fumecheng-11384	22	18	problems	problem	NOUN
fumecheng-11384	22	19	of	of	ADP
fumecheng-11384	22	20	industrial	industrial	ADJ
fumecheng-11384	22	21	robot	robot	NOUN
fumecheng-11384	22	22	grasping	grasping	NOUN
fumecheng-11384	22	23	,	,	PUNCT
fumecheng-11384	22	24	assembly	assembly	NOUN
fumecheng-11384	22	25	,	,	PUNCT
fumecheng-11384	22	26	process	process	NOUN
fumecheng-11384	22	27	control	control	NOUN
fumecheng-11384	22	28	and	and	CCONJ
fumecheng-11384	22	29	industrial	industrial	ADJ
fumecheng-11384	22	30	man	man	NOUN
fumecheng-11384	22	31	-	-	PUNCT
fumecheng-11384	22	32	machine	machine	NOUN
fumecheng-11384	22	33	cooperation	cooperation	NOUN
fumecheng-11384	22	34	in	in	ADP
fumecheng-11384	22	35	typical	typical	ADJ
fumecheng-11384	22	36	operations	operation	NOUN
fumecheng-11384	22	37	.	.	PUNCT
fumecheng-11384	23	1	a	a	DET
fumecheng-11384	23	2	group	group	NOUN
fumecheng-11384	23	3	of	of	ADP
fumecheng-11384	23	4	authors	author	NOUN
fumecheng-11384	23	5	[	[	X
fumecheng-11384	23	6	2	2	NUM
fumecheng-11384	23	7	-	-	SYM
fumecheng-11384	23	8	4	4	NUM
fumecheng-11384	23	9	]	]	PUNCT
fumecheng-11384	23	10	studied	study	VERB
fumecheng-11384	23	11	the	the	DET
fumecheng-11384	23	12	trajectory	trajectory	NOUN
fumecheng-11384	23	13	planning	planning	NOUN
fumecheng-11384	23	14	strategy	strategy	NOUN
fumecheng-11384	23	15	of	of	ADP
fumecheng-11384	23	16	industrial	industrial	ADJ
fumecheng-11384	23	17	robot	robot	NOUN
fumecheng-11384	23	18	arm	arm	NOUN
fumecheng-11384	23	19	and	and	CCONJ
fumecheng-11384	23	20	optimized	optimize	VERB
fumecheng-11384	23	21	it	it	PRON
fumecheng-11384	23	22	.	.	PUNCT
fumecheng-11384	24	1	özyer	özyer	NOUN
fumecheng-11384	25	1	[	[	X
fumecheng-11384	25	2	5	5	NUM
fumecheng-11384	25	3	]	]	PUNCT
fumecheng-11384	25	4	,	,	PUNCT
fumecheng-11384	25	5	yilmaz	yilmaz	PROPN
fumecheng-11384	25	6	et	et	PROPN
fumecheng-11384	25	7	al	al	PROPN
fumecheng-11384	25	8	.	.	PUNCT
fumecheng-11384	26	1	[	[	X
fumecheng-11384	26	2	6	6	NUM
fumecheng-11384	26	3	]	]	PUNCT
fumecheng-11384	26	4	and	and	CCONJ
fumecheng-11384	26	5	gharib	gharib	X
fumecheng-11384	27	1	[	[	X
fumecheng-11384	27	2	7	7	NUM
fumecheng-11384	27	3	]	]	PUNCT
fumecheng-11384	27	4	carried	carry	VERB
fumecheng-11384	27	5	out	out	ADP
fumecheng-11384	27	6	studies	study	NOUN
fumecheng-11384	27	7	based	base	VERB
fumecheng-11384	27	8	on	on	ADP
fumecheng-11384	27	9	algorithms	algorithm	NOUN
fumecheng-11384	27	10	such	such	ADJ
fumecheng-11384	27	11	as	as	ADP
fumecheng-11384	27	12	adaptive	adaptive	ADJ
fumecheng-11384	27	13	neural	neural	ADJ
fumecheng-11384	27	14	network	network	NOUN
fumecheng-11384	27	15	control	control	NOUN
fumecheng-11384	27	16	,	,	PUNCT
fumecheng-11384	27	17	adaptive	adaptive	ADJ
fumecheng-11384	27	18	fuzzy	fuzzy	ADJ
fumecheng-11384	27	19	control	control	NOUN
fumecheng-11384	27	20	and	and	CCONJ
fumecheng-11384	27	21	robust	robust	ADJ
fumecheng-11384	27	22	control	control	NOUN
fumecheng-11384	27	23	for	for	ADP
fumecheng-11384	27	24	industrial	industrial	ADJ
fumecheng-11384	27	25	robot	robot	NOUN
fumecheng-11384	27	26	arm	arm	NOUN
fumecheng-11384	27	27	.	.	PUNCT
fumecheng-11384	28	1	rojas	rojas	PROPN
fumecheng-11384	28	2	-	-	PUNCT
fumecheng-11384	28	3	garcia	garcia	PROPN
fumecheng-11384	28	4	et	et	PROPN
fumecheng-11384	28	5	al	al	PROPN
fumecheng-11384	28	6	.	.	PUNCT
fumecheng-11384	29	1	[	[	X
fumecheng-11384	29	2	8	8	NUM
fumecheng-11384	29	3	]	]	PUNCT
fumecheng-11384	29	4	and	and	CCONJ
fumecheng-11384	29	5	gutierrez	gutierrez	PROPN
fumecheng-11384	29	6	-	-	PUNCT
fumecheng-11384	29	7	giles	giles	PROPN
fumecheng-11384	29	8	et	et	NOUN
fumecheng-11384	29	9	al	al	PROPN
fumecheng-11384	29	10	.	.	PUNCT
fumecheng-11384	30	1	[	[	X
fumecheng-11384	30	2	9	9	NUM
fumecheng-11384	30	3	]	]	PUNCT
fumecheng-11384	30	4	also	also	ADV
fumecheng-11384	30	5	proposed	propose	VERB
fumecheng-11384	30	6	optimization	optimization	NOUN
fumecheng-11384	30	7	methods	method	NOUN
fumecheng-11384	30	8	for	for	ADP
fumecheng-11384	30	9	industrial	industrial	ADJ
fumecheng-11384	30	10	robot	robot	NOUN
fumecheng-11384	30	11	arm	arm	NOUN
fumecheng-11384	30	12	control	control	NOUN
fumecheng-11384	30	13	strategy	strategy	NOUN
fumecheng-11384	30	14	from	from	ADP
fumecheng-11384	30	15	the	the	DET
fumecheng-11384	30	16	perspective	perspective	NOUN
fumecheng-11384	30	17	of	of	ADP
fumecheng-11384	30	18	force	force	NOUN
fumecheng-11384	30	19	control	control	PROPN
fumecheng-11384	30	20	.	.	PUNCT
fumecheng-11384	31	1	the	the	DET
fumecheng-11384	31	2	premise	premise	NOUN
fumecheng-11384	31	3	of	of	ADP
fumecheng-11384	31	4	the	the	DET
fumecheng-11384	31	5	various	various	ADJ
fumecheng-11384	31	6	robot	robot	NOUN
fumecheng-11384	31	7	algorithms	algorithm	NOUN
fumecheng-11384	31	8	is	be	AUX
fumecheng-11384	31	9	how	how	SCONJ
fumecheng-11384	31	10	to	to	PART
fumecheng-11384	31	11	build	build	VERB
fumecheng-11384	31	12	a	a	DET
fumecheng-11384	31	13	precise	precise	ADJ
fumecheng-11384	31	14	,	,	PUNCT
fumecheng-11384	31	15	flexible	flexible	ADJ
fumecheng-11384	31	16	model	model	NOUN
fumecheng-11384	31	17	.	.	PUNCT
fumecheng-11384	32	1	the	the	DET
fumecheng-11384	32	2	effectiveness	effectiveness	NOUN
fumecheng-11384	32	3	and	and	CCONJ
fumecheng-11384	32	4	accuracy	accuracy	NOUN
fumecheng-11384	32	5	of	of	ADP
fumecheng-11384	32	6	the	the	DET
fumecheng-11384	32	7	dynamic	dynamic	ADJ
fumecheng-11384	32	8	model	model	NOUN
fumecheng-11384	32	9	of	of	ADP
fumecheng-11384	32	10	the	the	DET
fumecheng-11384	32	11	industrial	industrial	ADJ
fumecheng-11384	32	12	robot	robot	NOUN
fumecheng-11384	32	13	arm	arm	NOUN
fumecheng-11384	32	14	are	be	AUX
fumecheng-11384	32	15	crucial	crucial	ADJ
fumecheng-11384	32	16	for	for	ADP
fumecheng-11384	32	17	its	its	PRON
fumecheng-11384	32	18	practical	practical	ADJ
fumecheng-11384	32	19	application	application	NOUN
fumecheng-11384	32	20	.	.	PUNCT
fumecheng-11384	33	1	usually	usually	ADV
fumecheng-11384	33	2	,	,	PUNCT
fumecheng-11384	33	3	robot	robot	NOUN
fumecheng-11384	33	4	manufacturers	manufacturer	NOUN
fumecheng-11384	33	5	only	only	ADV
fumecheng-11384	33	6	provide	provide	VERB
fumecheng-11384	33	7	kinematic	kinematic	ADJ
fumecheng-11384	33	8	data	datum	NOUN
fumecheng-11384	33	9	,	,	PUNCT
fumecheng-11384	33	10	but	but	CCONJ
fumecheng-11384	33	11	this	this	PRON
fumecheng-11384	33	12	can	can	AUX
fumecheng-11384	33	13	only	only	ADV
fumecheng-11384	33	14	guarantee	guarantee	VERB
fumecheng-11384	33	15	a	a	DET
fumecheng-11384	33	16	certain	certain	ADJ
fumecheng-11384	33	17	level	level	NOUN
fumecheng-11384	33	18	of	of	ADP
fumecheng-11384	33	19	localizer	localizer	NOUN
fumecheng-11384	33	20	accuracy	accuracy	NOUN
fumecheng-11384	33	21	,	,	PUNCT
fumecheng-11384	33	22	without	without	ADP
fumecheng-11384	33	23	than	than	ADP
fumecheng-11384	33	24	insight	insight	NOUN
fumecheng-11384	33	25	into	into	ADP
fumecheng-11384	33	26	its	its	PRON
fumecheng-11384	33	27	dynamic	dynamic	ADJ
fumecheng-11384	33	28	features	feature	NOUN
fumecheng-11384	33	29	.	.	PUNCT
fumecheng-11384	34	1	therefore	therefore	ADV
fumecheng-11384	34	2	,	,	PUNCT
fumecheng-11384	34	3	how	how	SCONJ
fumecheng-11384	34	4	to	to	PART
fumecheng-11384	34	5	establish	establish	VERB
fumecheng-11384	34	6	the	the	DET
fumecheng-11384	34	7	modeling	modeling	NOUN
fumecheng-11384	34	8	of	of	ADP
fumecheng-11384	34	9	industrial	industrial	ADJ
fumecheng-11384	34	10	robot	robot	NOUN
fumecheng-11384	34	11	arm	arm	NOUN
fumecheng-11384	34	12	is	be	AUX
fumecheng-11384	34	13	a	a	DET
fumecheng-11384	34	14	very	very	ADV
fumecheng-11384	34	15	important	important	ADJ
fumecheng-11384	34	16	research	research	NOUN
fumecheng-11384	34	17	content	content	NOUN
fumecheng-11384	34	18	in	in	ADP
fumecheng-11384	34	19	industrial	industrial	ADJ
fumecheng-11384	34	20	robot	robot	NOUN
fumecheng-11384	34	21	technology	technology	NOUN
fumecheng-11384	34	22	.	.	PUNCT
fumecheng-11384	35	1	it	it	PRON
fumecheng-11384	35	2	is	be	AUX
fumecheng-11384	35	3	the	the	DET
fumecheng-11384	35	4	primary	primary	ADJ
fumecheng-11384	35	5	premise	premise	NOUN
fumecheng-11384	35	6	of	of	ADP
fumecheng-11384	35	7	all	all	DET
fumecheng-11384	35	8	follow	follow	VERB
fumecheng-11384	35	9	-	-	PUNCT
fumecheng-11384	35	10	up	up	ADP
fumecheng-11384	35	11	research	research	NOUN
fumecheng-11384	35	12	,	,	PUNCT
fumecheng-11384	35	13	and	and	CCONJ
fumecheng-11384	35	14	also	also	ADV
fumecheng-11384	35	15	one	one	NUM
fumecheng-11384	35	16	of	of	ADP
fumecheng-11384	35	17	the	the	DET
fumecheng-11384	35	18	hot	hot	ADJ
fumecheng-11384	35	19	spots	spot	NOUN
fumecheng-11384	35	20	and	and	CCONJ
fumecheng-11384	35	21	key	key	ADJ
fumecheng-11384	35	22	points	point	NOUN
fumecheng-11384	35	23	in	in	ADP
fumecheng-11384	35	24	the	the	DET
fumecheng-11384	35	25	field	field	NOUN
fumecheng-11384	35	26	of	of	ADP
fumecheng-11384	35	27	robot	robot	NOUN
fumecheng-11384	35	28	research	research	NOUN
fumecheng-11384	35	29	.	.	PUNCT
fumecheng-11384	36	1	in	in	ADP
fumecheng-11384	36	2	recent	recent	ADJ
fumecheng-11384	36	3	years	year	NOUN
fumecheng-11384	36	4	,	,	PUNCT
fumecheng-11384	36	5	scholars	scholar	NOUN
fumecheng-11384	36	6	have	have	AUX
fumecheng-11384	36	7	studied	study	VERB
fumecheng-11384	36	8	the	the	DET
fumecheng-11384	36	9	modeling	modeling	NOUN
fumecheng-11384	36	10	of	of	ADP
fumecheng-11384	36	11	industrial	industrial	ADJ
fumecheng-11384	36	12	robot	robot	NOUN
fumecheng-11384	36	13	arm	arm	NOUN
fumecheng-11384	36	14	.	.	PUNCT
fumecheng-11384	37	1	in	in	ADP
fumecheng-11384	37	2	general	general	ADJ
fumecheng-11384	37	3	,	,	PUNCT
fumecheng-11384	37	4	the	the	DET
fumecheng-11384	37	5	common	common	ADJ
fumecheng-11384	37	6	methods	method	NOUN
fumecheng-11384	37	7	for	for	ADP
fumecheng-11384	37	8	dynamic	dynamic	ADJ
fumecheng-11384	37	9	modeling	modeling	NOUN
fumecheng-11384	37	10	of	of	ADP
fumecheng-11384	37	11	industrial	industrial	ADJ
fumecheng-11384	37	12	robot	robot	NOUN
fumecheng-11384	37	13	arm	arm	NOUN
fumecheng-11384	37	14	include	include	VERB
fumecheng-11384	37	15	newton	newton	PROPN
fumecheng-11384	37	16	-	-	PUNCT
fumecheng-11384	37	17	euler	euler	NOUN
fumecheng-11384	37	18	method	method	NOUN
fumecheng-11384	37	19	,	,	PUNCT
fumecheng-11384	37	20	lagrange	lagrange	NOUN
fumecheng-11384	37	21	method	method	NOUN
fumecheng-11384	37	22	,	,	PUNCT
fumecheng-11384	37	23	robot	robot	NOUN
fumecheng-11384	37	24	modeling	modeling	NOUN
fumecheng-11384	37	25	with	with	ADP
fumecheng-11384	37	26	matlab	matlab	PROPN
fumecheng-11384	37	27	/	/	SYM
fumecheng-11384	37	28	simulink	simulink	PROPN
fumecheng-11384	37	29	or	or	CCONJ
fumecheng-11384	37	30	robot	robot	NOUN
fumecheng-11384	37	31	toolbox	toolbox	NOUN
fumecheng-11384	37	32	,	,	PUNCT
fumecheng-11384	37	33	robot	robot	NOUN
fumecheng-11384	37	34	modeling	modeling	NOUN
fumecheng-11384	37	35	with	with	ADP
fumecheng-11384	37	36	multi	multi	ADJ
fumecheng-11384	37	37	-	-	ADJ
fumecheng-11384	37	38	body	body	ADJ
fumecheng-11384	37	39	system	system	NOUN
fumecheng-11384	37	40	,	,	PUNCT
fumecheng-11384	37	41	and	and	CCONJ
fumecheng-11384	37	42	parameter	parameter	NOUN
fumecheng-11384	37	43	identification	identification	NOUN
fumecheng-11384	37	44	method	method	NOUN
fumecheng-11384	37	45	based	base	VERB
fumecheng-11384	37	46	on	on	ADP
fumecheng-11384	37	47	acceleration	acceleration	NOUN
fumecheng-11384	37	48	,	,	PUNCT
fumecheng-11384	37	49	speed	speed	NOUN
fumecheng-11384	37	50	,	,	PUNCT
fumecheng-11384	37	51	position	position	NOUN
fumecheng-11384	37	52	and	and	CCONJ
fumecheng-11384	37	53	voltage	voltage	NOUN
fumecheng-11384	37	54	,	,	PUNCT
fumecheng-11384	37	55	etc	etc	X
fumecheng-11384	37	56	.	.	X
fumecheng-11384	37	57	urrea	urrea	PROPN
fumecheng-11384	37	58	and	and	CCONJ
fumecheng-11384	37	59	pascal	pascal	PROPN
fumecheng-11384	38	1	[	[	X
fumecheng-11384	38	2	10	10	NUM
fumecheng-11384	38	3	]	]	PUNCT
fumecheng-11384	38	4	introduced	introduce	VERB
fumecheng-11384	38	5	the	the	DET
fumecheng-11384	38	6	acquisition	acquisition	NOUN
fumecheng-11384	38	7	process	process	NOUN
fumecheng-11384	38	8	of	of	ADP
fumecheng-11384	38	9	the	the	DET
fumecheng-11384	38	10	dynamic	dynamic	ADJ
fumecheng-11384	38	11	equation	equation	NOUN
fumecheng-11384	38	12	of	of	ADP
fumecheng-11384	38	13	the	the	DET
fumecheng-11384	38	14	6r	6r	NUM
fumecheng-11384	38	15	articulated	articulated	ADJ
fumecheng-11384	38	16	industrial	industrial	ADJ
fumecheng-11384	38	17	robot	robot	NOUN
fumecheng-11384	38	18	,	,	PUNCT
fumecheng-11384	38	19	and	and	CCONJ
fumecheng-11384	38	20	obtains	obtain	VERB
fumecheng-11384	38	21	the	the	DET
fumecheng-11384	38	22	expression	expression	NOUN
fumecheng-11384	38	23	of	of	ADP
fumecheng-11384	38	24	the	the	DET
fumecheng-11384	38	25	generalized	generalized	ADJ
fumecheng-11384	38	26	dynamic	dynamic	ADJ
fumecheng-11384	38	27	force	force	NOUN
fumecheng-11384	38	28	of	of	ADP
fumecheng-11384	38	29	the	the	DET
fumecheng-11384	38	30	robot	robot	NOUN
fumecheng-11384	38	31	to	to	PART
fumecheng-11384	38	32	represent	represent	VERB
fumecheng-11384	38	33	the	the	DET
fumecheng-11384	38	34	equation	equation	NOUN
fumecheng-11384	38	35	of	of	ADP
fumecheng-11384	38	36	the	the	DET
fumecheng-11384	38	37	inverse	inverse	ADJ
fumecheng-11384	38	38	dynamic	dynamic	ADJ
fumecheng-11384	38	39	model	model	NOUN
fumecheng-11384	38	40	.	.	PUNCT
fumecheng-11384	39	1	fernández	fernández	PROPN
fumecheng-11384	39	2	et	et	PROPN
fumecheng-11384	39	3	al	al	PROPN
fumecheng-11384	39	4	.	.	PUNCT
fumecheng-11384	40	1	[	[	X
fumecheng-11384	40	2	11	11	NUM
fumecheng-11384	40	3	]	]	PUNCT
fumecheng-11384	40	4	used	use	VERB
fumecheng-11384	40	5	the	the	DET
fumecheng-11384	40	6	euler	euler	PROPN
fumecheng-11384	40	7	-	-	PUNCT
fumecheng-11384	40	8	lagrange	lagrange	NOUN
fumecheng-11384	40	9	equation	equation	NOUN
fumecheng-11384	40	10	to	to	PART
fumecheng-11384	40	11	model	model	VERB
fumecheng-11384	40	12	the	the	DET
fumecheng-11384	40	13	robot	robot	NOUN
fumecheng-11384	40	14	.	.	PUNCT
fumecheng-11384	41	1	bugnar	bugnar	PROPN
fumecheng-11384	41	2	et	et	PROPN
fumecheng-11384	41	3	al	al	PROPN
fumecheng-11384	41	4	.	.	PUNCT
fumecheng-11384	42	1	[	[	X
fumecheng-11384	42	2	12	12	NUM
fumecheng-11384	42	3	]	]	PUNCT
fumecheng-11384	42	4	studied	study	VERB
fumecheng-11384	42	5	the	the	DET
fumecheng-11384	42	6	transfer	transfer	NOUN
fumecheng-11384	42	7	moments	moment	NOUN
fumecheng-11384	42	8	of	of	ADP
fumecheng-11384	42	9	the	the	DET
fumecheng-11384	42	10	industrial	industrial	ADJ
fumecheng-11384	42	11	robot	robot	NOUN
fumecheng-11384	42	12	arm	arm	NOUN
fumecheng-11384	42	13	joints	joint	NOUN
fumecheng-11384	42	14	,	,	PUNCT
fumecheng-11384	42	15	developed	develop	VERB
fumecheng-11384	42	16	a	a	DET
fumecheng-11384	42	17	mathematical	mathematical	ADJ
fumecheng-11384	42	18	model	model	NOUN
fumecheng-11384	42	19	of	of	ADP
fumecheng-11384	42	20	the	the	DET
fumecheng-11384	42	21	6	6	NUM
fumecheng-11384	42	22	-	-	PUNCT
fumecheng-11384	42	23	dof	dof	NOUN
fumecheng-11384	42	24	robot	robot	NOUN
fumecheng-11384	42	25	,	,	PUNCT
fumecheng-11384	42	26	and	and	CCONJ
fumecheng-11384	42	27	determined	determine	VERB
fumecheng-11384	42	28	the	the	DET
fumecheng-11384	42	29	kinematic	kinematic	ADJ
fumecheng-11384	42	30	and	and	CCONJ
fumecheng-11384	42	31	kinetic	kinetic	ADJ
fumecheng-11384	42	32	equations	equation	NOUN
fumecheng-11384	42	33	.	.	PUNCT
fumecheng-11384	43	1	urrea	urrea	PROPN
fumecheng-11384	43	2	and	and	CCONJ
fumecheng-11384	43	3	pascal	pascal	PROPN
fumecheng-11384	43	4	[	[	X
fumecheng-11384	43	5	13	13	NUM
fumecheng-11384	43	6	]	]	PUNCT
fumecheng-11384	43	7	derived	derive	VERB
fumecheng-11384	43	8	a	a	DET
fumecheng-11384	43	9	direct	direct	ADJ
fumecheng-11384	43	10	kinematic	kinematic	ADJ
fumecheng-11384	43	11	mathematical	mathematical	ADJ
fumecheng-11384	43	12	model	model	NOUN
fumecheng-11384	43	13	,	,	PUNCT
fumecheng-11384	43	14	an	an	DET
fumecheng-11384	43	15	inverse	inverse	ADJ
fumecheng-11384	43	16	kinematic	kinematic	NOUN
fumecheng-11384	43	17	equation	equation	NOUN
fumecheng-11384	43	18	,	,	PUNCT
fumecheng-11384	43	19	and	and	CCONJ
fumecheng-11384	43	20	a	a	DET
fumecheng-11384	43	21	dynamic	dynamic	ADJ
fumecheng-11384	43	22	model	model	NOUN
fumecheng-11384	43	23	of	of	ADP
fumecheng-11384	43	24	the	the	DET
fumecheng-11384	43	25	effector	effector	NOUN
fumecheng-11384	43	26	torque	torque	NOUN
fumecheng-11384	43	27	in	in	ADP
fumecheng-11384	43	28	the	the	DET
fumecheng-11384	43	29	joint	joint	NOUN
fumecheng-11384	43	30	.	.	PUNCT
fumecheng-11384	44	1	šuleki	šuleki	PROPN
fumecheng-11384	44	2	ć	ć	INTJ
fumecheng-11384	44	3	et	et	NOUN
fumecheng-11384	44	4	al	al	PROPN
fumecheng-11384	44	5	.	.	PUNCT
fumecheng-11384	45	1	[	[	X
fumecheng-11384	45	2	14	14	NUM
fumecheng-11384	45	3	]	]	PUNCT
fumecheng-11384	45	4	studied	study	VERB
fumecheng-11384	45	5	the	the	DET
fumecheng-11384	45	6	forward	forward	ADJ
fumecheng-11384	45	7	and	and	CCONJ
fumecheng-11384	45	8	reverse	reverse	ADJ
fumecheng-11384	45	9	kinematics	kinematic	NOUN
fumecheng-11384	45	10	of	of	ADP
fumecheng-11384	45	11	the	the	DET
fumecheng-11384	45	12	dobot	dobot	PROPN
fumecheng-11384	45	13	kinematic	kinematic	PROPN
fumecheng-11384	45	14	robot	robot	NOUN
fumecheng-11384	45	15	and	and	CCONJ
fumecheng-11384	45	16	simulated	simulate	VERB
fumecheng-11384	45	17	it	it	PRON
fumecheng-11384	45	18	in	in	ADP
fumecheng-11384	45	19	the	the	DET
fumecheng-11384	45	20	matlab	matlab	PROPN
fumecheng-11384	45	21	environment	environment	NOUN
fumecheng-11384	45	22	.	.	PUNCT
fumecheng-11384	46	1	ho	ho	PROPN
fumecheng-11384	46	2	et	et	PROPN
fumecheng-11384	46	3	al	al	PROPN
fumecheng-11384	46	4	.	.	PUNCT
fumecheng-11384	47	1	[	[	X
fumecheng-11384	47	2	15	15	NUM
fumecheng-11384	47	3	]	]	PUNCT
fumecheng-11384	47	4	proposed	propose	VERB
fumecheng-11384	47	5	a	a	DET
fumecheng-11384	47	6	fast	fast	ADJ
fumecheng-11384	47	7	inverse	inverse	NOUN
fumecheng-11384	47	8	kinematics	kinematic	NOUN
fumecheng-11384	47	9	algorithm	algorithm	NOUN
fumecheng-11384	47	10	,	,	PUNCT
fumecheng-11384	47	11	which	which	PRON
fumecheng-11384	47	12	has	have	VERB
fumecheng-11384	47	13	a	a	DET
fumecheng-11384	47	14	closed	closed	ADJ
fumecheng-11384	47	15	solution	solution	NOUN
fumecheng-11384	47	16	for	for	ADP
fumecheng-11384	47	17	a	a	DET
fumecheng-11384	47	18	specific	specific	ADJ
fumecheng-11384	47	19	6	6	NUM
fumecheng-11384	47	20	-	-	PUNCT
fumecheng-11384	47	21	dof	dof	NOUN
fumecheng-11384	47	22	arm	arm	NOUN
fumecheng-11384	47	23	.	.	PUNCT
fumecheng-11384	48	1	bien	bien	PROPN
fumecheng-11384	49	1	[	[	X
fumecheng-11384	49	2	16	16	NUM
fumecheng-11384	49	3	]	]	PUNCT
fumecheng-11384	49	4	proposed	propose	VERB
fumecheng-11384	49	5	the	the	DET
fumecheng-11384	49	6	solution	solution	NOUN
fumecheng-11384	49	7	algorithm	algorithm	NOUN
fumecheng-11384	49	8	for	for	ADP
fumecheng-11384	49	9	a	a	DET
fumecheng-11384	49	10	closed	closed	ADJ
fumecheng-11384	49	11	inverse	inverse	NOUN
fumecheng-11384	49	12	kinematic	kinematic	NOUN
fumecheng-11384	49	13	model	model	NOUN
fumecheng-11384	49	14	of	of	ADP
fumecheng-11384	49	15	a	a	DET
fumecheng-11384	49	16	human	human	ADJ
fumecheng-11384	49	17	two	two	NUM
fumecheng-11384	49	18	-	-	PUNCT
fumecheng-11384	49	19	arm	arm	NOUN
fumecheng-11384	49	20	robot	robot	NOUN
fumecheng-11384	49	21	,	,	PUNCT
fumecheng-11384	49	22	and	and	CCONJ
fumecheng-11384	49	23	verified	verify	VERB
fumecheng-11384	49	24	the	the	DET
fumecheng-11384	49	25	effectiveness	effectiveness	NOUN
fumecheng-11384	49	26	of	of	ADP
fumecheng-11384	49	27	the	the	DET
fumecheng-11384	49	28	algorithm	algorithm	NOUN
fumecheng-11384	49	29	through	through	ADP
fumecheng-11384	49	30	simulation	simulation	NOUN
fumecheng-11384	49	31	.	.	PUNCT
fumecheng-11384	50	1	wang	wang	PROPN
fumecheng-11384	50	2	et	et	PROPN
fumecheng-11384	50	3	al	al	PROPN
fumecheng-11384	50	4	.	.	PUNCT
fumecheng-11384	51	1	[	[	X
fumecheng-11384	51	2	17	17	NUM
fumecheng-11384	51	3	,	,	PUNCT
fumecheng-11384	51	4	18	18	NUM
fumecheng-11384	51	5	]	]	PUNCT
fumecheng-11384	51	6	proposed	propose	VERB
fumecheng-11384	51	7	dynamic	dynamic	ADJ
fumecheng-11384	51	8	model	model	NOUN
fumecheng-11384	51	9	for	for	ADP
fumecheng-11384	51	10	articulated	articulated	ADJ
fumecheng-11384	51	11	industrial	industrial	ADJ
fumecheng-11384	51	12	robots	robot	NOUN
fumecheng-11384	51	13	suitable	suitable	ADJ
fumecheng-11384	51	14	for	for	ADP
fumecheng-11384	51	15	machining	machining	NOUN
fumecheng-11384	51	16	applications	application	NOUN
fumecheng-11384	51	17	,	,	PUNCT
fumecheng-11384	51	18	and	and	CCONJ
fumecheng-11384	51	19	determined	determine	VERB
fumecheng-11384	51	20	the	the	DET
fumecheng-11384	51	21	link	link	NOUN
fumecheng-11384	51	22	and	and	CCONJ
fumecheng-11384	51	23	rotor	rotor	NOUN
fumecheng-11384	51	24	inertia	inertia	NOUN
fumecheng-11384	51	25	,	,	PUNCT
fumecheng-11384	51	26	joint	joint	ADJ
fumecheng-11384	51	27	stiffness	stiffness	NOUN
fumecheng-11384	51	28	and	and	CCONJ
fumecheng-11384	51	29	damping	damp	VERB
fumecheng-11384	51	30	parameters	parameter	NOUN
fumecheng-11384	51	31	.	.	PUNCT
fumecheng-11384	52	1	alam	alam	PROPN
fumecheng-11384	52	2	et	et	PROPN
fumecheng-11384	52	3	al	al	PROPN
fumecheng-11384	52	4	.	.	PUNCT
fumecheng-11384	53	1	[	[	X
fumecheng-11384	53	2	19	19	NUM
fumecheng-11384	53	3	]	]	PUNCT
fumecheng-11384	53	4	and	and	CCONJ
fumecheng-11384	53	5	nguyen	nguyen	NOUN
fumecheng-11384	53	6	et	et	PROPN
fumecheng-11384	53	7	al	al	PROPN
fumecheng-11384	53	8	.	.	PUNCT
fumecheng-11384	54	1	[	[	X
fumecheng-11384	54	2	20	20	NUM
fumecheng-11384	54	3	]	]	PUNCT
fumecheng-11384	54	4	respectively	respectively	ADV
fumecheng-11384	54	5	designed	design	VERB
fumecheng-11384	54	6	the	the	DET
fumecheng-11384	54	7	parameter	parameter	NOUN
fumecheng-11384	54	8	identification	identification	NOUN
fumecheng-11384	54	9	model	model	NOUN
fumecheng-11384	54	10	of	of	ADP
fumecheng-11384	54	11	industrial	industrial	ADJ
fumecheng-11384	54	12	robots	robot	NOUN
fumecheng-11384	54	13	,	,	PUNCT
fumecheng-11384	54	14	which	which	PRON
fumecheng-11384	54	15	is	be	AUX
fumecheng-11384	54	16	formulated	formulate	VERB
fumecheng-11384	54	17	based	base	VERB
fumecheng-11384	54	18	on	on	ADP
fumecheng-11384	54	19	acceleration	acceleration	NOUN
fumecheng-11384	54	20	,	,	PUNCT
fumecheng-11384	54	21	speed	speed	NOUN
fumecheng-11384	54	22	,	,	PUNCT
fumecheng-11384	54	23	position	position	NOUN
fumecheng-11384	54	24	and	and	CCONJ
fumecheng-11384	54	25	voltage	voltage	NOUN
fumecheng-11384	54	26	.	.	PUNCT
fumecheng-11384	55	1	modeling	modeling	NOUN
fumecheng-11384	55	2	and	and	CCONJ
fumecheng-11384	55	3	simulation	simulation	NOUN
fumecheng-11384	55	4	of	of	ADP
fumecheng-11384	55	5	industrial	industrial	ADJ
fumecheng-11384	55	6	robot	robot	NOUN
fumecheng-11384	55	7	arms	arm	NOUN
fumecheng-11384	55	8	using	use	VERB
fumecheng-11384	55	9	simscape	simscape	NOUN
fumecheng-11384	55	10	multibody	multibody	NOUN
fumecheng-11384	55	11	267	267	NUM
fumecheng-11384	55	12	harfoush	harfoush	NOUN
fumecheng-11384	55	13	et	et	PROPN
fumecheng-11384	55	14	al	al	PROPN
fumecheng-11384	55	15	.	.	PUNCT
fumecheng-11384	56	1	[	[	X
fumecheng-11384	56	2	21	21	NUM
fumecheng-11384	56	3	]	]	PUNCT
fumecheng-11384	56	4	proposed	propose	VERB
fumecheng-11384	56	5	an	an	DET
fumecheng-11384	56	6	algorithm	algorithm	NOUN
fumecheng-11384	56	7	based	base	VERB
fumecheng-11384	56	8	on	on	ADP
fumecheng-11384	56	9	the	the	DET
fumecheng-11384	56	10	position	position	NOUN
fumecheng-11384	56	11	of	of	ADP
fumecheng-11384	56	12	a	a	DET
fumecheng-11384	56	13	set	set	NOUN
fumecheng-11384	56	14	of	of	ADP
fumecheng-11384	56	15	measured	measure	VERB
fumecheng-11384	56	16	end	end	NOUN
fumecheng-11384	56	17	effectors	effector	NOUN
fumecheng-11384	56	18	to	to	PART
fumecheng-11384	56	19	identify	identify	VERB
fumecheng-11384	56	20	the	the	DET
fumecheng-11384	56	21	sources	source	NOUN
fumecheng-11384	56	22	of	of	ADP
fumecheng-11384	56	23	error	error	NOUN
fumecheng-11384	56	24	included	include	VERB
fumecheng-11384	56	25	in	in	ADP
fumecheng-11384	56	26	the	the	DET
fumecheng-11384	56	27	kinematic	kinematic	ADJ
fumecheng-11384	56	28	model	model	NOUN
fumecheng-11384	56	29	.	.	PUNCT
fumecheng-11384	57	1	huynh	huynh	PROPN
fumecheng-11384	57	2	et	et	PROPN
fumecheng-11384	57	3	al	al	PROPN
fumecheng-11384	57	4	.	.	PUNCT
fumecheng-11384	58	1	[	[	X
fumecheng-11384	58	2	22	22	NUM
fumecheng-11384	58	3	]	]	PUNCT
fumecheng-11384	58	4	describes	describe	VERB
fumecheng-11384	58	5	the	the	DET
fumecheng-11384	58	6	data	data	NOUN
fumecheng-11384	58	7	-	-	PUNCT
fumecheng-11384	58	8	driven	drive	VERB
fumecheng-11384	58	9	modeling	modeling	NOUN
fumecheng-11384	58	10	approach	approach	NOUN
fumecheng-11384	58	11	and	and	CCONJ
fumecheng-11384	58	12	its	its	PRON
fumecheng-11384	58	13	application	application	NOUN
fumecheng-11384	58	14	in	in	ADP
fumecheng-11384	58	15	controlling	control	VERB
fumecheng-11384	58	16	a	a	DET
fumecheng-11384	58	17	new	new	ADJ
fumecheng-11384	58	18	set	set	NOUN
fumecheng-11384	58	19	of	of	ADP
fumecheng-11384	58	20	series	series	NOUN
fumecheng-11384	58	21	elastic	elastic	ADJ
fumecheng-11384	58	22	actuators	actuator	NOUN
fumecheng-11384	58	23	.	.	PUNCT
fumecheng-11384	59	1	segota	segota	PROPN
fumecheng-11384	59	2	et	et	PROPN
fumecheng-11384	59	3	al	al	PROPN
fumecheng-11384	59	4	.	.	PUNCT
fumecheng-11384	60	1	[	[	X
fumecheng-11384	60	2	23	23	NUM
fumecheng-11384	60	3	]	]	PUNCT
fumecheng-11384	60	4	used	use	VERB
fumecheng-11384	60	5	the	the	DET
fumecheng-11384	60	6	multilayer	multilayer	ADJ
fumecheng-11384	60	7	perceptron	perceptron	PROPN
fumecheng-11384	60	8	(	(	PUNCT
fumecheng-11384	60	9	mlp	mlp	PROPN
fumecheng-11384	60	10	)	)	PUNCT
fumecheng-11384	60	11	algorithm	algorithm	NOUN
fumecheng-11384	60	12	to	to	PART
fumecheng-11384	60	13	model	model	VERB
fumecheng-11384	60	14	the	the	DET
fumecheng-11384	60	15	robot	robot	NOUN
fumecheng-11384	60	16	to	to	PART
fumecheng-11384	60	17	obtain	obtain	VERB
fumecheng-11384	60	18	the	the	DET
fumecheng-11384	60	19	best	good	ADJ
fumecheng-11384	60	20	combination	combination	NOUN
fumecheng-11384	60	21	of	of	ADP
fumecheng-11384	60	22	output	output	NOUN
fumecheng-11384	60	23	parameters	parameter	NOUN
fumecheng-11384	60	24	.	.	PUNCT
fumecheng-11384	61	1	truc	truc	X
fumecheng-11384	61	2	et	et	PROPN
fumecheng-11384	61	3	al	al	PROPN
fumecheng-11384	61	4	.	.	PUNCT
fumecheng-11384	62	1	[	[	X
fumecheng-11384	62	2	24	24	NUM
fumecheng-11384	62	3	]	]	PUNCT
fumecheng-11384	62	4	defined	define	VERB
fumecheng-11384	62	5	an	an	DET
fumecheng-11384	62	6	implementation	implementation	NOUN
fumecheng-11384	62	7	method	method	NOUN
fumecheng-11384	62	8	for	for	ADP
fumecheng-11384	62	9	solving	solve	VERB
fumecheng-11384	62	10	the	the	DET
fumecheng-11384	62	11	optimal	optimal	ADJ
fumecheng-11384	62	12	geometric	geometric	ADJ
fumecheng-11384	62	13	structure	structure	NOUN
fumecheng-11384	62	14	model	model	NOUN
fumecheng-11384	62	15	of	of	ADP
fumecheng-11384	62	16	the	the	DET
fumecheng-11384	62	17	plane	plane	NOUN
fumecheng-11384	62	18	z	z	NOUN
fumecheng-11384	62	19	-	-	PUNCT
fumecheng-11384	62	20	type	type	NOUN
fumecheng-11384	62	21	mechanism	mechanism	NOUN
fumecheng-11384	62	22	,	,	PUNCT
fumecheng-11384	62	23	and	and	CCONJ
fumecheng-11384	62	24	verified	verify	VERB
fumecheng-11384	62	25	the	the	DET
fumecheng-11384	62	26	method	method	NOUN
fumecheng-11384	62	27	by	by	ADP
fumecheng-11384	62	28	using	use	VERB
fumecheng-11384	62	29	the	the	DET
fumecheng-11384	62	30	geometric	geometric	ADJ
fumecheng-11384	62	31	modeling	modeling	NOUN
fumecheng-11384	62	32	software	software	NOUN
fumecheng-11384	62	33	.	.	PUNCT
fumecheng-11384	63	1	barrientos	barrientos	PROPN
fumecheng-11384	63	2	-	-	PUNCT
fumecheng-11384	63	3	diez	diez	PROPN
fumecheng-11384	63	4	et	et	PROPN
fumecheng-11384	63	5	al	al	PROPN
fumecheng-11384	63	6	.	.	PUNCT
fumecheng-11384	64	1	[	[	X
fumecheng-11384	64	2	25	25	NUM
fumecheng-11384	64	3	]	]	PUNCT
fumecheng-11384	64	4	presented	present	VERB
fumecheng-11384	64	5	a	a	DET
fumecheng-11384	64	6	fast	fast	ADJ
fumecheng-11384	64	7	and	and	CCONJ
fumecheng-11384	64	8	low	low	ADJ
fumecheng-11384	64	9	-	-	PUNCT
fumecheng-11384	64	10	cost	cost	NOUN
fumecheng-11384	64	11	fencing	fencing	NOUN
fumecheng-11384	64	12	robotic	robotic	ADJ
fumecheng-11384	64	13	arm	arm	NOUN
fumecheng-11384	64	14	modeling	modeling	NOUN
fumecheng-11384	64	15	system	system	NOUN
fumecheng-11384	64	16	.	.	PUNCT
fumecheng-11384	65	1	ogbemhe	ogbemhe	NOUN
fumecheng-11384	65	2	et	et	PROPN
fumecheng-11384	65	3	al	al	PROPN
fumecheng-11384	65	4	.	.	PUNCT
fumecheng-11384	66	1	[	[	X
fumecheng-11384	66	2	26	26	NUM
fumecheng-11384	66	3	]	]	PUNCT
fumecheng-11384	66	4	provides	provide	VERB
fumecheng-11384	66	5	a	a	DET
fumecheng-11384	66	6	workspace	workspace	NOUN
fumecheng-11384	66	7	determination	determination	NOUN
fumecheng-11384	66	8	and	and	CCONJ
fumecheng-11384	66	9	analysis	analysis	NOUN
fumecheng-11384	66	10	based	base	VERB
fumecheng-11384	66	11	on	on	ADP
fumecheng-11384	66	12	spatial	spatial	ADJ
fumecheng-11384	66	13	and	and	CCONJ
fumecheng-11384	66	14	plane	plane	NOUN
fumecheng-11384	66	15	parallel	parallel	NOUN
fumecheng-11384	66	16	manipulator	manipulator	NOUN
fumecheng-11384	66	17	graphics	graphic	NOUN
fumecheng-11384	66	18	technology	technology	NOUN
fumecheng-11384	66	19	,	,	PUNCT
fumecheng-11384	66	20	and	and	CCONJ
fumecheng-11384	66	21	completes	complete	VERB
fumecheng-11384	66	22	its	its	PRON
fumecheng-11384	66	23	implementation	implementation	NOUN
fumecheng-11384	66	24	in	in	ADP
fumecheng-11384	66	25	the	the	DET
fumecheng-11384	66	26	catia	catia	NOUN
fumecheng-11384	66	27	workbench	workbench	NOUN
fumecheng-11384	66	28	using	use	VERB
fumecheng-11384	66	29	cad	cad	PROPN
fumecheng-11384	66	30	software	software	NOUN
fumecheng-11384	66	31	.	.	PUNCT
fumecheng-11384	67	1	aboulissane	aboulissane	NOUN
fumecheng-11384	67	2	et	et	PROPN
fumecheng-11384	67	3	al	al	PROPN
fumecheng-11384	67	4	.	.	PUNCT
fumecheng-11384	68	1	[	[	X
fumecheng-11384	68	2	27	27	NUM
fumecheng-11384	68	3	]	]	PUNCT
fumecheng-11384	68	4	introduced	introduce	VERB
fumecheng-11384	68	5	a	a	DET
fumecheng-11384	68	6	kinematic	kinematic	ADJ
fumecheng-11384	68	7	model	model	NOUN
fumecheng-11384	68	8	of	of	ADP
fumecheng-11384	68	9	robot	robot	NOUN
fumecheng-11384	68	10	in	in	ADP
fumecheng-11384	68	11	drive	drive	NOUN
fumecheng-11384	68	12	and	and	CCONJ
fumecheng-11384	68	13	configuration	configuration	NOUN
fumecheng-11384	68	14	space	space	NOUN
fumecheng-11384	68	15	.	.	PUNCT
fumecheng-11384	69	1	after	after	ADP
fumecheng-11384	69	2	the	the	DET
fumecheng-11384	69	3	comparison	comparison	NOUN
fumecheng-11384	69	4	and	and	CCONJ
fumecheng-11384	69	5	analysis	analysis	NOUN
fumecheng-11384	69	6	of	of	ADP
fumecheng-11384	69	7	the	the	DET
fumecheng-11384	69	8	above	above	ADJ
fumecheng-11384	69	9	modeling	modeling	NOUN
fumecheng-11384	69	10	methods	method	NOUN
fumecheng-11384	69	11	,	,	PUNCT
fumecheng-11384	69	12	the	the	DET
fumecheng-11384	69	13	following	follow	VERB
fumecheng-11384	69	14	remarks	remark	NOUN
fumecheng-11384	69	15	can	can	AUX
fumecheng-11384	69	16	be	be	AUX
fumecheng-11384	69	17	made	make	VERB
fumecheng-11384	69	18	:	:	PUNCT
fumecheng-11384	69	19	(	(	PUNCT
fumecheng-11384	69	20	1	1	X
fumecheng-11384	69	21	)	)	PUNCT
fumecheng-11384	69	22	some	some	DET
fumecheng-11384	69	23	modeling	modeling	NOUN
fumecheng-11384	69	24	methods	method	NOUN
fumecheng-11384	69	25	require	require	VERB
fumecheng-11384	69	26	special	special	ADJ
fumecheng-11384	69	27	measuring	measuring	NOUN
fumecheng-11384	69	28	of	of	ADP
fumecheng-11384	69	29	the	the	DET
fumecheng-11384	69	30	physical	physical	ADJ
fumecheng-11384	69	31	parameters	parameter	NOUN
fumecheng-11384	69	32	such	such	ADJ
fumecheng-11384	69	33	as	as	ADP
fumecheng-11384	69	34	the	the	DET
fumecheng-11384	69	35	center	center	NOUN
fumecheng-11384	69	36	of	of	ADP
fumecheng-11384	69	37	mass	mass	NOUN
fumecheng-11384	69	38	and	and	CCONJ
fumecheng-11384	69	39	mass	mass	NOUN
fumecheng-11384	69	40	of	of	ADP
fumecheng-11384	69	41	the	the	DET
fumecheng-11384	69	42	robot	robot	NOUN
fumecheng-11384	69	43	.	.	PUNCT
fumecheng-11384	70	1	especially	especially	ADV
fumecheng-11384	70	2	when	when	SCONJ
fumecheng-11384	70	3	the	the	DET
fumecheng-11384	70	4	model	model	NOUN
fumecheng-11384	70	5	parameters	parameter	NOUN
fumecheng-11384	70	6	change	change	VERB
fumecheng-11384	70	7	,	,	PUNCT
fumecheng-11384	70	8	the	the	DET
fumecheng-11384	70	9	measurement	measurement	NOUN
fumecheng-11384	70	10	is	be	AUX
fumecheng-11384	70	11	cumbersome	cumbersome	ADJ
fumecheng-11384	70	12	and	and	CCONJ
fumecheng-11384	70	13	the	the	DET
fumecheng-11384	70	14	accuracy	accuracy	NOUN
fumecheng-11384	70	15	is	be	AUX
fumecheng-11384	70	16	not	not	PART
fumecheng-11384	70	17	always	always	ADV
fumecheng-11384	70	18	sufficiently	sufficiently	ADV
fumecheng-11384	70	19	good	good	ADJ
fumecheng-11384	70	20	.	.	PUNCT
fumecheng-11384	71	1	(	(	PUNCT
fumecheng-11384	71	2	2	2	X
fumecheng-11384	71	3	)	)	PUNCT
fumecheng-11384	71	4	some	some	DET
fumecheng-11384	71	5	studied	study	VERB
fumecheng-11384	71	6	robot	robot	NOUN
fumecheng-11384	71	7	models	model	NOUN
fumecheng-11384	71	8	are	be	AUX
fumecheng-11384	71	9	not	not	PART
fumecheng-11384	71	10	intuitive	intuitive	ADJ
fumecheng-11384	71	11	and	and	CCONJ
fumecheng-11384	71	12	convenient	convenient	ADJ
fumecheng-11384	71	13	for	for	ADP
fumecheng-11384	71	14	subsequent	subsequent	ADJ
fumecheng-11384	71	15	trajectory	trajectory	NOUN
fumecheng-11384	71	16	planning	planning	NOUN
fumecheng-11384	71	17	and	and	CCONJ
fumecheng-11384	71	18	control	control	NOUN
fumecheng-11384	71	19	strategy	strategy	NOUN
fumecheng-11384	71	20	data	datum	NOUN
fumecheng-11384	71	21	.	.	PUNCT
fumecheng-11384	72	1	(	(	PUNCT
fumecheng-11384	72	2	3	3	X
fumecheng-11384	72	3	)	)	PUNCT
fumecheng-11384	72	4	some	some	DET
fumecheng-11384	72	5	modeling	modeling	NOUN
fumecheng-11384	72	6	methods	method	NOUN
fumecheng-11384	72	7	only	only	ADV
fumecheng-11384	72	8	discuss	discuss	VERB
fumecheng-11384	72	9	the	the	DET
fumecheng-11384	72	10	simple	simple	ADJ
fumecheng-11384	72	11	axial	axial	ADJ
fumecheng-11384	72	12	range	range	NOUN
fumecheng-11384	72	13	of	of	ADP
fumecheng-11384	72	14	axis	axis	ADJ
fumecheng-11384	72	15	motion	motion	NOUN
fumecheng-11384	72	16	,	,	PUNCT
fumecheng-11384	72	17	not	not	PART
fumecheng-11384	72	18	including	include	VERB
fumecheng-11384	72	19	the	the	DET
fumecheng-11384	72	20	case	case	NOUN
fumecheng-11384	72	21	of	of	ADP
fumecheng-11384	72	22	physical	physical	ADJ
fumecheng-11384	72	23	interference	interference	NOUN
fumecheng-11384	72	24	between	between	ADP
fumecheng-11384	72	25	joints	joint	NOUN
fumecheng-11384	72	26	,	,	PUNCT
fumecheng-11384	72	27	while	while	SCONJ
fumecheng-11384	72	28	the	the	DET
fumecheng-11384	72	29	coupling	coupling	NOUN
fumecheng-11384	72	30	between	between	ADP
fumecheng-11384	72	31	joints	joint	NOUN
fumecheng-11384	72	32	is	be	AUX
fumecheng-11384	72	33	a	a	DET
fumecheng-11384	72	34	relatively	relatively	ADV
fumecheng-11384	72	35	common	common	ADJ
fumecheng-11384	72	36	case	case	NOUN
fumecheng-11384	72	37	.	.	PUNCT
fumecheng-11384	73	1	the	the	DET
fumecheng-11384	73	2	main	main	ADJ
fumecheng-11384	73	3	contribution	contribution	NOUN
fumecheng-11384	73	4	of	of	ADP
fumecheng-11384	73	5	this	this	DET
fumecheng-11384	73	6	paper	paper	NOUN
fumecheng-11384	73	7	is	be	AUX
fumecheng-11384	73	8	to	to	PART
fumecheng-11384	73	9	establish	establish	VERB
fumecheng-11384	73	10	a	a	DET
fumecheng-11384	73	11	dynamic	dynamic	ADJ
fumecheng-11384	73	12	simulation	simulation	NOUN
fumecheng-11384	73	13	model	model	NOUN
fumecheng-11384	73	14	of	of	ADP
fumecheng-11384	73	15	an	an	DET
fumecheng-11384	73	16	industrial	industrial	ADJ
fumecheng-11384	73	17	robot	robot	NOUN
fumecheng-11384	73	18	arm	arm	NOUN
fumecheng-11384	73	19	,	,	PUNCT
fumecheng-11384	73	20	and	and	CCONJ
fumecheng-11384	73	21	to	to	PART
fumecheng-11384	73	22	simulate	simulate	VERB
fumecheng-11384	73	23	the	the	DET
fumecheng-11384	73	24	motion	motion	NOUN
fumecheng-11384	73	25	trajectory	trajectory	NOUN
fumecheng-11384	73	26	planning	planning	NOUN
fumecheng-11384	73	27	of	of	ADP
fumecheng-11384	73	28	the	the	DET
fumecheng-11384	73	29	robot	robot	NOUN
fumecheng-11384	73	30	involving	involve	VERB
fumecheng-11384	73	31	all	all	DET
fumecheng-11384	73	32	the	the	DET
fumecheng-11384	73	33	above	above	ADV
fumecheng-11384	73	34	mentioned	mention	VERB
fumecheng-11384	73	35	challenging	challenging	ADJ
fumecheng-11384	73	36	factors	factor	NOUN
fumecheng-11384	73	37	.	.	PUNCT
fumecheng-11384	74	1	the	the	DET
fumecheng-11384	74	2	parameters	parameter	NOUN
fumecheng-11384	74	3	of	of	ADP
fumecheng-11384	74	4	the	the	DET
fumecheng-11384	74	5	center	center	NOUN
fumecheng-11384	74	6	and	and	CCONJ
fumecheng-11384	74	7	mass	mass	NOUN
fumecheng-11384	74	8	of	of	ADP
fumecheng-11384	74	9	the	the	DET
fumecheng-11384	74	10	model	model	NOUN
fumecheng-11384	74	11	are	be	AUX
fumecheng-11384	74	12	automatically	automatically	ADV
fumecheng-11384	74	13	calculated	calculate	VERB
fumecheng-11384	74	14	by	by	ADP
fumecheng-11384	74	15	the	the	DET
fumecheng-11384	74	16	multi	multi	ADJ
fumecheng-11384	74	17	-	-	ADJ
fumecheng-11384	74	18	body	body	ADJ
fumecheng-11384	74	19	system	system	NOUN
fumecheng-11384	74	20	,	,	PUNCT
fumecheng-11384	74	21	which	which	PRON
fumecheng-11384	74	22	is	be	AUX
fumecheng-11384	74	23	accurate	accurate	ADJ
fumecheng-11384	74	24	and	and	CCONJ
fumecheng-11384	74	25	convenient	convenient	ADJ
fumecheng-11384	74	26	,	,	PUNCT
fumecheng-11384	74	27	and	and	CCONJ
fumecheng-11384	74	28	can	can	AUX
fumecheng-11384	74	29	satisfy	satisfy	VERB
fumecheng-11384	74	30	the	the	DET
fumecheng-11384	74	31	mathematical	mathematical	ADJ
fumecheng-11384	74	32	description	description	NOUN
fumecheng-11384	74	33	of	of	ADP
fumecheng-11384	74	34	various	various	ADJ
fumecheng-11384	74	35	parameters	parameter	NOUN
fumecheng-11384	74	36	of	of	ADP
fumecheng-11384	74	37	the	the	DET
fumecheng-11384	74	38	robot	robot	NOUN
fumecheng-11384	74	39	.	.	PUNCT
fumecheng-11384	75	1	at	at	ADP
fumecheng-11384	75	2	the	the	DET
fumecheng-11384	75	3	same	same	ADJ
fumecheng-11384	75	4	time	time	NOUN
fumecheng-11384	75	5	,	,	PUNCT
fumecheng-11384	75	6	the	the	DET
fumecheng-11384	75	7	parameters	parameter	NOUN
fumecheng-11384	75	8	coupling	couple	VERB
fumecheng-11384	75	9	is	be	AUX
fumecheng-11384	75	10	solved	solve	VERB
fumecheng-11384	75	11	and	and	CCONJ
fumecheng-11384	75	12	realized	realize	VERB
fumecheng-11384	75	13	for	for	ADP
fumecheng-11384	75	14	the	the	DET
fumecheng-11384	75	15	structured	structured	ADJ
fumecheng-11384	75	16	robot	robot	NOUN
fumecheng-11384	75	17	.	.	PUNCT
fumecheng-11384	76	1	the	the	DET
fumecheng-11384	76	2	model	model	NOUN
fumecheng-11384	76	3	is	be	AUX
fumecheng-11384	76	4	set	set	VERB
fumecheng-11384	76	5	up	up	ADP
fumecheng-11384	76	6	with	with	ADP
fumecheng-11384	76	7	sufficiently	sufficiently	ADV
fumecheng-11384	76	8	rich	rich	ADJ
fumecheng-11384	76	9	data	data	NOUN
fumecheng-11384	76	10	interface	interface	NOUN
fumecheng-11384	76	11	to	to	PART
fumecheng-11384	76	12	carry	carry	VERB
fumecheng-11384	76	13	out	out	ADP
fumecheng-11384	76	14	the	the	DET
fumecheng-11384	76	15	research	research	NOUN
fumecheng-11384	76	16	and	and	CCONJ
fumecheng-11384	76	17	verification	verification	NOUN
fumecheng-11384	76	18	of	of	ADP
fumecheng-11384	76	19	trajectory	trajectory	NOUN
fumecheng-11384	76	20	planning	planning	NOUN
fumecheng-11384	76	21	and	and	CCONJ
fumecheng-11384	76	22	control	control	NOUN
fumecheng-11384	76	23	algorithm	algorithm	NOUN
fumecheng-11384	76	24	.	.	PUNCT
fumecheng-11384	77	1	the	the	DET
fumecheng-11384	77	2	study	study	NOUN
fumecheng-11384	77	3	protocol	protocol	NOUN
fumecheng-11384	77	4	of	of	ADP
fumecheng-11384	77	5	this	this	DET
fumecheng-11384	77	6	paper	paper	NOUN
fumecheng-11384	77	7	is	be	AUX
fumecheng-11384	77	8	shown	show	VERB
fumecheng-11384	77	9	in	in	ADP
fumecheng-11384	77	10	fig	fig	NOUN
fumecheng-11384	77	11	.	.	PUNCT
fumecheng-11384	78	1	1	1	X
fumecheng-11384	78	2	.	.	X
fumecheng-11384	78	3	it	it	PRON
fumecheng-11384	78	4	includes	include	VERB
fumecheng-11384	78	5	the	the	DET
fumecheng-11384	78	6	fig	fig	NOUN
fumecheng-11384	78	7	.	.	PUNCT
fumecheng-11384	79	1	1	1	NUM
fumecheng-11384	79	2	research	research	NOUN
fumecheng-11384	79	3	scheme	scheme	NOUN
fumecheng-11384	79	4	for	for	ADP
fumecheng-11384	79	5	the	the	DET
fumecheng-11384	79	6	dynamic	dynamic	ADJ
fumecheng-11384	79	7	modeling	modeling	NOUN
fumecheng-11384	79	8	of	of	ADP
fumecheng-11384	79	9	the	the	DET
fumecheng-11384	79	10	industrial	industrial	ADJ
fumecheng-11384	79	11	robot	robot	NOUN
fumecheng-11384	79	12	arm	arm	VERB
fumecheng-11384	79	13	268	268	NUM
fumecheng-11384	79	14	c.	c.	PROPN
fumecheng-11384	79	15	zhang	zhang	PROPN
fumecheng-11384	79	16	,	,	PUNCT
fumecheng-11384	79	17	s.	s.	PROPN
fumecheng-11384	79	18	li	li	PROPN
fumecheng-11384	79	19	,	,	PUNCT
fumecheng-11384	79	20	z.	z.	PROPN
fumecheng-11384	79	21	zhang	zhang	PROPN
fumecheng-11384	80	1	following	follow	VERB
fumecheng-11384	80	2	work	work	NOUN
fumecheng-11384	80	3	:	:	PUNCT
fumecheng-11384	80	4	(	(	PUNCT
fumecheng-11384	80	5	1	1	X
fumecheng-11384	80	6	)	)	PUNCT
fumecheng-11384	80	7	analyzing	analyze	VERB
fumecheng-11384	80	8	the	the	DET
fumecheng-11384	80	9	kinematic	kinematic	ADJ
fumecheng-11384	80	10	structure	structure	NOUN
fumecheng-11384	80	11	and	and	CCONJ
fumecheng-11384	80	12	kinematic	kinematic	ADJ
fumecheng-11384	80	13	model	model	NOUN
fumecheng-11384	80	14	of	of	ADP
fumecheng-11384	80	15	industrial	industrial	ADJ
fumecheng-11384	80	16	robots	robot	NOUN
fumecheng-11384	80	17	;	;	PUNCT
fumecheng-11384	80	18	(	(	PUNCT
fumecheng-11384	80	19	2	2	X
fumecheng-11384	80	20	)	)	PUNCT
fumecheng-11384	80	21	reconstructing	reconstruct	VERB
fumecheng-11384	80	22	the	the	DET
fumecheng-11384	80	23	cad	cad	PROPN
fumecheng-11384	80	24	model	model	NOUN
fumecheng-11384	80	25	of	of	ADP
fumecheng-11384	80	26	the	the	DET
fumecheng-11384	80	27	robot	robot	NOUN
fumecheng-11384	80	28	;	;	PUNCT
fumecheng-11384	80	29	(	(	PUNCT
fumecheng-11384	80	30	3	3	X
fumecheng-11384	80	31	)	)	PUNCT
fumecheng-11384	80	32	establishing	establish	VERB
fumecheng-11384	80	33	the	the	DET
fumecheng-11384	80	34	dynamic	dynamic	ADJ
fumecheng-11384	80	35	model	model	NOUN
fumecheng-11384	80	36	of	of	ADP
fumecheng-11384	80	37	the	the	DET
fumecheng-11384	80	38	robot	robot	NOUN
fumecheng-11384	80	39	with	with	ADP
fumecheng-11384	80	40	mbs	mb	NOUN
fumecheng-11384	80	41	and	and	CCONJ
fumecheng-11384	80	42	setting	set	VERB
fumecheng-11384	80	43	up	up	ADP
fumecheng-11384	80	44	external	external	ADJ
fumecheng-11384	80	45	interfaces	interface	NOUN
fumecheng-11384	80	46	such	such	ADJ
fumecheng-11384	80	47	as	as	ADP
fumecheng-11384	80	48	controller	controller	NOUN
fumecheng-11384	80	49	data	datum	NOUN
fumecheng-11384	80	50	;	;	PUNCT
fumecheng-11384	80	51	(	(	PUNCT
fumecheng-11384	80	52	4	4	X
fumecheng-11384	80	53	)	)	PUNCT
fumecheng-11384	80	54	conducting	conduct	VERB
fumecheng-11384	80	55	the	the	DET
fumecheng-11384	80	56	motion	motion	NOUN
fumecheng-11384	80	57	trajectory	trajectory	NOUN
fumecheng-11384	80	58	planning	planning	NOUN
fumecheng-11384	80	59	simulation	simulation	NOUN
fumecheng-11384	80	60	to	to	PART
fumecheng-11384	80	61	prove	prove	VERB
fumecheng-11384	80	62	the	the	DET
fumecheng-11384	80	63	validity	validity	NOUN
fumecheng-11384	80	64	and	and	CCONJ
fumecheng-11384	80	65	rationality	rationality	NOUN
fumecheng-11384	80	66	of	of	ADP
fumecheng-11384	80	67	the	the	DET
fumecheng-11384	80	68	model	model	NOUN
fumecheng-11384	80	69	.	.	PUNCT
fumecheng-11384	81	1	2	2	X
fumecheng-11384	81	2	.	.	X
fumecheng-11384	81	3	kinematic	kinematic	ADJ
fumecheng-11384	81	4	analysis	analysis	NOUN
fumecheng-11384	81	5	2.1	2.1	NUM
fumecheng-11384	81	6	.	.	PUNCT
fumecheng-11384	82	1	kinematic	kinematic	ADJ
fumecheng-11384	82	2	characteristics	characteristic	NOUN
fumecheng-11384	82	3	dobot	dobot	PROPN
fumecheng-11384	82	4	mg400	mg400	PROPN
fumecheng-11384	82	5	(	(	PUNCT
fumecheng-11384	82	6	hereinafter	hereinafter	NOUN
fumecheng-11384	82	7	referred	refer	VERB
fumecheng-11384	82	8	to	to	ADP
fumecheng-11384	82	9	as	as	ADP
fumecheng-11384	82	10	mg400	mg400	PROPN
fumecheng-11384	82	11	)	)	PUNCT
fumecheng-11384	82	12	is	be	AUX
fumecheng-11384	82	13	the	the	DET
fumecheng-11384	82	14	subject	subject	NOUN
fumecheng-11384	82	15	of	of	ADP
fumecheng-11384	82	16	this	this	DET
fumecheng-11384	82	17	paper	paper	NOUN
fumecheng-11384	82	18	,	,	PUNCT
fumecheng-11384	82	19	which	which	PRON
fumecheng-11384	82	20	is	be	AUX
fumecheng-11384	82	21	an	an	DET
fumecheng-11384	82	22	industrial	industrial	ADJ
fumecheng-11384	82	23	super	super	ADJ
fumecheng-11384	82	24	small	small	ADJ
fumecheng-11384	82	25	desktop	desktop	NOUN
fumecheng-11384	82	26	manipulator	manipulator	NOUN
fumecheng-11384	82	27	developed	develop	VERB
fumecheng-11384	82	28	and	and	CCONJ
fumecheng-11384	82	29	released	release	VERB
fumecheng-11384	82	30	by	by	ADP
fumecheng-11384	82	31	dobot	dobot	NOUN
fumecheng-11384	82	32	in	in	ADP
fumecheng-11384	82	33	december	december	PROPN
fumecheng-11384	82	34	2020	2020	NUM
fumecheng-11384	82	35	.	.	PUNCT
fumecheng-11384	83	1	it	it	PRON
fumecheng-11384	83	2	combines	combine	VERB
fumecheng-11384	83	3	the	the	DET
fumecheng-11384	83	4	characteristics	characteristic	NOUN
fumecheng-11384	83	5	of	of	ADP
fumecheng-11384	83	6	the	the	DET
fumecheng-11384	83	7	series	series	NOUN
fumecheng-11384	83	8	mechanism	mechanism	NOUN
fumecheng-11384	83	9	and	and	CCONJ
fumecheng-11384	83	10	also	also	ADV
fumecheng-11384	83	11	the	the	DET
fumecheng-11384	83	12	parallel	parallel	ADJ
fumecheng-11384	83	13	mechanism	mechanism	NOUN
fumecheng-11384	83	14	.	.	PUNCT
fumecheng-11384	84	1	the	the	DET
fumecheng-11384	84	2	quadrilateral	quadrilateral	ADJ
fumecheng-11384	84	3	link	link	NOUN
fumecheng-11384	84	4	of	of	ADP
fumecheng-11384	84	5	the	the	DET
fumecheng-11384	84	6	robot	robot	NOUN
fumecheng-11384	84	7	arm	arm	NOUN
fumecheng-11384	84	8	restricts	restrict	VERB
fumecheng-11384	84	9	its	its	PRON
fumecheng-11384	84	10	own	own	ADJ
fumecheng-11384	84	11	partial	partial	ADJ
fumecheng-11384	84	12	working	working	NOUN
fumecheng-11384	84	13	space	space	NOUN
fumecheng-11384	84	14	,	,	PUNCT
fumecheng-11384	84	15	it	it	PRON
fumecheng-11384	84	16	has	have	VERB
fumecheng-11384	84	17	good	good	ADJ
fumecheng-11384	84	18	stiffness	stiffness	NOUN
fumecheng-11384	84	19	,	,	PUNCT
fumecheng-11384	84	20	precision	precision	NOUN
fumecheng-11384	84	21	and	and	CCONJ
fumecheng-11384	84	22	speed	speed	NOUN
fumecheng-11384	84	23	.	.	PUNCT
fumecheng-11384	85	1	mg400	mg400	NOUN
fumecheng-11384	85	2	can	can	AUX
fumecheng-11384	85	3	be	be	AUX
fumecheng-11384	85	4	widely	widely	ADV
fumecheng-11384	85	5	used	use	VERB
fumecheng-11384	85	6	in	in	ADP
fumecheng-11384	85	7	loading	loading	NOUN
fumecheng-11384	85	8	and	and	CCONJ
fumecheng-11384	85	9	unloading	unloading	NOUN
fumecheng-11384	85	10	,	,	PUNCT
fumecheng-11384	85	11	stacking	stacking	NOUN
fumecheng-11384	85	12	,	,	PUNCT
fumecheng-11384	85	13	visual	visual	ADJ
fumecheng-11384	85	14	sorting	sorting	NOUN
fumecheng-11384	85	15	,	,	PUNCT
fumecheng-11384	85	16	distribution	distribution	NOUN
fumecheng-11384	85	17	,	,	PUNCT
fumecheng-11384	85	18	viscose	viscose	NOUN
fumecheng-11384	85	19	,	,	PUNCT
fumecheng-11384	85	20	automatic	automatic	ADJ
fumecheng-11384	85	21	testing	testing	NOUN
fumecheng-11384	85	22	and	and	CCONJ
fumecheng-11384	85	23	other	other	ADJ
fumecheng-11384	85	24	industrial	industrial	ADJ
fumecheng-11384	85	25	scenarios	scenario	NOUN
fumecheng-11384	85	26	[	[	X
fumecheng-11384	85	27	28	28	NUM
fumecheng-11384	85	28	-	-	SYM
fumecheng-11384	85	29	30	30	NUM
fumecheng-11384	85	30	]	]	PUNCT
fumecheng-11384	85	31	.	.	PUNCT
fumecheng-11384	86	1	the	the	DET
fumecheng-11384	86	2	paper	paper	NOUN
fumecheng-11384	86	3	deals	deal	VERB
fumecheng-11384	86	4	with	with	ADP
fumecheng-11384	86	5	modeling	modeling	NOUN
fumecheng-11384	86	6	and	and	CCONJ
fumecheng-11384	86	7	simulation	simulation	NOUN
fumecheng-11384	86	8	of	of	ADP
fumecheng-11384	86	9	mg400	mg400	PROPN
fumecheng-11384	86	10	.	.	PUNCT
fumecheng-11384	87	1	the	the	DET
fumecheng-11384	87	2	method	method	NOUN
fumecheng-11384	87	3	used	use	VERB
fumecheng-11384	87	4	is	be	AUX
fumecheng-11384	87	5	also	also	ADV
fumecheng-11384	87	6	applicable	applicable	ADJ
fumecheng-11384	87	7	to	to	ADP
fumecheng-11384	87	8	other	other	ADJ
fumecheng-11384	87	9	similarly	similarly	ADV
fumecheng-11384	87	10	structured	structure	VERB
fumecheng-11384	87	11	robotic	robotic	ADJ
fumecheng-11384	87	12	arms	arm	NOUN
fumecheng-11384	87	13	.	.	PUNCT
fumecheng-11384	88	1	the	the	DET
fumecheng-11384	88	2	motion	motion	NOUN
fumecheng-11384	88	3	mechanism	mechanism	NOUN
fumecheng-11384	88	4	of	of	ADP
fumecheng-11384	88	5	mg400	mg400	NOUN
fumecheng-11384	88	6	can	can	AUX
fumecheng-11384	88	7	be	be	AUX
fumecheng-11384	88	8	modeled	model	VERB
fumecheng-11384	88	9	as	as	ADP
fumecheng-11384	88	10	a	a	DET
fumecheng-11384	88	11	planar	planar	ADJ
fumecheng-11384	88	12	mechanism	mechanism	NOUN
fumecheng-11384	88	13	with	with	ADP
fumecheng-11384	88	14	four	four	NUM
fumecheng-11384	88	15	degrees	degree	NOUN
fumecheng-11384	88	16	of	of	ADP
fumecheng-11384	88	17	freedom	freedom	NOUN
fumecheng-11384	88	18	,	,	PUNCT
fumecheng-11384	88	19	as	as	SCONJ
fumecheng-11384	88	20	shown	show	VERB
fumecheng-11384	88	21	in	in	ADP
fumecheng-11384	88	22	fig	fig	NOUN
fumecheng-11384	88	23	.	.	PUNCT
fumecheng-11384	89	1	2	2	X
fumecheng-11384	89	2	.	.	X
fumecheng-11384	89	3	the	the	DET
fumecheng-11384	89	4	definitions	definition	NOUN
fumecheng-11384	89	5	of	of	ADP
fumecheng-11384	89	6	joints	joint	NOUN
fumecheng-11384	89	7	j1	j1	PROPN
fumecheng-11384	89	8	to	to	ADP
fumecheng-11384	89	9	j4	j4	PROPN
fumecheng-11384	89	10	refer	refer	VERB
fumecheng-11384	89	11	to	to	ADP
fumecheng-11384	89	12	mg400	mg400	NOUN
fumecheng-11384	89	13	hardware	hardware	NOUN
fumecheng-11384	89	14	user	user	NOUN
fumecheng-11384	89	15	manual	manual	NOUN
fumecheng-11384	89	16	(	(	PUNCT
fumecheng-11384	89	17	hereinafter	hereinafter	NOUN
fumecheng-11384	89	18	referred	refer	VERB
fumecheng-11384	89	19	to	to	ADP
fumecheng-11384	89	20	as	as	ADP
fumecheng-11384	89	21	the	the	DET
fumecheng-11384	89	22	manual	manual	NOUN
fumecheng-11384	89	23	)	)	PUNCT
fumecheng-11384	89	24	officially	officially	ADV
fumecheng-11384	89	25	published	publish	VERB
fumecheng-11384	89	26	by	by	ADP
fumecheng-11384	89	27	dobot	dobot	NOUN
fumecheng-11384	89	28	.	.	PUNCT
fumecheng-11384	90	1	the	the	DET
fumecheng-11384	90	2	definition	definition	NOUN
fumecheng-11384	90	3	of	of	ADP
fumecheng-11384	90	4	each	each	DET
fumecheng-11384	90	5	component	component	NOUN
fumecheng-11384	90	6	is	be	AUX
fumecheng-11384	90	7	shown	show	VERB
fumecheng-11384	90	8	in	in	ADP
fumecheng-11384	90	9	fig	fig	NOUN
fumecheng-11384	90	10	.	.	PUNCT
fumecheng-11384	91	1	3	3	X
fumecheng-11384	91	2	.	.	X
fumecheng-11384	91	3	the	the	DET
fumecheng-11384	91	4	degree	degree	NOUN
fumecheng-11384	91	5	of	of	ADP
fumecheng-11384	91	6	freedom	freedom	NOUN
fumecheng-11384	91	7	f	f	PROPN
fumecheng-11384	91	8	can	can	AUX
fumecheng-11384	91	9	be	be	AUX
fumecheng-11384	91	10	calculated	calculate	VERB
fumecheng-11384	91	11	by	by	ADP
fumecheng-11384	91	12	formula	formula	NOUN
fumecheng-11384	91	13	,	,	PUNCT
fumecheng-11384	91	14	so	so	SCONJ
fumecheng-11384	91	15	that	that	SCONJ
fumecheng-11384	91	16	n	n	NOUN
fumecheng-11384	91	17	is	be	AUX
fumecheng-11384	91	18	the	the	DET
fumecheng-11384	91	19	number	number	NOUN
fumecheng-11384	91	20	of	of	ADP
fumecheng-11384	91	21	active	active	ADJ
fumecheng-11384	91	22	components	component	NOUN
fumecheng-11384	91	23	,	,	PUNCT
fumecheng-11384	91	24	pl	pl	X
fumecheng-11384	91	25	is	be	AUX
fumecheng-11384	91	26	the	the	DET
fumecheng-11384	91	27	number	number	NOUN
fumecheng-11384	91	28	of	of	ADP
fumecheng-11384	91	29	low	low	ADJ
fumecheng-11384	91	30	pairs	pair	NOUN
fumecheng-11384	91	31	,	,	PUNCT
fumecheng-11384	91	32	and	and	CCONJ
fumecheng-11384	91	33	ph	ph	NOUN
fumecheng-11384	91	34	is	be	AUX
fumecheng-11384	91	35	the	the	DET
fumecheng-11384	91	36	number	number	NOUN
fumecheng-11384	91	37	of	of	ADP
fumecheng-11384	91	38	high	high	ADJ
fumecheng-11384	91	39	pairs	pair	NOUN
fumecheng-11384	91	40	.	.	PUNCT
fumecheng-11384	92	1	then	then	ADV
fumecheng-11384	92	2	the	the	DET
fumecheng-11384	92	3	degree	degree	NOUN
fumecheng-11384	92	4	of	of	ADP
fumecheng-11384	92	5	freedom	freedom	NOUN
fumecheng-11384	92	6	f	f	PROPN
fumecheng-11384	92	7	of	of	ADP
fumecheng-11384	92	8	the	the	DET
fumecheng-11384	92	9	mechanism	mechanism	NOUN
fumecheng-11384	92	10	is	be	AUX
fumecheng-11384	92	11	given	give	VERB
fumecheng-11384	92	12	as	as	ADP
fumecheng-11384	92	13	:	:	PUNCT
fumecheng-11384	92	14	3	3	NUM
fumecheng-11384	92	15	2	2	NUM
fumecheng-11384	92	16	3	3	NUM
fumecheng-11384	92	17	10	10	NUM
fumecheng-11384	92	18	2	2	NUM
fumecheng-11384	92	19	13	13	NUM
fumecheng-11384	92	20	0	0	NUM
fumecheng-11384	92	21	4l	4l	NOUN
fumecheng-11384	92	22	hf	hf	VERB
fumecheng-11384	92	23	n	n	CCONJ
fumecheng-11384	92	24	p	p	NOUN
fumecheng-11384	92	25	p=	p=	NOUN
fumecheng-11384	93	1	−	−	NOUN
fumecheng-11384	93	2	−	−	PROPN
fumecheng-11384	94	1	=	=	PUNCT
fumecheng-11384	94	2			NOUN
fumecheng-11384	94	3	−	−	PROPN
fumecheng-11384	94	4			NOUN
fumecheng-11384	94	5	−	−	PROPN
fumecheng-11384	94	6	=	=	SYM
fumecheng-11384	94	7	(	(	PUNCT
fumecheng-11384	94	8	1	1	X
fumecheng-11384	94	9	)	)	PUNCT
fumecheng-11384	94	10	fig	fig	NOUN
fumecheng-11384	94	11	.	.	PUNCT
fumecheng-11384	95	1	2	2	NUM
fumecheng-11384	95	2	joints	joint	NOUN
fumecheng-11384	95	3	of	of	ADP
fumecheng-11384	95	4	mg400	mg400	NOUN
fumecheng-11384	95	5	fig	fig	NOUN
fumecheng-11384	95	6	.	.	PUNCT
fumecheng-11384	96	1	3	3	NUM
fumecheng-11384	96	2	components	component	NOUN
fumecheng-11384	96	3	of	of	ADP
fumecheng-11384	96	4	mg400	mg400	NOUN
fumecheng-11384	96	5	in	in	ADP
fumecheng-11384	96	6	fig	fig	NOUN
fumecheng-11384	96	7	.	.	PUNCT
fumecheng-11384	97	1	3	3	NUM
fumecheng-11384	97	2	,	,	PUNCT
fumecheng-11384	97	3	the	the	DET
fumecheng-11384	97	4	red	red	ADJ
fumecheng-11384	97	5	part	part	NOUN
fumecheng-11384	97	6	represents	represent	VERB
fumecheng-11384	97	7	the	the	DET
fumecheng-11384	97	8	moving	move	VERB
fumecheng-11384	97	9	component	component	NOUN
fumecheng-11384	97	10	driven	drive	VERB
fumecheng-11384	97	11	by	by	ADP
fumecheng-11384	97	12	j1	j1	PROPN
fumecheng-11384	97	13	,	,	PUNCT
fumecheng-11384	97	14	the	the	DET
fumecheng-11384	97	15	blue	blue	ADJ
fumecheng-11384	97	16	part	part	NOUN
fumecheng-11384	97	17	represents	represent	VERB
fumecheng-11384	97	18	the	the	DET
fumecheng-11384	97	19	moving	move	VERB
fumecheng-11384	97	20	component	component	NOUN
fumecheng-11384	97	21	driven	drive	VERB
fumecheng-11384	97	22	by	by	ADP
fumecheng-11384	97	23	j2	j2	PROPN
fumecheng-11384	97	24	,	,	PUNCT
fumecheng-11384	97	25	the	the	DET
fumecheng-11384	97	26	yellow	yellow	ADJ
fumecheng-11384	97	27	part	part	NOUN
fumecheng-11384	97	28	represents	represent	VERB
fumecheng-11384	97	29	the	the	DET
fumecheng-11384	97	30	moving	move	VERB
fumecheng-11384	97	31	modeling	modeling	NOUN
fumecheng-11384	97	32	and	and	CCONJ
fumecheng-11384	97	33	simulation	simulation	NOUN
fumecheng-11384	97	34	of	of	ADP
fumecheng-11384	97	35	industrial	industrial	ADJ
fumecheng-11384	97	36	robot	robot	NOUN
fumecheng-11384	97	37	arms	arm	NOUN
fumecheng-11384	97	38	using	use	VERB
fumecheng-11384	97	39	simscape	simscape	NOUN
fumecheng-11384	97	40	multibody	multibody	NOUN
fumecheng-11384	97	41	269	269	NUM
fumecheng-11384	97	42	component	component	NOUN
fumecheng-11384	97	43	driven	drive	VERB
fumecheng-11384	97	44	by	by	ADP
fumecheng-11384	97	45	j3	j3	PROPN
fumecheng-11384	97	46	,	,	PUNCT
fumecheng-11384	97	47	and	and	CCONJ
fumecheng-11384	97	48	the	the	DET
fumecheng-11384	97	49	green	green	ADJ
fumecheng-11384	97	50	part	part	NOUN
fumecheng-11384	97	51	is	be	AUX
fumecheng-11384	97	52	the	the	DET
fumecheng-11384	97	53	moving	move	VERB
fumecheng-11384	97	54	component	component	NOUN
fumecheng-11384	97	55	driven	drive	VERB
fumecheng-11384	97	56	by	by	ADP
fumecheng-11384	97	57	j4	j4	PROPN
fumecheng-11384	97	58	.	.	PUNCT
fumecheng-11384	98	1	j1	j1	PROPN
fumecheng-11384	98	2	and	and	CCONJ
fumecheng-11384	98	3	j4	j4	PROPN
fumecheng-11384	98	4	are	be	AUX
fumecheng-11384	98	5	parallel	parallel	ADJ
fumecheng-11384	98	6	to	to	ADP
fumecheng-11384	98	7	each	each	DET
fumecheng-11384	98	8	other	other	ADJ
fumecheng-11384	98	9	in	in	ADP
fumecheng-11384	98	10	space	space	NOUN
fumecheng-11384	98	11	,	,	PUNCT
fumecheng-11384	98	12	and	and	CCONJ
fumecheng-11384	98	13	j2	j2	PROPN
fumecheng-11384	98	14	and	and	CCONJ
fumecheng-11384	98	15	j3	j3	PROPN
fumecheng-11384	98	16	are	be	AUX
fumecheng-11384	98	17	parallel	parallel	ADJ
fumecheng-11384	98	18	to	to	ADP
fumecheng-11384	98	19	each	each	DET
fumecheng-11384	98	20	other	other	ADJ
fumecheng-11384	98	21	in	in	ADP
fumecheng-11384	98	22	space	space	NOUN
fumecheng-11384	98	23	.	.	PUNCT
fumecheng-11384	99	1	since	since	SCONJ
fumecheng-11384	99	2	there	there	PRON
fumecheng-11384	99	3	are	be	VERB
fumecheng-11384	99	4	two	two	NUM
fumecheng-11384	99	5	parallelogram	parallelogram	NOUN
fumecheng-11384	99	6	mechanisms	mechanism	NOUN
fumecheng-11384	99	7	composed	compose	VERB
fumecheng-11384	99	8	of	of	ADP
fumecheng-11384	99	9	l2	l2	NOUN
fumecheng-11384	99	10	,	,	PUNCT
fumecheng-11384	99	11	l2a	l2a	PROPN
fumecheng-11384	99	12	,	,	PUNCT
fumecheng-11384	99	13	l2b	l2b	PROPN
fumecheng-11384	99	14	,	,	PUNCT
fumecheng-11384	99	15	l33	l33	PROPN
fumecheng-11384	99	16	,	,	PUNCT
fumecheng-11384	99	17	l33a	l33a	NOUN
fumecheng-11384	99	18	and	and	CCONJ
fumecheng-11384	99	19	l33b	l33b	PROPN
fumecheng-11384	99	20	,	,	PUNCT
fumecheng-11384	99	21	the	the	DET
fumecheng-11384	99	22	assembly	assembly	NOUN
fumecheng-11384	99	23	l4	l4	PROPN
fumecheng-11384	99	24	remains	remain	VERB
fumecheng-11384	99	25	perpendicular	perpendicular	ADJ
fumecheng-11384	99	26	to	to	ADP
fumecheng-11384	99	27	the	the	DET
fumecheng-11384	99	28	horizontal	horizontal	ADJ
fumecheng-11384	99	29	plane	plane	NOUN
fumecheng-11384	99	30	,	,	PUNCT
fumecheng-11384	99	31	independent	independent	ADJ
fumecheng-11384	99	32	of	of	ADP
fumecheng-11384	99	33	the	the	DET
fumecheng-11384	99	34	joint	joint	ADJ
fumecheng-11384	99	35	angles	angle	NOUN
fumecheng-11384	99	36	of	of	ADP
fumecheng-11384	99	37	j2	j2	PROPN
fumecheng-11384	99	38	and	and	CCONJ
fumecheng-11384	99	39	j3	j3	PROPN
fumecheng-11384	99	40	.	.	PUNCT
fumecheng-11384	100	1	j1	j1	PROPN
fumecheng-11384	100	2	,	,	PUNCT
fumecheng-11384	100	3	j2	j2	PROPN
fumecheng-11384	100	4	and	and	CCONJ
fumecheng-11384	100	5	j3	j3	PROPN
fumecheng-11384	100	6	are	be	AUX
fumecheng-11384	100	7	orthogonal	orthogonal	ADJ
fumecheng-11384	100	8	in	in	ADP
fumecheng-11384	100	9	space	space	NOUN
fumecheng-11384	100	10	.	.	PUNCT
fumecheng-11384	101	1	j1	j1	PROPN
fumecheng-11384	101	2	only	only	ADV
fumecheng-11384	101	3	affects	affect	VERB
fumecheng-11384	101	4	the	the	DET
fumecheng-11384	101	5	rotation	rotation	NOUN
fumecheng-11384	101	6	angle	angle	NOUN
fumecheng-11384	101	7	between	between	ADP
fumecheng-11384	101	8	the	the	DET
fumecheng-11384	101	9	axz1	axz1	PROPN
fumecheng-11384	101	10	vertical	vertical	ADJ
fumecheng-11384	101	11	plane	plane	NOUN
fumecheng-11384	101	12	(	(	PUNCT
fumecheng-11384	101	13	xoz	xoz	NOUN
fumecheng-11384	101	14	plane	plane	NOUN
fumecheng-11384	101	15	of	of	ADP
fumecheng-11384	101	16	the	the	DET
fumecheng-11384	101	17	j1	j1	PROPN
fumecheng-11384	101	18	reference	reference	NOUN
fumecheng-11384	101	19	coordinate	coordinate	NOUN
fumecheng-11384	101	20	system	system	NOUN
fumecheng-11384	101	21	)	)	PUNCT
fumecheng-11384	101	22	and	and	CCONJ
fumecheng-11384	101	23	the	the	DET
fumecheng-11384	101	24	axz0	axz0	NOUN
fumecheng-11384	101	25	vertical	vertical	ADJ
fumecheng-11384	101	26	plane	plane	NOUN
fumecheng-11384	101	27	(	(	PUNCT
fumecheng-11384	101	28	xoz	xoz	NOUN
fumecheng-11384	101	29	plane	plane	NOUN
fumecheng-11384	101	30	of	of	ADP
fumecheng-11384	101	31	the	the	DET
fumecheng-11384	101	32	base	base	NOUN
fumecheng-11384	101	33	coordinate	coordinate	NOUN
fumecheng-11384	101	34	system	system	NOUN
fumecheng-11384	101	35	)	)	PUNCT
fumecheng-11384	101	36	.	.	PUNCT
fumecheng-11384	102	1	j2	j2	PROPN
fumecheng-11384	102	2	and	and	CCONJ
fumecheng-11384	102	3	j3	j3	PROPN
fumecheng-11384	102	4	only	only	ADV
fumecheng-11384	102	5	affect	affect	VERB
fumecheng-11384	102	6	the	the	DET
fumecheng-11384	102	7	position	position	NOUN
fumecheng-11384	102	8	of	of	ADP
fumecheng-11384	102	9	the	the	DET
fumecheng-11384	102	10	execution	execution	NOUN
fumecheng-11384	102	11	point	point	NOUN
fumecheng-11384	102	12	at	at	ADP
fumecheng-11384	102	13	the	the	DET
fumecheng-11384	102	14	end	end	NOUN
fumecheng-11384	102	15	of	of	ADP
fumecheng-11384	102	16	the	the	DET
fumecheng-11384	102	17	robot	robot	NOUN
fumecheng-11384	102	18	arm	arm	NOUN
fumecheng-11384	102	19	on	on	ADP
fumecheng-11384	102	20	the	the	DET
fumecheng-11384	102	21	axz1	axz1	PROPN
fumecheng-11384	102	22	vertical	vertical	ADJ
fumecheng-11384	102	23	plane	plane	NOUN
fumecheng-11384	102	24	.	.	PUNCT
fumecheng-11384	103	1	the	the	DET
fumecheng-11384	103	2	manual	manual	NOUN
fumecheng-11384	103	3	does	do	AUX
fumecheng-11384	103	4	not	not	PART
fumecheng-11384	103	5	give	give	VERB
fumecheng-11384	103	6	the	the	DET
fumecheng-11384	103	7	dimensional	dimensional	ADJ
fumecheng-11384	103	8	parameters	parameter	NOUN
fumecheng-11384	103	9	of	of	ADP
fumecheng-11384	103	10	each	each	DET
fumecheng-11384	103	11	component	component	NOUN
fumecheng-11384	103	12	of	of	ADP
fumecheng-11384	103	13	the	the	DET
fumecheng-11384	103	14	robot	robot	NOUN
fumecheng-11384	103	15	arm	arm	NOUN
fumecheng-11384	103	16	,	,	PUNCT
fumecheng-11384	103	17	and	and	CCONJ
fumecheng-11384	103	18	it	it	PRON
fumecheng-11384	103	19	is	be	AUX
fumecheng-11384	103	20	challenging	challenge	VERB
fumecheng-11384	103	21	to	to	PART
fumecheng-11384	103	22	obtain	obtain	VERB
fumecheng-11384	103	23	the	the	DET
fumecheng-11384	103	24	dimensional	dimensional	ADJ
fumecheng-11384	103	25	parameters	parameter	NOUN
fumecheng-11384	103	26	through	through	ADP
fumecheng-11384	103	27	actual	actual	ADJ
fumecheng-11384	103	28	measurement	measurement	NOUN
fumecheng-11384	103	29	.	.	PUNCT
fumecheng-11384	104	1	the	the	DET
fumecheng-11384	104	2	official	official	ADJ
fumecheng-11384	104	3	support	support	NOUN
fumecheng-11384	104	4	center	center	NOUN
fumecheng-11384	104	5	of	of	ADP
fumecheng-11384	104	6	dobot	dobot	PROPN
fumecheng-11384	104	7	released	release	VERB
fumecheng-11384	104	8	the	the	DET
fumecheng-11384	104	9	cad	cad	NOUN
fumecheng-11384	104	10	model	model	NOUN
fumecheng-11384	104	11	of	of	ADP
fumecheng-11384	104	12	mg400	mg400	PROPN
fumecheng-11384	104	13	in	in	ADP
fumecheng-11384	104	14	november	november	PROPN
fumecheng-11384	104	15	2021	2021	NUM
fumecheng-11384	104	16	.	.	PUNCT
fumecheng-11384	105	1	there	there	PRON
fumecheng-11384	105	2	is	be	VERB
fumecheng-11384	105	3	a	a	DET
fumecheng-11384	105	4	certain	certain	ADJ
fumecheng-11384	105	5	error	error	NOUN
fumecheng-11384	105	6	between	between	ADP
fumecheng-11384	105	7	the	the	DET
fumecheng-11384	105	8	default	default	NOUN
fumecheng-11384	105	9	coordinate	coordinate	NOUN
fumecheng-11384	105	10	system	system	NOUN
fumecheng-11384	105	11	of	of	ADP
fumecheng-11384	105	12	l0	l0	PROPN
fumecheng-11384	105	13	,	,	PUNCT
fumecheng-11384	105	14	l1	l1	PROPN
fumecheng-11384	105	15	and	and	CCONJ
fumecheng-11384	105	16	l4	l4	PROPN
fumecheng-11384	105	17	part	part	NOUN
fumecheng-11384	105	18	models	model	NOUN
fumecheng-11384	105	19	and	and	CCONJ
fumecheng-11384	105	20	the	the	DET
fumecheng-11384	105	21	parameters	parameter	NOUN
fumecheng-11384	105	22	given	give	VERB
fumecheng-11384	105	23	in	in	ADP
fumecheng-11384	105	24	the	the	DET
fumecheng-11384	105	25	manual	manual	NOUN
fumecheng-11384	105	26	.	.	PUNCT
fumecheng-11384	106	1	this	this	DET
fumecheng-11384	106	2	error	error	NOUN
fumecheng-11384	106	3	can	can	AUX
fumecheng-11384	106	4	be	be	AUX
fumecheng-11384	106	5	eliminated	eliminate	VERB
fumecheng-11384	106	6	by	by	ADP
fumecheng-11384	106	7	creating	create	VERB
fumecheng-11384	106	8	a	a	DET
fumecheng-11384	106	9	reference	reference	NOUN
fumecheng-11384	106	10	coordinate	coordinate	NOUN
fumecheng-11384	106	11	system	system	NOUN
fumecheng-11384	106	12	in	in	ADP
fumecheng-11384	106	13	solidworks	solidworks	PROPN
fumecheng-11384	106	14	.	.	PUNCT
fumecheng-11384	107	1	for	for	ADP
fumecheng-11384	107	2	the	the	DET
fumecheng-11384	107	3	convenience	convenience	NOUN
fumecheng-11384	107	4	of	of	ADP
fumecheng-11384	107	5	analysis	analysis	NOUN
fumecheng-11384	107	6	,	,	PUNCT
fumecheng-11384	107	7	the	the	DET
fumecheng-11384	107	8	parameters	parameter	NOUN
fumecheng-11384	107	9	used	use	VERB
fumecheng-11384	107	10	in	in	ADP
fumecheng-11384	107	11	this	this	DET
fumecheng-11384	107	12	paper	paper	NOUN
fumecheng-11384	107	13	are	be	AUX
fumecheng-11384	107	14	obtained	obtain	VERB
fumecheng-11384	107	15	by	by	ADP
fumecheng-11384	107	16	measuring	measure	VERB
fumecheng-11384	107	17	the	the	DET
fumecheng-11384	107	18	default	default	NOUN
fumecheng-11384	107	19	coordinate	coordinate	NOUN
fumecheng-11384	107	20	system	system	NOUN
fumecheng-11384	107	21	of	of	ADP
fumecheng-11384	107	22	the	the	DET
fumecheng-11384	107	23	cad	cad	PROPN
fumecheng-11384	107	24	model	model	NOUN
fumecheng-11384	107	25	.	.	PUNCT
fumecheng-11384	108	1	the	the	DET
fumecheng-11384	108	2	definition	definition	NOUN
fumecheng-11384	108	3	of	of	ADP
fumecheng-11384	108	4	each	each	DET
fumecheng-11384	108	5	component	component	NOUN
fumecheng-11384	108	6	reference	reference	NOUN
fumecheng-11384	108	7	coordinate	coordinate	NOUN
fumecheng-11384	108	8	system	system	NOUN
fumecheng-11384	108	9	is	be	AUX
fumecheng-11384	108	10	shown	show	VERB
fumecheng-11384	108	11	in	in	ADP
fumecheng-11384	108	12	fig	fig	NOUN
fumecheng-11384	108	13	.	.	PUNCT
fumecheng-11384	109	1	4	4	NUM
fumecheng-11384	109	2	,	,	PUNCT
fumecheng-11384	109	3	where	where	SCONJ
fumecheng-11384	109	4	ai	ai	NOUN
fumecheng-11384	109	5	represents	represent	VERB
fumecheng-11384	109	6	the	the	DET
fumecheng-11384	109	7	reference	reference	NOUN
fumecheng-11384	109	8	coordinate	coordinate	NOUN
fumecheng-11384	109	9	system	system	NOUN
fumecheng-11384	109	10	of	of	ADP
fumecheng-11384	109	11	component	component	NOUN
fumecheng-11384	109	12	li	li	PROPN
fumecheng-11384	109	13	during	during	ADP
fumecheng-11384	109	14	modeling	modeling	NOUN
fumecheng-11384	109	15	(	(	PUNCT
fumecheng-11384	109	16	base	base	NOUN
fumecheng-11384	109	17	is	be	AUX
fumecheng-11384	109	18	l0	l0	PROPN
fumecheng-11384	109	19	)	)	PUNCT
fumecheng-11384	109	20	.	.	PUNCT
fumecheng-11384	110	1	when	when	SCONJ
fumecheng-11384	110	2	the	the	DET
fumecheng-11384	110	3	joint	joint	ADJ
fumecheng-11384	110	4	angle	angle	NOUN
fumecheng-11384	110	5	from	from	ADP
fumecheng-11384	110	6	j1	j1	PROPN
fumecheng-11384	110	7	to	to	ADP
fumecheng-11384	110	8	j4	j4	PROPN
fumecheng-11384	110	9	is	be	AUX
fumecheng-11384	110	10	0	0	NUM
fumecheng-11384	110	11	,	,	PUNCT
fumecheng-11384	110	12	the	the	DET
fumecheng-11384	110	13	conversion	conversion	NOUN
fumecheng-11384	110	14	parameters	parameter	NOUN
fumecheng-11384	110	15	of	of	ADP
fumecheng-11384	110	16	each	each	DET
fumecheng-11384	110	17	coordinate	coordinate	NOUN
fumecheng-11384	110	18	system	system	NOUN
fumecheng-11384	110	19	under	under	ADP
fumecheng-11384	110	20	a0	a0	PROPN
fumecheng-11384	110	21	are	be	AUX
fumecheng-11384	110	22	shown	show	VERB
fumecheng-11384	110	23	in	in	ADP
fumecheng-11384	110	24	tab	tab	NOUN
fumecheng-11384	110	25	.	.	PUNCT
fumecheng-11384	111	1	1	1	X
fumecheng-11384	111	2	.	.	PUNCT
fumecheng-11384	111	3	the	the	DET
fumecheng-11384	111	4	euler	euler	NOUN
fumecheng-11384	111	5	angles	angle	NOUN
fumecheng-11384	111	6	(	(	PUNCT
fumecheng-11384	111	7	rx	rx	NOUN
fumecheng-11384	111	8	,	,	PUNCT
fumecheng-11384	111	9	ry	ry	NOUN
fumecheng-11384	111	10	,	,	PUNCT
fumecheng-11384	111	11	rz	rz	NOUN
fumecheng-11384	111	12	)	)	PUNCT
fumecheng-11384	111	13	under	under	ADP
fumecheng-11384	111	14	the	the	DET
fumecheng-11384	111	15	a0	a0	NOUN
fumecheng-11384	111	16	reference	reference	NOUN
fumecheng-11384	111	17	are	be	AUX
fumecheng-11384	111	18	obtained	obtain	VERB
fumecheng-11384	111	19	by	by	ADP
fumecheng-11384	111	20	specifying	specify	VERB
fumecheng-11384	111	21	the	the	DET
fumecheng-11384	111	22	order	order	NOUN
fumecheng-11384	111	23	of	of	ADP
fumecheng-11384	111	24	the	the	DET
fumecheng-11384	111	25	three	three	NUM
fumecheng-11384	111	26	basic	basic	ADJ
fumecheng-11384	111	27	rotations	rotation	NOUN
fumecheng-11384	111	28	.	.	PUNCT
fumecheng-11384	112	1	the	the	DET
fumecheng-11384	112	2	order	order	NOUN
fumecheng-11384	112	3	is	be	AUX
fumecheng-11384	112	4	x	x	ADJ
fumecheng-11384	112	5	-	-	ADJ
fumecheng-11384	112	6	y	y	PROPN
fumecheng-11384	112	7	-	-	PUNCT
fumecheng-11384	112	8	z.	z.	PROPN
fumecheng-11384	112	9	table	table	NOUN
fumecheng-11384	112	10	1	1	NUM
fumecheng-11384	112	11	the	the	DET
fumecheng-11384	112	12	conversion	conversion	NOUN
fumecheng-11384	112	13	parameters	parameter	NOUN
fumecheng-11384	112	14	of	of	ADP
fumecheng-11384	112	15	each	each	DET
fumecheng-11384	112	16	coordinate	coordinate	NOUN
fumecheng-11384	112	17	system	system	NOUN
fumecheng-11384	112	18	based	base	VERB
fumecheng-11384	112	19	on	on	ADP
fumecheng-11384	112	20	a0	a0	NOUN
fumecheng-11384	112	21	coordinate	coordinate	NOUN
fumecheng-11384	112	22	system	system	NOUN
fumecheng-11384	112	23	coordinate	coordinate	NOUN
fumecheng-11384	112	24	system	system	NOUN
fumecheng-11384	112	25	tx	tx	PROPN
fumecheng-11384	112	26	(	(	PUNCT
fumecheng-11384	112	27	mm	mm	INTJ
fumecheng-11384	112	28	)	)	PUNCT
fumecheng-11384	112	29	ty	ty	INTJ
fumecheng-11384	112	30	(	(	PUNCT
fumecheng-11384	112	31	mm	mm	NOUN
fumecheng-11384	112	32	)	)	PUNCT
fumecheng-11384	112	33	tz	tz	PROPN
fumecheng-11384	112	34	(	(	PUNCT
fumecheng-11384	112	35	mm	mm	INTJ
fumecheng-11384	112	36	)	)	PUNCT
fumecheng-11384	112	37	rx	rx	VERB
fumecheng-11384	112	38	(	(	PUNCT
fumecheng-11384	112	39	deg	deg	PROPN
fumecheng-11384	112	40	)	)	PUNCT
fumecheng-11384	112	41	ry	ry	PROPN
fumecheng-11384	112	42	(	(	PUNCT
fumecheng-11384	112	43	deg	deg	PROPN
fumecheng-11384	112	44	)	)	PUNCT
fumecheng-11384	112	45	rz	rz	NOUN
fumecheng-11384	112	46	(	(	PUNCT
fumecheng-11384	112	47	deg	deg	PROPN
fumecheng-11384	112	48	)	)	PUNCT
fumecheng-11384	112	49	a0	a0	PROPN
fumecheng-11384	112	50	0	0	NUM
fumecheng-11384	112	51	0	0	NUM
fumecheng-11384	112	52	0	0	NUM
fumecheng-11384	112	53	0	0	NUM
fumecheng-11384	112	54	0	0	SYM
fumecheng-11384	112	55	0	0	NUM
fumecheng-11384	113	1	a1	a1	NOUN
fumecheng-11384	113	2	-5	-5	NOUN
fumecheng-11384	113	3	0	0	NUM
fumecheng-11384	114	1	123	123	NUM
fumecheng-11384	114	2	0	0	NUM
fumecheng-11384	114	3	0	0	NUM
fumecheng-11384	114	4	0	0	NUM
fumecheng-11384	114	5	a2	a2	PROPN
fumecheng-11384	114	6	38.5	38.5	NUM
fumecheng-11384	114	7	0	0	NUM
fumecheng-11384	114	8	228	228	NUM
fumecheng-11384	114	9	-90	-90	NUM
fumecheng-11384	114	10	0	0	NUM
fumecheng-11384	114	11	-90	-90	PUNCT
fumecheng-11384	114	12	a2a	a2a	NOUN
fumecheng-11384	114	13	-0.47	-0.47	ADP
fumecheng-11384	114	14	0	0	NUM
fumecheng-11384	114	15	250.5	250.5	NUM
fumecheng-11384	114	16	-90	-90	NUM
fumecheng-11384	114	17	0	0	NUM
fumecheng-11384	114	18	-90	-90	PUNCT
fumecheng-11384	114	19	a2b	a2b	NOUN
fumecheng-11384	114	20	38.5	38.5	NUM
fumecheng-11384	114	21	0	0	NUM
fumecheng-11384	114	22	403	403	NUM
fumecheng-11384	114	23	-90	-90	NUM
fumecheng-11384	114	24	0	0	NUM
fumecheng-11384	114	25	0	0	NUM
fumecheng-11384	114	26	a31	a31	NOUN
fumecheng-11384	114	27	38.5	38.5	NUM
fumecheng-11384	114	28	0	0	NUM
fumecheng-11384	114	29	228	228	NUM
fumecheng-11384	114	30	-90	-90	NUM
fumecheng-11384	114	31	0	0	NUM
fumecheng-11384	114	32	-90	-90	PUNCT
fumecheng-11384	114	33	a32	a32	X
fumecheng-11384	114	34	-4.5	-4.5	NUM
fumecheng-11384	114	35	0	0	NUM
fumecheng-11384	115	1	228	228	NUM
fumecheng-11384	115	2	-90	-90	NUM
fumecheng-11384	115	3	0	0	NUM
fumecheng-11384	115	4	-90	-90	PUNCT
fumecheng-11384	115	5	a33	a33	NOUN
fumecheng-11384	115	6	-4.5	-4.5	ADP
fumecheng-11384	115	7	0	0	NUM
fumecheng-11384	116	1	403	403	NUM
fumecheng-11384	116	2	-90	-90	PUNCT
fumecheng-11384	116	3	0	0	NUM
fumecheng-11384	116	4	0	0	NUM
fumecheng-11384	116	5	a33a	a33a	ADP
fumecheng-11384	116	6	67.43	67.43	NUM
fumecheng-11384	116	7	0	0	NUM
fumecheng-11384	117	1	437.47	437.47	NUM
fumecheng-11384	117	2	-90	-90	NUM
fumecheng-11384	117	3	0	0	NUM
fumecheng-11384	117	4	0	0	NUM
fumecheng-11384	117	5	a33b	a33b	PROPN
fumecheng-11384	117	6	213.5	213.5	NUM
fumecheng-11384	117	7	0	0	NUM
fumecheng-11384	117	8	403	403	NUM
fumecheng-11384	117	9	-90	-90	NUM
fumecheng-11384	117	10	0	0	NUM
fumecheng-11384	117	11	0	0	NUM
fumecheng-11384	117	12	a4	a4	NOUN
fumecheng-11384	117	13	279.5	279.5	NUM
fumecheng-11384	117	14	0	0	NUM
fumecheng-11384	117	15	367	367	NUM
fumecheng-11384	117	16	0	0	NUM
fumecheng-11384	117	17	0	0	NUM
fumecheng-11384	117	18	0	0	NUM
fumecheng-11384	117	19	fig	fig	NOUN
fumecheng-11384	117	20	.	.	PUNCT
fumecheng-11384	118	1	4	4	NUM
fumecheng-11384	118	2	the	the	DET
fumecheng-11384	118	3	definition	definition	NOUN
fumecheng-11384	118	4	of	of	ADP
fumecheng-11384	118	5	reference	reference	NOUN
fumecheng-11384	118	6	coordinate	coordinate	NOUN
fumecheng-11384	118	7	system	system	NOUN
fumecheng-11384	118	8	for	for	ADP
fumecheng-11384	118	9	each	each	DET
fumecheng-11384	118	10	component	component	NOUN
fumecheng-11384	118	11	of	of	ADP
fumecheng-11384	118	12	mg400	mg400	PROPN
fumecheng-11384	118	13	270	270	NUM
fumecheng-11384	118	14	c.	c.	PROPN
fumecheng-11384	118	15	zhang	zhang	PROPN
fumecheng-11384	118	16	,	,	PUNCT
fumecheng-11384	118	17	s.	s.	PROPN
fumecheng-11384	118	18	li	li	PROPN
fumecheng-11384	118	19	,	,	PUNCT
fumecheng-11384	118	20	z.	z.	PROPN
fumecheng-11384	118	21	zhang	zhang	PROPN
fumecheng-11384	119	1	2.2	2.2	NUM
fumecheng-11384	119	2	.	.	PUNCT
fumecheng-11384	120	1	forward	forward	PROPN
fumecheng-11384	120	2	kinematics	kinematics	PROPN
fumecheng-11384	120	3	forward	forward	PROPN
fumecheng-11384	120	4	kinematics	kinematics	PROPN
fumecheng-11384	120	5	is	be	AUX
fumecheng-11384	120	6	the	the	DET
fumecheng-11384	120	7	process	process	NOUN
fumecheng-11384	120	8	of	of	ADP
fumecheng-11384	120	9	obtaining	obtain	VERB
fumecheng-11384	120	10	the	the	DET
fumecheng-11384	120	11	position	position	NOUN
fumecheng-11384	120	12	and	and	CCONJ
fumecheng-11384	120	13	pose	pose	VERB
fumecheng-11384	120	14	of	of	ADP
fumecheng-11384	120	15	a	a	DET
fumecheng-11384	120	16	point	point	NOUN
fumecheng-11384	120	17	at	at	ADP
fumecheng-11384	120	18	the	the	DET
fumecheng-11384	120	19	end	end	NOUN
fumecheng-11384	120	20	of	of	ADP
fumecheng-11384	120	21	a	a	DET
fumecheng-11384	120	22	robot	robot	NOUN
fumecheng-11384	120	23	arm	arm	NOUN
fumecheng-11384	120	24	through	through	ADP
fumecheng-11384	120	25	the	the	DET
fumecheng-11384	120	26	known	know	VERB
fumecheng-11384	120	27	angle	angle	NOUN
fumecheng-11384	120	28	values	value	NOUN
fumecheng-11384	120	29	of	of	ADP
fumecheng-11384	120	30	each	each	DET
fumecheng-11384	120	31	joint	joint	NOUN
fumecheng-11384	120	32	,	,	PUNCT
fumecheng-11384	120	33	which	which	PRON
fumecheng-11384	120	34	is	be	AUX
fumecheng-11384	120	35	given	give	VERB
fumecheng-11384	120	36	as	as	ADP
fumecheng-11384	120	37	:	:	PUNCT
fumecheng-11384	120	38	1	1	NUM
fumecheng-11384	120	39	2	2	NUM
fumecheng-11384	120	40	33	33	NUM
fumecheng-11384	120	41	4	4	NUM
fumecheng-11384	120	42	[	[	PUNCT
fumecheng-11384	120	43	,	,	PUNCT
fumecheng-11384	120	44	,	,	PUNCT
fumecheng-11384	120	45	,	,	PUNCT
fumecheng-11384	120	46	]	]	PUNCT
fumecheng-11384	120	47	[	[	PUNCT
fumecheng-11384	120	48	,	,	PUNCT
fumecheng-11384	120	49	,	,	PUNCT
fumecheng-11384	120	50	,	,	PUNCT
fumecheng-11384	120	51	]	]	X
fumecheng-11384	120	52	x	x	X
fumecheng-11384	120	53	y	y	PROPN
fumecheng-11384	120	54	z	z	PROPN
fumecheng-11384	121	1	zp	zp	PROPN
fumecheng-11384	122	1	p	p	X
fumecheng-11384	122	2	p	p	X
fumecheng-11384	122	3	r	r	NOUN
fumecheng-11384	122	4	f	f	X
fumecheng-11384	122	5			X
fumecheng-11384	122	6			X
fumecheng-11384	122	7			X
fumecheng-11384	123	1	=	=	PROPN
fumecheng-11384	123	2	(	(	PUNCT
fumecheng-11384	123	3	2	2	X
fumecheng-11384	123	4	)	)	PUNCT
fumecheng-11384	123	5	in	in	ADP
fumecheng-11384	123	6	order	order	NOUN
fumecheng-11384	123	7	to	to	PART
fumecheng-11384	123	8	simplify	simplify	VERB
fumecheng-11384	123	9	the	the	DET
fumecheng-11384	123	10	analysis	analysis	NOUN
fumecheng-11384	123	11	,	,	PUNCT
fumecheng-11384	123	12	the	the	DET
fumecheng-11384	123	13	motion	motion	NOUN
fumecheng-11384	123	14	mechanism	mechanism	NOUN
fumecheng-11384	123	15	of	of	ADP
fumecheng-11384	123	16	the	the	DET
fumecheng-11384	123	17	robot	robot	NOUN
fumecheng-11384	123	18	arm	arm	NOUN
fumecheng-11384	123	19	can	can	AUX
fumecheng-11384	123	20	be	be	AUX
fumecheng-11384	123	21	equivalent	equivalent	ADJ
fumecheng-11384	123	22	to	to	ADP
fumecheng-11384	123	23	the	the	DET
fumecheng-11384	123	24	series	series	NOUN
fumecheng-11384	123	25	mechanism	mechanism	NOUN
fumecheng-11384	123	26	as	as	SCONJ
fumecheng-11384	123	27	shown	show	VERB
fumecheng-11384	123	28	in	in	ADP
fumecheng-11384	123	29	fig	fig	NOUN
fumecheng-11384	123	30	.	.	PUNCT
fumecheng-11384	124	1	5	5	NUM
fumecheng-11384	124	2	,	,	PUNCT
fumecheng-11384	124	3	in	in	ADP
fumecheng-11384	124	4	which	which	PRON
fumecheng-11384	124	5	the	the	DET
fumecheng-11384	124	6	key	key	ADJ
fumecheng-11384	124	7	parameters	parameter	NOUN
fumecheng-11384	124	8	such	such	ADJ
fumecheng-11384	124	9	as	as	ADP
fumecheng-11384	124	10	d	d	NOUN
fumecheng-11384	124	11	-	-	ADJ
fumecheng-11384	124	12	h	h	ADJ
fumecheng-11384	124	13	joint	joint	ADJ
fumecheng-11384	124	14	reference	reference	NOUN
fumecheng-11384	124	15	coordinate	coordinate	NOUN
fumecheng-11384	124	16	system	system	NOUN
fumecheng-11384	124	17	have	have	AUX
fumecheng-11384	124	18	been	be	AUX
fumecheng-11384	124	19	marked	mark	VERB
fumecheng-11384	124	20	.	.	PUNCT
fumecheng-11384	125	1	fig	fig	NOUN
fumecheng-11384	125	2	.	.	PUNCT
fumecheng-11384	126	1	5	5	NUM
fumecheng-11384	127	1	the	the	DET
fumecheng-11384	127	2	equivalent	equivalent	ADJ
fumecheng-11384	127	3	d	d	ADJ
fumecheng-11384	127	4	-	-	ADJ
fumecheng-11384	127	5	h	h	ADJ
fumecheng-11384	127	6	model	model	NOUN
fumecheng-11384	127	7	of	of	ADP
fumecheng-11384	127	8	mg400	mg400	NOUN
fumecheng-11384	127	9	according	accord	VERB
fumecheng-11384	127	10	to	to	ADP
fumecheng-11384	127	11	fig	fig	NOUN
fumecheng-11384	127	12	.	.	PUNCT
fumecheng-11384	128	1	5	5	NUM
fumecheng-11384	128	2	and	and	CCONJ
fumecheng-11384	128	3	tab	tab	NOUN
fumecheng-11384	128	4	.	.	PROPN
fumecheng-11384	128	5	1	1	NUM
fumecheng-11384	128	6	,	,	PUNCT
fumecheng-11384	128	7	the	the	DET
fumecheng-11384	128	8	robot	robot	NOUN
fumecheng-11384	128	9	arm	arm	PROPN
fumecheng-11384	128	10	standard	standard	PROPN
fumecheng-11384	128	11	d	d	PROPN
fumecheng-11384	128	12	-	-	ADJ
fumecheng-11384	128	13	h	h	PROPN
fumecheng-11384	128	14	parameter	parameter	PROPN
fumecheng-11384	128	15	tab	tab	PROPN
fumecheng-11384	128	16	(	(	PUNCT
fumecheng-11384	128	17	sdh	sdh	PROPN
fumecheng-11384	128	18	)	)	PUNCT
fumecheng-11384	128	19	is	be	AUX
fumecheng-11384	128	20	shown	show	VERB
fumecheng-11384	128	21	in	in	ADP
fumecheng-11384	128	22	tab	tab	NOUN
fumecheng-11384	128	23	.	.	PUNCT
fumecheng-11384	129	1	2	2	NUM
fumecheng-11384	129	2	,	,	PUNCT
fumecheng-11384	129	3	where	where	SCONJ
fumecheng-11384	129	4	{	{	PUNCT
fumecheng-11384	129	5	i	i	PRON
fumecheng-11384	129	6	}	}	PUNCT
fumecheng-11384	129	7	represents	represent	VERB
fumecheng-11384	129	8	the	the	DET
fumecheng-11384	129	9	number	number	NOUN
fumecheng-11384	129	10	of	of	ADP
fumecheng-11384	129	11	the	the	DET
fumecheng-11384	129	12	movable	movable	ADJ
fumecheng-11384	129	13	connecting	connect	VERB
fumecheng-11384	129	14	rod	rod	NOUN
fumecheng-11384	129	15	corresponding	correspond	VERB
fumecheng-11384	129	16	to	to	ADP
fumecheng-11384	129	17	the	the	DET
fumecheng-11384	129	18	d	d	PROPN
fumecheng-11384	129	19	-	-	ADJ
fumecheng-11384	129	20	h	h	NOUN
fumecheng-11384	129	21	joint	joint	NOUN
fumecheng-11384	129	22	,	,	PUNCT
fumecheng-11384	129	23	and	and	CCONJ
fumecheng-11384	129	24	link{i	link{i	PROPN
fumecheng-11384	129	25	}	}	PUNCT
fumecheng-11384	129	26	represents	represent	VERB
fumecheng-11384	129	27	the	the	DET
fumecheng-11384	129	28	connecting	connect	VERB
fumecheng-11384	129	29	rod	rod	NOUN
fumecheng-11384	129	30	corresponding	correspond	VERB
fumecheng-11384	129	31	to	to	ADP
fumecheng-11384	129	32	the	the	DET
fumecheng-11384	129	33	{	{	PUNCT
fumecheng-11384	129	34	i	i	NOUN
fumecheng-11384	129	35	}	}	PUNCT
fumecheng-11384	129	36	joint	joint	NOUN
fumecheng-11384	129	37	.	.	PUNCT
fumecheng-11384	130	1	the	the	DET
fumecheng-11384	130	2	range	range	NOUN
fumecheng-11384	130	3	of	of	ADP
fumecheng-11384	130	4	motion	motion	NOUN
fumecheng-11384	130	5	of	of	ADP
fumecheng-11384	130	6	θ2	θ2	PROPN
fumecheng-11384	130	7	and	and	CCONJ
fumecheng-11384	130	8	θ3	θ3	PROPN
fumecheng-11384	130	9	are	be	AUX
fumecheng-11384	130	10	mutually	mutually	ADV
fumecheng-11384	130	11	influenced	influence	VERB
fumecheng-11384	130	12	,	,	PUNCT
fumecheng-11384	130	13	that	that	PRON
fumecheng-11384	130	14	is	be	AUX
fumecheng-11384	130	15	2	2	NUM
fumecheng-11384	130	16	3	3	NUM
fumecheng-11384	130	17	(	(	PUNCT
fumecheng-11384	130	18	)	)	PUNCT
fumecheng-11384	130	19	(	(	PUNCT
fumecheng-11384	130	20	25,105)	25,105)	NUM
fumecheng-11384	130	21	+	+	VERB
fumecheng-11384	130	22			NOUN
fumecheng-11384	130	23	−	−	PROPN
fumecheng-11384	130	24	.	.	PUNCT
fumecheng-11384	131	1	the	the	DET
fumecheng-11384	131	2	joint	joint	NOUN
fumecheng-11384	131	3	of	of	ADP
fumecheng-11384	131	4	l33b	l33b	PROPN
fumecheng-11384	131	5	is	be	AUX
fumecheng-11384	131	6	a	a	DET
fumecheng-11384	131	7	driven	driven	ADJ
fumecheng-11384	131	8	joint	joint	NOUN
fumecheng-11384	131	9	,	,	PUNCT
fumecheng-11384	131	10	so	so	CCONJ
fumecheng-11384	131	11	the	the	DET
fumecheng-11384	131	12	joint	joint	ADJ
fumecheng-11384	131	13	speed	speed	NOUN
fumecheng-11384	131	14	has	have	VERB
fumecheng-11384	131	15	no	no	DET
fumecheng-11384	131	16	upper	upper	ADJ
fumecheng-11384	131	17	limit	limit	NOUN
fumecheng-11384	131	18	.	.	PUNCT
fumecheng-11384	132	1	angle	angle	NOUN
fumecheng-11384	132	2	θ4	θ4	NOUN
fumecheng-11384	132	3	is	be	AUX
fumecheng-11384	132	4	structurally	structurally	ADV
fumecheng-11384	132	5	connected	connect	VERB
fumecheng-11384	132	6	to	to	ADP
fumecheng-11384	132	7	l33b	l33b	PROPN
fumecheng-11384	132	8	.	.	PUNCT
fumecheng-11384	133	1	the	the	DET
fumecheng-11384	133	2	initial	initial	ADJ
fumecheng-11384	133	3	angle	angle	NOUN
fumecheng-11384	133	4	represents	represent	VERB
fumecheng-11384	133	5	the	the	DET
fumecheng-11384	133	6	angle	angle	NOUN
fumecheng-11384	133	7	value	value	NOUN
fumecheng-11384	133	8	of	of	ADP
fumecheng-11384	133	9	θi	θi	NOUN
fumecheng-11384	133	10	in	in	ADP
fumecheng-11384	133	11	the	the	DET
fumecheng-11384	133	12	initial	initial	ADJ
fumecheng-11384	133	13	state	state	NOUN
fumecheng-11384	133	14	of	of	ADP
fumecheng-11384	133	15	the	the	DET
fumecheng-11384	133	16	robot	robot	NOUN
fumecheng-11384	133	17	arm	arm	NOUN
fumecheng-11384	133	18	.	.	PUNCT
fumecheng-11384	134	1	table	table	NOUN
fumecheng-11384	134	2	2	2	NUM
fumecheng-11384	134	3	mg400	mg400	NOUN
fumecheng-11384	134	4	d	d	NOUN
fumecheng-11384	134	5	-	-	NOUN
fumecheng-11384	134	6	h	h	NOUN
fumecheng-11384	134	7	parameter	parameter	NOUN
fumecheng-11384	134	8	table	table	NOUN
fumecheng-11384	134	9	{	{	PUNCT
fumecheng-11384	134	10	i	i	NOUN
fumecheng-11384	134	11	}	}	PUNCT
fumecheng-11384	134	12	link	link	VERB
fumecheng-11384	134	13	{	{	PUNCT
fumecheng-11384	134	14	i	i	PROPN
fumecheng-11384	134	15	}	}	PUNCT
fumecheng-11384	134	16	θi	θi	PROPN
fumecheng-11384	134	17	(	(	PUNCT
fumecheng-11384	134	18	deg	deg	PROPN
fumecheng-11384	134	19	)	)	PUNCT
fumecheng-11384	134	20	di	di	PROPN
fumecheng-11384	134	21	(	(	PUNCT
fumecheng-11384	134	22	mm	mm	INTJ
fumecheng-11384	134	23	)	)	PUNCT
fumecheng-11384	134	24	ai	ai	PROPN
fumecheng-11384	134	25	(	(	PUNCT
fumecheng-11384	134	26	mm	mm	INTJ
fumecheng-11384	134	27	)	)	PUNCT
fumecheng-11384	134	28	αi	αi	PROPN
fumecheng-11384	134	29	(	(	PUNCT
fumecheng-11384	134	30	deg	deg	PROPN
fumecheng-11384	134	31	)	)	PUNCT
fumecheng-11384	134	32	1	1	NUM
fumecheng-11384	134	33	l1	l1	PROPN
fumecheng-11384	134	34	θ1	θ1	PROPN
fumecheng-11384	134	35	105	105	NUM
fumecheng-11384	134	36	43.5	43.5	NUM
fumecheng-11384	134	37	-90	-90	NUM
fumecheng-11384	134	38	2	2	NUM
fumecheng-11384	134	39	l2	l2	NOUN
fumecheng-11384	134	40	θ2	θ2	ADP
fumecheng-11384	134	41	0	0	NUM
fumecheng-11384	135	1	175	175	NUM
fumecheng-11384	135	2	0	0	NUM
fumecheng-11384	135	3	33	33	NUM
fumecheng-11384	135	4	l33	l33	NOUN
fumecheng-11384	135	5	θ33	θ33	ADJ
fumecheng-11384	135	6	0	0	NUM
fumecheng-11384	135	7	175	175	NUM
fumecheng-11384	135	8	0	0	NUM
fumecheng-11384	135	9	33b	33b	NUM
fumecheng-11384	135	10	l33b	l33b	ADJ
fumecheng-11384	135	11	-θ2	-θ2	NOUN
fumecheng-11384	135	12	-	-	PUNCT
fumecheng-11384	135	13	θ33	θ33	NOUN
fumecheng-11384	135	14	0	0	NUM
fumecheng-11384	135	15	66	66	NUM
fumecheng-11384	135	16	90	90	NUM
fumecheng-11384	135	17	4	4	NUM
fumecheng-11384	135	18	l33b	l33b	ADJ
fumecheng-11384	135	19	θ4	θ4	NOUN
fumecheng-11384	135	20	-36	-36	X
fumecheng-11384	135	21	0	0	NUM
fumecheng-11384	135	22	0	0	NUM
fumecheng-11384	135	23	modeling	modeling	NOUN
fumecheng-11384	135	24	and	and	CCONJ
fumecheng-11384	135	25	simulation	simulation	NOUN
fumecheng-11384	135	26	of	of	ADP
fumecheng-11384	135	27	industrial	industrial	ADJ
fumecheng-11384	135	28	robot	robot	NOUN
fumecheng-11384	135	29	arms	arm	NOUN
fumecheng-11384	135	30	using	use	VERB
fumecheng-11384	135	31	simscape	simscape	NOUN
fumecheng-11384	135	32	multibody	multibody	NOUN
fumecheng-11384	135	33	271	271	NUM
fumecheng-11384	135	34	according	accord	VERB
fumecheng-11384	135	35	to	to	ADP
fumecheng-11384	135	36	tab	tab	NOUN
fumecheng-11384	135	37	.	.	PUNCT
fumecheng-11384	136	1	2	2	NUM
fumecheng-11384	137	1	and	and	CCONJ
fumecheng-11384	137	2	sdh	sdh	PROPN
fumecheng-11384	137	3	homogeneous	homogeneous	ADJ
fumecheng-11384	137	4	transformation	transformation	NOUN
fumecheng-11384	137	5	matrix	matrix	NOUN
fumecheng-11384	137	6	formula	formula	NOUN
fumecheng-11384	137	7	[	[	X
fumecheng-11384	137	8	31	31	NUM
fumecheng-11384	137	9	-	-	SYM
fumecheng-11384	137	10	33	33	NUM
fumecheng-11384	137	11	]	]	PUNCT
fumecheng-11384	137	12	,	,	PUNCT
fumecheng-11384	137	13	the	the	DET
fumecheng-11384	137	14	homogeneous	homogeneous	ADJ
fumecheng-11384	137	15	transformation	transformation	NOUN
fumecheng-11384	137	16	matrix	matrix	NOUN
fumecheng-11384	137	17	between	between	ADP
fumecheng-11384	137	18	adjacent	adjacent	ADJ
fumecheng-11384	137	19	connecting	connect	VERB
fumecheng-11384	137	20	rods	rod	NOUN
fumecheng-11384	137	21	is	be	AUX
fumecheng-11384	137	22	easily	easily	ADV
fumecheng-11384	137	23	obtained	obtain	VERB
fumecheng-11384	137	24	.	.	PUNCT
fumecheng-11384	138	1	in	in	ADP
fumecheng-11384	138	2	order	order	NOUN
fumecheng-11384	138	3	to	to	PART
fumecheng-11384	138	4	express	express	VERB
fumecheng-11384	138	5	homogeneous	homogeneous	ADJ
fumecheng-11384	138	6	transformation	transformation	NOUN
fumecheng-11384	138	7	matrix	matrix	NOUN
fumecheng-11384	138	8	conveniently	conveniently	ADV
fumecheng-11384	138	9	,	,	PUNCT
fumecheng-11384	138	10	let	let	VERB
fumecheng-11384	138	11	the	the	DET
fumecheng-11384	138	12	following	follow	VERB
fumecheng-11384	138	13	equation	equation	NOUN
fumecheng-11384	138	14	hold	hold	NOUN
fumecheng-11384	138	15	:	:	PUNCT
fumecheng-11384	138	16	cos	cos	PROPN
fumecheng-11384	138	17	(	(	PUNCT
fumecheng-11384	138	18	)	)	PUNCT
fumecheng-11384	138	19	sin	sin	NOUN
fumecheng-11384	138	20	(	(	PUNCT
fumecheng-11384	138	21	)	)	PUNCT
fumecheng-11384	138	22	cos	cos	PROPN
fumecheng-11384	138	23	(	(	PUNCT
fumecheng-11384	138	24	)	)	PUNCT
fumecheng-11384	138	25	sin	sin	NOUN
fumecheng-11384	138	26	(	(	PUNCT
fumecheng-11384	138	27	)	)	PUNCT
fumecheng-11384	139	1	i	i	PRON
fumecheng-11384	139	2	i	i	PRON
fumecheng-11384	140	1	i	i	PRON
fumecheng-11384	140	2	i	i	PRON
fumecheng-11384	141	1	i	i	PRON
fumecheng-11384	141	2	j	j	VERB
fumecheng-11384	142	1	i	i	PRON
fumecheng-11384	142	2	j	j	VERB
fumecheng-11384	143	1	i	i	PRON
fumecheng-11384	143	2	j	j	VERB
fumecheng-11384	144	1	i	i	PRON
fumecheng-11384	144	2	j	j	PROPN
fumecheng-11384	145	1	c	c	NOUN
fumecheng-11384	145	2	s	s	ADP
fumecheng-11384	145	3	c	c	NOUN
fumecheng-11384	145	4	s	s	NOUN
fumecheng-11384	145	5			X
fumecheng-11384	145	6			X
fumecheng-11384	145	7			PROPN
fumecheng-11384	145	8			X
fumecheng-11384	145	9			X
fumecheng-11384	145	10			X
fumecheng-11384	146	1	+	+	PUNCT
fumecheng-11384	147	1	+	+	PUNCT
fumecheng-11384	147	2	=	=	NOUN
fumecheng-11384	147	3			NOUN
fumecheng-11384	147	4			NUM
fumecheng-11384	147	5	=	=	NOUN
fumecheng-11384	147	6			NUM
fumecheng-11384	147	7			NUM
fumecheng-11384	147	8	=	=	PUNCT
fumecheng-11384	148	1	+	+	NUM
fumecheng-11384	148	2			NUM
fumecheng-11384	148	3			NOUN
fumecheng-11384	148	4	=	=	PUNCT
fumecheng-11384	148	5	+	+	NOUN
fumecheng-11384	148	6			PROPN
fumecheng-11384	148	7	(	(	PUNCT
fumecheng-11384	148	8	3	3	NUM
fumecheng-11384	148	9	)	)	PUNCT
fumecheng-11384	148	10	the	the	DET
fumecheng-11384	148	11	coordinates	coordinate	NOUN
fumecheng-11384	148	12	of	of	ADP
fumecheng-11384	148	13	the	the	DET
fumecheng-11384	148	14	base	base	ADJ
fumecheng-11384	148	15	center	center	NOUN
fumecheng-11384	148	16	of	of	ADP
fumecheng-11384	148	17	the	the	DET
fumecheng-11384	148	18	robot	robot	NOUN
fumecheng-11384	148	19	arm	arm	NOUN
fumecheng-11384	148	20	are	be	AUX
fumecheng-11384	148	21	defined	define	VERB
fumecheng-11384	148	22	as	as	ADP
fumecheng-11384	148	23	the	the	DET
fumecheng-11384	148	24	base	base	NOUN
fumecheng-11384	148	25	coordinate	coordinate	NOUN
fumecheng-11384	148	26	origin	origin	NOUN
fumecheng-11384	148	27	of	of	ADP
fumecheng-11384	148	28	the	the	DET
fumecheng-11384	148	29	robot	robot	NOUN
fumecheng-11384	148	30	arm	arm	NOUN
fumecheng-11384	148	31	.	.	PUNCT
fumecheng-11384	149	1	based	base	VERB
fumecheng-11384	149	2	on	on	ADP
fumecheng-11384	149	3	the	the	DET
fumecheng-11384	149	4	parameters	parameter	NOUN
fumecheng-11384	149	5	a0	a0	NOUN
fumecheng-11384	149	6	and	and	CCONJ
fumecheng-11384	149	7	a1	a1	NOUN
fumecheng-11384	149	8	in	in	ADP
fumecheng-11384	149	9	table	table	NOUN
fumecheng-11384	149	10	1	1	NUM
fumecheng-11384	149	11	,	,	PUNCT
fumecheng-11384	149	12	the	the	DET
fumecheng-11384	149	13	conversion	conversion	NOUN
fumecheng-11384	149	14	equation	equation	NOUN
fumecheng-11384	149	15	from	from	ADP
fumecheng-11384	149	16	a0	a0	PROPN
fumecheng-11384	149	17	to	to	ADP
fumecheng-11384	149	18	a1	a1	NOUN
fumecheng-11384	149	19	is	be	AUX
fumecheng-11384	149	20	obtained	obtain	VERB
fumecheng-11384	149	21	:	:	PUNCT
fumecheng-11384	149	22	0	0	NUM
fumecheng-11384	149	23	1	1	NUM
fumecheng-11384	149	24	0	0	NUM
fumecheng-11384	149	25	0	0	NUM
fumecheng-11384	149	26	5	5	NUM
fumecheng-11384	149	27	0	0	NUM
fumecheng-11384	149	28	1	1	NUM
fumecheng-11384	149	29	0	0	NUM
fumecheng-11384	149	30	0	0	NUM
fumecheng-11384	149	31	0	0	NUM
fumecheng-11384	149	32	0	0	NUM
fumecheng-11384	149	33	1	1	NUM
fumecheng-11384	149	34	123	123	NUM
fumecheng-11384	149	35	0	0	NUM
fumecheng-11384	149	36	0	0	NUM
fumecheng-11384	149	37	0	0	NUM
fumecheng-11384	149	38	1	1	NUM
fumecheng-11384	149	39	bt	bt	NOUN
fumecheng-11384	149	40	−	−	NOUN
fumecheng-11384	149	41			NOUN
fumecheng-11384	149	42			NOUN
fumecheng-11384	149	43			PROPN
fumecheng-11384	149	44			NOUN
fumecheng-11384	149	45	=	=	X
fumecheng-11384	149	46			NOUN
fumecheng-11384	149	47			NOUN
fumecheng-11384	149	48			NOUN
fumecheng-11384	149	49			NOUN
fumecheng-11384	149	50			NOUN
fumecheng-11384	149	51			PROPN
fumecheng-11384	149	52	(	(	PUNCT
fumecheng-11384	149	53	4	4	NUM
fumecheng-11384	149	54	)	)	PUNCT
fumecheng-11384	149	55	therefore	therefore	ADV
fumecheng-11384	149	56	,	,	PUNCT
fumecheng-11384	149	57	the	the	DET
fumecheng-11384	149	58	homogeneous	homogeneous	ADJ
fumecheng-11384	149	59	transformation	transformation	NOUN
fumecheng-11384	149	60	matrix	matrix	NOUN
fumecheng-11384	149	61	of	of	ADP
fumecheng-11384	149	62	the	the	DET
fumecheng-11384	149	63	robot	robot	NOUN
fumecheng-11384	149	64	arm	arm	NOUN
fumecheng-11384	149	65	is	be	AUX
fumecheng-11384	149	66	given	give	VERB
fumecheng-11384	149	67	as	as	ADP
fumecheng-11384	149	68	:	:	PUNCT
fumecheng-11384	149	69	1	1	NUM
fumecheng-11384	149	70	4	4	NUM
fumecheng-11384	149	71	1	1	NUM
fumecheng-11384	149	72	4	4	NUM
fumecheng-11384	149	73	1	1	NUM
fumecheng-11384	149	74	2	2	NUM
fumecheng-11384	149	75	33	33	NUM
fumecheng-11384	149	76	2	2	NUM
fumecheng-11384	149	77	1	1	NUM
fumecheng-11384	149	78	4	4	NUM
fumecheng-11384	149	79	1	1	NUM
fumecheng-11384	149	80	4	4	NUM
fumecheng-11384	149	81	1	1	NUM
fumecheng-11384	149	82	2	2	NUM
fumecheng-11384	149	83	33	33	NUM
fumecheng-11384	149	84	20	20	NUM
fumecheng-11384	149	85	1	1	NUM
fumecheng-11384	149	86	2	2	NUM
fumecheng-11384	149	87	33	33	NUM
fumecheng-11384	149	88	33	33	NUM
fumecheng-11384	149	89	4	4	NUM
fumecheng-11384	149	90	0	0	NUM
fumecheng-11384	149	91	1	1	NUM
fumecheng-11384	149	92	2	2	NUM
fumecheng-11384	149	93	33	33	NUM
fumecheng-11384	149	94	33	33	NUM
fumecheng-11384	149	95	4	4	NUM
fumecheng-11384	149	96	2	2	NUM
fumecheng-11384	149	97	2	2	NUM
fumecheng-11384	149	98	33	33	NUM
fumecheng-11384	149	99	0	0	NUM
fumecheng-11384	149	100	(	(	PUNCT
fumecheng-11384	149	101	(	(	PUNCT
fumecheng-11384	149	102	350	350	NUM
fumecheng-11384	149	103	350	350	NUM
fumecheng-11384	149	104	219	219	NUM
fumecheng-11384	149	105	)	)	PUNCT
fumecheng-11384	149	106	)	)	PUNCT
fumecheng-11384	149	107	/	/	SYM
fumecheng-11384	150	1	2	2	NUM
fumecheng-11384	150	2	0	0	NUM
fumecheng-11384	150	3	(	(	PUNCT
fumecheng-11384	150	4	(	(	PUNCT
fumecheng-11384	150	5	350	350	NUM
fumecheng-11384	150	6	350	350	NUM
fumecheng-11384	150	7	219	219	NUM
fumecheng-11384	150	8	)	)	PUNCT
fumecheng-11384	150	9	)	)	PUNCT
fumecheng-11384	150	10	/	/	SYM
fumecheng-11384	151	1	2	2	NUM
fumecheng-11384	151	2	0	0	NUM
fumecheng-11384	151	3	0	0	NUM
fumecheng-11384	151	4	1	1	NUM
fumecheng-11384	151	5	175	175	NUM
fumecheng-11384	151	6	175	175	NUM
fumecheng-11384	151	7	192	192	NUM
fumecheng-11384	151	8	0	0	NUM
fumecheng-11384	151	9	0	0	NUM
fumecheng-11384	151	10	0	0	NUM
fumecheng-11384	151	11	1	1	NUM
fumecheng-11384	151	12	+	+	CCONJ
fumecheng-11384	151	13	+	+	PUNCT
fumecheng-11384	151	14	+	+	PUNCT
fumecheng-11384	151	15	+	+	PUNCT
fumecheng-11384	151	16	+	+	PUNCT
fumecheng-11384	151	17	+	+	PUNCT
fumecheng-11384	151	18	+	+	CCONJ
fumecheng-11384	151	19	−	−	X
fumecheng-11384	152	1	+	+	CCONJ
fumecheng-11384	152	2	+	+	ADJ
fumecheng-11384	152	3			ADJ
fumecheng-11384	152	4			ADJ
fumecheng-11384	152	5			NOUN
fumecheng-11384	152	6			NOUN
fumecheng-11384	152	7	+	+	CCONJ
fumecheng-11384	152	8	+	+	NUM
fumecheng-11384	152	9			NOUN
fumecheng-11384	152	10	=	=	NOUN
fumecheng-11384	152	11	=	=	SYM
fumecheng-11384	152	12			X
fumecheng-11384	152	13	−	−	X
fumecheng-11384	152	14	+	+	NUM
fumecheng-11384	152	15			AUX
fumecheng-11384	152	16			NOUN
fumecheng-11384	152	17			VERB
fumecheng-11384	152	18			PROPN
fumecheng-11384	152	19	b	b	PROPN
fumecheng-11384	152	20	b	b	PROPN
fumecheng-11384	152	21	b	b	PROPN
fumecheng-11384	152	22	b	b	PROPN
fumecheng-11384	152	23	c	c	NOUN
fumecheng-11384	152	24	s	s	X
fumecheng-11384	152	25	c	c	NOUN
fumecheng-11384	152	26	c	c	NOUN
fumecheng-11384	152	27	s	s	X
fumecheng-11384	152	28	s	s	X
fumecheng-11384	152	29	c	c	NOUN
fumecheng-11384	152	30	s	s	ADP
fumecheng-11384	152	31	c	c	NOUN
fumecheng-11384	152	32	s	s	PROPN
fumecheng-11384	152	33	t	t	PROPN
fumecheng-11384	152	34	t	t	PROPN
fumecheng-11384	152	35	t	t	PROPN
fumecheng-11384	152	36	t	t	PROPN
fumecheng-11384	152	37	t	t	PROPN
fumecheng-11384	152	38	t	t	PROPN
fumecheng-11384	152	39	t	t	PROPN
fumecheng-11384	152	40	c	c	PROPN
fumecheng-11384	152	41	s	s	X
fumecheng-11384	152	42	(	(	PUNCT
fumecheng-11384	152	43	5	5	NUM
fumecheng-11384	152	44	)	)	PUNCT
fumecheng-11384	152	45	columns	column	NOUN
fumecheng-11384	152	46	1	1	NUM
fumecheng-11384	152	47	to	to	ADP
fumecheng-11384	152	48	3	3	NUM
fumecheng-11384	152	49	in	in	ADP
fumecheng-11384	152	50	4	4	NUM
fumecheng-11384	152	51	b	b	NOUN
fumecheng-11384	152	52	t	t	NOUN
fumecheng-11384	152	53	are	be	AUX
fumecheng-11384	152	54	the	the	DET
fumecheng-11384	152	55	direction	direction	NOUN
fumecheng-11384	152	56	vectors	vector	NOUN
fumecheng-11384	152	57	of	of	ADP
fumecheng-11384	152	58	the	the	DET
fumecheng-11384	152	59	robot	robot	NOUN
fumecheng-11384	152	60	arm	arm	NOUN
fumecheng-11384	152	61	end	end	VERB
fumecheng-11384	152	62	execution	execution	NOUN
fumecheng-11384	152	63	point	point	NOUN
fumecheng-11384	152	64	under	under	ADP
fumecheng-11384	152	65	the	the	DET
fumecheng-11384	152	66	reference	reference	NOUN
fumecheng-11384	152	67	of	of	ADP
fumecheng-11384	152	68	the	the	DET
fumecheng-11384	152	69	base	base	NOUN
fumecheng-11384	152	70	coordinate	coordinate	NOUN
fumecheng-11384	152	71	system	system	NOUN
fumecheng-11384	152	72	xb	xb	PROPN
fumecheng-11384	152	73	(	(	PUNCT
fumecheng-11384	152	74	x0	x0	PROPN
fumecheng-11384	152	75	)	)	PUNCT
fumecheng-11384	152	76	,	,	PUNCT
fumecheng-11384	152	77	yb	yb	PROPN
fumecheng-11384	152	78	(	(	PUNCT
fumecheng-11384	152	79	y0	y0	PROPN
fumecheng-11384	152	80	)	)	PUNCT
fumecheng-11384	152	81	and	and	CCONJ
fumecheng-11384	152	82	zb	zb	PROPN
fumecheng-11384	152	83	(	(	PUNCT
fumecheng-11384	152	84	z0	z0	PROPN
fumecheng-11384	152	85	)	)	PUNCT
fumecheng-11384	152	86	axes	axis	NOUN
fumecheng-11384	152	87	respectively	respectively	ADV
fumecheng-11384	152	88	,	,	PUNCT
fumecheng-11384	152	89	and	and	CCONJ
fumecheng-11384	152	90	column	column	NOUN
fumecheng-11384	152	91	4	4	NUM
fumecheng-11384	152	92	is	be	AUX
fumecheng-11384	152	93	the	the	DET
fumecheng-11384	152	94	position	position	NOUN
fumecheng-11384	152	95	vector	vector	NOUN
fumecheng-11384	152	96	of	of	ADP
fumecheng-11384	152	97	the	the	DET
fumecheng-11384	152	98	robot	robot	NOUN
fumecheng-11384	152	99	arm	arm	NOUN
fumecheng-11384	152	100	end	end	VERB
fumecheng-11384	152	101	execution	execution	NOUN
fumecheng-11384	152	102	point	point	NOUN
fumecheng-11384	152	103	under	under	ADP
fumecheng-11384	152	104	the	the	DET
fumecheng-11384	152	105	reference	reference	NOUN
fumecheng-11384	152	106	of	of	ADP
fumecheng-11384	152	107	the	the	DET
fumecheng-11384	152	108	base	base	NOUN
fumecheng-11384	152	109	coordinate	coordinate	NOUN
fumecheng-11384	152	110	system	system	NOUN
fumecheng-11384	152	111	.	.	PUNCT
fumecheng-11384	153	1	from	from	ADP
fumecheng-11384	153	2	the	the	DET
fumecheng-11384	153	3	above	above	ADJ
fumecheng-11384	153	4	derivation	derivation	NOUN
fumecheng-11384	153	5	,	,	PUNCT
fumecheng-11384	153	6	it	it	PRON
fumecheng-11384	153	7	can	can	AUX
fumecheng-11384	153	8	be	be	AUX
fumecheng-11384	153	9	seen	see	VERB
fumecheng-11384	153	10	that	that	SCONJ
fumecheng-11384	153	11	the	the	DET
fumecheng-11384	153	12	position	position	NOUN
fumecheng-11384	153	13	of	of	ADP
fumecheng-11384	153	14	the	the	DET
fumecheng-11384	153	15	end	end	NOUN
fumecheng-11384	153	16	execution	execution	NOUN
fumecheng-11384	153	17	point	point	NOUN
fumecheng-11384	153	18	of	of	ADP
fumecheng-11384	153	19	the	the	DET
fumecheng-11384	153	20	robot	robot	NOUN
fumecheng-11384	153	21	arm	arm	NOUN
fumecheng-11384	153	22	is	be	AUX
fumecheng-11384	153	23	only	only	ADV
fumecheng-11384	153	24	related	relate	VERB
fumecheng-11384	153	25	to	to	ADP
fumecheng-11384	153	26	the	the	DET
fumecheng-11384	153	27	three	three	NUM
fumecheng-11384	153	28	joints	joint	NOUN
fumecheng-11384	153	29	j1	j1	PROPN
fumecheng-11384	153	30	,	,	PUNCT
fumecheng-11384	153	31	j2	j2	PROPN
fumecheng-11384	153	32	and	and	CCONJ
fumecheng-11384	153	33	j3	j3	PROPN
fumecheng-11384	153	34	,	,	PUNCT
fumecheng-11384	153	35	but	but	CCONJ
fumecheng-11384	153	36	not	not	PART
fumecheng-11384	153	37	j4	j4	PROPN
fumecheng-11384	153	38	.	.	PUNCT
fumecheng-11384	154	1	the	the	DET
fumecheng-11384	154	2	attitude	attitude	NOUN
fumecheng-11384	154	3	of	of	ADP
fumecheng-11384	154	4	the	the	DET
fumecheng-11384	154	5	end	end	NOUN
fumecheng-11384	154	6	execution	execution	NOUN
fumecheng-11384	154	7	point	point	NOUN
fumecheng-11384	154	8	of	of	ADP
fumecheng-11384	154	9	the	the	DET
fumecheng-11384	154	10	robot	robot	NOUN
fumecheng-11384	154	11	arm	arm	NOUN
fumecheng-11384	154	12	(	(	PUNCT
fumecheng-11384	154	13	the	the	DET
fumecheng-11384	154	14	attitude	attitude	NOUN
fumecheng-11384	154	15	after	after	ADP
fumecheng-11384	154	16	rotating	rotate	VERB
fumecheng-11384	154	17	θ1+θ4	θ1+θ4	NOUN
fumecheng-11384	154	18	around	around	ADP
fumecheng-11384	154	19	zb	zb	NOUN
fumecheng-11384	154	20	)	)	PUNCT
fumecheng-11384	154	21	is	be	AUX
fumecheng-11384	154	22	only	only	ADV
fumecheng-11384	154	23	related	relate	VERB
fumecheng-11384	154	24	to	to	ADP
fumecheng-11384	154	25	j1	j1	PROPN
fumecheng-11384	154	26	and	and	CCONJ
fumecheng-11384	154	27	j4	j4	PROPN
fumecheng-11384	154	28	,	,	PUNCT
fumecheng-11384	154	29	but	but	CCONJ
fumecheng-11384	154	30	not	not	PART
fumecheng-11384	154	31	j2	j2	PROPN
fumecheng-11384	154	32	and	and	CCONJ
fumecheng-11384	154	33	j3	j3	PROPN
fumecheng-11384	154	34	.	.	PUNCT
fumecheng-11384	155	1	assuming	assume	VERB
fumecheng-11384	155	2	that	that	SCONJ
fumecheng-11384	155	3	the	the	DET
fumecheng-11384	155	4	coordinates	coordinate	NOUN
fumecheng-11384	155	5	of	of	ADP
fumecheng-11384	155	6	the	the	DET
fumecheng-11384	155	7	end	end	NOUN
fumecheng-11384	155	8	execution	execution	NOUN
fumecheng-11384	155	9	point	point	NOUN
fumecheng-11384	155	10	of	of	ADP
fumecheng-11384	155	11	the	the	DET
fumecheng-11384	155	12	robot	robot	NOUN
fumecheng-11384	155	13	arm	arm	NOUN
fumecheng-11384	155	14	under	under	ADP
fumecheng-11384	155	15	the	the	DET
fumecheng-11384	155	16	reference	reference	NOUN
fumecheng-11384	155	17	of	of	ADP
fumecheng-11384	155	18	the	the	DET
fumecheng-11384	155	19	base	base	NOUN
fumecheng-11384	155	20	coordinate	coordinate	NOUN
fumecheng-11384	155	21	system	system	NOUN
fumecheng-11384	155	22	are	be	AUX
fumecheng-11384	155	23	[	[	X
fumecheng-11384	155	24	px	px	PROPN
fumecheng-11384	155	25	,	,	PUNCT
fumecheng-11384	155	26	py	py	PROPN
fumecheng-11384	155	27	,	,	PUNCT
fumecheng-11384	155	28	pz	pz	NOUN
fumecheng-11384	155	29	]	]	X
fumecheng-11384	155	30	and	and	CCONJ
fumecheng-11384	155	31	the	the	DET
fumecheng-11384	155	32	attitude	attitude	NOUN
fumecheng-11384	155	33	angle	angle	NOUN
fumecheng-11384	155	34	is	be	AUX
fumecheng-11384	155	35	rz	rz	NOUN
fumecheng-11384	155	36	,	,	PUNCT
fumecheng-11384	155	37	the	the	DET
fumecheng-11384	155	38	forward	forward	ADJ
fumecheng-11384	155	39	kinematics	kinematic	NOUN
fumecheng-11384	155	40	equation	equation	NOUN
fumecheng-11384	155	41	of	of	ADP
fumecheng-11384	155	42	the	the	DET
fumecheng-11384	155	43	robot	robot	NOUN
fumecheng-11384	155	44	arm	arm	NOUN
fumecheng-11384	155	45	is	be	AUX
fumecheng-11384	155	46	given	give	VERB
fumecheng-11384	155	47	as	as	SCONJ
fumecheng-11384	155	48	follows	follow	VERB
fumecheng-11384	155	49	:	:	PUNCT
fumecheng-11384	155	50	1	1	NUM
fumecheng-11384	155	51	2	2	NUM
fumecheng-11384	155	52	33	33	NUM
fumecheng-11384	155	53	2	2	NUM
fumecheng-11384	155	54	1	1	NUM
fumecheng-11384	155	55	2	2	NUM
fumecheng-11384	155	56	33	33	NUM
fumecheng-11384	155	57	2	2	NUM
fumecheng-11384	155	58	2	2	NUM
fumecheng-11384	155	59	2	2	NUM
fumecheng-11384	155	60	33	33	NUM
fumecheng-11384	155	61	1	1	NUM
fumecheng-11384	155	62	4	4	NUM
fumecheng-11384	155	63	cos	co	NOUN
fumecheng-11384	155	64	(	(	PUNCT
fumecheng-11384	155	65	175cos	175cos	NUM
fumecheng-11384	155	66	(	(	PUNCT
fumecheng-11384	155	67	)	)	PUNCT
fumecheng-11384	155	68	175sin	175sin	NUM
fumecheng-11384	155	69	109.5	109.5	NUM
fumecheng-11384	155	70	)	)	PUNCT
fumecheng-11384	155	71	sin	sin	NOUN
fumecheng-11384	155	72	(	(	PUNCT
fumecheng-11384	155	73	175cos	175cos	X
fumecheng-11384	155	74	(	(	PUNCT
fumecheng-11384	155	75	)	)	PUNCT
fumecheng-11384	155	76	175sin	175sin	NUM
fumecheng-11384	155	77	109.5	109.5	NUM
fumecheng-11384	155	78	)	)	PUNCT
fumecheng-11384	155	79	175cos	175cos	NUM
fumecheng-11384	155	80	175sin	175sin	NUM
fumecheng-11384	155	81	(	(	PUNCT
fumecheng-11384	155	82	)	)	PUNCT
fumecheng-11384	155	83	192	192	NUM
fumecheng-11384	155	84	x	x	SYM
fumecheng-11384	155	85	y	y	PROPN
fumecheng-11384	155	86	z	z	PROPN
fumecheng-11384	155	87	z	z	PROPN
fumecheng-11384	156	1	p	p	X
fumecheng-11384	156	2	p	p	X
fumecheng-11384	156	3	p	p	X
fumecheng-11384	156	4	r	r	NOUN
fumecheng-11384	156	5			X
fumecheng-11384	156	6			X
fumecheng-11384	156	7			PROPN
fumecheng-11384	156	8			PROPN
fumecheng-11384	156	9			X
fumecheng-11384	156	10			X
fumecheng-11384	156	11			X
fumecheng-11384	156	12			X
fumecheng-11384	156	13			X
fumecheng-11384	156	14			X
fumecheng-11384	156	15			X
fumecheng-11384	156	16			X
fumecheng-11384	156	17			X
fumecheng-11384	157	1	=	=	PUNCT
fumecheng-11384	158	1	+	+	PUNCT
fumecheng-11384	159	1	+	+	CCONJ
fumecheng-11384	159	2	+	+	NOUN
fumecheng-11384	159	3			ADP
fumecheng-11384	159	4			NOUN
fumecheng-11384	159	5	=	=	SYM
fumecheng-11384	160	1	+	+	PUNCT
fumecheng-11384	161	1	+	+	PUNCT
fumecheng-11384	161	2	+	+	ADJ
fumecheng-11384	161	3			NUM
fumecheng-11384	161	4			NUM
fumecheng-11384	161	5	=	=	SYM
fumecheng-11384	161	6	−	−	PROPN
fumecheng-11384	162	1	+	+	CCONJ
fumecheng-11384	163	1	+	+	ADJ
fumecheng-11384	163	2			NOUN
fumecheng-11384	163	3			NOUN
fumecheng-11384	163	4	=	=	PUNCT
fumecheng-11384	164	1	+	+	NOUN
fumecheng-11384	164	2			PROPN
fumecheng-11384	164	3	(	(	PUNCT
fumecheng-11384	164	4	6	6	NUM
fumecheng-11384	164	5	)	)	PUNCT
fumecheng-11384	164	6	272	272	NUM
fumecheng-11384	164	7	c.	c.	PROPN
fumecheng-11384	164	8	zhang	zhang	PROPN
fumecheng-11384	164	9	,	,	PUNCT
fumecheng-11384	164	10	s.	s.	PROPN
fumecheng-11384	164	11	li	li	PROPN
fumecheng-11384	164	12	,	,	PUNCT
fumecheng-11384	164	13	z.	z.	PROPN
fumecheng-11384	164	14	zhang	zhang	PROPN
fumecheng-11384	165	1	2.3	2.3	NUM
fumecheng-11384	165	2	.	.	PUNCT
fumecheng-11384	166	1	inverse	inverse	NOUN
fumecheng-11384	166	2	kinematics	kinematics	PROPN
fumecheng-11384	166	3	inverse	inverse	NOUN
fumecheng-11384	166	4	kinematics	kinematic	NOUN
fumecheng-11384	166	5	is	be	AUX
fumecheng-11384	166	6	opposite	opposite	ADJ
fumecheng-11384	166	7	to	to	AUX
fumecheng-11384	166	8	forward	forward	ADJ
fumecheng-11384	166	9	kinematics	kinematic	NOUN
fumecheng-11384	166	10	.	.	PUNCT
fumecheng-11384	167	1	that	that	PRON
fumecheng-11384	167	2	is	be	AUX
fumecheng-11384	167	3	to	to	PART
fumecheng-11384	167	4	calculate	calculate	VERB
fumecheng-11384	167	5	the	the	DET
fumecheng-11384	167	6	angle	angle	NOUN
fumecheng-11384	167	7	of	of	ADP
fumecheng-11384	167	8	each	each	DET
fumecheng-11384	167	9	joint	joint	NOUN
fumecheng-11384	167	10	through	through	ADP
fumecheng-11384	167	11	the	the	DET
fumecheng-11384	167	12	known	know	VERB
fumecheng-11384	167	13	pose	pose	NOUN
fumecheng-11384	167	14	,	,	PUNCT
fumecheng-11384	167	15	which	which	PRON
fumecheng-11384	167	16	is	be	AUX
fumecheng-11384	167	17	shown	show	VERB
fumecheng-11384	167	18	as	as	ADP
fumecheng-11384	167	19	eq	eq	ADP
fumecheng-11384	167	20	.	.	PUNCT
fumecheng-11384	168	1	(	(	PUNCT
fumecheng-11384	168	2	7	7	NUM
fumecheng-11384	168	3	)	)	PUNCT
fumecheng-11384	168	4	.	.	PUNCT
fumecheng-11384	169	1	1	1	NUM
fumecheng-11384	169	2	2	2	NUM
fumecheng-11384	169	3	33	33	NUM
fumecheng-11384	169	4	4	4	NUM
fumecheng-11384	169	5	[	[	PUNCT
fumecheng-11384	169	6	,	,	PUNCT
fumecheng-11384	169	7	,	,	PUNCT
fumecheng-11384	169	8	,	,	PUNCT
fumecheng-11384	169	9	]	]	PUNCT
fumecheng-11384	169	10	[	[	PUNCT
fumecheng-11384	169	11	,	,	PUNCT
fumecheng-11384	169	12	,	,	PUNCT
fumecheng-11384	169	13	,	,	PUNCT
fumecheng-11384	169	14	]	]	X
fumecheng-11384	169	15	x	x	X
fumecheng-11384	169	16	y	y	PROPN
fumecheng-11384	169	17	z	z	NOUN
fumecheng-11384	169	18	zf	zf	PROPN
fumecheng-11384	170	1	p	p	PROPN
fumecheng-11384	170	2	p	p	PROPN
fumecheng-11384	170	3	p	p	X
fumecheng-11384	170	4	r	r	NOUN
fumecheng-11384	170	5			X
fumecheng-11384	170	6			X
fumecheng-11384	170	7			X
fumecheng-11384	170	8	=	=	PUNCT
fumecheng-11384	170	9	(	(	PUNCT
fumecheng-11384	170	10	7	7	NUM
fumecheng-11384	170	11	)	)	PUNCT
fumecheng-11384	170	12	(	(	PUNCT
fumecheng-11384	170	13	1	1	X
fumecheng-11384	170	14	)	)	PUNCT
fumecheng-11384	170	15	calculate	calculate	NOUN
fumecheng-11384	170	16	θ1	θ1	NOUN
fumecheng-11384	170	17	let	let	VERB
fumecheng-11384	170	18	the	the	DET
fumecheng-11384	170	19	robot	robot	NOUN
fumecheng-11384	170	20	arm	arm	NOUN
fumecheng-11384	170	21	end	end	VERB
fumecheng-11384	170	22	execution	execution	NOUN
fumecheng-11384	170	23	point	point	NOUN
fumecheng-11384	170	24	homogeneous	homogeneous	ADJ
fumecheng-11384	170	25	transformation	transformation	NOUN
fumecheng-11384	170	26	matrix	matrix	NOUN
fumecheng-11384	170	27	be	be	AUX
fumecheng-11384	170	28	shown	show	VERB
fumecheng-11384	170	29	as	as	ADP
fumecheng-11384	170	30	eq	eq	ADP
fumecheng-11384	170	31	.	.	PUNCT
fumecheng-11384	171	1	(	(	PUNCT
fumecheng-11384	171	2	8)	8)	NUM
fumecheng-11384	171	3	.	.	NOUN
fumecheng-11384	172	1	4	4	NUM
fumecheng-11384	172	2	1	1	NUM
fumecheng-11384	172	3	4	4	NUM
fumecheng-11384	172	4	1	1	NUM
fumecheng-11384	172	5	4	4	NUM
fumecheng-11384	172	6	1	1	NUM
fumecheng-11384	172	7	2	2	NUM
fumecheng-11384	172	8	33	33	NUM
fumecheng-11384	172	9	2	2	NUM
fumecheng-11384	172	10	1	1	NUM
fumecheng-11384	172	11	4	4	NUM
fumecheng-11384	172	12	1	1	NUM
fumecheng-11384	172	13	4	4	NUM
fumecheng-11384	172	14	1	1	NUM
fumecheng-11384	172	15	2	2	NUM
fumecheng-11384	172	16	33	33	NUM
fumecheng-11384	172	17	2	2	NUM
fumecheng-11384	172	18	2	2	NUM
fumecheng-11384	172	19	2	2	NUM
fumecheng-11384	172	20	33	33	NUM
fumecheng-11384	172	21	0	0	NUM
fumecheng-11384	172	22	0	0	NUM
fumecheng-11384	172	23	0	0	NUM
fumecheng-11384	172	24	1	1	NUM
fumecheng-11384	172	25	0	0	NUM
fumecheng-11384	172	26	(	(	PUNCT
fumecheng-11384	172	27	(	(	PUNCT
fumecheng-11384	172	28	350	350	NUM
fumecheng-11384	172	29	350	350	NUM
fumecheng-11384	172	30	219	219	NUM
fumecheng-11384	172	31	)	)	PUNCT
fumecheng-11384	172	32	)	)	PUNCT
fumecheng-11384	172	33	/	/	SYM
fumecheng-11384	172	34	2	2	NUM
fumecheng-11384	172	35	0	0	NUM
fumecheng-11384	172	36	(	(	PUNCT
fumecheng-11384	172	37	(	(	PUNCT
fumecheng-11384	172	38	350	350	NUM
fumecheng-11384	172	39	350	350	NUM
fumecheng-11384	172	40	219	219	NUM
fumecheng-11384	172	41	)	)	PUNCT
fumecheng-11384	172	42	)	)	PUNCT
fumecheng-11384	172	43	/	/	SYM
fumecheng-11384	173	1	2	2	NUM
fumecheng-11384	173	2	0	0	NUM
fumecheng-11384	173	3	0	0	NUM
fumecheng-11384	173	4	1	1	NUM
fumecheng-11384	173	5	175	175	NUM
fumecheng-11384	173	6	175	175	NUM
fumecheng-11384	173	7	192	192	NUM
fumecheng-11384	173	8	0	0	NUM
fumecheng-11384	173	9	0	0	NUM
fumecheng-11384	173	10	0	0	NUM
fumecheng-11384	173	11	1	1	NUM
fumecheng-11384	173	12	x	x	SYM
fumecheng-11384	173	13	x	x	PUNCT
fumecheng-11384	173	14	x	x	PUNCT
fumecheng-11384	173	15	x	x	PUNCT
fumecheng-11384	173	16	y	y	VERB
fumecheng-11384	173	17	y	y	PROPN
fumecheng-11384	173	18	y	y	PROPN
fumecheng-11384	173	19	yb	yb	PROPN
fumecheng-11384	173	20	z	z	PROPN
fumecheng-11384	173	21	z	z	PROPN
fumecheng-11384	173	22	z	z	NOUN
fumecheng-11384	173	23	z	z	NOUN
fumecheng-11384	174	1	n	n	NOUN
fumecheng-11384	174	2	o	o	NOUN
fumecheng-11384	175	1	a	a	DET
fumecheng-11384	175	2	p	p	NOUN
fumecheng-11384	175	3	n	n	NUM
fumecheng-11384	175	4	o	o	NOUN
fumecheng-11384	175	5	a	a	DET
fumecheng-11384	175	6	p	p	X
fumecheng-11384	175	7	t	t	NOUN
fumecheng-11384	175	8	n	n	PRON
fumecheng-11384	175	9	o	o	NOUN
fumecheng-11384	176	1	a	a	DET
fumecheng-11384	176	2	p	p	X
fumecheng-11384	176	3	c	c	NOUN
fumecheng-11384	176	4	s	s	NOUN
fumecheng-11384	176	5	c	c	NOUN
fumecheng-11384	176	6	c	c	NOUN
fumecheng-11384	176	7	s	s	X
fumecheng-11384	176	8	s	s	X
fumecheng-11384	176	9	c	c	NOUN
fumecheng-11384	176	10	s	s	ADP
fumecheng-11384	176	11	c	c	NOUN
fumecheng-11384	176	12	s	s	ADP
fumecheng-11384	176	13	c	c	NOUN
fumecheng-11384	176	14	s	s	PART
fumecheng-11384	176	15	+	+	NOUN
fumecheng-11384	176	16	+	+	CCONJ
fumecheng-11384	176	17	+	+	PUNCT
fumecheng-11384	176	18	+	+	PUNCT
fumecheng-11384	176	19	+	+	PUNCT
fumecheng-11384	176	20	+	+	SYM
fumecheng-11384	176	21	+	+	CCONJ
fumecheng-11384	176	22			NUM
fumecheng-11384	176	23			ADJ
fumecheng-11384	176	24			NOUN
fumecheng-11384	176	25			PROPN
fumecheng-11384	176	26			NOUN
fumecheng-11384	176	27	=	=	X
fumecheng-11384	176	28			NOUN
fumecheng-11384	176	29			NOUN
fumecheng-11384	176	30			NOUN
fumecheng-11384	176	31			NOUN
fumecheng-11384	176	32			VERB
fumecheng-11384	176	33			PROPN
fumecheng-11384	176	34	−	−	PROPN
fumecheng-11384	177	1	+	+	CCONJ
fumecheng-11384	177	2	+	+	ADJ
fumecheng-11384	177	3			ADJ
fumecheng-11384	177	4			ADJ
fumecheng-11384	177	5			NOUN
fumecheng-11384	177	6			NOUN
fumecheng-11384	177	7	+	+	CCONJ
fumecheng-11384	177	8	+	+	NUM
fumecheng-11384	177	9			NOUN
fumecheng-11384	177	10	=	=	X
fumecheng-11384	177	11			NOUN
fumecheng-11384	177	12	−	−	X
fumecheng-11384	177	13	+	+	NUM
fumecheng-11384	177	14			NOUN
fumecheng-11384	177	15			NOUN
fumecheng-11384	177	16			NOUN
fumecheng-11384	177	17			PROPN
fumecheng-11384	177	18	(	(	PUNCT
fumecheng-11384	177	19	8)	8)	NUM
fumecheng-11384	177	20	multiply	multiply	NOUN
fumecheng-11384	177	21	eq	eq	ADP
fumecheng-11384	177	22	.	.	PUNCT
fumecheng-11384	178	1	(	(	PUNCT
fumecheng-11384	178	2	8)	8)	NUM
fumecheng-11384	178	3	left	leave	VERB
fumecheng-11384	178	4	and	and	CCONJ
fumecheng-11384	178	5	right	right	ADJ
fumecheng-11384	178	6	by	by	ADP
fumecheng-11384	178	7	0	0	NUM
fumecheng-11384	178	8	1	1	NUM
fumecheng-11384	178	9	1	1	NUM
fumecheng-11384	178	10	1	1	NUM
fumecheng-11384	178	11	0	0	NUM
fumecheng-11384	178	12	bt	bt	NOUN
fumecheng-11384	178	13	t−	t−	PROPN
fumecheng-11384	178	14	−	−	PROPN
fumecheng-11384	178	15	.	.	PUNCT
fumecheng-11384	179	1	then	then	ADV
fumecheng-11384	179	2	we	we	PRON
fumecheng-11384	179	3	get	get	VERB
fumecheng-11384	179	4	eq	eq	ADJ
fumecheng-11384	179	5	.	.	PUNCT
fumecheng-11384	180	1	(	(	PUNCT
fumecheng-11384	180	2	9	9	NUM
fumecheng-11384	180	3	)	)	PUNCT
fumecheng-11384	180	4	.	.	PUNCT
fumecheng-11384	181	1	1	1	NUM
fumecheng-11384	181	2	1	1	NUM
fumecheng-11384	181	3	1	1	NUM
fumecheng-11384	181	4	1	1	NUM
fumecheng-11384	181	5	1	1	NUM
fumecheng-11384	181	6	1	1	NUM
fumecheng-11384	181	7	1	1	NUM
fumecheng-11384	181	8	1	1	NUM
fumecheng-11384	181	9	1	1	NUM
fumecheng-11384	181	10	1	1	NUM
fumecheng-11384	181	11	1	1	NUM
fumecheng-11384	181	12	1	1	NUM
fumecheng-11384	181	13	1	1	NUM
fumecheng-11384	181	14	1	1	NUM
fumecheng-11384	181	15	1	1	NUM
fumecheng-11384	181	16	1	1	NUM
fumecheng-11384	181	17	4	4	NUM
fumecheng-11384	181	18	4	4	NUM
fumecheng-11384	181	19	2	2	NUM
fumecheng-11384	181	20	33	33	NUM
fumecheng-11384	181	21	2	2	NUM
fumecheng-11384	181	22	2	2	NUM
fumecheng-11384	181	23	33	33	NUM
fumecheng-11384	181	24	2	2	NUM
fumecheng-11384	181	25	4	4	NUM
fumecheng-11384	181	26	4	4	NUM
fumecheng-11384	181	27	43.5	43.5	NUM
fumecheng-11384	181	28	228	228	NUM
fumecheng-11384	181	29	0	0	NUM
fumecheng-11384	181	30	0	0	NUM
fumecheng-11384	181	31	0	0	NUM
fumecheng-11384	181	32	1	1	NUM
fumecheng-11384	181	33	0	0	NUM
fumecheng-11384	181	34	175	175	NUM
fumecheng-11384	181	35	175	175	NUM
fumecheng-11384	181	36	66	66	NUM
fumecheng-11384	181	37	0	0	NUM
fumecheng-11384	181	38	0	0	NUM
fumecheng-11384	181	39	1	1	NUM
fumecheng-11384	181	40	175	175	NUM
fumecheng-11384	181	41	175	175	NUM
fumecheng-11384	181	42	36	36	NUM
fumecheng-11384	181	43	0	0	NUM
fumecheng-11384	181	44	0	0	NUM
fumecheng-11384	181	45	0	0	NUM
fumecheng-11384	181	46	0	0	NUM
fumecheng-11384	181	47	0	0	NUM
fumecheng-11384	181	48	1	1	NUM
fumecheng-11384	181	49	x	x	SYM
fumecheng-11384	181	50	y	y	NOUN
fumecheng-11384	181	51	x	x	SYM
fumecheng-11384	181	52	y	y	NOUN
fumecheng-11384	181	53	x	x	X
fumecheng-11384	181	54	y	y	NOUN
fumecheng-11384	181	55	x	x	X
fumecheng-11384	181	56	y	y	PROPN
fumecheng-11384	181	57	z	z	PROPN
fumecheng-11384	181	58	z	z	NOUN
fumecheng-11384	181	59	z	z	NOUN
fumecheng-11384	181	60	z	z	NOUN
fumecheng-11384	182	1	y	y	NOUN
fumecheng-11384	182	2	x	x	SYM
fumecheng-11384	182	3	y	y	NOUN
fumecheng-11384	182	4	x	x	X
fumecheng-11384	182	5	y	y	NOUN
fumecheng-11384	182	6	x	x	X
fumecheng-11384	182	7	y	y	NOUN
fumecheng-11384	182	8	x	x	PROPN
fumecheng-11384	182	9	n	n	PROPN
fumecheng-11384	182	10	c	c	NOUN
fumecheng-11384	182	11	n	n	NOUN
fumecheng-11384	182	12	s	s	X
fumecheng-11384	182	13	o	o	NOUN
fumecheng-11384	183	1	c	c	NOUN
fumecheng-11384	183	2	o	o	NOUN
fumecheng-11384	183	3	s	s	VERB
fumecheng-11384	183	4	a	a	DET
fumecheng-11384	183	5	c	c	NOUN
fumecheng-11384	183	6	a	a	DET
fumecheng-11384	183	7	s	s	X
fumecheng-11384	183	8	p	p	X
fumecheng-11384	183	9	c	c	PROPN
fumecheng-11384	183	10	p	p	X
fumecheng-11384	183	11	s	s	X
fumecheng-11384	183	12	n	n	PRON
fumecheng-11384	183	13	o	o	NOUN
fumecheng-11384	183	14	a	a	DET
fumecheng-11384	183	15	p	p	NOUN
fumecheng-11384	183	16	n	n	ADP
fumecheng-11384	183	17	c	c	NOUN
fumecheng-11384	183	18	n	n	NOUN
fumecheng-11384	183	19	s	s	X
fumecheng-11384	184	1	o	o	NOUN
fumecheng-11384	184	2	c	c	NOUN
fumecheng-11384	184	3	o	o	NOUN
fumecheng-11384	184	4	s	s	VERB
fumecheng-11384	184	5	a	a	DET
fumecheng-11384	184	6	c	c	NOUN
fumecheng-11384	184	7	a	a	DET
fumecheng-11384	184	8	s	s	X
fumecheng-11384	184	9	p	p	X
fumecheng-11384	184	10	c	c	NOUN
fumecheng-11384	184	11	p	p	X
fumecheng-11384	184	12	s	s	PROPN
fumecheng-11384	184	13	c	c	NOUN
fumecheng-11384	184	14	s	s	ADP
fumecheng-11384	184	15	c	c	NOUN
fumecheng-11384	184	16	s	s	NOUN
fumecheng-11384	184	17	s	s	NOUN
fumecheng-11384	184	18	c	c	NOUN
fumecheng-11384	184	19	s	s	NOUN
fumecheng-11384	184	20	c	c	NOUN
fumecheng-11384	184	21	+	+	X
fumecheng-11384	185	1	+	+	PUNCT
fumecheng-11384	185	2	+	+	PUNCT
fumecheng-11384	185	3	+	+	PUNCT
fumecheng-11384	185	4	+	+	PUNCT
fumecheng-11384	185	5	+	+	NUM
fumecheng-11384	185	6	−	−	NOUN
fumecheng-11384	185	7			ADJ
fumecheng-11384	185	8			NOUN
fumecheng-11384	185	9			NOUN
fumecheng-11384	185	10	−	−	NOUN
fumecheng-11384	185	11	−	−	NOUN
fumecheng-11384	186	1	−	−	PROPN
fumecheng-11384	186	2	−	−	PROPN
fumecheng-11384	186	3			NOUN
fumecheng-11384	186	4			NOUN
fumecheng-11384	186	5			NOUN
fumecheng-11384	186	6	−	−	ADP
fumecheng-11384	186	7	−	−	ADP
fumecheng-11384	187	1	−	−	NOUN
fumecheng-11384	187	2	−	−	PROPN
fumecheng-11384	187	3			NOUN
fumecheng-11384	187	4			NOUN
fumecheng-11384	187	5			VERB
fumecheng-11384	187	6			PROPN
fumecheng-11384	187	7	−	−	PROPN
fumecheng-11384	188	1	+	+	CCONJ
fumecheng-11384	188	2	+	+	ADJ
fumecheng-11384	188	3			ADJ
fumecheng-11384	188	4			ADJ
fumecheng-11384	188	5			NOUN
fumecheng-11384	188	6			NOUN
fumecheng-11384	188	7	−	−	NOUN
fumecheng-11384	189	1	−	−	PROPN
fumecheng-11384	189	2	+	+	CCONJ
fumecheng-11384	189	3			X
fumecheng-11384	189	4	=	=	NUM
fumecheng-11384	189	5			NOUN
fumecheng-11384	189	6			NOUN
fumecheng-11384	189	7			NOUN
fumecheng-11384	189	8			NOUN
fumecheng-11384	189	9			NOUN
fumecheng-11384	189	10			PROPN
fumecheng-11384	189	11	(	(	PUNCT
fumecheng-11384	189	12	9	9	NUM
fumecheng-11384	189	13	)	)	PUNCT
fumecheng-11384	189	14	since	since	SCONJ
fumecheng-11384	189	15	eq	eq	ADJ
fumecheng-11384	189	16	.	.	PUNCT
fumecheng-11384	190	1	(	(	PUNCT
fumecheng-11384	190	2	9	9	X
fumecheng-11384	190	3	)	)	PUNCT
fumecheng-11384	190	4	holds	hold	VERB
fumecheng-11384	190	5	,	,	PUNCT
fumecheng-11384	190	6	the	the	DET
fumecheng-11384	190	7	elements	element	NOUN
fumecheng-11384	190	8	on	on	ADP
fumecheng-11384	190	9	the	the	DET
fumecheng-11384	190	10	left	left	NOUN
fumecheng-11384	190	11	and	and	CCONJ
fumecheng-11384	190	12	right	right	NOUN
fumecheng-11384	190	13	of	of	ADP
fumecheng-11384	190	14	the	the	DET
fumecheng-11384	190	15	equation	equation	NOUN
fumecheng-11384	190	16	must	must	AUX
fumecheng-11384	190	17	be	be	AUX
fumecheng-11384	190	18	equal	equal	ADJ
fumecheng-11384	190	19	.	.	PUNCT
fumecheng-11384	191	1	according	accord	VERB
fumecheng-11384	191	2	to	to	ADP
fumecheng-11384	191	3	the	the	DET
fumecheng-11384	191	4	position	position	NOUN
fumecheng-11384	191	5	elements	element	NOUN
fumecheng-11384	191	6	of	of	ADP
fumecheng-11384	191	7	matrix	matrix	NOUN
fumecheng-11384	191	8	(	(	PUNCT
fumecheng-11384	191	9	3	3	NUM
fumecheng-11384	191	10	,	,	PUNCT
fumecheng-11384	191	11	4	4	NUM
fumecheng-11384	191	12	)	)	PUNCT
fumecheng-11384	191	13	in	in	ADP
fumecheng-11384	191	14	eq	eq	ADP
fumecheng-11384	191	15	.	.	PUNCT
fumecheng-11384	192	1	(	(	PUNCT
fumecheng-11384	192	2	9	9	NUM
fumecheng-11384	192	3	)	)	PUNCT
fumecheng-11384	192	4	,	,	PUNCT
fumecheng-11384	192	5	we	we	PRON
fumecheng-11384	192	6	get	get	VERB
fumecheng-11384	192	7	eq	eq	ADJ
fumecheng-11384	192	8	.	.	PUNCT
fumecheng-11384	193	1	(	(	PUNCT
fumecheng-11384	193	2	10	10	NUM
fumecheng-11384	193	3	)	)	PUNCT
fumecheng-11384	193	4	.	.	PUNCT
fumecheng-11384	194	1	1	1	NUM
fumecheng-11384	194	2	1	1	NUM
fumecheng-11384	194	3	0y	0y	NUM
fumecheng-11384	194	4	xp	xp	X
fumecheng-11384	194	5	c	c	PROPN
fumecheng-11384	195	1	p	p	PROPN
fumecheng-11384	195	2	s−	s−	PROPN
fumecheng-11384	195	3	=	=	PUNCT
fumecheng-11384	195	4	(	(	PUNCT
fumecheng-11384	195	5	10	10	NUM
fumecheng-11384	195	6	)	)	PUNCT
fumecheng-11384	195	7	therefore	therefore	ADV
fumecheng-11384	195	8	,	,	PUNCT
fumecheng-11384	195	9	1tan	1tan	PROPN
fumecheng-11384	195	10	y	y	NOUN
fumecheng-11384	195	11	x	x	X
fumecheng-11384	196	1	p	p	X
fumecheng-11384	196	2	p	p	X
fumecheng-11384	196	3			X
fumecheng-11384	196	4	=	=	SYM
fumecheng-11384	196	5	(	(	PUNCT
fumecheng-11384	196	6	11	11	NUM
fumecheng-11384	196	7	)	)	PUNCT
fumecheng-11384	196	8	eq	eq	NOUN
fumecheng-11384	196	9	.	.	PUNCT
fumecheng-11384	197	1	(	(	PUNCT
fumecheng-11384	197	2	11	11	NUM
fumecheng-11384	197	3	)	)	PUNCT
fumecheng-11384	197	4	can	can	AUX
fumecheng-11384	197	5	be	be	AUX
fumecheng-11384	197	6	further	far	ADV
fumecheng-11384	197	7	written	write	VERB
fumecheng-11384	197	8	as	as	ADP
fumecheng-11384	197	9	:	:	PUNCT
fumecheng-11384	197	10	1	1	NUM
fumecheng-11384	197	11	atan2	atan2	NOUN
fumecheng-11384	197	12	(	(	PUNCT
fumecheng-11384	197	13	,	,	PUNCT
fumecheng-11384	197	14	)	)	PUNCT
fumecheng-11384	197	15	y	y	PROPN
fumecheng-11384	197	16	xp	xp	INTJ
fumecheng-11384	197	17	p	p	PROPN
fumecheng-11384	198	1	=	=	PUNCT
fumecheng-11384	198	2	(	(	PUNCT
fumecheng-11384	198	3	12	12	NUM
fumecheng-11384	198	4	)	)	PUNCT
fumecheng-11384	198	5	(	(	PUNCT
fumecheng-11384	198	6	2	2	X
fumecheng-11384	198	7	)	)	PUNCT
fumecheng-11384	198	8	calculate	calculate	NOUN
fumecheng-11384	198	9	θ3	θ3	NOUN
fumecheng-11384	198	10	according	accord	VERB
fumecheng-11384	198	11	to	to	ADP
fumecheng-11384	198	12	the	the	DET
fumecheng-11384	198	13	matrix	matrix	NOUN
fumecheng-11384	198	14	(	(	PUNCT
fumecheng-11384	198	15	1	1	NUM
fumecheng-11384	198	16	,	,	PUNCT
fumecheng-11384	198	17	4	4	NUM
fumecheng-11384	198	18	)	)	PUNCT
fumecheng-11384	198	19	and	and	CCONJ
fumecheng-11384	198	20	(	(	PUNCT
fumecheng-11384	198	21	2	2	NUM
fumecheng-11384	198	22	,	,	PUNCT
fumecheng-11384	198	23	4	4	X
fumecheng-11384	198	24	)	)	PUNCT
fumecheng-11384	198	25	position	position	NOUN
fumecheng-11384	198	26	elements	element	NOUN
fumecheng-11384	198	27	in	in	ADP
fumecheng-11384	198	28	eq	eq	ADP
fumecheng-11384	198	29	.	.	PUNCT
fumecheng-11384	199	1	(	(	PUNCT
fumecheng-11384	199	2	9	9	NUM
fumecheng-11384	199	3	)	)	PUNCT
fumecheng-11384	199	4	,	,	PUNCT
fumecheng-11384	199	5	we	we	PRON
fumecheng-11384	199	6	get	get	VERB
fumecheng-11384	199	7	eq	eq	ADJ
fumecheng-11384	199	8	.	.	PUNCT
fumecheng-11384	200	1	(	(	PUNCT
fumecheng-11384	200	2	13	13	NUM
fumecheng-11384	200	3	)	)	PUNCT
fumecheng-11384	200	4	.	.	PUNCT
fumecheng-11384	201	1	modeling	modeling	NOUN
fumecheng-11384	201	2	and	and	CCONJ
fumecheng-11384	201	3	simulation	simulation	NOUN
fumecheng-11384	201	4	of	of	ADP
fumecheng-11384	201	5	industrial	industrial	ADJ
fumecheng-11384	201	6	robot	robot	NOUN
fumecheng-11384	201	7	arms	arm	NOUN
fumecheng-11384	201	8	using	use	VERB
fumecheng-11384	201	9	simscape	simscape	NOUN
fumecheng-11384	201	10	multibody	multibody	NOUN
fumecheng-11384	202	1	273	273	NUM
fumecheng-11384	202	2	1	1	NUM
fumecheng-11384	202	3	1	1	NUM
fumecheng-11384	202	4	2	2	NUM
fumecheng-11384	202	5	33	33	NUM
fumecheng-11384	202	6	2	2	NUM
fumecheng-11384	202	7	2	2	NUM
fumecheng-11384	202	8	33	33	NUM
fumecheng-11384	202	9	2	2	NUM
fumecheng-11384	202	10	43.5	43.5	NUM
fumecheng-11384	202	11	175	175	NUM
fumecheng-11384	202	12	175	175	NUM
fumecheng-11384	202	13	66	66	NUM
fumecheng-11384	202	14	228	228	NUM
fumecheng-11384	202	15	175	175	NUM
fumecheng-11384	202	16	175	175	NUM
fumecheng-11384	202	17	36	36	NUM
fumecheng-11384	202	18	x	x	SYM
fumecheng-11384	202	19	y	y	NOUN
fumecheng-11384	202	20	z	z	NOUN
fumecheng-11384	202	21	p	p	NOUN
fumecheng-11384	203	1	c	c	PROPN
fumecheng-11384	203	2	p	p	X
fumecheng-11384	203	3	s	s	PROPN
fumecheng-11384	203	4	c	c	NOUN
fumecheng-11384	203	5	s	s	X
fumecheng-11384	203	6	p	p	X
fumecheng-11384	203	7	s	s	NOUN
fumecheng-11384	203	8	c	c	NOUN
fumecheng-11384	203	9	+	+	NOUN
fumecheng-11384	203	10	+	+	PUNCT
fumecheng-11384	204	1	+	+	CCONJ
fumecheng-11384	204	2	−	−	NOUN
fumecheng-11384	204	3	=	=	SYM
fumecheng-11384	205	1	+	+	CCONJ
fumecheng-11384	205	2	+	+	ADV
fumecheng-11384	205	3			VERB
fumecheng-11384	205	4			NOUN
fumecheng-11384	205	5	−	−	NOUN
fumecheng-11384	205	6	=	=	PUNCT
fumecheng-11384	206	1	−	−	PROPN
fumecheng-11384	206	2	+	+	PROPN
fumecheng-11384	206	3			NOUN
fumecheng-11384	206	4	(	(	PUNCT
fumecheng-11384	206	5	13	13	NUM
fumecheng-11384	206	6	)	)	PUNCT
fumecheng-11384	206	7	therefore	therefore	ADV
fumecheng-11384	206	8	,	,	PUNCT
fumecheng-11384	206	9	we	we	PRON
fumecheng-11384	206	10	have	have	VERB
fumecheng-11384	206	11	eq	eq	NOUN
fumecheng-11384	206	12	.	.	PUNCT
fumecheng-11384	207	1	(	(	PUNCT
fumecheng-11384	207	2	14	14	NUM
fumecheng-11384	207	3	)	)	PUNCT
fumecheng-11384	207	4	.	.	PUNCT
fumecheng-11384	208	1	2	2	NUM
fumecheng-11384	208	2	2	2	NUM
fumecheng-11384	208	3	2	2	NUM
fumecheng-11384	208	4	1	1	NUM
fumecheng-11384	208	5	1	1	NUM
fumecheng-11384	208	6	33	33	NUM
fumecheng-11384	208	7	2	2	NUM
fumecheng-11384	208	8	2	2	NUM
fumecheng-11384	208	9	175	175	NUM
fumecheng-11384	208	10	(	(	PUNCT
fumecheng-11384	208	11	109.5	109.5	NUM
fumecheng-11384	208	12	)	)	PUNCT
fumecheng-11384	208	13	(	(	PUNCT
fumecheng-11384	208	14	192	192	NUM
fumecheng-11384	208	15	)	)	PUNCT
fumecheng-11384	208	16	sin	sin	NOUN
fumecheng-11384	208	17	2	2	NUM
fumecheng-11384	208	18	175	175	NUM
fumecheng-11384	208	19	x	x	SYM
fumecheng-11384	208	20	y	y	NOUN
fumecheng-11384	208	21	zp	zp	NOUN
fumecheng-11384	208	22	c	c	PROPN
fumecheng-11384	209	1	p	p	PROPN
fumecheng-11384	209	2	s	s	AUX
fumecheng-11384	209	3	p	p	X
fumecheng-11384	209	4			X
fumecheng-11384	209	5			NOUN
fumecheng-11384	209	6	−	−	PROPN
fumecheng-11384	210	1	+	+	CCONJ
fumecheng-11384	210	2	−	−	PROPN
fumecheng-11384	210	3	−	−	NOUN
fumecheng-11384	211	1	−	−	PROPN
fumecheng-11384	212	1	=	=	PUNCT
fumecheng-11384	212	2			PROPN
fumecheng-11384	212	3	(	(	PUNCT
fumecheng-11384	212	4	14	14	NUM
fumecheng-11384	212	5	)	)	PUNCT
fumecheng-11384	212	6	according	accord	VERB
fumecheng-11384	212	7	to	to	ADP
fumecheng-11384	212	8	the	the	DET
fumecheng-11384	212	9	initial	initial	ADJ
fumecheng-11384	212	10	angle	angle	NOUN
fumecheng-11384	212	11	of	of	ADP
fumecheng-11384	212	12	θ33	θ33	NOUN
fumecheng-11384	212	13	and	and	CCONJ
fumecheng-11384	212	14	the	the	DET
fumecheng-11384	212	15	height	height	NOUN
fumecheng-11384	212	16	relationship	relationship	NOUN
fumecheng-11384	212	17	between	between	ADP
fumecheng-11384	212	18	the	the	DET
fumecheng-11384	212	19	level	level	NOUN
fumecheng-11384	212	20	of	of	ADP
fumecheng-11384	212	21	a33b	a33b	PROPN
fumecheng-11384	212	22	and	and	CCONJ
fumecheng-11384	212	23	the	the	DET
fumecheng-11384	212	24	level	level	NOUN
fumecheng-11384	212	25	of	of	ADP
fumecheng-11384	212	26	a2	a2	PROPN
fumecheng-11384	212	27	,	,	PUNCT
fumecheng-11384	212	28	we	we	PRON
fumecheng-11384	212	29	have	have	VERB
fumecheng-11384	212	30	eq	eq	NOUN
fumecheng-11384	212	31	.	.	PUNCT
fumecheng-11384	213	1	(	(	PUNCT
fumecheng-11384	213	2	15	15	NUM
fumecheng-11384	213	3	)	)	PUNCT
fumecheng-11384	213	4	.	.	PUNCT
fumecheng-11384	214	1	33	33	NUM
fumecheng-11384	214	2	33	33	NUM
fumecheng-11384	214	3	1	1	NUM
fumecheng-11384	214	4	33	33	NUM
fumecheng-11384	214	5	33	33	NUM
fumecheng-11384	214	6	33	33	NUM
fumecheng-11384	214	7	1	1	NUM
fumecheng-11384	214	8	1	1	NUM
fumecheng-11384	214	9	sin	sin	NOUN
fumecheng-11384	214	10	(	(	PUNCT
fumecheng-11384	214	11	3,4	3,4	NUM
fumecheng-11384	214	12	)	)	PUNCT
fumecheng-11384	214	13	(	(	PUNCT
fumecheng-11384	214	14	3,4	3,4	NUM
fumecheng-11384	214	15	)	)	PUNCT
fumecheng-11384	214	16	cos	cos	ADP
fumecheng-11384	214	17	1	1	NUM
fumecheng-11384	214	18	sin	sin	NOUN
fumecheng-11384	214	19	(	(	PUNCT
fumecheng-11384	214	20	3,4	3,4	NUM
fumecheng-11384	214	21	)	)	PUNCT
fumecheng-11384	214	22	(	(	PUNCT
fumecheng-11384	214	23	3,4	3,4	NUM
fumecheng-11384	214	24	)	)	PUNCT
fumecheng-11384	214	25	b	b	PROPN
fumecheng-11384	214	26	b	b	PROPN
fumecheng-11384	214	27	b	b	PROPN
fumecheng-11384	214	28	b	b	PROPN
fumecheng-11384	214	29	t	t	PROPN
fumecheng-11384	214	30	t	t	PROPN
fumecheng-11384	214	31	t	t	PROPN
fumecheng-11384	214	32	t	t	X
fumecheng-11384	214	33			PROPN
fumecheng-11384	214	34			X
fumecheng-11384	214	35			PROPN
fumecheng-11384	214	36			ADP
fumecheng-11384	214	37	−	−	PROPN
fumecheng-11384	214	38			NOUN
fumecheng-11384	214	39	=	=	SYM
fumecheng-11384	214	40			NUM
fumecheng-11384	214	41	−	−	NOUN
fumecheng-11384	214	42	−	−	NOUN
fumecheng-11384	215	1			ADV
fumecheng-11384	215	2	(	(	PUNCT
fumecheng-11384	215	3	15	15	NUM
fumecheng-11384	215	4	)	)	PUNCT
fumecheng-11384	215	5	in	in	ADP
fumecheng-11384	215	6	eq	eq	ADP
fumecheng-11384	215	7	.	.	PUNCT
fumecheng-11384	215	8	(	(	PUNCT
fumecheng-11384	215	9	15	15	NUM
fumecheng-11384	215	10	)	)	PUNCT
fumecheng-11384	215	11	,	,	PUNCT
fumecheng-11384	215	12	33	33	NUM
fumecheng-11384	215	13	b	b	NOUN
fumecheng-11384	215	14	t	t	PROPN
fumecheng-11384	215	15	is	be	AUX
fumecheng-11384	215	16	the	the	DET
fumecheng-11384	215	17	homogeneous	homogeneous	ADJ
fumecheng-11384	215	18	transformation	transformation	NOUN
fumecheng-11384	215	19	matrix	matrix	NOUN
fumecheng-11384	215	20	from	from	ADP
fumecheng-11384	215	21	a0	a0	PROPN
fumecheng-11384	215	22	to	to	ADP
fumecheng-11384	215	23	a33b	a33b	PROPN
fumecheng-11384	215	24	,	,	PUNCT
fumecheng-11384	215	25	1	1	NUM
fumecheng-11384	215	26	b	b	X
fumecheng-11384	215	27	t	t	NOUN
fumecheng-11384	215	28	is	be	AUX
fumecheng-11384	215	29	the	the	DET
fumecheng-11384	215	30	homogeneous	homogeneous	ADJ
fumecheng-11384	215	31	transformation	transformation	NOUN
fumecheng-11384	215	32	matrix	matrix	NOUN
fumecheng-11384	215	33	from	from	ADP
fumecheng-11384	215	34	a0	a0	PROPN
fumecheng-11384	215	35	to	to	ADP
fumecheng-11384	215	36	a2	a2	PROPN
fumecheng-11384	215	37	,	,	PUNCT
fumecheng-11384	215	38	then	then	ADV
fumecheng-11384	215	39	we	we	PRON
fumecheng-11384	215	40	have	have	VERB
fumecheng-11384	215	41	eq	eq	NOUN
fumecheng-11384	215	42	.	.	PUNCT
fumecheng-11384	216	1	(	(	PUNCT
fumecheng-11384	216	2	16	16	NUM
fumecheng-11384	216	3	)	)	PUNCT
fumecheng-11384	216	4	.	.	PUNCT
fumecheng-11384	217	1	33	33	NUM
fumecheng-11384	217	2	33	33	NUM
fumecheng-11384	217	3	33atan2(sin	33atan2(sin	NUM
fumecheng-11384	217	4	,	,	PUNCT
fumecheng-11384	217	5	cos	cos	PROPN
fumecheng-11384	217	6	)	)	PUNCT
fumecheng-11384	217	7			PROPN
fumecheng-11384	217	8			X
fumecheng-11384	218	1	=	=	PROPN
fumecheng-11384	218	2	(	(	PUNCT
fumecheng-11384	218	3	16	16	NUM
fumecheng-11384	218	4	)	)	PUNCT
fumecheng-11384	218	5	(	(	PUNCT
fumecheng-11384	218	6	3	3	X
fumecheng-11384	218	7	)	)	PUNCT
fumecheng-11384	218	8	calculate	calculate	NOUN
fumecheng-11384	218	9	θ2	θ2	PROPN
fumecheng-11384	218	10	transforming	transform	VERB
fumecheng-11384	218	11	eq	eq	ADP
fumecheng-11384	218	12	.	.	PUNCT
fumecheng-11384	219	1	(	(	PUNCT
fumecheng-11384	219	2	13	13	NUM
fumecheng-11384	219	3	)	)	PUNCT
fumecheng-11384	219	4	,	,	PUNCT
fumecheng-11384	219	5	we	we	PRON
fumecheng-11384	219	6	obtain	obtain	VERB
fumecheng-11384	219	7	eqs	eqs	X
fumecheng-11384	219	8	.	.	PUNCT
fumecheng-11384	220	1	(	(	PUNCT
fumecheng-11384	220	2	17	17	NUM
fumecheng-11384	220	3	-	-	SYM
fumecheng-11384	220	4	19	19	NUM
fumecheng-11384	220	5	):	):	PUNCT
fumecheng-11384	220	6	2	2	NUM
fumecheng-11384	220	7	2	2	NUM
fumecheng-11384	220	8	1	1	NUM
fumecheng-11384	220	9	1	1	NUM
fumecheng-11384	220	10	33	33	NUM
fumecheng-11384	220	11	2	2	NUM
fumecheng-11384	220	12	33	33	NUM
fumecheng-11384	220	13	33	33	NUM
fumecheng-11384	220	14	2	2	NUM
fumecheng-11384	220	15	33	33	NUM
fumecheng-11384	220	16	(	(	PUNCT
fumecheng-11384	220	17	109.5	109.5	NUM
fumecheng-11384	220	18	)	)	PUNCT
fumecheng-11384	220	19	(	(	PUNCT
fumecheng-11384	220	20	1	1	X
fumecheng-11384	220	21	)	)	PUNCT
fumecheng-11384	220	22	175	175	NUM
fumecheng-11384	220	23	(	(	PUNCT
fumecheng-11384	220	24	1	1	NUM
fumecheng-11384	220	25	)	)	PUNCT
fumecheng-11384	220	26	(	(	PUNCT
fumecheng-11384	220	27	192	192	NUM
fumecheng-11384	220	28	)	)	PUNCT
fumecheng-11384	220	29	175	175	NUM
fumecheng-11384	221	1	+	+	CCONJ
fumecheng-11384	221	2	−	−	ADP
fumecheng-11384	221	3	−	−	PROPN
fumecheng-11384	222	1	+	+	CCONJ
fumecheng-11384	222	2	−	−	PROPN
fumecheng-11384	222	3	=	=	SYM
fumecheng-11384	223	1	−	−	PROPN
fumecheng-11384	223	2	−x	−x	NOUN
fumecheng-11384	223	3	y	y	NOUN
fumecheng-11384	224	1	zp	zp	PROPN
fumecheng-11384	224	2	c	c	PROPN
fumecheng-11384	225	1	p	p	X
fumecheng-11384	225	2	s	s	X
fumecheng-11384	225	3	s	s	X
fumecheng-11384	225	4	s	s	X
fumecheng-11384	225	5	s	s	X
fumecheng-11384	225	6	p	p	X
fumecheng-11384	225	7	c	c	NOUN
fumecheng-11384	225	8	s	s	PROPN
fumecheng-11384	225	9	c	c	NOUN
fumecheng-11384	225	10	(	(	PUNCT
fumecheng-11384	225	11	17	17	NUM
fumecheng-11384	225	12	)	)	SYM
fumecheng-11384	225	13	2	2	NUM
fumecheng-11384	225	14	2	2	NUM
fumecheng-11384	225	15	2	2	NUM
fumecheng-11384	225	16	33	33	NUM
fumecheng-11384	225	17	2	2	NUM
fumecheng-11384	225	18	33	33	NUM
fumecheng-11384	225	19	33	33	NUM
fumecheng-11384	225	20	1	1	NUM
fumecheng-11384	225	21	1	1	NUM
fumecheng-11384	225	22	33175	33175	NUM
fumecheng-11384	225	23	(	(	PUNCT
fumecheng-11384	225	24	1	1	NUM
fumecheng-11384	225	25	)	)	PUNCT
fumecheng-11384	225	26	175	175	NUM
fumecheng-11384	225	27	(	(	PUNCT
fumecheng-11384	225	28	192	192	NUM
fumecheng-11384	225	29	)	)	PUNCT
fumecheng-11384	225	30	(	(	PUNCT
fumecheng-11384	225	31	109.5	109.5	NUM
fumecheng-11384	225	32	)	)	PUNCT
fumecheng-11384	225	33	(	(	PUNCT
fumecheng-11384	225	34	1)−	1)−	NUM
fumecheng-11384	225	35	+	+	NUM
fumecheng-11384	225	36	=	=	SYM
fumecheng-11384	225	37	−	−	PROPN
fumecheng-11384	225	38	−	−	PROPN
fumecheng-11384	225	39	+	+	CCONJ
fumecheng-11384	225	40	−	−	PROPN
fumecheng-11384	225	41	−z	−z	NOUN
fumecheng-11384	225	42	x	x	X
fumecheng-11384	225	43	ys	ys	NOUN
fumecheng-11384	225	44	s	s	NOUN
fumecheng-11384	225	45	s	s	NOUN
fumecheng-11384	225	46	c	c	NOUN
fumecheng-11384	226	1	p	p	NOUN
fumecheng-11384	226	2	c	c	PROPN
fumecheng-11384	227	1	p	p	NOUN
fumecheng-11384	227	2	c	c	PROPN
fumecheng-11384	227	3	p	p	X
fumecheng-11384	227	4	s	s	X
fumecheng-11384	227	5	s	s	X
fumecheng-11384	227	6	(	(	PUNCT
fumecheng-11384	227	7	18	18	NUM
fumecheng-11384	227	8	)	)	SYM
fumecheng-11384	227	9	2	2	NUM
fumecheng-11384	227	10	2	2	NUM
fumecheng-11384	227	11	2	2	NUM
fumecheng-11384	227	12	33	33	NUM
fumecheng-11384	227	13	33	33	NUM
fumecheng-11384	227	14	33	33	NUM
fumecheng-11384	227	15	1	1	NUM
fumecheng-11384	227	16	1	1	NUM
fumecheng-11384	227	17	33(175	33(175	NOUN
fumecheng-11384	227	18	(	(	PUNCT
fumecheng-11384	227	19	1	1	NUM
fumecheng-11384	227	20	)	)	PUNCT
fumecheng-11384	227	21	175	175	NUM
fumecheng-11384	227	22	)	)	PUNCT
fumecheng-11384	227	23	(	(	PUNCT
fumecheng-11384	227	24	192	192	NUM
fumecheng-11384	227	25	)	)	PUNCT
fumecheng-11384	227	26	(	(	PUNCT
fumecheng-11384	227	27	109.5	109.5	NUM
fumecheng-11384	227	28	)	)	PUNCT
fumecheng-11384	227	29	(	(	PUNCT
fumecheng-11384	227	30	1)−	1)−	NUM
fumecheng-11384	227	31	+	+	NUM
fumecheng-11384	227	32	=	=	SYM
fumecheng-11384	227	33	−	−	PROPN
fumecheng-11384	227	34	−	−	PROPN
fumecheng-11384	228	1	+	+	CCONJ
fumecheng-11384	229	1	−	−	PROPN
fumecheng-11384	229	2	−z	−z	NOUN
fumecheng-11384	229	3	x	x	X
fumecheng-11384	229	4	ys	ys	NOUN
fumecheng-11384	229	5	s	s	PROPN
fumecheng-11384	229	6	c	c	NOUN
fumecheng-11384	229	7	p	p	NOUN
fumecheng-11384	229	8	c	c	PROPN
fumecheng-11384	229	9	p	p	NOUN
fumecheng-11384	229	10	c	c	PROPN
fumecheng-11384	229	11	p	p	X
fumecheng-11384	229	12	s	s	X
fumecheng-11384	229	13	s	s	X
fumecheng-11384	229	14	(	(	PUNCT
fumecheng-11384	229	15	19	19	NUM
fumecheng-11384	229	16	)	)	PUNCT
fumecheng-11384	229	17	by	by	ADP
fumecheng-11384	229	18	further	further	ADJ
fumecheng-11384	229	19	transformation	transformation	NOUN
fumecheng-11384	229	20	,	,	PUNCT
fumecheng-11384	229	21	the	the	DET
fumecheng-11384	229	22	following	follow	VERB
fumecheng-11384	229	23	equations	equation	NOUN
fumecheng-11384	229	24	are	be	AUX
fumecheng-11384	229	25	obtained	obtain	VERB
fumecheng-11384	229	26	:	:	PUNCT
fumecheng-11384	229	27	33	33	NUM
fumecheng-11384	229	28	1	1	NUM
fumecheng-11384	229	29	1	1	NUM
fumecheng-11384	229	30	33	33	NUM
fumecheng-11384	229	31	2	2	NUM
fumecheng-11384	229	32	2	2	NUM
fumecheng-11384	229	33	2	2	NUM
fumecheng-11384	229	34	33	33	NUM
fumecheng-11384	229	35	33	33	NUM
fumecheng-11384	229	36	(	(	PUNCT
fumecheng-11384	229	37	192	192	NUM
fumecheng-11384	229	38	)	)	PUNCT
fumecheng-11384	229	39	(	(	PUNCT
fumecheng-11384	229	40	109.5	109.5	NUM
fumecheng-11384	229	41	)	)	PUNCT
fumecheng-11384	229	42	(	(	PUNCT
fumecheng-11384	229	43	1	1	X
fumecheng-11384	229	44	)	)	PUNCT
fumecheng-11384	229	45	sin	sin	NOUN
fumecheng-11384	229	46	175	175	NUM
fumecheng-11384	229	47	(	(	PUNCT
fumecheng-11384	229	48	1	1	NUM
fumecheng-11384	229	49	)	)	PUNCT
fumecheng-11384	229	50	175	175	NUM
fumecheng-11384	229	51	z	z	NOUN
fumecheng-11384	229	52	x	x	X
fumecheng-11384	230	1	yp	yp	X
fumecheng-11384	230	2	c	c	PROPN
fumecheng-11384	230	3	p	p	PROPN
fumecheng-11384	230	4	c	c	PROPN
fumecheng-11384	230	5	p	p	X
fumecheng-11384	230	6	s	s	X
fumecheng-11384	230	7	s	s	X
fumecheng-11384	230	8	s	s	X
fumecheng-11384	230	9	c	c	NOUN
fumecheng-11384	230	10			PROPN
fumecheng-11384	230	11	−	−	PROPN
fumecheng-11384	230	12	−	−	PROPN
fumecheng-11384	231	1	+	+	CCONJ
fumecheng-11384	231	2	−	−	PROPN
fumecheng-11384	231	3	−	−	PROPN
fumecheng-11384	232	1	=	=	SYM
fumecheng-11384	233	1	−	−	PROPN
fumecheng-11384	233	2	+	+	CCONJ
fumecheng-11384	233	3	(	(	PUNCT
fumecheng-11384	233	4	20	20	NUM
fumecheng-11384	233	5	)	)	SYM
fumecheng-11384	233	6	2	2	NUM
fumecheng-11384	233	7	2cos	2co	NOUN
fumecheng-11384	233	8	1	1	NUM
fumecheng-11384	233	9	sin	sin	X
fumecheng-11384	233	10	=	=	CCONJ
fumecheng-11384	233	11	−	−	PROPN
fumecheng-11384	233	12	(	(	PUNCT
fumecheng-11384	233	13	21	21	NUM
fumecheng-11384	233	14	)	)	PUNCT
fumecheng-11384	233	15	then	then	ADV
fumecheng-11384	233	16	we	we	PRON
fumecheng-11384	233	17	have	have	VERB
fumecheng-11384	233	18	eq	eq	NOUN
fumecheng-11384	233	19	.	.	PUNCT
fumecheng-11384	234	1	(	(	PUNCT
fumecheng-11384	234	2	22	22	NUM
fumecheng-11384	234	3	)	)	PUNCT
fumecheng-11384	234	4	.	.	PUNCT
fumecheng-11384	235	1	2	2	NUM
fumecheng-11384	235	2	2	2	NUM
fumecheng-11384	235	3	2atan2(sin	2atan2(sin	NUM
fumecheng-11384	235	4	,	,	PUNCT
fumecheng-11384	235	5	cos	cos	PROPN
fumecheng-11384	235	6	)	)	PUNCT
fumecheng-11384	235	7			PROPN
fumecheng-11384	235	8			X
fumecheng-11384	236	1	=	=	PROPN
fumecheng-11384	236	2	(	(	PUNCT
fumecheng-11384	236	3	22	22	NUM
fumecheng-11384	236	4	)	)	PUNCT
fumecheng-11384	236	5	(	(	PUNCT
fumecheng-11384	236	6	4	4	X
fumecheng-11384	236	7	)	)	PUNCT
fumecheng-11384	236	8	calculate	calculate	NOUN
fumecheng-11384	236	9	θ4	θ4	NOUN
fumecheng-11384	236	10	according	accord	VERB
fumecheng-11384	236	11	to	to	ADP
fumecheng-11384	236	12	the	the	DET
fumecheng-11384	236	13	matrix	matrix	NOUN
fumecheng-11384	236	14	(	(	PUNCT
fumecheng-11384	236	15	1,1	1,1	NUM
fumecheng-11384	236	16	)	)	PUNCT
fumecheng-11384	236	17	and	and	CCONJ
fumecheng-11384	236	18	(	(	PUNCT
fumecheng-11384	236	19	2,1	2,1	X
fumecheng-11384	236	20	)	)	PUNCT
fumecheng-11384	236	21	position	position	NOUN
fumecheng-11384	236	22	elements	element	NOUN
fumecheng-11384	236	23	in	in	ADP
fumecheng-11384	236	24	eq	eq	ADP
fumecheng-11384	236	25	.	.	PUNCT
fumecheng-11384	237	1	(	(	PUNCT
fumecheng-11384	237	2	8)	8)	NUM
fumecheng-11384	237	3	,	,	PUNCT
fumecheng-11384	237	4	we	we	PRON
fumecheng-11384	237	5	get	get	VERB
fumecheng-11384	237	6	the	the	DET
fumecheng-11384	237	7	following	follow	VERB
fumecheng-11384	237	8	equation	equation	NOUN
fumecheng-11384	237	9	:	:	PUNCT
fumecheng-11384	237	10	1	1	NUM
fumecheng-11384	237	11	4	4	NUM
fumecheng-11384	237	12	1	1	NUM
fumecheng-11384	237	13	4	4	NUM
fumecheng-11384	237	14	x	x	SYM
fumecheng-11384	237	15	y	y	NOUN
fumecheng-11384	237	16	n	n	ADV
fumecheng-11384	237	17	c	c	NOUN
fumecheng-11384	237	18	n	n	NOUN
fumecheng-11384	237	19	s	s	NOUN
fumecheng-11384	237	20	+	+	X
fumecheng-11384	238	1	+	+	CCONJ
fumecheng-11384	238	2	=	=	NOUN
fumecheng-11384	238	3			PRON
fumecheng-11384	238	4			NUM
fumecheng-11384	238	5	=	=	NOUN
fumecheng-11384	238	6			NOUN
fumecheng-11384	238	7	(	(	PUNCT
fumecheng-11384	238	8	23	23	NUM
fumecheng-11384	238	9	)	)	PUNCT
fumecheng-11384	238	10	since	since	SCONJ
fumecheng-11384	238	11	atan2	atan2	PROPN
fumecheng-11384	238	12	(	(	PUNCT
fumecheng-11384	238	13	,	,	PUNCT
fumecheng-11384	238	14	)	)	PUNCT
fumecheng-11384	238	15	z	z	PROPN
fumecheng-11384	238	16	y	y	PROPN
fumecheng-11384	238	17	xr	xr	PROPN
fumecheng-11384	238	18	n	n	PROPN
fumecheng-11384	238	19	n=	n=	ADJ
fumecheng-11384	238	20	(	(	PUNCT
fumecheng-11384	238	21	24	24	NUM
fumecheng-11384	238	22	)	)	PUNCT
fumecheng-11384	238	23	according	accord	VERB
fumecheng-11384	238	24	to	to	ADP
fumecheng-11384	238	25	eq	eq	PROPN
fumecheng-11384	238	26	.	.	PUNCT
fumecheng-11384	238	27	(	(	PUNCT
fumecheng-11384	238	28	6	6	NUM
fumecheng-11384	238	29	)	)	PUNCT
fumecheng-11384	238	30	and	and	CCONJ
fumecheng-11384	238	31	eq	eq	NOUN
fumecheng-11384	238	32	.	.	PUNCT
fumecheng-11384	239	1	(	(	PUNCT
fumecheng-11384	239	2	24	24	NUM
fumecheng-11384	239	3	)	)	PUNCT
fumecheng-11384	239	4	,	,	PUNCT
fumecheng-11384	239	5	eq	eq	NOUN
fumecheng-11384	239	6	.	.	PUNCT
fumecheng-11384	240	1	(	(	PUNCT
fumecheng-11384	240	2	25	25	NUM
fumecheng-11384	240	3	)	)	PUNCT
fumecheng-11384	240	4	is	be	AUX
fumecheng-11384	240	5	obtained	obtain	VERB
fumecheng-11384	240	6	.	.	PUNCT
fumecheng-11384	240	7	4	4	NUM
fumecheng-11384	240	8	1atan2	1atan2	NUM
fumecheng-11384	240	9	(	(	PUNCT
fumecheng-11384	240	10	,	,	PUNCT
fumecheng-11384	240	11	)	)	PUNCT
fumecheng-11384	240	12	y	y	PROPN
fumecheng-11384	240	13	xn	xn	PROPN
fumecheng-11384	240	14	n	n	PROPN
fumecheng-11384	240	15	=	=	NOUN
fumecheng-11384	240	16	−	−	PROPN
fumecheng-11384	240	17	(	(	PUNCT
fumecheng-11384	240	18	25	25	NUM
fumecheng-11384	240	19	)	)	PUNCT
fumecheng-11384	240	20	274	274	NUM
fumecheng-11384	240	21	c.	c.	PROPN
fumecheng-11384	240	22	zhang	zhang	PROPN
fumecheng-11384	240	23	,	,	PUNCT
fumecheng-11384	240	24	s.	s.	PROPN
fumecheng-11384	240	25	li	li	PROPN
fumecheng-11384	240	26	,	,	PUNCT
fumecheng-11384	240	27	z.	z.	PROPN
fumecheng-11384	240	28	zhang	zhang	PROPN
fumecheng-11384	241	1	the	the	DET
fumecheng-11384	241	2	influence	influence	NOUN
fumecheng-11384	241	3	of	of	ADP
fumecheng-11384	241	4	the	the	DET
fumecheng-11384	241	5	initial	initial	ADJ
fumecheng-11384	241	6	state	state	NOUN
fumecheng-11384	241	7	of	of	ADP
fumecheng-11384	241	8	the	the	DET
fumecheng-11384	241	9	robot	robot	NOUN
fumecheng-11384	241	10	arm	arm	NOUN
fumecheng-11384	241	11	joint	joint	NOUN
fumecheng-11384	241	12	and	and	CCONJ
fumecheng-11384	241	13	the	the	DET
fumecheng-11384	241	14	motion	motion	NOUN
fumecheng-11384	241	15	trajectory	trajectory	NOUN
fumecheng-11384	241	16	of	of	ADP
fumecheng-11384	241	17	the	the	DET
fumecheng-11384	241	18	corresponding	corresponding	ADJ
fumecheng-11384	241	19	initial	initial	ADJ
fumecheng-11384	241	20	state	state	NOUN
fumecheng-11384	241	21	is	be	AUX
fumecheng-11384	241	22	not	not	PART
fumecheng-11384	241	23	considered	consider	VERB
fumecheng-11384	241	24	,	,	PUNCT
fumecheng-11384	241	25	because	because	SCONJ
fumecheng-11384	241	26	it	it	PRON
fumecheng-11384	241	27	solves	solve	VERB
fumecheng-11384	241	28	the	the	DET
fumecheng-11384	241	29	minimum	minimum	ADJ
fumecheng-11384	241	30	angle	angle	NOUN
fumecheng-11384	241	31	value	value	NOUN
fumecheng-11384	241	32	of	of	ADP
fumecheng-11384	241	33	θ4	θ4	NOUN
fumecheng-11384	241	34	when	when	SCONJ
fumecheng-11384	241	35	the	the	DET
fumecheng-11384	241	36	robot	robot	NOUN
fumecheng-11384	241	37	arm	arm	NOUN
fumecheng-11384	241	38	is	be	AUX
fumecheng-11384	241	39	in	in	ADP
fumecheng-11384	241	40	a	a	DET
fumecheng-11384	241	41	certain	certain	ADJ
fumecheng-11384	241	42	pose	pose	NOUN
fumecheng-11384	241	43	,	,	PUNCT
fumecheng-11384	241	44	and	and	CCONJ
fumecheng-11384	241	45	we	we	PRON
fumecheng-11384	241	46	have	have	VERB
fumecheng-11384	241	47	eq	eq	NOUN
fumecheng-11384	241	48	.	.	PUNCT
fumecheng-11384	242	1	(	(	PUNCT
fumecheng-11384	242	2	26	26	NUM
fumecheng-11384	242	3	)	)	PUNCT
fumecheng-11384	242	4	.	.	PUNCT
fumecheng-11384	243	1	1	1	NUM
fumecheng-11384	243	2	4	4	NUM
fumecheng-11384	243	3	4	4	NUM
fumecheng-11384	243	4	1	1	NUM
fumecheng-11384	243	5	4	4	NUM
fumecheng-11384	243	6	atan2	atan2	NOUN
fumecheng-11384	243	7	(	(	PUNCT
fumecheng-11384	243	8	,	,	PUNCT
fumecheng-11384	243	9	)	)	PUNCT
fumecheng-11384	243	10	360	360	NUM
fumecheng-11384	243	11	180	180	NUM
fumecheng-11384	243	12	atan2	atan2	NOUN
fumecheng-11384	243	13	(	(	PUNCT
fumecheng-11384	243	14	,	,	PUNCT
fumecheng-11384	243	15	)	)	PUNCT
fumecheng-11384	243	16	360	360	NUM
fumecheng-11384	243	17	180	180	NUM
fumecheng-11384	243	18	y	y	NOUN
fumecheng-11384	243	19	x	x	SYM
fumecheng-11384	243	20	y	y	NOUN
fumecheng-11384	243	21	x	x	PROPN
fumecheng-11384	243	22	n	n	CCONJ
fumecheng-11384	243	23	n	n	CCONJ
fumecheng-11384	243	24	n	n	CCONJ
fumecheng-11384	243	25	n	n	ADV
fumecheng-11384	243	26			X
fumecheng-11384	243	27			X
fumecheng-11384	243	28			PROPN
fumecheng-11384	243	29			PROPN
fumecheng-11384	243	30			X
fumecheng-11384	243	31	−	−	PROPN
fumecheng-11384	244	1	+	+	CCONJ
fumecheng-11384	244	2			PROPN
fumecheng-11384	244	3	−	−	PROPN
fumecheng-11384	244	4			PROPN
fumecheng-11384	244	5	=	=	SYM
fumecheng-11384	245	1			NUM
fumecheng-11384	245	2	−	−	NOUN
fumecheng-11384	246	1	−	−	PROPN
fumecheng-11384	246	2			PROPN
fumecheng-11384	246	3			PROPN
fumecheng-11384	246	4	(	(	PUNCT
fumecheng-11384	246	5	26	26	NUM
fumecheng-11384	246	6	)	)	PUNCT
fumecheng-11384	246	7	according	accord	VERB
fumecheng-11384	246	8	to	to	ADP
fumecheng-11384	246	9	the	the	DET
fumecheng-11384	246	10	above	above	ADJ
fumecheng-11384	246	11	calculation	calculation	NOUN
fumecheng-11384	246	12	,	,	PUNCT
fumecheng-11384	246	13	the	the	DET
fumecheng-11384	246	14	inverse	inverse	NOUN
fumecheng-11384	246	15	kinematics	kinematic	NOUN
fumecheng-11384	246	16	equation	equation	NOUN
fumecheng-11384	246	17	of	of	ADP
fumecheng-11384	246	18	the	the	DET
fumecheng-11384	246	19	robot	robot	NOUN
fumecheng-11384	246	20	arm	arm	NOUN
fumecheng-11384	246	21	is	be	AUX
fumecheng-11384	246	22	shown	show	VERB
fumecheng-11384	246	23	as	as	ADP
fumecheng-11384	246	24	eq	eq	ADP
fumecheng-11384	246	25	.	.	PUNCT
fumecheng-11384	247	1	(	(	PUNCT
fumecheng-11384	247	2	27	27	NUM
fumecheng-11384	247	3	)	)	PUNCT
fumecheng-11384	247	4	.	.	PUNCT
fumecheng-11384	248	1	1	1	NUM
fumecheng-11384	248	2	33	33	NUM
fumecheng-11384	248	3	2	2	NUM
fumecheng-11384	248	4	2	2	NUM
fumecheng-11384	248	5	2	2	NUM
fumecheng-11384	248	6	1	1	NUM
fumecheng-11384	248	7	1	1	NUM
fumecheng-11384	248	8	2	2	NUM
fumecheng-11384	248	9	33	33	NUM
fumecheng-11384	248	10	2	2	NUM
fumecheng-11384	248	11	33	33	NUM
fumecheng-11384	248	12	1	1	NUM
fumecheng-11384	248	13	1	1	NUM
fumecheng-11384	248	14	33	33	NUM
fumecheng-11384	248	15	2	2	NUM
fumecheng-11384	248	16	2	2	NUM
fumecheng-11384	248	17	33	33	NUM
fumecheng-11384	248	18	33	33	NUM
fumecheng-11384	248	19	2	2	NUM
fumecheng-11384	248	20	4	4	NUM
fumecheng-11384	248	21	1	1	NUM
fumecheng-11384	248	22	atan2	atan2	NOUN
fumecheng-11384	248	23	(	(	PUNCT
fumecheng-11384	248	24	,	,	PUNCT
fumecheng-11384	248	25	)	)	PUNCT
fumecheng-11384	248	26	atan2	atan2	NOUN
fumecheng-11384	248	27	2	2	NUM
fumecheng-11384	248	28	175	175	NUM
fumecheng-11384	248	29	(	(	PUNCT
fumecheng-11384	248	30	109.5	109.5	NUM
fumecheng-11384	248	31	)	)	PUNCT
fumecheng-11384	248	32	(	(	PUNCT
fumecheng-11384	248	33	192	192	NUM
fumecheng-11384	248	34	)	)	PUNCT
fumecheng-11384	248	35	(	(	PUNCT
fumecheng-11384	248	36	2	2	NUM
fumecheng-11384	248	37	175	175	NUM
fumecheng-11384	248	38	,	,	PUNCT
fumecheng-11384	248	39	1	1	NUM
fumecheng-11384	248	40	sin	sin	NOUN
fumecheng-11384	248	41	)	)	PUNCT
fumecheng-11384	248	42	atan2	atan2	NOUN
fumecheng-11384	248	43	(	(	PUNCT
fumecheng-11384	248	44	192	192	NUM
fumecheng-11384	248	45	)	)	PUNCT
fumecheng-11384	248	46	(	(	PUNCT
fumecheng-11384	248	47	109.5	109.5	NUM
fumecheng-11384	248	48	)	)	PUNCT
fumecheng-11384	248	49	(	(	PUNCT
fumecheng-11384	248	50	1	1	NUM
fumecheng-11384	248	51	)	)	PUNCT
fumecheng-11384	248	52	(	(	PUNCT
fumecheng-11384	248	53	175	175	NUM
fumecheng-11384	248	54	(	(	PUNCT
fumecheng-11384	248	55	1	1	NUM
fumecheng-11384	248	56	)	)	PUNCT
fumecheng-11384	248	57	175	175	NUM
fumecheng-11384	248	58	,	,	PUNCT
fumecheng-11384	248	59	1	1	NUM
fumecheng-11384	248	60	sin	sin	NOUN
fumecheng-11384	248	61	)	)	PUNCT
fumecheng-11384	248	62	atan2	atan2	PROPN
fumecheng-11384	248	63	(	(	PUNCT
fumecheng-11384	248	64	,	,	PUNCT
fumecheng-11384	248	65	)	)	PUNCT
fumecheng-11384	248	66	360	360	NUM
fumecheng-11384	249	1	y	y	NOUN
fumecheng-11384	249	2	x	x	PUNCT
fumecheng-11384	249	3	x	x	PUNCT
fumecheng-11384	249	4	y	y	PROPN
fumecheng-11384	249	5	z	z	NOUN
fumecheng-11384	249	6	z	z	NOUN
fumecheng-11384	249	7	x	x	PUNCT
fumecheng-11384	249	8	y	y	NOUN
fumecheng-11384	249	9	y	y	PROPN
fumecheng-11384	249	10	x	x	PROPN
fumecheng-11384	250	1	p	p	X
fumecheng-11384	251	1	p	p	X
fumecheng-11384	251	2	p	p	X
fumecheng-11384	251	3	c	c	PROPN
fumecheng-11384	251	4	p	p	X
fumecheng-11384	251	5	s	s	X
fumecheng-11384	251	6	p	p	X
fumecheng-11384	251	7	p	p	X
fumecheng-11384	251	8	c	c	NOUN
fumecheng-11384	251	9	p	p	NOUN
fumecheng-11384	251	10	c	c	PROPN
fumecheng-11384	251	11	p	p	X
fumecheng-11384	251	12	s	s	X
fumecheng-11384	251	13	s	s	X
fumecheng-11384	251	14	s	s	X
fumecheng-11384	251	15	c	c	NOUN
fumecheng-11384	251	16	n	n	PRON
fumecheng-11384	251	17	n	n	ADV
fumecheng-11384	251	18			X
fumecheng-11384	251	19			X
fumecheng-11384	251	20			PROPN
fumecheng-11384	251	21			PROPN
fumecheng-11384	251	22			X
fumecheng-11384	251	23			X
fumecheng-11384	251	24			X
fumecheng-11384	252	1	=	=	SYM
fumecheng-11384	252	2			NOUN
fumecheng-11384	252	3			NUM
fumecheng-11384	252	4	=	=	NOUN
fumecheng-11384	252	5			NUM
fumecheng-11384	252	6			NUM
fumecheng-11384	252	7			NOUN
fumecheng-11384	252	8	−	−	PROPN
fumecheng-11384	253	1	+	+	CCONJ
fumecheng-11384	254	1	−	−	PROPN
fumecheng-11384	254	2	−	−	NUM
fumecheng-11384	255	1	−	−	NOUN
fumecheng-11384	255	2			NUM
fumecheng-11384	255	3			NUM
fumecheng-11384	255	4			NOUN
fumecheng-11384	255	5			NUM
fumecheng-11384	255	6			PROPN
fumecheng-11384	255	7	−	−	VERB
fumecheng-11384	255	8			NUM
fumecheng-11384	255	9	=	=	NOUN
fumecheng-11384	255	10			NUM
fumecheng-11384	255	11			NUM
fumecheng-11384	255	12	−	−	NOUN
fumecheng-11384	255	13	−	−	PROPN
fumecheng-11384	256	1	+	+	CCONJ
fumecheng-11384	256	2	−	−	PROPN
fumecheng-11384	257	1	−	−	PROPN
fumecheng-11384	257	2			NUM
fumecheng-11384	257	3	−	−	NOUN
fumecheng-11384	258	1	+	+	NOUN
fumecheng-11384	258	2			NUM
fumecheng-11384	258	3			NUM
fumecheng-11384	258	4	−	−	PROPN
fumecheng-11384	258	5			NUM
fumecheng-11384	258	6	=	=	SYM
fumecheng-11384	258	7	−	−	PROPN
fumecheng-11384	258	8			PROPN
fumecheng-11384	258	9	(	(	PUNCT
fumecheng-11384	258	10	27	27	NUM
fumecheng-11384	258	11	)	)	PUNCT
fumecheng-11384	258	12	2.4	2.4	NUM
fumecheng-11384	258	13	.	.	PUNCT
fumecheng-11384	259	1	kinematic	kinematic	ADJ
fumecheng-11384	259	2	verification	verification	NOUN
fumecheng-11384	259	3	in	in	ADP
fumecheng-11384	259	4	order	order	NOUN
fumecheng-11384	259	5	to	to	PART
fumecheng-11384	259	6	verify	verify	VERB
fumecheng-11384	259	7	the	the	DET
fumecheng-11384	259	8	correctness	correctness	NOUN
fumecheng-11384	259	9	of	of	ADP
fumecheng-11384	259	10	eq	eq	PROPN
fumecheng-11384	259	11	.	.	PUNCT
fumecheng-11384	260	1	(	(	PUNCT
fumecheng-11384	260	2	6	6	NUM
fumecheng-11384	260	3	)	)	PUNCT
fumecheng-11384	260	4	and	and	CCONJ
fumecheng-11384	260	5	eq	eq	NOUN
fumecheng-11384	260	6	.	.	PUNCT
fumecheng-11384	261	1	(	(	PUNCT
fumecheng-11384	261	2	27	27	NUM
fumecheng-11384	261	3	)	)	PUNCT
fumecheng-11384	261	4	,	,	PUNCT
fumecheng-11384	261	5	the	the	DET
fumecheng-11384	261	6	kinematics	kinematics	NOUN
fumecheng-11384	261	7	solution	solution	NOUN
fumecheng-11384	261	8	function	function	NOUN
fumecheng-11384	261	9	is	be	AUX
fumecheng-11384	261	10	written	write	VERB
fumecheng-11384	261	11	by	by	ADP
fumecheng-11384	261	12	matlab	matlab	PROPN
fumecheng-11384	261	13	.	.	PROPN
fumecheng-11384	262	1	ten	ten	NUM
fumecheng-11384	262	2	groups	group	NOUN
fumecheng-11384	262	3	of	of	ADP
fumecheng-11384	262	4	joint	joint	ADJ
fumecheng-11384	262	5	angles	angle	NOUN
fumecheng-11384	262	6	that	that	PRON
fumecheng-11384	262	7	conform	conform	VERB
fumecheng-11384	262	8	to	to	ADP
fumecheng-11384	262	9	the	the	DET
fumecheng-11384	262	10	motion	motion	NOUN
fumecheng-11384	262	11	range	range	NOUN
fumecheng-11384	262	12	of	of	ADP
fumecheng-11384	262	13	the	the	DET
fumecheng-11384	262	14	joints	joint	NOUN
fumecheng-11384	262	15	of	of	ADP
fumecheng-11384	262	16	the	the	DET
fumecheng-11384	262	17	robot	robot	NOUN
fumecheng-11384	262	18	arm	arm	NOUN
fumecheng-11384	262	19	are	be	AUX
fumecheng-11384	262	20	randomly	randomly	ADV
fumecheng-11384	262	21	generated	generate	VERB
fumecheng-11384	262	22	,	,	PUNCT
fumecheng-11384	262	23	and	and	CCONJ
fumecheng-11384	262	24	eq	eq	NOUN
fumecheng-11384	262	25	.	.	PUNCT
fumecheng-11384	263	1	(	(	PUNCT
fumecheng-11384	263	2	6	6	NUM
fumecheng-11384	263	3	)	)	PUNCT
fumecheng-11384	263	4	is	be	AUX
fumecheng-11384	263	5	used	use	VERB
fumecheng-11384	263	6	to	to	PART
fumecheng-11384	263	7	calculate	calculate	VERB
fumecheng-11384	263	8	the	the	DET
fumecheng-11384	263	9	forward	forward	ADJ
fumecheng-11384	263	10	kinematics	kinematic	NOUN
fumecheng-11384	263	11	solution	solution	NOUN
fumecheng-11384	263	12	.	.	PUNCT
fumecheng-11384	264	1	then	then	ADV
fumecheng-11384	264	2	,	,	PUNCT
fumecheng-11384	264	3	according	accord	VERB
fumecheng-11384	264	4	to	to	ADP
fumecheng-11384	264	5	the	the	DET
fumecheng-11384	264	6	obtained	obtain	VERB
fumecheng-11384	264	7	position	position	NOUN
fumecheng-11384	264	8	and	and	CCONJ
fumecheng-11384	264	9	posture	posture	NOUN
fumecheng-11384	264	10	of	of	ADP
fumecheng-11384	264	11	the	the	DET
fumecheng-11384	264	12	terminal	terminal	ADJ
fumecheng-11384	264	13	execution	execution	NOUN
fumecheng-11384	264	14	point	point	NOUN
fumecheng-11384	264	15	,	,	PUNCT
fumecheng-11384	264	16	the	the	DET
fumecheng-11384	264	17	inverse	inverse	NOUN
fumecheng-11384	264	18	kinematics	kinematic	NOUN
fumecheng-11384	264	19	solution	solution	NOUN
fumecheng-11384	264	20	is	be	AUX
fumecheng-11384	264	21	obtained	obtain	VERB
fumecheng-11384	264	22	by	by	ADP
fumecheng-11384	264	23	using	use	VERB
fumecheng-11384	264	24	eq	eq	ADP
fumecheng-11384	264	25	.	.	PUNCT
fumecheng-11384	265	1	(	(	PUNCT
fumecheng-11384	265	2	27	27	NUM
fumecheng-11384	265	3	)	)	PUNCT
fumecheng-11384	265	4	.	.	PUNCT
fumecheng-11384	266	1	the	the	DET
fumecheng-11384	266	2	correctness	correctness	NOUN
fumecheng-11384	266	3	of	of	ADP
fumecheng-11384	266	4	eq	eq	PROPN
fumecheng-11384	266	5	.	.	PUNCT
fumecheng-11384	266	6	(	(	PUNCT
fumecheng-11384	266	7	6	6	NUM
fumecheng-11384	266	8	)	)	PUNCT
fumecheng-11384	266	9	and	and	CCONJ
fumecheng-11384	266	10	eq	eq	NOUN
fumecheng-11384	266	11	.	.	PUNCT
fumecheng-11384	267	1	(	(	PUNCT
fumecheng-11384	267	2	27	27	NUM
fumecheng-11384	267	3	)	)	PUNCT
fumecheng-11384	267	4	is	be	AUX
fumecheng-11384	267	5	verified	verify	VERB
fumecheng-11384	267	6	by	by	ADP
fumecheng-11384	267	7	comparing	compare	VERB
fumecheng-11384	267	8	the	the	DET
fumecheng-11384	267	9	results	result	NOUN
fumecheng-11384	267	10	of	of	ADP
fumecheng-11384	267	11	the	the	DET
fumecheng-11384	267	12	two	two	NUM
fumecheng-11384	267	13	calculations	calculation	NOUN
fumecheng-11384	267	14	.	.	PUNCT
fumecheng-11384	268	1	the	the	DET
fumecheng-11384	268	2	specific	specific	ADJ
fumecheng-11384	268	3	results	result	NOUN
fumecheng-11384	268	4	of	of	ADP
fumecheng-11384	268	5	forward	forward	ADV
fumecheng-11384	268	6	and	and	CCONJ
fumecheng-11384	268	7	inverse	inverse	NOUN
fumecheng-11384	268	8	kinematics	kinematic	NOUN
fumecheng-11384	268	9	solutions	solution	NOUN
fumecheng-11384	268	10	are	be	AUX
fumecheng-11384	268	11	shown	show	VERB
fumecheng-11384	268	12	in	in	ADP
fumecheng-11384	268	13	tab	tab	NOUN
fumecheng-11384	268	14	.	.	PUNCT
fumecheng-11384	268	15	3	3	NUM
fumecheng-11384	268	16	and	and	CCONJ
fumecheng-11384	268	17	tab	tab	NOUN
fumecheng-11384	268	18	.	.	PUNCT
fumecheng-11384	269	1	4	4	X
fumecheng-11384	269	2	.	.	NOUN
fumecheng-11384	269	3	table	table	NOUN
fumecheng-11384	269	4	3	3	NUM
fumecheng-11384	269	5	forward	forward	ADJ
fumecheng-11384	269	6	kinematics	kinematic	NOUN
fumecheng-11384	269	7	conditions	condition	NOUN
fumecheng-11384	269	8	and	and	CCONJ
fumecheng-11384	269	9	calculation	calculation	NOUN
fumecheng-11384	269	10	results	result	NOUN
fumecheng-11384	269	11	of	of	ADP
fumecheng-11384	269	12	mg400	mg400	NOUN
fumecheng-11384	269	13	no	no	INTJ
fumecheng-11384	269	14	.	.	PUNCT
fumecheng-11384	270	1	θ1(deg	θ1(deg	ADJ
fumecheng-11384	270	2	)	)	PUNCT
fumecheng-11384	270	3	θ2(deg	θ2(deg	ADJ
fumecheng-11384	270	4	)	)	PUNCT
fumecheng-11384	270	5	θ3(deg	θ3(deg	ADJ
fumecheng-11384	270	6	)	)	PUNCT
fumecheng-11384	270	7	θ4(deg	θ4(deg	ADJ
fumecheng-11384	270	8	)	)	PUNCT
fumecheng-11384	270	9	px(mm	px(mm	NOUN
fumecheng-11384	270	10	)	)	PUNCT
fumecheng-11384	270	11	py(mm	py(mm	NOUN
fumecheng-11384	270	12	)	)	PUNCT
fumecheng-11384	270	13	pz(mm	pz(mm	NOUN
fumecheng-11384	270	14	)	)	PUNCT
fumecheng-11384	270	15	rz(deg	rz(deg	NOUN
fumecheng-11384	270	16	)	)	PUNCT
fumecheng-11384	270	17	1	1	NUM
fumecheng-11384	270	18	-1.86	-1.86	NOUN
fumecheng-11384	271	1	60.70	60.70	NUM
fumecheng-11384	271	2	7.26	7.26	NUM
fumecheng-11384	271	3	290.68	290.68	NUM
fumecheng-11384	271	4	327.62	327.62	NUM
fumecheng-11384	271	5	-10.66	-10.66	SYM
fumecheng-11384	271	6	115.45	115.45	NUM
fumecheng-11384	271	7	-71.19	-71.19	SYM
fumecheng-11384	271	8	2	2	NUM
fumecheng-11384	271	9	125.10	125.10	NUM
fumecheng-11384	271	10	11.76	11.76	NUM
fumecheng-11384	271	11	48.32	48.32	NUM
fumecheng-11384	271	12	-217.58	-217.58	PROPN
fumecheng-11384	271	13	-133.65	-133.65	PROPN
fumecheng-11384	271	14	190.19	190.19	NUM
fumecheng-11384	271	15	211.66	211.66	NUM
fumecheng-11384	271	16	-92.48	-92.48	SYM
fumecheng-11384	271	17	3	3	NUM
fumecheng-11384	271	18	-150.23	-150.23	PROPN
fumecheng-11384	271	19	56.85	56.85	NUM
fumecheng-11384	271	20	-16.85	-16.85	PUNCT
fumecheng-11384	271	21	-14.46	-14.46	PROPN
fumecheng-11384	272	1	-338.58	-338.58	PROPN
fumecheng-11384	272	2	-193.69	-193.69	PROPN
fumecheng-11384	272	3	175.21	175.21	NUM
fumecheng-11384	272	4	-164.68	-164.68	PROPN
fumecheng-11384	272	5	4	4	NUM
fumecheng-11384	272	6	129.51	129.51	NUM
fumecheng-11384	272	7	42.09	42.09	NUM
fumecheng-11384	272	8	13.21	13.21	NUM
fumecheng-11384	272	9	258.80	258.80	NUM
fumecheng-11384	272	10	-207.68	-207.68	PROPN
fumecheng-11384	272	11	251.84	251.84	NUM
fumecheng-11384	272	12	178.01	178.01	NUM
fumecheng-11384	272	13	28.31	28.31	NUM
fumecheng-11384	272	14	5	5	NUM
fumecheng-11384	272	15	97.76	97.76	NUM
fumecheng-11384	272	16	38.44	38.44	NUM
fumecheng-11384	272	17	-39.66	-39.66	PUNCT
fumecheng-11384	272	18	-187.25	-187.25	PROPN
fumecheng-11384	272	19	-53.08	-53.08	PROPN
fumecheng-11384	273	1	389.66	389.66	NUM
fumecheng-11384	273	2	332.80	332.80	NUM
fumecheng-11384	273	3	-89.49	-89.49	ADP
fumecheng-11384	273	4	6	6	NUM
fumecheng-11384	273	5	123.68	123.68	NUM
fumecheng-11384	273	6	-21.85	-21.85	NUM
fumecheng-11384	273	7	40.03	40.03	NUM
fumecheng-11384	273	8	-239.09	-239.09	PROPN
fumecheng-11384	273	9	-116.82	-116.82	PROPN
fumecheng-11384	273	10	175.27	175.27	NUM
fumecheng-11384	273	11	299.81	299.81	NUM
fumecheng-11384	273	12	-115.41	-115.41	PROPN
fumecheng-11384	273	13	7	7	NUM
fumecheng-11384	273	14	153.18	153.18	NUM
fumecheng-11384	273	15	53.40	53.40	NUM
fumecheng-11384	273	16	-13.34	-13.34	PROPN
fumecheng-11384	273	17	-20.82	-20.82	PROPN
fumecheng-11384	273	18	-342.62	-342.62	PROPN
fumecheng-11384	274	1	173.24	173.24	NUM
fumecheng-11384	274	2	183.72	183.72	NUM
fumecheng-11384	274	3	132.36	132.36	NUM
fumecheng-11384	274	4	8	8	NUM
fumecheng-11384	274	5	-140.92	-140.92	PROPN
fumecheng-11384	274	6	50.02	50.02	NUM
fumecheng-11384	274	7	-69.50	-69.50	PUNCT
fumecheng-11384	274	8	-308.56	-308.56	PROPN
fumecheng-11384	274	9	-317.17	-317.17	PROPN
fumecheng-11384	274	10	-257.55	-257.55	PROPN
fumecheng-11384	274	11	362.82	362.82	NUM
fumecheng-11384	274	12	-89.48	-89.48	PROPN
fumecheng-11384	274	13	9	9	NUM
fumecheng-11384	274	14	6.93	6.93	NUM
fumecheng-11384	274	15	-14.36	-14.36	NUM
fumecheng-11384	275	1	67.61	67.61	NUM
fumecheng-11384	276	1	228.63	228.63	NUM
fumecheng-11384	276	2	169.56	169.56	NUM
fumecheng-11384	276	3	20.60	20.60	NUM
fumecheng-11384	276	4	221.32	221.32	NUM
fumecheng-11384	276	5	-124.44	-124.44	PROPN
fumecheng-11384	276	6	10	10	NUM
fumecheng-11384	276	7	71.18	71.18	NUM
fumecheng-11384	276	8	-8.52	-8.52	ADP
fumecheng-11384	276	9	50.46	50.46	NUM
fumecheng-11384	276	10	13.39	13.39	NUM
fumecheng-11384	276	11	68.96	68.96	NUM
fumecheng-11384	276	12	202.33	202.33	NUM
fumecheng-11384	276	13	248.11	248.11	NUM
fumecheng-11384	276	14	84.57	84.57	NUM
fumecheng-11384	276	15	modeling	modeling	NOUN
fumecheng-11384	276	16	and	and	CCONJ
fumecheng-11384	276	17	simulation	simulation	NOUN
fumecheng-11384	276	18	of	of	ADP
fumecheng-11384	276	19	industrial	industrial	ADJ
fumecheng-11384	276	20	robot	robot	NOUN
fumecheng-11384	276	21	arms	arm	NOUN
fumecheng-11384	276	22	using	use	VERB
fumecheng-11384	276	23	simscape	simscape	NOUN
fumecheng-11384	276	24	multibody	multibody	ADJ
fumecheng-11384	276	25	275	275	NUM
fumecheng-11384	276	26	table	table	NOUN
fumecheng-11384	276	27	4	4	NUM
fumecheng-11384	276	28	inverse	inverse	NOUN
fumecheng-11384	276	29	kinematics	kinematic	NOUN
fumecheng-11384	276	30	conditions	condition	NOUN
fumecheng-11384	276	31	and	and	CCONJ
fumecheng-11384	276	32	calculation	calculation	NOUN
fumecheng-11384	276	33	results	result	NOUN
fumecheng-11384	276	34	of	of	ADP
fumecheng-11384	276	35	mg400	mg400	NOUN
fumecheng-11384	276	36	no	no	INTJ
fumecheng-11384	276	37	.	.	PUNCT
fumecheng-11384	276	38	px(mm	px(mm	NOUN
fumecheng-11384	276	39	)	)	PUNCT
fumecheng-11384	276	40	py(mm	py(mm	NOUN
fumecheng-11384	276	41	)	)	PUNCT
fumecheng-11384	276	42	pz(mm	pz(mm	NOUN
fumecheng-11384	276	43	)	)	PUNCT
fumecheng-11384	276	44	rz(deg	rz(deg	NOUN
fumecheng-11384	276	45	)	)	PUNCT
fumecheng-11384	276	46	θ1(deg	θ1(deg	ADJ
fumecheng-11384	276	47	)	)	PUNCT
fumecheng-11384	276	48	θ2(deg	θ2(deg	ADJ
fumecheng-11384	276	49	)	)	PUNCT
fumecheng-11384	276	50	θ3(deg	θ3(deg	ADJ
fumecheng-11384	276	51	)	)	PUNCT
fumecheng-11384	276	52	θ4(deg	θ4(deg	VERB
fumecheng-11384	276	53	)	)	PUNCT
fumecheng-11384	276	54	1	1	NUM
fumecheng-11384	276	55	327.62	327.62	NUM
fumecheng-11384	276	56	-10.66	-10.66	SYM
fumecheng-11384	276	57	115.45	115.45	NUM
fumecheng-11384	276	58	-71.19	-71.19	PUNCT
fumecheng-11384	276	59	-1.86	-1.86	NOUN
fumecheng-11384	276	60	60.70	60.70	NUM
fumecheng-11384	276	61	7.26	7.26	NUM
fumecheng-11384	276	62	-69.32	-69.32	PROPN
fumecheng-11384	276	63	2	2	NUM
fumecheng-11384	276	64	-133.65	-133.65	PROPN
fumecheng-11384	276	65	190.19	190.19	NUM
fumecheng-11384	276	66	211.65	211.65	NUM
fumecheng-11384	276	67	-92.48	-92.48	PUNCT
fumecheng-11384	276	68	125.10	125.10	NUM
fumecheng-11384	276	69	11.76	11.76	NUM
fumecheng-11384	276	70	48.32	48.32	NUM
fumecheng-11384	276	71	142.42	142.42	NUM
fumecheng-11384	276	72	3	3	NUM
fumecheng-11384	276	73	-338.58	-338.58	PROPN
fumecheng-11384	276	74	-193.69	-193.69	PROPN
fumecheng-11384	276	75	175.21	175.21	NUM
fumecheng-11384	277	1	-164.68	-164.68	PROPN
fumecheng-11384	277	2	-150.23	-150.23	PROPN
fumecheng-11384	277	3	56.85	56.85	NUM
fumecheng-11384	277	4	-16.85	-16.85	PUNCT
fumecheng-11384	277	5	-14.46	-14.46	PROPN
fumecheng-11384	277	6	4	4	NUM
fumecheng-11384	277	7	-207.68	-207.68	PROPN
fumecheng-11384	277	8	251.84	251.84	NUM
fumecheng-11384	277	9	178.01	178.01	NUM
fumecheng-11384	277	10	28.31	28.31	NUM
fumecheng-11384	277	11	129.51	129.51	NUM
fumecheng-11384	277	12	42.09	42.09	NUM
fumecheng-11384	277	13	13.21	13.21	NUM
fumecheng-11384	277	14	-101.20	-101.20	PROPN
fumecheng-11384	277	15	5	5	NUM
fumecheng-11384	278	1	-53.08	-53.08	PROPN
fumecheng-11384	278	2	389.66	389.66	NUM
fumecheng-11384	278	3	332.80	332.80	NUM
fumecheng-11384	278	4	-89.49	-89.49	ADP
fumecheng-11384	278	5	97.76	97.76	NUM
fumecheng-11384	278	6	38.44	38.44	NUM
fumecheng-11384	278	7	-39.66	-39.66	NOUN
fumecheng-11384	278	8	172.75	172.75	NUM
fumecheng-11384	278	9	6	6	NUM
fumecheng-11384	278	10	-116.82	-116.82	PROPN
fumecheng-11384	278	11	175.27	175.27	NUM
fumecheng-11384	278	12	299.81	299.81	NUM
fumecheng-11384	278	13	-115.41	-115.41	PROPN
fumecheng-11384	278	14	123.68	123.68	NUM
fumecheng-11384	278	15	-21.85	-21.85	NUM
fumecheng-11384	278	16	40.03	40.03	NUM
fumecheng-11384	278	17	120.91	120.91	NUM
fumecheng-11384	278	18	7	7	NUM
fumecheng-11384	278	19	-342.62	-342.62	PROPN
fumecheng-11384	278	20	173.24	173.24	NUM
fumecheng-11384	278	21	183.72	183.72	NUM
fumecheng-11384	278	22	132.36	132.36	NUM
fumecheng-11384	278	23	153.18	153.18	NUM
fumecheng-11384	278	24	53.40	53.40	NUM
fumecheng-11384	278	25	-13.34	-13.34	SYM
fumecheng-11384	278	26	-20.82	-20.82	PROPN
fumecheng-11384	278	27	8	8	NUM
fumecheng-11384	278	28	-317.17	-317.17	PROPN
fumecheng-11384	278	29	-257.55	-257.55	PROPN
fumecheng-11384	278	30	362.82	362.82	NUM
fumecheng-11384	278	31	-89.48	-89.48	X
fumecheng-11384	278	32	-140.92	-140.92	PROPN
fumecheng-11384	278	33	50.02	50.02	NUM
fumecheng-11384	278	34	-69.50	-69.50	PUNCT
fumecheng-11384	278	35	51.44	51.44	NUM
fumecheng-11384	278	36	9	9	NUM
fumecheng-11384	278	37	169.56	169.56	NUM
fumecheng-11384	278	38	20.60	20.60	NUM
fumecheng-11384	278	39	221.37	221.37	NUM
fumecheng-11384	278	40	-124.44	-124.44	PROPN
fumecheng-11384	278	41	6.93	6.93	NUM
fumecheng-11384	278	42	-14.36	-14.36	NUM
fumecheng-11384	278	43	67.61	67.61	NUM
fumecheng-11384	278	44	-131.37	-131.37	PROPN
fumecheng-11384	278	45	10	10	NUM
fumecheng-11384	279	1	68.96	68.96	NUM
fumecheng-11384	279	2	202.33	202.33	NUM
fumecheng-11384	279	3	248.11	248.11	NUM
fumecheng-11384	279	4	84.57	84.57	NUM
fumecheng-11384	279	5	71.18	71.18	NUM
fumecheng-11384	279	6	-8.51	-8.51	NUM
fumecheng-11384	279	7	50.46	50.46	NUM
fumecheng-11384	279	8	13.39	13.39	NUM
fumecheng-11384	279	9	when	when	SCONJ
fumecheng-11384	279	10	solving	solve	VERB
fumecheng-11384	279	11	the	the	DET
fumecheng-11384	279	12	inverse	inverse	NOUN
fumecheng-11384	279	13	solution	solution	NOUN
fumecheng-11384	279	14	of	of	ADP
fumecheng-11384	279	15	the	the	DET
fumecheng-11384	279	16	robot	robot	NOUN
fumecheng-11384	279	17	arm	arm	NOUN
fumecheng-11384	279	18	,	,	PUNCT
fumecheng-11384	279	19	the	the	DET
fumecheng-11384	279	20	minimum	minimum	ADJ
fumecheng-11384	279	21	value	value	NOUN
fumecheng-11384	279	22	of	of	ADP
fumecheng-11384	279	23	the	the	DET
fumecheng-11384	279	24	rotation	rotation	NOUN
fumecheng-11384	279	25	angle	angle	NOUN
fumecheng-11384	279	26	of	of	ADP
fumecheng-11384	279	27	each	each	DET
fumecheng-11384	279	28	joint	joint	NOUN
fumecheng-11384	279	29	of	of	ADP
fumecheng-11384	279	30	the	the	DET
fumecheng-11384	279	31	robot	robot	NOUN
fumecheng-11384	279	32	arm	arm	NOUN
fumecheng-11384	279	33	is	be	AUX
fumecheng-11384	279	34	obtained	obtain	VERB
fumecheng-11384	279	35	.	.	PUNCT
fumecheng-11384	280	1	when	when	SCONJ
fumecheng-11384	280	2	the	the	DET
fumecheng-11384	280	3	rotation	rotation	NOUN
fumecheng-11384	280	4	angle	angle	NOUN
fumecheng-11384	280	5	of	of	ADP
fumecheng-11384	280	6	θ4	θ4	NOUN
fumecheng-11384	280	7	exceeds	exceed	VERB
fumecheng-11384	280	8	the	the	DET
fumecheng-11384	280	9	range	range	NOUN
fumecheng-11384	280	10	of	of	ADP
fumecheng-11384	280	11	[	[	X
fumecheng-11384	280	12	pi	pi	NOUN
fumecheng-11384	280	13	,	,	PUNCT
fumecheng-11384	280	14	pi	pi	NOUN
fumecheng-11384	280	15	]	]	X
fumecheng-11384	280	16	,	,	PUNCT
fumecheng-11384	280	17	the	the	DET
fumecheng-11384	280	18	algorithm	algorithm	NOUN
fumecheng-11384	280	19	will	will	AUX
fumecheng-11384	280	20	let	let	VERB
fumecheng-11384	280	21	θ4	θ4	NOUN
fumecheng-11384	280	22	map	map	VERB
fumecheng-11384	280	23	to	to	ADP
fumecheng-11384	280	24	the	the	DET
fumecheng-11384	280	25	range	range	NOUN
fumecheng-11384	280	26	of	of	ADP
fumecheng-11384	280	27	[	[	X
fumecheng-11384	280	28	-pi	-pi	INTJ
fumecheng-11384	280	29	,	,	PUNCT
fumecheng-11384	280	30	pi	pi	NOUN
fumecheng-11384	280	31	]	]	X
fumecheng-11384	280	32	,	,	PUNCT
fumecheng-11384	280	33	and	and	CCONJ
fumecheng-11384	280	34	select	select	VERB
fumecheng-11384	280	35	a	a	DET
fumecheng-11384	280	36	smaller	small	ADJ
fumecheng-11384	280	37	inverse	inverse	NOUN
fumecheng-11384	280	38	solution	solution	NOUN
fumecheng-11384	280	39	under	under	ADP
fumecheng-11384	280	40	the	the	DET
fumecheng-11384	280	41	condition	condition	NOUN
fumecheng-11384	280	42	of	of	ADP
fumecheng-11384	280	43	ensuring	ensure	VERB
fumecheng-11384	280	44	the	the	DET
fumecheng-11384	280	45	attitude	attitude	NOUN
fumecheng-11384	280	46	of	of	ADP
fumecheng-11384	280	47	the	the	DET
fumecheng-11384	280	48	robot	robot	NOUN
fumecheng-11384	280	49	arm	arm	NOUN
fumecheng-11384	280	50	.	.	PUNCT
fumecheng-11384	281	1	according	accord	VERB
fumecheng-11384	281	2	to	to	ADP
fumecheng-11384	281	3	tab	tab	NOUN
fumecheng-11384	281	4	.	.	PUNCT
fumecheng-11384	281	5	3	3	NUM
fumecheng-11384	281	6	and	and	CCONJ
fumecheng-11384	281	7	tab	tab	NOUN
fumecheng-11384	281	8	.	.	PUNCT
fumecheng-11384	281	9	4	4	NUM
fumecheng-11384	281	10	,	,	PUNCT
fumecheng-11384	281	11	it	it	PRON
fumecheng-11384	281	12	can	can	AUX
fumecheng-11384	281	13	be	be	AUX
fumecheng-11384	281	14	concluded	conclude	VERB
fumecheng-11384	281	15	that	that	SCONJ
fumecheng-11384	281	16	the	the	DET
fumecheng-11384	281	17	kinematic	kinematic	ADJ
fumecheng-11384	281	18	analysis	analysis	NOUN
fumecheng-11384	281	19	represented	represent	VERB
fumecheng-11384	281	20	by	by	ADP
fumecheng-11384	281	21	eq	eq	PROPN
fumecheng-11384	281	22	.	.	PUNCT
fumecheng-11384	281	23	(	(	PUNCT
fumecheng-11384	281	24	6	6	NUM
fumecheng-11384	281	25	)	)	PUNCT
fumecheng-11384	281	26	and	and	CCONJ
fumecheng-11384	281	27	eq	eq	NOUN
fumecheng-11384	281	28	.	.	PUNCT
fumecheng-11384	282	1	(	(	PUNCT
fumecheng-11384	282	2	27	27	NUM
fumecheng-11384	282	3	)	)	PUNCT
fumecheng-11384	282	4	is	be	AUX
fumecheng-11384	282	5	correct	correct	ADJ
fumecheng-11384	282	6	.	.	PUNCT
fumecheng-11384	283	1	3	3	X
fumecheng-11384	283	2	.	.	X
fumecheng-11384	283	3	construction	construction	NOUN
fumecheng-11384	283	4	of	of	ADP
fumecheng-11384	283	5	mbs	mb	NOUN
fumecheng-11384	283	6	model	model	NOUN
fumecheng-11384	283	7	3.1	3.1	NUM
fumecheng-11384	283	8	.	.	PUNCT
fumecheng-11384	284	1	build	build	VERB
fumecheng-11384	284	2	solid	solid	ADJ
fumecheng-11384	284	3	module	module	NOUN
fumecheng-11384	284	4	mechanism	mechanism	NOUN
fumecheng-11384	284	5	of	of	ADP
fumecheng-11384	284	6	mbs	mb	NOUN
fumecheng-11384	284	7	model	model	NOUN
fumecheng-11384	284	8	to	to	PART
fumecheng-11384	284	9	establish	establish	VERB
fumecheng-11384	284	10	the	the	DET
fumecheng-11384	284	11	solid	solid	ADJ
fumecheng-11384	284	12	module	module	NOUN
fumecheng-11384	284	13	mechanism	mechanism	NOUN
fumecheng-11384	284	14	of	of	ADP
fumecheng-11384	284	15	the	the	DET
fumecheng-11384	284	16	mbs	mb	NOUN
fumecheng-11384	284	17	model	model	NOUN
fumecheng-11384	284	18	of	of	ADP
fumecheng-11384	284	19	the	the	DET
fumecheng-11384	284	20	robot	robot	NOUN
fumecheng-11384	284	21	arm	arm	NOUN
fumecheng-11384	284	22	,	,	PUNCT
fumecheng-11384	284	23	it	it	PRON
fumecheng-11384	284	24	requires	require	VERB
fumecheng-11384	284	25	understanding	understand	VERB
fumecheng-11384	284	26	the	the	DET
fumecheng-11384	284	27	parameters	parameter	NOUN
fumecheng-11384	284	28	of	of	ADP
fumecheng-11384	284	29	each	each	DET
fumecheng-11384	284	30	part	part	NOUN
fumecheng-11384	284	31	of	of	ADP
fumecheng-11384	284	32	the	the	DET
fumecheng-11384	284	33	robot	robot	NOUN
fumecheng-11384	284	34	arm	arm	NOUN
fumecheng-11384	284	35	,	,	PUNCT
fumecheng-11384	284	36	but	but	CCONJ
fumecheng-11384	284	37	it	it	PRON
fumecheng-11384	284	38	is	be	AUX
fumecheng-11384	284	39	difficult	difficult	ADJ
fumecheng-11384	284	40	to	to	PART
fumecheng-11384	284	41	directly	directly	ADV
fumecheng-11384	284	42	obtain	obtain	VERB
fumecheng-11384	284	43	the	the	DET
fumecheng-11384	284	44	specific	specific	ADJ
fumecheng-11384	284	45	parameters	parameter	NOUN
fumecheng-11384	284	46	of	of	ADP
fumecheng-11384	284	47	each	each	DET
fumecheng-11384	284	48	part	part	NOUN
fumecheng-11384	284	49	of	of	ADP
fumecheng-11384	284	50	the	the	DET
fumecheng-11384	284	51	robotic	robotic	ADJ
fumecheng-11384	284	52	arm	arm	NOUN
fumecheng-11384	284	53	.	.	PUNCT
fumecheng-11384	285	1	therefore	therefore	ADV
fumecheng-11384	285	2	,	,	PUNCT
fumecheng-11384	285	3	the	the	DET
fumecheng-11384	285	4	relevant	relevant	ADJ
fumecheng-11384	285	5	parameters	parameter	NOUN
fumecheng-11384	285	6	in	in	ADP
fumecheng-11384	285	7	this	this	DET
fumecheng-11384	285	8	article	article	NOUN
fumecheng-11384	285	9	are	be	AUX
fumecheng-11384	285	10	generally	generally	ADV
fumecheng-11384	285	11	obtained	obtain	VERB
fumecheng-11384	285	12	through	through	ADP
fumecheng-11384	285	13	cad	cad	PROPN
fumecheng-11384	285	14	model	model	NOUN
fumecheng-11384	285	15	analysis	analysis	NOUN
fumecheng-11384	285	16	.	.	PUNCT
fumecheng-11384	286	1	the	the	DET
fumecheng-11384	286	2	solid	solid	ADJ
fumecheng-11384	286	3	module	module	NOUN
fumecheng-11384	286	4	mechanism	mechanism	NOUN
fumecheng-11384	286	5	of	of	ADP
fumecheng-11384	286	6	the	the	DET
fumecheng-11384	286	7	established	establish	VERB
fumecheng-11384	286	8	mbs	mbs	NOUN
fumecheng-11384	286	9	model	model	NOUN
fumecheng-11384	286	10	is	be	AUX
fumecheng-11384	286	11	shown	show	VERB
fumecheng-11384	286	12	in	in	ADP
fumecheng-11384	286	13	fig	fig	NOUN
fumecheng-11384	286	14	.	.	PUNCT
fumecheng-11384	287	1	6	6	NUM
fumecheng-11384	287	2	(	(	PUNCT
fumecheng-11384	287	3	a	a	NOUN
fumecheng-11384	287	4	)	)	PUNCT
fumecheng-11384	287	5	.	.	PUNCT
fumecheng-11384	288	1	solidworks	solidworks	PROPN
fumecheng-11384	288	2	is	be	AUX
fumecheng-11384	288	3	used	use	VERB
fumecheng-11384	288	4	to	to	PART
fumecheng-11384	288	5	establish	establish	VERB
fumecheng-11384	288	6	the	the	DET
fumecheng-11384	288	7	reference	reference	NOUN
fumecheng-11384	288	8	coordinate	coordinate	NOUN
fumecheng-11384	288	9	system	system	NOUN
fumecheng-11384	288	10	shown	show	VERB
fumecheng-11384	288	11	in	in	ADP
fumecheng-11384	288	12	tab	tab	NOUN
fumecheng-11384	288	13	.	.	PUNCT
fumecheng-11384	288	14	1	1	NUM
fumecheng-11384	288	15	in	in	ADP
fumecheng-11384	288	16	the	the	DET
fumecheng-11384	288	17	cad	cad	PROPN
fumecheng-11384	288	18	model	model	NOUN
fumecheng-11384	288	19	,	,	PUNCT
fumecheng-11384	288	20	and	and	CCONJ
fumecheng-11384	288	21	(	(	PUNCT
fumecheng-11384	288	22	a	a	X
fumecheng-11384	288	23	)	)	PUNCT
fumecheng-11384	288	24	(	(	PUNCT
fumecheng-11384	288	25	b	b	X
fumecheng-11384	288	26	)	)	PUNCT
fumecheng-11384	288	27	fig	fig	NOUN
fumecheng-11384	288	28	.	.	PUNCT
fumecheng-11384	289	1	6	6	NUM
fumecheng-11384	289	2	a	a	X
fumecheng-11384	289	3	)	)	PUNCT
fumecheng-11384	289	4	solid	solid	ADJ
fumecheng-11384	289	5	module	module	NOUN
fumecheng-11384	289	6	mechanism	mechanism	NOUN
fumecheng-11384	289	7	of	of	ADP
fumecheng-11384	289	8	mbs	mb	NOUN
fumecheng-11384	289	9	model	model	NOUN
fumecheng-11384	289	10	and	and	CCONJ
fumecheng-11384	289	11	b	b	X
fumecheng-11384	289	12	)	)	PUNCT
fumecheng-11384	289	13	its	its	PRON
fumecheng-11384	289	14	workspace	workspace	NOUN
fumecheng-11384	289	15	276	276	NUM
fumecheng-11384	289	16	c.	c.	PROPN
fumecheng-11384	289	17	zhang	zhang	PROPN
fumecheng-11384	289	18	,	,	PUNCT
fumecheng-11384	289	19	s.	s.	PROPN
fumecheng-11384	289	20	li	li	PROPN
fumecheng-11384	289	21	,	,	PUNCT
fumecheng-11384	289	22	z.	z.	PROPN
fumecheng-11384	289	23	zhang	zhang	PROPN
fumecheng-11384	290	1	all	all	DET
fumecheng-11384	290	2	solidworks	solidworks	PROPN
fumecheng-11384	290	3	related	relate	VERB
fumecheng-11384	290	4	entities	entity	NOUN
fumecheng-11384	290	5	are	be	AUX
fumecheng-11384	290	6	output	output	NOUN
fumecheng-11384	290	7	as	as	ADP
fumecheng-11384	290	8	step	step	NOUN
fumecheng-11384	290	9	format	format	NOUN
fumecheng-11384	290	10	files	file	NOUN
fumecheng-11384	290	11	under	under	ADP
fumecheng-11384	290	12	the	the	DET
fumecheng-11384	290	13	corresponding	corresponding	ADJ
fumecheng-11384	290	14	reference	reference	NOUN
fumecheng-11384	290	15	coordinate	coordinate	NOUN
fumecheng-11384	290	16	system	system	NOUN
fumecheng-11384	290	17	.	.	PUNCT
fumecheng-11384	291	1	the	the	DET
fumecheng-11384	291	2	solid	solid	ADJ
fumecheng-11384	291	3	module	module	NOUN
fumecheng-11384	291	4	model	model	NOUN
fumecheng-11384	291	5	is	be	AUX
fumecheng-11384	291	6	used	use	VERB
fumecheng-11384	291	7	for	for	ADP
fumecheng-11384	291	8	the	the	DET
fumecheng-11384	291	9	dynamic	dynamic	ADJ
fumecheng-11384	291	10	simulation	simulation	NOUN
fumecheng-11384	291	11	of	of	ADP
fumecheng-11384	291	12	the	the	DET
fumecheng-11384	291	13	system	system	NOUN
fumecheng-11384	291	14	,	,	PUNCT
fumecheng-11384	291	15	and	and	CCONJ
fumecheng-11384	291	16	the	the	DET
fumecheng-11384	291	17	working	work	VERB
fumecheng-11384	291	18	space	space	NOUN
fumecheng-11384	291	19	of	of	ADP
fumecheng-11384	291	20	each	each	DET
fumecheng-11384	291	21	joint	joint	ADJ
fumecheng-11384	291	22	needs	need	NOUN
fumecheng-11384	291	23	to	to	PART
fumecheng-11384	291	24	be	be	AUX
fumecheng-11384	291	25	accurately	accurately	ADV
fumecheng-11384	291	26	consistent	consistent	ADJ
fumecheng-11384	291	27	with	with	ADP
fumecheng-11384	291	28	the	the	DET
fumecheng-11384	291	29	real	real	ADJ
fumecheng-11384	291	30	robot	robot	NOUN
fumecheng-11384	291	31	arm	arm	NOUN
fumecheng-11384	291	32	,	,	PUNCT
fumecheng-11384	291	33	so	so	SCONJ
fumecheng-11384	291	34	that	that	SCONJ
fumecheng-11384	291	35	the	the	DET
fumecheng-11384	291	36	various	various	ADJ
fumecheng-11384	291	37	parameters	parameter	NOUN
fumecheng-11384	291	38	of	of	ADP
fumecheng-11384	291	39	the	the	DET
fumecheng-11384	291	40	model	model	NOUN
fumecheng-11384	291	41	can	can	AUX
fumecheng-11384	291	42	be	be	AUX
fumecheng-11384	291	43	directly	directly	ADV
fumecheng-11384	291	44	applied	apply	VERB
fumecheng-11384	291	45	to	to	ADP
fumecheng-11384	291	46	the	the	DET
fumecheng-11384	291	47	real	real	ADJ
fumecheng-11384	291	48	robot	robot	NOUN
fumecheng-11384	291	49	arm	arm	NOUN
fumecheng-11384	291	50	.	.	PUNCT
fumecheng-11384	292	1	the	the	DET
fumecheng-11384	292	2	workspace	workspace	NOUN
fumecheng-11384	292	3	of	of	ADP
fumecheng-11384	292	4	the	the	DET
fumecheng-11384	292	5	robot	robot	NOUN
fumecheng-11384	292	6	arm	arm	NOUN
fumecheng-11384	292	7	model	model	NOUN
fumecheng-11384	292	8	system	system	NOUN
fumecheng-11384	292	9	is	be	AUX
fumecheng-11384	292	10	obtained	obtain	VERB
fumecheng-11384	292	11	in	in	ADP
fumecheng-11384	292	12	joint	joint	ADJ
fumecheng-11384	292	13	space	space	NOUN
fumecheng-11384	292	14	as	as	SCONJ
fumecheng-11384	292	15	shown	show	VERB
fumecheng-11384	292	16	in	in	ADP
fumecheng-11384	292	17	fig	fig	NOUN
fumecheng-11384	292	18	.	.	PUNCT
fumecheng-11384	293	1	6	6	NUM
fumecheng-11384	293	2	(	(	PUNCT
fumecheng-11384	293	3	b	b	NOUN
fumecheng-11384	293	4	)	)	PUNCT
fumecheng-11384	293	5	.	.	PUNCT
fumecheng-11384	294	1	comparing	compare	VERB
fumecheng-11384	294	2	with	with	ADP
fumecheng-11384	294	3	the	the	DET
fumecheng-11384	294	4	mg400	mg400	NOUN
fumecheng-11384	294	5	manual	manual	NOUN
fumecheng-11384	294	6	,	,	PUNCT
fumecheng-11384	294	7	it	it	PRON
fumecheng-11384	294	8	is	be	AUX
fumecheng-11384	294	9	obtained	obtain	VERB
fumecheng-11384	294	10	that	that	SCONJ
fumecheng-11384	294	11	the	the	DET
fumecheng-11384	294	12	model	model	NOUN
fumecheng-11384	294	13	established	establish	VERB
fumecheng-11384	294	14	can	can	AUX
fumecheng-11384	294	15	accurately	accurately	ADV
fumecheng-11384	294	16	simulate	simulate	VERB
fumecheng-11384	294	17	the	the	DET
fumecheng-11384	294	18	working	work	VERB
fumecheng-11384	294	19	state	state	NOUN
fumecheng-11384	294	20	and	and	CCONJ
fumecheng-11384	294	21	parameters	parameter	NOUN
fumecheng-11384	294	22	of	of	ADP
fumecheng-11384	294	23	the	the	DET
fumecheng-11384	294	24	actual	actual	ADJ
fumecheng-11384	294	25	robot	robot	NOUN
fumecheng-11384	294	26	,	,	PUNCT
fumecheng-11384	294	27	and	and	CCONJ
fumecheng-11384	294	28	is	be	AUX
fumecheng-11384	294	29	reliable	reliable	ADJ
fumecheng-11384	294	30	and	and	CCONJ
fumecheng-11384	294	31	feasible	feasible	ADJ
fumecheng-11384	294	32	.	.	PUNCT
fumecheng-11384	295	1	3.2	3.2	NUM
fumecheng-11384	295	2	.	.	PUNCT
fumecheng-11384	296	1	build	build	NOUN
fumecheng-11384	296	2	robot	robot	NOUN
fumecheng-11384	296	3	arm	arm	NOUN
fumecheng-11384	296	4	mbs	mbs	PROPN
fumecheng-11384	296	5	model	model	NOUN
fumecheng-11384	296	6	a	a	DET
fumecheng-11384	296	7	robot	robot	NOUN
fumecheng-11384	296	8	arm	arm	NOUN
fumecheng-11384	296	9	mbs	mbs	NOUN
fumecheng-11384	296	10	system	system	NOUN
fumecheng-11384	296	11	has	have	AUX
fumecheng-11384	296	12	been	be	AUX
fumecheng-11384	296	13	established	establish	VERB
fumecheng-11384	296	14	,	,	PUNCT
fumecheng-11384	296	15	mainly	mainly	ADV
fumecheng-11384	296	16	including	include	VERB
fumecheng-11384	296	17	trajectory	trajectory	NOUN
fumecheng-11384	296	18	planning	planning	NOUN
fumecheng-11384	296	19	,	,	PUNCT
fumecheng-11384	296	20	controller	controller	NOUN
fumecheng-11384	296	21	,	,	PUNCT
fumecheng-11384	296	22	robot	robot	NOUN
fumecheng-11384	296	23	mbs	mbs	PROPN
fumecheng-11384	296	24	model	model	NOUN
fumecheng-11384	296	25	,	,	PUNCT
fumecheng-11384	296	26	and	and	CCONJ
fumecheng-11384	296	27	simulation	simulation	NOUN
fumecheng-11384	296	28	data	data	NOUN
fumecheng-11384	296	29	module	module	NOUN
fumecheng-11384	296	30	[	[	X
fumecheng-11384	296	31	34	34	NUM
fumecheng-11384	296	32	-	-	SYM
fumecheng-11384	296	33	36	36	NUM
fumecheng-11384	296	34	]	]	PUNCT
fumecheng-11384	296	35	.	.	PUNCT
fumecheng-11384	297	1	the	the	DET
fumecheng-11384	297	2	mbs	mb	NOUN
fumecheng-11384	297	3	model	model	NOUN
fumecheng-11384	297	4	is	be	AUX
fumecheng-11384	297	5	composed	compose	VERB
fumecheng-11384	297	6	of	of	ADP
fumecheng-11384	297	7	joint	joint	ADJ
fumecheng-11384	297	8	module	module	NOUN
fumecheng-11384	297	9	and	and	CCONJ
fumecheng-11384	297	10	environment	environment	NOUN
fumecheng-11384	297	11	module	module	NOUN
fumecheng-11384	297	12	.	.	PUNCT
fumecheng-11384	298	1	the	the	DET
fumecheng-11384	298	2	joint	joint	ADJ
fumecheng-11384	298	3	module	module	NOUN
fumecheng-11384	298	4	is	be	AUX
fumecheng-11384	298	5	divided	divide	VERB
fumecheng-11384	298	6	into	into	ADP
fumecheng-11384	298	7	rotation	rotation	NOUN
fumecheng-11384	298	8	and	and	CCONJ
fumecheng-11384	298	9	translation	translation	NOUN
fumecheng-11384	298	10	according	accord	VERB
fumecheng-11384	298	11	to	to	ADP
fumecheng-11384	298	12	the	the	DET
fumecheng-11384	298	13	solid	solid	ADJ
fumecheng-11384	298	14	module	module	NOUN
fumecheng-11384	298	15	motion	motion	NOUN
fumecheng-11384	298	16	mode	mode	NOUN
fumecheng-11384	298	17	,	,	PUNCT
fumecheng-11384	298	18	as	as	SCONJ
fumecheng-11384	298	19	shown	show	VERB
fumecheng-11384	298	20	in	in	ADP
fumecheng-11384	298	21	fig	fig	NOUN
fumecheng-11384	298	22	.	.	PUNCT
fumecheng-11384	299	1	7	7	NUM
fumecheng-11384	299	2	which	which	PRON
fumecheng-11384	299	3	includes	include	VERB
fumecheng-11384	299	4	solid	solid	ADJ
fumecheng-11384	299	5	module	module	NOUN
fumecheng-11384	299	6	coordinate	coordinate	NOUN
fumecheng-11384	299	7	system	system	NOUN
fumecheng-11384	299	8	transformation	transformation	NOUN
fumecheng-11384	299	9	,	,	PUNCT
fumecheng-11384	299	10	joints	joint	NOUN
fumecheng-11384	299	11	and	and	CCONJ
fumecheng-11384	299	12	part	part	NOUN
fumecheng-11384	299	13	solid	solid	ADJ
fumecheng-11384	299	14	modules	module	NOUN
fumecheng-11384	299	15	.	.	PUNCT
fumecheng-11384	300	1	the	the	DET
fumecheng-11384	300	2	joint	joint	ADJ
fumecheng-11384	300	3	module	module	NOUN
fumecheng-11384	300	4	is	be	AUX
fumecheng-11384	300	5	used	use	VERB
fumecheng-11384	300	6	to	to	PART
fumecheng-11384	300	7	simulate	simulate	VERB
fumecheng-11384	300	8	the	the	DET
fumecheng-11384	300	9	motion	motion	NOUN
fumecheng-11384	300	10	state	state	NOUN
fumecheng-11384	300	11	of	of	ADP
fumecheng-11384	300	12	each	each	DET
fumecheng-11384	300	13	joint	joint	NOUN
fumecheng-11384	300	14	of	of	ADP
fumecheng-11384	300	15	the	the	DET
fumecheng-11384	300	16	robot	robot	NOUN
fumecheng-11384	300	17	arm	arm	NOUN
fumecheng-11384	300	18	and	and	CCONJ
fumecheng-11384	300	19	the	the	DET
fumecheng-11384	300	20	components	component	NOUN
fumecheng-11384	300	21	connected	connect	VERB
fumecheng-11384	300	22	on	on	ADP
fumecheng-11384	300	23	the	the	DET
fumecheng-11384	300	24	joint	joint	NOUN
fumecheng-11384	300	25	,	,	PUNCT
fumecheng-11384	300	26	and	and	CCONJ
fumecheng-11384	300	27	can	can	AUX
fumecheng-11384	300	28	also	also	ADV
fumecheng-11384	300	29	simulate	simulate	VERB
fumecheng-11384	300	30	the	the	DET
fumecheng-11384	300	31	motion	motion	NOUN
fumecheng-11384	300	32	state	state	NOUN
fumecheng-11384	300	33	of	of	ADP
fumecheng-11384	300	34	the	the	DET
fumecheng-11384	300	35	outer	outer	ADJ
fumecheng-11384	300	36	shaft	shaft	NOUN
fumecheng-11384	300	37	of	of	ADP
fumecheng-11384	300	38	the	the	DET
fumecheng-11384	300	39	robot	robot	NOUN
fumecheng-11384	300	40	arm	arm	NOUN
fumecheng-11384	300	41	.	.	PUNCT
fumecheng-11384	301	1	the	the	DET
fumecheng-11384	301	2	environment	environment	NOUN
fumecheng-11384	301	3	module	module	NOUN
fumecheng-11384	301	4	is	be	AUX
fumecheng-11384	301	5	shown	show	VERB
fumecheng-11384	301	6	in	in	ADP
fumecheng-11384	301	7	fig	fig	NOUN
fumecheng-11384	301	8	.	.	PUNCT
fumecheng-11384	302	1	8	8	NUM
fumecheng-11384	302	2	.	.	X
fumecheng-11384	302	3	fig	fig	NOUN
fumecheng-11384	302	4	.	.	PUNCT
fumecheng-11384	303	1	7	7	NUM
fumecheng-11384	303	2	joint	joint	ADJ
fumecheng-11384	303	3	module	module	NOUN
fumecheng-11384	303	4	of	of	ADP
fumecheng-11384	303	5	the	the	DET
fumecheng-11384	303	6	mbs	mb	NOUN
fumecheng-11384	303	7	model	model	NOUN
fumecheng-11384	303	8	fig	fig	PROPN
fumecheng-11384	303	9	.	.	PUNCT
fumecheng-11384	303	10	8	8	NUM
fumecheng-11384	303	11	environment	environment	NOUN
fumecheng-11384	303	12	module	module	NOUN
fumecheng-11384	303	13	of	of	ADP
fumecheng-11384	303	14	the	the	DET
fumecheng-11384	303	15	mbs	mb	NOUN
fumecheng-11384	303	16	model	model	NOUN
fumecheng-11384	303	17	in	in	ADP
fumecheng-11384	303	18	order	order	NOUN
fumecheng-11384	303	19	to	to	PART
fumecheng-11384	303	20	make	make	VERB
fumecheng-11384	303	21	the	the	DET
fumecheng-11384	303	22	model	model	NOUN
fumecheng-11384	303	23	consistent	consistent	ADJ
fumecheng-11384	303	24	with	with	ADP
fumecheng-11384	303	25	the	the	DET
fumecheng-11384	303	26	equivalent	equivalent	ADJ
fumecheng-11384	303	27	model	model	NOUN
fumecheng-11384	304	1	,	,	PUNCT
fumecheng-11384	304	2	the	the	DET
fumecheng-11384	304	3	position	position	NOUN
fumecheng-11384	304	4	of	of	ADP
fumecheng-11384	304	5	l33	l33	NOUN
fumecheng-11384	304	6	rotating	rotate	VERB
fumecheng-11384	304	7	joint	joint	NOUN
fumecheng-11384	304	8	is	be	AUX
fumecheng-11384	304	9	coincident	coincident	ADJ
fumecheng-11384	304	10	with	with	ADP
fumecheng-11384	304	11	a2b	a2b	PROPN
fumecheng-11384	304	12	.	.	PUNCT
fumecheng-11384	305	1	this	this	PRON
fumecheng-11384	305	2	causes	cause	VERB
fumecheng-11384	305	3	l2a	l2a	PROPN
fumecheng-11384	305	4	,	,	PUNCT
fumecheng-11384	305	5	l2b	l2b	ADJ
fumecheng-11384	305	6	,	,	PUNCT
fumecheng-11384	305	7	l31	l31	ADJ
fumecheng-11384	305	8	,	,	PUNCT
fumecheng-11384	305	9	l32	l32	NOUN
fumecheng-11384	305	10	,	,	PUNCT
fumecheng-11384	305	11	l33a	l33a	NOUN
fumecheng-11384	305	12	and	and	CCONJ
fumecheng-11384	305	13	l33b	l33b	PROPN
fumecheng-11384	305	14	in	in	ADP
fumecheng-11384	305	15	the	the	DET
fumecheng-11384	305	16	robot	robot	NOUN
fumecheng-11384	305	17	arm	arm	NOUN
fumecheng-11384	305	18	model	model	NOUN
fumecheng-11384	305	19	to	to	PART
fumecheng-11384	305	20	be	be	AUX
fumecheng-11384	305	21	driven	drive	VERB
fumecheng-11384	305	22	components	component	NOUN
fumecheng-11384	305	23	.	.	PUNCT
fumecheng-11384	306	1	according	accord	VERB
fumecheng-11384	306	2	to	to	ADP
fumecheng-11384	306	3	tab	tab	NOUN
fumecheng-11384	306	4	.	.	PROPN
fumecheng-11384	306	5	1	1	NUM
fumecheng-11384	306	6	and	and	CCONJ
fumecheng-11384	306	7	tab	tab	NOUN
fumecheng-11384	306	8	.	.	PUNCT
fumecheng-11384	306	9	2	2	NUM
fumecheng-11384	306	10	,	,	PUNCT
fumecheng-11384	306	11	the	the	DET
fumecheng-11384	306	12	solid	solid	ADJ
fumecheng-11384	306	13	transform	transform	NOUN
fumecheng-11384	306	14	parameters	parameter	NOUN
fumecheng-11384	306	15	of	of	ADP
fumecheng-11384	306	16	each	each	DET
fumecheng-11384	306	17	joint	joint	ADJ
fumecheng-11384	306	18	module	module	NOUN
fumecheng-11384	306	19	can	can	AUX
fumecheng-11384	306	20	be	be	AUX
fumecheng-11384	306	21	obtained	obtain	VERB
fumecheng-11384	306	22	,	,	PUNCT
fumecheng-11384	306	23	as	as	SCONJ
fumecheng-11384	306	24	shown	show	VERB
fumecheng-11384	306	25	in	in	ADP
fumecheng-11384	306	26	tab	tab	NOUN
fumecheng-11384	306	27	.	.	PUNCT
fumecheng-11384	307	1	5	5	NUM
fumecheng-11384	307	2	.	.	X
fumecheng-11384	307	3	modeling	modeling	NOUN
fumecheng-11384	307	4	and	and	CCONJ
fumecheng-11384	307	5	simulation	simulation	NOUN
fumecheng-11384	307	6	of	of	ADP
fumecheng-11384	307	7	industrial	industrial	ADJ
fumecheng-11384	307	8	robot	robot	NOUN
fumecheng-11384	307	9	arms	arm	NOUN
fumecheng-11384	307	10	using	use	VERB
fumecheng-11384	307	11	simscape	simscape	NOUN
fumecheng-11384	307	12	multibody	multibody	NOUN
fumecheng-11384	307	13	277	277	NUM
fumecheng-11384	307	14	table	table	NOUN
fumecheng-11384	307	15	5	5	NUM
fumecheng-11384	307	16	the	the	DET
fumecheng-11384	307	17	solid	solid	ADJ
fumecheng-11384	307	18	transform	transform	NOUN
fumecheng-11384	307	19	parameters	parameter	NOUN
fumecheng-11384	307	20	of	of	ADP
fumecheng-11384	307	21	joint	joint	ADJ
fumecheng-11384	307	22	module	module	NOUN
fumecheng-11384	307	23	coordinate	coordinate	NOUN
fumecheng-11384	307	24	system	system	NOUN
fumecheng-11384	307	25	conversion	conversion	NOUN
fumecheng-11384	307	26	module	module	NOUN
fumecheng-11384	307	27	tx	tx	PROPN
fumecheng-11384	307	28	(	(	PUNCT
fumecheng-11384	307	29	mm	mm	INTJ
fumecheng-11384	307	30	)	)	PUNCT
fumecheng-11384	307	31	ty	ty	INTJ
fumecheng-11384	307	32	(	(	PUNCT
fumecheng-11384	307	33	mm	mm	NOUN
fumecheng-11384	307	34	)	)	PUNCT
fumecheng-11384	307	35	tz	tz	PROPN
fumecheng-11384	307	36	(	(	PUNCT
fumecheng-11384	307	37	mm	mm	INTJ
fumecheng-11384	307	38	)	)	PUNCT
fumecheng-11384	307	39	rx	rx	VERB
fumecheng-11384	307	40	(	(	PUNCT
fumecheng-11384	307	41	deg	deg	PROPN
fumecheng-11384	307	42	)	)	PUNCT
fumecheng-11384	308	1	ry	ry	PROPN
fumecheng-11384	308	2	(	(	PUNCT
fumecheng-11384	308	3	deg	deg	PROPN
fumecheng-11384	308	4	)	)	PUNCT
fumecheng-11384	308	5	rz	rz	NOUN
fumecheng-11384	308	6	(	(	PUNCT
fumecheng-11384	308	7	deg	deg	PROPN
fumecheng-11384	308	8	)	)	PUNCT
fumecheng-11384	308	9	rt	rt	PROPN
fumecheng-11384	308	10	0_1	0_1	NUM
fumecheng-11384	309	1	-5	-5	NOUN
fumecheng-11384	309	2	0	0	NUM
fumecheng-11384	309	3	123	123	NUM
fumecheng-11384	309	4	0	0	NUM
fumecheng-11384	309	5	0	0	NUM
fumecheng-11384	309	6	0	0	NUM
fumecheng-11384	309	7	rt	rt	PROPN
fumecheng-11384	309	8	1_2	1_2	NUM
fumecheng-11384	309	9	43.5	43.5	NUM
fumecheng-11384	309	10	0	0	NUM
fumecheng-11384	309	11	105	105	NUM
fumecheng-11384	309	12	-90	-90	NUM
fumecheng-11384	309	13	0	0	NUM
fumecheng-11384	309	14	-90	-90	NUM
fumecheng-11384	309	15	rt	rt	PROPN
fumecheng-11384	309	16	1_2a	1_2a	INTJ
fumecheng-11384	309	17	-0.47	-0.47	PRON
fumecheng-11384	309	18	0	0	NUM
fumecheng-11384	309	19	250.5	250.5	NUM
fumecheng-11384	309	20	-90	-90	NUM
fumecheng-11384	309	21	0	0	NUM
fumecheng-11384	309	22	-90	-90	PUNCT
fumecheng-11384	309	23	rt	rt	PROPN
fumecheng-11384	309	24	2_2b	2_2b	NUM
fumecheng-11384	309	25	175	175	NUM
fumecheng-11384	309	26	0	0	NUM
fumecheng-11384	309	27	0	0	NUM
fumecheng-11384	309	28	0	0	NUM
fumecheng-11384	309	29	0	0	NUM
fumecheng-11384	309	30	90	90	NUM
fumecheng-11384	309	31	rt	rt	NOUN
fumecheng-11384	309	32	1_31	1_31	NUM
fumecheng-11384	309	33	43.5	43.5	NUM
fumecheng-11384	309	34	0	0	NUM
fumecheng-11384	309	35	105	105	NUM
fumecheng-11384	309	36	-90	-90	NUM
fumecheng-11384	309	37	0	0	NUM
fumecheng-11384	309	38	-90	-90	PUNCT
fumecheng-11384	309	39	rt	rt	NOUN
fumecheng-11384	310	1	31_32	31_32	NUM
fumecheng-11384	310	2	0	0	NUM
fumecheng-11384	311	1	-43	-43	SYM
fumecheng-11384	311	2	0	0	NUM
fumecheng-11384	311	3	0	0	NUM
fumecheng-11384	311	4	0	0	NUM
fumecheng-11384	311	5	0	0	NUM
fumecheng-11384	312	1	rt	rt	PROPN
fumecheng-11384	313	1	2_33	2_33	NUM
fumecheng-11384	313	2	175	175	NUM
fumecheng-11384	313	3	0	0	NUM
fumecheng-11384	313	4	0	0	NUM
fumecheng-11384	313	5	0	0	NUM
fumecheng-11384	313	6	0	0	NUM
fumecheng-11384	313	7	90	90	NUM
fumecheng-11384	313	8	rt	rt	PROPN
fumecheng-11384	313	9	2b_33a	2b_33a	NUM
fumecheng-11384	313	10	28.93	28.93	NUM
fumecheng-11384	313	11	-34.47	-34.47	NOUN
fumecheng-11384	313	12	0	0	NUM
fumecheng-11384	313	13	0	0	NUM
fumecheng-11384	313	14	0	0	NUM
fumecheng-11384	313	15	0	0	NUM
fumecheng-11384	313	16	rt	rt	NOUN
fumecheng-11384	313	17	33_33b	33_33b	NOUN
fumecheng-11384	313	18	175	175	NUM
fumecheng-11384	313	19	0	0	NUM
fumecheng-11384	313	20	0	0	NUM
fumecheng-11384	313	21	0	0	NUM
fumecheng-11384	313	22	0	0	NUM
fumecheng-11384	313	23	0	0	NUM
fumecheng-11384	313	24	rt	rt	PROPN
fumecheng-11384	313	25	33b_4	33b_4	PROPN
fumecheng-11384	313	26	66	66	NUM
fumecheng-11384	313	27	36	36	NUM
fumecheng-11384	313	28	0	0	NUM
fumecheng-11384	313	29	90	90	NUM
fumecheng-11384	313	30	0	0	NUM
fumecheng-11384	313	31	0	0	NUM
fumecheng-11384	313	32	in	in	ADP
fumecheng-11384	313	33	tab	tab	NOUN
fumecheng-11384	313	34	.	.	PUNCT
fumecheng-11384	314	1	5	5	NUM
fumecheng-11384	314	2	,	,	PUNCT
fumecheng-11384	314	3	rt	rt	PROPN
fumecheng-11384	314	4	{	{	PUNCT
fumecheng-11384	314	5	i}_{j	i}_{j	NOUN
fumecheng-11384	314	6	}	}	PUNCT
fumecheng-11384	314	7	represents	represent	VERB
fumecheng-11384	314	8	the	the	DET
fumecheng-11384	314	9	conversion	conversion	NOUN
fumecheng-11384	314	10	parameters	parameter	NOUN
fumecheng-11384	314	11	from	from	ADP
fumecheng-11384	314	12	a{i	a{i	NOUN
fumecheng-11384	314	13	}	}	PUNCT
fumecheng-11384	314	14	to	to	ADP
fumecheng-11384	314	15	a{j	a{j	NOUN
fumecheng-11384	314	16	}	}	PUNCT
fumecheng-11384	314	17	,	,	PUNCT
fumecheng-11384	314	18	and	and	CCONJ
fumecheng-11384	314	19	{	{	PUNCT
fumecheng-11384	314	20	i	i	NOUN
fumecheng-11384	314	21	}	}	PUNCT
fumecheng-11384	314	22	and	and	CCONJ
fumecheng-11384	314	23	{	{	PUNCT
fumecheng-11384	314	24	j	j	NOUN
fumecheng-11384	314	25	}	}	PUNCT
fumecheng-11384	314	26	represent	represent	VERB
fumecheng-11384	314	27	the	the	DET
fumecheng-11384	314	28	number	number	NOUN
fumecheng-11384	314	29	of	of	ADP
fumecheng-11384	314	30	the	the	DET
fumecheng-11384	314	31	robot	robot	NOUN
fumecheng-11384	314	32	arm	arm	NOUN
fumecheng-11384	314	33	assembly	assembly	NOUN
fumecheng-11384	314	34	and	and	CCONJ
fumecheng-11384	314	35	the	the	DET
fumecheng-11384	314	36	corresponding	corresponding	ADJ
fumecheng-11384	314	37	coordinate	coordinate	NOUN
fumecheng-11384	314	38	system	system	NOUN
fumecheng-11384	314	39	.	.	PUNCT
fumecheng-11384	315	1	in	in	ADP
fumecheng-11384	315	2	this	this	DET
fumecheng-11384	315	3	model	model	NOUN
fumecheng-11384	315	4	,	,	PUNCT
fumecheng-11384	315	5	the	the	DET
fumecheng-11384	315	6	corresponding	corresponding	ADJ
fumecheng-11384	315	7	joint	joint	ADJ
fumecheng-11384	315	8	modules	module	NOUN
fumecheng-11384	315	9	of	of	ADP
fumecheng-11384	315	10	l1	l1	PROPN
fumecheng-11384	315	11	,	,	PUNCT
fumecheng-11384	315	12	l2	l2	NOUN
fumecheng-11384	315	13	,	,	PUNCT
fumecheng-11384	315	14	l33	l33	PROPN
fumecheng-11384	315	15	and	and	CCONJ
fumecheng-11384	315	16	l4	l4	PROPN
fumecheng-11384	315	17	are	be	AUX
fumecheng-11384	315	18	used	use	VERB
fumecheng-11384	315	19	as	as	ADP
fumecheng-11384	315	20	the	the	DET
fumecheng-11384	315	21	active	active	ADJ
fumecheng-11384	315	22	components	component	NOUN
fumecheng-11384	315	23	of	of	ADP
fumecheng-11384	315	24	the	the	DET
fumecheng-11384	315	25	robot	robot	NOUN
fumecheng-11384	315	26	arm	arm	NOUN
fumecheng-11384	315	27	,	,	PUNCT
fumecheng-11384	315	28	and	and	CCONJ
fumecheng-11384	315	29	the	the	DET
fumecheng-11384	315	30	input	input	NOUN
fumecheng-11384	315	31	can	can	AUX
fumecheng-11384	315	32	be	be	AUX
fumecheng-11384	315	33	the	the	DET
fumecheng-11384	315	34	target	target	NOUN
fumecheng-11384	315	35	angle	angle	NOUN
fumecheng-11384	315	36	(	(	PUNCT
fumecheng-11384	315	37	j{i	j{i	NOUN
fumecheng-11384	315	38	}	}	PUNCT
fumecheng-11384	315	39	)	)	PUNCT
fumecheng-11384	315	40	or	or	CCONJ
fumecheng-11384	315	41	torque	torque	NOUN
fumecheng-11384	315	42	(	(	PUNCT
fumecheng-11384	315	43	t{i	t{i	NOUN
fumecheng-11384	315	44	}	}	PUNCT
fumecheng-11384	315	45	)	)	PUNCT
fumecheng-11384	315	46	.	.	PUNCT
fumecheng-11384	316	1	the	the	DET
fumecheng-11384	316	2	visualization	visualization	NOUN
fumecheng-11384	316	3	of	of	ADP
fumecheng-11384	316	4	the	the	DET
fumecheng-11384	316	5	robot	robot	NOUN
fumecheng-11384	316	6	arm	arm	NOUN
fumecheng-11384	316	7	is	be	AUX
fumecheng-11384	316	8	obtained	obtain	VERB
fumecheng-11384	316	9	by	by	ADP
fumecheng-11384	316	10	importing	import	VERB
fumecheng-11384	316	11	the	the	DET
fumecheng-11384	316	12	parts	part	NOUN
fumecheng-11384	316	13	of	of	ADP
fumecheng-11384	316	14	models	model	NOUN
fumecheng-11384	316	15	shown	show	VERB
fumecheng-11384	316	16	in	in	ADP
fumecheng-11384	316	17	fig	fig	NOUN
fumecheng-11384	316	18	.	.	PUNCT
fumecheng-11384	317	1	6	6	NUM
fumecheng-11384	317	2	into	into	ADP
fumecheng-11384	317	3	the	the	DET
fumecheng-11384	317	4	solid	solid	ADJ
fumecheng-11384	317	5	module	module	NOUN
fumecheng-11384	317	6	.	.	PUNCT
fumecheng-11384	318	1	as	as	SCONJ
fumecheng-11384	318	2	the	the	DET
fumecheng-11384	318	3	mg400	mg400	NOUN
fumecheng-11384	318	4	is	be	AUX
fumecheng-11384	318	5	made	make	VERB
fumecheng-11384	318	6	of	of	ADP
fumecheng-11384	318	7	aluminum	aluminum	NOUN
fumecheng-11384	318	8	alloy	alloy	NOUN
fumecheng-11384	318	9	,	,	PUNCT
fumecheng-11384	318	10	the	the	DET
fumecheng-11384	318	11	model	model	NOUN
fumecheng-11384	318	12	parameter	parameter	NOUN
fumecheng-11384	318	13	density	density	NOUN
fumecheng-11384	318	14	is	be	AUX
fumecheng-11384	318	15	set	set	VERB
fumecheng-11384	318	16	to	to	ADP
fumecheng-11384	318	17	2700	2700	NUM
fumecheng-11384	318	18	kg	kg	NOUN
fumecheng-11384	318	19	/	/	SYM
fumecheng-11384	318	20	m3	m3	PROPN
fumecheng-11384	318	21	,	,	PUNCT
fumecheng-11384	318	22	and	and	CCONJ
fumecheng-11384	318	23	the	the	DET
fumecheng-11384	318	24	physical	physical	ADJ
fumecheng-11384	318	25	properties	property	NOUN
fumecheng-11384	318	26	of	of	ADP
fumecheng-11384	318	27	the	the	DET
fumecheng-11384	318	28	components	component	NOUN
fumecheng-11384	318	29	such	such	ADJ
fumecheng-11384	318	30	as	as	ADP
fumecheng-11384	318	31	mass	mass	ADJ
fumecheng-11384	318	32	,	,	PUNCT
fumecheng-11384	318	33	center	center	NOUN
fumecheng-11384	318	34	of	of	ADP
fumecheng-11384	318	35	mass	mass	NOUN
fumecheng-11384	318	36	coordinates	coordinate	NOUN
fumecheng-11384	318	37	and	and	CCONJ
fumecheng-11384	318	38	moment	moment	NOUN
fumecheng-11384	318	39	of	of	ADP
fumecheng-11384	318	40	inertia	inertia	NOUN
fumecheng-11384	318	41	will	will	AUX
fumecheng-11384	318	42	be	be	AUX
fumecheng-11384	318	43	automatically	automatically	ADV
fumecheng-11384	318	44	calculated	calculate	VERB
fumecheng-11384	318	45	according	accord	VERB
fumecheng-11384	318	46	to	to	ADP
fumecheng-11384	318	47	the	the	DET
fumecheng-11384	318	48	geometric	geometric	ADJ
fumecheng-11384	318	49	characteristics	characteristic	NOUN
fumecheng-11384	318	50	of	of	ADP
fumecheng-11384	318	51	the	the	DET
fumecheng-11384	318	52	model	model	NOUN
fumecheng-11384	318	53	,	,	PUNCT
fumecheng-11384	318	54	as	as	SCONJ
fumecheng-11384	318	55	shown	show	VERB
fumecheng-11384	318	56	in	in	ADP
fumecheng-11384	318	57	tab	tab	NOUN
fumecheng-11384	318	58	.	.	PUNCT
fumecheng-11384	319	1	6	6	NUM
fumecheng-11384	319	2	.	.	NOUN
fumecheng-11384	319	3	table	table	NOUN
fumecheng-11384	319	4	6	6	NUM
fumecheng-11384	319	5	the	the	DET
fumecheng-11384	319	6	physical	physical	ADJ
fumecheng-11384	319	7	properties	property	NOUN
fumecheng-11384	319	8	of	of	ADP
fumecheng-11384	319	9	solid	solid	ADJ
fumecheng-11384	319	10	module	module	NOUN
fumecheng-11384	319	11	modules	module	NOUN
fumecheng-11384	319	12	solid	solid	ADJ
fumecheng-11384	319	13	module	module	NOUN
fumecheng-11384	319	14	mass	mass	NOUN
fumecheng-11384	319	15	(	(	PUNCT
fumecheng-11384	319	16	kg	kg	NOUN
fumecheng-11384	319	17	)	)	PUNCT
fumecheng-11384	319	18	centroid	centroid	NOUN
fumecheng-11384	319	19	coordinates	coordinate	NOUN
fumecheng-11384	319	20	(	(	PUNCT
fumecheng-11384	319	21	cm	cm	NOUN
fumecheng-11384	319	22	)	)	PUNCT
fumecheng-11384	319	23	moment	moment	NOUN
fumecheng-11384	319	24	of	of	ADP
fumecheng-11384	319	25	inertia	inertia	NOUN
fumecheng-11384	319	26	(	(	PUNCT
fumecheng-11384	319	27	g·cm2	g·cm2	NOUN
fumecheng-11384	319	28	)	)	PUNCT
fumecheng-11384	319	29	l1	l1	PROPN
fumecheng-11384	319	30	4.781	4.781	NUM
fumecheng-11384	320	1	[	[	X
fumecheng-11384	320	2	0.462	0.462	NUM
fumecheng-11384	320	3	,	,	PUNCT
fumecheng-11384	320	4	-0.006	-0.006	PROPN
fumecheng-11384	320	5	,	,	PUNCT
fumecheng-11384	320	6	5.699	5.699	NUM
fumecheng-11384	320	7	]	]	PUNCT
fumecheng-11384	320	8	[	[	X
fumecheng-11384	320	9	163602	163602	NUM
fumecheng-11384	320	10	,	,	PUNCT
fumecheng-11384	320	11	156446	156446	NUM
fumecheng-11384	320	12	,	,	PUNCT
fumecheng-11384	320	13	200109	200109	NUM
fumecheng-11384	320	14	]	]	PUNCT
fumecheng-11384	320	15	l2	l2	NOUN
fumecheng-11384	320	16	0.234	0.234	NUM
fumecheng-11384	320	17	[	[	SYM
fumecheng-11384	320	18	5.963	5.963	NUM
fumecheng-11384	320	19	,	,	PUNCT
fumecheng-11384	320	20	-0.286	-0.286	ADJ
fumecheng-11384	320	21	,	,	PUNCT
fumecheng-11384	320	22	-0.049	-0.049	X
fumecheng-11384	320	23	]	]	X
fumecheng-11384	321	1	[	[	X
fumecheng-11384	321	2	1049.56	1049.56	NUM
fumecheng-11384	321	3	,	,	PUNCT
fumecheng-11384	321	4	9144.35	9144.35	NUM
fumecheng-11384	321	5	,	,	PUNCT
fumecheng-11384	321	6	8310.61	8310.61	NUM
fumecheng-11384	321	7	]	]	PUNCT
fumecheng-11384	321	8	l2a	l2a	NOUN
fumecheng-11384	321	9	0.179	0.179	NUM
fumecheng-11384	322	1	[	[	X
fumecheng-11384	322	2	7.378	7.378	NUM
fumecheng-11384	322	3	,	,	PUNCT
fumecheng-11384	322	4	-1.967	-1.967	PRON
fumecheng-11384	322	5	,	,	PUNCT
fumecheng-11384	322	6	0.001	0.001	NUM
fumecheng-11384	322	7	]	]	PUNCT
fumecheng-11384	323	1	[	[	X
fumecheng-11384	323	2	1009.9	1009.9	NUM
fumecheng-11384	323	3	,	,	PUNCT
fumecheng-11384	323	4	5914.17	5914.17	NUM
fumecheng-11384	323	5	,	,	PUNCT
fumecheng-11384	323	6	5415.16	5415.16	NUM
fumecheng-11384	323	7	]	]	X
fumecheng-11384	324	1	l2b	l2b	PROPN
fumecheng-11384	324	2	0.099	0.099	NUM
fumecheng-11384	324	3	[	[	X
fumecheng-11384	324	4	-0.511486	-0.511486	NOUN
fumecheng-11384	324	5	,	,	PUNCT
fumecheng-11384	324	6	-2.702	-2.702	NUM
fumecheng-11384	324	7	,	,	PUNCT
fumecheng-11384	324	8	0.002	0.002	NUM
fumecheng-11384	324	9	]	]	PUNCT
fumecheng-11384	325	1	[	[	X
fumecheng-11384	325	2	408.52	408.52	NUM
fumecheng-11384	325	3	,	,	PUNCT
fumecheng-11384	325	4	663.483	663.483	NUM
fumecheng-11384	325	5	,	,	PUNCT
fumecheng-11384	325	6	634.498	634.498	NUM
fumecheng-11384	325	7	]	]	PUNCT
fumecheng-11384	325	8	l31	l31	VERB
fumecheng-11384	325	9	0.012	0.012	NUM
fumecheng-11384	325	10	[	[	X
fumecheng-11384	325	11	-0	-0	INTJ
fumecheng-11384	325	12	,	,	PUNCT
fumecheng-11384	325	13	-1.728	-1.728	PROPN
fumecheng-11384	325	14	,	,	PUNCT
fumecheng-11384	325	15	-0.003	-0.003	NOUN
fumecheng-11384	325	16	]	]	X
fumecheng-11384	326	1	[	[	X
fumecheng-11384	326	2	43.717	43.717	NUM
fumecheng-11384	326	3	,	,	PUNCT
fumecheng-11384	326	4	3.788	3.788	NUM
fumecheng-11384	326	5	,	,	PUNCT
fumecheng-11384	326	6	45.756	45.756	NUM
fumecheng-11384	326	7	]	]	PUNCT
fumecheng-11384	326	8	l32	l32	NOUN
fumecheng-11384	326	9	0.025	0.025	NUM
fumecheng-11384	326	10	[	[	X
fumecheng-11384	326	11	8.934	8.934	NUM
fumecheng-11384	326	12	,	,	PUNCT
fumecheng-11384	326	13	0.204	0.204	NUM
fumecheng-11384	326	14	,	,	PUNCT
fumecheng-11384	326	15	-0.453	-0.453	PUNCT
fumecheng-11384	326	16	]	]	PUNCT
fumecheng-11384	327	1	[	[	X
fumecheng-11384	327	2	3.752	3.752	NUM
fumecheng-11384	327	3	,	,	PUNCT
fumecheng-11384	327	4	966.085	966.085	NUM
fumecheng-11384	327	5	,	,	PUNCT
fumecheng-11384	327	6	968.624	968.624	NUM
fumecheng-11384	327	7	]	]	PUNCT
fumecheng-11384	327	8	l33	l33	PROPN
fumecheng-11384	327	9	0.101	0.101	NUM
fumecheng-11384	328	1	[	[	X
fumecheng-11384	328	2	8.21	8.21	NUM
fumecheng-11384	328	3	,	,	PUNCT
fumecheng-11384	328	4	0.487	0.487	NUM
fumecheng-11384	328	5	,	,	PUNCT
fumecheng-11384	328	6	0.011	0.011	NUM
fumecheng-11384	328	7	]	]	PUNCT
fumecheng-11384	329	1	[	[	X
fumecheng-11384	329	2	68.215	68.215	NUM
fumecheng-11384	329	3	,	,	PUNCT
fumecheng-11384	329	4	4436.23	4436.23	NUM
fumecheng-11384	329	5	,	,	PUNCT
fumecheng-11384	329	6	4433.04	4433.04	NUM
fumecheng-11384	329	7	]	]	PUNCT
fumecheng-11384	329	8	l33a	l33a	NOUN
fumecheng-11384	329	9	0.122	0.122	NUM
fumecheng-11384	330	1	[	[	X
fumecheng-11384	330	2	8.78	8.78	NUM
fumecheng-11384	330	3	,	,	PUNCT
fumecheng-11384	330	4	-0.668	-0.668	NOUN
fumecheng-11384	330	5	,	,	PUNCT
fumecheng-11384	330	6	-0.001	-0.001	PUNCT
fumecheng-11384	330	7	]	]	PUNCT
fumecheng-11384	331	1	[	[	X
fumecheng-11384	331	2	541.489	541.489	NUM
fumecheng-11384	331	3	,	,	PUNCT
fumecheng-11384	331	4	3825.9	3825.9	NUM
fumecheng-11384	331	5	,	,	PUNCT
fumecheng-11384	331	6	3563.67	3563.67	NUM
fumecheng-11384	331	7	]	]	PUNCT
fumecheng-11384	331	8	l33b	l33b	NOUN
fumecheng-11384	331	9	0.431	0.431	NUM
fumecheng-11384	332	1	[	[	X
fumecheng-11384	332	2	5.526	5.526	NUM
fumecheng-11384	332	3	,	,	PUNCT
fumecheng-11384	332	4	0.337	0.337	NUM
fumecheng-11384	332	5	,	,	PUNCT
fumecheng-11384	332	6	0.003	0.003	NUM
fumecheng-11384	332	7	]	]	PUNCT
fumecheng-11384	333	1	[	[	X
fumecheng-11384	333	2	2676.58	2676.58	NUM
fumecheng-11384	333	3	,	,	PUNCT
fumecheng-11384	333	4	2873.23	2873.23	NUM
fumecheng-11384	333	5	,	,	PUNCT
fumecheng-11384	333	6	4239.39	4239.39	NUM
fumecheng-11384	333	7	]	]	X
fumecheng-11384	333	8	l4	l4	PROPN
fumecheng-11384	333	9	0.004	0.004	NUM
fumecheng-11384	333	10	[	[	X
fumecheng-11384	333	11	0	0	NUM
fumecheng-11384	333	12	,	,	PUNCT
fumecheng-11384	333	13	0	0	NUM
fumecheng-11384	333	14	,	,	PUNCT
fumecheng-11384	333	15	0	0	NUM
fumecheng-11384	333	16	]	]	PUNCT
fumecheng-11384	334	1	[	[	X
fumecheng-11384	334	2	3.824	3.824	NUM
fumecheng-11384	334	3	,	,	PUNCT
fumecheng-11384	334	4	3.824	3.824	NUM
fumecheng-11384	334	5	,	,	PUNCT
fumecheng-11384	334	6	0.223	0.223	NUM
fumecheng-11384	334	7	]	]	PUNCT
fumecheng-11384	334	8	connecting	connect	VERB
fumecheng-11384	334	9	each	each	DET
fumecheng-11384	334	10	module	module	NOUN
fumecheng-11384	334	11	which	which	PRON
fumecheng-11384	334	12	are	be	AUX
fumecheng-11384	334	13	shown	show	VERB
fumecheng-11384	334	14	in	in	ADP
fumecheng-11384	334	15	fig	fig	NOUN
fumecheng-11384	334	16	.	.	PUNCT
fumecheng-11384	335	1	3	3	NUM
fumecheng-11384	335	2	to	to	PART
fumecheng-11384	335	3	get	get	VERB
fumecheng-11384	335	4	the	the	DET
fumecheng-11384	335	5	mbs	mb	NOUN
fumecheng-11384	335	6	model	model	NOUN
fumecheng-11384	335	7	of	of	ADP
fumecheng-11384	335	8	the	the	DET
fumecheng-11384	335	9	robot	robot	NOUN
fumecheng-11384	335	10	arm	arm	NOUN
fumecheng-11384	335	11	,	,	PUNCT
fumecheng-11384	335	12	as	as	SCONJ
fumecheng-11384	335	13	shown	show	VERB
fumecheng-11384	335	14	in	in	ADP
fumecheng-11384	335	15	fig	fig	NOUN
fumecheng-11384	335	16	.	.	PUNCT
fumecheng-11384	336	1	9	9	X
fumecheng-11384	336	2	.	.	X
fumecheng-11384	337	1	the	the	DET
fumecheng-11384	337	2	physical	physical	ADJ
fumecheng-11384	337	3	quantities	quantity	NOUN
fumecheng-11384	337	4	in	in	ADP
fumecheng-11384	337	5	mbs	mb	NOUN
fumecheng-11384	337	6	model	model	NOUN
fumecheng-11384	337	7	are	be	AUX
fumecheng-11384	337	8	simulated	simulate	VERB
fumecheng-11384	337	9	by	by	ADP
fumecheng-11384	337	10	its	its	PRON
fumecheng-11384	337	11	basic	basic	ADJ
fumecheng-11384	337	12	equations	equation	NOUN
fumecheng-11384	337	13	,	,	PUNCT
fumecheng-11384	337	14	which	which	PRON
fumecheng-11384	337	15	have	have	VERB
fumecheng-11384	337	16	original	original	ADJ
fumecheng-11384	337	17	physical	physical	ADJ
fumecheng-11384	337	18	effects	effect	NOUN
fumecheng-11384	337	19	and	and	CCONJ
fumecheng-11384	337	20	characteristics	characteristic	NOUN
fumecheng-11384	337	21	.	.	PUNCT
fumecheng-11384	338	1	the	the	DET
fumecheng-11384	338	2	motion	motion	NOUN
fumecheng-11384	338	3	state	state	NOUN
fumecheng-11384	338	4	of	of	ADP
fumecheng-11384	338	5	the	the	DET
fumecheng-11384	338	6	system	system	NOUN
fumecheng-11384	338	7	is	be	AUX
fumecheng-11384	338	8	solved	solve	VERB
fumecheng-11384	338	9	by	by	ADP
fumecheng-11384	338	10	the	the	DET
fumecheng-11384	338	11	basic	basic	ADJ
fumecheng-11384	338	12	motion	motion	NOUN
fumecheng-11384	338	13	equation	equation	NOUN
fumecheng-11384	338	14	at	at	ADP
fumecheng-11384	338	15	each	each	DET
fumecheng-11384	338	16	sampling	sampling	NOUN
fumecheng-11384	338	17	time	time	NOUN
fumecheng-11384	338	18	,	,	PUNCT
fumecheng-11384	338	19	and	and	CCONJ
fumecheng-11384	338	20	the	the	DET
fumecheng-11384	338	21	visual	visual	ADJ
fumecheng-11384	338	22	images	image	NOUN
fumecheng-11384	338	23	are	be	AUX
fumecheng-11384	338	24	synchronously	synchronously	ADV
fumecheng-11384	338	25	generated	generate	VERB
fumecheng-11384	338	26	in	in	ADP
fumecheng-11384	338	27	mechanics	mechanic	NOUN
fumecheng-11384	338	28	explorers	explorer	NOUN
fumecheng-11384	338	29	.	.	PUNCT
fumecheng-11384	339	1	278	278	NUM
fumecheng-11384	339	2	c.	c.	PROPN
fumecheng-11384	339	3	zhang	zhang	PROPN
fumecheng-11384	339	4	,	,	PUNCT
fumecheng-11384	339	5	s.	s.	PROPN
fumecheng-11384	339	6	li	li	PROPN
fumecheng-11384	339	7	,	,	PUNCT
fumecheng-11384	339	8	z.	z.	PROPN
fumecheng-11384	339	9	zhang	zhang	PROPN
fumecheng-11384	339	10	fig	fig	PROPN
fumecheng-11384	339	11	.	.	PUNCT
fumecheng-11384	340	1	9	9	NUM
fumecheng-11384	340	2	the	the	DET
fumecheng-11384	340	3	mbs	mb	NOUN
fumecheng-11384	340	4	model	model	NOUN
fumecheng-11384	340	5	of	of	ADP
fumecheng-11384	340	6	robotic	robotic	ADJ
fumecheng-11384	340	7	arm	arm	NOUN
fumecheng-11384	340	8	3.3	3.3	NUM
fumecheng-11384	340	9	.	.	PUNCT
fumecheng-11384	341	1	mbs	mbs	PRON
fumecheng-11384	341	2	dynamic	dynamic	ADJ
fumecheng-11384	341	3	simulation	simulation	NOUN
fumecheng-11384	341	4	modeling	model	VERB
fumecheng-11384	341	5	the	the	DET
fumecheng-11384	341	6	mbs	mb	NOUN
fumecheng-11384	341	7	dynamic	dynamic	ADJ
fumecheng-11384	341	8	simulation	simulation	NOUN
fumecheng-11384	341	9	model	model	NOUN
fumecheng-11384	341	10	after	after	ADP
fumecheng-11384	341	11	adding	add	VERB
fumecheng-11384	341	12	the	the	DET
fumecheng-11384	341	13	trajectory	trajectory	NOUN
fumecheng-11384	341	14	planning	planning	NOUN
fumecheng-11384	341	15	module	module	NOUN
fumecheng-11384	341	16	,	,	PUNCT
fumecheng-11384	341	17	control	control	NOUN
fumecheng-11384	341	18	algorithm	algorithm	NOUN
fumecheng-11384	341	19	module	module	NOUN
fumecheng-11384	341	20	and	and	CCONJ
fumecheng-11384	341	21	data	data	NOUN
fumecheng-11384	341	22	acquisition	acquisition	NOUN
fumecheng-11384	341	23	module	module	NOUN
fumecheng-11384	341	24	is	be	AUX
fumecheng-11384	341	25	shown	show	VERB
fumecheng-11384	341	26	in	in	ADP
fumecheng-11384	341	27	fig	fig	NOUN
fumecheng-11384	341	28	.	.	PUNCT
fumecheng-11384	342	1	10	10	NUM
fumecheng-11384	342	2	.	.	PUNCT
fumecheng-11384	343	1	these	these	DET
fumecheng-11384	343	2	interfaces	interface	NOUN
fumecheng-11384	343	3	all	all	ADV
fumecheng-11384	343	4	greatly	greatly	ADV
fumecheng-11384	343	5	facilitate	facilitate	VERB
fumecheng-11384	343	6	the	the	DET
fumecheng-11384	343	7	follow	follow	VERB
fumecheng-11384	343	8	-	-	PUNCT
fumecheng-11384	343	9	up	up	ADP
fumecheng-11384	343	10	research	research	NOUN
fumecheng-11384	343	11	and	and	CCONJ
fumecheng-11384	343	12	development	development	NOUN
fumecheng-11384	343	13	of	of	ADP
fumecheng-11384	343	14	the	the	DET
fumecheng-11384	343	15	robot	robot	NOUN
fumecheng-11384	343	16	.	.	PUNCT
fumecheng-11384	344	1	in	in	ADP
fumecheng-11384	344	2	addition	addition	NOUN
fumecheng-11384	344	3	,	,	PUNCT
fumecheng-11384	344	4	the	the	DET
fumecheng-11384	344	5	mbs	mbs	NOUN
fumecheng-11384	344	6	model	model	NOUN
fumecheng-11384	344	7	retains	retain	VERB
fumecheng-11384	344	8	the	the	DET
fumecheng-11384	344	9	interface	interface	NOUN
fumecheng-11384	344	10	between	between	ADP
fumecheng-11384	344	11	the	the	DET
fumecheng-11384	344	12	robot	robot	NOUN
fumecheng-11384	344	13	arm	arm	NOUN
fumecheng-11384	344	14	and	and	CCONJ
fumecheng-11384	344	15	the	the	DET
fumecheng-11384	344	16	robot	robot	NOUN
fumecheng-11384	344	17	outer	outer	ADJ
fumecheng-11384	344	18	axis	axis	NOUN
fumecheng-11384	344	19	and	and	CCONJ
fumecheng-11384	344	20	the	the	DET
fumecheng-11384	344	21	tool	tool	NOUN
fumecheng-11384	344	22	,	,	PUNCT
fumecheng-11384	344	23	enabling	enable	VERB
fumecheng-11384	344	24	the	the	DET
fumecheng-11384	344	25	simulation	simulation	NOUN
fumecheng-11384	344	26	system	system	NOUN
fumecheng-11384	344	27	to	to	PART
fumecheng-11384	344	28	be	be	AUX
fumecheng-11384	344	29	used	use	VERB
fumecheng-11384	344	30	repeatedly	repeatedly	ADV
fumecheng-11384	344	31	and	and	CCONJ
fumecheng-11384	344	32	effectively	effectively	ADV
fumecheng-11384	344	33	in	in	ADP
fumecheng-11384	344	34	subsequent	subsequent	ADJ
fumecheng-11384	344	35	studies	study	NOUN
fumecheng-11384	344	36	of	of	ADP
fumecheng-11384	344	37	the	the	DET
fumecheng-11384	344	38	robot	robot	NOUN
fumecheng-11384	344	39	arm	arm	NOUN
fumecheng-11384	344	40	,	,	PUNCT
fumecheng-11384	344	41	in	in	ADP
fumecheng-11384	344	42	this	this	DET
fumecheng-11384	344	43	way	way	NOUN
fumecheng-11384	344	44	to	to	PART
fumecheng-11384	344	45	facilitate	facilitate	VERB
fumecheng-11384	344	46	subsequent	subsequent	ADJ
fumecheng-11384	344	47	ongoing	ongoing	ADJ
fumecheng-11384	344	48	development	development	NOUN
fumecheng-11384	344	49	.	.	PUNCT
fumecheng-11384	345	1	fig	fig	NOUN
fumecheng-11384	345	2	.	.	PUNCT
fumecheng-11384	346	1	10	10	NUM
fumecheng-11384	346	2	the	the	DET
fumecheng-11384	346	3	dynamic	dynamic	ADJ
fumecheng-11384	346	4	simulation	simulation	NOUN
fumecheng-11384	346	5	model	model	NOUN
fumecheng-11384	346	6	of	of	ADP
fumecheng-11384	346	7	mg400	mg400	NOUN
fumecheng-11384	346	8	modeling	modeling	NOUN
fumecheng-11384	346	9	and	and	CCONJ
fumecheng-11384	346	10	simulation	simulation	NOUN
fumecheng-11384	346	11	of	of	ADP
fumecheng-11384	346	12	industrial	industrial	ADJ
fumecheng-11384	346	13	robot	robot	NOUN
fumecheng-11384	346	14	arms	arm	NOUN
fumecheng-11384	346	15	using	use	VERB
fumecheng-11384	346	16	simscape	simscape	NOUN
fumecheng-11384	346	17	multibody	multibody	NOUN
fumecheng-11384	346	18	279	279	NUM
fumecheng-11384	346	19	4	4	NUM
fumecheng-11384	346	20	.	.	PUNCT
fumecheng-11384	346	21	simulation	simulation	NOUN
fumecheng-11384	346	22	results	result	NOUN
fumecheng-11384	346	23	and	and	CCONJ
fumecheng-11384	346	24	analysis	analysis	NOUN
fumecheng-11384	346	25	the	the	DET
fumecheng-11384	346	26	dynamic	dynamic	ADJ
fumecheng-11384	346	27	simulation	simulation	NOUN
fumecheng-11384	346	28	of	of	ADP
fumecheng-11384	346	29	the	the	DET
fumecheng-11384	346	30	mbs	mb	NOUN
fumecheng-11384	346	31	model	model	NOUN
fumecheng-11384	346	32	system	system	NOUN
fumecheng-11384	346	33	by	by	ADP
fumecheng-11384	346	34	the	the	DET
fumecheng-11384	346	35	above	above	NOUN
fumecheng-11384	346	36	.	.	PUNCT
fumecheng-11384	347	1	in	in	ADP
fumecheng-11384	347	2	this	this	DET
fumecheng-11384	347	3	paper	paper	NOUN
fumecheng-11384	347	4	,	,	PUNCT
fumecheng-11384	347	5	the	the	DET
fumecheng-11384	347	6	palletizing	palletize	VERB
fumecheng-11384	347	7	operation	operation	NOUN
fumecheng-11384	347	8	task	task	NOUN
fumecheng-11384	347	9	of	of	ADP
fumecheng-11384	347	10	the	the	DET
fumecheng-11384	347	11	industrial	industrial	ADJ
fumecheng-11384	347	12	mechanical	mechanical	ADJ
fumecheng-11384	347	13	arm	arm	NOUN
fumecheng-11384	347	14	is	be	AUX
fumecheng-11384	347	15	selected	select	VERB
fumecheng-11384	347	16	as	as	ADP
fumecheng-11384	347	17	the	the	DET
fumecheng-11384	347	18	trajectory	trajectory	NOUN
fumecheng-11384	347	19	planning	planning	NOUN
fumecheng-11384	347	20	target	target	NOUN
fumecheng-11384	347	21	.	.	PUNCT
fumecheng-11384	348	1	according	accord	VERB
fumecheng-11384	348	2	to	to	ADP
fumecheng-11384	348	3	the	the	DET
fumecheng-11384	348	4	operation	operation	NOUN
fumecheng-11384	348	5	requirements	requirement	NOUN
fumecheng-11384	348	6	,	,	PUNCT
fumecheng-11384	348	7	given	give	VERB
fumecheng-11384	348	8	the	the	DET
fumecheng-11384	348	9	coordinates	coordinate	NOUN
fumecheng-11384	348	10	of	of	ADP
fumecheng-11384	348	11	target	target	NOUN
fumecheng-11384	348	12	points	point	NOUN
fumecheng-11384	348	13	such	such	ADJ
fumecheng-11384	348	14	as	as	ADP
fumecheng-11384	348	15	initial	initial	ADJ
fumecheng-11384	348	16	point	point	NOUN
fumecheng-11384	348	17	(	(	PUNCT
fumecheng-11384	348	18	a	a	X
fumecheng-11384	348	19	)	)	PUNCT
fumecheng-11384	348	20	,	,	PUNCT
fumecheng-11384	348	21	lift	lift	VERB
fumecheng-11384	348	22	hand	hand	NOUN
fumecheng-11384	348	23	point	point	NOUN
fumecheng-11384	348	24	(	(	PUNCT
fumecheng-11384	348	25	b1	b1	NOUN
fumecheng-11384	348	26	,	,	PUNCT
fumecheng-11384	348	27	b2	b2	NOUN
fumecheng-11384	348	28	)	)	PUNCT
fumecheng-11384	348	29	,	,	PUNCT
fumecheng-11384	348	30	drop	drop	VERB
fumecheng-11384	348	31	hand	hand	NOUN
fumecheng-11384	348	32	point	point	NOUN
fumecheng-11384	348	33	(	(	PUNCT
fumecheng-11384	348	34	c1	c1	PROPN
fumecheng-11384	348	35	,	,	PUNCT
fumecheng-11384	348	36	c2	c2	PROPN
fumecheng-11384	348	37	)	)	PUNCT
fumecheng-11384	348	38	and	and	CCONJ
fumecheng-11384	348	39	task	task	NOUN
fumecheng-11384	348	40	point	point	NOUN
fumecheng-11384	348	41	(	(	PUNCT
fumecheng-11384	348	42	d1	d1	NOUN
fumecheng-11384	348	43	,	,	PUNCT
fumecheng-11384	348	44	d2	d2	PROPN
fumecheng-11384	348	45	)	)	PUNCT
fumecheng-11384	348	46	.	.	PUNCT
fumecheng-11384	349	1	the	the	DET
fumecheng-11384	349	2	schematic	schematic	ADJ
fumecheng-11384	349	3	diagram	diagram	NOUN
fumecheng-11384	349	4	of	of	ADP
fumecheng-11384	349	5	the	the	DET
fumecheng-11384	349	6	movement	movement	NOUN
fumecheng-11384	349	7	of	of	ADP
fumecheng-11384	349	8	the	the	DET
fumecheng-11384	349	9	robotic	robotic	ADJ
fumecheng-11384	349	10	arm	arm	NOUN
fumecheng-11384	349	11	operation	operation	NOUN
fumecheng-11384	349	12	is	be	AUX
fumecheng-11384	349	13	shown	show	VERB
fumecheng-11384	349	14	in	in	ADP
fumecheng-11384	349	15	fig	fig	NOUN
fumecheng-11384	349	16	.	.	PUNCT
fumecheng-11384	350	1	11	11	NUM
fumecheng-11384	350	2	.	.	PUNCT
fumecheng-11384	351	1	after	after	ADP
fumecheng-11384	351	2	setting	set	VERB
fumecheng-11384	351	3	the	the	DET
fumecheng-11384	351	4	target	target	NOUN
fumecheng-11384	351	5	points	point	NOUN
fumecheng-11384	351	6	for	for	ADP
fumecheng-11384	351	7	j1	j1	PROPN
fumecheng-11384	351	8	,	,	PUNCT
fumecheng-11384	351	9	j2	j2	PROPN
fumecheng-11384	351	10	,	,	PUNCT
fumecheng-11384	351	11	j33	j33	NOUN
fumecheng-11384	351	12	and	and	CCONJ
fumecheng-11384	351	13	j4	j4	PROPN
fumecheng-11384	351	14	joints	joint	NOUN
fumecheng-11384	351	15	,	,	PUNCT
fumecheng-11384	351	16	trajectory	trajectory	NOUN
fumecheng-11384	351	17	planning	planning	NOUN
fumecheng-11384	351	18	simulations	simulation	NOUN
fumecheng-11384	351	19	were	be	AUX
fumecheng-11384	351	20	performed	perform	VERB
fumecheng-11384	351	21	using	use	VERB
fumecheng-11384	351	22	three	three	NUM
fumecheng-11384	351	23	methods	method	NOUN
fumecheng-11384	351	24	:	:	PUNCT
fumecheng-11384	351	25	the	the	DET
fumecheng-11384	351	26	quintic	quintic	ADJ
fumecheng-11384	351	27	polynomial	polynomial	ADJ
fumecheng-11384	351	28	trajectory	trajectory	NOUN
fumecheng-11384	351	29	,	,	PUNCT
fumecheng-11384	351	30	the	the	DET
fumecheng-11384	351	31	b	b	NOUN
fumecheng-11384	351	32	-	-	PUNCT
fumecheng-11384	351	33	spline	spline	NOUN
fumecheng-11384	351	34	and	and	CCONJ
fumecheng-11384	351	35	the	the	DET
fumecheng-11384	351	36	minimum	minimum	ADJ
fumecheng-11384	351	37	jerk	jerk	NOUN
fumecheng-11384	351	38	polynomial	polynomial	ADJ
fumecheng-11384	351	39	trajectory	trajectory	NOUN
fumecheng-11384	351	40	.	.	PUNCT
fumecheng-11384	352	1	generate	generate	VERB
fumecheng-11384	352	2	the	the	DET
fumecheng-11384	352	3	target	target	NOUN
fumecheng-11384	352	4	point	point	NOUN
fumecheng-11384	352	5	parameters	parameter	NOUN
fumecheng-11384	352	6	for	for	ADP
fumecheng-11384	352	7	the	the	DET
fumecheng-11384	352	8	robotic	robotic	ADJ
fumecheng-11384	352	9	arm	arm	NOUN
fumecheng-11384	352	10	,	,	PUNCT
fumecheng-11384	352	11	and	and	CCONJ
fumecheng-11384	352	12	the	the	DET
fumecheng-11384	352	13	driving	drive	VERB
fumecheng-11384	352	14	signal	signal	NOUN
fumecheng-11384	352	15	of	of	ADP
fumecheng-11384	352	16	each	each	DET
fumecheng-11384	352	17	joint	joint	ADJ
fumecheng-11384	352	18	module	module	NOUN
fumecheng-11384	352	19	is	be	AUX
fumecheng-11384	352	20	obtained	obtain	VERB
fumecheng-11384	352	21	by	by	ADP
fumecheng-11384	352	22	solving	solve	VERB
fumecheng-11384	352	23	the	the	DET
fumecheng-11384	352	24	inverse	inverse	NOUN
fumecheng-11384	352	25	solution	solution	NOUN
fumecheng-11384	352	26	.	.	PUNCT
fumecheng-11384	353	1	then	then	ADV
fumecheng-11384	353	2	the	the	DET
fumecheng-11384	353	3	signal	signal	NOUN
fumecheng-11384	353	4	is	be	AUX
fumecheng-11384	353	5	directly	directly	ADV
fumecheng-11384	353	6	transmitted	transmit	VERB
fumecheng-11384	353	7	to	to	ADP
fumecheng-11384	353	8	the	the	DET
fumecheng-11384	353	9	mbs	mb	NOUN
fumecheng-11384	353	10	model	model	NOUN
fumecheng-11384	353	11	to	to	PART
fumecheng-11384	353	12	obtain	obtain	VERB
fumecheng-11384	353	13	the	the	DET
fumecheng-11384	353	14	real	real	ADJ
fumecheng-11384	353	15	-	-	PUNCT
fumecheng-11384	353	16	time	time	NOUN
fumecheng-11384	353	17	torque	torque	NOUN
fumecheng-11384	353	18	or	or	CCONJ
fumecheng-11384	353	19	force	force	NOUN
fumecheng-11384	353	20	.	.	PUNCT
fumecheng-11384	354	1	all	all	DET
fumecheng-11384	354	2	simulation	simulation	NOUN
fumecheng-11384	354	3	data	datum	NOUN
fumecheng-11384	354	4	is	be	AUX
fumecheng-11384	354	5	available	available	ADJ
fumecheng-11384	354	6	via	via	ADP
fumecheng-11384	354	7	the	the	DET
fumecheng-11384	354	8	rotating	rotate	VERB
fumecheng-11384	354	9	joints	joint	NOUN
fumecheng-11384	354	10	and	and	CCONJ
fumecheng-11384	354	11	transformation	transformation	NOUN
fumecheng-11384	354	12	sensor	sensor	NOUN
fumecheng-11384	354	13	modules	module	NOUN
fumecheng-11384	354	14	.	.	PUNCT
fumecheng-11384	355	1	similarly	similarly	ADV
fumecheng-11384	355	2	,	,	PUNCT
fumecheng-11384	355	3	a	a	DET
fumecheng-11384	355	4	control	control	NOUN
fumecheng-11384	355	5	algorithm	algorithm	NOUN
fumecheng-11384	355	6	module	module	NOUN
fumecheng-11384	355	7	,	,	PUNCT
fumecheng-11384	355	8	added	add	VERB
fumecheng-11384	355	9	to	to	ADP
fumecheng-11384	355	10	the	the	DET
fumecheng-11384	355	11	system	system	NOUN
fumecheng-11384	355	12	,	,	PUNCT
fumecheng-11384	355	13	using	use	VERB
fumecheng-11384	355	14	torque	torque	NOUN
fumecheng-11384	355	15	as	as	ADP
fumecheng-11384	355	16	a	a	DET
fumecheng-11384	355	17	drive	drive	NOUN
fumecheng-11384	355	18	signal	signal	NOUN
fumecheng-11384	355	19	,	,	PUNCT
fumecheng-11384	355	20	can	can	AUX
fumecheng-11384	355	21	be	be	AUX
fumecheng-11384	355	22	transmitted	transmit	VERB
fumecheng-11384	355	23	to	to	ADP
fumecheng-11384	355	24	the	the	DET
fumecheng-11384	355	25	motion	motion	NOUN
fumecheng-11384	355	26	controller	controller	NOUN
fumecheng-11384	355	27	module	module	NOUN
fumecheng-11384	355	28	to	to	PART
fumecheng-11384	355	29	verify	verify	VERB
fumecheng-11384	355	30	the	the	DET
fumecheng-11384	355	31	effect	effect	NOUN
fumecheng-11384	355	32	of	of	ADP
fumecheng-11384	355	33	the	the	DET
fumecheng-11384	355	34	control	control	NOUN
fumecheng-11384	355	35	algorithm	algorithm	NOUN
fumecheng-11384	355	36	.	.	PUNCT
fumecheng-11384	356	1	the	the	DET
fumecheng-11384	356	2	paths	path	NOUN
fumecheng-11384	356	3	and	and	CCONJ
fumecheng-11384	356	4	their	their	PRON
fumecheng-11384	356	5	process	process	NOUN
fumecheng-11384	356	6	dynamic	dynamic	ADJ
fumecheng-11384	356	7	maps	map	NOUN
fumecheng-11384	356	8	planned	plan	VERB
fumecheng-11384	356	9	by	by	ADP
fumecheng-11384	356	10	the	the	DET
fumecheng-11384	356	11	above	above	ADJ
fumecheng-11384	356	12	three	three	NUM
fumecheng-11384	356	13	trajectory	trajectory	NOUN
fumecheng-11384	356	14	planning	planning	NOUN
fumecheng-11384	356	15	algorithms	algorithm	NOUN
fumecheng-11384	356	16	are	be	AUX
fumecheng-11384	356	17	obtained	obtain	VERB
fumecheng-11384	356	18	,	,	PUNCT
fumecheng-11384	356	19	as	as	SCONJ
fumecheng-11384	356	20	shown	show	VERB
fumecheng-11384	356	21	in	in	ADP
fumecheng-11384	356	22	figs	fig	NOUN
fumecheng-11384	356	23	.	.	PUNCT
fumecheng-11384	357	1	12	12	NUM
fumecheng-11384	357	2	-	-	SYM
fumecheng-11384	357	3	14	14	NUM
fumecheng-11384	357	4	.	.	PUNCT
fumecheng-11384	358	1	after	after	ADP
fumecheng-11384	358	2	the	the	DET
fumecheng-11384	358	3	path	path	NOUN
fumecheng-11384	358	4	planning	planning	NOUN
fumecheng-11384	358	5	,	,	PUNCT
fumecheng-11384	358	6	3d	3d	PROPN
fumecheng-11384	358	7	dynamic	dynamic	ADJ
fumecheng-11384	358	8	animation	animation	NOUN
fumecheng-11384	358	9	can	can	AUX
fumecheng-11384	358	10	also	also	ADV
fumecheng-11384	358	11	be	be	AUX
fumecheng-11384	358	12	generated	generate	VERB
fumecheng-11384	358	13	in	in	ADP
fumecheng-11384	358	14	the	the	DET
fumecheng-11384	358	15	mechanical	mechanical	ADJ
fumecheng-11384	358	16	explorer	explorer	NOUN
fumecheng-11384	358	17	,	,	PUNCT
fumecheng-11384	358	18	which	which	PRON
fumecheng-11384	358	19	provides	provide	VERB
fumecheng-11384	358	20	a	a	DET
fumecheng-11384	358	21	nice	nice	ADJ
fumecheng-11384	358	22	and	and	CCONJ
fumecheng-11384	358	23	straightforward	straightforward	ADJ
fumecheng-11384	358	24	option	option	NOUN
fumecheng-11384	358	25	to	to	PART
fumecheng-11384	358	26	observe	observe	VERB
fumecheng-11384	358	27	the	the	DET
fumecheng-11384	358	28	trajectory	trajectory	NOUN
fumecheng-11384	358	29	.	.	PUNCT
fumecheng-11384	359	1	a	a	DET
fumecheng-11384	359	2	few	few	ADJ
fumecheng-11384	359	3	screenshots	screenshot	NOUN
fumecheng-11384	359	4	of	of	ADP
fumecheng-11384	359	5	the	the	DET
fumecheng-11384	359	6	obtained	obtain	VERB
fumecheng-11384	359	7	trajectories	trajectory	NOUN
fumecheng-11384	359	8	are	be	AUX
fumecheng-11384	359	9	shown	show	VERB
fumecheng-11384	359	10	in	in	ADP
fumecheng-11384	359	11	fig	fig	NOUN
fumecheng-11384	359	12	.	.	PUNCT
fumecheng-11384	360	1	15	15	NUM
fumecheng-11384	360	2	.	.	PUNCT
fumecheng-11384	361	1	(	(	PUNCT
fumecheng-11384	361	2	a	a	X
fumecheng-11384	361	3	)	)	PUNCT
fumecheng-11384	361	4	(	(	PUNCT
fumecheng-11384	361	5	b	b	X
fumecheng-11384	361	6	)	)	PUNCT
fumecheng-11384	361	7	fig	fig	NOUN
fumecheng-11384	361	8	.	.	PUNCT
fumecheng-11384	362	1	12	12	NUM
fumecheng-11384	362	2	path	path	NOUN
fumecheng-11384	362	3	(	(	PUNCT
fumecheng-11384	362	4	a	a	NOUN
fumecheng-11384	362	5	)	)	PUNCT
fumecheng-11384	362	6	and	and	CCONJ
fumecheng-11384	362	7	its	its	PRON
fumecheng-11384	362	8	dynamic	dynamic	ADJ
fumecheng-11384	362	9	map	map	NOUN
fumecheng-11384	362	10	(	(	PUNCT
fumecheng-11384	362	11	b	b	NOUN
fumecheng-11384	362	12	)	)	PUNCT
fumecheng-11384	362	13	planned	plan	VERB
fumecheng-11384	362	14	by	by	ADP
fumecheng-11384	362	15	quintic	quintic	ADJ
fumecheng-11384	362	16	polynomial	polynomial	ADJ
fumecheng-11384	362	17	trajectory	trajectory	NOUN
fumecheng-11384	362	18	fig	fig	NOUN
fumecheng-11384	362	19	.	.	PUNCT
fumecheng-11384	362	20	11	11	NUM
fumecheng-11384	363	1	the	the	DET
fumecheng-11384	363	2	schematic	schematic	ADJ
fumecheng-11384	363	3	diagram	diagram	NOUN
fumecheng-11384	363	4	of	of	ADP
fumecheng-11384	363	5	the	the	DET
fumecheng-11384	363	6	movement	movement	NOUN
fumecheng-11384	363	7	of	of	ADP
fumecheng-11384	363	8	the	the	DET
fumecheng-11384	363	9	robotic	robotic	ADJ
fumecheng-11384	363	10	arm	arm	NOUN
fumecheng-11384	363	11	operation	operation	NOUN
fumecheng-11384	363	12	280	280	NUM
fumecheng-11384	363	13	c.	c.	PROPN
fumecheng-11384	363	14	zhang	zhang	PROPN
fumecheng-11384	363	15	,	,	PUNCT
fumecheng-11384	363	16	s.	s.	PROPN
fumecheng-11384	363	17	li	li	PROPN
fumecheng-11384	363	18	,	,	PUNCT
fumecheng-11384	363	19	z.	z.	PROPN
fumecheng-11384	363	20	zhang	zhang	PROPN
fumecheng-11384	363	21	(	(	PUNCT
fumecheng-11384	363	22	a	a	NOUN
fumecheng-11384	363	23	)	)	PUNCT
fumecheng-11384	363	24	(	(	PUNCT
fumecheng-11384	363	25	b	b	X
fumecheng-11384	363	26	)	)	PUNCT
fumecheng-11384	363	27	fig	fig	NOUN
fumecheng-11384	363	28	.	.	PUNCT
fumecheng-11384	364	1	13	13	NUM
fumecheng-11384	364	2	path	path	NOUN
fumecheng-11384	364	3	(	(	PUNCT
fumecheng-11384	364	4	a	a	NOUN
fumecheng-11384	364	5	)	)	PUNCT
fumecheng-11384	364	6	and	and	CCONJ
fumecheng-11384	364	7	its	its	PRON
fumecheng-11384	364	8	dynamic	dynamic	ADJ
fumecheng-11384	364	9	map	map	NOUN
fumecheng-11384	364	10	(	(	PUNCT
fumecheng-11384	364	11	a	a	X
fumecheng-11384	364	12	)	)	PUNCT
fumecheng-11384	364	13	planned	plan	VERB
fumecheng-11384	364	14	by	by	ADP
fumecheng-11384	364	15	b	b	NOUN
fumecheng-11384	364	16	-	-	NOUN
fumecheng-11384	364	17	spline	spline	NOUN
fumecheng-11384	364	18	(	(	PUNCT
fumecheng-11384	364	19	a	a	NOUN
fumecheng-11384	364	20	)	)	PUNCT
fumecheng-11384	364	21	(	(	PUNCT
fumecheng-11384	364	22	b	b	X
fumecheng-11384	364	23	)	)	PUNCT
fumecheng-11384	364	24	fig	fig	NOUN
fumecheng-11384	364	25	.	.	PUNCT
fumecheng-11384	365	1	14	14	NUM
fumecheng-11384	365	2	path	path	NOUN
fumecheng-11384	365	3	(	(	PUNCT
fumecheng-11384	365	4	a	a	NOUN
fumecheng-11384	365	5	)	)	PUNCT
fumecheng-11384	365	6	and	and	CCONJ
fumecheng-11384	365	7	its	its	PRON
fumecheng-11384	365	8	dynamic	dynamic	ADJ
fumecheng-11384	365	9	map	map	NOUN
fumecheng-11384	365	10	(	(	PUNCT
fumecheng-11384	365	11	b	b	NOUN
fumecheng-11384	365	12	)	)	PUNCT
fumecheng-11384	365	13	planned	plan	VERB
fumecheng-11384	365	14	by	by	ADP
fumecheng-11384	365	15	minimum	minimum	ADJ
fumecheng-11384	365	16	jerk	jerk	NOUN
fumecheng-11384	365	17	polynomial	polynomial	ADJ
fumecheng-11384	365	18	trajectory	trajectory	NOUN
fumecheng-11384	365	19	modeling	modeling	NOUN
fumecheng-11384	365	20	and	and	CCONJ
fumecheng-11384	365	21	simulation	simulation	NOUN
fumecheng-11384	365	22	of	of	ADP
fumecheng-11384	365	23	industrial	industrial	ADJ
fumecheng-11384	365	24	robot	robot	NOUN
fumecheng-11384	365	25	arms	arm	NOUN
fumecheng-11384	365	26	using	use	VERB
fumecheng-11384	365	27	simscape	simscape	NOUN
fumecheng-11384	365	28	multibody	multibody	NOUN
fumecheng-11384	365	29	281	281	NUM
fumecheng-11384	365	30	fig	fig	NOUN
fumecheng-11384	365	31	.	.	PUNCT
fumecheng-11384	366	1	15	15	NUM
fumecheng-11384	366	2	3d	3d	NUM
fumecheng-11384	366	3	simulation	simulation	NOUN
fumecheng-11384	366	4	visualization	visualization	NOUN
fumecheng-11384	366	5	of	of	ADP
fumecheng-11384	366	6	robot	robot	NOUN
fumecheng-11384	366	7	arm	arm	VERB
fumecheng-11384	366	8	the	the	DET
fumecheng-11384	366	9	obtained	obtain	VERB
fumecheng-11384	366	10	joint	joint	ADJ
fumecheng-11384	366	11	angles	angle	NOUN
fumecheng-11384	366	12	,	,	PUNCT
fumecheng-11384	366	13	angular	angular	ADJ
fumecheng-11384	366	14	velocities	velocity	NOUN
fumecheng-11384	366	15	and	and	CCONJ
fumecheng-11384	366	16	angular	angular	ADJ
fumecheng-11384	366	17	accelerations	acceleration	NOUN
fumecheng-11384	366	18	are	be	AUX
fumecheng-11384	366	19	shown	show	VERB
fumecheng-11384	366	20	in	in	ADP
fumecheng-11384	366	21	fig	fig	NOUN
fumecheng-11384	366	22	.	.	PUNCT
fumecheng-11384	367	1	16	16	NUM
fumecheng-11384	367	2	,	,	PUNCT
fumecheng-11384	367	3	fig	fig	NOUN
fumecheng-11384	367	4	.	.	PUNCT
fumecheng-11384	368	1	17	17	NUM
fumecheng-11384	368	2	and	and	CCONJ
fumecheng-11384	368	3	fig	fig	NOUN
fumecheng-11384	368	4	.	.	PUNCT
fumecheng-11384	369	1	18	18	NUM
fumecheng-11384	369	2	,	,	PUNCT
fumecheng-11384	369	3	respectively	respectively	ADV
fumecheng-11384	369	4	,	,	PUNCT
fumecheng-11384	369	5	and	and	CCONJ
fumecheng-11384	369	6	the	the	DET
fumecheng-11384	369	7	output	output	NOUN
fumecheng-11384	369	8	torques	torque	NOUN
fumecheng-11384	369	9	are	be	AUX
fumecheng-11384	369	10	shown	show	VERB
fumecheng-11384	369	11	in	in	ADP
fumecheng-11384	369	12	fig	fig	NOUN
fumecheng-11384	369	13	.	.	PUNCT
fumecheng-11384	370	1	19	19	NUM
fumecheng-11384	370	2	,	,	PUNCT
fumecheng-11384	370	3	including	include	VERB
fumecheng-11384	370	4	quintic	quintic	ADJ
fumecheng-11384	370	5	polynomial	polynomial	ADJ
fumecheng-11384	370	6	trajectory	trajectory	NOUN
fumecheng-11384	370	7	,	,	PUNCT
fumecheng-11384	370	8	b	b	NOUN
fumecheng-11384	370	9	-	-	NOUN
fumecheng-11384	370	10	spline	spline	NOUN
fumecheng-11384	370	11	,	,	PUNCT
fumecheng-11384	370	12	and	and	CCONJ
fumecheng-11384	370	13	minimum	minimum	ADJ
fumecheng-11384	370	14	jerk	jerk	NOUN
fumecheng-11384	370	15	polynomial	polynomial	ADJ
fumecheng-11384	370	16	trajectory	trajectory	NOUN
fumecheng-11384	370	17	.	.	PUNCT
fumecheng-11384	371	1	as	as	SCONJ
fumecheng-11384	371	2	can	can	AUX
fumecheng-11384	371	3	be	be	AUX
fumecheng-11384	371	4	observed	observe	VERB
fumecheng-11384	371	5	from	from	ADP
fumecheng-11384	371	6	these	these	DET
fumecheng-11384	371	7	figure	figure	NOUN
fumecheng-11384	371	8	,	,	PUNCT
fumecheng-11384	371	9	in	in	ADP
fumecheng-11384	371	10	the	the	DET
fumecheng-11384	371	11	motion	motion	NOUN
fumecheng-11384	371	12	data	datum	NOUN
fumecheng-11384	371	13	obtained	obtain	VERB
fumecheng-11384	371	14	from	from	ADP
fumecheng-11384	371	15	the	the	DET
fumecheng-11384	371	16	model	model	NOUN
fumecheng-11384	371	17	,	,	PUNCT
fumecheng-11384	371	18	there	there	PRON
fumecheng-11384	371	19	is	be	VERB
fumecheng-11384	371	20	an	an	DET
fumecheng-11384	371	21	obvious	obvious	ADJ
fumecheng-11384	371	22	proportional	proportional	ADJ
fumecheng-11384	371	23	relationship	relationship	NOUN
fumecheng-11384	371	24	between	between	ADP
fumecheng-11384	371	25	the	the	DET
fumecheng-11384	371	26	torque	torque	NOUN
fumecheng-11384	371	27	and	and	CCONJ
fumecheng-11384	371	28	acceleration	acceleration	NOUN
fumecheng-11384	371	29	of	of	ADP
fumecheng-11384	371	30	j1	j1	PROPN
fumecheng-11384	371	31	.	.	PUNCT
fumecheng-11384	372	1	j2	j2	PROPN
fumecheng-11384	372	2	and	and	CCONJ
fumecheng-11384	372	3	j33	j33	PROPN
fumecheng-11384	372	4	,	,	PUNCT
fumecheng-11384	372	5	which	which	PRON
fumecheng-11384	372	6	are	be	AUX
fumecheng-11384	372	7	greatly	greatly	ADV
fumecheng-11384	372	8	affected	affect	VERB
fumecheng-11384	372	9	by	by	ADP
fumecheng-11384	372	10	gravity	gravity	NOUN
fumecheng-11384	372	11	,	,	PUNCT
fumecheng-11384	372	12	and	and	CCONJ
fumecheng-11384	372	13	j4	j4	PROPN
fumecheng-11384	372	14	is	be	AUX
fumecheng-11384	372	15	not	not	PART
fumecheng-11384	372	16	equipped	equip	VERB
fumecheng-11384	372	17	with	with	ADP
fumecheng-11384	372	18	any	any	DET
fumecheng-11384	372	19	fixtures	fixture	NOUN
fumecheng-11384	372	20	,	,	PUNCT
fumecheng-11384	372	21	so	so	SCONJ
fumecheng-11384	372	22	its	its	PRON
fumecheng-11384	372	23	torque	torque	NOUN
fumecheng-11384	372	24	is	be	AUX
fumecheng-11384	372	25	almost	almost	ADV
fumecheng-11384	372	26	zero	zero	NUM
fumecheng-11384	372	27	.	.	PUNCT
fumecheng-11384	373	1	it	it	PRON
fumecheng-11384	373	2	can	can	AUX
fumecheng-11384	373	3	be	be	AUX
fumecheng-11384	373	4	obtained	obtain	VERB
fumecheng-11384	373	5	by	by	ADP
fumecheng-11384	373	6	comprehensive	comprehensive	ADJ
fumecheng-11384	373	7	comparison	comparison	NOUN
fumecheng-11384	373	8	that	that	SCONJ
fumecheng-11384	373	9	the	the	DET
fumecheng-11384	373	10	quintic	quintic	ADJ
fumecheng-11384	373	11	polynomial	polynomial	ADJ
fumecheng-11384	373	12	trajectory	trajectory	NOUN
fumecheng-11384	373	13	is	be	AUX
fumecheng-11384	373	14	an	an	DET
fumecheng-11384	373	15	algorithm	algorithm	NOUN
fumecheng-11384	373	16	involving	involve	VERB
fumecheng-11384	373	17	both	both	DET
fumecheng-11384	373	18	the	the	DET
fumecheng-11384	373	19	starting	starting	NOUN
fumecheng-11384	373	20	point	point	NOUN
fumecheng-11384	373	21	and	and	CCONJ
fumecheng-11384	373	22	the	the	DET
fumecheng-11384	373	23	end	end	NOUN
fumecheng-11384	373	24	point	point	NOUN
fumecheng-11384	373	25	,	,	PUNCT
fumecheng-11384	373	26	yielding	yield	VERB
fumecheng-11384	373	27	the	the	DET
fumecheng-11384	373	28	smoothest	smooth	ADJ
fumecheng-11384	373	29	path	path	NOUN
fumecheng-11384	373	30	between	between	ADP
fumecheng-11384	373	31	the	the	DET
fumecheng-11384	373	32	two	two	NUM
fumecheng-11384	373	33	points	point	NOUN
fumecheng-11384	373	34	.	.	PUNCT
fumecheng-11384	374	1	the	the	DET
fumecheng-11384	374	2	b	b	X
fumecheng-11384	374	3	-	-	PUNCT
fumecheng-11384	374	4	spline	spline	NOUN
fumecheng-11384	374	5	can	can	AUX
fumecheng-11384	374	6	be	be	AUX
fumecheng-11384	374	7	inserted	insert	VERB
fumecheng-11384	374	8	into	into	ADP
fumecheng-11384	374	9	multiple	multiple	ADJ
fumecheng-11384	374	10	pathway	pathway	NOUN
fumecheng-11384	374	11	points	point	NOUN
fumecheng-11384	374	12	,	,	PUNCT
fumecheng-11384	374	13	those	those	PRON
fumecheng-11384	374	14	on	on	ADP
fumecheng-11384	374	15	the	the	DET
fumecheng-11384	374	16	path	path	NOUN
fumecheng-11384	374	17	between	between	ADP
fumecheng-11384	374	18	the	the	DET
fumecheng-11384	374	19	start	start	NOUN
fumecheng-11384	374	20	and	and	CCONJ
fumecheng-11384	374	21	the	the	DET
fumecheng-11384	374	22	end	end	NOUN
fumecheng-11384	374	23	.	.	PUNCT
fumecheng-11384	375	1	the	the	DET
fumecheng-11384	375	2	path	path	NOUN
fumecheng-11384	375	3	generated	generate	VERB
fumecheng-11384	375	4	by	by	ADP
fumecheng-11384	375	5	the	the	DET
fumecheng-11384	375	6	b	b	PROPN
fumecheng-11384	375	7	-	-	PUNCT
fumecheng-11384	375	8	spline	spline	NOUN
fumecheng-11384	375	9	algorithm	algorithm	NOUN
fumecheng-11384	375	10	does	do	AUX
fumecheng-11384	375	11	not	not	PART
fumecheng-11384	375	12	pass	pass	VERB
fumecheng-11384	375	13	through	through	ADP
fumecheng-11384	375	14	the	the	DET
fumecheng-11384	375	15	path	path	NOUN
fumecheng-11384	375	16	points	point	NOUN
fumecheng-11384	375	17	.	.	PUNCT
fumecheng-11384	376	1	it	it	PRON
fumecheng-11384	376	2	has	have	VERB
fumecheng-11384	376	3	the	the	DET
fumecheng-11384	376	4	advantages	advantage	NOUN
fumecheng-11384	376	5	of	of	ADP
fumecheng-11384	376	6	a	a	DET
fumecheng-11384	376	7	smooth	smooth	ADJ
fumecheng-11384	376	8	curve	curve	NOUN
fumecheng-11384	376	9	and	and	CCONJ
fumecheng-11384	376	10	short	short	ADJ
fumecheng-11384	376	11	path	path	NOUN
fumecheng-11384	376	12	,	,	PUNCT
fumecheng-11384	376	13	but	but	CCONJ
fumecheng-11384	376	14	it	it	PRON
fumecheng-11384	376	15	will	will	AUX
fumecheng-11384	376	16	cause	cause	VERB
fumecheng-11384	376	17	discontinuity	discontinuity	NOUN
fumecheng-11384	376	18	in	in	ADP
fumecheng-11384	376	19	acceleration	acceleration	NOUN
fumecheng-11384	376	20	and	and	CCONJ
fumecheng-11384	376	21	torque	torque	NOUN
fumecheng-11384	376	22	.	.	PUNCT
fumecheng-11384	377	1	the	the	DET
fumecheng-11384	377	2	minimum	minimum	ADJ
fumecheng-11384	377	3	jerk	jerk	NOUN
fumecheng-11384	377	4	polynomial	polynomial	ADJ
fumecheng-11384	377	5	trajectory	trajectory	NOUN
fumecheng-11384	377	6	can	can	AUX
fumecheng-11384	377	7	insert	insert	VERB
fumecheng-11384	377	8	several	several	ADJ
fumecheng-11384	377	9	pathway	pathway	NOUN
fumecheng-11384	377	10	points	point	NOUN
fumecheng-11384	377	11	between	between	ADP
fumecheng-11384	377	12	the	the	DET
fumecheng-11384	377	13	starting	starting	NOUN
fumecheng-11384	377	14	point	point	NOUN
fumecheng-11384	377	15	and	and	CCONJ
fumecheng-11384	377	16	the	the	DET
fumecheng-11384	377	17	end	end	NOUN
fumecheng-11384	377	18	point	point	NOUN
fumecheng-11384	377	19	.	.	PUNCT
fumecheng-11384	378	1	unlike	unlike	ADP
fumecheng-11384	378	2	the	the	DET
fumecheng-11384	378	3	b	b	NOUN
fumecheng-11384	378	4	-	-	NOUN
fumecheng-11384	378	5	spline	spline	NOUN
fumecheng-11384	378	6	,	,	PUNCT
fumecheng-11384	378	7	the	the	DET
fumecheng-11384	378	8	path	path	NOUN
fumecheng-11384	378	9	planned	plan	VERB
fumecheng-11384	378	10	by	by	ADP
fumecheng-11384	378	11	this	this	DET
fumecheng-11384	378	12	method	method	NOUN
fumecheng-11384	378	13	is	be	AUX
fumecheng-11384	378	14	through	through	ADP
fumecheng-11384	378	15	the	the	DET
fumecheng-11384	378	16	pathway	pathway	NOUN
fumecheng-11384	378	17	point	point	NOUN
fumecheng-11384	378	18	.	.	PUNCT
fumecheng-11384	379	1	the	the	DET
fumecheng-11384	379	2	advantage	advantage	NOUN
fumecheng-11384	379	3	is	be	AUX
fumecheng-11384	379	4	that	that	SCONJ
fumecheng-11384	379	5	the	the	DET
fumecheng-11384	379	6	path	path	NOUN
fumecheng-11384	379	7	is	be	AUX
fumecheng-11384	379	8	the	the	DET
fumecheng-11384	379	9	smoothest	smooth	ADJ
fumecheng-11384	379	10	,	,	PUNCT
fumecheng-11384	379	11	while	while	SCONJ
fumecheng-11384	379	12	ensuring	ensure	VERB
fumecheng-11384	379	13	the	the	DET
fumecheng-11384	379	14	complete	complete	ADJ
fumecheng-11384	379	15	continuity	continuity	NOUN
fumecheng-11384	379	16	of	of	ADP
fumecheng-11384	379	17	angle	angle	NOUN
fumecheng-11384	379	18	,	,	PUNCT
fumecheng-11384	379	19	angular	angular	ADJ
fumecheng-11384	379	20	velocity	velocity	NOUN
fumecheng-11384	379	21	,	,	PUNCT
fumecheng-11384	379	22	angular	angular	ADJ
fumecheng-11384	379	23	acceleration	acceleration	NOUN
fumecheng-11384	379	24	and	and	CCONJ
fumecheng-11384	379	25	angular	angular	ADJ
fumecheng-11384	379	26	acceleration	acceleration	NOUN
fumecheng-11384	379	27	.	.	PUNCT
fumecheng-11384	380	1	the	the	DET
fumecheng-11384	380	2	above	above	ADJ
fumecheng-11384	380	3	data	datum	NOUN
fumecheng-11384	380	4	well	well	ADV
fumecheng-11384	380	5	simulate	simulate	VERB
fumecheng-11384	380	6	the	the	DET
fumecheng-11384	380	7	actual	actual	ADJ
fumecheng-11384	380	8	operation	operation	NOUN
fumecheng-11384	380	9	of	of	ADP
fumecheng-11384	380	10	the	the	DET
fumecheng-11384	380	11	robot	robot	NOUN
fumecheng-11384	380	12	arm	arm	NOUN
fumecheng-11384	380	13	.	.	PUNCT
fumecheng-11384	381	1	282	282	NUM
fumecheng-11384	381	2	c.	c.	PROPN
fumecheng-11384	381	3	zhang	zhang	PROPN
fumecheng-11384	381	4	,	,	PUNCT
fumecheng-11384	381	5	s.	s.	PROPN
fumecheng-11384	381	6	li	li	PROPN
fumecheng-11384	381	7	,	,	PUNCT
fumecheng-11384	381	8	z.	z.	PROPN
fumecheng-11384	381	9	zhang	zhang	PROPN
fumecheng-11384	381	10	fig	fig	PROPN
fumecheng-11384	381	11	.	.	PUNCT
fumecheng-11384	382	1	16	16	NUM
fumecheng-11384	382	2	movement	movement	NOUN
fumecheng-11384	382	3	angle	angle	NOUN
fumecheng-11384	382	4	of	of	ADP
fumecheng-11384	382	5	each	each	DET
fumecheng-11384	382	6	joint	joint	NOUN
fumecheng-11384	382	7	of	of	ADP
fumecheng-11384	382	8	mbs	mb	NOUN
fumecheng-11384	382	9	model	model	NOUN
fumecheng-11384	382	10	fig	fig	PROPN
fumecheng-11384	382	11	.	.	PUNCT
fumecheng-11384	383	1	17	17	NUM
fumecheng-11384	383	2	angular	angular	ADJ
fumecheng-11384	383	3	velocity	velocity	NOUN
fumecheng-11384	383	4	of	of	ADP
fumecheng-11384	383	5	each	each	DET
fumecheng-11384	383	6	joint	joint	NOUN
fumecheng-11384	383	7	of	of	ADP
fumecheng-11384	383	8	mbs	mb	NOUN
fumecheng-11384	383	9	model	model	NOUN
fumecheng-11384	383	10	modeling	modeling	NOUN
fumecheng-11384	383	11	and	and	CCONJ
fumecheng-11384	383	12	simulation	simulation	NOUN
fumecheng-11384	383	13	of	of	ADP
fumecheng-11384	383	14	industrial	industrial	ADJ
fumecheng-11384	383	15	robot	robot	NOUN
fumecheng-11384	383	16	arms	arm	NOUN
fumecheng-11384	383	17	using	use	VERB
fumecheng-11384	383	18	simscape	simscape	NOUN
fumecheng-11384	383	19	multibody	multibody	ADJ
fumecheng-11384	383	20	283	283	NUM
fumecheng-11384	383	21	fig	fig	NOUN
fumecheng-11384	383	22	.	.	PUNCT
fumecheng-11384	384	1	18	18	NUM
fumecheng-11384	384	2	angular	angular	ADJ
fumecheng-11384	384	3	acceleration	acceleration	NOUN
fumecheng-11384	384	4	of	of	ADP
fumecheng-11384	384	5	each	each	DET
fumecheng-11384	384	6	joint	joint	NOUN
fumecheng-11384	384	7	of	of	ADP
fumecheng-11384	384	8	mbs	mb	NOUN
fumecheng-11384	384	9	model	model	NOUN
fumecheng-11384	384	10	fig	fig	PROPN
fumecheng-11384	384	11	.	.	PUNCT
fumecheng-11384	385	1	19	19	NUM
fumecheng-11384	385	2	torque	torque	NOUN
fumecheng-11384	385	3	of	of	ADP
fumecheng-11384	385	4	each	each	DET
fumecheng-11384	385	5	joint	joint	NOUN
fumecheng-11384	385	6	of	of	ADP
fumecheng-11384	385	7	mbs	mb	NOUN
fumecheng-11384	385	8	model	model	NOUN
fumecheng-11384	385	9	284	284	NUM
fumecheng-11384	385	10	c.	c.	PROPN
fumecheng-11384	385	11	zhang	zhang	PROPN
fumecheng-11384	385	12	,	,	PUNCT
fumecheng-11384	385	13	s.	s.	PROPN
fumecheng-11384	385	14	li	li	PROPN
fumecheng-11384	385	15	,	,	PUNCT
fumecheng-11384	385	16	z.	z.	PROPN
fumecheng-11384	385	17	zhang	zhang	PROPN
fumecheng-11384	386	1	the	the	DET
fumecheng-11384	386	2	error	error	NOUN
fumecheng-11384	386	3	between	between	ADP
fumecheng-11384	386	4	the	the	DET
fumecheng-11384	386	5	actual	actual	ADJ
fumecheng-11384	386	6	simulated	simulated	ADJ
fumecheng-11384	386	7	trajectory	trajectory	NOUN
fumecheng-11384	386	8	and	and	CCONJ
fumecheng-11384	386	9	the	the	DET
fumecheng-11384	386	10	ideal	ideal	ADJ
fumecheng-11384	386	11	trajectory	trajectory	NOUN
fumecheng-11384	386	12	at	at	ADP
fumecheng-11384	386	13	the	the	DET
fumecheng-11384	386	14	end	end	NOUN
fumecheng-11384	386	15	execution	execution	NOUN
fumecheng-11384	386	16	point	point	NOUN
fumecheng-11384	386	17	of	of	ADP
fumecheng-11384	386	18	the	the	DET
fumecheng-11384	386	19	robot	robot	NOUN
fumecheng-11384	386	20	arm	arm	NOUN
fumecheng-11384	386	21	model	model	NOUN
fumecheng-11384	386	22	is	be	AUX
fumecheng-11384	386	23	shown	show	VERB
fumecheng-11384	386	24	in	in	ADP
fumecheng-11384	386	25	fig	fig	NOUN
fumecheng-11384	386	26	.	.	PUNCT
fumecheng-11384	387	1	20	20	NUM
fumecheng-11384	388	1	and	and	CCONJ
fumecheng-11384	388	2	the	the	DET
fumecheng-11384	388	3	error	error	NOUN
fumecheng-11384	388	4	statistics	statistic	NOUN
fumecheng-11384	388	5	are	be	AUX
fumecheng-11384	388	6	shown	show	VERB
fumecheng-11384	388	7	in	in	ADP
fumecheng-11384	388	8	tab	tab	NOUN
fumecheng-11384	388	9	.	.	PUNCT
fumecheng-11384	389	1	7	7	X
fumecheng-11384	389	2	.	.	X
fumecheng-11384	389	3	the	the	DET
fumecheng-11384	389	4	average	average	ADJ
fumecheng-11384	389	5	error	error	NOUN
fumecheng-11384	389	6	of	of	ADP
fumecheng-11384	389	7	simulation	simulation	NOUN
fumecheng-11384	389	8	is	be	AUX
fumecheng-11384	389	9	as	as	ADV
fumecheng-11384	389	10	low	low	ADJ
fumecheng-11384	389	11	as	as	ADP
fumecheng-11384	389	12	10	10	NUM
fumecheng-11384	389	13	-	-	SYM
fumecheng-11384	389	14	11	11	NUM
fumecheng-11384	389	15	mm	mm	NOUN
fumecheng-11384	389	16	,	,	PUNCT
fumecheng-11384	389	17	and	and	CCONJ
fumecheng-11384	389	18	the	the	DET
fumecheng-11384	389	19	minimum	minimum	NOUN
fumecheng-11384	389	20	error	error	NOUN
fumecheng-11384	389	21	is	be	AUX
fumecheng-11384	389	22	0	0	NUM
fumecheng-11384	389	23	,	,	PUNCT
fumecheng-11384	389	24	which	which	PRON
fumecheng-11384	389	25	is	be	AUX
fumecheng-11384	389	26	a	a	DET
fumecheng-11384	389	27	very	very	ADV
fumecheng-11384	389	28	good	good	ADJ
fumecheng-11384	389	29	accuracy	accuracy	NOUN
fumecheng-11384	389	30	.	.	PUNCT
fumecheng-11384	390	1	to	to	PART
fumecheng-11384	390	2	sum	sum	VERB
fumecheng-11384	390	3	up	up	ADP
fumecheng-11384	390	4	,	,	PUNCT
fumecheng-11384	390	5	the	the	DET
fumecheng-11384	390	6	developed	develop	VERB
fumecheng-11384	390	7	robot	robot	NOUN
fumecheng-11384	390	8	arm	arm	NOUN
fumecheng-11384	390	9	model	model	NOUN
fumecheng-11384	390	10	can	can	AUX
fumecheng-11384	390	11	simulate	simulate	VERB
fumecheng-11384	390	12	well	well	ADV
fumecheng-11384	390	13	the	the	DET
fumecheng-11384	390	14	actual	actual	ADJ
fumecheng-11384	390	15	kinematics	kinematic	NOUN
fumecheng-11384	390	16	and	and	CCONJ
fumecheng-11384	390	17	dynamics	dynamic	NOUN
fumecheng-11384	390	18	of	of	ADP
fumecheng-11384	390	19	the	the	DET
fumecheng-11384	390	20	robot	robot	NOUN
fumecheng-11384	390	21	arm	arm	NOUN
fumecheng-11384	390	22	.	.	PUNCT
fumecheng-11384	391	1	fig	fig	NOUN
fumecheng-11384	391	2	.	.	PUNCT
fumecheng-11384	392	1	20	20	NUM
fumecheng-11384	392	2	error	error	NOUN
fumecheng-11384	392	3	between	between	ADP
fumecheng-11384	392	4	simulation	simulation	NOUN
fumecheng-11384	392	5	trajectory	trajectory	NOUN
fumecheng-11384	392	6	and	and	CCONJ
fumecheng-11384	392	7	ideal	ideal	ADJ
fumecheng-11384	392	8	trajectory	trajectory	NOUN
fumecheng-11384	392	9	of	of	ADP
fumecheng-11384	392	10	robot	robot	NOUN
fumecheng-11384	392	11	arm	arm	NOUN
fumecheng-11384	392	12	table	table	NOUN
fumecheng-11384	392	13	7	7	NUM
fumecheng-11384	392	14	error	error	NOUN
fumecheng-11384	392	15	between	between	ADP
fumecheng-11384	392	16	simulation	simulation	NOUN
fumecheng-11384	392	17	trajectory	trajectory	NOUN
fumecheng-11384	392	18	and	and	CCONJ
fumecheng-11384	392	19	ideal	ideal	ADJ
fumecheng-11384	392	20	trajectory	trajectory	NOUN
fumecheng-11384	392	21	of	of	ADP
fumecheng-11384	392	22	the	the	DET
fumecheng-11384	392	23	end	end	NOUN
fumecheng-11384	392	24	execution	execution	NOUN
fumecheng-11384	392	25	point	point	NOUN
fumecheng-11384	392	26	of	of	ADP
fumecheng-11384	392	27	robot	robot	NOUN
fumecheng-11384	392	28	arm	arm	NOUN
fumecheng-11384	392	29	mbs	mbs	PROPN
fumecheng-11384	392	30	model	model	PROPN
fumecheng-11384	392	31	method	method	NOUN
fumecheng-11384	392	32	maximum	maximum	ADJ
fumecheng-11384	392	33	error	error	NOUN
fumecheng-11384	392	34	(	(	PUNCT
fumecheng-11384	392	35	mm	mm	NOUN
fumecheng-11384	392	36	)	)	PUNCT
fumecheng-11384	392	37	minimum	minimum	NOUN
fumecheng-11384	392	38	error	error	NOUN
fumecheng-11384	392	39	(	(	PUNCT
fumecheng-11384	392	40	mm	mm	NOUN
fumecheng-11384	392	41	)	)	PUNCT
fumecheng-11384	392	42	average	average	ADJ
fumecheng-11384	392	43	error	error	NOUN
fumecheng-11384	392	44	(	(	PUNCT
fumecheng-11384	392	45	mm	mm	NOUN
fumecheng-11384	392	46	)	)	PUNCT
fumecheng-11384	392	47	quintic	quintic	ADJ
fumecheng-11384	392	48	polynomial	polynomial	ADJ
fumecheng-11384	392	49	trajectory	trajectory	NOUN
fumecheng-11384	392	50	3.8730e-09	3.8730e-09	NUM
fumecheng-11384	392	51	0	0	NUM
fumecheng-11384	393	1	9.0446e-11	9.0446e-11	NUM
fumecheng-11384	393	2	b	b	X
fumecheng-11384	393	3	-	-	PUNCT
fumecheng-11384	393	4	spline	spline	NOUN
fumecheng-11384	393	5	2.1104e-09	2.1104e-09	NUM
fumecheng-11384	393	6	0	0	NUM
fumecheng-11384	393	7	4.4756e-11	4.4756e-11	NUM
fumecheng-11384	393	8	minimum	minimum	ADJ
fumecheng-11384	393	9	jerk	jerk	NOUN
fumecheng-11384	393	10	polynomial	polynomial	ADJ
fumecheng-11384	393	11	trajectory	trajectory	NOUN
fumecheng-11384	394	1	4.4408e-09	4.4408e-09	NUM
fumecheng-11384	394	2	0	0	NUM
fumecheng-11384	394	3	1.2206e-10	1.2206e-10	NUM
fumecheng-11384	394	4	5	5	NUM
fumecheng-11384	394	5	.	.	PUNCT
fumecheng-11384	394	6	conclusion	conclusion	NOUN
fumecheng-11384	394	7	the	the	DET
fumecheng-11384	394	8	mbs	mb	NOUN
fumecheng-11384	394	9	modeling	modeling	NOUN
fumecheng-11384	394	10	and	and	CCONJ
fumecheng-11384	394	11	simulation	simulation	NOUN
fumecheng-11384	394	12	of	of	ADP
fumecheng-11384	394	13	dobot	dobot	NOUN
fumecheng-11384	394	14	robot	robot	NOUN
fumecheng-11384	394	15	arm	arm	NOUN
fumecheng-11384	394	16	are	be	AUX
fumecheng-11384	394	17	carried	carry	VERB
fumecheng-11384	394	18	out	out	ADP
fumecheng-11384	394	19	by	by	ADP
fumecheng-11384	394	20	using	use	VERB
fumecheng-11384	394	21	simscape	simscape	NOUN
fumecheng-11384	394	22	multibody	multibody	NOUN
fumecheng-11384	394	23	in	in	ADP
fumecheng-11384	394	24	this	this	DET
fumecheng-11384	394	25	paper	paper	NOUN
fumecheng-11384	394	26	.	.	PUNCT
fumecheng-11384	395	1	first	first	ADV
fumecheng-11384	395	2	,	,	PUNCT
fumecheng-11384	395	3	the	the	DET
fumecheng-11384	395	4	kinematic	kinematic	ADJ
fumecheng-11384	395	5	properties	property	NOUN
fumecheng-11384	395	6	of	of	ADP
fumecheng-11384	395	7	the	the	DET
fumecheng-11384	395	8	robot	robot	NOUN
fumecheng-11384	395	9	arm	arm	NOUN
fumecheng-11384	395	10	are	be	AUX
fumecheng-11384	395	11	analyzed	analyze	VERB
fumecheng-11384	395	12	and	and	CCONJ
fumecheng-11384	395	13	the	the	DET
fumecheng-11384	395	14	forward	forward	ADJ
fumecheng-11384	395	15	and	and	CCONJ
fumecheng-11384	395	16	inverse	inverse	NOUN
fumecheng-11384	395	17	kinematic	kinematic	ADJ
fumecheng-11384	395	18	equations	equation	NOUN
fumecheng-11384	395	19	of	of	ADP
fumecheng-11384	395	20	the	the	DET
fumecheng-11384	395	21	robot	robot	NOUN
fumecheng-11384	395	22	arm	arm	NOUN
fumecheng-11384	395	23	are	be	AUX
fumecheng-11384	395	24	established	establish	VERB
fumecheng-11384	395	25	.	.	PUNCT
fumecheng-11384	396	1	secondly	secondly	ADV
fumecheng-11384	396	2	,	,	PUNCT
fumecheng-11384	396	3	simulink	simulink	PROPN
fumecheng-11384	396	4	is	be	AUX
fumecheng-11384	396	5	used	use	VERB
fumecheng-11384	396	6	to	to	PART
fumecheng-11384	396	7	establish	establish	VERB
fumecheng-11384	396	8	the	the	DET
fumecheng-11384	396	9	mbs	mb	NOUN
fumecheng-11384	396	10	model	model	NOUN
fumecheng-11384	396	11	logic	logic	NOUN
fumecheng-11384	396	12	framework	framework	NOUN
fumecheng-11384	396	13	of	of	ADP
fumecheng-11384	396	14	the	the	DET
fumecheng-11384	396	15	robot	robot	NOUN
fumecheng-11384	396	16	arm	arm	NOUN
fumecheng-11384	396	17	,	,	PUNCT
fumecheng-11384	396	18	and	and	CCONJ
fumecheng-11384	396	19	then	then	ADV
fumecheng-11384	396	20	the	the	DET
fumecheng-11384	396	21	solid	solid	ADJ
fumecheng-11384	396	22	model	model	NOUN
fumecheng-11384	396	23	is	be	AUX
fumecheng-11384	396	24	imported	import	VERB
fumecheng-11384	396	25	into	into	ADP
fumecheng-11384	396	26	the	the	DET
fumecheng-11384	396	27	corresponding	corresponding	ADJ
fumecheng-11384	396	28	solid	solid	ADJ
fumecheng-11384	396	29	module	module	NOUN
fumecheng-11384	396	30	in	in	ADP
fumecheng-11384	396	31	the	the	DET
fumecheng-11384	396	32	model	model	NOUN
fumecheng-11384	396	33	,	,	PUNCT
fumecheng-11384	396	34	calculate	calculate	VERB
fumecheng-11384	396	35	the	the	DET
fumecheng-11384	396	36	corresponding	corresponding	ADJ
fumecheng-11384	396	37	physical	physical	ADJ
fumecheng-11384	396	38	properties	property	NOUN
fumecheng-11384	396	39	of	of	ADP
fumecheng-11384	396	40	the	the	DET
fumecheng-11384	396	41	corresponding	corresponding	ADJ
fumecheng-11384	396	42	components	component	NOUN
fumecheng-11384	396	43	,	,	PUNCT
fumecheng-11384	396	44	and	and	CCONJ
fumecheng-11384	396	45	obtain	obtain	VERB
fumecheng-11384	396	46	the	the	DET
fumecheng-11384	396	47	visualization	visualization	NOUN
fumecheng-11384	396	48	of	of	ADP
fumecheng-11384	396	49	the	the	DET
fumecheng-11384	396	50	robot	robot	NOUN
fumecheng-11384	396	51	arm	arm	NOUN
fumecheng-11384	396	52	.	.	PUNCT
fumecheng-11384	397	1	third	third	ADJ
fumecheng-11384	397	2	,	,	PUNCT
fumecheng-11384	397	3	an	an	DET
fumecheng-11384	397	4	offline	offline	ADJ
fumecheng-11384	397	5	dynamic	dynamic	ADJ
fumecheng-11384	397	6	simulation	simulation	NOUN
fumecheng-11384	397	7	model	model	NOUN
fumecheng-11384	397	8	of	of	ADP
fumecheng-11384	397	9	the	the	DET
fumecheng-11384	397	10	robot	robot	NOUN
fumecheng-11384	397	11	arm	arm	NOUN
fumecheng-11384	397	12	was	be	AUX
fumecheng-11384	397	13	established	establish	VERB
fumecheng-11384	397	14	by	by	ADP
fumecheng-11384	397	15	adding	add	VERB
fumecheng-11384	397	16	a	a	DET
fumecheng-11384	397	17	trajectory	trajectory	NOUN
fumecheng-11384	397	18	planning	planning	NOUN
fumecheng-11384	397	19	module	module	NOUN
fumecheng-11384	397	20	,	,	PUNCT
fumecheng-11384	397	21	a	a	DET
fumecheng-11384	397	22	control	control	NOUN
fumecheng-11384	397	23	algorithm	algorithm	NOUN
fumecheng-11384	397	24	module	module	NOUN
fumecheng-11384	397	25	,	,	PUNCT
fumecheng-11384	397	26	and	and	CCONJ
fumecheng-11384	397	27	a	a	DET
fumecheng-11384	397	28	data	data	NOUN
fumecheng-11384	397	29	acquisition	acquisition	NOUN
fumecheng-11384	397	30	module	module	NOUN
fumecheng-11384	397	31	to	to	ADP
fumecheng-11384	397	32	the	the	DET
fumecheng-11384	397	33	mbs	mb	NOUN
fumecheng-11384	397	34	model	model	NOUN
fumecheng-11384	397	35	.	.	PUNCT
fumecheng-11384	398	1	fourth	fourth	ADJ
fumecheng-11384	398	2	,	,	PUNCT
fumecheng-11384	398	3	the	the	DET
fumecheng-11384	398	4	motion	motion	NOUN
fumecheng-11384	398	5	trajectory	trajectory	NOUN
fumecheng-11384	398	6	of	of	ADP
fumecheng-11384	398	7	modeling	modeling	NOUN
fumecheng-11384	398	8	and	and	CCONJ
fumecheng-11384	398	9	simulation	simulation	NOUN
fumecheng-11384	398	10	of	of	ADP
fumecheng-11384	398	11	industrial	industrial	ADJ
fumecheng-11384	398	12	robot	robot	NOUN
fumecheng-11384	398	13	arms	arm	NOUN
fumecheng-11384	398	14	using	use	VERB
fumecheng-11384	398	15	simscape	simscape	NOUN
fumecheng-11384	398	16	multibody	multibody	NOUN
fumecheng-11384	398	17	285	285	NUM
fumecheng-11384	398	18	the	the	DET
fumecheng-11384	398	19	simulation	simulation	NOUN
fumecheng-11384	398	20	model	model	NOUN
fumecheng-11384	398	21	is	be	AUX
fumecheng-11384	398	22	planned	plan	VERB
fumecheng-11384	398	23	and	and	CCONJ
fumecheng-11384	398	24	simulated	simulate	VERB
fumecheng-11384	398	25	in	in	ADP
fumecheng-11384	398	26	the	the	DET
fumecheng-11384	398	27	joint	joint	ADJ
fumecheng-11384	398	28	space	space	NOUN
fumecheng-11384	398	29	.	.	PUNCT
fumecheng-11384	399	1	the	the	DET
fumecheng-11384	399	2	simulation	simulation	NOUN
fumecheng-11384	399	3	results	result	NOUN
fumecheng-11384	399	4	show	show	VERB
fumecheng-11384	399	5	that	that	SCONJ
fumecheng-11384	399	6	the	the	DET
fumecheng-11384	399	7	simulation	simulation	NOUN
fumecheng-11384	399	8	model	model	NOUN
fumecheng-11384	399	9	can	can	AUX
fumecheng-11384	399	10	accurately	accurately	ADV
fumecheng-11384	399	11	simulate	simulate	VERB
fumecheng-11384	399	12	the	the	DET
fumecheng-11384	399	13	motion	motion	NOUN
fumecheng-11384	399	14	state	state	NOUN
fumecheng-11384	399	15	of	of	ADP
fumecheng-11384	399	16	the	the	DET
fumecheng-11384	399	17	robot	robot	NOUN
fumecheng-11384	399	18	arm	arm	NOUN
fumecheng-11384	399	19	,	,	PUNCT
fumecheng-11384	399	20	the	the	DET
fumecheng-11384	399	21	visual	visual	ADJ
fumecheng-11384	399	22	simulation	simulation	NOUN
fumecheng-11384	399	23	animation	animation	NOUN
fumecheng-11384	399	24	is	be	AUX
fumecheng-11384	399	25	easily	easily	ADV
fumecheng-11384	399	26	obtained	obtain	VERB
fumecheng-11384	399	27	to	to	PART
fumecheng-11384	399	28	intuitively	intuitively	ADV
fumecheng-11384	399	29	observe	observe	VERB
fumecheng-11384	399	30	the	the	DET
fumecheng-11384	399	31	motion	motion	NOUN
fumecheng-11384	399	32	process	process	NOUN
fumecheng-11384	399	33	of	of	ADP
fumecheng-11384	399	34	the	the	DET
fumecheng-11384	399	35	robot	robot	NOUN
fumecheng-11384	399	36	arm	arm	NOUN
fumecheng-11384	399	37	,	,	PUNCT
fumecheng-11384	399	38	and	and	CCONJ
fumecheng-11384	399	39	the	the	DET
fumecheng-11384	399	40	output	output	NOUN
fumecheng-11384	399	41	simulation	simulation	NOUN
fumecheng-11384	399	42	data	datum	NOUN
fumecheng-11384	399	43	is	be	AUX
fumecheng-11384	399	44	convenient	convenient	ADJ
fumecheng-11384	399	45	for	for	ADP
fumecheng-11384	399	46	the	the	DET
fumecheng-11384	399	47	study	study	NOUN
fumecheng-11384	399	48	and	and	CCONJ
fumecheng-11384	399	49	analysis	analysis	NOUN
fumecheng-11384	399	50	of	of	ADP
fumecheng-11384	399	51	the	the	DET
fumecheng-11384	399	52	subsequent	subsequent	ADJ
fumecheng-11384	399	53	control	control	NOUN
fumecheng-11384	399	54	algorithm	algorithm	NOUN
fumecheng-11384	399	55	.	.	PUNCT
fumecheng-11384	400	1	the	the	DET
fumecheng-11384	400	2	peripheral	peripheral	ADJ
fumecheng-11384	400	3	mechanisms	mechanism	NOUN
fumecheng-11384	400	4	can	can	AUX
fumecheng-11384	400	5	also	also	ADV
fumecheng-11384	400	6	be	be	AUX
fumecheng-11384	400	7	extended	extend	VERB
fumecheng-11384	400	8	by	by	ADP
fumecheng-11384	400	9	adding	add	VERB
fumecheng-11384	400	10	joint	joint	ADJ
fumecheng-11384	400	11	modules	module	NOUN
fumecheng-11384	400	12	or	or	CCONJ
fumecheng-11384	400	13	related	relate	VERB
fumecheng-11384	400	14	follow	follow	NOUN
fumecheng-11384	400	15	-	-	PUNCT
fumecheng-11384	400	16	up	up	ADP
fumecheng-11384	400	17	studies	study	NOUN
fumecheng-11384	400	18	by	by	ADP
fumecheng-11384	400	19	embedding	embed	VERB
fumecheng-11384	400	20	the	the	DET
fumecheng-11384	400	21	code	code	NOUN
fumecheng-11384	400	22	into	into	ADP
fumecheng-11384	400	23	the	the	DET
fumecheng-11384	400	24	trajectory	trajectory	NOUN
fumecheng-11384	400	25	planning	planning	NOUN
fumecheng-11384	400	26	module	module	NOUN
fumecheng-11384	400	27	or	or	CCONJ
fumecheng-11384	400	28	control	control	NOUN
fumecheng-11384	400	29	algorithm	algorithm	NOUN
fumecheng-11384	400	30	module	module	NOUN
fumecheng-11384	400	31	.	.	PUNCT
fumecheng-11384	401	1	based	base	VERB
fumecheng-11384	401	2	on	on	ADP
fumecheng-11384	401	3	the	the	DET
fumecheng-11384	401	4	dynamic	dynamic	ADJ
fumecheng-11384	401	5	simulation	simulation	NOUN
fumecheng-11384	401	6	function	function	NOUN
fumecheng-11384	401	7	of	of	ADP
fumecheng-11384	401	8	the	the	DET
fumecheng-11384	401	9	simulation	simulation	NOUN
fumecheng-11384	401	10	model	model	NOUN
fumecheng-11384	401	11	,	,	PUNCT
fumecheng-11384	401	12	it	it	PRON
fumecheng-11384	401	13	is	be	AUX
fumecheng-11384	401	14	more	more	ADV
fumecheng-11384	401	15	economical	economical	ADJ
fumecheng-11384	401	16	and	and	CCONJ
fumecheng-11384	401	17	easier	easy	ADJ
fumecheng-11384	401	18	to	to	PART
fumecheng-11384	401	19	study	study	VERB
fumecheng-11384	401	20	the	the	DET
fumecheng-11384	401	21	robot	robot	NOUN
fumecheng-11384	401	22	arm	arm	NOUN
fumecheng-11384	401	23	with	with	ADP
fumecheng-11384	401	24	the	the	DET
fumecheng-11384	401	25	same	same	ADJ
fumecheng-11384	401	26	structure	structure	NOUN
fumecheng-11384	401	27	as	as	ADP
fumecheng-11384	401	28	mg400	mg400	PROPN
fumecheng-11384	401	29	.	.	PUNCT
fumecheng-11384	402	1	acknowledgement	acknowledgement	NOUN
fumecheng-11384	402	2	:	:	PUNCT
fumecheng-11384	402	3	the	the	DET
fumecheng-11384	402	4	paper	paper	NOUN
fumecheng-11384	402	5	is	be	AUX
fumecheng-11384	402	6	supported	support	VERB
fumecheng-11384	402	7	by	by	ADP
fumecheng-11384	402	8	the	the	DET
fumecheng-11384	402	9	'	'	PUNCT
fumecheng-11384	402	10	three	three	NUM
fumecheng-11384	402	11	levels	level	NOUN
fumecheng-11384	402	12	'	'	PART
fumecheng-11384	402	13	talent	talent	NOUN
fumecheng-11384	402	14	construction	construction	NOUN
fumecheng-11384	402	15	project	project	NOUN
fumecheng-11384	402	16	of	of	ADP
fumecheng-11384	402	17	zhuhai	zhuhai	PROPN
fumecheng-11384	402	18	college	college	PROPN
fumecheng-11384	402	19	of	of	ADP
fumecheng-11384	402	20	science	science	NOUN
fumecheng-11384	402	21	and	and	CCONJ
fumecheng-11384	402	22	technology	technology	NOUN
fumecheng-11384	402	23	,	,	PUNCT
fumecheng-11384	402	24	the	the	DET
fumecheng-11384	402	25	higher	high	ADJ
fumecheng-11384	402	26	education	education	NOUN
fumecheng-11384	402	27	teaching	teach	VERB
fumecheng-11384	402	28	reform	reform	NOUN
fumecheng-11384	402	29	project	project	NOUN
fumecheng-11384	402	30	of	of	ADP
fumecheng-11384	402	31	zhuhai	zhuhai	PROPN
fumecheng-11384	402	32	college	college	PROPN
fumecheng-11384	402	33	of	of	ADP
fumecheng-11384	402	34	science	science	NOUN
fumecheng-11384	402	35	and	and	CCONJ
fumecheng-11384	402	36	technology	technology	NOUN
fumecheng-11384	402	37	(	(	PUNCT
fumecheng-11384	402	38	zlgc20220529	zlgc20220529	ADV
fumecheng-11384	402	39	)	)	PUNCT
fumecheng-11384	402	40	and	and	CCONJ
fumecheng-11384	402	41	the	the	DET
fumecheng-11384	402	42	science	science	NOUN
fumecheng-11384	402	43	and	and	CCONJ
fumecheng-11384	402	44	technology	technology	NOUN
fumecheng-11384	402	45	projects	project	NOUN
fumecheng-11384	402	46	in	in	ADP
fumecheng-11384	402	47	guangzhou	guangzhou	PROPN
fumecheng-11384	402	48	(	(	PUNCT
fumecheng-11384	402	49	202102021282	202102021282	NUM
fumecheng-11384	402	50	)	)	PUNCT
fumecheng-11384	402	51	.	.	PUNCT
fumecheng-11384	403	1	references	reference	NOUN
fumecheng-11384	403	2	1	1	NUM
fumecheng-11384	403	3	.	.	PUNCT
fumecheng-11384	403	4	kouritem	kouritem	PROPN
fumecheng-11384	403	5	,	,	PUNCT
fumecheng-11384	403	6	s.a	s.a	PROPN
fumecheng-11384	403	7	.	.	PROPN
fumecheng-11384	403	8	,	,	PUNCT
fumecheng-11384	403	9	abouheaf	abouheaf	PROPN
fumecheng-11384	403	10	,	,	PUNCT
fumecheng-11384	403	11	m.i	m.i	PROPN
fumecheng-11384	403	12	.	.	PROPN
fumecheng-11384	403	13	,	,	PUNCT
fumecheng-11384	403	14	nahas	naha	NOUN
fumecheng-11384	403	15	,	,	PUNCT
fumecheng-11384	403	16	n.	n.	PROPN
fumecheng-11384	403	17	,	,	PUNCT
fumecheng-11384	403	18	hassan	hassan	PROPN
fumecheng-11384	403	19	,	,	PUNCT
fumecheng-11384	403	20	m.	m.	NOUN
fumecheng-11384	403	21	,	,	PUNCT
fumecheng-11384	403	22	2022	2022	NUM
fumecheng-11384	403	23	,	,	PUNCT
fumecheng-11384	403	24	a	a	DET
fumecheng-11384	403	25	multi	multi	ADJ
fumecheng-11384	403	26	-	-	ADJ
fumecheng-11384	403	27	objective	objective	ADJ
fumecheng-11384	403	28	optimization	optimization	NOUN
fumecheng-11384	403	29	design	design	NOUN
fumecheng-11384	403	30	of	of	ADP
fumecheng-11384	403	31	industrial	industrial	ADJ
fumecheng-11384	403	32	robot	robot	NOUN
fumecheng-11384	403	33	arms	arm	NOUN
fumecheng-11384	403	34	,	,	PUNCT
fumecheng-11384	403	35	alexandria	alexandria	PROPN
fumecheng-11384	403	36	engineering	engineering	PROPN
fumecheng-11384	403	37	journal	journal	PROPN
fumecheng-11384	403	38	,	,	PUNCT
fumecheng-11384	403	39	61(12	61(12	PROPN
fumecheng-11384	403	40	)	)	PUNCT
fumecheng-11384	403	41	,	,	PUNCT
fumecheng-11384	403	42	pp	pp	PROPN
fumecheng-11384	403	43	.	.	PUNCT
fumecheng-11384	404	1	12847	12847	NUM
fumecheng-11384	404	2	-	-	SYM
fumecheng-11384	404	3	12867	12867	NUM
fumecheng-11384	404	4	.	.	PUNCT
fumecheng-11384	405	1	2	2	X
fumecheng-11384	405	2	.	.	NUM
fumecheng-11384	405	3	damaševič	damaševič	PROPN
fumecheng-11384	405	4	ius	ius	PROPN
fumecheng-11384	405	5	,	,	PUNCT
fumecheng-11384	405	6	r.	r.	PROPN
fumecheng-11384	405	7	,	,	PUNCT
fumecheng-11384	405	8	maskeliūnas	maskeliūnas	PROPN
fumecheng-11384	405	9	,	,	PUNCT
fumecheng-11384	405	10	r.	r.	PROPN
fumecheng-11384	405	11	,	,	PUNCT
fumecheng-11384	405	12	narvydas	narvydas	PROPN
fumecheng-11384	405	13	,	,	PUNCT
fumecheng-11384	405	14	g.	g.	PROPN
fumecheng-11384	405	15	,	,	PUNCT
fumecheng-11384	405	16	narbutaitė	narbutaitė	NOUN
fumecheng-11384	405	17	,	,	PUNCT
fumecheng-11384	405	18	r.	r.	PROPN
fumecheng-11384	405	19	,	,	PUNCT
fumecheng-11384	405	20	po	po	PROPN
fumecheng-11384	405	21	łap	łap	PROPN
fumecheng-11384	405	22	,	,	PUNCT
fumecheng-11384	405	23	d.	d.	PROPN
fumecheng-11384	405	24	,	,	PUNCT
fumecheng-11384	405	25	woźniak	woźniak	PROPN
fumecheng-11384	405	26	,	,	PUNCT
fumecheng-11384	405	27	m.	m.	NOUN
fumecheng-11384	405	28	,	,	PUNCT
fumecheng-11384	405	29	2020	2020	NUM
fumecheng-11384	405	30	,	,	PUNCT
fumecheng-11384	405	31	intelligent	intelligent	ADJ
fumecheng-11384	405	32	automation	automation	NOUN
fumecheng-11384	405	33	of	of	ADP
fumecheng-11384	405	34	dental	dental	ADJ
fumecheng-11384	405	35	material	material	NOUN
fumecheng-11384	405	36	analysis	analysis	NOUN
fumecheng-11384	405	37	using	use	VERB
fumecheng-11384	405	38	robotic	robotic	ADJ
fumecheng-11384	405	39	arm	arm	NOUN
fumecheng-11384	405	40	with	with	ADP
fumecheng-11384	405	41	jerk	jerk	NOUN
fumecheng-11384	405	42	optimized	optimize	VERB
fumecheng-11384	405	43	trajectory	trajectory	NOUN
fumecheng-11384	405	44	,	,	PUNCT
fumecheng-11384	405	45	journal	journal	NOUN
fumecheng-11384	405	46	of	of	ADP
fumecheng-11384	405	47	ambient	ambient	ADJ
fumecheng-11384	405	48	intelligence	intelligence	NOUN
fumecheng-11384	405	49	and	and	CCONJ
fumecheng-11384	405	50	humanized	humanize	VERB
fumecheng-11384	405	51	computing	computing	NOUN
fumecheng-11384	405	52	,	,	PUNCT
fumecheng-11384	405	53	11(12	11(12	NUM
fumecheng-11384	405	54	)	)	PUNCT
fumecheng-11384	405	55	,	,	PUNCT
fumecheng-11384	405	56	pp	pp	ADP
fumecheng-11384	405	57	.	.	PUNCT
fumecheng-11384	406	1	6223	6223	NUM
fumecheng-11384	406	2	-	-	SYM
fumecheng-11384	406	3	6234	6234	NUM
fumecheng-11384	406	4	.	.	PUNCT
fumecheng-11384	407	1	3	3	X
fumecheng-11384	407	2	.	.	X
fumecheng-11384	407	3	kim	kim	PROPN
fumecheng-11384	407	4	,	,	PUNCT
fumecheng-11384	407	5	j.	j.	PROPN
fumecheng-11384	407	6	,	,	PUNCT
fumecheng-11384	407	7	croft	croft	PROPN
fumecheng-11384	407	8	,	,	PUNCT
fumecheng-11384	407	9	e.a	e.a	PROPN
fumecheng-11384	407	10	.	.	PROPN
fumecheng-11384	407	11	,	,	PUNCT
fumecheng-11384	407	12	2019	2019	NUM
fumecheng-11384	407	13	,	,	PUNCT
fumecheng-11384	407	14	online	online	ADJ
fumecheng-11384	407	15	near	near	ADP
fumecheng-11384	407	16	time	time	NOUN
fumecheng-11384	407	17	-	-	PUNCT
fumecheng-11384	407	18	optimal	optimal	ADJ
fumecheng-11384	407	19	trajectory	trajectory	NOUN
fumecheng-11384	407	20	planning	planning	NOUN
fumecheng-11384	407	21	for	for	ADP
fumecheng-11384	407	22	industrial	industrial	ADJ
fumecheng-11384	407	23	robots	robot	NOUN
fumecheng-11384	407	24	,	,	PUNCT
fumecheng-11384	407	25	robotics	robotic	NOUN
fumecheng-11384	407	26	and	and	CCONJ
fumecheng-11384	407	27	computer	computer	NOUN
fumecheng-11384	407	28	-	-	PUNCT
fumecheng-11384	407	29	integrated	integrate	VERB
fumecheng-11384	407	30	manufacturing	manufacturing	NOUN
fumecheng-11384	407	31	,	,	PUNCT
fumecheng-11384	407	32	58	58	NUM
fumecheng-11384	407	33	,	,	PUNCT
fumecheng-11384	407	34	pp	pp	ADJ
fumecheng-11384	407	35	.	.	PUNCT
fumecheng-11384	408	1	158	158	NUM
fumecheng-11384	408	2	-	-	SYM
fumecheng-11384	408	3	171	171	NUM
fumecheng-11384	408	4	.	.	PUNCT
fumecheng-11384	409	1	4	4	X
fumecheng-11384	409	2	.	.	X
fumecheng-11384	409	3	rout	rout	NOUN
fumecheng-11384	409	4	,	,	PUNCT
fumecheng-11384	409	5	a.	a.	NOUN
fumecheng-11384	409	6	,	,	PUNCT
fumecheng-11384	409	7	bbvl	bbvl	ADJ
fumecheng-11384	409	8	,	,	PUNCT
fumecheng-11384	409	9	d.	d.	PROPN
fumecheng-11384	409	10	,	,	PUNCT
fumecheng-11384	409	11	biswal	biswal	PROPN
fumecheng-11384	409	12	,	,	PUNCT
fumecheng-11384	409	13	b.b	b.b	PROPN
fumecheng-11384	409	14	.	.	PROPN
fumecheng-11384	409	15	,	,	PUNCT
fumecheng-11384	409	16	mahanta	mahanta	ADJ
fumecheng-11384	409	17	,	,	PUNCT
fumecheng-11384	409	18	g.b	g.b	PROPN
fumecheng-11384	409	19	.	.	PROPN
fumecheng-11384	409	20	,	,	PUNCT
fumecheng-11384	409	21	2021	2021	NUM
fumecheng-11384	409	22	,	,	PUNCT
fumecheng-11384	409	23	optimal	optimal	ADJ
fumecheng-11384	409	24	trajectory	trajectory	NOUN
fumecheng-11384	409	25	planning	planning	NOUN
fumecheng-11384	409	26	of	of	ADP
fumecheng-11384	409	27	industrial	industrial	ADJ
fumecheng-11384	409	28	robot	robot	NOUN
fumecheng-11384	409	29	for	for	ADP
fumecheng-11384	409	30	improving	improve	VERB
fumecheng-11384	409	31	positional	positional	ADJ
fumecheng-11384	409	32	accuracy	accuracy	NOUN
fumecheng-11384	409	33	,	,	PUNCT
fumecheng-11384	409	34	industrial	industrial	ADJ
fumecheng-11384	409	35	robot	robot	NOUN
fumecheng-11384	409	36	-	-	PUNCT
fumecheng-11384	409	37	the	the	DET
fumecheng-11384	409	38	international	international	ADJ
fumecheng-11384	409	39	journal	journal	NOUN
fumecheng-11384	409	40	of	of	ADP
fumecheng-11384	409	41	robotics	robotic	NOUN
fumecheng-11384	409	42	research	research	NOUN
fumecheng-11384	409	43	and	and	CCONJ
fumecheng-11384	409	44	application	application	NOUN
fumecheng-11384	409	45	,	,	PUNCT
fumecheng-11384	409	46	48(1	48(1	NOUN
fumecheng-11384	409	47	)	)	PUNCT
fumecheng-11384	409	48	,	,	PUNCT
fumecheng-11384	409	49	pp	pp	ADP
fumecheng-11384	409	50	.	.	PUNCT
fumecheng-11384	410	1	71	71	NUM
fumecheng-11384	410	2	-	-	SYM
fumecheng-11384	410	3	83	83	NUM
fumecheng-11384	410	4	.	.	PUNCT
fumecheng-11384	411	1	5	5	NUM
fumecheng-11384	411	2	.	.	X
fumecheng-11384	411	3	özyer	özyer	PROPN
fumecheng-11384	411	4	,	,	PUNCT
fumecheng-11384	411	5	b.	b.	PROPN
fumecheng-11384	411	6	,	,	PUNCT
fumecheng-11384	411	7	2020	2020	NUM
fumecheng-11384	411	8	,	,	PUNCT
fumecheng-11384	411	9	adaptive	adaptive	ADJ
fumecheng-11384	411	10	fast	fast	ADV
fumecheng-11384	411	11	sliding	slide	VERB
fumecheng-11384	411	12	neural	neural	ADJ
fumecheng-11384	411	13	control	control	NOUN
fumecheng-11384	411	14	for	for	ADP
fumecheng-11384	411	15	robot	robot	NOUN
fumecheng-11384	411	16	manipulator	manipulator	NOUN
fumecheng-11384	411	17	,	,	PUNCT
fumecheng-11384	411	18	turkish	turkish	ADJ
fumecheng-11384	411	19	journal	journal	NOUN
fumecheng-11384	411	20	of	of	ADP
fumecheng-11384	411	21	electrical	electrical	ADJ
fumecheng-11384	411	22	engineering	engineering	NOUN
fumecheng-11384	411	23	and	and	CCONJ
fumecheng-11384	411	24	computer	computer	NOUN
fumecheng-11384	411	25	sciences	science	NOUN
fumecheng-11384	411	26	,	,	PUNCT
fumecheng-11384	411	27	28(6	28(6	NOUN
fumecheng-11384	411	28	)	)	PUNCT
fumecheng-11384	411	29	,	,	PUNCT
fumecheng-11384	411	30	pp	pp	ADP
fumecheng-11384	411	31	.	.	PUNCT
fumecheng-11384	412	1	3154	3154	NUM
fumecheng-11384	412	2	-	-	SYM
fumecheng-11384	412	3	3167	3167	NUM
fumecheng-11384	412	4	.	.	PUNCT
fumecheng-11384	413	1	6	6	NUM
fumecheng-11384	413	2	.	.	X
fumecheng-11384	413	3	yilmaz	yilmaz	PROPN
fumecheng-11384	413	4	,	,	PUNCT
fumecheng-11384	413	5	b.m	b.m	PROPN
fumecheng-11384	413	6	.	.	PROPN
fumecheng-11384	413	7	,	,	PUNCT
fumecheng-11384	413	8	tatlicioglu	tatlicioglu	PROPN
fumecheng-11384	413	9	,	,	PUNCT
fumecheng-11384	413	10	e.	e.	PROPN
fumecheng-11384	413	11	,	,	PUNCT
fumecheng-11384	413	12	savran	savran	NOUN
fumecheng-11384	413	13	,	,	PUNCT
fumecheng-11384	413	14	a.	a.	NOUN
fumecheng-11384	413	15	,	,	PUNCT
fumecheng-11384	413	16	alci	alci	NOUN
fumecheng-11384	413	17	,	,	PUNCT
fumecheng-11384	413	18	m.	m.	NOUN
fumecheng-11384	413	19	,	,	PUNCT
fumecheng-11384	413	20	2021	2021	NUM
fumecheng-11384	413	21	,	,	PUNCT
fumecheng-11384	413	22	adaptive	adaptive	ADJ
fumecheng-11384	413	23	fuzzy	fuzzy	ADJ
fumecheng-11384	413	24	logic	logic	NOUN
fumecheng-11384	413	25	with	with	ADP
fumecheng-11384	413	26	self	self	NOUN
fumecheng-11384	413	27	-	-	PUNCT
fumecheng-11384	413	28	tuned	tune	VERB
fumecheng-11384	413	29	membership	membership	NOUN
fumecheng-11384	413	30	functions	function	NOUN
fumecheng-11384	413	31	based	base	VERB
fumecheng-11384	413	32	repetitive	repetitive	ADJ
fumecheng-11384	413	33	learning	learning	NOUN
fumecheng-11384	413	34	control	control	NOUN
fumecheng-11384	413	35	of	of	ADP
fumecheng-11384	413	36	robotic	robotic	ADJ
fumecheng-11384	413	37	manipulators	manipulator	NOUN
fumecheng-11384	413	38	,	,	PUNCT
fumecheng-11384	413	39	applied	apply	VERB
fumecheng-11384	413	40	soft	soft	ADJ
fumecheng-11384	413	41	computing	computing	NOUN
fumecheng-11384	413	42	,	,	PUNCT
fumecheng-11384	413	43	104	104	NUM
fumecheng-11384	413	44	,	,	PUNCT
fumecheng-11384	413	45	pp	pp	ADJ
fumecheng-11384	413	46	.	.	PUNCT
fumecheng-11384	414	1	107	107	NUM
fumecheng-11384	414	2	-	-	SYM
fumecheng-11384	414	3	183	183	NUM
fumecheng-11384	414	4	.	.	PUNCT
fumecheng-11384	415	1	7	7	X
fumecheng-11384	415	2	.	.	X
fumecheng-11384	415	3	gharib	gharib	PROPN
fumecheng-11384	415	4	,	,	PUNCT
fumecheng-11384	415	5	m.r	m.r	PROPN
fumecheng-11384	415	6	.	.	PROPN
fumecheng-11384	415	7	,	,	PUNCT
fumecheng-11384	415	8	2020	2020	NUM
fumecheng-11384	415	9	,	,	PUNCT
fumecheng-11384	415	10	comparison	comparison	NOUN
fumecheng-11384	415	11	of	of	ADP
fumecheng-11384	415	12	robust	robust	ADJ
fumecheng-11384	415	13	optimal	optimal	ADJ
fumecheng-11384	415	14	qft	qft	NOUN
fumecheng-11384	415	15	controller	controller	NOUN
fumecheng-11384	415	16	with	with	ADP
fumecheng-11384	415	17	tfc	tfc	PROPN
fumecheng-11384	415	18	and	and	CCONJ
fumecheng-11384	415	19	mfc	mfc	PROPN
fumecheng-11384	415	20	controller	controller	NOUN
fumecheng-11384	415	21	in	in	ADP
fumecheng-11384	415	22	a	a	DET
fumecheng-11384	415	23	multi	multi	ADJ
fumecheng-11384	415	24	-	-	ADJ
fumecheng-11384	415	25	input	input	ADJ
fumecheng-11384	415	26	multi	multi	ADJ
fumecheng-11384	415	27	-	-	ADJ
fumecheng-11384	415	28	output	output	ADJ
fumecheng-11384	415	29	system	system	NOUN
fumecheng-11384	415	30	,	,	PUNCT
fumecheng-11384	415	31	reports	report	NOUN
fumecheng-11384	415	32	in	in	ADP
fumecheng-11384	415	33	mechanical	mechanical	ADJ
fumecheng-11384	415	34	engineering	engineering	NOUN
fumecheng-11384	415	35	,	,	PUNCT
fumecheng-11384	415	36	1(1	1(1	NUM
fumecheng-11384	415	37	)	)	PUNCT
fumecheng-11384	415	38	,	,	PUNCT
fumecheng-11384	415	39	pp	pp	ADJ
fumecheng-11384	415	40	.	.	PUNCT
fumecheng-11384	416	1	151	151	NUM
fumecheng-11384	416	2	-	-	SYM
fumecheng-11384	416	3	61	61	NUM
fumecheng-11384	416	4	.	.	NOUN
fumecheng-11384	416	5	8	8	NUM
fumecheng-11384	416	6	.	.	PUNCT
fumecheng-11384	417	1	rojas	rojas	PROPN
fumecheng-11384	417	2	-	-	PUNCT
fumecheng-11384	417	3	garcia	garcia	PROPN
fumecheng-11384	417	4	,	,	PUNCT
fumecheng-11384	417	5	l.	l.	PROPN
fumecheng-11384	417	6	,	,	PUNCT
fumecheng-11384	417	7	bonilla	bonilla	PROPN
fumecheng-11384	417	8	-	-	PUNCT
fumecheng-11384	417	9	gutierrez	gutierrez	PROPN
fumecheng-11384	417	10	,	,	PUNCT
fumecheng-11384	417	11	i.	i.	PROPN
fumecheng-11384	417	12	,	,	PUNCT
fumecheng-11384	417	13	mendoza	mendoza	PROPN
fumecheng-11384	417	14	-	-	PUNCT
fumecheng-11384	417	15	gutierrez	gutierrez	PROPN
fumecheng-11384	417	16	,	,	PUNCT
fumecheng-11384	417	17	m.	m.	NOUN
fumecheng-11384	417	18	,	,	PUNCT
fumecheng-11384	417	19	chavez	chavez	PROPN
fumecheng-11384	417	20	-	-	PUNCT
fumecheng-11384	417	21	olivares	olivares	PROPN
fumecheng-11384	417	22	,	,	PUNCT
fumecheng-11384	417	23	c.	c.	NOUN
fumecheng-11384	417	24	,	,	PUNCT
fumecheng-11384	417	25	2022	2022	NUM
fumecheng-11384	417	26	,	,	PUNCT
fumecheng-11384	417	27	adaptive	adaptive	ADJ
fumecheng-11384	417	28	force	force	NOUN
fumecheng-11384	417	29	/	/	SYM
fumecheng-11384	417	30	position	position	NOUN
fumecheng-11384	417	31	control	control	NOUN
fumecheng-11384	417	32	of	of	ADP
fumecheng-11384	417	33	robot	robot	NOUN
fumecheng-11384	417	34	manipulators	manipulator	NOUN
fumecheng-11384	417	35	with	with	ADP
fumecheng-11384	417	36	bounded	bounded	ADJ
fumecheng-11384	417	37	inputs	input	NOUN
fumecheng-11384	417	38	,	,	PUNCT
fumecheng-11384	417	39	journal	journal	NOUN
fumecheng-11384	417	40	of	of	ADP
fumecheng-11384	417	41	mechanical	mechanical	ADJ
fumecheng-11384	417	42	science	science	NOUN
fumecheng-11384	417	43	and	and	CCONJ
fumecheng-11384	417	44	technology	technology	NOUN
fumecheng-11384	417	45	,	,	PUNCT
fumecheng-11384	417	46	36(3	36(3	NUM
fumecheng-11384	417	47	)	)	PUNCT
fumecheng-11384	417	48	,	,	PUNCT
fumecheng-11384	417	49	pp	pp	ADP
fumecheng-11384	417	50	.	.	PUNCT
fumecheng-11384	418	1	1497	1497	NUM
fumecheng-11384	418	2	-	-	SYM
fumecheng-11384	418	3	1509	1509	NUM
fumecheng-11384	418	4	.	.	PUNCT
fumecheng-11384	419	1	9	9	X
fumecheng-11384	419	2	.	.	X
fumecheng-11384	419	3	gutierrez	gutierrez	NOUN
fumecheng-11384	419	4	-	-	PUNCT
fumecheng-11384	419	5	giles	giles	PROPN
fumecheng-11384	419	6	,	,	PUNCT
fumecheng-11384	419	7	a.	a.	NOUN
fumecheng-11384	419	8	,	,	PUNCT
fumecheng-11384	419	9	evangelista	evangelista	PROPN
fumecheng-11384	419	10	-	-	PUNCT
fumecheng-11384	419	11	hernandez	hernandez	PROPN
fumecheng-11384	419	12	,	,	PUNCT
fumecheng-11384	419	13	l.u	l.u	PROPN
fumecheng-11384	419	14	.	.	PROPN
fumecheng-11384	419	15	,	,	PUNCT
fumecheng-11384	419	16	arteaga	arteaga	NOUN
fumecheng-11384	419	17	,	,	PUNCT
fumecheng-11384	419	18	m.	m.	NOUN
fumecheng-11384	419	19	a.	a.	PROPN
fumecheng-11384	419	20	,	,	PUNCT
fumecheng-11384	419	21	cruz	cruz	PROPN
fumecheng-11384	419	22	-	-	PUNCT
fumecheng-11384	419	23	villar	villar	PROPN
fumecheng-11384	419	24	,	,	PUNCT
fumecheng-11384	419	25	c.a	c.a	PROPN
fumecheng-11384	419	26	.	.	PROPN
fumecheng-11384	419	27	,	,	PUNCT
fumecheng-11384	419	28	rodriguez	rodriguez	PROPN
fumecheng-11384	419	29	-	-	PUNCT
fumecheng-11384	419	30	angeles	angeles	PROPN
fumecheng-11384	419	31	,	,	PUNCT
fumecheng-11384	419	32	a.	a.	NOUN
fumecheng-11384	419	33	,	,	PUNCT
fumecheng-11384	419	34	2021	2021	NUM
fumecheng-11384	419	35	,	,	PUNCT
fumecheng-11384	419	36	a	a	DET
fumecheng-11384	419	37	force	force	NOUN
fumecheng-11384	419	38	/	/	SYM
fumecheng-11384	419	39	motion	motion	NOUN
fumecheng-11384	419	40	control	control	NOUN
fumecheng-11384	419	41	approach	approach	NOUN
fumecheng-11384	419	42	based	base	VERB
fumecheng-11384	419	43	on	on	ADP
fumecheng-11384	419	44	trajectory	trajectory	NOUN
fumecheng-11384	419	45	planning	planning	NOUN
fumecheng-11384	419	46	for	for	ADP
fumecheng-11384	419	47	industrial	industrial	ADJ
fumecheng-11384	419	48	robots	robot	NOUN
fumecheng-11384	419	49	with	with	ADP
fumecheng-11384	419	50	closed	closed	ADJ
fumecheng-11384	419	51	control	control	NOUN
fumecheng-11384	419	52	architecture	architecture	NOUN
fumecheng-11384	419	53	,	,	PUNCT
fumecheng-11384	419	54	ieee	ieee	NOUN
fumecheng-11384	419	55	access	access	NOUN
fumecheng-11384	419	56	,	,	PUNCT
fumecheng-11384	419	57	9	9	NUM
fumecheng-11384	419	58	,	,	PUNCT
fumecheng-11384	419	59	pp	pp	ADJ
fumecheng-11384	419	60	.	.	PUNCT
fumecheng-11384	419	61	80728	80728	NUM
fumecheng-11384	419	62	-	-	SYM
fumecheng-11384	419	63	80740	80740	NUM
fumecheng-11384	419	64	.	.	PUNCT
fumecheng-11384	420	1	10	10	NUM
fumecheng-11384	420	2	.	.	X
fumecheng-11384	420	3	urrea	urrea	PROPN
fumecheng-11384	420	4	,	,	PUNCT
fumecheng-11384	420	5	c.	c.	PROPN
fumecheng-11384	420	6	,	,	PUNCT
fumecheng-11384	420	7	pascal	pascal	PROPN
fumecheng-11384	420	8	,	,	PUNCT
fumecheng-11384	420	9	j.	j.	PROPN
fumecheng-11384	420	10	,	,	PUNCT
fumecheng-11384	420	11	2021	2021	NUM
fumecheng-11384	420	12	,	,	PUNCT
fumecheng-11384	420	13	design	design	NOUN
fumecheng-11384	420	14	and	and	CCONJ
fumecheng-11384	420	15	validation	validation	NOUN
fumecheng-11384	420	16	of	of	ADP
fumecheng-11384	420	17	a	a	DET
fumecheng-11384	420	18	dynamic	dynamic	ADJ
fumecheng-11384	420	19	parameter	parameter	NOUN
fumecheng-11384	420	20	identification	identification	NOUN
fumecheng-11384	420	21	model	model	NOUN
fumecheng-11384	420	22	for	for	ADP
fumecheng-11384	420	23	industrial	industrial	ADJ
fumecheng-11384	420	24	manipulator	manipulator	NOUN
fumecheng-11384	420	25	robots	robot	NOUN
fumecheng-11384	420	26	,	,	PUNCT
fumecheng-11384	420	27	archive	archive	NOUN
fumecheng-11384	420	28	of	of	ADP
fumecheng-11384	420	29	applied	apply	VERB
fumecheng-11384	420	30	mechanics	mechanic	NOUN
fumecheng-11384	420	31	,	,	PUNCT
fumecheng-11384	420	32	91(5	91(5	NUM
fumecheng-11384	420	33	)	)	PUNCT
fumecheng-11384	420	34	,	,	PUNCT
fumecheng-11384	420	35	pp	pp	ADP
fumecheng-11384	420	36	.	.	PUNCT
fumecheng-11384	421	1	1981	1981	NUM
fumecheng-11384	421	2	-	-	SYM
fumecheng-11384	421	3	2007	2007	NUM
fumecheng-11384	421	4	.	.	PUNCT
fumecheng-11384	422	1	11	11	NUM
fumecheng-11384	422	2	.	.	PUNCT
fumecheng-11384	423	1	fernández	fernández	PROPN
fumecheng-11384	423	2	,	,	PUNCT
fumecheng-11384	423	3	j.g	j.g	PROPN
fumecheng-11384	423	4	.	.	PROPN
fumecheng-11384	423	5	,	,	PUNCT
fumecheng-11384	423	6	yu	yu	PROPN
fumecheng-11384	423	7	,	,	PUNCT
fumecheng-11384	423	8	b.b	b.b	PROPN
fumecheng-11384	423	9	.	.	PROPN
fumecheng-11384	423	10	,	,	PUNCT
fumecheng-11384	423	11	bargsten	bargsten	NOUN
fumecheng-11384	423	12	,	,	PUNCT
fumecheng-11384	423	13	v.	v.	ADV
fumecheng-11384	423	14	,	,	PUNCT
fumecheng-11384	423	15	zipper	zipper	NOUN
fumecheng-11384	423	16	,	,	PUNCT
fumecheng-11384	423	17	m.	m.	NOUN
fumecheng-11384	423	18	,	,	PUNCT
fumecheng-11384	423	19	sprengel	sprengel	NOUN
fumecheng-11384	423	20	,	,	PUNCT
fumecheng-11384	423	21	h.	h.	PROPN
fumecheng-11384	423	22	,	,	PUNCT
fumecheng-11384	423	23	2020	2020	NUM
fumecheng-11384	423	24	,	,	PUNCT
fumecheng-11384	423	25	design	design	NOUN
fumecheng-11384	423	26	,	,	PUNCT
fumecheng-11384	423	27	modelling	modelling	NOUN
fumecheng-11384	423	28	and	and	CCONJ
fumecheng-11384	423	29	control	control	NOUN
fumecheng-11384	423	30	of	of	ADP
fumecheng-11384	423	31	novel	novel	ADJ
fumecheng-11384	423	32	series	series	NOUN
fumecheng-11384	423	33	-	-	PUNCT
fumecheng-11384	423	34	elastic	elastic	ADJ
fumecheng-11384	423	35	actuators	actuator	NOUN
fumecheng-11384	423	36	for	for	ADP
fumecheng-11384	423	37	industrial	industrial	ADJ
fumecheng-11384	423	38	robots	robot	NOUN
fumecheng-11384	423	39	,	,	PUNCT
fumecheng-11384	423	40	actuators	actuator	NOUN
fumecheng-11384	423	41	,	,	PUNCT
fumecheng-11384	423	42	9(1	9(1	NUM
fumecheng-11384	423	43	)	)	PUNCT
fumecheng-11384	423	44	,	,	PUNCT
fumecheng-11384	423	45	pp	pp	ADP
fumecheng-11384	423	46	.	.	PUNCT
fumecheng-11384	424	1	414	414	NUM
fumecheng-11384	424	2	-	-	SYM
fumecheng-11384	424	3	420	420	NUM
fumecheng-11384	424	4	.	.	PUNCT
fumecheng-11384	425	1	12	12	NUM
fumecheng-11384	425	2	.	.	PUNCT
fumecheng-11384	426	1	bugnar	bugnar	PROPN
fumecheng-11384	426	2	,	,	PUNCT
fumecheng-11384	426	3	f.	f.	PROPN
fumecheng-11384	426	4	,	,	PUNCT
fumecheng-11384	426	5	nedezki	nedezki	PROPN
fumecheng-11384	426	6	,	,	PUNCT
fumecheng-11384	426	7	c.m	c.m	PROPN
fumecheng-11384	426	8	.	.	PROPN
fumecheng-11384	426	9	,	,	PUNCT
fumecheng-11384	426	10	moholea	moholea	PROPN
fumecheng-11384	426	11	,	,	PUNCT
fumecheng-11384	426	12	i.f	i.f	PROPN
fumecheng-11384	426	13	.	.	PROPN
fumecheng-11384	426	14	,	,	PUNCT
fumecheng-11384	426	15	2019	2019	NUM
fumecheng-11384	426	16	,	,	PUNCT
fumecheng-11384	426	17	dynamic	dynamic	ADJ
fumecheng-11384	426	18	model	model	NOUN
fumecheng-11384	426	19	of	of	ADP
fumecheng-11384	426	20	6r	6r	NUM
fumecheng-11384	426	21	articulated	articulated	ADJ
fumecheng-11384	426	22	industrial	industrial	ADJ
fumecheng-11384	426	23	robot	robot	NOUN
fumecheng-11384	426	24	using	use	VERB
fumecheng-11384	426	25	newton	newton	PROPN
fumecheng-11384	426	26	-	-	PUNCT
fumecheng-11384	426	27	euler	euler	PROPN
fumecheng-11384	426	28	formulation	formulation	NOUN
fumecheng-11384	426	29	,	,	PUNCT
fumecheng-11384	426	30	acta	acta	PROPN
fumecheng-11384	426	31	technica	technica	PROPN
fumecheng-11384	426	32	napocensis	napocensis	PROPN
fumecheng-11384	426	33	series	series	NOUN
fumecheng-11384	426	34	-	-	PUNCT
fumecheng-11384	426	35	applied	apply	VERB
fumecheng-11384	426	36	mathematics	mathematics	NOUN
fumecheng-11384	426	37	mechanics	mechanic	NOUN
fumecheng-11384	426	38	and	and	CCONJ
fumecheng-11384	426	39	engineering	engineering	NOUN
fumecheng-11384	426	40	,	,	PUNCT
fumecheng-11384	426	41	62(1	62(1	NOUN
fumecheng-11384	426	42	)	)	PUNCT
fumecheng-11384	426	43	,	,	PUNCT
fumecheng-11384	427	1	pp	pp	PROPN
fumecheng-11384	427	2	.	.	PUNCT
fumecheng-11384	428	1	169	169	NUM
fumecheng-11384	428	2	-	-	SYM
fumecheng-11384	428	3	174	174	NUM
fumecheng-11384	428	4	.	.	PUNCT
fumecheng-11384	429	1	13	13	NUM
fumecheng-11384	429	2	.	.	PUNCT
fumecheng-11384	429	3	urrea	urrea	PROPN
fumecheng-11384	429	4	,	,	PUNCT
fumecheng-11384	429	5	c.	c.	PROPN
fumecheng-11384	429	6	,	,	PUNCT
fumecheng-11384	429	7	pascal	pascal	PROPN
fumecheng-11384	429	8	,	,	PUNCT
fumecheng-11384	429	9	j.	j.	PROPN
fumecheng-11384	429	10	,	,	PUNCT
fumecheng-11384	429	11	2021	2021	NUM
fumecheng-11384	429	12	,	,	PUNCT
fumecheng-11384	429	13	dynamic	dynamic	ADJ
fumecheng-11384	429	14	parameter	parameter	NOUN
fumecheng-11384	429	15	identification	identification	NOUN
fumecheng-11384	429	16	based	base	VERB
fumecheng-11384	429	17	on	on	ADP
fumecheng-11384	429	18	lagrangian	lagrangian	ADJ
fumecheng-11384	429	19	formulation	formulation	NOUN
fumecheng-11384	429	20	and	and	CCONJ
fumecheng-11384	429	21	servomotor	servomotor	NOUN
fumecheng-11384	429	22	-	-	PUNCT
fumecheng-11384	429	23	type	type	NOUN
fumecheng-11384	429	24	actuators	actuator	NOUN
fumecheng-11384	429	25	for	for	ADP
fumecheng-11384	429	26	industrial	industrial	ADJ
fumecheng-11384	429	27	robots	robot	NOUN
fumecheng-11384	429	28	,	,	PUNCT
fumecheng-11384	429	29	international	international	ADJ
fumecheng-11384	429	30	journal	journal	NOUN
fumecheng-11384	429	31	of	of	ADP
fumecheng-11384	429	32	control	control	PROPN
fumecheng-11384	429	33	automation	automation	NOUN
fumecheng-11384	429	34	and	and	CCONJ
fumecheng-11384	429	35	systems	system	NOUN
fumecheng-11384	429	36	,	,	PUNCT
fumecheng-11384	429	37	19(8	19(8	NUM
fumecheng-11384	429	38	)	)	PUNCT
fumecheng-11384	429	39	,	,	PUNCT
fumecheng-11384	429	40	pp	pp	ADJ
fumecheng-11384	429	41	.	.	PUNCT
fumecheng-11384	430	1	2902	2902	NUM
fumecheng-11384	430	2	-	-	SYM
fumecheng-11384	430	3	2909	2909	NUM
fumecheng-11384	430	4	.	.	PUNCT
fumecheng-11384	431	1	14	14	NUM
fumecheng-11384	431	2	.	.	X
fumecheng-11384	431	3	šulekić	šulekić	PROPN
fumecheng-11384	431	4	,	,	PUNCT
fumecheng-11384	431	5	i.	i.	PROPN
fumecheng-11384	431	6	,	,	PUNCT
fumecheng-11384	431	7	osman	osman	PROPN
fumecheng-11384	431	8	,	,	PUNCT
fumecheng-11384	431	9	k.	k.	PROPN
fumecheng-11384	431	10	,	,	PUNCT
fumecheng-11384	431	11	lavrić	lavrić	NOUN
fumecheng-11384	431	12	,	,	PUNCT
fumecheng-11384	431	13	z.	z.	PROPN
fumecheng-11384	431	14	,	,	PUNCT
fumecheng-11384	431	15	2022	2022	NUM
fumecheng-11384	431	16	,	,	PUNCT
fumecheng-11384	431	17	implementation	implementation	NOUN
fumecheng-11384	431	18	of	of	ADP
fumecheng-11384	431	19	a	a	DET
fumecheng-11384	431	20	mathematical	mathematical	ADJ
fumecheng-11384	431	21	model	model	NOUN
fumecheng-11384	431	22	and	and	CCONJ
fumecheng-11384	431	23	comparison	comparison	NOUN
fumecheng-11384	431	24	of	of	ADP
fumecheng-11384	431	25	control	control	NOUN
fumecheng-11384	431	26	algorithms	algorithm	NOUN
fumecheng-11384	431	27	for	for	ADP
fumecheng-11384	431	28	an	an	DET
fumecheng-11384	431	29	industrial	industrial	ADJ
fumecheng-11384	431	30	robot	robot	NOUN
fumecheng-11384	431	31	arm	arm	NOUN
fumecheng-11384	431	32	,	,	PUNCT
fumecheng-11384	431	33	polytechnic	polytechnic	ADJ
fumecheng-11384	431	34	and	and	CCONJ
fumecheng-11384	431	35	design	design	NOUN
fumecheng-11384	431	36	,	,	PUNCT
fumecheng-11384	431	37	10(3	10(3	NUM
fumecheng-11384	431	38	)	)	PUNCT
fumecheng-11384	431	39	,	,	PUNCT
fumecheng-11384	431	40	pp	pp	ADP
fumecheng-11384	431	41	.	.	PUNCT
fumecheng-11384	432	1	211	211	NUM
fumecheng-11384	432	2	-	-	SYM
fumecheng-11384	432	3	221	221	NUM
fumecheng-11384	432	4	.	.	PUNCT
fumecheng-11384	433	1	286	286	NUM
fumecheng-11384	433	2	c.	c.	PROPN
fumecheng-11384	433	3	zhang	zhang	PROPN
fumecheng-11384	433	4	,	,	PUNCT
fumecheng-11384	433	5	s.	s.	PROPN
fumecheng-11384	433	6	li	li	PROPN
fumecheng-11384	433	7	,	,	PUNCT
fumecheng-11384	433	8	z.	z.	PROPN
fumecheng-11384	433	9	zhang	zhang	PROPN
fumecheng-11384	433	10	15	15	X
fumecheng-11384	433	11	.	.	PUNCT
fumecheng-11384	434	1	ho	ho	PROPN
fumecheng-11384	434	2	,	,	PUNCT
fumecheng-11384	434	3	t.	t.	PROPN
fumecheng-11384	434	4	,	,	PUNCT
fumecheng-11384	434	5	kang	kang	PROPN
fumecheng-11384	434	6	,	,	PUNCT
fumecheng-11384	434	7	c.g	c.g	PROPN
fumecheng-11384	434	8	.	.	PROPN
fumecheng-11384	434	9	,	,	PUNCT
fumecheng-11384	434	10	lee	lee	PROPN
fumecheng-11384	434	11	,	,	PUNCT
fumecheng-11384	434	12	s.	s.	PROPN
fumecheng-11384	434	13	,	,	PUNCT
fumecheng-11384	434	14	2012	2012	NUM
fumecheng-11384	434	15	,	,	PUNCT
fumecheng-11384	434	16	efficient	efficient	ADJ
fumecheng-11384	434	17	closed	closed	ADJ
fumecheng-11384	434	18	-	-	PUNCT
fumecheng-11384	434	19	form	form	NOUN
fumecheng-11384	434	20	solution	solution	NOUN
fumecheng-11384	434	21	of	of	ADP
fumecheng-11384	434	22	inverse	inverse	ADJ
fumecheng-11384	434	23	kinematics	kinematic	NOUN
fumecheng-11384	434	24	for	for	ADP
fumecheng-11384	434	25	a	a	DET
fumecheng-11384	434	26	specific	specific	ADJ
fumecheng-11384	434	27	sixdof	sixdof	NOUN
fumecheng-11384	434	28	arm	arm	NOUN
fumecheng-11384	434	29	,	,	PUNCT
fumecheng-11384	434	30	international	international	ADJ
fumecheng-11384	434	31	journal	journal	NOUN
fumecheng-11384	434	32	of	of	ADP
fumecheng-11384	434	33	control	control	PROPN
fumecheng-11384	434	34	automation	automation	NOUN
fumecheng-11384	434	35	and	and	CCONJ
fumecheng-11384	434	36	systems	system	NOUN
fumecheng-11384	434	37	,	,	PUNCT
fumecheng-11384	434	38	10(3	10(3	NUM
fumecheng-11384	434	39	)	)	PUNCT
fumecheng-11384	434	40	,	,	PUNCT
fumecheng-11384	434	41	pp	pp	PROPN
fumecheng-11384	434	42	.	.	PUNCT
fumecheng-11384	435	1	567	567	NUM
fumecheng-11384	435	2	-	-	SYM
fumecheng-11384	435	3	73	73	NUM
fumecheng-11384	435	4	.	.	PUNCT
fumecheng-11384	436	1	16	16	NUM
fumecheng-11384	436	2	.	.	PUNCT
fumecheng-11384	437	1	bien	bien	PROPN
fumecheng-11384	437	2	,	,	PUNCT
fumecheng-11384	437	3	d.x	d.x	PROPN
fumecheng-11384	437	4	.	.	PROPN
fumecheng-11384	437	5	,	,	PUNCT
fumecheng-11384	437	6	2023	2023	NUM
fumecheng-11384	437	7	,	,	PUNCT
fumecheng-11384	437	8	investigation	investigation	NOUN
fumecheng-11384	437	9	of	of	ADP
fumecheng-11384	437	10	driving	drive	VERB
fumecheng-11384	437	11	torques	torque	NOUN
fumecheng-11384	437	12	at	at	ADP
fumecheng-11384	437	13	the	the	DET
fumecheng-11384	437	14	joints	joint	NOUN
fumecheng-11384	437	15	of	of	ADP
fumecheng-11384	437	16	industrial	industrial	ADJ
fumecheng-11384	437	17	robot	robot	NOUN
fumecheng-11384	437	18	arms	arm	NOUN
fumecheng-11384	437	19	based	base	VERB
fumecheng-11384	437	20	on	on	ADP
fumecheng-11384	437	21	the	the	DET
fumecheng-11384	437	22	topology	topology	NOUN
fumecheng-11384	437	23	optimization	optimization	NOUN
fumecheng-11384	437	24	technique	technique	NOUN
fumecheng-11384	437	25	,	,	PUNCT
fumecheng-11384	437	26	journal	journal	NOUN
fumecheng-11384	437	27	of	of	ADP
fumecheng-11384	437	28	applied	applied	ADJ
fumecheng-11384	437	29	and	and	CCONJ
fumecheng-11384	437	30	computational	computational	ADJ
fumecheng-11384	437	31	mechanics	mechanic	NOUN
fumecheng-11384	437	32	,	,	PUNCT
fumecheng-11384	437	33	9(3	9(3	NUM
fumecheng-11384	437	34	)	)	PUNCT
fumecheng-11384	437	35	,	,	PUNCT
fumecheng-11384	437	36	pp	pp	PROPN
fumecheng-11384	437	37	.	.	PUNCT
fumecheng-11384	437	38	820	820	NUM
fumecheng-11384	437	39	-	-	SYM
fumecheng-11384	437	40	833	833	NUM
fumecheng-11384	437	41	.	.	PUNCT
fumecheng-11384	437	42	17	17	NUM
fumecheng-11384	437	43	.	.	PUNCT
fumecheng-11384	438	1	wang	wang	PROPN
fumecheng-11384	438	2	,	,	PUNCT
fumecheng-11384	438	3	j.w	j.w	PROPN
fumecheng-11384	438	4	.	.	PROPN
fumecheng-11384	438	5	,	,	PUNCT
fumecheng-11384	438	6	xu	xu	PROPN
fumecheng-11384	438	7	,	,	PUNCT
fumecheng-11384	438	8	j.x	j.x	PROPN
fumecheng-11384	438	9	.	.	PROPN
fumecheng-11384	438	10	,	,	PUNCT
fumecheng-11384	438	11	2021	2021	NUM
fumecheng-11384	438	12	,	,	PUNCT
fumecheng-11384	438	13	kinematic	kinematic	ADJ
fumecheng-11384	438	14	modeling	modeling	NOUN
fumecheng-11384	438	15	and	and	CCONJ
fumecheng-11384	438	16	simulation	simulation	NOUN
fumecheng-11384	438	17	of	of	ADP
fumecheng-11384	438	18	dual	dual	ADJ
fumecheng-11384	438	19	-	-	PUNCT
fumecheng-11384	438	20	arm	arm	NOUN
fumecheng-11384	438	21	robot	robot	NOUN
fumecheng-11384	438	22	,	,	PUNCT
fumecheng-11384	438	23	journal	journal	NOUN
fumecheng-11384	438	24	of	of	ADP
fumecheng-11384	438	25	robotics	robotic	NOUN
fumecheng-11384	438	26	,	,	PUNCT
fumecheng-11384	438	27	networking	networking	NOUN
fumecheng-11384	438	28	and	and	CCONJ
fumecheng-11384	438	29	artificial	artificial	ADJ
fumecheng-11384	438	30	life	life	NOUN
fumecheng-11384	438	31	,	,	PUNCT
fumecheng-11384	438	32	8(1	8(1	NOUN
fumecheng-11384	438	33	)	)	PUNCT
fumecheng-11384	438	34	,	,	PUNCT
fumecheng-11384	438	35	pp	pp	ADP
fumecheng-11384	438	36	.	.	PUNCT
fumecheng-11384	439	1	56	56	NUM
fumecheng-11384	439	2	-	-	SYM
fumecheng-11384	439	3	59	59	NUM
fumecheng-11384	439	4	.	.	PUNCT
fumecheng-11384	440	1	18	18	NUM
fumecheng-11384	440	2	.	.	PUNCT
fumecheng-11384	441	1	wang	wang	PROPN
fumecheng-11384	441	2	,	,	PUNCT
fumecheng-11384	441	3	j.w	j.w	PROPN
fumecheng-11384	441	4	.	.	PROPN
fumecheng-11384	441	5	,	,	PUNCT
fumecheng-11384	441	6	xu	xu	PROPN
fumecheng-11384	441	7	,	,	PUNCT
fumecheng-11384	441	8	j.x	j.x	PROPN
fumecheng-11384	441	9	.	.	PROPN
fumecheng-11384	441	10	,	,	PUNCT
fumecheng-11384	441	11	2021	2021	NUM
fumecheng-11384	441	12	,	,	PUNCT
fumecheng-11384	441	13	kinematic	kinematic	ADJ
fumecheng-11384	441	14	modeling	modeling	NOUN
fumecheng-11384	441	15	and	and	CCONJ
fumecheng-11384	441	16	simulation	simulation	NOUN
fumecheng-11384	441	17	of	of	ADP
fumecheng-11384	441	18	humanoid	humanoid	ADJ
fumecheng-11384	441	19	dual	dual	ADJ
fumecheng-11384	441	20	-	-	PUNCT
fumecheng-11384	441	21	arm	arm	NOUN
fumecheng-11384	441	22	robot	robot	NOUN
fumecheng-11384	441	23	,	,	PUNCT
fumecheng-11384	441	24	proc	proc	NOUN
fumecheng-11384	441	25	.	.	PUNCT
fumecheng-11384	442	1	26th	26th	ADJ
fumecheng-11384	442	2	international	international	ADJ
fumecheng-11384	442	3	conference	conference	NOUN
fumecheng-11384	442	4	on	on	ADP
fumecheng-11384	442	5	artificial	artificial	ADJ
fumecheng-11384	442	6	life	life	NOUN
fumecheng-11384	442	7	and	and	CCONJ
fumecheng-11384	442	8	robotics	robotic	NOUN
fumecheng-11384	442	9	,	,	PUNCT
fumecheng-11384	442	10	26	26	NUM
fumecheng-11384	442	11	,	,	PUNCT
fumecheng-11384	442	12	pp	pp	ADJ
fumecheng-11384	442	13	.	.	PUNCT
fumecheng-11384	443	1	381	381	NUM
fumecheng-11384	443	2	-	-	SYM
fumecheng-11384	443	3	384	384	NUM
fumecheng-11384	443	4	.	.	NOUN
fumecheng-11384	444	1	19	19	NUM
fumecheng-11384	444	2	.	.	PUNCT
fumecheng-11384	444	3	alam	alam	PROPN
fumecheng-11384	444	4	,	,	PUNCT
fumecheng-11384	444	5	m.m	m.m	PROPN
fumecheng-11384	444	6	.	.	PROPN
fumecheng-11384	444	7	,	,	PUNCT
fumecheng-11384	444	8	ibaraki	ibaraki	PROPN
fumecheng-11384	444	9	,	,	PUNCT
fumecheng-11384	444	10	s.	s.	PROPN
fumecheng-11384	444	11	,	,	PUNCT
fumecheng-11384	444	12	fukuda	fukuda	PROPN
fumecheng-11384	444	13	,	,	PUNCT
fumecheng-11384	444	14	k.	k.	PROPN
fumecheng-11384	444	15	,	,	PUNCT
fumecheng-11384	444	16	2021	2021	NUM
fumecheng-11384	444	17	,	,	PUNCT
fumecheng-11384	444	18	kinematic	kinematic	ADJ
fumecheng-11384	444	19	modeling	modeling	NOUN
fumecheng-11384	444	20	of	of	ADP
fumecheng-11384	444	21	six	six	NUM
fumecheng-11384	444	22	-	-	PUNCT
fumecheng-11384	444	23	axis	axis	NOUN
fumecheng-11384	444	24	industrial	industrial	ADJ
fumecheng-11384	444	25	robot	robot	NOUN
fumecheng-11384	444	26	and	and	CCONJ
fumecheng-11384	444	27	its	its	PRON
fumecheng-11384	444	28	parameter	parameter	NOUN
fumecheng-11384	444	29	identification	identification	NOUN
fumecheng-11384	444	30	:	:	PUNCT
fumecheng-11384	444	31	a	a	DET
fumecheng-11384	444	32	tutorial	tutorial	NOUN
fumecheng-11384	444	33	,	,	PUNCT
fumecheng-11384	444	34	international	international	ADJ
fumecheng-11384	444	35	journal	journal	NOUN
fumecheng-11384	444	36	of	of	ADP
fumecheng-11384	444	37	automation	automation	NOUN
fumecheng-11384	444	38	technology	technology	NOUN
fumecheng-11384	444	39	,	,	PUNCT
fumecheng-11384	444	40	15(5	15(5	NUM
fumecheng-11384	444	41	)	)	PUNCT
fumecheng-11384	444	42	,	,	PUNCT
fumecheng-11384	445	1	pp	pp	ADP
fumecheng-11384	445	2	.	.	PUNCT
fumecheng-11384	446	1	599	599	NUM
fumecheng-11384	446	2	-	-	SYM
fumecheng-11384	446	3	610	610	NUM
fumecheng-11384	446	4	.	.	NOUN
fumecheng-11384	447	1	20	20	NUM
fumecheng-11384	447	2	.	.	PUNCT
fumecheng-11384	448	1	nguyen	nguyen	NOUN
fumecheng-11384	448	2	,	,	PUNCT
fumecheng-11384	448	3	v.	v.	ADV
fumecheng-11384	448	4	,	,	PUNCT
fumecheng-11384	448	5	marvel	marvel	NOUN
fumecheng-11384	448	6	,	,	PUNCT
fumecheng-11384	448	7	j.a	j.a	PROPN
fumecheng-11384	448	8	.	.	PROPN
fumecheng-11384	448	9	,	,	PUNCT
fumecheng-11384	448	10	2022	2022	NUM
fumecheng-11384	448	11	,	,	PUNCT
fumecheng-11384	448	12	modeling	modeling	NOUN
fumecheng-11384	448	13	of	of	ADP
fumecheng-11384	448	14	industrial	industrial	ADJ
fumecheng-11384	448	15	robot	robot	NOUN
fumecheng-11384	448	16	kinematics	kinematic	NOUN
fumecheng-11384	448	17	using	use	VERB
fumecheng-11384	448	18	a	a	DET
fumecheng-11384	448	19	hybrid	hybrid	ADJ
fumecheng-11384	448	20	analytical	analytical	ADJ
fumecheng-11384	448	21	and	and	CCONJ
fumecheng-11384	448	22	statistical	statistical	ADJ
fumecheng-11384	448	23	approach	approach	NOUN
fumecheng-11384	448	24	,	,	PUNCT
fumecheng-11384	448	25	journal	journal	NOUN
fumecheng-11384	448	26	of	of	ADP
fumecheng-11384	448	27	mechanisms	mechanism	NOUN
fumecheng-11384	448	28	and	and	CCONJ
fumecheng-11384	448	29	robotics	robotic	NOUN
fumecheng-11384	448	30	-	-	PUNCT
fumecheng-11384	448	31	transactions	transaction	NOUN
fumecheng-11384	448	32	of	of	ADP
fumecheng-11384	448	33	the	the	DET
fumecheng-11384	448	34	asme	asme	PROPN
fumecheng-11384	448	35	,	,	PUNCT
fumecheng-11384	448	36	14(5	14(5	PROPN
fumecheng-11384	448	37	)	)	PUNCT
fumecheng-11384	448	38	,	,	PUNCT
fumecheng-11384	448	39	051009	051009	NUM
fumecheng-11384	448	40	.	.	PUNCT
fumecheng-11384	449	1	21	21	NUM
fumecheng-11384	449	2	.	.	PUNCT
fumecheng-11384	450	1	harfoush	harfoush	PROPN
fumecheng-11384	450	2	,	,	PUNCT
fumecheng-11384	450	3	a.	a.	NOUN
fumecheng-11384	450	4	,	,	PUNCT
fumecheng-11384	450	5	hossam	hossam	NOUN
fumecheng-11384	450	6	,	,	PUNCT
fumecheng-11384	450	7	m.	m.	NOUN
fumecheng-11384	450	8	,	,	PUNCT
fumecheng-11384	450	9	2020	2020	NUM
fumecheng-11384	450	10	,	,	PUNCT
fumecheng-11384	450	11	modelling	modelling	NOUN
fumecheng-11384	450	12	of	of	ADP
fumecheng-11384	450	13	a	a	DET
fumecheng-11384	450	14	robot	robot	NOUN
fumecheng-11384	450	15	-	-	PUNCT
fumecheng-11384	450	16	arm	arm	NOUN
fumecheng-11384	450	17	for	for	ADP
fumecheng-11384	450	18	training	training	NOUN
fumecheng-11384	450	19	in	in	ADP
fumecheng-11384	450	20	fencing	fence	VERB
fumecheng-11384	450	21	sport	sport	NOUN
fumecheng-11384	450	22	,	,	PUNCT
fumecheng-11384	450	23	international	international	ADJ
fumecheng-11384	450	24	journal	journal	NOUN
fumecheng-11384	450	25	of	of	ADP
fumecheng-11384	450	26	intelligent	intelligent	ADJ
fumecheng-11384	450	27	robotics	robotic	NOUN
fumecheng-11384	450	28	and	and	CCONJ
fumecheng-11384	450	29	applications	application	NOUN
fumecheng-11384	450	30	,	,	PUNCT
fumecheng-11384	450	31	4(1	4(1	NOUN
fumecheng-11384	450	32	)	)	PUNCT
fumecheng-11384	450	33	,	,	PUNCT
fumecheng-11384	450	34	pp	pp	PROPN
fumecheng-11384	450	35	.	.	PUNCT
fumecheng-11384	451	1	109	109	NUM
fumecheng-11384	451	2	-	-	SYM
fumecheng-11384	451	3	121	121	NUM
fumecheng-11384	451	4	.	.	PUNCT
fumecheng-11384	452	1	22	22	NUM
fumecheng-11384	452	2	.	.	PUNCT
fumecheng-11384	453	1	huynh	huynh	PROPN
fumecheng-11384	453	2	,	,	PUNCT
fumecheng-11384	453	3	h.n	h.n	PROPN
fumecheng-11384	453	4	.	.	PROPN
fumecheng-11384	453	5	,	,	PUNCT
fumecheng-11384	453	6	assadi	assadi	PROPN
fumecheng-11384	453	7	,	,	PUNCT
fumecheng-11384	453	8	h.	h.	PROPN
fumecheng-11384	453	9	,	,	PUNCT
fumecheng-11384	453	10	riviere	riviere	PROPN
fumecheng-11384	453	11	-	-	NOUN
fumecheng-11384	453	12	lorphevre	lorphevre	PROPN
fumecheng-11384	453	13	,	,	PUNCT
fumecheng-11384	453	14	e.	e.	PROPN
fumecheng-11384	453	15	,	,	PUNCT
fumecheng-11384	453	16	verlinden	verlinden	PROPN
fumecheng-11384	453	17	,	,	PUNCT
fumecheng-11384	453	18	o.	o.	PROPN
fumecheng-11384	453	19	,	,	PUNCT
fumecheng-11384	453	20	ahmadi	ahmadi	PROPN
fumecheng-11384	453	21	,	,	PUNCT
fumecheng-11384	453	22	k.	k.	PROPN
fumecheng-11384	453	23	,	,	PUNCT
fumecheng-11384	453	24	2020	2020	NUM
fumecheng-11384	453	25	,	,	PUNCT
fumecheng-11384	453	26	modelling	model	VERB
fumecheng-11384	453	27	the	the	DET
fumecheng-11384	453	28	dynamics	dynamic	NOUN
fumecheng-11384	453	29	of	of	ADP
fumecheng-11384	453	30	industrial	industrial	ADJ
fumecheng-11384	453	31	robots	robot	NOUN
fumecheng-11384	453	32	for	for	ADP
fumecheng-11384	453	33	milling	mill	VERB
fumecheng-11384	453	34	operations	operation	NOUN
fumecheng-11384	453	35	,	,	PUNCT
fumecheng-11384	453	36	robotics	robotic	NOUN
fumecheng-11384	453	37	and	and	CCONJ
fumecheng-11384	453	38	computer	computer	NOUN
fumecheng-11384	453	39	-	-	PUNCT
fumecheng-11384	453	40	integrated	integrate	VERB
fumecheng-11384	453	41	manufacturing	manufacturing	NOUN
fumecheng-11384	453	42	,	,	PUNCT
fumecheng-11384	453	43	61	61	NUM
fumecheng-11384	453	44	,	,	PUNCT
fumecheng-11384	453	45	101852	101852	NUM
fumecheng-11384	453	46	.	.	PUNCT
fumecheng-11384	454	1	23	23	NUM
fumecheng-11384	454	2	.	.	PUNCT
fumecheng-11384	455	1	segota	segota	PROPN
fumecheng-11384	455	2	,	,	PUNCT
fumecheng-11384	455	3	s.b	s.b	PROPN
fumecheng-11384	455	4	.	.	PROPN
fumecheng-11384	455	5	,	,	PUNCT
fumecheng-11384	455	6	andelic	andelic	NOUN
fumecheng-11384	455	7	,	,	PUNCT
fumecheng-11384	455	8	n.	n.	NOUN
fumecheng-11384	455	9	,	,	PUNCT
fumecheng-11384	455	10	car	car	NOUN
fumecheng-11384	455	11	,	,	PUNCT
fumecheng-11384	455	12	z.	z.	PROPN
fumecheng-11384	455	13	,	,	PUNCT
fumecheng-11384	455	14	sercer	sercer	NOUN
fumecheng-11384	455	15	,	,	PUNCT
fumecheng-11384	455	16	m.	m.	NOUN
fumecheng-11384	455	17	,	,	PUNCT
fumecheng-11384	455	18	2022	2022	NUM
fumecheng-11384	455	19	,	,	PUNCT
fumecheng-11384	455	20	prediction	prediction	NOUN
fumecheng-11384	455	21	of	of	ADP
fumecheng-11384	455	22	robot	robot	NOUN
fumecheng-11384	455	23	grasp	grasp	NOUN
fumecheng-11384	455	24	robustness	robustness	NOUN
fumecheng-11384	455	25	using	use	VERB
fumecheng-11384	455	26	artificial	artificial	ADJ
fumecheng-11384	455	27	intelligence	intelligence	NOUN
fumecheng-11384	455	28	algorithms	algorithm	NOUN
fumecheng-11384	455	29	,	,	PUNCT
fumecheng-11384	455	30	tehnicki	tehnicki	NOUN
fumecheng-11384	455	31	vjesnik	vjesnik	PROPN
fumecheng-11384	455	32	-	-	PUNCT
fumecheng-11384	455	33	technical	technical	ADJ
fumecheng-11384	455	34	gazette	gazette	NOUN
fumecheng-11384	455	35	,	,	PUNCT
fumecheng-11384	455	36	29(1	29(1	NUM
fumecheng-11384	455	37	)	)	PUNCT
fumecheng-11384	455	38	,	,	PUNCT
fumecheng-11384	455	39	pp	pp	ADP
fumecheng-11384	455	40	.	.	PUNCT
fumecheng-11384	456	1	101	101	NUM
fumecheng-11384	456	2	-	-	SYM
fumecheng-11384	456	3	107	107	NUM
fumecheng-11384	456	4	.	.	PUNCT
fumecheng-11384	457	1	24	24	NUM
fumecheng-11384	457	2	.	.	PUNCT
fumecheng-11384	457	3	truc	truc	PROPN
fumecheng-11384	457	4	,	,	PUNCT
fumecheng-11384	457	5	l.n	l.n	PROPN
fumecheng-11384	457	6	.	.	PROPN
fumecheng-11384	457	7	,	,	PUNCT
fumecheng-11384	457	8	nguyen	nguyen	PROPN
fumecheng-11384	457	9	,	,	PUNCT
fumecheng-11384	457	10	t.l	t.l	PROPN
fumecheng-11384	457	11	.	.	PROPN
fumecheng-11384	457	12	,	,	PUNCT
fumecheng-11384	457	13	2020	2020	NUM
fumecheng-11384	457	14	,	,	PUNCT
fumecheng-11384	457	15	quasi	quasi	ADJ
fumecheng-11384	457	16	-	-	ADJ
fumecheng-11384	457	17	physical	physical	ADJ
fumecheng-11384	457	18	modeling	modeling	NOUN
fumecheng-11384	457	19	of	of	ADP
fumecheng-11384	457	20	robot	robot	NOUN
fumecheng-11384	457	21	irb	irb	VERB
fumecheng-11384	457	22	120	120	NUM
fumecheng-11384	457	23	using	use	VERB
fumecheng-11384	457	24	simscape	simscape	NOUN
fumecheng-11384	457	25	multibody	multibody	NOUN
fumecheng-11384	457	26	for	for	ADP
fumecheng-11384	457	27	dynamic	dynamic	ADJ
fumecheng-11384	457	28	and	and	CCONJ
fumecheng-11384	457	29	control	control	NOUN
fumecheng-11384	457	30	simulation	simulation	NOUN
fumecheng-11384	457	31	,	,	PUNCT
fumecheng-11384	457	32	turkish	turkish	ADJ
fumecheng-11384	457	33	journal	journal	NOUN
fumecheng-11384	457	34	of	of	ADP
fumecheng-11384	457	35	electrical	electrical	ADJ
fumecheng-11384	457	36	engineering	engineering	NOUN
fumecheng-11384	457	37	and	and	CCONJ
fumecheng-11384	457	38	computer	computer	NOUN
fumecheng-11384	457	39	sciences	science	NOUN
fumecheng-11384	457	40	,	,	PUNCT
fumecheng-11384	457	41	28(4	28(4	NUM
fumecheng-11384	457	42	)	)	PUNCT
fumecheng-11384	457	43	,	,	PUNCT
fumecheng-11384	457	44	pp	pp	ADJ
fumecheng-11384	457	45	.	.	PUNCT
fumecheng-11384	458	1	1949	1949	NUM
fumecheng-11384	458	2	-	-	SYM
fumecheng-11384	458	3	1964	1964	NUM
fumecheng-11384	458	4	.	.	PUNCT
fumecheng-11384	459	1	25	25	NUM
fumecheng-11384	459	2	.	.	PUNCT
fumecheng-11384	460	1	barrientos	barrientos	PROPN
fumecheng-11384	460	2	-	-	PUNCT
fumecheng-11384	460	3	diez	diez	PROPN
fumecheng-11384	460	4	,	,	PUNCT
fumecheng-11384	460	5	j.	j.	PROPN
fumecheng-11384	460	6	,	,	PUNCT
fumecheng-11384	460	7	dong	dong	PROPN
fumecheng-11384	460	8	,	,	PUNCT
fumecheng-11384	460	9	x.	x.	NOUN
fumecheng-11384	460	10	,	,	PUNCT
fumecheng-11384	460	11	axinte	axinte	ADV
fumecheng-11384	460	12	,	,	PUNCT
fumecheng-11384	460	13	d.	d.	PROPN
fumecheng-11384	460	14	,	,	PUNCT
fumecheng-11384	460	15	kell	kell	PROPN
fumecheng-11384	460	16	,	,	PUNCT
fumecheng-11384	460	17	j.	j.	PROPN
fumecheng-11384	460	18	,	,	PUNCT
fumecheng-11384	460	19	2021	2021	NUM
fumecheng-11384	460	20	,	,	PUNCT
fumecheng-11384	460	21	real	real	ADJ
fumecheng-11384	460	22	-	-	PUNCT
fumecheng-11384	460	23	time	time	NOUN
fumecheng-11384	460	24	kinematics	kinematic	NOUN
fumecheng-11384	460	25	of	of	ADP
fumecheng-11384	460	26	continuum	continuum	ADJ
fumecheng-11384	460	27	robots	robot	NOUN
fumecheng-11384	460	28	:	:	PUNCT
fumecheng-11384	460	29	modelling	modelling	NOUN
fumecheng-11384	460	30	and	and	CCONJ
fumecheng-11384	460	31	validation	validation	NOUN
fumecheng-11384	460	32	,	,	PUNCT
fumecheng-11384	460	33	robotics	robotic	NOUN
fumecheng-11384	460	34	and	and	CCONJ
fumecheng-11384	460	35	computer	computer	NOUN
fumecheng-11384	460	36	-	-	PUNCT
fumecheng-11384	460	37	integrated	integrate	VERB
fumecheng-11384	460	38	manufacturing	manufacturing	NOUN
fumecheng-11384	460	39	,	,	PUNCT
fumecheng-11384	460	40	67	67	NUM
fumecheng-11384	460	41	,	,	PUNCT
fumecheng-11384	460	42	102019	102019	NUM
fumecheng-11384	460	43	.	.	PUNCT
fumecheng-11384	461	1	26	26	NUM
fumecheng-11384	461	2	.	.	X
fumecheng-11384	461	3	ogbemhe	ogbemhe	PROPN
fumecheng-11384	461	4	,	,	PUNCT
fumecheng-11384	461	5	j.	j.	PROPN
fumecheng-11384	461	6	,	,	PUNCT
fumecheng-11384	461	7	mpofu	mpofu	PROPN
fumecheng-11384	461	8	,	,	PUNCT
fumecheng-11384	461	9	k.	k.	PROPN
fumecheng-11384	461	10	,	,	PUNCT
fumecheng-11384	461	11	mokakabye	mokakabye	PROPN
fumecheng-11384	461	12	,	,	PUNCT
fumecheng-11384	461	13	m.	m.	NOUN
fumecheng-11384	461	14	,	,	PUNCT
fumecheng-11384	461	15	2022	2022	NUM
fumecheng-11384	461	16	,	,	PUNCT
fumecheng-11384	461	17	robot	robot	NOUN
fumecheng-11384	461	18	dynamic	dynamic	ADJ
fumecheng-11384	461	19	model	model	NOUN
fumecheng-11384	461	20	:	:	PUNCT
fumecheng-11384	461	21	freudenstein	freudenstein	ADJ
fumecheng-11384	461	22	-	-	PUNCT
fumecheng-11384	461	23	based	base	VERB
fumecheng-11384	461	24	optimal	optimal	ADJ
fumecheng-11384	461	25	trajectory	trajectory	NOUN
fumecheng-11384	461	26	and	and	CCONJ
fumecheng-11384	461	27	parameter	parameter	NOUN
fumecheng-11384	461	28	identification	identification	NOUN
fumecheng-11384	461	29	,	,	PUNCT
fumecheng-11384	461	30	cogent	cogent	NOUN
fumecheng-11384	461	31	engineering	engineering	NOUN
fumecheng-11384	461	32	,	,	PUNCT
fumecheng-11384	461	33	9(1	9(1	NUM
fumecheng-11384	461	34	)	)	PUNCT
fumecheng-11384	461	35	,	,	PUNCT
fumecheng-11384	461	36	2046682	2046682	NUM
fumecheng-11384	461	37	.	.	PUNCT
fumecheng-11384	462	1	27	27	NUM
fumecheng-11384	462	2	.	.	X
fumecheng-11384	463	1	aboulissane	aboulissane	PROPN
fumecheng-11384	463	2	,	,	PUNCT
fumecheng-11384	463	3	b.	b.	PROPN
fumecheng-11384	463	4	,	,	PUNCT
fumecheng-11384	463	5	bakkali	bakkali	PROPN
fumecheng-11384	463	6	,	,	PUNCT
fumecheng-11384	463	7	l.e	l.e	PROPN
fumecheng-11384	463	8	.	.	PROPN
fumecheng-11384	463	9	,	,	PUNCT
fumecheng-11384	463	10	bahaoui	bahaoui	PROPN
fumecheng-11384	463	11	,	,	PUNCT
fumecheng-11384	463	12	j.e	j.e	PROPN
fumecheng-11384	463	13	.	.	PROPN
fumecheng-11384	463	14	,	,	PUNCT
fumecheng-11384	463	15	2020	2020	NUM
fumecheng-11384	463	16	,	,	PUNCT
fumecheng-11384	463	17	workspace	workspace	NOUN
fumecheng-11384	463	18	analysis	analysis	NOUN
fumecheng-11384	463	19	and	and	CCONJ
fumecheng-11384	463	20	optimization	optimization	NOUN
fumecheng-11384	463	21	of	of	ADP
fumecheng-11384	463	22	the	the	DET
fumecheng-11384	463	23	parallel	parallel	ADJ
fumecheng-11384	463	24	robots	robot	NOUN
fumecheng-11384	463	25	based	base	VERB
fumecheng-11384	463	26	on	on	ADP
fumecheng-11384	463	27	computer	computer	NOUN
fumecheng-11384	463	28	-	-	PUNCT
fumecheng-11384	463	29	aided	aid	VERB
fumecheng-11384	463	30	design	design	NOUN
fumecheng-11384	463	31	approach	approach	NOUN
fumecheng-11384	463	32	,	,	PUNCT
fumecheng-11384	463	33	facta	facta	PROPN
fumecheng-11384	463	34	universitatis	universitatis	PROPN
fumecheng-11384	463	35	-	-	PUNCT
fumecheng-11384	463	36	series	series	NOUN
fumecheng-11384	463	37	mechanical	mechanical	ADJ
fumecheng-11384	463	38	engineering	engineering	NOUN
fumecheng-11384	463	39	,	,	PUNCT
fumecheng-11384	463	40	18(1	18(1	NUM
fumecheng-11384	463	41	)	)	PUNCT
fumecheng-11384	463	42	,	,	PUNCT
fumecheng-11384	463	43	pp	pp	PROPN
fumecheng-11384	463	44	.	.	PUNCT
fumecheng-11384	464	1	79	79	NUM
fumecheng-11384	464	2	-	-	SYM
fumecheng-11384	464	3	89	89	NUM
fumecheng-11384	464	4	.	.	PUNCT
fumecheng-11384	465	1	28	28	NUM
fumecheng-11384	465	2	.	.	PUNCT
fumecheng-11384	466	1	brito	brito	PROPN
fumecheng-11384	466	2	,	,	PUNCT
fumecheng-11384	466	3	t.	t.	PROPN
fumecheng-11384	466	4	,	,	PUNCT
fumecheng-11384	466	5	lima	lima	PROPN
fumecheng-11384	466	6	,	,	PUNCT
fumecheng-11384	466	7	j.	j.	PROPN
fumecheng-11384	466	8	,	,	PUNCT
fumecheng-11384	466	9	braun	braun	PROPN
fumecheng-11384	466	10	,	,	PUNCT
fumecheng-11384	466	11	j.	j.	PROPN
fumecheng-11384	466	12	,	,	PUNCT
fumecheng-11384	466	13	piardi	piardi	PROPN
fumecheng-11384	466	14	,	,	PUNCT
fumecheng-11384	466	15	l.	l.	PROPN
fumecheng-11384	466	16	,	,	PUNCT
fumecheng-11384	466	17	costa	costa	PROPN
fumecheng-11384	466	18	,	,	PUNCT
fumecheng-11384	466	19	p.	p.	NOUN
fumecheng-11384	466	20	,	,	PUNCT
fumecheng-11384	466	21	2020	2020	NUM
fumecheng-11384	466	22	,	,	PUNCT
fumecheng-11384	466	23	a	a	DET
fumecheng-11384	466	24	dobot	dobot	NOUN
fumecheng-11384	466	25	manipulator	manipulator	NOUN
fumecheng-11384	466	26	simulation	simulation	NOUN
fumecheng-11384	466	27	environment	environment	NOUN
fumecheng-11384	466	28	for	for	ADP
fumecheng-11384	466	29	teaching	teach	VERB
fumecheng-11384	466	30	aim	aim	NOUN
fumecheng-11384	466	31	with	with	ADP
fumecheng-11384	466	32	forward	forward	ADV
fumecheng-11384	466	33	and	and	CCONJ
fumecheng-11384	466	34	inverse	inverse	NOUN
fumecheng-11384	466	35	kinematics	kinematic	NOUN
fumecheng-11384	466	36	,	,	PUNCT
fumecheng-11384	466	37	proc	proc	NOUN
fumecheng-11384	466	38	.	.	PUNCT
fumecheng-11384	467	1	14th	14th	ADJ
fumecheng-11384	467	2	apca	apca	ADP
fumecheng-11384	467	3	international	international	ADJ
fumecheng-11384	467	4	conference	conference	NOUN
fumecheng-11384	467	5	on	on	ADP
fumecheng-11384	467	6	automatic	automatic	ADJ
fumecheng-11384	467	7	control	control	NOUN
fumecheng-11384	467	8	and	and	CCONJ
fumecheng-11384	467	9	soft	soft	ADJ
fumecheng-11384	467	10	computing	computing	NOUN
fumecheng-11384	467	11	,	,	PUNCT
fumecheng-11384	467	12	braganca	braganca	PROPN
fumecheng-11384	467	13	,	,	PUNCT
fumecheng-11384	467	14	portugal	portugal	PROPN
fumecheng-11384	467	15	,	,	PUNCT
fumecheng-11384	467	16	vol	vol	NOUN
fumecheng-11384	467	17	.	.	NOUN
fumecheng-11384	467	18	695	695	NUM
fumecheng-11384	467	19	,	,	PUNCT
fumecheng-11384	467	20	pp	pp	ADJ
fumecheng-11384	467	21	.	.	PUNCT
fumecheng-11384	468	1	303	303	NUM
fumecheng-11384	468	2	-	-	SYM
fumecheng-11384	468	3	312	312	NUM
fumecheng-11384	468	4	.	.	NOUN
fumecheng-11384	468	5	29	29	NUM
fumecheng-11384	468	6	.	.	PUNCT
fumecheng-11384	469	1	miki	miki	PROPN
fumecheng-11384	469	2	,	,	PUNCT
fumecheng-11384	469	3	k.	k.	PROPN
fumecheng-11384	469	4	,	,	PUNCT
fumecheng-11384	469	5	nagata	nagata	PROPN
fumecheng-11384	469	6	,	,	PUNCT
fumecheng-11384	469	7	f.	f.	PROPN
fumecheng-11384	469	8	,	,	PUNCT
fumecheng-11384	469	9	furuta	furuta	PROPN
fumecheng-11384	469	10	,	,	PUNCT
fumecheng-11384	469	11	k.	k.	PROPN
fumecheng-11384	469	12	,	,	PUNCT
fumecheng-11384	469	13	arima	arima	PROPN
fumecheng-11384	469	14	,	,	PUNCT
fumecheng-11384	469	15	k.	k.	PROPN
fumecheng-11384	469	16	,	,	PUNCT
fumecheng-11384	469	17	shimizu	shimizu	PROPN
fumecheng-11384	469	18	,	,	PUNCT
fumecheng-11384	469	19	t.	t.	PROPN
fumecheng-11384	469	20	,	,	PUNCT
fumecheng-11384	469	21	ikeda	ikeda	PROPN
fumecheng-11384	469	22	,	,	PUNCT
fumecheng-11384	469	23	t.	t.	PROPN
fumecheng-11384	469	24	,	,	PUNCT
fumecheng-11384	469	25	kato	kato	PROPN
fumecheng-11384	469	26	,	,	PUNCT
fumecheng-11384	469	27	h.	h.	PROPN
fumecheng-11384	469	28	,	,	PUNCT
fumecheng-11384	469	29	watanabe	watanabe	PROPN
fumecheng-11384	469	30	,	,	PUNCT
fumecheng-11384	469	31	k.	k.	PROPN
fumecheng-11384	469	32	,	,	PUNCT
fumecheng-11384	469	33	habib	habib	PROPN
fumecheng-11384	469	34	,	,	PUNCT
fumecheng-11384	469	35	m.	m.	NOUN
fumecheng-11384	469	36	k.	k.	PROPN
fumecheng-11384	469	37	,	,	PUNCT
fumecheng-11384	469	38	2022	2022	NUM
fumecheng-11384	469	39	,	,	PUNCT
fumecheng-11384	469	40	development	development	NOUN
fumecheng-11384	469	41	of	of	ADP
fumecheng-11384	469	42	a	a	DET
fumecheng-11384	469	43	hyper	hyper	ADJ
fumecheng-11384	469	44	cls	cls	NOUN
fumecheng-11384	469	45	data	data	NOUN
fumecheng-11384	469	46	-	-	PUNCT
fumecheng-11384	469	47	based	base	VERB
fumecheng-11384	469	48	robotic	robotic	ADJ
fumecheng-11384	469	49	interface	interface	NOUN
fumecheng-11384	469	50	for	for	ADP
fumecheng-11384	469	51	automation	automation	NOUN
fumecheng-11384	469	52	of	of	ADP
fumecheng-11384	469	53	production	production	NOUN
fumecheng-11384	469	54	-	-	PUNCT
fumecheng-11384	469	55	line	line	NOUN
fumecheng-11384	469	56	tasks	task	NOUN
fumecheng-11384	469	57	using	use	VERB
fumecheng-11384	469	58	an	an	DET
fumecheng-11384	469	59	articulated	articulated	ADJ
fumecheng-11384	469	60	robot	robot	NOUN
fumecheng-11384	469	61	arm	arm	NOUN
fumecheng-11384	469	62	,	,	PUNCT
fumecheng-11384	469	63	artificial	artificial	ADJ
fumecheng-11384	469	64	life	life	NOUN
fumecheng-11384	469	65	and	and	CCONJ
fumecheng-11384	469	66	robotics	robotic	NOUN
fumecheng-11384	469	67	,	,	PUNCT
fumecheng-11384	469	68	27(3	27(3	NUM
fumecheng-11384	469	69	)	)	PUNCT
fumecheng-11384	469	70	,	,	PUNCT
fumecheng-11384	469	71	pp	pp	ADP
fumecheng-11384	469	72	.	.	PUNCT
fumecheng-11384	470	1	547	547	NUM
fumecheng-11384	470	2	-	-	SYM
fumecheng-11384	470	3	553	553	NUM
fumecheng-11384	470	4	.	.	NOUN
fumecheng-11384	471	1	30	30	NUM
fumecheng-11384	471	2	.	.	PUNCT
fumecheng-11384	472	1	liri	liri	PROPN
fumecheng-11384	472	2	,	,	PUNCT
fumecheng-11384	472	3	f.	f.	PROPN
fumecheng-11384	472	4	,	,	PUNCT
fumecheng-11384	472	5	luu	luu	PROPN
fumecheng-11384	472	6	,	,	PUNCT
fumecheng-11384	472	7	a.	a.	PROPN
fumecheng-11384	472	8	,	,	PUNCT
fumecheng-11384	472	9	george	george	PROPN
fumecheng-11384	472	10	,	,	PUNCT
fumecheng-11384	472	11	k.	k.	PROPN
fumecheng-11384	472	12	,	,	PUNCT
fumecheng-11384	472	13	angulo	angulo	PROPN
fumecheng-11384	472	14	,	,	PUNCT
fumecheng-11384	472	15	a.	a.	NOUN
fumecheng-11384	472	16	,	,	PUNCT
fumecheng-11384	472	17	dittloff	dittloff	PROPN
fumecheng-11384	472	18	,	,	PUNCT
fumecheng-11384	472	19	j.	j.	PROPN
fumecheng-11384	472	20	,	,	PUNCT
fumecheng-11384	472	21	2022	2022	NUM
fumecheng-11384	472	22	,	,	PUNCT
fumecheng-11384	472	23	real	real	ADJ
fumecheng-11384	472	24	-	-	PUNCT
fumecheng-11384	472	25	time	time	NOUN
fumecheng-11384	472	26	dynamic	dynamic	ADJ
fumecheng-11384	472	27	object	object	NOUN
fumecheng-11384	472	28	grasping	grasp	VERB
fumecheng-11384	472	29	with	with	ADP
fumecheng-11384	472	30	a	a	DET
fumecheng-11384	472	31	robotic	robotic	ADJ
fumecheng-11384	472	32	arm	arm	NOUN
fumecheng-11384	472	33	:	:	PUNCT
fumecheng-11384	472	34	a	a	DET
fumecheng-11384	472	35	design	design	NOUN
fumecheng-11384	472	36	for	for	ADP
fumecheng-11384	472	37	visually	visually	ADV
fumecheng-11384	472	38	impaired	impair	VERB
fumecheng-11384	472	39	persons	person	NOUN
fumecheng-11384	472	40	,	,	PUNCT
fumecheng-11384	472	41	proc	proc	NOUN
fumecheng-11384	472	42	.	.	PUNCT
fumecheng-11384	473	1	ieee	ieee	PROPN
fumecheng-11384	473	2	world	world	PROPN
fumecheng-11384	473	3	ai	ai	VERB
fumecheng-11384	473	4	iot	iot	PROPN
fumecheng-11384	473	5	congress	congress	PROPN
fumecheng-11384	473	6	,	,	PUNCT
fumecheng-11384	473	7	seattle	seattle	PROPN
fumecheng-11384	473	8	,	,	PUNCT
fumecheng-11384	473	9	wa	wa	PROPN
fumecheng-11384	473	10	,	,	PUNCT
fumecheng-11384	473	11	pp	pp	PROPN
fumecheng-11384	473	12	.	.	PUNCT
fumecheng-11384	474	1	344	344	NUM
fumecheng-11384	474	2	-	-	SYM
fumecheng-11384	474	3	350	350	NUM
fumecheng-11384	474	4	.	.	PUNCT
fumecheng-11384	475	1	31	31	NUM
fumecheng-11384	475	2	.	.	PUNCT
fumecheng-11384	476	1	guo	guo	PROPN
fumecheng-11384	476	2	,	,	PUNCT
fumecheng-11384	476	3	f.y	f.y	PROPN
fumecheng-11384	476	4	.	.	PROPN
fumecheng-11384	476	5	,	,	PUNCT
fumecheng-11384	476	6	cai	cai	PROPN
fumecheng-11384	476	7	,	,	PUNCT
fumecheng-11384	476	8	h.	h.	PROPN
fumecheng-11384	476	9	,	,	PUNCT
fumecheng-11384	476	10	ceccarelli	ceccarelli	ADV
fumecheng-11384	476	11	,	,	PUNCT
fumecheng-11384	476	12	m.	m.	NOUN
fumecheng-11384	476	13	,	,	PUNCT
fumecheng-11384	476	14	li	li	PROPN
fumecheng-11384	476	15	,	,	PUNCT
fumecheng-11384	476	16	t.	t.	PROPN
fumecheng-11384	476	17	,	,	PUNCT
fumecheng-11384	476	18	yao	yao	PROPN
fumecheng-11384	476	19	,	,	PUNCT
fumecheng-11384	476	20	b.t	b.t	PROPN
fumecheng-11384	476	21	.	.	PROPN
fumecheng-11384	476	22	,	,	PUNCT
fumecheng-11384	476	23	2020	2020	NUM
fumecheng-11384	476	24	,	,	PUNCT
fumecheng-11384	476	25	enhanced	enhance	VERB
fumecheng-11384	476	26	d	d	X
fumecheng-11384	476	27	-	-	PUNCT
fumecheng-11384	476	28	h	h	NOUN
fumecheng-11384	476	29	:	:	PUNCT
fumecheng-11384	476	30	an	an	DET
fumecheng-11384	476	31	improved	improved	ADJ
fumecheng-11384	476	32	convention	convention	NOUN
fumecheng-11384	476	33	for	for	ADP
fumecheng-11384	476	34	establishing	establish	VERB
fumecheng-11384	476	35	a	a	DET
fumecheng-11384	476	36	robot	robot	NOUN
fumecheng-11384	476	37	link	link	NOUN
fumecheng-11384	476	38	coordinate	coordinate	NOUN
fumecheng-11384	476	39	system	system	NOUN
fumecheng-11384	476	40	fixed	fix	VERB
fumecheng-11384	476	41	on	on	ADP
fumecheng-11384	476	42	the	the	DET
fumecheng-11384	476	43	joint	joint	ADJ
fumecheng-11384	476	44	,	,	PUNCT
fumecheng-11384	476	45	industrial	industrial	ADJ
fumecheng-11384	476	46	robot	robot	NOUN
fumecheng-11384	476	47	-	-	PUNCT
fumecheng-11384	476	48	the	the	DET
fumecheng-11384	476	49	international	international	ADJ
fumecheng-11384	476	50	journal	journal	NOUN
fumecheng-11384	476	51	of	of	ADP
fumecheng-11384	476	52	robotics	robotic	NOUN
fumecheng-11384	476	53	research	research	NOUN
fumecheng-11384	476	54	and	and	CCONJ
fumecheng-11384	476	55	application	application	NOUN
fumecheng-11384	476	56	,	,	PUNCT
fumecheng-11384	476	57	47(2	47(2	PROPN
fumecheng-11384	476	58	)	)	PUNCT
fumecheng-11384	476	59	,	,	PUNCT
fumecheng-11384	476	60	pp	pp	PROPN
fumecheng-11384	476	61	.	.	PUNCT
fumecheng-11384	477	1	197	197	NUM
fumecheng-11384	477	2	-	-	SYM
fumecheng-11384	477	3	205	205	NUM
fumecheng-11384	477	4	.	.	PUNCT
fumecheng-11384	478	1	32	32	NUM
fumecheng-11384	478	2	.	.	PUNCT
fumecheng-11384	479	1	singh	singh	PROPN
fumecheng-11384	479	2	,	,	PUNCT
fumecheng-11384	479	3	a.	a.	NOUN
fumecheng-11384	479	4	,	,	PUNCT
fumecheng-11384	479	5	singla	singla	PROPN
fumecheng-11384	479	6	,	,	PUNCT
fumecheng-11384	479	7	a.	a.	PROPN
fumecheng-11384	479	8	,	,	PUNCT
fumecheng-11384	479	9	soni	soni	PROPN
fumecheng-11384	479	10	,	,	PUNCT
fumecheng-11384	479	11	s.	s.	PROPN
fumecheng-11384	479	12	,	,	PUNCT
fumecheng-11384	479	13	2015	2015	NUM
fumecheng-11384	479	14	,	,	PUNCT
fumecheng-11384	479	15	extension	extension	NOUN
fumecheng-11384	479	16	of	of	ADP
fumecheng-11384	479	17	d	d	PROPN
fumecheng-11384	479	18	-	-	ADJ
fumecheng-11384	479	19	h	h	PROPN
fumecheng-11384	479	20	parameter	parameter	NOUN
fumecheng-11384	479	21	method	method	NOUN
fumecheng-11384	479	22	to	to	ADP
fumecheng-11384	479	23	hybrid	hybrid	ADJ
fumecheng-11384	479	24	manipulators	manipulator	NOUN
fumecheng-11384	479	25	used	use	VERB
fumecheng-11384	479	26	in	in	ADP
fumecheng-11384	479	27	robot	robot	NOUN
fumecheng-11384	479	28	-	-	PUNCT
fumecheng-11384	479	29	assisted	assist	VERB
fumecheng-11384	479	30	surgery	surgery	NOUN
fumecheng-11384	479	31	,	,	PUNCT
fumecheng-11384	479	32	proceedings	proceeding	NOUN
fumecheng-11384	479	33	of	of	ADP
fumecheng-11384	479	34	the	the	DET
fumecheng-11384	479	35	institution	institution	NOUN
fumecheng-11384	479	36	of	of	ADP
fumecheng-11384	479	37	mechanical	mechanical	ADJ
fumecheng-11384	479	38	engineers	engineer	NOUN
fumecheng-11384	479	39	part	part	VERB
fumecheng-11384	479	40	h	h	NOUN
fumecheng-11384	479	41	-	-	PUNCT
fumecheng-11384	479	42	journal	journal	NOUN
fumecheng-11384	479	43	of	of	ADP
fumecheng-11384	479	44	engineering	engineering	NOUN
fumecheng-11384	479	45	in	in	ADP
fumecheng-11384	479	46	medicine	medicine	NOUN
fumecheng-11384	479	47	,	,	PUNCT
fumecheng-11384	479	48	229(10	229(10	NUM
fumecheng-11384	479	49	)	)	PUNCT
fumecheng-11384	479	50	,	,	PUNCT
fumecheng-11384	479	51	pp	pp	ADP
fumecheng-11384	479	52	.	.	PUNCT
fumecheng-11384	480	1	703	703	NUM
fumecheng-11384	480	2	-	-	SYM
fumecheng-11384	480	3	712	712	NUM
fumecheng-11384	480	4	.	.	PUNCT
fumecheng-11384	481	1	33	33	NUM
fumecheng-11384	481	2	.	.	PUNCT
fumecheng-11384	482	1	gupta	gupta	PROPN
fumecheng-11384	482	2	,	,	PUNCT
fumecheng-11384	482	3	k.c	k.c	PROPN
fumecheng-11384	482	4	.	.	PROPN
fumecheng-11384	482	5	,	,	PUNCT
fumecheng-11384	482	6	1986	1986	NUM
fumecheng-11384	482	7	,	,	PUNCT
fumecheng-11384	482	8	kinematic	kinematic	VERB
fumecheng-11384	482	9	analysis	analysis	NOUN
fumecheng-11384	482	10	of	of	ADP
fumecheng-11384	482	11	manipulators	manipulator	NOUN
fumecheng-11384	482	12	using	use	VERB
fumecheng-11384	482	13	the	the	DET
fumecheng-11384	482	14	zero	zero	NUM
fumecheng-11384	482	15	reference	reference	NOUN
fumecheng-11384	482	16	position	position	NOUN
fumecheng-11384	482	17	description	description	NOUN
fumecheng-11384	482	18	,	,	PUNCT
fumecheng-11384	482	19	international	international	ADJ
fumecheng-11384	482	20	journal	journal	NOUN
fumecheng-11384	482	21	of	of	ADP
fumecheng-11384	482	22	robotics	robotic	NOUN
fumecheng-11384	482	23	research	research	NOUN
fumecheng-11384	482	24	,	,	PUNCT
fumecheng-11384	482	25	5(2	5(2	NUM
fumecheng-11384	482	26	)	)	PUNCT
fumecheng-11384	482	27	,	,	PUNCT
fumecheng-11384	482	28	pp	pp	ADP
fumecheng-11384	482	29	.	.	PUNCT
fumecheng-11384	483	1	5	5	NUM
fumecheng-11384	483	2	-	-	SYM
fumecheng-11384	483	3	13	13	NUM
fumecheng-11384	483	4	.	.	PUNCT
fumecheng-11384	484	1	34	34	NUM
fumecheng-11384	484	2	.	.	PUNCT
fumecheng-11384	485	1	li	li	PROPN
fumecheng-11384	485	2	,	,	PUNCT
fumecheng-11384	485	3	y.	y.	PROPN
fumecheng-11384	485	4	,	,	PUNCT
fumecheng-11384	485	5	wang	wang	PROPN
fumecheng-11384	485	6	,	,	PUNCT
fumecheng-11384	485	7	j.	j.	PROPN
fumecheng-11384	485	8	,	,	PUNCT
fumecheng-11384	485	9	ji	ji	PROPN
fumecheng-11384	485	10	,	,	PUNCT
fumecheng-11384	485	11	y.m	y.m	PROPN
fumecheng-11384	485	12	.	.	PROPN
fumecheng-11384	485	13	,	,	PUNCT
fumecheng-11384	485	14	2020	2020	NUM
fumecheng-11384	485	15	,	,	PUNCT
fumecheng-11384	485	16	function	function	VERB
fumecheng-11384	485	17	analysis	analysis	NOUN
fumecheng-11384	485	18	of	of	ADP
fumecheng-11384	485	19	industrial	industrial	ADJ
fumecheng-11384	485	20	robot	robot	NOUN
fumecheng-11384	485	21	under	under	ADP
fumecheng-11384	485	22	cubic	cubic	ADJ
fumecheng-11384	485	23	polynomial	polynomial	ADJ
fumecheng-11384	485	24	interpolation	interpolation	NOUN
fumecheng-11384	485	25	in	in	ADP
fumecheng-11384	485	26	animation	animation	NOUN
fumecheng-11384	485	27	simulation	simulation	NOUN
fumecheng-11384	485	28	environment	environment	PROPN
fumecheng-11384	485	29	,	,	PUNCT
fumecheng-11384	485	30	international	international	ADJ
fumecheng-11384	485	31	journal	journal	NOUN
fumecheng-11384	485	32	of	of	ADP
fumecheng-11384	485	33	interactive	interactive	ADJ
fumecheng-11384	485	34	multimedia	multimedia	NOUN
fumecheng-11384	485	35	and	and	CCONJ
fumecheng-11384	485	36	artificial	artificial	ADJ
fumecheng-11384	485	37	intelligence	intelligence	NOUN
fumecheng-11384	485	38	,	,	PUNCT
fumecheng-11384	485	39	6(4	6(4	NOUN
fumecheng-11384	485	40	)	)	PUNCT
fumecheng-11384	485	41	,	,	PUNCT
fumecheng-11384	485	42	pp	pp	ADP
fumecheng-11384	485	43	.	.	PUNCT
fumecheng-11384	486	1	105	105	NUM
fumecheng-11384	486	2	-	-	SYM
fumecheng-11384	486	3	112	112	NUM
fumecheng-11384	486	4	.	.	PUNCT
fumecheng-11384	487	1	35	35	NUM
fumecheng-11384	487	2	.	.	PUNCT
fumecheng-11384	488	1	ozakyol	ozakyol	PROPN
fumecheng-11384	488	2	,	,	PUNCT
fumecheng-11384	488	3	h.	h.	PROPN
fumecheng-11384	488	4	,	,	PUNCT
fumecheng-11384	488	5	karaman	karaman	PROPN
fumecheng-11384	488	6	,	,	PUNCT
fumecheng-11384	488	7	c.	c.	PROPN
fumecheng-11384	488	8	,	,	PUNCT
fumecheng-11384	488	9	bingul	bingul	NOUN
fumecheng-11384	488	10	,	,	PUNCT
fumecheng-11384	488	11	z.	z.	PROPN
fumecheng-11384	488	12	,	,	PUNCT
fumecheng-11384	488	13	2019	2019	NUM
fumecheng-11384	488	14	,	,	PUNCT
fumecheng-11384	488	15	advanced	advanced	ADJ
fumecheng-11384	488	16	robotics	robotic	NOUN
fumecheng-11384	488	17	analysis	analysis	NOUN
fumecheng-11384	488	18	toolbox	toolbox	NOUN
fumecheng-11384	488	19	for	for	ADP
fumecheng-11384	488	20	kinematic	kinematic	ADJ
fumecheng-11384	488	21	and	and	CCONJ
fumecheng-11384	488	22	dynamic	dynamic	ADJ
fumecheng-11384	488	23	design	design	NOUN
fumecheng-11384	488	24	and	and	CCONJ
fumecheng-11384	488	25	analysis	analysis	NOUN
fumecheng-11384	488	26	of	of	ADP
fumecheng-11384	488	27	high	high	ADJ
fumecheng-11384	488	28	-	-	PUNCT
fumecheng-11384	488	29	dof	dof	NOUN
fumecheng-11384	488	30	redundant	redundant	ADJ
fumecheng-11384	488	31	serial	serial	ADJ
fumecheng-11384	488	32	manipulators	manipulator	NOUN
fumecheng-11384	488	33	,	,	PUNCT
fumecheng-11384	488	34	computer	computer	NOUN
fumecheng-11384	488	35	applications	application	NOUN
fumecheng-11384	488	36	in	in	ADP
fumecheng-11384	488	37	engineering	engineering	NOUN
fumecheng-11384	488	38	education	education	NOUN
fumecheng-11384	488	39	,	,	PUNCT
fumecheng-11384	488	40	27(6	27(6	NUM
fumecheng-11384	488	41	)	)	PUNCT
fumecheng-11384	488	42	,	,	PUNCT
fumecheng-11384	488	43	pp	pp	ADP
fumecheng-11384	488	44	.	.	PUNCT
fumecheng-11384	489	1	1429	1429	NUM
fumecheng-11384	489	2	-	-	SYM
fumecheng-11384	489	3	1452	1452	NUM
fumecheng-11384	489	4	.	.	PUNCT
fumecheng-11384	490	1	36	36	NUM
fumecheng-11384	490	2	.	.	X
fumecheng-11384	491	1	baglioni	baglioni	PROPN
fumecheng-11384	491	2	,	,	PUNCT
fumecheng-11384	491	3	s.	s.	PROPN
fumecheng-11384	491	4	,	,	PUNCT
fumecheng-11384	491	5	cianetti	cianetti	PROPN
fumecheng-11384	491	6	,	,	PUNCT
fumecheng-11384	491	7	f.	f.	PROPN
fumecheng-11384	491	8	,	,	PUNCT
fumecheng-11384	491	9	braccesi	braccesi	PROPN
fumecheng-11384	491	10	,	,	PUNCT
fumecheng-11384	491	11	c.	c.	PROPN
fumecheng-11384	491	12	,	,	PUNCT
fumecheng-11384	491	13	micheli	micheli	PROPN
fumecheng-11384	491	14	,	,	PUNCT
fumecheng-11384	491	15	d.m	d.m	PROPN
fumecheng-11384	491	16	.	.	PROPN
fumecheng-11384	491	17	,	,	PUNCT
fumecheng-11384	491	18	2016	2016	NUM
fumecheng-11384	491	19	,	,	PUNCT
fumecheng-11384	491	20	multibody	multibody	ADJ
fumecheng-11384	491	21	modelling	modelling	NOUN
fumecheng-11384	491	22	of	of	ADP
fumecheng-11384	491	23	n	n	PRON
fumecheng-11384	491	24	dof	dof	NOUN
fumecheng-11384	491	25	robot	robot	NOUN
fumecheng-11384	491	26	arm	arm	NOUN
fumecheng-11384	491	27	assigned	assign	VERB
fumecheng-11384	491	28	to	to	ADP
fumecheng-11384	491	29	milling	mill	VERB
fumecheng-11384	491	30	manufacturing	manufacturing	NOUN
fumecheng-11384	491	31	.	.	PUNCT
fumecheng-11384	492	1	dynamic	dynamic	ADJ
fumecheng-11384	492	2	analysis	analysis	NOUN
fumecheng-11384	492	3	and	and	CCONJ
fumecheng-11384	492	4	position	position	NOUN
fumecheng-11384	492	5	errors	error	NOUN
fumecheng-11384	492	6	evaluation	evaluation	NOUN
fumecheng-11384	492	7	,	,	PUNCT
fumecheng-11384	492	8	journal	journal	NOUN
fumecheng-11384	492	9	of	of	ADP
fumecheng-11384	492	10	mechanical	mechanical	ADJ
fumecheng-11384	492	11	science	science	NOUN
fumecheng-11384	492	12	and	and	CCONJ
fumecheng-11384	492	13	technology	technology	NOUN
fumecheng-11384	492	14	,	,	PUNCT
fumecheng-11384	492	15	30(1	30(1	NUM
fumecheng-11384	492	16	)	)	PUNCT
fumecheng-11384	492	17	,	,	PUNCT
fumecheng-11384	492	18	pp	pp	ADP
fumecheng-11384	492	19	.	.	PUNCT
fumecheng-11384	493	1	405	405	NUM
fumecheng-11384	493	2	-	-	SYM
fumecheng-11384	493	3	420	420	NUM
fumecheng-11384	493	4	.	.	PUNCT