id	sid	tid	token	lemma	pos
fumecheng-11470	1	1	11470	11470	NUM
fumecheng-11470	1	2	facta	facta	PROPN
fumecheng-11470	1	3	universitatis	universitatis	PROPN
fumecheng-11470	1	4	series	series	NOUN
fumecheng-11470	1	5	:	:	PUNCT
fumecheng-11470	1	6	mechanical	mechanical	ADJ
fumecheng-11470	1	7	engineering	engineering	NOUN
fumecheng-11470	1	8	vol	vol	NOUN
fumecheng-11470	1	9	.	.	PUNCT
fumecheng-11470	1	10	22	22	NUM
fumecheng-11470	1	11	,	,	PUNCT
fumecheng-11470	1	12	no	no	DET
fumecheng-11470	1	13	4	4	NUM
fumecheng-11470	1	14	,	,	PUNCT
fumecheng-11470	1	15	2024	2024	NUM
fumecheng-11470	1	16	,	,	PUNCT
fumecheng-11470	1	17	pp	pp	ADV
fumecheng-11470	1	18	.	.	PUNCT
fumecheng-11470	2	1	721	721	NUM
fumecheng-11470	2	2	740	740	NUM
fumecheng-11470	2	3	https://doi.org/10.22190/fume230605039c	https://doi.org/10.22190/fume230605039c	NOUN
fumecheng-11470	2	4	©	©	PROPN
fumecheng-11470	2	5	2024	2024	NUM
fumecheng-11470	2	6	by	by	ADP
fumecheng-11470	2	7	university	university	PROPN
fumecheng-11470	2	8	of	of	ADP
fumecheng-11470	2	9	niš	niš	PROPN
fumecheng-11470	2	10	,	,	PUNCT
fumecheng-11470	2	11	serbia	serbia	PROPN
fumecheng-11470	2	12	|	|	ADV
fumecheng-11470	2	13	creative	creative	ADJ
fumecheng-11470	2	14	commons	common	NOUN
fumecheng-11470	2	15	license	license	NOUN
fumecheng-11470	2	16	:	:	PUNCT
fumecheng-11470	2	17	cc	cc	VERB
fumecheng-11470	2	18	by	by	ADP
fumecheng-11470	2	19	-	-	PUNCT
fumecheng-11470	2	20	nc	nc	VERB
fumecheng-11470	2	21	-	-	PUNCT
fumecheng-11470	2	22	nd	nd	ADV
fumecheng-11470	2	23	original	original	ADJ
fumecheng-11470	2	24	scientific	scientific	ADJ
fumecheng-11470	2	25	paper	paper	NUM
fumecheng-11470	2	26	study	study	NOUN
fumecheng-11470	2	27	of	of	ADP
fumecheng-11470	2	28	friction	friction	NOUN
fumecheng-11470	2	29	compensation	compensation	NOUN
fumecheng-11470	2	30	model	model	NOUN
fumecheng-11470	2	31	for	for	ADP
fumecheng-11470	2	32	mobile	mobile	NOUN
fumecheng-11470	2	33	robot	robot	NOUN
fumecheng-11470	2	34	’s	’s	PART
fumecheng-11470	2	35	joints	joint	NOUN
fumecheng-11470	2	36	yanjie	yanjie	PROPN
fumecheng-11470	2	37	cao	cao	PROPN
fumecheng-11470	2	38	,	,	PUNCT
fumecheng-11470	2	39	norzalilah	norzalilah	PROPN
fumecheng-11470	2	40	mohamad	mohamad	PROPN
fumecheng-11470	2	41	nor	nor	CCONJ
fumecheng-11470	2	42	,	,	PUNCT
fumecheng-11470	2	43	zahurin	zahurin	PROPN
fumecheng-11470	2	44	samad	samad	PROPN
fumecheng-11470	2	45	school	school	PROPN
fumecheng-11470	2	46	of	of	ADP
fumecheng-11470	2	47	mechanical	mechanical	ADJ
fumecheng-11470	2	48	engineering	engineering	NOUN
fumecheng-11470	2	49	,	,	PUNCT
fumecheng-11470	2	50	universiti	universiti	PROPN
fumecheng-11470	2	51	sains	sain	VERB
fumecheng-11470	2	52	malaysia	malaysia	PROPN
fumecheng-11470	2	53	(	(	PUNCT
fumecheng-11470	2	54	usm	usm	PROPN
fumecheng-11470	2	55	)	)	PUNCT
fumecheng-11470	2	56	,	,	PUNCT
fumecheng-11470	2	57	penang	penang	PROPN
fumecheng-11470	2	58	,	,	PUNCT
fumecheng-11470	2	59	malaysia	malaysia	PROPN
fumecheng-11470	2	60	orcid	orcid	NOUN
fumecheng-11470	2	61	ids	id	NOUN
fumecheng-11470	2	62	:	:	PUNCT
fumecheng-11470	2	63	yanjie	yanjie	PROPN
fumecheng-11470	2	64	cao	cao	PROPN
fumecheng-11470	2	65	https://orcid.org/0000-0002-7878-5309	https://orcid.org/0000-0002-7878-5309	PROPN
fumecheng-11470	2	66	norzalilah	norzalilah	PROPN
fumecheng-11470	2	67	mohamad	mohamad	PROPN
fumecheng-11470	2	68	nor	nor	CCONJ
fumecheng-11470	2	69	https://orcid.org/0000-0002-7819-172x	https://orcid.org/0000-0002-7819-172x	PROPN
fumecheng-11470	2	70	zahurin	zahurin	PROPN
fumecheng-11470	2	71	samad	samad	PROPN
fumecheng-11470	2	72	https://orcid.org/0000-0001-6400-3284	https://orcid.org/0000-0001-6400-3284	PROPN
fumecheng-11470	2	73	abstract	abstract	NOUN
fumecheng-11470	2	74	.	.	PUNCT
fumecheng-11470	3	1	frictional	frictional	ADJ
fumecheng-11470	3	2	forces	force	NOUN
fumecheng-11470	3	3	inside	inside	ADP
fumecheng-11470	3	4	the	the	DET
fumecheng-11470	3	5	joints	joint	NOUN
fumecheng-11470	3	6	of	of	ADP
fumecheng-11470	3	7	mobile	mobile	ADJ
fumecheng-11470	3	8	robots	robot	NOUN
fumecheng-11470	3	9	hurt	hurt	VERB
fumecheng-11470	3	10	robot	robot	NOUN
fumecheng-11470	3	11	operation	operation	NOUN
fumecheng-11470	3	12	's	's	PART
fumecheng-11470	3	13	stability	stability	NOUN
fumecheng-11470	3	14	and	and	CCONJ
fumecheng-11470	3	15	positioning	positioning	NOUN
fumecheng-11470	3	16	accuracy	accuracy	NOUN
fumecheng-11470	3	17	.	.	PUNCT
fumecheng-11470	4	1	therefore	therefore	ADV
fumecheng-11470	4	2	,	,	PUNCT
fumecheng-11470	4	3	establishing	establish	VERB
fumecheng-11470	4	4	a	a	DET
fumecheng-11470	4	5	suitable	suitable	ADJ
fumecheng-11470	4	6	friction	friction	NOUN
fumecheng-11470	4	7	force	force	NOUN
fumecheng-11470	4	8	compensation	compensation	NOUN
fumecheng-11470	4	9	model	model	NOUN
fumecheng-11470	4	10	has	have	AUX
fumecheng-11470	4	11	been	be	AUX
fumecheng-11470	4	12	a	a	DET
fumecheng-11470	4	13	hot	hot	ADJ
fumecheng-11470	4	14	research	research	NOUN
fumecheng-11470	4	15	topic	topic	NOUN
fumecheng-11470	4	16	in	in	ADP
fumecheng-11470	4	17	robotics	robotic	NOUN
fumecheng-11470	4	18	.	.	PUNCT
fumecheng-11470	5	1	to	to	PART
fumecheng-11470	5	2	explore	explore	VERB
fumecheng-11470	5	3	the	the	DET
fumecheng-11470	5	4	robot	robot	NOUN
fumecheng-11470	5	5	joint	joint	PROPN
fumecheng-11470	5	6	friction	friction	PROPN
fumecheng-11470	5	7	compensation	compensation	NOUN
fumecheng-11470	5	8	model	model	NOUN
fumecheng-11470	5	9	,	,	PUNCT
fumecheng-11470	5	10	three	three	NUM
fumecheng-11470	5	11	friction	friction	NOUN
fumecheng-11470	5	12	compensation	compensation	NOUN
fumecheng-11470	5	13	models	model	NOUN
fumecheng-11470	5	14	:	:	PUNCT
fumecheng-11470	5	15	linear	linear	ADJ
fumecheng-11470	5	16	,	,	PUNCT
fumecheng-11470	5	17	nonlinear	nonlinear	ADJ
fumecheng-11470	5	18	,	,	PUNCT
fumecheng-11470	5	19	and	and	CCONJ
fumecheng-11470	5	20	neural	neural	ADJ
fumecheng-11470	5	21	network	network	NOUN
fumecheng-11470	5	22	models	model	NOUN
fumecheng-11470	5	23	,	,	PUNCT
fumecheng-11470	5	24	are	be	AUX
fumecheng-11470	5	25	developed	develop	VERB
fumecheng-11470	5	26	in	in	ADP
fumecheng-11470	5	27	this	this	DET
fumecheng-11470	5	28	paper	paper	NOUN
fumecheng-11470	5	29	.	.	PUNCT
fumecheng-11470	6	1	based	base	VERB
fumecheng-11470	6	2	on	on	ADP
fumecheng-11470	6	3	the	the	DET
fumecheng-11470	6	4	deep	deep	ADJ
fumecheng-11470	6	5	learning	learning	NOUN
fumecheng-11470	6	6	algorithm	algorithm	NOUN
fumecheng-11470	6	7	for	for	ADP
fumecheng-11470	6	8	three	three	NUM
fumecheng-11470	6	9	models	model	NOUN
fumecheng-11470	6	10	at	at	ADP
fumecheng-11470	6	11	low	low	ADJ
fumecheng-11470	6	12	speed	speed	NOUN
fumecheng-11470	6	13	,	,	PUNCT
fumecheng-11470	6	14	high	high	ADJ
fumecheng-11470	6	15	speed	speed	NOUN
fumecheng-11470	6	16	,	,	PUNCT
fumecheng-11470	6	17	acceleration	acceleration	NOUN
fumecheng-11470	6	18	,	,	PUNCT
fumecheng-11470	6	19	and	and	CCONJ
fumecheng-11470	6	20	uniform	uniform	ADJ
fumecheng-11470	6	21	speed	speed	NOUN
fumecheng-11470	6	22	training	training	NOUN
fumecheng-11470	6	23	test	test	NOUN
fumecheng-11470	6	24	,	,	PUNCT
fumecheng-11470	6	25	respectively	respectively	ADV
fumecheng-11470	6	26	results	result	NOUN
fumecheng-11470	6	27	have	have	AUX
fumecheng-11470	6	28	been	be	AUX
fumecheng-11470	6	29	obtained	obtain	VERB
fumecheng-11470	6	30	.	.	PUNCT
fumecheng-11470	7	1	the	the	DET
fumecheng-11470	7	2	test	test	NOUN
fumecheng-11470	7	3	results	result	NOUN
fumecheng-11470	7	4	show	show	VERB
fumecheng-11470	7	5	that	that	SCONJ
fumecheng-11470	7	6	the	the	DET
fumecheng-11470	7	7	best	good	ADJ
fumecheng-11470	7	8	friction	friction	NOUN
fumecheng-11470	7	9	compensation	compensation	NOUN
fumecheng-11470	7	10	effect	effect	NOUN
fumecheng-11470	7	11	comes	come	VERB
fumecheng-11470	7	12	from	from	ADP
fumecheng-11470	7	13	combining	combine	VERB
fumecheng-11470	7	14	neural	neural	ADJ
fumecheng-11470	7	15	network	network	NOUN
fumecheng-11470	7	16	models	model	NOUN
fumecheng-11470	7	17	in	in	ADP
fumecheng-11470	7	18	acceleration	acceleration	NOUN
fumecheng-11470	7	19	and	and	CCONJ
fumecheng-11470	7	20	a	a	DET
fumecheng-11470	7	21	consistent	consistent	ADJ
fumecheng-11470	7	22	speed	speed	NOUN
fumecheng-11470	7	23	state	state	NOUN
fumecheng-11470	7	24	way	way	NOUN
fumecheng-11470	7	25	.	.	PUNCT
fumecheng-11470	8	1	the	the	DET
fumecheng-11470	8	2	friction	friction	NOUN
fumecheng-11470	8	3	compensation	compensation	NOUN
fumecheng-11470	8	4	model	model	NOUN
fumecheng-11470	8	5	trained	train	VERB
fumecheng-11470	8	6	this	this	DET
fumecheng-11470	8	7	way	way	NOUN
fumecheng-11470	8	8	yielded	yield	VERB
fumecheng-11470	8	9	superior	superior	ADJ
fumecheng-11470	8	10	results	result	NOUN
fumecheng-11470	8	11	to	to	ADP
fumecheng-11470	8	12	the	the	DET
fumecheng-11470	8	13	other	other	ADJ
fumecheng-11470	8	14	combinations	combination	NOUN
fumecheng-11470	8	15	tested	test	VERB
fumecheng-11470	8	16	.	.	PUNCT
fumecheng-11470	9	1	finally	finally	ADV
fumecheng-11470	9	2	,	,	PUNCT
fumecheng-11470	9	3	using	use	VERB
fumecheng-11470	9	4	the	the	DET
fumecheng-11470	9	5	method	method	NOUN
fumecheng-11470	9	6	,	,	PUNCT
fumecheng-11470	9	7	a	a	DET
fumecheng-11470	9	8	friction	friction	NOUN
fumecheng-11470	9	9	compensation	compensation	NOUN
fumecheng-11470	9	10	model	model	NOUN
fumecheng-11470	9	11	trained	train	VERB
fumecheng-11470	9	12	by	by	ADP
fumecheng-11470	9	13	adding	add	VERB
fumecheng-11470	9	14	a	a	DET
fumecheng-11470	9	15	neural	neural	ADJ
fumecheng-11470	9	16	network	network	NOUN
fumecheng-11470	9	17	to	to	ADP
fumecheng-11470	9	18	the	the	DET
fumecheng-11470	9	19	feedforward	feedforward	NOUN
fumecheng-11470	9	20	control	control	NOUN
fumecheng-11470	9	21	torque	torque	NOUN
fumecheng-11470	9	22	was	be	AUX
fumecheng-11470	9	23	tested	test	VERB
fumecheng-11470	9	24	on	on	ADP
fumecheng-11470	9	25	a	a	DET
fumecheng-11470	9	26	four	four	NUM
fumecheng-11470	9	27	-	-	PUNCT
fumecheng-11470	9	28	wheeled	wheel	VERB
fumecheng-11470	9	29	mobile	mobile	ADJ
fumecheng-11470	9	30	robot	robot	NOUN
fumecheng-11470	9	31	platform	platform	NOUN
fumecheng-11470	9	32	.	.	PUNCT
fumecheng-11470	10	1	the	the	DET
fumecheng-11470	10	2	test	test	NOUN
fumecheng-11470	10	3	results	result	NOUN
fumecheng-11470	10	4	show	show	VERB
fumecheng-11470	10	5	that	that	SCONJ
fumecheng-11470	10	6	the	the	DET
fumecheng-11470	10	7	relative	relative	ADJ
fumecheng-11470	10	8	error	error	NOUN
fumecheng-11470	10	9	of	of	ADP
fumecheng-11470	10	10	the	the	DET
fumecheng-11470	10	11	torque	torque	NOUN
fumecheng-11470	10	12	caused	cause	VERB
fumecheng-11470	10	13	by	by	ADP
fumecheng-11470	10	14	the	the	DET
fumecheng-11470	10	15	friction	friction	NOUN
fumecheng-11470	10	16	of	of	ADP
fumecheng-11470	10	17	each	each	DET
fumecheng-11470	10	18	joint	joint	NOUN
fumecheng-11470	10	19	is	be	AUX
fumecheng-11470	10	20	reduced	reduce	VERB
fumecheng-11470	10	21	by	by	ADP
fumecheng-11470	10	22	15%-75	15%-75	NUM
fumecheng-11470	10	23	%	%	NOUN
fumecheng-11470	10	24	in	in	ADP
fumecheng-11470	10	25	8	8	NUM
fumecheng-11470	10	26	groups	group	NOUN
fumecheng-11470	10	27	of	of	ADP
fumecheng-11470	10	28	tests	test	NOUN
fumecheng-11470	10	29	,	,	PUNCT
fumecheng-11470	10	30	which	which	PRON
fumecheng-11470	10	31	indicates	indicate	VERB
fumecheng-11470	10	32	that	that	SCONJ
fumecheng-11470	10	33	our	our	PRON
fumecheng-11470	10	34	friction	friction	NOUN
fumecheng-11470	10	35	compensation	compensation	NOUN
fumecheng-11470	10	36	method	method	NOUN
fumecheng-11470	10	37	has	have	VERB
fumecheng-11470	10	38	a	a	DET
fumecheng-11470	10	39	positive	positive	ADJ
fumecheng-11470	10	40	effect	effect	NOUN
fumecheng-11470	10	41	on	on	ADP
fumecheng-11470	10	42	improving	improve	VERB
fumecheng-11470	10	43	the	the	DET
fumecheng-11470	10	44	accuracy	accuracy	NOUN
fumecheng-11470	10	45	of	of	ADP
fumecheng-11470	10	46	the	the	DET
fumecheng-11470	10	47	joint	joint	ADJ
fumecheng-11470	10	48	torque	torque	NOUN
fumecheng-11470	10	49	.	.	PUNCT
fumecheng-11470	11	1	key	key	ADJ
fumecheng-11470	11	2	words	word	NOUN
fumecheng-11470	11	3	:	:	PUNCT
fumecheng-11470	11	4	deep	deep	ADJ
fumecheng-11470	11	5	learning	learning	NOUN
fumecheng-11470	11	6	,	,	PUNCT
fumecheng-11470	11	7	mobile	mobile	NOUN
fumecheng-11470	11	8	robot	robot	NOUN
fumecheng-11470	11	9	joint	joint	NOUN
fumecheng-11470	11	10	,	,	PUNCT
fumecheng-11470	11	11	friction	friction	NOUN
fumecheng-11470	11	12	compensation	compensation	NOUN
fumecheng-11470	11	13	,	,	PUNCT
fumecheng-11470	11	14	neural	neural	ADJ
fumecheng-11470	11	15	network	network	NOUN
fumecheng-11470	11	16	1	1	NUM
fumecheng-11470	11	17	.	.	PUNCT
fumecheng-11470	11	18	introduction	introduction	NOUN
fumecheng-11470	11	19	the	the	DET
fumecheng-11470	11	20	presence	presence	NOUN
fumecheng-11470	11	21	of	of	ADP
fumecheng-11470	11	22	friction	friction	NOUN
fumecheng-11470	11	23	,	,	PUNCT
fumecheng-11470	11	24	especially	especially	ADV
fumecheng-11470	11	25	nonlinear	nonlinear	ADJ
fumecheng-11470	11	26	friction	friction	NOUN
fumecheng-11470	11	27	,	,	PUNCT
fumecheng-11470	11	28	can	can	AUX
fumecheng-11470	11	29	cause	cause	VERB
fumecheng-11470	11	30	tracking	tracking	NOUN
fumecheng-11470	11	31	errors	error	NOUN
fumecheng-11470	11	32	,	,	PUNCT
fumecheng-11470	11	33	hysteretic	hysteretic	ADJ
fumecheng-11470	11	34	motion	motion	NOUN
fumecheng-11470	11	35	,	,	PUNCT
fumecheng-11470	11	36	and	and	CCONJ
fumecheng-11470	11	37	limit	limit	NOUN
fumecheng-11470	11	38	-	-	PUNCT
fumecheng-11470	11	39	loop	loop	NOUN
fumecheng-11470	11	40	oscillations	oscillation	NOUN
fumecheng-11470	11	41	in	in	ADP
fumecheng-11470	11	42	industrial	industrial	ADJ
fumecheng-11470	11	43	robots	robot	NOUN
fumecheng-11470	11	44	during	during	ADP
fumecheng-11470	11	45	low	low	ADJ
fumecheng-11470	11	46	-	-	PUNCT
fumecheng-11470	11	47	speed	speed	NOUN
fumecheng-11470	11	48	,	,	PUNCT
fumecheng-11470	11	49	highprecision	highprecision	NOUN
fumecheng-11470	11	50	operation	operation	NOUN
fumecheng-11470	11	51	,	,	PUNCT
fumecheng-11470	11	52	affecting	affect	VERB
fumecheng-11470	11	53	the	the	DET
fumecheng-11470	11	54	smoothness	smoothness	NOUN
fumecheng-11470	11	55	of	of	ADP
fumecheng-11470	11	56	robot	robot	NOUN
fumecheng-11470	11	57	motion	motion	NOUN
fumecheng-11470	11	58	and	and	CCONJ
fumecheng-11470	11	59	reducing	reduce	VERB
fumecheng-11470	11	60	control	control	NOUN
fumecheng-11470	11	61	accuracy	accuracy	NOUN
fumecheng-11470	12	1	[	[	X
fumecheng-11470	12	2	1	1	NUM
fumecheng-11470	12	3	]	]	PUNCT
fumecheng-11470	12	4	.	.	PUNCT
fumecheng-11470	13	1	therefore	therefore	ADV
fumecheng-11470	13	2	,	,	PUNCT
fumecheng-11470	13	3	to	to	PART
fumecheng-11470	13	4	improve	improve	VERB
fumecheng-11470	13	5	the	the	DET
fumecheng-11470	13	6	motion	motion	NOUN
fumecheng-11470	13	7	accuracy	accuracy	NOUN
fumecheng-11470	13	8	of	of	ADP
fumecheng-11470	13	9	mobile	mobile	NOUN
fumecheng-11470	13	10	robots	robot	NOUN
fumecheng-11470	13	11	,	,	PUNCT
fumecheng-11470	13	12	it	it	PRON
fumecheng-11470	13	13	is	be	AUX
fumecheng-11470	13	14	necessary	necessary	ADJ
fumecheng-11470	13	15	to	to	PART
fumecheng-11470	13	16	study	study	VERB
fumecheng-11470	13	17	and	and	CCONJ
fumecheng-11470	13	18	analyze	analyze	VERB
fumecheng-11470	13	19	the	the	DET
fumecheng-11470	13	20	frictional	frictional	ADJ
fumecheng-11470	13	21	forces	force	NOUN
fumecheng-11470	13	22	generated	generate	VERB
fumecheng-11470	13	23	by	by	ADP
fumecheng-11470	13	24	the	the	DET
fumecheng-11470	13	25	joints	joint	NOUN
fumecheng-11470	13	26	during	during	ADP
fumecheng-11470	13	27	industrial	industrial	ADJ
fumecheng-11470	13	28	robot	robot	NOUN
fumecheng-11470	13	29	operation	operation	NOUN
fumecheng-11470	13	30	and	and	CCONJ
fumecheng-11470	13	31	implement	implement	VERB
fumecheng-11470	13	32	compensation	compensation	NOUN
fumecheng-11470	13	33	.	.	PUNCT
fumecheng-11470	14	1	the	the	DET
fumecheng-11470	14	2	research	research	NOUN
fumecheng-11470	14	3	on	on	ADP
fumecheng-11470	14	4	the	the	DET
fumecheng-11470	14	5	analysis	analysis	NOUN
fumecheng-11470	14	6	and	and	CCONJ
fumecheng-11470	14	7	settlement	settlement	NOUN
fumecheng-11470	14	8	of	of	ADP
fumecheng-11470	14	9	frictional	frictional	ADJ
fumecheng-11470	14	10	forces	force	NOUN
fumecheng-11470	14	11	of	of	ADP
fumecheng-11470	14	12	industrial	industrial	ADJ
fumecheng-11470	14	13	robot	robot	NOUN
fumecheng-11470	14	14	joints	joint	NOUN
fumecheng-11470	14	15	has	have	AUX
fumecheng-11470	14	16	become	become	VERB
fumecheng-11470	14	17	a	a	DET
fumecheng-11470	14	18	hot	hot	ADJ
fumecheng-11470	14	19	research	research	NOUN
fumecheng-11470	14	20	subject	subject	NOUN
fumecheng-11470	14	21	in	in	ADP
fumecheng-11470	14	22	the	the	DET
fumecheng-11470	14	23	field	field	NOUN
fumecheng-11470	14	24	of	of	ADP
fumecheng-11470	14	25	the	the	DET
fumecheng-11470	14	26	industrial	industrial	ADJ
fumecheng-11470	14	27	robot	robot	NOUN
fumecheng-11470	14	28	[	[	X
fumecheng-11470	14	29	2	2	NUM
fumecheng-11470	14	30	]	]	PUNCT
fumecheng-11470	14	31	,	,	PUNCT
fumecheng-11470	14	32	which	which	PRON
fumecheng-11470	14	33	has	have	VERB
fumecheng-11470	14	34	significant	significant	ADJ
fumecheng-11470	14	35	application	application	NOUN
fumecheng-11470	14	36	value	value	NOUN
fumecheng-11470	14	37	for	for	ADP
fumecheng-11470	14	38	improving	improve	VERB
fumecheng-11470	14	39	the	the	DET
fumecheng-11470	14	40	operation	operation	NOUN
fumecheng-11470	14	41	precision	precision	NOUN
fumecheng-11470	14	42	of	of	ADP
fumecheng-11470	14	43	industrial	industrial	ADJ
fumecheng-11470	14	44	robot	robot	NOUN
fumecheng-11470	14	45	operation	operation	NOUN
fumecheng-11470	14	46	and	and	CCONJ
fumecheng-11470	14	47	overall	overall	ADJ
fumecheng-11470	14	48	performance	performance	NOUN
fumecheng-11470	14	49	.	.	PUNCT
fumecheng-11470	15	1	received	receive	VERB
fumecheng-11470	15	2	:	:	PUNCT
fumecheng-11470	15	3	june	june	PROPN
fumecheng-11470	15	4	05	05	NUM
fumecheng-11470	15	5	,	,	PUNCT
fumecheng-11470	15	6	2023	2023	NUM
fumecheng-11470	15	7	/	/	PUNCT
fumecheng-11470	15	8	accepted	accept	VERB
fumecheng-11470	15	9	october	october	PROPN
fumecheng-11470	15	10	23	23	NUM
fumecheng-11470	15	11	,	,	PUNCT
fumecheng-11470	15	12	2023	2023	NUM
fumecheng-11470	15	13	corresponding	correspond	VERB
fumecheng-11470	15	14	author	author	NOUN
fumecheng-11470	15	15	:	:	PUNCT
fumecheng-11470	15	16	yanjie	yanjie	PROPN
fumecheng-11470	15	17	cao	cao	PROPN
fumecheng-11470	15	18	school	school	PROPN
fumecheng-11470	15	19	of	of	ADP
fumecheng-11470	15	20	mechanical	mechanical	ADJ
fumecheng-11470	15	21	engineering	engineering	NOUN
fumecheng-11470	15	22	,	,	PUNCT
fumecheng-11470	15	23	universiti	universiti	PROPN
fumecheng-11470	15	24	sains	sain	VERB
fumecheng-11470	15	25	malaysia	malaysia	PROPN
fumecheng-11470	15	26	(	(	PUNCT
fumecheng-11470	15	27	usm	usm	PROPN
fumecheng-11470	15	28	)	)	PUNCT
fumecheng-11470	15	29	,	,	PUNCT
fumecheng-11470	15	30	14300	14300	NUM
fumecheng-11470	15	31	nibong	nibong	ADJ
fumecheng-11470	15	32	tebal	tebal	PROPN
fumecheng-11470	15	33	,	,	PUNCT
fumecheng-11470	15	34	penang	penang	PROPN
fumecheng-11470	15	35	,	,	PUNCT
fumecheng-11470	15	36	malaysia	malaysia	PROPN
fumecheng-11470	15	37	e	e	NOUN
fumecheng-11470	15	38	-	-	NOUN
fumecheng-11470	15	39	mail	mail	NOUN
fumecheng-11470	15	40	:	:	PUNCT
fumecheng-11470	15	41	caoyanjie@student.usm.my	caoyanjie@student.usm.my	NOUN
fumecheng-11470	15	42	https://orcid.org/0000-0002-7878-5309	https://orcid.org/0000-0002-7878-5309	PROPN
fumecheng-11470	15	43	https://orcid.org/0000-0002-7819-172x	https://orcid.org/0000-0002-7819-172x	PROPN
fumecheng-11470	15	44	https://orcid.org/0000-0001-6400-3284	https://orcid.org/0000-0001-6400-3284	NOUN
fumecheng-11470	15	45	722	722	NUM
fumecheng-11470	15	46	y.	y.	PROPN
fumecheng-11470	15	47	cao	cao	PROPN
fumecheng-11470	15	48	,	,	PUNCT
fumecheng-11470	15	49	n.m	n.m	PROPN
fumecheng-11470	15	50	.	.	PROPN
fumecheng-11470	15	51	nor	nor	CCONJ
fumecheng-11470	15	52	,	,	PUNCT
fumecheng-11470	15	53	z.	z.	PROPN
fumecheng-11470	15	54	samad	samad	PROPN
fumecheng-11470	15	55	a	a	DET
fumecheng-11470	15	56	friction	friction	NOUN
fumecheng-11470	15	57	phenomenon	phenomenon	NOUN
fumecheng-11470	15	58	between	between	ADP
fumecheng-11470	15	59	the	the	DET
fumecheng-11470	15	60	joints	joint	NOUN
fumecheng-11470	15	61	of	of	ADP
fumecheng-11470	15	62	industrial	industrial	ADJ
fumecheng-11470	15	63	robots	robot	NOUN
fumecheng-11470	15	64	is	be	AUX
fumecheng-11470	15	65	more	more	ADV
fumecheng-11470	15	66	complex	complex	ADJ
fumecheng-11470	15	67	,	,	PUNCT
fumecheng-11470	15	68	both	both	DET
fumecheng-11470	15	69	sliding	slide	VERB
fumecheng-11470	15	70	friction	friction	NOUN
fumecheng-11470	15	71	and	and	CCONJ
fumecheng-11470	15	72	rolling	rolling	ADJ
fumecheng-11470	15	73	friction	friction	NOUN
fumecheng-11470	15	74	.	.	PUNCT
fumecheng-11470	16	1	establishing	establish	VERB
fumecheng-11470	16	2	a	a	DET
fumecheng-11470	16	3	suitable	suitable	ADJ
fumecheng-11470	16	4	friction	friction	NOUN
fumecheng-11470	16	5	model	model	NOUN
fumecheng-11470	16	6	is	be	AUX
fumecheng-11470	16	7	the	the	DET
fumecheng-11470	16	8	mainstream	mainstream	NOUN
fumecheng-11470	16	9	approach	approach	NOUN
fumecheng-11470	16	10	in	in	ADP
fumecheng-11470	16	11	current	current	ADJ
fumecheng-11470	16	12	academia	academia	NOUN
fumecheng-11470	16	13	.	.	PUNCT
fumecheng-11470	17	1	some	some	DET
fumecheng-11470	17	2	empirical	empirical	ADJ
fumecheng-11470	17	3	friction	friction	NOUN
fumecheng-11470	17	4	models	model	NOUN
fumecheng-11470	17	5	have	have	AUX
fumecheng-11470	17	6	been	be	AUX
fumecheng-11470	17	7	proposed	propose	VERB
fumecheng-11470	17	8	to	to	PART
fumecheng-11470	17	9	compensate	compensate	VERB
fumecheng-11470	17	10	for	for	ADP
fumecheng-11470	17	11	the	the	DET
fumecheng-11470	17	12	friction	friction	NOUN
fumecheng-11470	17	13	of	of	ADP
fumecheng-11470	17	14	robot	robot	NOUN
fumecheng-11470	17	15	joints	joint	NOUN
fumecheng-11470	17	16	.	.	PUNCT
fumecheng-11470	18	1	according	accord	VERB
fumecheng-11470	18	2	to	to	ADP
fumecheng-11470	18	3	whether	whether	SCONJ
fumecheng-11470	18	4	differential	differential	ADJ
fumecheng-11470	18	5	equations	equation	NOUN
fumecheng-11470	18	6	can	can	AUX
fumecheng-11470	18	7	describe	describe	VERB
fumecheng-11470	18	8	the	the	DET
fumecheng-11470	18	9	friction	friction	NOUN
fumecheng-11470	18	10	phenomena	phenomenon	NOUN
fumecheng-11470	18	11	,	,	PUNCT
fumecheng-11470	18	12	there	there	PRON
fumecheng-11470	18	13	are	be	VERB
fumecheng-11470	18	14	static	static	ADJ
fumecheng-11470	18	15	and	and	CCONJ
fumecheng-11470	18	16	dynamic	dynamic	ADJ
fumecheng-11470	18	17	friction	friction	NOUN
fumecheng-11470	18	18	models	model	NOUN
fumecheng-11470	18	19	[	[	X
fumecheng-11470	18	20	3	3	NUM
fumecheng-11470	18	21	]	]	PUNCT
fumecheng-11470	18	22	.	.	PUNCT
fumecheng-11470	19	1	in	in	ADP
fumecheng-11470	19	2	the	the	DET
fumecheng-11470	19	3	past	past	NOUN
fumecheng-11470	19	4	,	,	PUNCT
fumecheng-11470	19	5	the	the	DET
fumecheng-11470	19	6	linear	linear	ADJ
fumecheng-11470	19	7	and	and	CCONJ
fumecheng-11470	19	8	nonlinear	nonlinear	ADJ
fumecheng-11470	19	9	viscous	viscous	ADJ
fumecheng-11470	19	10	friction	friction	NOUN
fumecheng-11470	19	11	models	model	NOUN
fumecheng-11470	19	12	appeared	appear	VERB
fumecheng-11470	19	13	and	and	CCONJ
fumecheng-11470	19	14	were	be	AUX
fumecheng-11470	19	15	often	often	ADV
fumecheng-11470	19	16	used	use	VERB
fumecheng-11470	19	17	together	together	ADV
fumecheng-11470	19	18	with	with	ADP
fumecheng-11470	19	19	the	the	DET
fumecheng-11470	19	20	coulomb	coulomb	NOUN
fumecheng-11470	19	21	friction	friction	NOUN
fumecheng-11470	19	22	model	model	NOUN
fumecheng-11470	19	23	,	,	PUNCT
fumecheng-11470	19	24	giving	give	VERB
fumecheng-11470	19	25	the	the	DET
fumecheng-11470	19	26	coulomb+viscous	coulomb+viscous	ADJ
fumecheng-11470	19	27	model	model	NOUN
fumecheng-11470	19	28	[	[	X
fumecheng-11470	19	29	4	4	NUM
fumecheng-11470	19	30	]	]	PUNCT
fumecheng-11470	19	31	,	,	PUNCT
fumecheng-11470	19	32	on	on	ADP
fumecheng-11470	19	33	which	which	PRON
fumecheng-11470	19	34	virgala	virgala	NOUN
fumecheng-11470	19	35	et	et	PROPN
fumecheng-11470	19	36	al	al	PROPN
fumecheng-11470	19	37	.	.	PUNCT
fumecheng-11470	20	1	[	[	X
fumecheng-11470	20	2	5	5	NUM
fumecheng-11470	20	3	]	]	PUNCT
fumecheng-11470	20	4	introduced	introduce	VERB
fumecheng-11470	20	5	static	static	ADJ
fumecheng-11470	20	6	friction	friction	NOUN
fumecheng-11470	20	7	to	to	PART
fumecheng-11470	20	8	obtain	obtain	VERB
fumecheng-11470	20	9	the	the	DET
fumecheng-11470	20	10	static	static	ADJ
fumecheng-11470	20	11	friction	friction	NOUN
fumecheng-11470	20	12	+	+	CCONJ
fumecheng-11470	20	13	coulomb	coulomb	NOUN
fumecheng-11470	20	14	+	+	CCONJ
fumecheng-11470	20	15	viscous	viscous	ADJ
fumecheng-11470	20	16	friction	friction	NOUN
fumecheng-11470	20	17	model	model	NOUN
fumecheng-11470	20	18	.	.	PUNCT
fumecheng-11470	21	1	the	the	DET
fumecheng-11470	21	2	common	common	ADJ
fumecheng-11470	21	3	point	point	NOUN
fumecheng-11470	21	4	in	in	ADP
fumecheng-11470	21	5	the	the	DET
fumecheng-11470	21	6	above	above	ADJ
fumecheng-11470	21	7	classical	classical	ADJ
fumecheng-11470	21	8	friction	friction	NOUN
fumecheng-11470	21	9	models	model	NOUN
fumecheng-11470	21	10	is	be	AUX
fumecheng-11470	21	11	that	that	SCONJ
fumecheng-11470	21	12	the	the	DET
fumecheng-11470	21	13	linear	linear	ADJ
fumecheng-11470	21	14	relationship	relationship	NOUN
fumecheng-11470	21	15	between	between	ADP
fumecheng-11470	21	16	velocity	velocity	NOUN
fumecheng-11470	21	17	and	and	CCONJ
fumecheng-11470	21	18	sliding	slide	VERB
fumecheng-11470	21	19	friction	friction	NOUN
fumecheng-11470	21	20	and	and	CCONJ
fumecheng-11470	21	21	the	the	DET
fumecheng-11470	21	22	interconversion	interconversion	NOUN
fumecheng-11470	21	23	between	between	ADP
fumecheng-11470	21	24	dynamic	dynamic	ADJ
fumecheng-11470	21	25	and	and	CCONJ
fumecheng-11470	21	26	static	static	ADJ
fumecheng-11470	21	27	friction	friction	NOUN
fumecheng-11470	21	28	is	be	AUX
fumecheng-11470	21	29	carried	carry	VERB
fumecheng-11470	21	30	out	out	ADP
fumecheng-11470	21	31	discretely	discretely	ADV
fumecheng-11470	21	32	.	.	PUNCT
fumecheng-11470	22	1	richard	richard	PROPN
fumecheng-11470	22	2	et	et	PROPN
fumecheng-11470	22	3	al	al	PROPN
fumecheng-11470	22	4	.	.	PUNCT
fumecheng-11470	23	1	[	[	X
fumecheng-11470	23	2	6	6	NUM
fumecheng-11470	23	3	]	]	PUNCT
fumecheng-11470	23	4	proposed	propose	VERB
fumecheng-11470	23	5	an	an	DET
fumecheng-11470	23	6	exponential	exponential	ADJ
fumecheng-11470	23	7	model	model	NOUN
fumecheng-11470	23	8	to	to	PART
fumecheng-11470	23	9	describe	describe	VERB
fumecheng-11470	23	10	the	the	DET
fumecheng-11470	23	11	phenomenon	phenomenon	NOUN
fumecheng-11470	23	12	in	in	ADP
fumecheng-11470	23	13	2007	2007	NUM
fumecheng-11470	23	14	,	,	PUNCT
fumecheng-11470	23	15	which	which	PRON
fumecheng-11470	23	16	was	be	AUX
fumecheng-11470	23	17	later	later	ADV
fumecheng-11470	23	18	compensated	compensate	VERB
fumecheng-11470	23	19	by	by	ADP
fumecheng-11470	23	20	nikfar	nikfar	ADV
fumecheng-11470	23	21	et	et	PROPN
fumecheng-11470	23	22	al	al	PROPN
fumecheng-11470	23	23	.	.	PUNCT
fumecheng-11470	24	1	[	[	X
fumecheng-11470	24	2	7	7	NUM
fumecheng-11470	24	3	]	]	PUNCT
fumecheng-11470	24	4	,	,	PUNCT
fumecheng-11470	24	5	an	an	DET
fumecheng-11470	24	6	improved	improved	ADJ
fumecheng-11470	24	7	stribeck	stribeck	NOUN
fumecheng-11470	24	8	friction	friction	NOUN
fumecheng-11470	24	9	model	model	NOUN
fumecheng-11470	24	10	,	,	PUNCT
fumecheng-11470	24	11	in	in	ADP
fumecheng-11470	24	12	which	which	PRON
fumecheng-11470	24	13	the	the	DET
fumecheng-11470	24	14	speed	speed	NOUN
fumecheng-11470	24	15	dependence	dependence	NOUN
fumecheng-11470	24	16	of	of	ADP
fumecheng-11470	24	17	friction	friction	NOUN
fumecheng-11470	24	18	force	force	NOUN
fumecheng-11470	24	19	was	be	AUX
fumecheng-11470	24	20	added	add	VERB
fumecheng-11470	24	21	.	.	PUNCT
fumecheng-11470	25	1	keck	keck	PROPN
fumecheng-11470	25	2	et	et	PROPN
fumecheng-11470	25	3	al	al	PROPN
fumecheng-11470	25	4	.	.	PUNCT
fumecheng-11470	26	1	[	[	X
fumecheng-11470	26	2	8	8	NUM
fumecheng-11470	26	3	]	]	PUNCT
fumecheng-11470	26	4	studied	study	VERB
fumecheng-11470	26	5	the	the	DET
fumecheng-11470	26	6	elastoplastic	elastoplastic	ADJ
fumecheng-11470	26	7	friction	friction	NOUN
fumecheng-11470	26	8	model	model	NOUN
fumecheng-11470	26	9	parameter	parameter	NOUN
fumecheng-11470	26	10	identification	identification	NOUN
fumecheng-11470	26	11	process	process	NOUN
fumecheng-11470	26	12	,	,	PUNCT
fumecheng-11470	26	13	whereby	whereby	SCONJ
fumecheng-11470	26	14	a	a	DET
fumecheng-11470	26	15	friction	friction	NOUN
fumecheng-11470	26	16	compensator	compensator	NOUN
fumecheng-11470	26	17	was	be	AUX
fumecheng-11470	26	18	developed	develop	VERB
fumecheng-11470	26	19	to	to	PART
fumecheng-11470	26	20	estimate	estimate	VERB
fumecheng-11470	26	21	the	the	DET
fumecheng-11470	26	22	state	state	NOUN
fumecheng-11470	26	23	of	of	ADP
fumecheng-11470	26	24	the	the	DET
fumecheng-11470	26	25	elastoplastic	elastoplastic	ADJ
fumecheng-11470	26	26	friction	friction	NOUN
fumecheng-11470	26	27	model	model	NOUN
fumecheng-11470	26	28	.	.	PUNCT
fumecheng-11470	27	1	beerens	beeren	NOUN
fumecheng-11470	27	2	et	et	PROPN
fumecheng-11470	27	3	al	al	PROPN
fumecheng-11470	27	4	.	.	PUNCT
fumecheng-11470	28	1	[	[	X
fumecheng-11470	28	2	9	9	NUM
fumecheng-11470	28	3	]	]	PUNCT
fumecheng-11470	28	4	proposed	propose	VERB
fumecheng-11470	28	5	a	a	DET
fumecheng-11470	28	6	reset	reset	ADJ
fumecheng-11470	28	7	integrator	integrator	NOUN
fumecheng-11470	28	8	control	control	NOUN
fumecheng-11470	28	9	strategy	strategy	NOUN
fumecheng-11470	28	10	to	to	PART
fumecheng-11470	28	11	achieve	achieve	VERB
fumecheng-11470	28	12	robust	robust	ADJ
fumecheng-11470	28	13	global	global	ADJ
fumecheng-11470	28	14	asymptotic	asymptotic	ADJ
fumecheng-11470	28	15	stability	stability	NOUN
fumecheng-11470	28	16	for	for	ADP
fumecheng-11470	28	17	set	set	VERB
fumecheng-11470	28	18	points	point	NOUN
fumecheng-11470	28	19	with	with	ADP
fumecheng-11470	28	20	unknown	unknown	ADJ
fumecheng-11470	28	21	static	static	ADJ
fumecheng-11470	28	22	friction	friction	NOUN
fumecheng-11470	28	23	.	.	PUNCT
fumecheng-11470	29	1	marek	marek	PROPN
fumecheng-11470	29	2	wojtyra	wojtyra	PROPN
fumecheng-11470	30	1	[	[	X
fumecheng-11470	30	2	10	10	NUM
fumecheng-11470	30	3	]	]	PUNCT
fumecheng-11470	30	4	discussed	discuss	VERB
fumecheng-11470	30	5	the	the	DET
fumecheng-11470	30	6	joint	joint	ADJ
fumecheng-11470	30	7	friction	friction	NOUN
fumecheng-11470	30	8	of	of	ADP
fumecheng-11470	30	9	a	a	DET
fumecheng-11470	30	10	multi	multi	ADJ
fumecheng-11470	30	11	-	-	ADJ
fumecheng-11470	30	12	body	body	ADJ
fumecheng-11470	30	13	system	system	NOUN
fumecheng-11470	30	14	with	with	ADP
fumecheng-11470	30	15	a	a	DET
fumecheng-11470	30	16	closed	closed	ADJ
fumecheng-11470	30	17	-	-	PUNCT
fumecheng-11470	30	18	loop	loop	NOUN
fumecheng-11470	30	19	kinematic	kinematic	ADJ
fumecheng-11470	30	20	chain	chain	NOUN
fumecheng-11470	30	21	and	and	CCONJ
fumecheng-11470	30	22	solved	solve	VERB
fumecheng-11470	30	23	the	the	DET
fumecheng-11470	30	24	issue	issue	NOUN
fumecheng-11470	30	25	of	of	ADP
fumecheng-11470	30	26	uniqueness	uniqueness	NOUN
fumecheng-11470	30	27	and	and	CCONJ
fumecheng-11470	30	28	high	high	ADJ
fumecheng-11470	30	29	parameter	parameter	NOUN
fumecheng-11470	30	30	sensitivity	sensitivity	NOUN
fumecheng-11470	30	31	of	of	ADP
fumecheng-11470	30	32	the	the	DET
fumecheng-11470	30	33	kinematic	kinematic	ADJ
fumecheng-11470	30	34	equation	equation	NOUN
fumecheng-11470	30	35	in	in	ADP
fumecheng-11470	30	36	a	a	DET
fumecheng-11470	30	37	static	static	ADJ
fumecheng-11470	30	38	friction	friction	NOUN
fumecheng-11470	30	39	zone	zone	NOUN
fumecheng-11470	30	40	.	.	PUNCT
fumecheng-11470	31	1	although	although	SCONJ
fumecheng-11470	31	2	the	the	DET
fumecheng-11470	31	3	static	static	ADJ
fumecheng-11470	31	4	friction	friction	NOUN
fumecheng-11470	31	5	force	force	NOUN
fumecheng-11470	31	6	compensation	compensation	NOUN
fumecheng-11470	31	7	model	model	NOUN
fumecheng-11470	31	8	has	have	VERB
fumecheng-11470	31	9	the	the	DET
fumecheng-11470	31	10	characteristics	characteristic	NOUN
fumecheng-11470	31	11	of	of	ADP
fumecheng-11470	31	12	a	a	DET
fumecheng-11470	31	13	simple	simple	ADJ
fumecheng-11470	31	14	mathematical	mathematical	ADJ
fumecheng-11470	31	15	model	model	NOUN
fumecheng-11470	31	16	structure	structure	NOUN
fumecheng-11470	31	17	and	and	CCONJ
fumecheng-11470	31	18	easy	easy	ADJ
fumecheng-11470	31	19	identification	identification	NOUN
fumecheng-11470	31	20	of	of	ADP
fumecheng-11470	31	21	parameters	parameter	NOUN
fumecheng-11470	31	22	,	,	PUNCT
fumecheng-11470	31	23	it	it	PRON
fumecheng-11470	31	24	has	have	VERB
fumecheng-11470	31	25	a	a	DET
fumecheng-11470	31	26	limited	limited	ADJ
fumecheng-11470	31	27	effect	effect	NOUN
fumecheng-11470	31	28	on	on	ADP
fumecheng-11470	31	29	improving	improve	VERB
fumecheng-11470	31	30	the	the	DET
fumecheng-11470	31	31	system	system	NOUN
fumecheng-11470	31	32	performance	performance	NOUN
fumecheng-11470	31	33	.	.	PUNCT
fumecheng-11470	32	1	therefore	therefore	ADV
fumecheng-11470	32	2	,	,	PUNCT
fumecheng-11470	32	3	researchers	researcher	NOUN
fumecheng-11470	32	4	have	have	AUX
fumecheng-11470	32	5	studied	study	VERB
fumecheng-11470	32	6	the	the	DET
fumecheng-11470	32	7	dynamic	dynamic	ADJ
fumecheng-11470	32	8	friction	friction	NOUN
fumecheng-11470	32	9	model	model	NOUN
fumecheng-11470	32	10	.	.	PUNCT
fumecheng-11470	33	1	lampaert	lampaert	INTJ
fumecheng-11470	33	2	et	et	PROPN
fumecheng-11470	33	3	al	al	PROPN
fumecheng-11470	33	4	.	.	PUNCT
fumecheng-11470	34	1	[	[	X
fumecheng-11470	34	2	11	11	NUM
fumecheng-11470	34	3	]	]	PUNCT
fumecheng-11470	34	4	designed	design	VERB
fumecheng-11470	34	5	a	a	DET
fumecheng-11470	34	6	dynamic	dynamic	ADJ
fumecheng-11470	34	7	friction	friction	NOUN
fumecheng-11470	34	8	model	model	NOUN
fumecheng-11470	34	9	suitable	suitable	ADJ
fumecheng-11470	34	10	for	for	ADP
fumecheng-11470	34	11	control	control	NOUN
fumecheng-11470	34	12	purposes	purpose	NOUN
fumecheng-11470	34	13	,	,	PUNCT
fumecheng-11470	34	14	which	which	PRON
fumecheng-11470	34	15	predicts	predict	VERB
fumecheng-11470	34	16	the	the	DET
fumecheng-11470	34	17	stribeck	stribeck	NOUN
fumecheng-11470	34	18	effect	effect	NOUN
fumecheng-11470	34	19	and	and	CCONJ
fumecheng-11470	34	20	properties	property	NOUN
fumecheng-11470	34	21	such	such	ADJ
fumecheng-11470	34	22	as	as	ADP
fumecheng-11470	34	23	friction	friction	NOUN
fumecheng-11470	34	24	hysteresis	hysteresis	NOUN
fumecheng-11470	34	25	,	,	PUNCT
fumecheng-11470	34	26	transition	transition	NOUN
fumecheng-11470	34	27	behavior	behavior	NOUN
fumecheng-11470	34	28	,	,	PUNCT
fumecheng-11470	34	29	and	and	CCONJ
fumecheng-11470	34	30	disengagement	disengagement	ADJ
fumecheng-11470	34	31	forces	force	NOUN
fumecheng-11470	34	32	.	.	PUNCT
fumecheng-11470	35	1	xu	xu	PROPN
fumecheng-11470	35	2	et	et	PROPN
fumecheng-11470	36	1	al	al	PROPN
fumecheng-11470	36	2	.	.	PUNCT
fumecheng-11470	37	1	[	[	X
fumecheng-11470	37	2	12	12	NUM
fumecheng-11470	37	3	]	]	PUNCT
fumecheng-11470	37	4	proposed	propose	VERB
fumecheng-11470	37	5	a	a	DET
fumecheng-11470	37	6	friction	friction	NOUN
fumecheng-11470	37	7	compensation	compensation	NOUN
fumecheng-11470	37	8	strategy	strategy	NOUN
fumecheng-11470	37	9	based	base	VERB
fumecheng-11470	37	10	on	on	ADP
fumecheng-11470	37	11	robust	robust	ADJ
fumecheng-11470	37	12	adaptive	adaptive	ADJ
fumecheng-11470	37	13	control	control	NOUN
fumecheng-11470	37	14	(	(	PUNCT
fumecheng-11470	37	15	arc	arc	NOUN
fumecheng-11470	37	16	)	)	PUNCT
fumecheng-11470	37	17	,	,	PUNCT
fumecheng-11470	37	18	which	which	PRON
fumecheng-11470	37	19	can	can	AUX
fumecheng-11470	37	20	guarantee	guarantee	VERB
fumecheng-11470	37	21	the	the	DET
fumecheng-11470	37	22	transient	transient	ADJ
fumecheng-11470	37	23	performance	performance	NOUN
fumecheng-11470	37	24	and	and	CCONJ
fumecheng-11470	37	25	final	final	ADJ
fumecheng-11470	37	26	tracking	tracking	NOUN
fumecheng-11470	37	27	accuracy	accuracy	NOUN
fumecheng-11470	37	28	of	of	ADP
fumecheng-11470	37	29	the	the	DET
fumecheng-11470	37	30	mechanism	mechanism	NOUN
fumecheng-11470	37	31	in	in	ADP
fumecheng-11470	37	32	nonlinear	nonlinear	ADJ
fumecheng-11470	37	33	dynamic	dynamic	ADJ
fumecheng-11470	37	34	friction	friction	NOUN
fumecheng-11470	37	35	scenarios	scenario	NOUN
fumecheng-11470	37	36	.	.	PUNCT
fumecheng-11470	38	1	joanna	joanna	PROPN
fumecheng-11470	38	2	et	et	PROPN
fumecheng-11470	38	3	al	al	PROPN
fumecheng-11470	38	4	.	.	PUNCT
fumecheng-11470	39	1	[	[	X
fumecheng-11470	39	2	13	13	NUM
fumecheng-11470	39	3	]	]	PUNCT
fumecheng-11470	39	4	proposed	propose	VERB
fumecheng-11470	39	5	a	a	DET
fumecheng-11470	39	6	method	method	NOUN
fumecheng-11470	39	7	to	to	PART
fumecheng-11470	39	8	identify	identify	VERB
fumecheng-11470	39	9	lugre	lugre	ADJ
fumecheng-11470	39	10	kinetic	kinetic	ADJ
fumecheng-11470	39	11	friction	friction	NOUN
fumecheng-11470	39	12	parameters	parameter	NOUN
fumecheng-11470	39	13	that	that	PRON
fumecheng-11470	39	14	can	can	AUX
fumecheng-11470	39	15	significantly	significantly	ADV
fumecheng-11470	39	16	reduce	reduce	VERB
fumecheng-11470	39	17	trajectory	trajectory	NOUN
fumecheng-11470	39	18	tracking	tracking	NOUN
fumecheng-11470	39	19	errors	error	NOUN
fumecheng-11470	39	20	.	.	PUNCT
fumecheng-11470	40	1	the	the	DET
fumecheng-11470	40	2	scholar	scholar	NOUN
fumecheng-11470	40	3	swevers	swever	NOUN
fumecheng-11470	40	4	[	[	X
fumecheng-11470	40	5	14	14	NUM
fumecheng-11470	40	6	]	]	PUNCT
fumecheng-11470	40	7	proposed	propose	VERB
fumecheng-11470	40	8	the	the	DET
fumecheng-11470	40	9	leuven	leuven	PROPN
fumecheng-11470	40	10	model	model	NOUN
fumecheng-11470	40	11	to	to	PART
fumecheng-11470	40	12	describe	describe	VERB
fumecheng-11470	40	13	the	the	DET
fumecheng-11470	40	14	hysteresis	hysteresis	NOUN
fumecheng-11470	40	15	phenomenon	phenomenon	NOUN
fumecheng-11470	40	16	more	more	ADV
fumecheng-11470	40	17	adequately	adequately	ADV
fumecheng-11470	40	18	,	,	PUNCT
fumecheng-11470	40	19	which	which	PRON
fumecheng-11470	40	20	is	be	AUX
fumecheng-11470	40	21	more	more	ADV
fumecheng-11470	40	22	accurate	accurate	ADJ
fumecheng-11470	40	23	than	than	ADP
fumecheng-11470	40	24	the	the	DET
fumecheng-11470	40	25	lugre	lugre	ADJ
fumecheng-11470	40	26	model	model	NOUN
fumecheng-11470	40	27	,	,	PUNCT
fumecheng-11470	40	28	but	but	CCONJ
fumecheng-11470	40	29	recognizing	recognize	VERB
fumecheng-11470	40	30	the	the	DET
fumecheng-11470	40	31	parameters	parameter	NOUN
fumecheng-11470	40	32	of	of	ADP
fumecheng-11470	40	33	the	the	DET
fumecheng-11470	40	34	model	model	NOUN
fumecheng-11470	40	35	is	be	AUX
fumecheng-11470	40	36	more	more	ADV
fumecheng-11470	40	37	complicated	complicated	ADJ
fumecheng-11470	40	38	.	.	PUNCT
fumecheng-11470	41	1	in	in	ADP
fumecheng-11470	41	2	addition	addition	NOUN
fumecheng-11470	41	3	,	,	PUNCT
fumecheng-11470	41	4	lee	lee	PROPN
fumecheng-11470	41	5	et	et	PROPN
fumecheng-11470	41	6	al	al	PROPN
fumecheng-11470	41	7	.	.	PUNCT
fumecheng-11470	42	1	[	[	X
fumecheng-11470	42	2	15	15	NUM
fumecheng-11470	42	3	]	]	PUNCT
fumecheng-11470	42	4	proposed	propose	VERB
fumecheng-11470	42	5	a	a	DET
fumecheng-11470	42	6	new	new	ADJ
fumecheng-11470	42	7	dynamic	dynamic	ADJ
fumecheng-11470	42	8	friction	friction	NOUN
fumecheng-11470	42	9	compensation	compensation	NOUN
fumecheng-11470	42	10	technique	technique	NOUN
fumecheng-11470	42	11	that	that	PRON
fumecheng-11470	42	12	utilizes	utilize	VERB
fumecheng-11470	42	13	a	a	DET
fumecheng-11470	42	14	pd	pd	PROPN
fumecheng-11470	42	15	control	control	NOUN
fumecheng-11470	42	16	system	system	NOUN
fumecheng-11470	42	17	and	and	CCONJ
fumecheng-11470	42	18	observer	observer	NOUN
fumecheng-11470	42	19	-	-	PUNCT
fumecheng-11470	42	20	based	base	VERB
fumecheng-11470	42	21	self	self	NOUN
fumecheng-11470	42	22	-	-	PUNCT
fumecheng-11470	42	23	adaptive	adaptive	ADJ
fumecheng-11470	42	24	evaluation	evaluation	NOUN
fumecheng-11470	42	25	of	of	ADP
fumecheng-11470	42	26	friction	friction	NOUN
fumecheng-11470	42	27	to	to	PART
fumecheng-11470	42	28	enhance	enhance	VERB
fumecheng-11470	42	29	the	the	DET
fumecheng-11470	42	30	performance	performance	NOUN
fumecheng-11470	42	31	of	of	ADP
fumecheng-11470	42	32	tracking	track	VERB
fumecheng-11470	42	33	for	for	ADP
fumecheng-11470	42	34	motion	motion	NOUN
fumecheng-11470	42	35	control	control	NOUN
fumecheng-11470	42	36	effectively	effectively	ADV
fumecheng-11470	42	37	.	.	PUNCT
fumecheng-11470	43	1	maged	mage	VERB
fumecheng-11470	43	2	et	et	PROPN
fumecheng-11470	43	3	al	al	PROPN
fumecheng-11470	43	4	.	.	PUNCT
fumecheng-11470	44	1	[	[	X
fumecheng-11470	44	2	16	16	NUM
fumecheng-11470	44	3	]	]	PUNCT
fumecheng-11470	44	4	proposed	propose	VERB
fumecheng-11470	44	5	a	a	DET
fumecheng-11470	44	6	physically	physically	ADV
fumecheng-11470	44	7	motivated	motivated	ADJ
fumecheng-11470	44	8	friction	friction	NOUN
fumecheng-11470	44	9	model	model	NOUN
fumecheng-11470	44	10	that	that	PRON
fumecheng-11470	44	11	can	can	AUX
fumecheng-11470	44	12	be	be	AUX
fumecheng-11470	44	13	integrated	integrate	VERB
fumecheng-11470	44	14	quickly	quickly	ADV
fumecheng-11470	44	15	and	and	CCONJ
fumecheng-11470	44	16	smoothly	smoothly	ADV
fumecheng-11470	44	17	into	into	ADP
fumecheng-11470	44	18	classic	classic	ADJ
fumecheng-11470	44	19	dynamic	dynamic	ADJ
fumecheng-11470	44	20	friction	friction	NOUN
fumecheng-11470	44	21	models	model	NOUN
fumecheng-11470	44	22	such	such	ADJ
fumecheng-11470	44	23	as	as	ADP
fumecheng-11470	44	24	lugre	lugre	ADJ
fumecheng-11470	44	25	and	and	CCONJ
fumecheng-11470	44	26	gms	gms	NOUN
fumecheng-11470	44	27	.	.	PUNCT
fumecheng-11470	45	1	piasek	piasek	NOUN
fumecheng-11470	45	2	et	et	PROPN
fumecheng-11470	45	3	al	al	PROPN
fumecheng-11470	45	4	.	.	PUNCT
fumecheng-11470	46	1	[	[	X
fumecheng-11470	46	2	17	17	NUM
fumecheng-11470	46	3	]	]	PUNCT
fumecheng-11470	46	4	designed	design	VERB
fumecheng-11470	46	5	a	a	DET
fumecheng-11470	46	6	method	method	NOUN
fumecheng-11470	46	7	to	to	PART
fumecheng-11470	46	8	identify	identify	VERB
fumecheng-11470	46	9	lugre	lugre	PROPN
fumecheng-11470	46	10	's	's	PART
fumecheng-11470	46	11	static	static	ADJ
fumecheng-11470	46	12	and	and	CCONJ
fumecheng-11470	46	13	dynamic	dynamic	ADJ
fumecheng-11470	46	14	friction	friction	NOUN
fumecheng-11470	46	15	parameters	parameter	NOUN
fumecheng-11470	46	16	and	and	CCONJ
fumecheng-11470	46	17	proved	prove	VERB
fumecheng-11470	46	18	by	by	ADP
fumecheng-11470	46	19	experiments	experiment	NOUN
fumecheng-11470	46	20	that	that	SCONJ
fumecheng-11470	46	21	the	the	DET
fumecheng-11470	46	22	compensation	compensation	NOUN
fumecheng-11470	46	23	of	of	ADP
fumecheng-11470	46	24	the	the	DET
fumecheng-11470	46	25	dynamic	dynamic	ADJ
fumecheng-11470	46	26	friction	friction	NOUN
fumecheng-11470	46	27	model	model	NOUN
fumecheng-11470	46	28	dramatically	dramatically	ADV
fumecheng-11470	46	29	reduces	reduce	VERB
fumecheng-11470	46	30	the	the	DET
fumecheng-11470	46	31	trajectory	trajectory	NOUN
fumecheng-11470	46	32	tracking	tracking	NOUN
fumecheng-11470	46	33	error	error	NOUN
fumecheng-11470	46	34	.	.	PUNCT
fumecheng-11470	47	1	isaac	isaac	PROPN
fumecheng-11470	47	2	et	et	PROPN
fumecheng-11470	47	3	al	al	PROPN
fumecheng-11470	47	4	.	.	PUNCT
fumecheng-11470	48	1	[	[	X
fumecheng-11470	48	2	18	18	NUM
fumecheng-11470	48	3	]	]	PUNCT
fumecheng-11470	48	4	designed	design	VERB
fumecheng-11470	48	5	the	the	DET
fumecheng-11470	48	6	ida	ida	PROPN
fumecheng-11470	48	7	-	-	PUNCT
fumecheng-11470	48	8	pbc	pbc	PROPN
fumecheng-11470	48	9	friction	friction	PROPN
fumecheng-11470	48	10	compensation	compensation	NOUN
fumecheng-11470	48	11	method	method	NOUN
fumecheng-11470	48	12	of	of	ADP
fumecheng-11470	48	13	the	the	DET
fumecheng-11470	48	14	lugre	lugre	ADJ
fumecheng-11470	48	15	model	model	NOUN
fumecheng-11470	48	16	integrated	integrate	VERB
fumecheng-11470	48	17	to	to	PART
fumecheng-11470	48	18	enhance	enhance	VERB
fumecheng-11470	48	19	the	the	DET
fumecheng-11470	48	20	controller	controller	NOUN
fumecheng-11470	48	21	performance	performance	NOUN
fumecheng-11470	48	22	of	of	ADP
fumecheng-11470	48	23	the	the	DET
fumecheng-11470	48	24	underactuated	underactuated	ADJ
fumecheng-11470	48	25	mechanical	mechanical	ADJ
fumecheng-11470	48	26	system	system	NOUN
fumecheng-11470	48	27	at	at	ADP
fumecheng-11470	48	28	low	low	ADJ
fumecheng-11470	48	29	speed	speed	NOUN
fumecheng-11470	48	30	.	.	PUNCT
fumecheng-11470	49	1	these	these	PRON
fumecheng-11470	49	2	have	have	AUX
fumecheng-11470	49	3	been	be	AUX
fumecheng-11470	49	4	meaningful	meaningful	ADJ
fumecheng-11470	49	5	explorations	exploration	NOUN
fumecheng-11470	49	6	,	,	PUNCT
fumecheng-11470	49	7	but	but	CCONJ
fumecheng-11470	49	8	the	the	DET
fumecheng-11470	49	9	dynamic	dynamic	ADJ
fumecheng-11470	49	10	friction	friction	NOUN
fumecheng-11470	49	11	compensation	compensation	NOUN
fumecheng-11470	49	12	model	model	NOUN
fumecheng-11470	49	13	in	in	ADP
fumecheng-11470	49	14	practical	practical	ADJ
fumecheng-11470	49	15	applications	application	NOUN
fumecheng-11470	49	16	is	be	AUX
fumecheng-11470	49	17	still	still	ADV
fumecheng-11470	49	18	complex	complex	ADJ
fumecheng-11470	49	19	and	and	CCONJ
fumecheng-11470	49	20	challenging	challenging	ADJ
fumecheng-11470	49	21	to	to	PART
fumecheng-11470	49	22	identify	identify	VERB
fumecheng-11470	49	23	parameters	parameter	NOUN
fumecheng-11470	49	24	.	.	PUNCT
fumecheng-11470	50	1	in	in	ADP
fumecheng-11470	50	2	recent	recent	ADJ
fumecheng-11470	50	3	years	year	NOUN
fumecheng-11470	50	4	,	,	PUNCT
fumecheng-11470	50	5	some	some	DET
fumecheng-11470	50	6	scholars	scholar	NOUN
fumecheng-11470	50	7	have	have	AUX
fumecheng-11470	50	8	started	start	VERB
fumecheng-11470	50	9	using	use	VERB
fumecheng-11470	50	10	neural	neural	ADJ
fumecheng-11470	50	11	networks	network	NOUN
fumecheng-11470	50	12	to	to	PART
fumecheng-11470	50	13	study	study	VERB
fumecheng-11470	50	14	friction	friction	NOUN
fumecheng-11470	50	15	compensation	compensation	NOUN
fumecheng-11470	50	16	.	.	PUNCT
fumecheng-11470	51	1	ciliz	ciliz	NOUN
fumecheng-11470	51	2	et	et	PROPN
fumecheng-11470	51	3	al	al	PROPN
fumecheng-11470	51	4	.	.	PUNCT
fumecheng-11470	52	1	[	[	X
fumecheng-11470	52	2	19	19	NUM
fumecheng-11470	52	3	]	]	PUNCT
fumecheng-11470	52	4	proposed	propose	VERB
fumecheng-11470	52	5	a	a	DET
fumecheng-11470	52	6	friction	friction	NOUN
fumecheng-11470	52	7	compensation	compensation	NOUN
fumecheng-11470	52	8	strategy	strategy	NOUN
fumecheng-11470	52	9	based	base	VERB
fumecheng-11470	52	10	on	on	ADP
fumecheng-11470	52	11	the	the	DET
fumecheng-11470	52	12	coulomb	coulomb	NOUN
fumecheng-11470	52	13	and	and	CCONJ
fumecheng-11470	52	14	viscosity	viscosity	NOUN
fumecheng-11470	52	15	models	model	NOUN
fumecheng-11470	52	16	,	,	PUNCT
fumecheng-11470	52	17	applying	apply	VERB
fumecheng-11470	52	18	a	a	DET
fumecheng-11470	52	19	neural	neural	ADJ
fumecheng-11470	52	20	network	network	NOUN
fumecheng-11470	52	21	to	to	PART
fumecheng-11470	52	22	predict	predict	VERB
fumecheng-11470	52	23	the	the	DET
fumecheng-11470	52	24	magnitude	magnitude	NOUN
fumecheng-11470	52	25	of	of	ADP
fumecheng-11470	52	26	friction	friction	NOUN
fumecheng-11470	52	27	.	.	PUNCT
fumecheng-11470	53	1	doan	doan	NOUN
fumecheng-11470	53	2	et	et	NOUN
fumecheng-11470	53	3	study	study	NOUN
fumecheng-11470	53	4	of	of	ADP
fumecheng-11470	53	5	friction	friction	NOUN
fumecheng-11470	53	6	compensation	compensation	NOUN
fumecheng-11470	53	7	model	model	NOUN
fumecheng-11470	53	8	for	for	ADP
fumecheng-11470	53	9	mobile	mobile	NOUN
fumecheng-11470	53	10	robot	robot	NOUN
fumecheng-11470	53	11	’s	’s	PART
fumecheng-11470	53	12	joints	joint	NOUN
fumecheng-11470	53	13	723	723	NUM
fumecheng-11470	53	14	al	al	PROPN
fumecheng-11470	53	15	.	.	PUNCT
fumecheng-11470	54	1	[	[	X
fumecheng-11470	54	2	20	20	NUM
fumecheng-11470	54	3	]	]	PUNCT
fumecheng-11470	54	4	disclosed	disclose	VERB
fumecheng-11470	54	5	a	a	DET
fumecheng-11470	54	6	self	self	NOUN
fumecheng-11470	54	7	-	-	PUNCT
fumecheng-11470	54	8	adaptation	adaptation	NOUN
fumecheng-11470	54	9	control	control	NOUN
fumecheng-11470	54	10	system	system	NOUN
fumecheng-11470	54	11	for	for	ADP
fumecheng-11470	54	12	robot	robot	NOUN
fumecheng-11470	54	13	operation	operation	NOUN
fumecheng-11470	54	14	using	use	VERB
fumecheng-11470	54	15	artificial	artificial	ADJ
fumecheng-11470	54	16	neural	neural	ADJ
fumecheng-11470	54	17	networks	network	NOUN
fumecheng-11470	54	18	for	for	ADP
fumecheng-11470	54	19	error	error	NOUN
fumecheng-11470	54	20	compensation	compensation	NOUN
fumecheng-11470	54	21	,	,	PUNCT
fumecheng-11470	54	22	which	which	PRON
fumecheng-11470	54	23	can	can	AUX
fumecheng-11470	54	24	compensate	compensate	VERB
fumecheng-11470	54	25	for	for	ADP
fumecheng-11470	54	26	unmodeled	unmodeled	ADJ
fumecheng-11470	54	27	friction	friction	NOUN
fumecheng-11470	54	28	parts	part	NOUN
fumecheng-11470	54	29	.	.	PUNCT
fumecheng-11470	55	1	grami	grami	NOUN
fumecheng-11470	55	2	et	et	PROPN
fumecheng-11470	55	3	al	al	PROPN
fumecheng-11470	55	4	.	.	PUNCT
fumecheng-11470	56	1	[	[	X
fumecheng-11470	56	2	21	21	NUM
fumecheng-11470	56	3	]	]	PUNCT
fumecheng-11470	56	4	applied	apply	VERB
fumecheng-11470	56	5	a	a	DET
fumecheng-11470	56	6	neural	neural	ADJ
fumecheng-11470	56	7	network	network	NOUN
fumecheng-11470	56	8	algorithm	algorithm	NOUN
fumecheng-11470	56	9	model	model	NOUN
fumecheng-11470	56	10	to	to	PART
fumecheng-11470	56	11	estimate	estimate	VERB
fumecheng-11470	56	12	the	the	DET
fumecheng-11470	56	13	friction	friction	NOUN
fumecheng-11470	56	14	inside	inside	ADP
fumecheng-11470	56	15	the	the	DET
fumecheng-11470	56	16	robot	robot	NOUN
fumecheng-11470	56	17	joint	joint	NOUN
fumecheng-11470	56	18	and	and	CCONJ
fumecheng-11470	56	19	realized	realize	VERB
fumecheng-11470	56	20	the	the	DET
fumecheng-11470	56	21	estimated	estimate	VERB
fumecheng-11470	56	22	friction	friction	NOUN
fumecheng-11470	56	23	in	in	ADP
fumecheng-11470	56	24	the	the	DET
fumecheng-11470	56	25	actual	actual	ADJ
fumecheng-11470	56	26	friction	friction	NOUN
fumecheng-11470	56	27	compensation	compensation	NOUN
fumecheng-11470	56	28	.	.	PUNCT
fumecheng-11470	57	1	in	in	ADP
fumecheng-11470	57	2	addition	addition	NOUN
fumecheng-11470	57	3	,	,	PUNCT
fumecheng-11470	57	4	yen	yen	NOUN
fumecheng-11470	57	5	et	et	NOUN
fumecheng-11470	57	6	al	al	PROPN
fumecheng-11470	57	7	.	.	PUNCT
fumecheng-11470	58	1	[	[	X
fumecheng-11470	58	2	22	22	NUM
fumecheng-11470	58	3	]	]	PUNCT
fumecheng-11470	58	4	designed	design	VERB
fumecheng-11470	58	5	a	a	DET
fumecheng-11470	58	6	robust	robust	ADJ
fumecheng-11470	58	7	self	self	NOUN
fumecheng-11470	58	8	-	-	PUNCT
fumecheng-11470	58	9	adaptable	adaptable	ADJ
fumecheng-11470	58	10	control	control	NOUN
fumecheng-11470	58	11	approach	approach	NOUN
fumecheng-11470	58	12	with	with	ADP
fumecheng-11470	58	13	a	a	DET
fumecheng-11470	58	14	fuzzy	fuzzy	ADJ
fumecheng-11470	58	15	wavelet	wavelet	NOUN
fumecheng-11470	58	16	neural	neural	ADJ
fumecheng-11470	58	17	network	network	NOUN
fumecheng-11470	58	18	system	system	NOUN
fumecheng-11470	58	19	,	,	PUNCT
fumecheng-11470	58	20	which	which	PRON
fumecheng-11470	58	21	can	can	AUX
fumecheng-11470	58	22	reduce	reduce	VERB
fumecheng-11470	58	23	friction	friction	NOUN
fumecheng-11470	58	24	,	,	PUNCT
fumecheng-11470	58	25	external	external	ADJ
fumecheng-11470	58	26	disturbance	disturbance	NOUN
fumecheng-11470	58	27	error	error	NOUN
fumecheng-11470	58	28	and	and	CCONJ
fumecheng-11470	58	29	parameter	parameter	NOUN
fumecheng-11470	58	30	variation	variation	NOUN
fumecheng-11470	58	31	and	and	CCONJ
fumecheng-11470	58	32	achieve	achieve	VERB
fumecheng-11470	58	33	a	a	DET
fumecheng-11470	58	34	better	well	ADJ
fumecheng-11470	58	35	control	control	NOUN
fumecheng-11470	58	36	effect	effect	NOUN
fumecheng-11470	58	37	.	.	PUNCT
fumecheng-11470	59	1	ali	ali	PROPN
fumecheng-11470	59	2	et	et	PROPN
fumecheng-11470	59	3	al	al	PROPN
fumecheng-11470	59	4	.	.	PUNCT
fumecheng-11470	60	1	[	[	X
fumecheng-11470	60	2	23	23	NUM
fumecheng-11470	60	3	]	]	PUNCT
fumecheng-11470	60	4	designed	design	VERB
fumecheng-11470	60	5	a	a	DET
fumecheng-11470	60	6	control	control	NOUN
fumecheng-11470	60	7	algorithm	algorithm	NOUN
fumecheng-11470	60	8	that	that	PRON
fumecheng-11470	60	9	combines	combine	VERB
fumecheng-11470	60	10	fit	fit	NOUN
fumecheng-11470	60	11	-	-	PUNCT
fumecheng-11470	60	12	smc	smc	NOUN
fumecheng-11470	60	13	,	,	PUNCT
fumecheng-11470	60	14	red	red	ADJ
fumecheng-11470	60	15	and	and	CCONJ
fumecheng-11470	60	16	ffnn	ffnn	NOUN
fumecheng-11470	60	17	estimators	estimator	NOUN
fumecheng-11470	60	18	,	,	PUNCT
fumecheng-11470	60	19	making	make	VERB
fumecheng-11470	60	20	the	the	DET
fumecheng-11470	60	21	model	model	NOUN
fumecheng-11470	60	22	-	-	PUNCT
fumecheng-11470	60	23	based	base	VERB
fumecheng-11470	60	24	friction	friction	NOUN
fumecheng-11470	60	25	compensation	compensation	NOUN
fumecheng-11470	60	26	of	of	ADP
fumecheng-11470	60	27	the	the	DET
fumecheng-11470	60	28	multi	multi	ADJ
fumecheng-11470	60	29	-	-	NOUN
fumecheng-11470	60	30	degree	degree	NOUN
fumecheng-11470	60	31	-	-	PUNCT
fumecheng-11470	60	32	of	of	ADP
fumecheng-11470	60	33	-	-	PUNCT
fumecheng-11470	60	34	freedom	freedom	NOUN
fumecheng-11470	60	35	robot	robot	NOUN
fumecheng-11470	60	36	system	system	NOUN
fumecheng-11470	60	37	effective	effective	ADJ
fumecheng-11470	60	38	.	.	PUNCT
fumecheng-11470	61	1	similarly	similarly	ADV
fumecheng-11470	61	2	,	,	PUNCT
fumecheng-11470	61	3	wei	wei	PROPN
fumecheng-11470	61	4	et	et	PROPN
fumecheng-11470	61	5	al	al	PROPN
fumecheng-11470	61	6	.	.	PUNCT
fumecheng-11470	62	1	[	[	X
fumecheng-11470	62	2	24	24	NUM
fumecheng-11470	62	3	]	]	PUNCT
fumecheng-11470	62	4	disclosed	disclose	VERB
fumecheng-11470	62	5	an	an	DET
fumecheng-11470	62	6	adaptive	adaptive	ADJ
fumecheng-11470	62	7	rbf	rbf	PROPN
fumecheng-11470	62	8	neural	neural	ADJ
fumecheng-11470	62	9	network	network	NOUN
fumecheng-11470	62	10	algorithm	algorithm	NOUN
fumecheng-11470	62	11	,	,	PUNCT
fumecheng-11470	62	12	which	which	PRON
fumecheng-11470	62	13	can	can	AUX
fumecheng-11470	62	14	reduce	reduce	VERB
fumecheng-11470	62	15	the	the	DET
fumecheng-11470	62	16	influence	influence	NOUN
fumecheng-11470	62	17	of	of	ADP
fumecheng-11470	62	18	nonlinear	nonlinear	ADJ
fumecheng-11470	62	19	and	and	CCONJ
fumecheng-11470	62	20	uncertain	uncertain	ADJ
fumecheng-11470	62	21	parts	part	NOUN
fumecheng-11470	62	22	in	in	ADP
fumecheng-11470	62	23	the	the	DET
fumecheng-11470	62	24	system	system	NOUN
fumecheng-11470	62	25	on	on	ADP
fumecheng-11470	62	26	performance	performance	NOUN
fumecheng-11470	62	27	.	.	PUNCT
fumecheng-11470	63	1	experimental	experimental	ADJ
fumecheng-11470	63	2	results	result	NOUN
fumecheng-11470	63	3	show	show	VERB
fumecheng-11470	63	4	that	that	SCONJ
fumecheng-11470	63	5	the	the	DET
fumecheng-11470	63	6	jitter	jitter	NOUN
fumecheng-11470	63	7	problem	problem	NOUN
fumecheng-11470	63	8	inherent	inherent	ADJ
fumecheng-11470	63	9	to	to	ADP
fumecheng-11470	63	10	the	the	DET
fumecheng-11470	63	11	sliding	slide	VERB
fumecheng-11470	63	12	mode	mode	NOUN
fumecheng-11470	63	13	controller	controller	NOUN
fumecheng-11470	63	14	is	be	AUX
fumecheng-11470	63	15	also	also	ADV
fumecheng-11470	63	16	suppressed	suppress	VERB
fumecheng-11470	63	17	.	.	PUNCT
fumecheng-11470	64	1	because	because	SCONJ
fumecheng-11470	64	2	of	of	ADP
fumecheng-11470	64	3	the	the	DET
fumecheng-11470	64	4	beneficial	beneficial	ADJ
fumecheng-11470	64	5	effects	effect	NOUN
fumecheng-11470	64	6	of	of	ADP
fumecheng-11470	64	7	deep	deep	ADJ
fumecheng-11470	64	8	learning	learning	NOUN
fumecheng-11470	64	9	algorithms	algorithm	NOUN
fumecheng-11470	64	10	in	in	ADP
fumecheng-11470	64	11	dealing	deal	VERB
fumecheng-11470	64	12	with	with	ADP
fumecheng-11470	64	13	nonlinear	nonlinear	ADJ
fumecheng-11470	64	14	and	and	CCONJ
fumecheng-11470	64	15	uncertain	uncertain	ADJ
fumecheng-11470	64	16	friction	friction	NOUN
fumecheng-11470	64	17	compensation	compensation	NOUN
fumecheng-11470	64	18	,	,	PUNCT
fumecheng-11470	64	19	we	we	PRON
fumecheng-11470	64	20	decided	decide	VERB
fumecheng-11470	64	21	to	to	PART
fumecheng-11470	64	22	explore	explore	VERB
fumecheng-11470	64	23	and	and	CCONJ
fumecheng-11470	64	24	study	study	VERB
fumecheng-11470	64	25	robot	robot	NOUN
fumecheng-11470	64	26	joint	joint	PROPN
fumecheng-11470	64	27	friction	friction	NOUN
fumecheng-11470	64	28	compensation	compensation	NOUN
fumecheng-11470	64	29	in	in	ADP
fumecheng-11470	64	30	this	this	DET
fumecheng-11470	64	31	direction	direction	NOUN
fumecheng-11470	64	32	.	.	PUNCT
fumecheng-11470	65	1	we	we	PRON
fumecheng-11470	65	2	establish	establish	VERB
fumecheng-11470	65	3	linear	linear	PROPN
fumecheng-11470	65	4	,	,	PUNCT
fumecheng-11470	65	5	nonlinear	nonlinear	ADJ
fumecheng-11470	65	6	,	,	PUNCT
fumecheng-11470	65	7	and	and	CCONJ
fumecheng-11470	65	8	neural	neural	ADJ
fumecheng-11470	65	9	network	network	NOUN
fumecheng-11470	65	10	models	model	NOUN
fumecheng-11470	65	11	and	and	CCONJ
fumecheng-11470	65	12	use	use	VERB
fumecheng-11470	65	13	deep	deep	ADJ
fumecheng-11470	65	14	learning	learning	NOUN
fumecheng-11470	65	15	algorithms	algorithm	NOUN
fumecheng-11470	65	16	to	to	PART
fumecheng-11470	65	17	train	train	VERB
fumecheng-11470	65	18	them	they	PRON
fumecheng-11470	65	19	in	in	ADP
fumecheng-11470	65	20	four	four	NUM
fumecheng-11470	65	21	states	state	NOUN
fumecheng-11470	65	22	:	:	PUNCT
fumecheng-11470	65	23	high	high	ADJ
fumecheng-11470	65	24	speed	speed	NOUN
fumecheng-11470	65	25	,	,	PUNCT
fumecheng-11470	65	26	low	low	ADJ
fumecheng-11470	65	27	speed	speed	NOUN
fumecheng-11470	65	28	,	,	PUNCT
fumecheng-11470	65	29	acceleration	acceleration	NOUN
fumecheng-11470	65	30	,	,	PUNCT
fumecheng-11470	65	31	and	and	CCONJ
fumecheng-11470	65	32	uniform	uniform	ADJ
fumecheng-11470	65	33	speed	speed	NOUN
fumecheng-11470	65	34	.	.	PUNCT
fumecheng-11470	66	1	the	the	DET
fumecheng-11470	66	2	conclusion	conclusion	NOUN
fumecheng-11470	66	3	shows	show	VERB
fumecheng-11470	66	4	that	that	SCONJ
fumecheng-11470	66	5	the	the	DET
fumecheng-11470	66	6	neural	neural	ADJ
fumecheng-11470	66	7	network	network	NOUN
fumecheng-11470	66	8	model	model	NOUN
fumecheng-11470	66	9	has	have	VERB
fumecheng-11470	66	10	the	the	DET
fumecheng-11470	66	11	best	good	ADJ
fumecheng-11470	66	12	training	training	NOUN
fumecheng-11470	66	13	effect	effect	NOUN
fumecheng-11470	66	14	under	under	ADP
fumecheng-11470	66	15	acceleration	acceleration	NOUN
fumecheng-11470	66	16	and	and	CCONJ
fumecheng-11470	66	17	consistent	consistent	ADJ
fumecheng-11470	66	18	pace	pace	NOUN
fumecheng-11470	66	19	and	and	CCONJ
fumecheng-11470	66	20	is	be	AUX
fumecheng-11470	66	21	more	more	ADV
fumecheng-11470	66	22	suitable	suitable	ADJ
fumecheng-11470	66	23	for	for	ADP
fumecheng-11470	66	24	robot	robot	NOUN
fumecheng-11470	66	25	joint	joint	ADJ
fumecheng-11470	66	26	friction	friction	NOUN
fumecheng-11470	66	27	compensation	compensation	NOUN
fumecheng-11470	66	28	.	.	PUNCT
fumecheng-11470	67	1	the	the	DET
fumecheng-11470	67	2	deep	deep	ADJ
fumecheng-11470	67	3	learning	learning	NOUN
fumecheng-11470	67	4	process	process	NOUN
fumecheng-11470	67	5	we	we	PRON
fumecheng-11470	67	6	study	study	VERB
fumecheng-11470	67	7	allows	allow	VERB
fumecheng-11470	67	8	automatic	automatic	ADJ
fumecheng-11470	67	9	friction	friction	NOUN
fumecheng-11470	67	10	compensation	compensation	NOUN
fumecheng-11470	67	11	to	to	PART
fumecheng-11470	67	12	be	be	AUX
fumecheng-11470	67	13	applied	apply	VERB
fumecheng-11470	67	14	at	at	ADP
fumecheng-11470	67	15	each	each	DET
fumecheng-11470	67	16	mobile	mobile	ADJ
fumecheng-11470	67	17	robot	robot	NOUN
fumecheng-11470	67	18	joint	joint	VERB
fumecheng-11470	67	19	to	to	PART
fumecheng-11470	67	20	obtain	obtain	VERB
fumecheng-11470	67	21	the	the	DET
fumecheng-11470	67	22	best	good	ADJ
fumecheng-11470	67	23	and	and	CCONJ
fumecheng-11470	67	24	most	most	ADV
fumecheng-11470	67	25	personalized	personalized	ADJ
fumecheng-11470	67	26	friction	friction	NOUN
fumecheng-11470	67	27	compensation	compensation	NOUN
fumecheng-11470	67	28	,	,	PUNCT
fumecheng-11470	67	29	which	which	PRON
fumecheng-11470	67	30	has	have	VERB
fumecheng-11470	67	31	practical	practical	ADJ
fumecheng-11470	67	32	value	value	NOUN
fumecheng-11470	67	33	and	and	CCONJ
fumecheng-11470	67	34	improved	improved	ADJ
fumecheng-11470	67	35	accuracy	accuracy	NOUN
fumecheng-11470	67	36	.	.	PUNCT
fumecheng-11470	68	1	the	the	DET
fumecheng-11470	68	2	rest	rest	NOUN
fumecheng-11470	68	3	of	of	ADP
fumecheng-11470	68	4	this	this	DET
fumecheng-11470	68	5	paper	paper	NOUN
fumecheng-11470	68	6	has	have	VERB
fumecheng-11470	68	7	the	the	DET
fumecheng-11470	68	8	following	follow	VERB
fumecheng-11470	68	9	arrangement	arrangement	NOUN
fumecheng-11470	68	10	:	:	PUNCT
fumecheng-11470	68	11	section	section	NOUN
fumecheng-11470	68	12	2	2	NUM
fumecheng-11470	68	13	describes	describe	VERB
fumecheng-11470	68	14	the	the	DET
fumecheng-11470	68	15	friction	friction	NOUN
fumecheng-11470	68	16	compensation	compensation	NOUN
fumecheng-11470	68	17	modeling	modeling	NOUN
fumecheng-11470	68	18	method	method	NOUN
fumecheng-11470	68	19	,	,	PUNCT
fumecheng-11470	68	20	and	and	CCONJ
fumecheng-11470	68	21	the	the	DET
fumecheng-11470	68	22	scheme	scheme	NOUN
fumecheng-11470	68	23	design	design	NOUN
fumecheng-11470	68	24	,	,	PUNCT
fumecheng-11470	68	25	data	data	NOUN
fumecheng-11470	68	26	collection	collection	NOUN
fumecheng-11470	68	27	,	,	PUNCT
fumecheng-11470	68	28	and	and	CCONJ
fumecheng-11470	68	29	data	datum	NOUN
fumecheng-11470	68	30	division	division	NOUN
fumecheng-11470	68	31	are	be	AUX
fumecheng-11470	68	32	included	include	VERB
fumecheng-11470	68	33	.	.	PUNCT
fumecheng-11470	69	1	section	section	NOUN
fumecheng-11470	69	2	3	3	NUM
fumecheng-11470	69	3	presents	present	VERB
fumecheng-11470	69	4	the	the	DET
fumecheng-11470	69	5	experiments	experiment	NOUN
fumecheng-11470	69	6	and	and	CCONJ
fumecheng-11470	69	7	discussions	discussion	NOUN
fumecheng-11470	69	8	.	.	PUNCT
fumecheng-11470	70	1	section	section	NOUN
fumecheng-11470	70	2	4	4	NUM
fumecheng-11470	70	3	shows	show	VERB
fumecheng-11470	70	4	the	the	DET
fumecheng-11470	70	5	conclusions	conclusion	NOUN
fumecheng-11470	70	6	and	and	CCONJ
fumecheng-11470	70	7	future	future	ADJ
fumecheng-11470	70	8	works	work	NOUN
fumecheng-11470	70	9	.	.	PUNCT
fumecheng-11470	71	1	2	2	X
fumecheng-11470	71	2	.	.	X
fumecheng-11470	71	3	friction	friction	NOUN
fumecheng-11470	71	4	compensation	compensation	NOUN
fumecheng-11470	71	5	modeling	model	VERB
fumecheng-11470	71	6	2.1	2.1	NUM
fumecheng-11470	71	7	.	.	PUNCT
fumecheng-11470	72	1	program	program	NOUN
fumecheng-11470	72	2	design	design	VERB
fumecheng-11470	72	3	the	the	DET
fumecheng-11470	72	4	size	size	NOUN
fumecheng-11470	72	5	of	of	ADP
fumecheng-11470	72	6	the	the	DET
fumecheng-11470	72	7	friction	friction	NOUN
fumecheng-11470	72	8	in	in	ADP
fumecheng-11470	72	9	the	the	DET
fumecheng-11470	72	10	robot	robot	NOUN
fumecheng-11470	72	11	joint	joint	NOUN
fumecheng-11470	72	12	is	be	AUX
fumecheng-11470	72	13	related	relate	VERB
fumecheng-11470	72	14	to	to	ADP
fumecheng-11470	72	15	the	the	DET
fumecheng-11470	72	16	structure	structure	NOUN
fumecheng-11470	72	17	,	,	PUNCT
fumecheng-11470	72	18	speed	speed	NOUN
fumecheng-11470	72	19	,	,	PUNCT
fumecheng-11470	72	20	load	load	NOUN
fumecheng-11470	72	21	torque	torque	NOUN
fumecheng-11470	72	22	,	,	PUNCT
fumecheng-11470	72	23	lubrication	lubrication	NOUN
fumecheng-11470	72	24	conditions	condition	NOUN
fumecheng-11470	72	25	,	,	PUNCT
fumecheng-11470	72	26	and	and	CCONJ
fumecheng-11470	72	27	temperature	temperature	NOUN
fumecheng-11470	72	28	of	of	ADP
fumecheng-11470	72	29	the	the	DET
fumecheng-11470	72	30	robot	robot	NOUN
fumecheng-11470	72	31	joint	joint	NOUN
fumecheng-11470	72	32	.	.	PUNCT
fumecheng-11470	73	1	nevmerzhitskiy	nevmerzhitskiy	PROPN
fumecheng-11470	73	2	et	et	PROPN
fumecheng-11470	73	3	al	al	PROPN
fumecheng-11470	73	4	.	.	PUNCT
fumecheng-11470	74	1	[	[	X
fumecheng-11470	74	2	25	25	NUM
fumecheng-11470	74	3	]	]	PUNCT
fumecheng-11470	74	4	disclosed	disclose	VERB
fumecheng-11470	74	5	the	the	DET
fumecheng-11470	74	6	effect	effect	NOUN
fumecheng-11470	74	7	of	of	ADP
fumecheng-11470	74	8	temperature	temperature	NOUN
fumecheng-11470	74	9	on	on	ADP
fumecheng-11470	74	10	friction	friction	NOUN
fumecheng-11470	74	11	.	.	PUNCT
fumecheng-11470	75	1	bittencourt	bittencourt	PROPN
fumecheng-11470	75	2	et	et	PROPN
fumecheng-11470	75	3	al	al	PROPN
fumecheng-11470	75	4	.	.	PUNCT
fumecheng-11470	76	1	[	[	X
fumecheng-11470	76	2	26	26	NUM
fumecheng-11470	76	3	]	]	PUNCT
fumecheng-11470	76	4	showed	show	VERB
fumecheng-11470	76	5	that	that	SCONJ
fumecheng-11470	76	6	the	the	DET
fumecheng-11470	76	7	load	load	NOUN
fumecheng-11470	76	8	significantly	significantly	ADV
fumecheng-11470	76	9	influences	influence	VERB
fumecheng-11470	76	10	the	the	DET
fumecheng-11470	76	11	friction	friction	NOUN
fumecheng-11470	76	12	model	model	NOUN
fumecheng-11470	76	13	.	.	PUNCT
fumecheng-11470	77	1	raviola	raviola	PROPN
fumecheng-11470	77	2	,	,	PUNCT
fumecheng-11470	77	3	andrea	andrea	PROPN
fumecheng-11470	77	4	et	et	PROPN
fumecheng-11470	77	5	al	al	PROPN
fumecheng-11470	77	6	.	.	PUNCT
fumecheng-11470	78	1	[	[	X
fumecheng-11470	78	2	27	27	NUM
fumecheng-11470	78	3	]	]	PUNCT
fumecheng-11470	78	4	designed	design	VERB
fumecheng-11470	78	5	a	a	DET
fumecheng-11470	78	6	mathematical	mathematical	ADJ
fumecheng-11470	78	7	model	model	NOUN
fumecheng-11470	78	8	that	that	PRON
fumecheng-11470	78	9	can	can	AUX
fumecheng-11470	78	10	identify	identify	VERB
fumecheng-11470	78	11	the	the	DET
fumecheng-11470	78	12	dynamic	dynamic	ADJ
fumecheng-11470	78	13	parameters	parameter	NOUN
fumecheng-11470	78	14	of	of	ADP
fumecheng-11470	78	15	the	the	DET
fumecheng-11470	78	16	manipulator	manipulator	NOUN
fumecheng-11470	78	17	.	.	PUNCT
fumecheng-11470	79	1	experiments	experiment	NOUN
fumecheng-11470	79	2	show	show	VERB
fumecheng-11470	79	3	that	that	SCONJ
fumecheng-11470	79	4	this	this	DET
fumecheng-11470	79	5	model	model	NOUN
fumecheng-11470	79	6	reduces	reduce	VERB
fumecheng-11470	79	7	the	the	DET
fumecheng-11470	79	8	error	error	NOUN
fumecheng-11470	79	9	of	of	ADP
fumecheng-11470	79	10	the	the	DET
fumecheng-11470	79	11	estimated	estimate	VERB
fumecheng-11470	79	12	joint	joint	ADJ
fumecheng-11470	79	13	torque	torque	NOUN
fumecheng-11470	79	14	of	of	ADP
fumecheng-11470	79	15	the	the	DET
fumecheng-11470	79	16	robot	robot	NOUN
fumecheng-11470	79	17	.	.	PUNCT
fumecheng-11470	80	1	the	the	DET
fumecheng-11470	80	2	nonlinear	nonlinear	ADJ
fumecheng-11470	80	3	frictional	frictional	ADJ
fumecheng-11470	80	4	forces	force	NOUN
fumecheng-11470	80	5	corresponding	correspond	VERB
fumecheng-11470	80	6	to	to	ADP
fumecheng-11470	80	7	this	this	DET
fumecheng-11470	80	8	friction	friction	NOUN
fumecheng-11470	80	9	phenomenon	phenomenon	NOUN
fumecheng-11470	80	10	are	be	AUX
fumecheng-11470	80	11	generated	generate	VERB
fumecheng-11470	80	12	on	on	ADP
fumecheng-11470	80	13	the	the	DET
fumecheng-11470	80	14	mobile	mobile	NOUN
fumecheng-11470	80	15	robot	robot	NOUN
fumecheng-11470	80	16	’s	’s	PART
fumecheng-11470	80	17	body	body	NOUN
fumecheng-11470	80	18	,	,	PUNCT
fumecheng-11470	80	19	but	but	CCONJ
fumecheng-11470	80	20	direct	direct	ADJ
fumecheng-11470	80	21	measurement	measurement	NOUN
fumecheng-11470	80	22	can	can	AUX
fumecheng-11470	80	23	not	not	PART
fumecheng-11470	80	24	obtain	obtain	VERB
fumecheng-11470	80	25	the	the	DET
fumecheng-11470	80	26	corresponding	corresponding	ADJ
fumecheng-11470	80	27	frictional	frictional	ADJ
fumecheng-11470	80	28	moment	moment	NOUN
fumecheng-11470	80	29	values	value	NOUN
fumecheng-11470	80	30	.	.	PUNCT
fumecheng-11470	81	1	therefore	therefore	ADV
fumecheng-11470	81	2	,	,	PUNCT
fumecheng-11470	81	3	the	the	DET
fumecheng-11470	81	4	first	first	ADJ
fumecheng-11470	81	5	task	task	NOUN
fumecheng-11470	81	6	is	be	AUX
fumecheng-11470	81	7	to	to	PART
fumecheng-11470	81	8	simplify	simplify	VERB
fumecheng-11470	81	9	the	the	DET
fumecheng-11470	81	10	mobile	mobile	ADJ
fumecheng-11470	81	11	robot	robot	NOUN
fumecheng-11470	81	12	dynamics	dynamic	NOUN
fumecheng-11470	81	13	model	model	NOUN
fumecheng-11470	81	14	to	to	PART
fumecheng-11470	81	15	get	get	VERB
fumecheng-11470	81	16	the	the	DET
fumecheng-11470	81	17	importance	importance	NOUN
fumecheng-11470	81	18	of	of	ADP
fumecheng-11470	81	19	the	the	DET
fumecheng-11470	81	20	friction	friction	NOUN
fumecheng-11470	81	21	moments	moment	NOUN
fumecheng-11470	81	22	of	of	ADP
fumecheng-11470	81	23	the	the	DET
fumecheng-11470	81	24	robot	robot	NOUN
fumecheng-11470	81	25	’s	’s	PART
fumecheng-11470	81	26	joints	joint	NOUN
fumecheng-11470	81	27	.	.	PUNCT
fumecheng-11470	82	1	the	the	DET
fumecheng-11470	82	2	mathematical	mathematical	ADJ
fumecheng-11470	82	3	expression	expression	NOUN
fumecheng-11470	82	4	of	of	ADP
fumecheng-11470	82	5	the	the	DET
fumecheng-11470	82	6	robot	robot	NOUN
fumecheng-11470	82	7	’s	’s	PART
fumecheng-11470	82	8	dynamics	dynamic	NOUN
fumecheng-11470	82	9	model	model	NOUN
fumecheng-11470	82	10	is	be	AUX
fumecheng-11470	82	11	shown	show	VERB
fumecheng-11470	82	12	in	in	ADP
fumecheng-11470	82	13	fig	fig	NOUN
fumecheng-11470	82	14	.	.	PUNCT
fumecheng-11470	83	1	1	1	X
fumecheng-11470	83	2	.	.	PUNCT
fumecheng-11470	84	1	the	the	DET
fumecheng-11470	84	2	parameters	parameter	NOUN
fumecheng-11470	84	3	involved	involve	VERB
fumecheng-11470	84	4	are	be	AUX
fumecheng-11470	84	5	shown	show	VERB
fumecheng-11470	84	6	in	in	ADP
fumecheng-11470	84	7	table	table	NOUN
fumecheng-11470	84	8	1	1	NUM
fumecheng-11470	84	9	.	.	X
fumecheng-11470	84	10	724	724	NUM
fumecheng-11470	84	11	y.	y.	PROPN
fumecheng-11470	84	12	cao	cao	PROPN
fumecheng-11470	84	13	,	,	PUNCT
fumecheng-11470	84	14	n.m	n.m	PROPN
fumecheng-11470	84	15	.	.	PROPN
fumecheng-11470	84	16	nor	nor	CCONJ
fumecheng-11470	84	17	,	,	PUNCT
fumecheng-11470	84	18	z.	z.	PROPN
fumecheng-11470	84	19	samad	samad	PROPN
fumecheng-11470	84	20	fig	fig	PROPN
fumecheng-11470	84	21	.	.	PUNCT
fumecheng-11470	85	1	1	1	NUM
fumecheng-11470	85	2	wheel	wheel	NOUN
fumecheng-11470	85	3	of	of	ADP
fumecheng-11470	85	4	mobile	mobile	ADJ
fumecheng-11470	85	5	robot	robot	NOUN
fumecheng-11470	85	6	motion	motion	NOUN
fumecheng-11470	85	7	model	model	NOUN
fumecheng-11470	85	8	table	table	NOUN
fumecheng-11470	85	9	1	1	NUM
fumecheng-11470	85	10	motion	motion	NOUN
fumecheng-11470	85	11	model	model	NOUN
fumecheng-11470	85	12	parameters	parameter	NOUN
fumecheng-11470	85	13	parameters	parameter	NOUN
fumecheng-11470	85	14	description	description	NOUN
fumecheng-11470	85	15	m1	m1	PROPN
fumecheng-11470	85	16	equivalent	equivalent	ADJ
fumecheng-11470	85	17	mass	mass	NOUN
fumecheng-11470	85	18	of	of	ADP
fumecheng-11470	85	19	the	the	DET
fumecheng-11470	85	20	first	first	ADJ
fumecheng-11470	85	21	rod	rod	NOUN
fumecheng-11470	85	22	me	i	PRON
fumecheng-11470	85	23	equivalent	equivalent	ADJ
fumecheng-11470	85	24	mass	mass	NOUN
fumecheng-11470	85	25	of	of	ADP
fumecheng-11470	85	26	the	the	DET
fumecheng-11470	85	27	second	second	ADJ
fumecheng-11470	85	28	rod	rod	NOUN
fumecheng-11470	85	29	and	and	CCONJ
fumecheng-11470	85	30	payload	payload	ADJ
fumecheng-11470	85	31	l1	l1	PROPN
fumecheng-11470	85	32	length	length	NOUN
fumecheng-11470	85	33	of	of	ADP
fumecheng-11470	85	34	first	first	ADJ
fumecheng-11470	85	35	rod	rod	NOUN
fumecheng-11470	85	36	(	(	PUNCT
fumecheng-11470	85	37	wheel	wheel	NOUN
fumecheng-11470	85	38	distance	distance	NOUN
fumecheng-11470	85	39	)	)	PUNCT
fumecheng-11470	85	40	lc1	lc1	NOUN
fumecheng-11470	85	41	distance	distance	NOUN
fumecheng-11470	85	42	to	to	ADP
fumecheng-11470	85	43	the	the	DET
fumecheng-11470	85	44	center	center	NOUN
fumecheng-11470	85	45	of	of	ADP
fumecheng-11470	85	46	the	the	DET
fumecheng-11470	85	47	first	first	ADJ
fumecheng-11470	85	48	rod	rod	NOUN
fumecheng-11470	85	49	equivalent	equivalent	ADJ
fumecheng-11470	85	50	mass	mass	NOUN
fumecheng-11470	85	51	(	(	PUNCT
fumecheng-11470	85	52	wheel	wheel	NOUN
fumecheng-11470	85	53	distance	distance	NOUN
fumecheng-11470	85	54	)	)	PUNCT
fumecheng-11470	85	55	lce	lce	PROPN
fumecheng-11470	85	56	distance	distance	NOUN
fumecheng-11470	85	57	to	to	ADP
fumecheng-11470	85	58	the	the	DET
fumecheng-11470	85	59	center	center	NOUN
fumecheng-11470	85	60	of	of	ADP
fumecheng-11470	85	61	the	the	DET
fumecheng-11470	85	62	second	second	ADJ
fumecheng-11470	85	63	rod	rod	NOUN
fumecheng-11470	85	64	equivalent	equivalent	ADJ
fumecheng-11470	85	65	mass	mass	PROPN
fumecheng-11470	85	66	i1	i1	PROPN
fumecheng-11470	85	67	equivalent	equivalent	ADJ
fumecheng-11470	85	68	moment	moment	NOUN
fumecheng-11470	85	69	of	of	ADP
fumecheng-11470	85	70	inertia	inertia	NOUN
fumecheng-11470	85	71	of	of	ADP
fumecheng-11470	85	72	the	the	DET
fumecheng-11470	85	73	first	first	ADJ
fumecheng-11470	85	74	rod	rod	NOUN
fumecheng-11470	85	75	ie	ie	ADP
fumecheng-11470	85	76	equivalent	equivalent	ADJ
fumecheng-11470	85	77	moment	moment	NOUN
fumecheng-11470	85	78	of	of	ADP
fumecheng-11470	85	79	inertia	inertia	NOUN
fumecheng-11470	85	80	of	of	ADP
fumecheng-11470	85	81	the	the	DET
fumecheng-11470	85	82	second	second	ADJ
fumecheng-11470	85	83	rod	rod	NOUN
fumecheng-11470	85	84	q1	q1	NOUN
fumecheng-11470	85	85	angle	angle	NOUN
fumecheng-11470	85	86	between	between	ADP
fumecheng-11470	85	87	the	the	DET
fumecheng-11470	85	88	first	first	ADJ
fumecheng-11470	85	89	rod	rod	NOUN
fumecheng-11470	85	90	and	and	CCONJ
fumecheng-11470	85	91	the	the	DET
fumecheng-11470	85	92	horizontal	horizontal	ADJ
fumecheng-11470	85	93	axis	axis	PROPN
fumecheng-11470	85	94	q2	q2	PROPN
fumecheng-11470	85	95	angle	angle	NOUN
fumecheng-11470	85	96	between	between	ADP
fumecheng-11470	85	97	the	the	DET
fumecheng-11470	85	98	first	first	ADJ
fumecheng-11470	85	99	rod	rod	NOUN
fumecheng-11470	85	100	and	and	CCONJ
fumecheng-11470	85	101	second	second	ADJ
fumecheng-11470	85	102	rod	rod	NOUN
fumecheng-11470	85	103	δe	δe	ADP
fumecheng-11470	85	104	angle	angle	NOUN
fumecheng-11470	85	105	between	between	ADP
fumecheng-11470	85	106	the	the	DET
fumecheng-11470	85	107	second	second	ADJ
fumecheng-11470	85	108	rod	rod	NOUN
fumecheng-11470	85	109	and	and	CCONJ
fumecheng-11470	85	110	the	the	DET
fumecheng-11470	85	111	vertical	vertical	ADJ
fumecheng-11470	85	112	axis	axis	NOUN
fumecheng-11470	85	113	the	the	DET
fumecheng-11470	85	114	kinetic	kinetic	ADJ
fumecheng-11470	85	115	model	model	NOUN
fumecheng-11470	85	116	relates	relate	VERB
fumecheng-11470	85	117	to	to	ADP
fumecheng-11470	85	118	the	the	DET
fumecheng-11470	85	119	friction	friction	NOUN
fumecheng-11470	85	120	compensation	compensation	NOUN
fumecheng-11470	85	121	term	term	NOUN
fumecheng-11470	85	122	f	f	PROPN
fumecheng-11470	85	123	as	as	SCONJ
fumecheng-11470	85	124	shown	show	VERB
fumecheng-11470	85	125	in	in	ADP
fumecheng-11470	85	126	eq	eq	ADP
fumecheng-11470	85	127	.	.	PUNCT
fumecheng-11470	86	1	(	(	PUNCT
fumecheng-11470	86	2	1	1	NUM
fumecheng-11470	86	3	)	)	PUNCT
fumecheng-11470	86	4	.	.	PUNCT
fumecheng-11470	87	1	(	(	PUNCT
fumecheng-11470	87	2	)	)	PUNCT
fumecheng-11470	87	3	(	(	PUNCT
fumecheng-11470	87	4	,	,	PUNCT
fumecheng-11470	87	5	)	)	PUNCT
fumecheng-11470	87	6	(	(	PUNCT
fumecheng-11470	87	7	)	)	PUNCT
fumecheng-11470	87	8	(	(	PUNCT
fumecheng-11470	87	9	)	)	PUNCT
fumecheng-11470	87	10	m	m	VERB
fumecheng-11470	87	11	q	q	NOUN
fumecheng-11470	87	12	q	q	X
fumecheng-11470	87	13	c	c	X
fumecheng-11470	87	14	q	q	NOUN
fumecheng-11470	87	15	q	q	X
fumecheng-11470	87	16	q	q	X
fumecheng-11470	87	17	g	g	PROPN
fumecheng-11470	87	18	q	q	PROPN
fumecheng-11470	87	19	f	f	PROPN
fumecheng-11470	87	20	q	q	X
fumecheng-11470	87	21	+	+	PROPN
fumecheng-11470	87	22	+	+	CCONJ
fumecheng-11470	87	23	+	+	CCONJ
fumecheng-11470	87	24	=	=	SYM
fumecheng-11470	87	25	(	(	PUNCT
fumecheng-11470	87	26	1	1	NUM
fumecheng-11470	87	27	)	)	PUNCT
fumecheng-11470	87	28	where	where	SCONJ
fumecheng-11470	87	29	q∈rn	q∈rn	PROPN
fumecheng-11470	87	30	is	be	AUX
fumecheng-11470	87	31	the	the	DET
fumecheng-11470	87	32	desired	desire	VERB
fumecheng-11470	87	33	coordinates	coordinate	NOUN
fumecheng-11470	87	34	of	of	ADP
fumecheng-11470	87	35	the	the	DET
fumecheng-11470	87	36	robot	robot	NOUN
fumecheng-11470	87	37	in	in	ADP
fumecheng-11470	87	38	space	space	NOUN
fumecheng-11470	87	39	,	,	PUNCT
fumecheng-11470	87	40	q̇∈rn	q̇∈rn	PROPN
fumecheng-11470	87	41	is	be	AUX
fumecheng-11470	87	42	the	the	DET
fumecheng-11470	87	43	joint	joint	ADJ
fumecheng-11470	87	44	angular	angular	ADJ
fumecheng-11470	87	45	velocity	velocity	NOUN
fumecheng-11470	87	46	,	,	PUNCT
fumecheng-11470	87	47	q	q	NOUN
fumecheng-11470	87	48	̣̈	̣̈	PROPN
fumecheng-11470	87	49	∈rn	∈rn	NUM
fumecheng-11470	87	50	is	be	AUX
fumecheng-11470	87	51	the	the	DET
fumecheng-11470	87	52	angular	angular	ADJ
fumecheng-11470	87	53	acceleration	acceleration	NOUN
fumecheng-11470	87	54	of	of	ADP
fumecheng-11470	87	55	the	the	DET
fumecheng-11470	87	56	joint	joint	NOUN
fumecheng-11470	87	57	,	,	PUNCT
fumecheng-11470	87	58	m(q)∈rn⨉n	m(q)∈rn⨉n	PROPN
fumecheng-11470	87	59	is	be	AUX
fumecheng-11470	87	60	the	the	DET
fumecheng-11470	87	61	robot	robot	NOUN
fumecheng-11470	87	62	's	's	PART
fumecheng-11470	87	63	positive	positive	ADJ
fumecheng-11470	87	64	definite	definite	ADJ
fumecheng-11470	87	65	inertia	inertia	NOUN
fumecheng-11470	87	66	matrix	matrix	NOUN
fumecheng-11470	87	67	,	,	PUNCT
fumecheng-11470	87	68	c(q	c(q	PROPN
fumecheng-11470	87	69	,	,	PUNCT
fumecheng-11470	87	70	q̇)∈rn⨉n	q̇)∈rn⨉n	PRON
fumecheng-11470	87	71	is	be	AUX
fumecheng-11470	87	72	the	the	DET
fumecheng-11470	87	73	coriolis	coriolis	PROPN
fumecheng-11470	87	74	force	force	NOUN
fumecheng-11470	87	75	matrix	matrix	NOUN
fumecheng-11470	87	76	,	,	PUNCT
fumecheng-11470	87	77	g(q)∈rn	g(q)∈rn	X
fumecheng-11470	87	78	is	be	AUX
fumecheng-11470	87	79	the	the	DET
fumecheng-11470	87	80	gravitational	gravitational	ADJ
fumecheng-11470	87	81	vector	vector	NOUN
fumecheng-11470	87	82	,	,	PUNCT
fumecheng-11470	87	83	f(q̇)∈rn	f(q̇)∈rn	NUM
fumecheng-11470	87	84	is	be	AUX
fumecheng-11470	87	85	the	the	DET
fumecheng-11470	87	86	robot	robot	NOUN
fumecheng-11470	87	87	joint	joint	ADJ
fumecheng-11470	87	88	friction	friction	NOUN
fumecheng-11470	87	89	,	,	PUNCT
fumecheng-11470	87	90			PROPN
fumecheng-11470	87	91	∈rn	∈rn	NUM
fumecheng-11470	87	92	is	be	AUX
fumecheng-11470	87	93	the	the	DET
fumecheng-11470	87	94	joint	joint	ADJ
fumecheng-11470	87	95	input	input	NOUN
fumecheng-11470	87	96	torque	torque	NOUN
fumecheng-11470	87	97	,	,	PUNCT
fumecheng-11470	87	98	and	and	CCONJ
fumecheng-11470	87	99	n	n	CCONJ
fumecheng-11470	87	100	represents	represent	VERB
fumecheng-11470	87	101	the	the	DET
fumecheng-11470	87	102	nth	nth	NOUN
fumecheng-11470	87	103	robot	robot	NOUN
fumecheng-11470	87	104	joint	joint	NOUN
fumecheng-11470	87	105	.	.	PUNCT
fumecheng-11470	88	1	+2	+2	PROPN
fumecheng-11470	88	2	cos	cos	PROPN
fumecheng-11470	88	3	(	(	PUNCT
fumecheng-11470	88	4	)	)	PUNCT
fumecheng-11470	88	5	+2	+2	PRON
fumecheng-11470	88	6	sin	sin	NOUN
fumecheng-11470	88	7	(	(	PUNCT
fumecheng-11470	88	8	)	)	PUNCT
fumecheng-11470	88	9	+	+	CCONJ
fumecheng-11470	88	10	cos	cos	PROPN
fumecheng-11470	88	11	(	(	PUNCT
fumecheng-11470	88	12	)	)	PUNCT
fumecheng-11470	88	13	+2	+2	PRON
fumecheng-11470	88	14	sin	sin	NOUN
fumecheng-11470	88	15	(	(	PUNCT
fumecheng-11470	88	16	)	)	PUNCT
fumecheng-11470	88	17	+	+	CCONJ
fumecheng-11470	88	18	cos	cos	PROPN
fumecheng-11470	88	19	(	(	PUNCT
fumecheng-11470	88	20	)	)	PUNCT
fumecheng-11470	88	21	+	+	NUM
fumecheng-11470	88	22	sin	sin	NOUN
fumecheng-11470	88	23	(	(	PUNCT
fumecheng-11470	88	24	)	)	PUNCT
fumecheng-11470	88	25	2	2	NUM
fumecheng-11470	88	26	2	2	NUM
fumecheng-11470	88	27	2	2	NUM
fumecheng-11470	88	28	2	2	NUM
fumecheng-11470	88	29	2	2	NUM
fumecheng-11470	88	30	2	2	NUM
fumecheng-11470	88	31	(	(	PUNCT
fumecheng-11470	88	32	)	)	PUNCT
fumecheng-11470	88	33			NOUN
fumecheng-11470	88	34			NOUN
fumecheng-11470	88	35	=	=	SYM
fumecheng-11470	88	36			PROPN
fumecheng-11470	88	37			PROPN
fumecheng-11470	88	38			PROPN
fumecheng-11470	88	39			PROPN
fumecheng-11470	88	40	q	q	NOUN
fumecheng-11470	88	41	q	q	X
fumecheng-11470	88	42	q	q	X
fumecheng-11470	88	43	q	q	NOUN
fumecheng-11470	88	44	m	m	NOUN
fumecheng-11470	88	45	q	q	NOUN
fumecheng-11470	88	46	q	q	X
fumecheng-11470	88	47	q	q	NOUN
fumecheng-11470	88	48			X
fumecheng-11470	88	49			PROPN
fumecheng-11470	88	50			NUM
fumecheng-11470	88	51			PROPN
fumecheng-11470	88	52			PROPN
fumecheng-11470	88	53			NUM
fumecheng-11470	88	54			PROPN
fumecheng-11470	88	55			PROPN
fumecheng-11470	88	56			NUM
fumecheng-11470	88	57			PROPN
fumecheng-11470	88	58	(	(	PUNCT
fumecheng-11470	88	59	2	2	NUM
fumecheng-11470	88	60	)	)	PUNCT
fumecheng-11470	88	61	study	study	NOUN
fumecheng-11470	88	62	of	of	ADP
fumecheng-11470	88	63	friction	friction	NOUN
fumecheng-11470	88	64	compensation	compensation	NOUN
fumecheng-11470	88	65	model	model	NOUN
fumecheng-11470	88	66	for	for	ADP
fumecheng-11470	88	67	mobile	mobile	NOUN
fumecheng-11470	88	68	robot	robot	NOUN
fumecheng-11470	88	69	’s	’s	PART
fumecheng-11470	88	70	joints	joint	NOUN
fumecheng-11470	88	71	725	725	NUM
fumecheng-11470	88	72	(	(	PUNCT
fumecheng-11470	88	73	-2	-2	INTJ
fumecheng-11470	88	74	sin	sin	NOUN
fumecheng-11470	88	75	(	(	PUNCT
fumecheng-11470	88	76	)	)	PUNCT
fumecheng-11470	88	77	+2	+2	PROPN
fumecheng-11470	88	78	cos	cos	PROPN
fumecheng-11470	88	79	(	(	PUNCT
fumecheng-11470	88	80	)	)	PUNCT
fumecheng-11470	88	81	)	)	PUNCT
fumecheng-11470	88	82	(	(	PUNCT
fumecheng-11470	88	83	)	)	PUNCT
fumecheng-11470	88	84	+	+	X
fumecheng-11470	88	85	cos	cos	ADJ
fumecheng-11470	88	86	(	(	PUNCT
fumecheng-11470	88	87	)	)	PUNCT
fumecheng-11470	88	88	)	)	PUNCT
fumecheng-11470	88	89	sin	sin	NOUN
fumecheng-11470	88	90	(	(	PUNCT
fumecheng-11470	88	91	)	)	PUNCT
fumecheng-11470	88	92	cos	cos	PROPN
fumecheng-11470	88	93	(	(	PUNCT
fumecheng-11470	88	94	)	)	PUNCT
fumecheng-11470	88	95	)	)	PUNCT
fumecheng-11470	88	96	2	2	NUM
fumecheng-11470	88	97	2	2	NUM
fumecheng-11470	88	98	2	2	NUM
fumecheng-11470	88	99	2	2	NUM
fumecheng-11470	88	100	2	2	NUM
fumecheng-11470	88	101	2	2	NUM
fumecheng-11470	88	102	2	2	NUM
fumecheng-11470	88	103	2	2	NUM
fumecheng-11470	88	104	1	1	NUM
fumecheng-11470	88	105	(	(	PUNCT
fumecheng-11470	88	106	sin	sin	NOUN
fumecheng-11470	88	107	(	(	PUNCT
fumecheng-11470	88	108	,	,	PUNCT
fumecheng-11470	88	109	)	)	PUNCT
fumecheng-11470	88	110	(	(	PUNCT
fumecheng-11470	88	111	0	0	NUM
fumecheng-11470	89	1	−	−	NOUN
fumecheng-11470	89	2			NOUN
fumecheng-11470	89	3	=	=	SYM
fumecheng-11470	89	4			PROPN
fumecheng-11470	90	1			INTJ
fumecheng-11470	91	1	−	−	NUM
fumecheng-11470	91	2			NOUN
fumecheng-11470	91	3	q	q	NOUN
fumecheng-11470	91	4	q	q	X
fumecheng-11470	91	5	q	q	X
fumecheng-11470	91	6	q	q	X
fumecheng-11470	91	7	q	q	X
fumecheng-11470	91	8	q	q	X
fumecheng-11470	91	9	c	c	X
fumecheng-11470	91	10	q	q	NOUN
fumecheng-11470	91	11	q	q	X
fumecheng-11470	91	12	q	q	X
fumecheng-11470	91	13	q	q	X
fumecheng-11470	91	14	q	q	PROPN
fumecheng-11470	91	15			PROPN
fumecheng-11470	91	16			NUM
fumecheng-11470	91	17			PROPN
fumecheng-11470	91	18			NUM
fumecheng-11470	91	19			PROPN
fumecheng-11470	91	20			NUM
fumecheng-11470	91	21	(	(	PUNCT
fumecheng-11470	91	22	3	3	X
fumecheng-11470	91	23	)	)	PUNCT
fumecheng-11470	91	24	(	(	PUNCT
fumecheng-11470	91	25	)	)	PUNCT
fumecheng-11470	91	26	+	+	X
fumecheng-11470	91	27	sin	sin	NOUN
fumecheng-11470	91	28	(	(	PUNCT
fumecheng-11470	91	29	)	)	PUNCT
fumecheng-11470	92	1	+	+	ADJ
fumecheng-11470	92	2	(	(	PUNCT
fumecheng-11470	92	3	+	+	NOUN
fumecheng-11470	92	4	1	1	X
fumecheng-11470	92	5	)	)	PUNCT
fumecheng-11470	92	6	cos	cos	PROPN
fumecheng-11470	92	7	(	(	PUNCT
fumecheng-11470	92	8	)	)	PUNCT
fumecheng-11470	92	9	+	+	CCONJ
fumecheng-11470	92	10	(	(	PUNCT
fumecheng-11470	92	11	)	)	PUNCT
fumecheng-11470	92	12	1	1	NUM
fumecheng-11470	92	13	2	2	NUM
fumecheng-11470	92	14	1	1	NUM
fumecheng-11470	92	15	2	2	NUM
fumecheng-11470	92	16	1	1	NUM
fumecheng-11470	92	17	1	1	NUM
fumecheng-11470	92	18	2	2	NUM
fumecheng-11470	92	19	1	1	NUM
fumecheng-11470	92	20	2	2	NUM
fumecheng-11470	92	21	2cos	2co	NOUN
fumecheng-11470	92	22	2	2	NUM
fumecheng-11470	92	23	2cos	2co	NOUN
fumecheng-11470	92	24	(	(	PUNCT
fumecheng-11470	92	25	)	)	PUNCT
fumecheng-11470	92	26	(	(	PUNCT
fumecheng-11470	92	27	)	)	PUNCT
fumecheng-11470	92	28	2	2	NUM
fumecheng-11470	92	29	2sin	2sin	NUM
fumecheng-11470	92	30			NOUN
fumecheng-11470	92	31	+	+	X
fumecheng-11470	92	32	+	+	CCONJ
fumecheng-11470	92	33			NOUN
fumecheng-11470	92	34	=	=	SYM
fumecheng-11470	92	35			PROPN
fumecheng-11470	93	1			X
fumecheng-11470	94	1	+	+	X
fumecheng-11470	94	2	+	+	CCONJ
fumecheng-11470	94	3			NOUN
fumecheng-11470	94	4	e	e	NOUN
fumecheng-11470	94	5	q	q	NOUN
fumecheng-11470	94	6	q	q	X
fumecheng-11470	94	7	e	e	X
fumecheng-11470	94	8	q	q	X
fumecheng-11470	94	9	q	q	X
fumecheng-11470	94	10	e	e	X
fumecheng-11470	94	11	e	e	NOUN
fumecheng-11470	94	12	q	q	PROPN
fumecheng-11470	94	13	g	g	PROPN
fumecheng-11470	94	14	q	q	X
fumecheng-11470	94	15	e	e	X
fumecheng-11470	94	16	q	q	X
fumecheng-11470	94	17	q	q	X
fumecheng-11470	94	18	e	e	X
fumecheng-11470	94	19	q	q	NOUN
fumecheng-11470	94	20	q	q	PROPN
fumecheng-11470	94	21			PROPN
fumecheng-11470	94	22			NUM
fumecheng-11470	94	23			X
fumecheng-11470	94	24			PROPN
fumecheng-11470	94	25			PROPN
fumecheng-11470	94	26			NUM
fumecheng-11470	94	27	(	(	PUNCT
fumecheng-11470	94	28	4	4	X
fumecheng-11470	94	29	)	)	PUNCT
fumecheng-11470	94	30	where	where	SCONJ
fumecheng-11470	94	31	:	:	PUNCT
fumecheng-11470	94	32	2	2	NUM
fumecheng-11470	94	33	2	2	NUM
fumecheng-11470	94	34	2	2	NUM
fumecheng-11470	94	35	1	1	NUM
fumecheng-11470	94	36	1	1	NUM
fumecheng-11470	94	37	1	1	NUM
fumecheng-11470	94	38	1c	1c	NOUN
fumecheng-11470	94	39	e	e	X
fumecheng-11470	94	40	e	e	X
fumecheng-11470	94	41	ce	ce	X
fumecheng-11470	94	42	ei	ei	NOUN
fumecheng-11470	94	43	m	m	PROPN
fumecheng-11470	94	44	l	l	NOUN
fumecheng-11470	95	1	i	i	PRON
fumecheng-11470	95	2	m	m	VERB
fumecheng-11470	95	3	l	l	NOUN
fumecheng-11470	95	4	m	m	X
fumecheng-11470	95	5	l	l	NOUN
fumecheng-11470	95	6	=	=	PUNCT
fumecheng-11470	96	1	+	+	PUNCT
fumecheng-11470	97	1	+	+	PUNCT
fumecheng-11470	97	2	+	+	CCONJ
fumecheng-11470	97	3	+	+	CCONJ
fumecheng-11470	97	4	,	,	PUNCT
fumecheng-11470	97	5	2=	2=	NUM
fumecheng-11470	97	6	+	+	ADP
fumecheng-11470	97	7	e	e	X
fumecheng-11470	97	8	e	e	X
fumecheng-11470	97	9	ci	ci	PROPN
fumecheng-11470	97	10	m	m	PROPN
fumecheng-11470	97	11	l	l	NOUN
fumecheng-11470	97	12	e	e	NUM
fumecheng-11470	97	13	,	,	PUNCT
fumecheng-11470	97	14	1	1	NUM
fumecheng-11470	97	15	cose	cose	PROPN
fumecheng-11470	97	16	ce	ce	PROPN
fumecheng-11470	97	17	em	em	PROPN
fumecheng-11470	97	18	i	i	PROPN
fumecheng-11470	97	19	l	l	PROPN
fumecheng-11470	97	20	=	=	PROPN
fumecheng-11470	97	21	,	,	PUNCT
fumecheng-11470	97	22	1	1	NUM
fumecheng-11470	97	23	sine	sine	NOUN
fumecheng-11470	97	24	ce	ce	NOUN
fumecheng-11470	97	25	em	em	PRON
fumecheng-11470	97	26	i	i	PRON
fumecheng-11470	97	27	l	l	VERB
fumecheng-11470	97	28	=	=	NOUN
fumecheng-11470	97	29	,	,	PUNCT
fumecheng-11470	97	30	2	2	NUM
fumecheng-11470	97	31	1	1	NUM
fumecheng-11470	97	32	1	1	NUM
fumecheng-11470	97	33	1	1	NUM
fumecheng-11470	97	34	1	1	NUM
fumecheng-11470	97	35	1	1	NUM
fumecheng-11470	97	36	1cl	1cl	NOUN
fumecheng-11470	97	37	me	i	PRON
fumecheng-11470	97	38	m	m	VERB
fumecheng-11470	98	1	i	i	VERB
fumecheng-11470	98	2	l	l	NOUN
fumecheng-11470	99	1	i	i	PRON
fumecheng-11470	99	2	m	m	VERB
fumecheng-11470	99	3	l=	l=	ADJ
fumecheng-11470	100	1	−	−	PROPN
fumecheng-11470	100	2	−	−	PROPN
fumecheng-11470	100	3	,	,	PUNCT
fumecheng-11470	100	4	2	2	NUM
fumecheng-11470	100	5	1	1	NUM
fumecheng-11470	100	6	g	g	NOUN
fumecheng-11470	100	7	/e	/e	PUNCT
fumecheng-11470	100	8	l=	l=	NOUN
fumecheng-11470	100	9	the	the	DET
fumecheng-11470	100	10	actual	actual	ADJ
fumecheng-11470	100	11	compensation	compensation	NOUN
fumecheng-11470	100	12	for	for	ADP
fumecheng-11470	100	13	the	the	DET
fumecheng-11470	100	14	various	various	ADJ
fumecheng-11470	100	15	frictional	frictional	ADJ
fumecheng-11470	100	16	forces	force	NOUN
fumecheng-11470	100	17	in	in	ADP
fumecheng-11470	100	18	the	the	DET
fumecheng-11470	100	19	robot	robot	NOUN
fumecheng-11470	100	20	joints	joint	NOUN
fumecheng-11470	100	21	during	during	ADP
fumecheng-11470	100	22	motion	motion	NOUN
fumecheng-11470	100	23	is	be	AUX
fumecheng-11470	100	24	done	do	VERB
fumecheng-11470	100	25	in	in	ADP
fumecheng-11470	100	26	the	the	DET
fumecheng-11470	100	27	following	follow	VERB
fumecheng-11470	100	28	manner	manner	NOUN
fumecheng-11470	100	29	(	(	PUNCT
fumecheng-11470	100	30	fig	fig	NOUN
fumecheng-11470	100	31	.	.	PUNCT
fumecheng-11470	101	1	2	2	NUM
fumecheng-11470	101	2	)	)	PUNCT
fumecheng-11470	101	3	.	.	PUNCT
fumecheng-11470	102	1	fig	fig	NOUN
fumecheng-11470	102	2	.	.	PUNCT
fumecheng-11470	103	1	2	2	NUM
fumecheng-11470	103	2	friction	friction	NOUN
fumecheng-11470	103	3	compensation	compensation	NOUN
fumecheng-11470	103	4	closed	close	VERB
fumecheng-11470	103	5	-	-	PUNCT
fumecheng-11470	103	6	loop	loop	NOUN
fumecheng-11470	103	7	control	control	NOUN
fumecheng-11470	103	8	system	system	NOUN
fumecheng-11470	103	9	structure	structure	NOUN
fumecheng-11470	103	10	because	because	SCONJ
fumecheng-11470	103	11	the	the	DET
fumecheng-11470	103	12	friction	friction	NOUN
fumecheng-11470	103	13	force	force	NOUN
fumecheng-11470	103	14	includes	include	VERB
fumecheng-11470	103	15	static	static	ADJ
fumecheng-11470	103	16	friction	friction	NOUN
fumecheng-11470	103	17	,	,	PUNCT
fumecheng-11470	103	18	sliding	slide	VERB
fumecheng-11470	103	19	friction	friction	NOUN
fumecheng-11470	103	20	,	,	PUNCT
fumecheng-11470	103	21	viscous	viscous	ADJ
fumecheng-11470	103	22	friction	friction	NOUN
fumecheng-11470	103	23	,	,	PUNCT
fumecheng-11470	103	24	etc	etc	X
fumecheng-11470	103	25	.	.	X
fumecheng-11470	103	26	,	,	PUNCT
fumecheng-11470	103	27	the	the	DET
fumecheng-11470	103	28	influencing	influence	VERB
fumecheng-11470	103	29	factors	factor	NOUN
fumecheng-11470	103	30	are	be	AUX
fumecheng-11470	103	31	relatively	relatively	ADV
fumecheng-11470	103	32	complex	complex	ADJ
fumecheng-11470	103	33	and	and	CCONJ
fumecheng-11470	103	34	have	have	VERB
fumecheng-11470	103	35	non	non	ADJ
fumecheng-11470	103	36	-	-	ADJ
fumecheng-11470	103	37	linear	linear	ADJ
fumecheng-11470	103	38	characteristics	characteristic	NOUN
fumecheng-11470	103	39	.	.	PUNCT
fumecheng-11470	104	1	our	our	PRON
fumecheng-11470	104	2	study	study	NOUN
fumecheng-11470	104	3	uses	use	VERB
fumecheng-11470	104	4	three	three	NUM
fumecheng-11470	104	5	different	different	ADJ
fumecheng-11470	104	6	models	model	NOUN
fumecheng-11470	104	7	to	to	PART
fumecheng-11470	104	8	model	model	VERB
fumecheng-11470	104	9	the	the	DET
fumecheng-11470	104	10	frictional	frictional	ADJ
fumecheng-11470	104	11	forces	force	NOUN
fumecheng-11470	104	12	:	:	PUNCT
fumecheng-11470	104	13	1	1	X
fumecheng-11470	104	14	)	)	PUNCT
fumecheng-11470	104	15	a	a	DET
fumecheng-11470	104	16	traditional	traditional	ADJ
fumecheng-11470	104	17	linear	linear	PROPN
fumecheng-11470	104	18	mathematical	mathematical	ADJ
fumecheng-11470	104	19	model	model	NOUN
fumecheng-11470	104	20	,	,	PUNCT
fumecheng-11470	104	21	2	2	NUM
fumecheng-11470	104	22	)	)	PUNCT
fumecheng-11470	104	23	a	a	DET
fumecheng-11470	104	24	nonlinear	nonlinear	ADJ
fumecheng-11470	104	25	mathematical	mathematical	ADJ
fumecheng-11470	104	26	model	model	NOUN
fumecheng-11470	104	27	and	and	CCONJ
fumecheng-11470	104	28	3	3	X
fumecheng-11470	104	29	)	)	PUNCT
fumecheng-11470	104	30	a	a	DET
fumecheng-11470	104	31	deep	deep	ADJ
fumecheng-11470	104	32	learning	learn	VERB
fumecheng-11470	104	33	neural	neural	ADJ
fumecheng-11470	104	34	network	network	NOUN
fumecheng-11470	104	35	model	model	NOUN
fumecheng-11470	104	36	.	.	PUNCT
fumecheng-11470	105	1	2.2	2.2	NUM
fumecheng-11470	105	2	.	.	PUNCT
fumecheng-11470	106	1	building	build	VERB
fumecheng-11470	106	2	the	the	DET
fumecheng-11470	106	3	model	model	NOUN
fumecheng-11470	106	4	three	three	NUM
fumecheng-11470	106	5	models	model	NOUN
fumecheng-11470	106	6	are	be	AUX
fumecheng-11470	106	7	investigated	investigate	VERB
fumecheng-11470	106	8	separately	separately	ADV
fumecheng-11470	106	9	:	:	PUNCT
fumecheng-11470	106	10	1	1	X
fumecheng-11470	106	11	)	)	PUNCT
fumecheng-11470	106	12	linear	linear	ADJ
fumecheng-11470	106	13	model	model	NOUN
fumecheng-11470	106	14	,	,	PUNCT
fumecheng-11470	106	15	2	2	X
fumecheng-11470	106	16	)	)	PUNCT
fumecheng-11470	106	17	nonlinear	nonlinear	ADJ
fumecheng-11470	106	18	model	model	NOUN
fumecheng-11470	106	19	,	,	PUNCT
fumecheng-11470	106	20	and	and	CCONJ
fumecheng-11470	106	21	3	3	X
fumecheng-11470	106	22	)	)	PUNCT
fumecheng-11470	106	23	neural	neural	ADJ
fumecheng-11470	106	24	network	network	NOUN
fumecheng-11470	106	25	model	model	NOUN
fumecheng-11470	106	26	.	.	PUNCT
fumecheng-11470	107	1	2.2.1	2.2.1	NUM
fumecheng-11470	107	2	.	.	PUNCT
fumecheng-11470	107	3	traditional	traditional	ADJ
fumecheng-11470	107	4	friction	friction	NOUN
fumecheng-11470	107	5	model	model	NOUN
fumecheng-11470	107	6	:	:	PUNCT
fumecheng-11470	107	7	linear	linear	ADJ
fumecheng-11470	107	8	model	model	NOUN
fumecheng-11470	107	9	the	the	DET
fumecheng-11470	107	10	essence	essence	NOUN
fumecheng-11470	107	11	of	of	ADP
fumecheng-11470	107	12	the	the	DET
fumecheng-11470	107	13	linear	linear	PROPN
fumecheng-11470	107	14	compensation	compensation	NOUN
fumecheng-11470	107	15	model	model	NOUN
fumecheng-11470	107	16	is	be	AUX
fumecheng-11470	107	17	to	to	PART
fumecheng-11470	107	18	use	use	VERB
fumecheng-11470	107	19	the	the	DET
fumecheng-11470	107	20	form	form	NOUN
fumecheng-11470	107	21	of	of	ADP
fumecheng-11470	107	22	setting	set	VERB
fumecheng-11470	107	23	linear	linear	ADJ
fumecheng-11470	107	24	coefficients	coefficient	NOUN
fumecheng-11470	107	25	to	to	PART
fumecheng-11470	107	26	realize	realize	VERB
fumecheng-11470	107	27	the	the	DET
fumecheng-11470	107	28	friction	friction	NOUN
fumecheng-11470	107	29	compensation	compensation	NOUN
fumecheng-11470	107	30	by	by	ADP
fumecheng-11470	107	31	using	use	VERB
fumecheng-11470	107	32	the	the	DET
fumecheng-11470	107	33	coefficients	coefficient	NOUN
fumecheng-11470	107	34	co	co	NOUN
fumecheng-11470	107	35	-	-	NOUN
fumecheng-11470	107	36	c4	c4	ADJ
fumecheng-11470	107	37	:	:	PUNCT
fumecheng-11470	107	38	0	0	NUM
fumecheng-11470	107	39	1	1	NUM
fumecheng-11470	107	40	2	2	NUM
fumecheng-11470	107	41	3	3	NUM
fumecheng-11470	107	42	4	4	NUM
fumecheng-11470	107	43	·	·	PUNCT
fumecheng-11470	107	44	·	·	PUNCT
fumecheng-11470	107	45	·	·	PUNCT
fumecheng-11470	108	1	·	·	PUNCT
fumecheng-11470	108	2	f	f	X
fumecheng-11470	109	1	c	c	NOUN
fumecheng-11470	109	2	c	c	NOUN
fumecheng-11470	109	3	v	v	NOUN
fumecheng-11470	109	4	c	c	NOUN
fumecheng-11470	109	5	c	c	NOUN
fumecheng-11470	109	6	t	t	PROPN
fumecheng-11470	109	7	c	c	PROPN
fumecheng-11470	109	8	q=	q=	PROPN
fumecheng-11470	110	1	+	+	CCONJ
fumecheng-11470	111	1	+	+	PUNCT
fumecheng-11470	111	2	+	+	PUNCT
fumecheng-11470	111	3	+	+	CCONJ
fumecheng-11470	111	4	(	(	PUNCT
fumecheng-11470	111	5	5	5	NUM
fumecheng-11470	111	6	)	)	PUNCT
fumecheng-11470	111	7	where	where	SCONJ
fumecheng-11470	111	8	,	,	PUNCT
fumecheng-11470	111	9	f	f	PROPN
fumecheng-11470	111	10	is	be	AUX
fumecheng-11470	111	11	the	the	DET
fumecheng-11470	111	12	overall	overall	ADJ
fumecheng-11470	111	13	friction	friction	NOUN
fumecheng-11470	111	14	force	force	NOUN
fumecheng-11470	111	15	,	,	PUNCT
fumecheng-11470	111	16	v	v	NOUN
fumecheng-11470	111	17	is	be	AUX
fumecheng-11470	111	18	velocity	velocity	NOUN
fumecheng-11470	111	19	,	,	PUNCT
fumecheng-11470	111	20	τ	τ	PROPN
fumecheng-11470	111	21	the	the	DET
fumecheng-11470	111	22	torque	torque	NOUN
fumecheng-11470	111	23	,	,	PUNCT
fumecheng-11470	111	24	t	t	PROPN
fumecheng-11470	111	25	is	be	AUX
fumecheng-11470	111	26	the	the	DET
fumecheng-11470	111	27	temperature	temperature	NOUN
fumecheng-11470	111	28	,	,	PUNCT
fumecheng-11470	111	29	q	q	PUNCT
fumecheng-11470	111	30	is	be	AUX
fumecheng-11470	111	31	the	the	DET
fumecheng-11470	111	32	position	position	NOUN
fumecheng-11470	111	33	term	term	NOUN
fumecheng-11470	111	34	and	and	CCONJ
fumecheng-11470	111	35	co	co	NOUN
fumecheng-11470	111	36	-	-	NOUN
fumecheng-11470	111	37	c4	c4	NOUN
fumecheng-11470	111	38	are	be	AUX
fumecheng-11470	111	39	the	the	DET
fumecheng-11470	111	40	constant	constant	ADJ
fumecheng-11470	111	41	(	(	PUNCT
fumecheng-11470	111	42	co	co	NOUN
fumecheng-11470	111	43	takes	take	VERB
fumecheng-11470	111	44	the	the	DET
fumecheng-11470	111	45	value	value	NOUN
fumecheng-11470	111	46	1.0	1.0	NUM
fumecheng-11470	111	47	,	,	PUNCT
fumecheng-11470	111	48	c1	c1	NOUN
fumecheng-11470	111	49	the	the	DET
fumecheng-11470	111	50	value	value	NOUN
fumecheng-11470	111	51	1.2	1.2	NUM
fumecheng-11470	111	52	,	,	PUNCT
fumecheng-11470	111	53	c2	c2	VERB
fumecheng-11470	111	54	the	the	DET
fumecheng-11470	111	55	value	value	NOUN
fumecheng-11470	111	56	3.6	3.6	NUM
fumecheng-11470	111	57	,	,	PUNCT
fumecheng-11470	111	58	c3	c3	PROPN
fumecheng-11470	111	59	is	be	AUX
fumecheng-11470	111	60	1.0	1.0	NUM
fumecheng-11470	111	61	,	,	PUNCT
fumecheng-11470	111	62	and	and	CCONJ
fumecheng-11470	111	63	c4	c4	NOUN
fumecheng-11470	111	64	takes	take	VERB
fumecheng-11470	111	65	the	the	DET
fumecheng-11470	111	66	value	value	NOUN
fumecheng-11470	111	67	4.3	4.3	NUM
fumecheng-11470	111	68	)	)	PUNCT
fumecheng-11470	111	69	.	.	PUNCT
fumecheng-11470	112	1	726	726	NUM
fumecheng-11470	112	2	y.	y.	PROPN
fumecheng-11470	112	3	cao	cao	PROPN
fumecheng-11470	112	4	,	,	PUNCT
fumecheng-11470	112	5	n.m	n.m	PROPN
fumecheng-11470	112	6	.	.	PROPN
fumecheng-11470	112	7	nor	nor	CCONJ
fumecheng-11470	112	8	,	,	PUNCT
fumecheng-11470	112	9	z.	z.	PROPN
fumecheng-11470	112	10	samad	samad	PROPN
fumecheng-11470	112	11	2.2.2	2.2.2	NUM
fumecheng-11470	112	12	.	.	PUNCT
fumecheng-11470	112	13	traditional	traditional	ADJ
fumecheng-11470	112	14	friction	friction	NOUN
fumecheng-11470	112	15	model	model	NOUN
fumecheng-11470	112	16	:	:	PUNCT
fumecheng-11470	112	17	nonlinear	nonlinear	ADJ
fumecheng-11470	112	18	model	model	NOUN
fumecheng-11470	112	19	the	the	DET
fumecheng-11470	112	20	conventional	conventional	ADJ
fumecheng-11470	112	21	friction	friction	NOUN
fumecheng-11470	112	22	model	model	NOUN
fumecheng-11470	112	23	can	can	AUX
fumecheng-11470	112	24	also	also	ADV
fumecheng-11470	112	25	be	be	AUX
fumecheng-11470	112	26	expressed	express	VERB
fumecheng-11470	112	27	in	in	ADP
fumecheng-11470	112	28	a	a	DET
fumecheng-11470	112	29	nonlinear	nonlinear	ADJ
fumecheng-11470	112	30	form	form	NOUN
fumecheng-11470	112	31	as	as	ADP
fumecheng-11470	112	32	:	:	SYM
fumecheng-11470	112	33	2	2	NUM
fumecheng-11470	112	34	2	2	NUM
fumecheng-11470	112	35	(	(	PUNCT
fumecheng-11470	112	36	)	)	PUNCT
fumecheng-11470	112	37	exp	exp	NOUN
fumecheng-11470	112	38	tanhbrk	tanhbrk	NOUN
fumecheng-11470	112	39	c	c	PROPN
fumecheng-11470	112	40	c	c	PROPN
fumecheng-11470	112	41	st	st	PROPN
fumecheng-11470	112	42	st	st	PROPN
fumecheng-11470	112	43	coul	coul	PROPN
fumecheng-11470	112	44	v	v	PROPN
fumecheng-11470	112	45	v	v	PROPN
fumecheng-11470	112	46	v	v	NOUN
fumecheng-11470	113	1	f	f	PROPN
fumecheng-11470	113	2	e	e	NOUN
fumecheng-11470	113	3	f	f	PROPN
fumecheng-11470	113	4	f	f	PROPN
fumecheng-11470	113	5	f	f	PROPN
fumecheng-11470	113	6	fv	fv	PROPN
fumecheng-11470	113	7	v	v	PROPN
fumecheng-11470	113	8	v	v	PROPN
fumecheng-11470	113	9	v	v	NOUN
fumecheng-11470	113	10			NOUN
fumecheng-11470	113	11			PROPN
fumecheng-11470	113	12			PROPN
fumecheng-11470	113	13			NOUN
fumecheng-11470	113	14			PROPN
fumecheng-11470	113	15			PROPN
fumecheng-11470	113	16	=	=	PROPN
fumecheng-11470	113	17	−	−	ADP
fumecheng-11470	113	18	−	−	PROPN
fumecheng-11470	114	1	+	+	CCONJ
fumecheng-11470	115	1	+	+	ADJ
fumecheng-11470	115	2			PROPN
fumecheng-11470	115	3			PROPN
fumecheng-11470	116	1			PROPN
fumecheng-11470	117	1			PROPN
fumecheng-11470	118	1			PROPN
fumecheng-11470	118	2			PROPN
fumecheng-11470	118	3			PROPN
fumecheng-11470	118	4			PROPN
fumecheng-11470	118	5			NOUN
fumecheng-11470	118	6			NOUN
fumecheng-11470	118	7			ADJ
fumecheng-11470	118	8			ADJ
fumecheng-11470	118	9			ADJ
fumecheng-11470	118	10			NOUN
fumecheng-11470	118	11	(	(	PUNCT
fumecheng-11470	118	12	6	6	NUM
fumecheng-11470	118	13	)	)	PUNCT
fumecheng-11470	118	14	where	where	SCONJ
fumecheng-11470	118	15	:	:	PUNCT
fumecheng-11470	118	16	2st	2st	PROPN
fumecheng-11470	118	17	brkv	brkv	NOUN
fumecheng-11470	118	18	v=	v=	NOUN
fumecheng-11470	118	19	(	(	PUNCT
fumecheng-11470	118	20	7	7	NUM
fumecheng-11470	118	21	)	)	SYM
fumecheng-11470	118	22	10	10	NUM
fumecheng-11470	118	23	brk	brk	PROPN
fumecheng-11470	118	24	coul	coul	PROPN
fumecheng-11470	118	25	v	v	ADP
fumecheng-11470	118	26	v	v	PROPN
fumecheng-11470	118	27	=	=	PUNCT
fumecheng-11470	118	28	(	(	PUNCT
fumecheng-11470	118	29	8)	8)	NUM
fumecheng-11470	118	30	here	here	ADV
fumecheng-11470	118	31	,	,	PUNCT
fumecheng-11470	118	32	f	f	PROPN
fumecheng-11470	118	33	is	be	AUX
fumecheng-11470	118	34	the	the	DET
fumecheng-11470	118	35	overall	overall	ADJ
fumecheng-11470	118	36	friction	friction	NOUN
fumecheng-11470	118	37	force	force	NOUN
fumecheng-11470	118	38	,	,	PUNCT
fumecheng-11470	118	39	fc	fc	PROPN
fumecheng-11470	118	40	the	the	DET
fumecheng-11470	118	41	coulomb	coulomb	NOUN
fumecheng-11470	118	42	force	force	NOUN
fumecheng-11470	118	43	,	,	PUNCT
fumecheng-11470	118	44	fbrk	fbrk	PROPN
fumecheng-11470	118	45	the	the	DET
fumecheng-11470	118	46	maximum	maximum	ADJ
fumecheng-11470	118	47	static	static	ADJ
fumecheng-11470	118	48	friction	friction	NOUN
fumecheng-11470	118	49	,	,	PUNCT
fumecheng-11470	118	50	vbrk	vbrk	PROPN
fumecheng-11470	118	51	is	be	AUX
fumecheng-11470	118	52	the	the	DET
fumecheng-11470	118	53	maximum	maximum	ADJ
fumecheng-11470	118	54	static	static	ADJ
fumecheng-11470	118	55	friction	friction	NOUN
fumecheng-11470	118	56	velocity	velocity	NOUN
fumecheng-11470	118	57	,	,	PUNCT
fumecheng-11470	118	58	vst	vst	VERB
fumecheng-11470	118	59	the	the	DET
fumecheng-11470	118	60	viscous	viscous	ADJ
fumecheng-11470	118	61	friction	friction	NOUN
fumecheng-11470	118	62	velocity	velocity	NOUN
fumecheng-11470	118	63	threshold	threshold	NOUN
fumecheng-11470	118	64	,	,	PUNCT
fumecheng-11470	118	65	vcoul	vcoul	PROPN
fumecheng-11470	118	66	the	the	DET
fumecheng-11470	118	67	coulomb	coulomb	NOUN
fumecheng-11470	118	68	velocity	velocity	NOUN
fumecheng-11470	118	69	threshold	threshold	NOUN
fumecheng-11470	118	70	,	,	PUNCT
fumecheng-11470	118	71	v	v	ADP
fumecheng-11470	118	72	the	the	DET
fumecheng-11470	118	73	relative	relative	ADJ
fumecheng-11470	118	74	velocity	velocity	NOUN
fumecheng-11470	118	75	and	and	CCONJ
fumecheng-11470	118	76	fv	fv	PROPN
fumecheng-11470	118	77	is	be	AUX
fumecheng-11470	118	78	the	the	DET
fumecheng-11470	118	79	viscosity	viscosity	NOUN
fumecheng-11470	118	80	coefficient	coefficient	NOUN
fumecheng-11470	118	81	.	.	PUNCT
fumecheng-11470	119	1	2.2.3	2.2.3	X
fumecheng-11470	119	2	.	.	X
fumecheng-11470	119	3	neural	neural	ADJ
fumecheng-11470	119	4	network	network	NOUN
fumecheng-11470	119	5	model	model	NOUN
fumecheng-11470	119	6	because	because	SCONJ
fumecheng-11470	119	7	the	the	DET
fumecheng-11470	119	8	robot	robot	NOUN
fumecheng-11470	119	9	joint	joint	ADJ
fumecheng-11470	119	10	friction	friction	NOUN
fumecheng-11470	119	11	has	have	VERB
fumecheng-11470	119	12	significant	significant	ADJ
fumecheng-11470	119	13	nonlinear	nonlinear	ADJ
fumecheng-11470	119	14	characteristics	characteristic	NOUN
fumecheng-11470	119	15	,	,	PUNCT
fumecheng-11470	119	16	we	we	PRON
fumecheng-11470	119	17	use	use	VERB
fumecheng-11470	119	18	a	a	DET
fumecheng-11470	119	19	neural	neural	ADJ
fumecheng-11470	119	20	network	network	NOUN
fumecheng-11470	119	21	model	model	NOUN
fumecheng-11470	119	22	to	to	PART
fumecheng-11470	119	23	solve	solve	VERB
fumecheng-11470	119	24	the	the	DET
fumecheng-11470	119	25	problem	problem	NOUN
fumecheng-11470	119	26	of	of	ADP
fumecheng-11470	119	27	friction	friction	NOUN
fumecheng-11470	119	28	compensation	compensation	NOUN
fumecheng-11470	119	29	.	.	PUNCT
fumecheng-11470	120	1	the	the	DET
fumecheng-11470	120	2	input	input	NOUN
fumecheng-11470	120	3	feature	feature	NOUN
fumecheng-11470	120	4	quantities	quantity	NOUN
fumecheng-11470	120	5	of	of	ADP
fumecheng-11470	120	6	the	the	DET
fumecheng-11470	120	7	neural	neural	ADJ
fumecheng-11470	120	8	network	network	NOUN
fumecheng-11470	120	9	model	model	NOUN
fumecheng-11470	120	10	are	be	AUX
fumecheng-11470	120	11	torque	torque	NOUN
fumecheng-11470	120	12	,	,	PUNCT
fumecheng-11470	120	13	velocity	velocity	NOUN
fumecheng-11470	120	14	,	,	PUNCT
fumecheng-11470	120	15	position	position	NOUN
fumecheng-11470	120	16	,	,	PUNCT
fumecheng-11470	120	17	temperature	temperature	NOUN
fumecheng-11470	120	18	,	,	PUNCT
fumecheng-11470	120	19	etc	etc	X
fumecheng-11470	120	20	.	.	X
fumecheng-11470	121	1	its	its	PRON
fumecheng-11470	121	2	output	output	NOUN
fumecheng-11470	121	3	is	be	AUX
fumecheng-11470	121	4	the	the	DET
fumecheng-11470	121	5	friction	friction	NOUN
fumecheng-11470	121	6	force	force	NOUN
fumecheng-11470	121	7	.	.	PUNCT
fumecheng-11470	122	1	the	the	DET
fumecheng-11470	122	2	weights	weight	NOUN
fumecheng-11470	122	3	in	in	ADP
fumecheng-11470	122	4	the	the	DET
fumecheng-11470	122	5	network	network	NOUN
fumecheng-11470	122	6	are	be	AUX
fumecheng-11470	122	7	adjusted	adjust	VERB
fumecheng-11470	122	8	according	accord	VERB
fumecheng-11470	122	9	to	to	ADP
fumecheng-11470	122	10	the	the	DET
fumecheng-11470	122	11	loss	loss	NOUN
fumecheng-11470	122	12	function	function	NOUN
fumecheng-11470	122	13	of	of	ADP
fumecheng-11470	122	14	its	its	PRON
fumecheng-11470	122	15	error	error	NOUN
fumecheng-11470	122	16	magnitude	magnitude	NOUN
fumecheng-11470	122	17	to	to	PART
fumecheng-11470	122	18	make	make	VERB
fumecheng-11470	122	19	the	the	DET
fumecheng-11470	122	20	model	model	NOUN
fumecheng-11470	122	21	converge	converge	VERB
fumecheng-11470	122	22	.	.	PUNCT
fumecheng-11470	123	1	the	the	DET
fumecheng-11470	123	2	feedforward	feedforward	ADJ
fumecheng-11470	123	3	neural	neural	ADJ
fumecheng-11470	123	4	network	network	NOUN
fumecheng-11470	123	5	has	have	VERB
fumecheng-11470	123	6	a	a	DET
fumecheng-11470	123	7	simple	simple	ADJ
fumecheng-11470	123	8	structure	structure	NOUN
fumecheng-11470	123	9	and	and	CCONJ
fumecheng-11470	123	10	is	be	AUX
fumecheng-11470	123	11	widely	widely	ADV
fumecheng-11470	123	12	used	use	VERB
fumecheng-11470	123	13	.	.	PUNCT
fumecheng-11470	124	1	it	it	PRON
fumecheng-11470	124	2	can	can	AUX
fumecheng-11470	124	3	approximate	approximate	VERB
fumecheng-11470	124	4	any	any	DET
fumecheng-11470	124	5	continuous	continuous	ADJ
fumecheng-11470	124	6	function	function	NOUN
fumecheng-11470	124	7	and	and	CCONJ
fumecheng-11470	124	8	square	square	ADJ
fumecheng-11470	124	9	integrable	integrable	ADJ
fumecheng-11470	124	10	function	function	NOUN
fumecheng-11470	124	11	with	with	ADP
fumecheng-11470	124	12	any	any	DET
fumecheng-11470	124	13	precision	precision	NOUN
fumecheng-11470	124	14	.	.	PUNCT
fumecheng-11470	125	1	moreover	moreover	ADV
fumecheng-11470	125	2	,	,	PUNCT
fumecheng-11470	125	3	it	it	PRON
fumecheng-11470	125	4	can	can	AUX
fumecheng-11470	125	5	accurately	accurately	ADV
fumecheng-11470	125	6	implement	implement	VERB
fumecheng-11470	125	7	any	any	DET
fumecheng-11470	125	8	finite	finite	ADJ
fumecheng-11470	125	9	training	training	NOUN
fumecheng-11470	125	10	sample	sample	NOUN
fumecheng-11470	125	11	set	set	VERB
fumecheng-11470	125	12	and	and	CCONJ
fumecheng-11470	125	13	obtain	obtain	VERB
fumecheng-11470	125	14	complex	complex	ADJ
fumecheng-11470	125	15	nonlinear	nonlinear	ADJ
fumecheng-11470	125	16	processing	processing	NOUN
fumecheng-11470	125	17	capabilities	capability	NOUN
fumecheng-11470	125	18	.	.	PUNCT
fumecheng-11470	126	1	we	we	PRON
fumecheng-11470	126	2	designed	design	VERB
fumecheng-11470	126	3	a	a	DET
fumecheng-11470	126	4	feed	feed	NOUN
fumecheng-11470	126	5	-	-	PUNCT
fumecheng-11470	126	6	forward	forward	ADV
fumecheng-11470	126	7	neural	neural	ADJ
fumecheng-11470	126	8	network	network	NOUN
fumecheng-11470	126	9	in	in	ADP
fumecheng-11470	126	10	which	which	PRON
fumecheng-11470	126	11	information	information	NOUN
fumecheng-11470	126	12	is	be	AUX
fumecheng-11470	126	13	input	input	NOUN
fumecheng-11470	126	14	from	from	ADP
fumecheng-11470	126	15	the	the	DET
fumecheng-11470	126	16	input	input	NOUN
fumecheng-11470	126	17	layer	layer	NOUN
fumecheng-11470	126	18	,	,	PUNCT
fumecheng-11470	126	19	and	and	CCONJ
fumecheng-11470	126	20	neurons	neuron	NOUN
fumecheng-11470	126	21	in	in	ADP
fumecheng-11470	126	22	each	each	DET
fumecheng-11470	126	23	layer	layer	NOUN
fumecheng-11470	126	24	receive	receive	VERB
fumecheng-11470	126	25	inputs	input	NOUN
fumecheng-11470	126	26	from	from	ADP
fumecheng-11470	126	27	the	the	DET
fumecheng-11470	126	28	previous	previous	ADJ
fumecheng-11470	126	29	layer	layer	NOUN
fumecheng-11470	126	30	and	and	CCONJ
fumecheng-11470	126	31	output	output	NOUN
fumecheng-11470	126	32	to	to	ADP
fumecheng-11470	126	33	the	the	DET
fumecheng-11470	126	34	next	next	ADJ
fumecheng-11470	126	35	layer	layer	NOUN
fumecheng-11470	126	36	up	up	ADP
fumecheng-11470	126	37	to	to	ADP
fumecheng-11470	126	38	the	the	DET
fumecheng-11470	126	39	output	output	NOUN
fumecheng-11470	126	40	layer	layer	NOUN
fumecheng-11470	126	41	.	.	PUNCT
fumecheng-11470	127	1	the	the	DET
fumecheng-11470	127	2	constructed	construct	VERB
fumecheng-11470	127	3	neural	neural	ADJ
fumecheng-11470	127	4	network	network	NOUN
fumecheng-11470	127	5	model	model	NOUN
fumecheng-11470	127	6	includes	include	VERB
fumecheng-11470	127	7	several	several	ADJ
fumecheng-11470	127	8	stacked	stack	VERB
fumecheng-11470	127	9	structural	structural	ADJ
fumecheng-11470	127	10	modules	module	NOUN
fumecheng-11470	127	11	,	,	PUNCT
fumecheng-11470	127	12	and	and	CCONJ
fumecheng-11470	127	13	the	the	DET
fumecheng-11470	127	14	number	number	NOUN
fumecheng-11470	127	15	of	of	ADP
fumecheng-11470	127	16	modules	module	NOUN
fumecheng-11470	127	17	can	can	AUX
fumecheng-11470	127	18	be	be	AUX
fumecheng-11470	127	19	changed	change	VERB
fumecheng-11470	127	20	through	through	ADP
fumecheng-11470	127	21	the	the	DET
fumecheng-11470	127	22	programming	programming	NOUN
fumecheng-11470	127	23	api	api	NOUN
fumecheng-11470	127	24	.	.	PUNCT
fumecheng-11470	128	1	each	each	PRON
fumecheng-11470	128	2	stacking	stack	VERB
fumecheng-11470	128	3	structure	structure	NOUN
fumecheng-11470	128	4	module	module	NOUN
fumecheng-11470	128	5	consists	consist	VERB
fumecheng-11470	128	6	of	of	ADP
fumecheng-11470	128	7	a	a	DET
fumecheng-11470	128	8	batch	batch	NOUN
fumecheng-11470	128	9	normalization	normalization	NOUN
fumecheng-11470	128	10	layer	layer	NOUN
fumecheng-11470	128	11	,	,	PUNCT
fumecheng-11470	128	12	a	a	DET
fumecheng-11470	128	13	fully	fully	ADV
fumecheng-11470	128	14	connected	connect	VERB
fumecheng-11470	128	15	layer	layer	NOUN
fumecheng-11470	128	16	,	,	PUNCT
fumecheng-11470	128	17	and	and	CCONJ
fumecheng-11470	128	18	an	an	DET
fumecheng-11470	128	19	activation	activation	NOUN
fumecheng-11470	128	20	layer	layer	NOUN
fumecheng-11470	128	21	(	(	PUNCT
fumecheng-11470	128	22	fig	fig	NOUN
fumecheng-11470	128	23	.	.	PUNCT
fumecheng-11470	129	1	3	3	NUM
fumecheng-11470	129	2	)	)	PUNCT
fumecheng-11470	129	3	.	.	PUNCT
fumecheng-11470	130	1	fig	fig	NOUN
fumecheng-11470	130	2	.	.	PUNCT
fumecheng-11470	131	1	3	3	NUM
fumecheng-11470	131	2	deep	deep	ADJ
fumecheng-11470	131	3	learning	learn	VERB
fumecheng-11470	131	4	algorithm	algorithm	PROPN
fumecheng-11470	131	5	model	model	NOUN
fumecheng-11470	131	6	study	study	NOUN
fumecheng-11470	131	7	of	of	ADP
fumecheng-11470	131	8	friction	friction	NOUN
fumecheng-11470	131	9	compensation	compensation	NOUN
fumecheng-11470	131	10	model	model	NOUN
fumecheng-11470	131	11	for	for	ADP
fumecheng-11470	131	12	mobile	mobile	NOUN
fumecheng-11470	131	13	robot	robot	NOUN
fumecheng-11470	131	14	’s	’s	PART
fumecheng-11470	131	15	joints	joint	NOUN
fumecheng-11470	131	16	727	727	NUM
fumecheng-11470	131	17	a	a	DET
fumecheng-11470	131	18	neural	neural	ADJ
fumecheng-11470	131	19	network	network	NOUN
fumecheng-11470	131	20	consists	consist	VERB
fumecheng-11470	131	21	of	of	ADP
fumecheng-11470	131	22	an	an	DET
fumecheng-11470	131	23	input	input	NOUN
fumecheng-11470	131	24	,	,	PUNCT
fumecheng-11470	131	25	implicit	implicit	ADJ
fumecheng-11470	131	26	,	,	PUNCT
fumecheng-11470	131	27	and	and	CCONJ
fumecheng-11470	131	28	output	output	NOUN
fumecheng-11470	131	29	layer	layer	NOUN
fumecheng-11470	131	30	.	.	PUNCT
fumecheng-11470	132	1	the	the	DET
fumecheng-11470	132	2	number	number	NOUN
fumecheng-11470	132	3	of	of	ADP
fumecheng-11470	132	4	hidden	hidden	ADJ
fumecheng-11470	132	5	layers	layer	NOUN
fumecheng-11470	132	6	and	and	CCONJ
fumecheng-11470	132	7	neurons	neuron	NOUN
fumecheng-11470	132	8	per	per	ADP
fumecheng-11470	132	9	layer	layer	NOUN
fumecheng-11470	132	10	is	be	AUX
fumecheng-11470	132	11	adjustable	adjustable	ADJ
fumecheng-11470	132	12	.	.	PUNCT
fumecheng-11470	133	1	it	it	PRON
fumecheng-11470	133	2	is	be	AUX
fumecheng-11470	133	3	worth	worth	ADJ
fumecheng-11470	133	4	noting	note	VERB
fumecheng-11470	133	5	that	that	SCONJ
fumecheng-11470	133	6	the	the	DET
fumecheng-11470	133	7	number	number	NOUN
fumecheng-11470	133	8	of	of	ADP
fumecheng-11470	133	9	different	different	ADJ
fumecheng-11470	133	10	layers	layer	NOUN
fumecheng-11470	133	11	and	and	CCONJ
fumecheng-11470	133	12	the	the	DET
fumecheng-11470	133	13	number	number	NOUN
fumecheng-11470	133	14	of	of	ADP
fumecheng-11470	133	15	neurons	neuron	NOUN
fumecheng-11470	133	16	per	per	ADP
fumecheng-11470	133	17	layer	layer	NOUN
fumecheng-11470	133	18	significantly	significantly	ADV
fumecheng-11470	133	19	impact	impact	VERB
fumecheng-11470	133	20	the	the	DET
fumecheng-11470	133	21	model	model	NOUN
fumecheng-11470	133	22	performance	performance	NOUN
fumecheng-11470	133	23	.	.	PUNCT
fumecheng-11470	134	1	thoma	thoma	NOUN
fumecheng-11470	134	2	et	et	PROPN
fumecheng-11470	134	3	al	al	PROPN
fumecheng-11470	134	4	.	.	PUNCT
fumecheng-11470	135	1	[	[	X
fumecheng-11470	135	2	28	28	NUM
fumecheng-11470	135	3	]	]	PUNCT
fumecheng-11470	135	4	showed	show	VERB
fumecheng-11470	135	5	that	that	SCONJ
fumecheng-11470	135	6	feedforward	feedforward	NOUN
fumecheng-11470	135	7	neural	neural	ADJ
fumecheng-11470	135	8	networks	network	NOUN
fumecheng-11470	135	9	with	with	ADP
fumecheng-11470	135	10	two	two	NUM
fumecheng-11470	135	11	hidden	hidden	ADJ
fumecheng-11470	135	12	layers	layer	NOUN
fumecheng-11470	135	13	have	have	VERB
fumecheng-11470	135	14	better	well	ADJ
fumecheng-11470	135	15	generalization	generalization	NOUN
fumecheng-11470	135	16	ability	ability	NOUN
fumecheng-11470	135	17	than	than	ADP
fumecheng-11470	135	18	feedforward	feedforward	VERB
fumecheng-11470	135	19	neural	neural	ADJ
fumecheng-11470	135	20	networks	network	NOUN
fumecheng-11470	135	21	with	with	ADP
fumecheng-11470	135	22	one	one	NUM
fumecheng-11470	135	23	hidden	hide	VERB
fumecheng-11470	135	24	layer	layer	NOUN
fumecheng-11470	135	25	.	.	PUNCT
fumecheng-11470	136	1	too	too	ADV
fumecheng-11470	136	2	few	few	ADJ
fumecheng-11470	136	3	neurons	neuron	NOUN
fumecheng-11470	136	4	in	in	ADP
fumecheng-11470	136	5	the	the	DET
fumecheng-11470	136	6	hidden	hide	VERB
fumecheng-11470	136	7	layer	layer	NOUN
fumecheng-11470	136	8	can	can	AUX
fumecheng-11470	136	9	lead	lead	VERB
fumecheng-11470	136	10	to	to	ADP
fumecheng-11470	136	11	underfitting	underfitting	NOUN
fumecheng-11470	136	12	,	,	PUNCT
fumecheng-11470	136	13	and	and	CCONJ
fumecheng-11470	136	14	conversely	conversely	ADV
fumecheng-11470	136	15	,	,	PUNCT
fumecheng-11470	136	16	too	too	ADV
fumecheng-11470	136	17	many	many	ADJ
fumecheng-11470	136	18	neurons	neuron	NOUN
fumecheng-11470	136	19	in	in	ADP
fumecheng-11470	136	20	the	the	DET
fumecheng-11470	136	21	hidden	hide	VERB
fumecheng-11470	136	22	layer	layer	NOUN
fumecheng-11470	136	23	may	may	AUX
fumecheng-11470	136	24	lead	lead	VERB
fumecheng-11470	136	25	to	to	ADP
fumecheng-11470	136	26	overfitting	overfitte	VERB
fumecheng-11470	136	27	.	.	PUNCT
fumecheng-11470	137	1	for	for	ADP
fumecheng-11470	137	2	the	the	DET
fumecheng-11470	137	3	friction	friction	NOUN
fumecheng-11470	137	4	compensation	compensation	NOUN
fumecheng-11470	137	5	model	model	NOUN
fumecheng-11470	137	6	,	,	PUNCT
fumecheng-11470	137	7	the	the	DET
fumecheng-11470	137	8	robot	robot	NOUN
fumecheng-11470	137	9	's	's	PART
fumecheng-11470	137	10	friction	friction	NOUN
fumecheng-11470	137	11	force	force	NOUN
fumecheng-11470	137	12	is	be	AUX
fumecheng-11470	137	13	a	a	DET
fumecheng-11470	137	14	nonlinear	nonlinear	ADJ
fumecheng-11470	137	15	function	function	NOUN
fumecheng-11470	137	16	related	relate	VERB
fumecheng-11470	137	17	to	to	ADP
fumecheng-11470	137	18	various	various	ADJ
fumecheng-11470	137	19	influencing	influence	VERB
fumecheng-11470	137	20	factors	factor	NOUN
fumecheng-11470	137	21	.	.	PUNCT
fumecheng-11470	138	1	the	the	DET
fumecheng-11470	138	2	five	five	NUM
fumecheng-11470	138	3	input	input	NOUN
fumecheng-11470	138	4	features	feature	NOUN
fumecheng-11470	138	5	of	of	ADP
fumecheng-11470	138	6	the	the	DET
fumecheng-11470	138	7	friction	friction	NOUN
fumecheng-11470	138	8	compensation	compensation	NOUN
fumecheng-11470	138	9	algorithm	algorithm	NOUN
fumecheng-11470	138	10	model	model	NOUN
fumecheng-11470	138	11	are	be	AUX
fumecheng-11470	138	12	the	the	DET
fumecheng-11470	138	13	position	position	NOUN
fumecheng-11470	138	14	,	,	PUNCT
fumecheng-11470	138	15	velocity	velocity	NOUN
fumecheng-11470	138	16	,	,	PUNCT
fumecheng-11470	138	17	theoretical	theoretical	ADJ
fumecheng-11470	138	18	torque	torque	NOUN
fumecheng-11470	138	19	,	,	PUNCT
fumecheng-11470	138	20	actual	actual	ADJ
fumecheng-11470	138	21	torque	torque	NOUN
fumecheng-11470	138	22	,	,	PUNCT
fumecheng-11470	138	23	and	and	CCONJ
fumecheng-11470	138	24	temperature	temperature	NOUN
fumecheng-11470	138	25	of	of	ADP
fumecheng-11470	138	26	each	each	DET
fumecheng-11470	138	27	wheel	wheel	NOUN
fumecheng-11470	138	28	joint	joint	NOUN
fumecheng-11470	138	29	.	.	PUNCT
fumecheng-11470	139	1	the	the	DET
fumecheng-11470	139	2	output	output	NOUN
fumecheng-11470	139	3	is	be	AUX
fumecheng-11470	139	4	the	the	DET
fumecheng-11470	139	5	friction	friction	NOUN
fumecheng-11470	139	6	force	force	NOUN
fumecheng-11470	139	7	of	of	ADP
fumecheng-11470	139	8	each	each	DET
fumecheng-11470	139	9	joint	joint	NOUN
fumecheng-11470	139	10	.	.	PUNCT
fumecheng-11470	140	1	considering	consider	VERB
fumecheng-11470	140	2	the	the	DET
fumecheng-11470	140	3	model	model	NOUN
fumecheng-11470	140	4	's	's	PART
fumecheng-11470	140	5	fitting	fitting	ADJ
fumecheng-11470	140	6	ability	ability	NOUN
fumecheng-11470	140	7	and	and	CCONJ
fumecheng-11470	140	8	convergence	convergence	NOUN
fumecheng-11470	140	9	difficulty	difficulty	NOUN
fumecheng-11470	140	10	,	,	PUNCT
fumecheng-11470	140	11	the	the	DET
fumecheng-11470	140	12	number	number	NOUN
fumecheng-11470	140	13	of	of	ADP
fumecheng-11470	140	14	implied	imply	VERB
fumecheng-11470	140	15	layers	layer	NOUN
fumecheng-11470	140	16	is	be	AUX
fumecheng-11470	140	17	three	three	NUM
fumecheng-11470	140	18	,	,	PUNCT
fumecheng-11470	140	19	and	and	CCONJ
fumecheng-11470	140	20	the	the	DET
fumecheng-11470	140	21	number	number	NOUN
fumecheng-11470	140	22	of	of	ADP
fumecheng-11470	140	23	neurons	neuron	NOUN
fumecheng-11470	140	24	per	per	ADP
fumecheng-11470	140	25	layer	layer	NOUN
fumecheng-11470	140	26	is	be	AUX
fumecheng-11470	140	27	determined	determine	VERB
fumecheng-11470	140	28	to	to	PART
fumecheng-11470	140	29	be	be	AUX
fumecheng-11470	140	30	5	5	NUM
fumecheng-11470	140	31	(	(	PUNCT
fumecheng-11470	140	32	fig	fig	NOUN
fumecheng-11470	140	33	.	.	PUNCT
fumecheng-11470	141	1	4	4	NUM
fumecheng-11470	141	2	)	)	PUNCT
fumecheng-11470	141	3	.	.	PUNCT
fumecheng-11470	142	1	fig	fig	NOUN
fumecheng-11470	142	2	.	.	PUNCT
fumecheng-11470	143	1	4	4	NUM
fumecheng-11470	143	2	neural	neural	ADJ
fumecheng-11470	143	3	network	network	NOUN
fumecheng-11470	143	4	model	model	NOUN
fumecheng-11470	143	5	2.3	2.3	NUM
fumecheng-11470	143	6	.	.	PUNCT
fumecheng-11470	144	1	data	datum	NOUN
fumecheng-11470	144	2	preparation	preparation	NOUN
fumecheng-11470	144	3	2.3.1	2.3.1	NUM
fumecheng-11470	144	4	.	.	PUNCT
fumecheng-11470	144	5	data	datum	NOUN
fumecheng-11470	144	6	acquisition	acquisition	NOUN
fumecheng-11470	144	7	the	the	DET
fumecheng-11470	144	8	complex	complex	ADJ
fumecheng-11470	144	9	physical	physical	ADJ
fumecheng-11470	144	10	characteristics	characteristic	NOUN
fumecheng-11470	144	11	and	and	CCONJ
fumecheng-11470	144	12	mechanical	mechanical	ADJ
fumecheng-11470	144	13	structure	structure	NOUN
fumecheng-11470	144	14	inside	inside	ADP
fumecheng-11470	144	15	the	the	DET
fumecheng-11470	144	16	robot	robot	NOUN
fumecheng-11470	144	17	joints	joint	NOUN
fumecheng-11470	144	18	lead	lead	VERB
fumecheng-11470	144	19	to	to	ADP
fumecheng-11470	144	20	frictional	frictional	ADJ
fumecheng-11470	144	21	forces	force	NOUN
fumecheng-11470	144	22	such	such	ADJ
fumecheng-11470	144	23	as	as	ADP
fumecheng-11470	144	24	coulomb	coulomb	NOUN
fumecheng-11470	144	25	friction	friction	NOUN
fumecheng-11470	144	26	,	,	PUNCT
fumecheng-11470	144	27	static	static	ADJ
fumecheng-11470	144	28	friction	friction	NOUN
fumecheng-11470	144	29	,	,	PUNCT
fumecheng-11470	144	30	and	and	CCONJ
fumecheng-11470	144	31	viscous	viscous	ADJ
fumecheng-11470	144	32	friction	friction	NOUN
fumecheng-11470	144	33	during	during	ADP
fumecheng-11470	144	34	the	the	DET
fumecheng-11470	144	35	motion	motion	NOUN
fumecheng-11470	144	36	,	,	PUNCT
fumecheng-11470	144	37	and	and	CCONJ
fumecheng-11470	144	38	they	they	PRON
fumecheng-11470	144	39	have	have	VERB
fumecheng-11470	144	40	nonlinear	nonlinear	ADJ
fumecheng-11470	144	41	characteristics	characteristic	NOUN
fumecheng-11470	144	42	.	.	PUNCT
fumecheng-11470	145	1	usually	usually	ADV
fumecheng-11470	145	2	,	,	PUNCT
fumecheng-11470	145	3	from	from	ADP
fumecheng-11470	145	4	the	the	DET
fumecheng-11470	145	5	relative	relative	ADJ
fumecheng-11470	145	6	rest	rest	NOUN
fumecheng-11470	145	7	to	to	ADP
fumecheng-11470	145	8	the	the	DET
fumecheng-11470	145	9	relative	relative	NOUN
fumecheng-11470	145	10	sliding	slide	VERB
fumecheng-11470	145	11	between	between	ADP
fumecheng-11470	145	12	contact	contact	NOUN
fumecheng-11470	145	13	surfaces	surface	NOUN
fumecheng-11470	145	14	,	,	PUNCT
fumecheng-11470	145	15	according	accord	VERB
fumecheng-11470	145	16	to	to	ADP
fumecheng-11470	145	17	the	the	DET
fumecheng-11470	145	18	different	different	ADJ
fumecheng-11470	145	19	main	main	ADJ
fumecheng-11470	145	20	factors	factor	NOUN
fumecheng-11470	145	21	that	that	PRON
fumecheng-11470	145	22	determine	determine	VERB
fumecheng-11470	145	23	the	the	DET
fumecheng-11470	145	24	magnitude	magnitude	NOUN
fumecheng-11470	145	25	of	of	ADP
fumecheng-11470	145	26	friction	friction	NOUN
fumecheng-11470	145	27	,	,	PUNCT
fumecheng-11470	145	28	there	there	PRON
fumecheng-11470	145	29	are	be	VERB
fumecheng-11470	145	30	four	four	NUM
fumecheng-11470	145	31	stages	stage	NOUN
fumecheng-11470	145	32	[	[	X
fumecheng-11470	145	33	29	29	NUM
fumecheng-11470	145	34	]	]	PUNCT
fumecheng-11470	145	35	,	,	PUNCT
fumecheng-11470	145	36	as	as	SCONJ
fumecheng-11470	145	37	shown	show	VERB
fumecheng-11470	145	38	in	in	ADP
fumecheng-11470	145	39	fig	fig	NOUN
fumecheng-11470	145	40	.	.	PUNCT
fumecheng-11470	146	1	5	5	NUM
fumecheng-11470	146	2	:	:	PUNCT
fumecheng-11470	146	3	▪	▪	NOUN
fumecheng-11470	146	4	i	i	PRON
fumecheng-11470	146	5	stage	stage	VERB
fumecheng-11470	146	6	–	–	PUNCT
fumecheng-11470	146	7	the	the	DET
fumecheng-11470	146	8	contact	contact	NOUN
fumecheng-11470	146	9	surface	surface	NOUN
fumecheng-11470	146	10	elastic	elastic	ADJ
fumecheng-11470	146	11	deformation	deformation	NOUN
fumecheng-11470	146	12	stage	stage	NOUN
fumecheng-11470	146	13	;	;	PUNCT
fumecheng-11470	146	14	▪	▪	ADJ
fumecheng-11470	146	15	ii	ii	NOUN
fumecheng-11470	146	16	stage	stage	NOUN
fumecheng-11470	146	17	–	–	PUNCT
fumecheng-11470	146	18	the	the	DET
fumecheng-11470	146	19	boundary	boundary	ADJ
fumecheng-11470	146	20	lubrication	lubrication	NOUN
fumecheng-11470	146	21	stage	stage	NOUN
fumecheng-11470	146	22	;	;	PUNCT
fumecheng-11470	146	23	▪	▪	X
fumecheng-11470	146	24	iii	iii	X
fumecheng-11470	146	25	stage	stage	NOUN
fumecheng-11470	146	26	–	–	PUNCT
fumecheng-11470	146	27	the	the	DET
fumecheng-11470	146	28	partial	partial	ADJ
fumecheng-11470	146	29	liquid	liquid	ADJ
fumecheng-11470	146	30	lubrication	lubrication	NOUN
fumecheng-11470	146	31	stage	stage	NOUN
fumecheng-11470	146	32	;	;	PUNCT
fumecheng-11470	146	33	▪	▪	ADJ
fumecheng-11470	146	34	iv	iv	NUM
fumecheng-11470	146	35	stage	stage	NOUN
fumecheng-11470	146	36	–	–	PUNCT
fumecheng-11470	146	37	the	the	DET
fumecheng-11470	146	38	whole	whole	ADJ
fumecheng-11470	146	39	liquid	liquid	ADJ
fumecheng-11470	146	40	lubrication	lubrication	NOUN
fumecheng-11470	146	41	stage	stage	NOUN
fumecheng-11470	146	42	.	.	PUNCT
fumecheng-11470	147	1	728	728	NUM
fumecheng-11470	147	2	y.	y.	PROPN
fumecheng-11470	147	3	cao	cao	PROPN
fumecheng-11470	147	4	,	,	PUNCT
fumecheng-11470	147	5	n.m	n.m	PROPN
fumecheng-11470	147	6	.	.	PROPN
fumecheng-11470	147	7	nor	nor	CCONJ
fumecheng-11470	147	8	,	,	PUNCT
fumecheng-11470	147	9	z.	z.	PROPN
fumecheng-11470	147	10	samad	samad	PROPN
fumecheng-11470	147	11	fig	fig	PROPN
fumecheng-11470	147	12	.	.	PUNCT
fumecheng-11470	148	1	5	5	NUM
fumecheng-11470	148	2	diagram	diagram	NOUN
fumecheng-11470	148	3	of	of	ADP
fumecheng-11470	148	4	relationship	relationship	NOUN
fumecheng-11470	148	5	between	between	ADP
fumecheng-11470	148	6	friction	friction	NOUN
fumecheng-11470	148	7	and	and	CCONJ
fumecheng-11470	148	8	velocity	velocity	NOUN
fumecheng-11470	148	9	factors	factor	NOUN
fumecheng-11470	148	10	that	that	PRON
fumecheng-11470	148	11	affect	affect	VERB
fumecheng-11470	148	12	the	the	DET
fumecheng-11470	148	13	friction	friction	NOUN
fumecheng-11470	148	14	need	need	VERB
fumecheng-11470	148	15	to	to	PART
fumecheng-11470	148	16	be	be	AUX
fumecheng-11470	148	17	considered	consider	VERB
fumecheng-11470	148	18	in	in	ADP
fumecheng-11470	148	19	the	the	DET
fumecheng-11470	148	20	sampling	sample	VERB
fumecheng-11470	148	21	process	process	NOUN
fumecheng-11470	148	22	:	:	PUNCT
fumecheng-11470	148	23	1	1	X
fumecheng-11470	148	24	)	)	PUNCT
fumecheng-11470	148	25	when	when	SCONJ
fumecheng-11470	148	26	the	the	DET
fumecheng-11470	148	27	robot	robot	NOUN
fumecheng-11470	148	28	joint	joint	ADJ
fumecheng-11470	148	29	moves	move	NOUN
fumecheng-11470	148	30	,	,	PUNCT
fumecheng-11470	148	31	the	the	DET
fumecheng-11470	148	32	instantaneous	instantaneous	ADJ
fumecheng-11470	148	33	angular	angular	ADJ
fumecheng-11470	148	34	velocity	velocity	NOUN
fumecheng-11470	148	35	change	change	NOUN
fumecheng-11470	148	36	will	will	AUX
fumecheng-11470	148	37	cause	cause	VERB
fumecheng-11470	148	38	the	the	DET
fumecheng-11470	148	39	friction	friction	NOUN
fumecheng-11470	148	40	force	force	NOUN
fumecheng-11470	148	41	magnitude	magnitude	NOUN
fumecheng-11470	148	42	to	to	PART
fumecheng-11470	148	43	change	change	VERB
fumecheng-11470	148	44	accordingly	accordingly	ADV
fumecheng-11470	148	45	.	.	PUNCT
fumecheng-11470	149	1	2	2	X
fumecheng-11470	149	2	)	)	PUNCT
fumecheng-11470	149	3	the	the	DET
fumecheng-11470	149	4	rotation	rotation	NOUN
fumecheng-11470	149	5	of	of	ADP
fumecheng-11470	149	6	the	the	DET
fumecheng-11470	149	7	robot	robot	NOUN
fumecheng-11470	149	8	joint	joint	NOUN
fumecheng-11470	149	9	at	at	ADP
fumecheng-11470	149	10	different	different	ADJ
fumecheng-11470	149	11	positions	position	NOUN
fumecheng-11470	149	12	causes	cause	VERB
fumecheng-11470	149	13	the	the	DET
fumecheng-11470	149	14	variation	variation	NOUN
fumecheng-11470	149	15	of	of	ADP
fumecheng-11470	149	16	the	the	DET
fumecheng-11470	149	17	friction	friction	NOUN
fumecheng-11470	149	18	force	force	NOUN
fumecheng-11470	149	19	,	,	PUNCT
fumecheng-11470	149	20	which	which	PRON
fumecheng-11470	149	21	is	be	AUX
fumecheng-11470	149	22	due	due	ADJ
fumecheng-11470	149	23	to	to	ADP
fumecheng-11470	149	24	the	the	DET
fumecheng-11470	149	25	other	other	ADJ
fumecheng-11470	149	26	gaps	gap	NOUN
fumecheng-11470	149	27	inside	inside	ADP
fumecheng-11470	149	28	its	its	PRON
fumecheng-11470	149	29	joints	joint	NOUN
fumecheng-11470	149	30	when	when	SCONJ
fumecheng-11470	149	31	the	the	DET
fumecheng-11470	149	32	rotational	rotational	ADJ
fumecheng-11470	149	33	axis	axis	NOUN
fumecheng-11470	149	34	of	of	ADP
fumecheng-11470	149	35	the	the	DET
fumecheng-11470	149	36	robot	robot	NOUN
fumecheng-11470	149	37	joint	joint	NOUN
fumecheng-11470	149	38	is	be	AUX
fumecheng-11470	149	39	at	at	ADP
fumecheng-11470	149	40	different	different	ADJ
fumecheng-11470	149	41	positions	position	NOUN
fumecheng-11470	149	42	.	.	PUNCT
fumecheng-11470	150	1	3	3	X
fumecheng-11470	150	2	)	)	PUNCT
fumecheng-11470	150	3	the	the	DET
fumecheng-11470	150	4	motor	motor	NOUN
fumecheng-11470	150	5	and	and	CCONJ
fumecheng-11470	150	6	reducer	reducer	NOUN
fumecheng-11470	150	7	of	of	ADP
fumecheng-11470	150	8	the	the	DET
fumecheng-11470	150	9	target	target	NOUN
fumecheng-11470	150	10	joint	joint	NOUN
fumecheng-11470	150	11	will	will	AUX
fumecheng-11470	150	12	cause	cause	VERB
fumecheng-11470	150	13	micro	micro	NOUN
fumecheng-11470	150	14	-	-	NOUN
fumecheng-11470	150	15	contact	contact	ADJ
fumecheng-11470	150	16	surface	surface	NOUN
fumecheng-11470	150	17	expansion	expansion	NOUN
fumecheng-11470	150	18	,	,	PUNCT
fumecheng-11470	150	19	shrinkage	shrinkage	NOUN
fumecheng-11470	150	20	and	and	CCONJ
fumecheng-11470	150	21	lubrication	lubrication	NOUN
fumecheng-11470	150	22	differences	difference	NOUN
fumecheng-11470	150	23	due	due	ADP
fumecheng-11470	150	24	to	to	ADP
fumecheng-11470	150	25	temperature	temperature	NOUN
fumecheng-11470	150	26	changes	change	NOUN
fumecheng-11470	150	27	.	.	PUNCT
fumecheng-11470	151	1	these	these	DET
fumecheng-11470	151	2	factors	factor	NOUN
fumecheng-11470	151	3	make	make	VERB
fumecheng-11470	151	4	the	the	DET
fumecheng-11470	151	5	friction	friction	NOUN
fumecheng-11470	151	6	change	change	NOUN
fumecheng-11470	151	7	with	with	ADP
fumecheng-11470	151	8	temperature	temperature	NOUN
fumecheng-11470	151	9	.	.	PUNCT
fumecheng-11470	152	1	4	4	X
fumecheng-11470	152	2	)	)	PUNCT
fumecheng-11470	152	3	the	the	DET
fumecheng-11470	152	4	pressure	pressure	NOUN
fumecheng-11470	152	5	change	change	NOUN
fumecheng-11470	152	6	caused	cause	VERB
fumecheng-11470	152	7	by	by	ADP
fumecheng-11470	152	8	different	different	ADJ
fumecheng-11470	152	9	radial	radial	ADJ
fumecheng-11470	152	10	loads	load	NOUN
fumecheng-11470	152	11	of	of	ADP
fumecheng-11470	152	12	the	the	DET
fumecheng-11470	152	13	target	target	NOUN
fumecheng-11470	152	14	joint	joint	NOUN
fumecheng-11470	152	15	causes	cause	VERB
fumecheng-11470	152	16	the	the	DET
fumecheng-11470	152	17	friction	friction	NOUN
fumecheng-11470	152	18	force	force	NOUN
fumecheng-11470	152	19	to	to	PART
fumecheng-11470	152	20	change	change	VERB
fumecheng-11470	152	21	with	with	ADP
fumecheng-11470	152	22	the	the	DET
fumecheng-11470	152	23	change	change	NOUN
fumecheng-11470	152	24	of	of	ADP
fumecheng-11470	152	25	the	the	DET
fumecheng-11470	152	26	axial	axial	ADJ
fumecheng-11470	152	27	load	load	NOUN
fumecheng-11470	152	28	.	.	PUNCT
fumecheng-11470	153	1	5	5	NUM
fumecheng-11470	153	2	)	)	PUNCT
fumecheng-11470	153	3	different	different	ADJ
fumecheng-11470	153	4	axial	axial	ADJ
fumecheng-11470	153	5	loads	load	NOUN
fumecheng-11470	153	6	on	on	ADP
fumecheng-11470	153	7	the	the	DET
fumecheng-11470	153	8	target	target	NOUN
fumecheng-11470	153	9	joint	joint	ADJ
fumecheng-11470	153	10	lead	lead	NOUN
fumecheng-11470	153	11	to	to	ADP
fumecheng-11470	153	12	pressure	pressure	NOUN
fumecheng-11470	153	13	variations	variation	NOUN
fumecheng-11470	153	14	,	,	PUNCT
fumecheng-11470	153	15	resulting	result	VERB
fumecheng-11470	153	16	in	in	ADP
fumecheng-11470	153	17	frictional	frictional	ADJ
fumecheng-11470	153	18	force	force	NOUN
fumecheng-11470	153	19	variations	variation	NOUN
fumecheng-11470	153	20	with	with	ADP
fumecheng-11470	153	21	axial	axial	ADJ
fumecheng-11470	153	22	load	load	NOUN
fumecheng-11470	153	23	.	.	PUNCT
fumecheng-11470	154	1	6	6	NUM
fumecheng-11470	154	2	)	)	PUNCT
fumecheng-11470	154	3	the	the	DET
fumecheng-11470	154	4	mathematical	mathematical	ADJ
fumecheng-11470	154	5	relationship	relationship	NOUN
fumecheng-11470	154	6	of	of	ADP
fumecheng-11470	154	7	"	"	PUNCT
fumecheng-11470	154	8	kinetic	kinetic	ADJ
fumecheng-11470	154	9	model	model	NOUN
fumecheng-11470	154	10	(	(	PUNCT
fumecheng-11470	154	11	theoretical	theoretical	ADJ
fumecheng-11470	154	12	torque	torque	NOUN
fumecheng-11470	154	13	)	)	PUNCT
fumecheng-11470	154	14	+	+	NUM
fumecheng-11470	154	15	compensation	compensation	NOUN
fumecheng-11470	154	16	model	model	NOUN
fumecheng-11470	154	17	=	=	NOUN
fumecheng-11470	154	18	measured	measure	VERB
fumecheng-11470	154	19	torque	torque	NOUN
fumecheng-11470	154	20	"	"	PUNCT
fumecheng-11470	154	21	.	.	PUNCT
fumecheng-11470	155	1	determination	determination	NOUN
fumecheng-11470	155	2	of	of	ADP
fumecheng-11470	155	3	the	the	DET
fumecheng-11470	155	4	data	data	NOUN
fumecheng-11470	155	5	collection	collection	NOUN
fumecheng-11470	155	6	scheme	scheme	NOUN
fumecheng-11470	155	7	implies	imply	VERB
fumecheng-11470	155	8	the	the	DET
fumecheng-11470	155	9	following	follow	VERB
fumecheng-11470	155	10	steps	step	NOUN
fumecheng-11470	155	11	:	:	PUNCT
fumecheng-11470	155	12	1	1	NUM
fumecheng-11470	155	13	)	)	PUNCT
fumecheng-11470	155	14	acquisition	acquisition	NOUN
fumecheng-11470	155	15	of	of	ADP
fumecheng-11470	155	16	torque	torque	NOUN
fumecheng-11470	155	17	values	value	NOUN
fumecheng-11470	155	18	at	at	ADP
fumecheng-11470	155	19	different	different	ADJ
fumecheng-11470	155	20	speeds	speed	NOUN
fumecheng-11470	155	21	of	of	ADP
fumecheng-11470	155	22	wheel	wheel	NOUN
fumecheng-11470	155	23	joints	joint	NOUN
fumecheng-11470	155	24	.	.	PUNCT
fumecheng-11470	156	1	2	2	NUM
fumecheng-11470	156	2	)	)	PUNCT
fumecheng-11470	156	3	to	to	PART
fumecheng-11470	156	4	collect	collect	VERB
fumecheng-11470	156	5	the	the	DET
fumecheng-11470	156	6	torque	torque	NOUN
fumecheng-11470	156	7	values	value	NOUN
fumecheng-11470	156	8	of	of	ADP
fumecheng-11470	156	9	the	the	DET
fumecheng-11470	156	10	wheel	wheel	NOUN
fumecheng-11470	156	11	joints	joint	NOUN
fumecheng-11470	156	12	at	at	ADP
fumecheng-11470	156	13	different	different	ADJ
fumecheng-11470	156	14	positions	position	NOUN
fumecheng-11470	156	15	.	.	PUNCT
fumecheng-11470	157	1	3	3	X
fumecheng-11470	157	2	)	)	PUNCT
fumecheng-11470	157	3	collect	collect	VERB
fumecheng-11470	157	4	torque	torque	NOUN
fumecheng-11470	157	5	values	value	NOUN
fumecheng-11470	157	6	at	at	ADP
fumecheng-11470	157	7	different	different	ADJ
fumecheng-11470	157	8	temperatures	temperature	NOUN
fumecheng-11470	157	9	of	of	ADP
fumecheng-11470	157	10	wheel	wheel	NOUN
fumecheng-11470	157	11	joints	joint	NOUN
fumecheng-11470	157	12	.	.	PUNCT
fumecheng-11470	158	1	4	4	NUM
fumecheng-11470	158	2	)	)	PUNCT
fumecheng-11470	158	3	based	base	VERB
fumecheng-11470	158	4	on	on	ADP
fumecheng-11470	158	5	the	the	DET
fumecheng-11470	158	6	change	change	NOUN
fumecheng-11470	158	7	of	of	ADP
fumecheng-11470	158	8	axle	axle	NOUN
fumecheng-11470	158	9	position	position	NOUN
fumecheng-11470	158	10	,	,	PUNCT
fumecheng-11470	158	11	the	the	DET
fumecheng-11470	158	12	torque	torque	NOUN
fumecheng-11470	158	13	data	datum	NOUN
fumecheng-11470	158	14	value	value	NOUN
fumecheng-11470	158	15	is	be	AUX
fumecheng-11470	158	16	calculated	calculate	VERB
fumecheng-11470	158	17	according	accord	VERB
fumecheng-11470	158	18	to	to	ADP
fumecheng-11470	158	19	the	the	DET
fumecheng-11470	158	20	theoretical	theoretical	ADJ
fumecheng-11470	158	21	equation	equation	NOUN
fumecheng-11470	158	22	.	.	PUNCT
fumecheng-11470	159	1	5	5	X
fumecheng-11470	159	2	)	)	PUNCT
fumecheng-11470	159	3	using	use	VERB
fumecheng-11470	159	4	sensors	sensor	NOUN
fumecheng-11470	159	5	to	to	PART
fumecheng-11470	159	6	measure	measure	VERB
fumecheng-11470	159	7	the	the	DET
fumecheng-11470	159	8	actual	actual	ADJ
fumecheng-11470	159	9	torque	torque	NOUN
fumecheng-11470	159	10	and	and	CCONJ
fumecheng-11470	159	11	calibrate	calibrate	VERB
fumecheng-11470	159	12	the	the	DET
fumecheng-11470	159	13	torque	torque	NOUN
fumecheng-11470	159	14	accuracy	accuracy	NOUN
fumecheng-11470	159	15	of	of	ADP
fumecheng-11470	159	16	the	the	DET
fumecheng-11470	159	17	servo	servo	NOUN
fumecheng-11470	159	18	system	system	NOUN
fumecheng-11470	159	19	,	,	PUNCT
fumecheng-11470	159	20	etc	etc	X
fumecheng-11470	159	21	.	.	X
fumecheng-11470	160	1	the	the	DET
fumecheng-11470	160	2	specific	specific	ADJ
fumecheng-11470	160	3	experimental	experimental	ADJ
fumecheng-11470	160	4	approach	approach	NOUN
fumecheng-11470	160	5	was	be	AUX
fumecheng-11470	160	6	to	to	PART
fumecheng-11470	160	7	program	program	VERB
fumecheng-11470	160	8	the	the	DET
fumecheng-11470	160	9	mobile	mobile	ADJ
fumecheng-11470	160	10	robot	robot	NOUN
fumecheng-11470	160	11	to	to	PART
fumecheng-11470	160	12	specify	specify	VERB
fumecheng-11470	160	13	eight	eight	NUM
fumecheng-11470	160	14	different	different	ADJ
fumecheng-11470	160	15	motion	motion	NOUN
fumecheng-11470	160	16	paths	path	NOUN
fumecheng-11470	160	17	so	so	SCONJ
fumecheng-11470	160	18	that	that	SCONJ
fumecheng-11470	160	19	each	each	DET
fumecheng-11470	160	20	joint	joint	ADJ
fumecheng-11470	160	21	axis	axis	NOUN
fumecheng-11470	160	22	of	of	ADP
fumecheng-11470	160	23	the	the	DET
fumecheng-11470	160	24	robot	robot	NOUN
fumecheng-11470	160	25	moved	move	VERB
fumecheng-11470	160	26	at	at	ADP
fumecheng-11470	160	27	a	a	DET
fumecheng-11470	160	28	different	different	ADJ
fumecheng-11470	160	29	position	position	NOUN
fumecheng-11470	160	30	and	and	CCONJ
fumecheng-11470	160	31	a	a	DET
fumecheng-11470	160	32	different	different	ADJ
fumecheng-11470	160	33	speed	speed	NOUN
fumecheng-11470	160	34	.	.	PUNCT
fumecheng-11470	161	1	the	the	DET
fumecheng-11470	161	2	load	load	NOUN
fumecheng-11470	161	3	,	,	PUNCT
fumecheng-11470	161	4	position	position	NOUN
fumecheng-11470	161	5	,	,	PUNCT
fumecheng-11470	161	6	velocity	velocity	NOUN
fumecheng-11470	161	7	,	,	PUNCT
fumecheng-11470	161	8	torque	torque	NOUN
fumecheng-11470	161	9	,	,	PUNCT
fumecheng-11470	161	10	and	and	CCONJ
fumecheng-11470	161	11	temperature	temperature	NOUN
fumecheng-11470	161	12	of	of	ADP
fumecheng-11470	161	13	each	each	DET
fumecheng-11470	161	14	joint	joint	NOUN
fumecheng-11470	161	15	of	of	ADP
fumecheng-11470	161	16	the	the	DET
fumecheng-11470	161	17	mobile	mobile	ADJ
fumecheng-11470	161	18	robot	robot	NOUN
fumecheng-11470	161	19	were	be	AUX
fumecheng-11470	161	20	recorded	record	VERB
fumecheng-11470	161	21	at	at	ADP
fumecheng-11470	161	22	sampling	sample	VERB
fumecheng-11470	161	23	intervals	interval	NOUN
fumecheng-11470	161	24	of	of	ADP
fumecheng-11470	161	25	4	4	NUM
fumecheng-11470	161	26	-	-	SYM
fumecheng-11470	161	27	10	10	NUM
fumecheng-11470	161	28	ms	ms	NOUN
fumecheng-11470	161	29	during	during	ADP
fumecheng-11470	161	30	the	the	DET
fumecheng-11470	161	31	eight	eight	NUM
fumecheng-11470	161	32	sets	set	NOUN
fumecheng-11470	161	33	of	of	ADP
fumecheng-11470	161	34	experiments	experiment	NOUN
fumecheng-11470	161	35	.	.	PUNCT
fumecheng-11470	162	1	29	29	NUM
fumecheng-11470	162	2	sets	set	NOUN
fumecheng-11470	162	3	of	of	ADP
fumecheng-11470	162	4	data	datum	NOUN
fumecheng-11470	162	5	were	be	AUX
fumecheng-11470	162	6	collected	collect	VERB
fumecheng-11470	162	7	,	,	PUNCT
fumecheng-11470	162	8	including	include	VERB
fumecheng-11470	162	9	data	datum	NOUN
fumecheng-11470	162	10	for	for	ADP
fumecheng-11470	162	11	joints	joint	NOUN
fumecheng-11470	162	12	1	1	NUM
fumecheng-11470	162	13	to	to	PART
fumecheng-11470	162	14	4	4	NUM
fumecheng-11470	162	15	of	of	ADP
fumecheng-11470	162	16	the	the	DET
fumecheng-11470	162	17	robot	robot	NOUN
fumecheng-11470	162	18	,	,	PUNCT
fumecheng-11470	162	19	as	as	SCONJ
fumecheng-11470	162	20	shown	show	VERB
fumecheng-11470	162	21	in	in	ADP
fumecheng-11470	162	22	table	table	NOUN
fumecheng-11470	162	23	2	2	NUM
fumecheng-11470	162	24	.	.	PUNCT
fumecheng-11470	163	1	study	study	NOUN
fumecheng-11470	163	2	of	of	ADP
fumecheng-11470	163	3	friction	friction	NOUN
fumecheng-11470	163	4	compensation	compensation	NOUN
fumecheng-11470	163	5	model	model	NOUN
fumecheng-11470	163	6	for	for	ADP
fumecheng-11470	163	7	mobile	mobile	NOUN
fumecheng-11470	163	8	robot	robot	NOUN
fumecheng-11470	163	9	’s	’s	PART
fumecheng-11470	163	10	joints	joint	NOUN
fumecheng-11470	163	11	729	729	NUM
fumecheng-11470	163	12	table	table	NOUN
fumecheng-11470	163	13	2	2	NUM
fumecheng-11470	163	14	data	data	NOUN
fumecheng-11470	163	15	collection	collection	NOUN
fumecheng-11470	163	16	collection	collection	NOUN
fumecheng-11470	163	17	data	datum	NOUN
fumecheng-11470	163	18	types	type	NOUN
fumecheng-11470	163	19	number	number	NOUN
fumecheng-11470	163	20	of	of	ADP
fumecheng-11470	163	21	data	datum	NOUN
fumecheng-11470	163	22	collected	collect	VERB
fumecheng-11470	163	23	sampling	sample	VERB
fumecheng-11470	163	24	time	time	NOUN
fumecheng-11470	163	25	1	1	NUM
fumecheng-11470	163	26	position	position	NOUN
fumecheng-11470	163	27	planning	planning	NOUN
fumecheng-11470	163	28	value	value	NOUN
fumecheng-11470	163	29	of	of	ADP
fumecheng-11470	163	30	each	each	DET
fumecheng-11470	163	31	axis	axis	ADJ
fumecheng-11470	163	32	4	4	NUM
fumecheng-11470	163	33	speed	speed	NOUN
fumecheng-11470	163	34	planning	planning	NOUN
fumecheng-11470	163	35	values	value	NOUN
fumecheng-11470	163	36	for	for	ADP
fumecheng-11470	163	37	each	each	DET
fumecheng-11470	163	38	axis	axis	NOUN
fumecheng-11470	163	39	4	4	NUM
fumecheng-11470	163	40	theoretically	theoretically	ADV
fumecheng-11470	163	41	calculated	calculate	VERB
fumecheng-11470	163	42	torque	torque	NOUN
fumecheng-11470	163	43	for	for	ADP
fumecheng-11470	163	44	each	each	DET
fumecheng-11470	163	45	axis	axis	ADJ
fumecheng-11470	163	46	4	4	NUM
fumecheng-11470	163	47	actual	actual	ADJ
fumecheng-11470	163	48	torque	torque	NOUN
fumecheng-11470	163	49	of	of	ADP
fumecheng-11470	163	50	each	each	DET
fumecheng-11470	163	51	axis	axis	ADJ
fumecheng-11470	163	52	4	4	NUM
fumecheng-11470	163	53	feedback	feedback	NOUN
fumecheng-11470	163	54	position	position	NOUN
fumecheng-11470	163	55	of	of	ADP
fumecheng-11470	163	56	each	each	DET
fumecheng-11470	163	57	axis	axis	ADJ
fumecheng-11470	163	58	4	4	NUM
fumecheng-11470	163	59	feedback	feedback	NOUN
fumecheng-11470	163	60	speed	speed	NOUN
fumecheng-11470	163	61	per	per	ADP
fumecheng-11470	163	62	axis	axis	NOUN
fumecheng-11470	163	63	4	4	NUM
fumecheng-11470	163	64	feedback	feedback	NOUN
fumecheng-11470	163	65	torque	torque	NOUN
fumecheng-11470	163	66	of	of	ADP
fumecheng-11470	163	67	each	each	DET
fumecheng-11470	163	68	axis	axis	ADJ
fumecheng-11470	163	69	4	4	NUM
fumecheng-11470	163	70	2.3.2	2.3.2	NUM
fumecheng-11470	163	71	.	.	PUNCT
fumecheng-11470	164	1	data	datum	NOUN
fumecheng-11470	164	2	processing	processing	NOUN
fumecheng-11470	164	3	before	before	ADP
fumecheng-11470	164	4	the	the	DET
fumecheng-11470	164	5	model	model	NOUN
fumecheng-11470	164	6	training	training	NOUN
fumecheng-11470	164	7	,	,	PUNCT
fumecheng-11470	164	8	we	we	PRON
fumecheng-11470	164	9	perform	perform	VERB
fumecheng-11470	164	10	the	the	DET
fumecheng-11470	164	11	necessary	necessary	ADJ
fumecheng-11470	164	12	processing	processing	NOUN
fumecheng-11470	164	13	on	on	ADP
fumecheng-11470	164	14	the	the	DET
fumecheng-11470	164	15	collected	collect	VERB
fumecheng-11470	164	16	data	datum	NOUN
fumecheng-11470	164	17	,	,	PUNCT
fumecheng-11470	164	18	mainly	mainly	ADV
fumecheng-11470	164	19	including	include	VERB
fumecheng-11470	164	20	data	datum	NOUN
fumecheng-11470	164	21	cleaning	cleaning	NOUN
fumecheng-11470	164	22	,	,	PUNCT
fumecheng-11470	164	23	classification	classification	NOUN
fumecheng-11470	164	24	,	,	PUNCT
fumecheng-11470	164	25	equalization	equalization	NOUN
fumecheng-11470	164	26	,	,	PUNCT
fumecheng-11470	164	27	enhancement	enhancement	NOUN
fumecheng-11470	164	28	,	,	PUNCT
fumecheng-11470	164	29	etc	etc	X
fumecheng-11470	164	30	.	.	X
fumecheng-11470	165	1	[	[	X
fumecheng-11470	165	2	30	30	NUM
fumecheng-11470	165	3	]	]	SYM
fumecheng-11470	165	4	.	.	PUNCT
fumecheng-11470	166	1	1	1	X
fumecheng-11470	166	2	)	)	PUNCT
fumecheng-11470	166	3	when	when	SCONJ
fumecheng-11470	166	4	data	datum	NOUN
fumecheng-11470	166	5	collection	collection	NOUN
fumecheng-11470	166	6	,	,	PUNCT
fumecheng-11470	166	7	as	as	ADP
fumecheng-11470	166	8	the	the	DET
fumecheng-11470	166	9	path	path	NOUN
fumecheng-11470	166	10	data	datum	NOUN
fumecheng-11470	166	11	of	of	ADP
fumecheng-11470	166	12	robot	robot	NOUN
fumecheng-11470	166	13	movement	movement	NOUN
fumecheng-11470	166	14	,	,	PUNCT
fumecheng-11470	166	15	may	may	AUX
fumecheng-11470	166	16	have	have	VERB
fumecheng-11470	166	17	the	the	DET
fumecheng-11470	166	18	same	same	ADJ
fumecheng-11470	166	19	group	group	NOUN
fumecheng-11470	166	20	and	and	CCONJ
fumecheng-11470	166	21	missing	miss	VERB
fumecheng-11470	166	22	data	datum	NOUN
fumecheng-11470	166	23	,	,	PUNCT
fumecheng-11470	166	24	data	datum	NOUN
fumecheng-11470	166	25	cleaning	cleaning	NOUN
fumecheng-11470	166	26	can	can	AUX
fumecheng-11470	166	27	ensure	ensure	VERB
fumecheng-11470	166	28	data	datum	NOUN
fumecheng-11470	166	29	integrity	integrity	NOUN
fumecheng-11470	166	30	,	,	PUNCT
fumecheng-11470	166	31	uniqueness	uniqueness	NOUN
fumecheng-11470	166	32	,	,	PUNCT
fumecheng-11470	166	33	and	and	CCONJ
fumecheng-11470	166	34	consistency	consistency	NOUN
fumecheng-11470	166	35	.	.	PUNCT
fumecheng-11470	167	1	2	2	X
fumecheng-11470	167	2	)	)	PUNCT
fumecheng-11470	167	3	data	datum	NOUN
fumecheng-11470	167	4	classification	classification	NOUN
fumecheng-11470	167	5	is	be	AUX
fumecheng-11470	167	6	performed	perform	VERB
fumecheng-11470	167	7	in	in	ADP
fumecheng-11470	167	8	advance	advance	NOUN
fumecheng-11470	167	9	according	accord	VERB
fumecheng-11470	167	10	to	to	ADP
fumecheng-11470	167	11	the	the	DET
fumecheng-11470	167	12	four	four	NUM
fumecheng-11470	167	13	states	state	NOUN
fumecheng-11470	167	14	of	of	ADP
fumecheng-11470	167	15	acceleration	acceleration	NOUN
fumecheng-11470	167	16	,	,	PUNCT
fumecheng-11470	167	17	uniform	uniform	ADJ
fumecheng-11470	167	18	speed	speed	NOUN
fumecheng-11470	167	19	,	,	PUNCT
fumecheng-11470	167	20	high	high	ADJ
fumecheng-11470	167	21	speed	speed	NOUN
fumecheng-11470	167	22	,	,	PUNCT
fumecheng-11470	167	23	and	and	CCONJ
fumecheng-11470	167	24	low	low	ADJ
fumecheng-11470	167	25	speed	speed	NOUN
fumecheng-11470	167	26	in	in	ADP
fumecheng-11470	167	27	robot	robot	NOUN
fumecheng-11470	167	28	motion	motion	NOUN
fumecheng-11470	167	29	,	,	PUNCT
fumecheng-11470	167	30	which	which	PRON
fumecheng-11470	167	31	facilitates	facilitate	VERB
fumecheng-11470	167	32	the	the	DET
fumecheng-11470	167	33	corresponding	corresponding	ADJ
fumecheng-11470	167	34	neural	neural	ADJ
fumecheng-11470	167	35	network	network	NOUN
fumecheng-11470	167	36	model	model	NOUN
fumecheng-11470	167	37	.	.	PUNCT
fumecheng-11470	168	1	3	3	NUM
fumecheng-11470	168	2	)	)	PUNCT
fumecheng-11470	168	3	because	because	SCONJ
fumecheng-11470	168	4	data	datum	NOUN
fumecheng-11470	168	5	acquisition	acquisition	NOUN
fumecheng-11470	168	6	can	can	AUX
fumecheng-11470	168	7	not	not	PART
fumecheng-11470	168	8	traverse	traverse	VERB
fumecheng-11470	168	9	all	all	DET
fumecheng-11470	168	10	the	the	DET
fumecheng-11470	168	11	motion	motion	NOUN
fumecheng-11470	168	12	data	datum	NOUN
fumecheng-11470	168	13	of	of	ADP
fumecheng-11470	168	14	robot	robot	NOUN
fumecheng-11470	168	15	conditions	condition	NOUN
fumecheng-11470	168	16	,	,	PUNCT
fumecheng-11470	168	17	data	datum	NOUN
fumecheng-11470	168	18	equalization	equalization	NOUN
fumecheng-11470	168	19	can	can	AUX
fumecheng-11470	168	20	make	make	VERB
fumecheng-11470	168	21	model	model	NOUN
fumecheng-11470	168	22	compensation	compensation	NOUN
fumecheng-11470	168	23	more	more	ADV
fumecheng-11470	168	24	effective	effective	ADJ
fumecheng-11470	168	25	.	.	PUNCT
fumecheng-11470	169	1	4	4	NUM
fumecheng-11470	169	2	)	)	PUNCT
fumecheng-11470	169	3	to	to	PART
fumecheng-11470	169	4	improve	improve	VERB
fumecheng-11470	169	5	the	the	DET
fumecheng-11470	169	6	robustness	robustness	NOUN
fumecheng-11470	169	7	of	of	ADP
fumecheng-11470	169	8	the	the	DET
fumecheng-11470	169	9	model	model	NOUN
fumecheng-11470	169	10	,	,	PUNCT
fumecheng-11470	169	11	data	datum	NOUN
fumecheng-11470	169	12	enhancements	enhancement	NOUN
fumecheng-11470	169	13	such	such	ADJ
fumecheng-11470	169	14	as	as	ADP
fumecheng-11470	169	15	positive	positive	ADJ
fumecheng-11470	169	16	and	and	CCONJ
fumecheng-11470	169	17	negative	negative	ADJ
fumecheng-11470	169	18	transformations	transformation	NOUN
fumecheng-11470	169	19	,	,	PUNCT
fumecheng-11470	169	20	translational	translational	ADJ
fumecheng-11470	169	21	transformations	transformation	NOUN
fumecheng-11470	169	22	,	,	PUNCT
fumecheng-11470	169	23	and	and	CCONJ
fumecheng-11470	169	24	noise	noise	NOUN
fumecheng-11470	169	25	addition	addition	NOUN
fumecheng-11470	169	26	are	be	AUX
fumecheng-11470	169	27	utilized	utilize	VERB
fumecheng-11470	169	28	on	on	ADP
fumecheng-11470	169	29	the	the	DET
fumecheng-11470	169	30	collected	collect	VERB
fumecheng-11470	169	31	data	datum	NOUN
fumecheng-11470	169	32	,	,	PUNCT
fumecheng-11470	169	33	thus	thus	ADV
fumecheng-11470	169	34	enhancing	enhance	VERB
fumecheng-11470	169	35	the	the	DET
fumecheng-11470	169	36	generalization	generalization	NOUN
fumecheng-11470	169	37	capability	capability	NOUN
fumecheng-11470	169	38	of	of	ADP
fumecheng-11470	169	39	the	the	DET
fumecheng-11470	169	40	friction	friction	NOUN
fumecheng-11470	169	41	compensation	compensation	NOUN
fumecheng-11470	169	42	model	model	NOUN
fumecheng-11470	169	43	.	.	PUNCT
fumecheng-11470	170	1	as	as	SCONJ
fumecheng-11470	170	2	the	the	DET
fumecheng-11470	170	3	usage	usage	NOUN
fumecheng-11470	170	4	of	of	ADP
fumecheng-11470	170	5	the	the	DET
fumecheng-11470	170	6	three	three	NUM
fumecheng-11470	170	7	different	different	ADJ
fumecheng-11470	170	8	models	model	NOUN
fumecheng-11470	170	9	implies	imply	VERB
fumecheng-11470	170	10	training	training	NOUN
fumecheng-11470	170	11	and	and	CCONJ
fumecheng-11470	170	12	testing	testing	NOUN
fumecheng-11470	170	13	of	of	ADP
fumecheng-11470	170	14	the	the	DET
fumecheng-11470	170	15	models	model	NOUN
fumecheng-11470	170	16	,	,	PUNCT
fumecheng-11470	170	17	in	in	ADP
fumecheng-11470	170	18	this	this	DET
fumecheng-11470	170	19	work	work	NOUN
fumecheng-11470	170	20	,	,	PUNCT
fumecheng-11470	170	21	80	80	NUM
fumecheng-11470	170	22	%	%	NOUN
fumecheng-11470	170	23	of	of	ADP
fumecheng-11470	170	24	the	the	DET
fumecheng-11470	170	25	data	datum	NOUN
fumecheng-11470	170	26	collected	collect	VERB
fumecheng-11470	170	27	render	render	VERB
fumecheng-11470	170	28	the	the	DET
fumecheng-11470	170	29	training	training	NOUN
fumecheng-11470	170	30	set	set	NOUN
fumecheng-11470	170	31	,	,	PUNCT
fumecheng-11470	170	32	and	and	CCONJ
fumecheng-11470	170	33	20	20	NUM
fumecheng-11470	170	34	%	%	NOUN
fumecheng-11470	170	35	are	be	AUX
fumecheng-11470	170	36	the	the	DET
fumecheng-11470	170	37	test	test	NOUN
fumecheng-11470	170	38	set	set	VERB
fumecheng-11470	170	39	.	.	PUNCT
fumecheng-11470	171	1	in	in	ADP
fumecheng-11470	171	2	fig	fig	NOUN
fumecheng-11470	171	3	.	.	PUNCT
fumecheng-11470	172	1	6	6	NUM
fumecheng-11470	172	2	,	,	PUNCT
fumecheng-11470	172	3	the	the	DET
fumecheng-11470	172	4	orange	orange	ADJ
fumecheng-11470	172	5	part	part	NOUN
fumecheng-11470	172	6	is	be	AUX
fumecheng-11470	172	7	the	the	DET
fumecheng-11470	172	8	test	test	NOUN
fumecheng-11470	172	9	dataset	dataset	NOUN
fumecheng-11470	172	10	,	,	PUNCT
fumecheng-11470	172	11	while	while	SCONJ
fumecheng-11470	172	12	the	the	DET
fumecheng-11470	172	13	blue	blue	ADJ
fumecheng-11470	172	14	part	part	NOUN
fumecheng-11470	172	15	is	be	AUX
fumecheng-11470	172	16	the	the	DET
fumecheng-11470	172	17	training	training	NOUN
fumecheng-11470	172	18	dataset	dataset	NOUN
fumecheng-11470	172	19	.	.	PUNCT
fumecheng-11470	173	1	fig	fig	NOUN
fumecheng-11470	173	2	.	.	PUNCT
fumecheng-11470	174	1	6	6	NUM
fumecheng-11470	174	2	data	datum	NOUN
fumecheng-11470	174	3	set	set	VERB
fumecheng-11470	174	4	partitioning	partition	VERB
fumecheng-11470	174	5	730	730	NUM
fumecheng-11470	174	6	y.	y.	PROPN
fumecheng-11470	174	7	cao	cao	PROPN
fumecheng-11470	174	8	,	,	PUNCT
fumecheng-11470	174	9	n.m	n.m	PROPN
fumecheng-11470	174	10	.	.	PROPN
fumecheng-11470	174	11	nor	nor	CCONJ
fumecheng-11470	174	12	,	,	PUNCT
fumecheng-11470	174	13	z.	z.	PROPN
fumecheng-11470	174	14	samad	samad	PROPN
fumecheng-11470	174	15	3	3	NUM
fumecheng-11470	174	16	.	.	PUNCT
fumecheng-11470	174	17	experiments	experiment	NOUN
fumecheng-11470	174	18	and	and	CCONJ
fumecheng-11470	174	19	discussions	discussion	NOUN
fumecheng-11470	174	20	3.1	3.1	NUM
fumecheng-11470	174	21	.	.	PUNCT
fumecheng-11470	175	1	model	model	NOUN
fumecheng-11470	175	2	training	training	NOUN
fumecheng-11470	175	3	this	this	DET
fumecheng-11470	175	4	study	study	NOUN
fumecheng-11470	175	5	uses	use	VERB
fumecheng-11470	175	6	two	two	NUM
fumecheng-11470	175	7	ways	way	NOUN
fumecheng-11470	175	8	of	of	ADP
fumecheng-11470	175	9	dividing	divide	VERB
fumecheng-11470	175	10	the	the	DET
fumecheng-11470	175	11	data	datum	NOUN
fumecheng-11470	175	12	,	,	PUNCT
fumecheng-11470	175	13	and	and	CCONJ
fumecheng-11470	175	14	two	two	NUM
fumecheng-11470	175	15	different	different	ADJ
fumecheng-11470	175	16	models	model	NOUN
fumecheng-11470	175	17	are	be	AUX
fumecheng-11470	175	18	trained	train	VERB
fumecheng-11470	175	19	for	for	ADP
fumecheng-11470	175	20	each	each	DET
fumecheng-11470	175	21	data	datum	NOUN
fumecheng-11470	175	22	division	division	NOUN
fumecheng-11470	175	23	:	:	PUNCT
fumecheng-11470	175	24	1	1	X
fumecheng-11470	175	25	)	)	PUNCT
fumecheng-11470	175	26	the	the	DET
fumecheng-11470	175	27	first	first	ADJ
fumecheng-11470	175	28	one	one	NUM
fumecheng-11470	175	29	is	be	AUX
fumecheng-11470	175	30	based	base	VERB
fumecheng-11470	175	31	on	on	ADP
fumecheng-11470	175	32	high	high	ADJ
fumecheng-11470	175	33	or	or	CCONJ
fumecheng-11470	175	34	low	low	ADJ
fumecheng-11470	175	35	speed	speed	NOUN
fumecheng-11470	175	36	and	and	CCONJ
fumecheng-11470	175	37	divided	divide	VERB
fumecheng-11470	175	38	into	into	ADP
fumecheng-11470	175	39	low	low	ADJ
fumecheng-11470	175	40	-	-	PUNCT
fumecheng-11470	175	41	speed	speed	NOUN
fumecheng-11470	175	42	and	and	CCONJ
fumecheng-11470	175	43	highspeed	highspeed	NOUN
fumecheng-11470	175	44	cases	case	NOUN
fumecheng-11470	175	45	(	(	PUNCT
fumecheng-11470	175	46	with	with	ADP
fumecheng-11470	175	47	joint	joint	ADJ
fumecheng-11470	175	48	speed	speed	NOUN
fumecheng-11470	175	49	of	of	ADP
fumecheng-11470	175	50	200	200	NUM
fumecheng-11470	175	51	r	r	NOUN
fumecheng-11470	175	52	/	/	SYM
fumecheng-11470	175	53	min	min	NOUN
fumecheng-11470	175	54	as	as	SCONJ
fumecheng-11470	175	55	the	the	DET
fumecheng-11470	175	56	boundary	boundary	NOUN
fumecheng-11470	175	57	to	to	PART
fumecheng-11470	175	58	distinguish	distinguish	VERB
fumecheng-11470	175	59	between	between	ADP
fumecheng-11470	175	60	high	high	ADJ
fumecheng-11470	175	61	and	and	CCONJ
fumecheng-11470	175	62	low	low	ADJ
fumecheng-11470	175	63	speed	speed	NOUN
fumecheng-11470	175	64	)	)	PUNCT
fumecheng-11470	175	65	.	.	PUNCT
fumecheng-11470	176	1	2	2	X
fumecheng-11470	176	2	)	)	PUNCT
fumecheng-11470	176	3	the	the	DET
fumecheng-11470	176	4	second	second	NOUN
fumecheng-11470	176	5	is	be	AUX
fumecheng-11470	176	6	according	accord	VERB
fumecheng-11470	176	7	to	to	ADP
fumecheng-11470	176	8	the	the	DET
fumecheng-11470	176	9	acceleration	acceleration	NOUN
fumecheng-11470	176	10	speed	speed	NOUN
fumecheng-11470	176	11	rate	rate	NOUN
fumecheng-11470	176	12	and	and	CCONJ
fumecheng-11470	176	13	uniform	uniform	ADJ
fumecheng-11470	176	14	speed	speed	NOUN
fumecheng-11470	176	15	case	case	NOUN
fumecheng-11470	176	16	.	.	PUNCT
fumecheng-11470	177	1	(	(	PUNCT
fumecheng-11470	177	2	because	because	SCONJ
fumecheng-11470	177	3	the	the	DET
fumecheng-11470	177	4	acceleration	acceleration	NOUN
fumecheng-11470	177	5	and	and	CCONJ
fumecheng-11470	177	6	deceleration	deceleration	NOUN
fumecheng-11470	177	7	cases	case	NOUN
fumecheng-11470	177	8	are	be	AUX
fumecheng-11470	177	9	similar	similar	ADJ
fumecheng-11470	177	10	,	,	PUNCT
fumecheng-11470	177	11	only	only	ADV
fumecheng-11470	177	12	the	the	DET
fumecheng-11470	177	13	acceleration	acceleration	NOUN
fumecheng-11470	177	14	scenario	scenario	NOUN
fumecheng-11470	177	15	is	be	AUX
fumecheng-11470	177	16	taken	take	VERB
fumecheng-11470	177	17	for	for	ADP
fumecheng-11470	177	18	analysis	analysis	NOUN
fumecheng-11470	177	19	)	)	PUNCT
fumecheng-11470	177	20	.	.	PUNCT
fumecheng-11470	178	1	first	first	ADV
fumecheng-11470	178	2	,	,	PUNCT
fumecheng-11470	178	3	the	the	DET
fumecheng-11470	178	4	data	datum	NOUN
fumecheng-11470	178	5	set	set	VERB
fumecheng-11470	178	6	used	use	VERB
fumecheng-11470	178	7	for	for	ADP
fumecheng-11470	178	8	initializing	initialize	VERB
fumecheng-11470	178	9	the	the	DET
fumecheng-11470	178	10	neural	neural	ADJ
fumecheng-11470	178	11	network	network	NOUN
fumecheng-11470	178	12	is	be	AUX
fumecheng-11470	178	13	prepared	prepare	VERB
fumecheng-11470	178	14	.	.	PUNCT
fumecheng-11470	179	1	in	in	ADP
fumecheng-11470	179	2	this	this	DET
fumecheng-11470	179	3	study	study	NOUN
fumecheng-11470	179	4	,	,	PUNCT
fumecheng-11470	179	5	the	the	DET
fumecheng-11470	179	6	number	number	NOUN
fumecheng-11470	179	7	of	of	ADP
fumecheng-11470	179	8	neurons	neuron	NOUN
fumecheng-11470	179	9	in	in	ADP
fumecheng-11470	179	10	the	the	DET
fumecheng-11470	179	11	input	input	NOUN
fumecheng-11470	179	12	layer	layer	NOUN
fumecheng-11470	179	13	is	be	AUX
fumecheng-11470	179	14	5	5	NUM
fumecheng-11470	179	15	.	.	PUNCT
fumecheng-11470	180	1	the	the	DET
fumecheng-11470	180	2	number	number	NOUN
fumecheng-11470	180	3	of	of	ADP
fumecheng-11470	180	4	neurons	neuron	NOUN
fumecheng-11470	180	5	in	in	ADP
fumecheng-11470	180	6	the	the	DET
fumecheng-11470	180	7	output	output	NOUN
fumecheng-11470	180	8	layer	layer	NOUN
fumecheng-11470	180	9	is	be	AUX
fumecheng-11470	180	10	based	base	VERB
fumecheng-11470	180	11	on	on	ADP
fumecheng-11470	180	12	the	the	DET
fumecheng-11470	180	13	solution	solution	NOUN
fumecheng-11470	180	14	to	to	ADP
fumecheng-11470	180	15	the	the	DET
fumecheng-11470	180	16	problem	problem	NOUN
fumecheng-11470	180	17	,	,	PUNCT
fumecheng-11470	180	18	i.e.	i.e.	X
fumecheng-11470	180	19	,	,	PUNCT
fumecheng-11470	180	20	the	the	DET
fumecheng-11470	180	21	friction	friction	NOUN
fumecheng-11470	180	22	of	of	ADP
fumecheng-11470	180	23	the	the	DET
fumecheng-11470	180	24	robot	robot	NOUN
fumecheng-11470	180	25	joints	joint	NOUN
fumecheng-11470	180	26	and	and	CCONJ
fumecheng-11470	180	27	the	the	DET
fumecheng-11470	180	28	neural	neural	ADJ
fumecheng-11470	180	29	network	network	NOUN
fumecheng-11470	180	30	is	be	AUX
fumecheng-11470	180	31	trained	train	VERB
fumecheng-11470	180	32	using	use	VERB
fumecheng-11470	180	33	the	the	DET
fumecheng-11470	180	34	five	five	NUM
fumecheng-11470	180	35	items	item	NOUN
fumecheng-11470	180	36	:	:	PUNCT
fumecheng-11470	180	37	position	position	NOUN
fumecheng-11470	180	38	,	,	PUNCT
fumecheng-11470	180	39	velocity	velocity	NOUN
fumecheng-11470	180	40	,	,	PUNCT
fumecheng-11470	180	41	theoretical	theoretical	ADJ
fumecheng-11470	180	42	torque	torque	NOUN
fumecheng-11470	180	43	,	,	PUNCT
fumecheng-11470	180	44	actual	actual	ADJ
fumecheng-11470	180	45	torque	torque	NOUN
fumecheng-11470	180	46	,	,	PUNCT
fumecheng-11470	180	47	and	and	CCONJ
fumecheng-11470	180	48	temperature	temperature	NOUN
fumecheng-11470	180	49	of	of	ADP
fumecheng-11470	180	50	the	the	DET
fumecheng-11470	180	51	robot	robot	NOUN
fumecheng-11470	180	52	joints	joint	NOUN
fumecheng-11470	180	53	as	as	ADP
fumecheng-11470	180	54	the	the	DET
fumecheng-11470	180	55	input	input	NOUN
fumecheng-11470	180	56	to	to	ADP
fumecheng-11470	180	57	the	the	DET
fumecheng-11470	180	58	neural	neural	ADJ
fumecheng-11470	180	59	network	network	NOUN
fumecheng-11470	180	60	.	.	PUNCT
fumecheng-11470	181	1	second	second	ADJ
fumecheng-11470	181	2	,	,	PUNCT
fumecheng-11470	181	3	the	the	DET
fumecheng-11470	181	4	loss	loss	NOUN
fumecheng-11470	181	5	function	function	NOUN
fumecheng-11470	181	6	when	when	SCONJ
fumecheng-11470	181	7	the	the	DET
fumecheng-11470	181	8	neural	neural	ADJ
fumecheng-11470	181	9	network	network	NOUN
fumecheng-11470	181	10	is	be	AUX
fumecheng-11470	181	11	defined	define	VERB
fumecheng-11470	181	12	during	during	ADP
fumecheng-11470	181	13	training	training	NOUN
fumecheng-11470	181	14	.	.	PUNCT
fumecheng-11470	182	1	this	this	DET
fumecheng-11470	182	2	study	study	NOUN
fumecheng-11470	182	3	establishes	establish	VERB
fumecheng-11470	182	4	the	the	DET
fumecheng-11470	182	5	loss	loss	NOUN
fumecheng-11470	182	6	function	function	NOUN
fumecheng-11470	182	7	as	as	ADP
fumecheng-11470	182	8	the	the	DET
fumecheng-11470	182	9	following	following	ADJ
fumecheng-11470	182	10	mathematical	mathematical	ADJ
fumecheng-11470	182	11	expression	expression	NOUN
fumecheng-11470	182	12	.	.	PUNCT
fumecheng-11470	183	1	2loss	2loss	NUM
fumecheng-11470	183	2	loss(x	loss(x	PROPN
fumecheng-11470	183	3	,	,	PUNCT
fumecheng-11470	183	4	y	y	PROPN
fumecheng-11470	183	5	)	)	PUNCT
fumecheng-11470	183	6	(	(	PUNCT
fumecheng-11470	183	7	x	x	X
fumecheng-11470	183	8	y	y	X
fumecheng-11470	183	9	)	)	PUNCT
fumecheng-11470	183	10	i	i	PRON
fumecheng-11470	184	1	i	i	PRON
fumecheng-11470	184	2	i	i	PRON
fumecheng-11470	184	3	i=	i=	VERB
fumecheng-11470	184	4	=	=	SYM
fumecheng-11470	184	5	−	−	PROPN
fumecheng-11470	184	6	,	,	PUNCT
fumecheng-11470	184	7	(	(	PUNCT
fumecheng-11470	184	8	9	9	NUM
fumecheng-11470	184	9	)	)	PUNCT
fumecheng-11470	184	10	where	where	SCONJ
fumecheng-11470	184	11	,	,	PUNCT
fumecheng-11470	184	12	xi	xi	X
fumecheng-11470	184	13	is	be	AUX
fumecheng-11470	184	14	the	the	DET
fumecheng-11470	184	15	neural	neural	ADJ
fumecheng-11470	184	16	network	network	NOUN
fumecheng-11470	184	17	's	's	PART
fumecheng-11470	184	18	practical	practical	ADJ
fumecheng-11470	184	19	output	output	NOUN
fumecheng-11470	184	20	value	value	NOUN
fumecheng-11470	184	21	,	,	PUNCT
fumecheng-11470	184	22	which	which	PRON
fumecheng-11470	184	23	is	be	AUX
fumecheng-11470	184	24	the	the	DET
fumecheng-11470	184	25	forecast	forecast	NOUN
fumecheng-11470	184	26	value	value	NOUN
fumecheng-11470	184	27	,	,	PUNCT
fumecheng-11470	184	28	yi	yi	PROPN
fumecheng-11470	184	29	is	be	AUX
fumecheng-11470	184	30	the	the	DET
fumecheng-11470	184	31	true	true	ADJ
fumecheng-11470	184	32	value	value	NOUN
fumecheng-11470	184	33	,	,	PUNCT
fumecheng-11470	184	34	i	i	PRON
fumecheng-11470	184	35	denotes	denote	VERB
fumecheng-11470	184	36	the	the	DET
fumecheng-11470	184	37	number	number	NOUN
fumecheng-11470	184	38	of	of	ADP
fumecheng-11470	184	39	training	training	NOUN
fumecheng-11470	184	40	data	datum	NOUN
fumecheng-11470	184	41	.	.	PUNCT
fumecheng-11470	185	1	therefore	therefore	ADV
fumecheng-11470	185	2	,	,	PUNCT
fumecheng-11470	185	3	the	the	DET
fumecheng-11470	185	4	training	training	NOUN
fumecheng-11470	185	5	goal	goal	NOUN
fumecheng-11470	185	6	is	be	AUX
fumecheng-11470	185	7	to	to	PART
fumecheng-11470	185	8	reduce	reduce	VERB
fumecheng-11470	185	9	the	the	DET
fumecheng-11470	185	10	loss	loss	NOUN
fumecheng-11470	185	11	value	value	NOUN
fumecheng-11470	185	12	as	as	ADV
fumecheng-11470	185	13	much	much	ADV
fumecheng-11470	185	14	as	as	ADP
fumecheng-11470	185	15	possible	possible	ADJ
fumecheng-11470	185	16	.	.	PUNCT
fumecheng-11470	186	1	finally	finally	ADV
fumecheng-11470	186	2	,	,	PUNCT
fumecheng-11470	186	3	there	there	PRON
fumecheng-11470	186	4	is	be	VERB
fumecheng-11470	186	5	the	the	DET
fumecheng-11470	186	6	training	training	NOUN
fumecheng-11470	186	7	of	of	ADP
fumecheng-11470	186	8	the	the	DET
fumecheng-11470	186	9	neural	neural	ADJ
fumecheng-11470	186	10	network	network	NOUN
fumecheng-11470	186	11	.	.	PUNCT
fumecheng-11470	187	1	the	the	DET
fumecheng-11470	187	2	exact	exact	ADJ
fumecheng-11470	187	3	procedure	procedure	NOUN
fumecheng-11470	187	4	of	of	ADP
fumecheng-11470	187	5	the	the	DET
fumecheng-11470	187	6	training	training	NOUN
fumecheng-11470	187	7	is	be	AUX
fumecheng-11470	187	8	as	as	SCONJ
fumecheng-11470	187	9	given	give	VERB
fumecheng-11470	187	10	in	in	ADP
fumecheng-11470	187	11	fig	fig	NOUN
fumecheng-11470	187	12	.	.	PUNCT
fumecheng-11470	188	1	7	7	X
fumecheng-11470	188	2	.	.	X
fumecheng-11470	188	3	step	step	NOUN
fumecheng-11470	188	4	1	1	NUM
fumecheng-11470	188	5	:	:	PUNCT
fumecheng-11470	188	6	define	define	VERB
fumecheng-11470	188	7	the	the	DET
fumecheng-11470	188	8	optimizer	optimizer	NOUN
fumecheng-11470	188	9	,	,	PUNCT
fumecheng-11470	188	10	select	select	VERB
fumecheng-11470	188	11	the	the	DET
fumecheng-11470	188	12	optimization	optimization	NOUN
fumecheng-11470	188	13	algorithm	algorithm	NOUN
fumecheng-11470	188	14	as	as	ADV
fumecheng-11470	188	15	well	well	ADV
fumecheng-11470	188	16	as	as	ADP
fumecheng-11470	188	17	the	the	DET
fumecheng-11470	188	18	learning	learning	NOUN
fumecheng-11470	188	19	rate	rate	NOUN
fumecheng-11470	188	20	,	,	PUNCT
fumecheng-11470	188	21	pass	pass	VERB
fumecheng-11470	188	22	all	all	DET
fumecheng-11470	188	23	parameters	parameter	NOUN
fumecheng-11470	188	24	of	of	ADP
fumecheng-11470	188	25	the	the	DET
fumecheng-11470	188	26	neural	neural	ADJ
fumecheng-11470	188	27	network	network	NOUN
fumecheng-11470	188	28	into	into	ADP
fumecheng-11470	188	29	the	the	DET
fumecheng-11470	188	30	optimizer	optimizer	NOUN
fumecheng-11470	188	31	;	;	PUNCT
fumecheng-11470	188	32	define	define	VERB
fumecheng-11470	188	33	the	the	DET
fumecheng-11470	188	34	loss	loss	NOUN
fumecheng-11470	188	35	function	function	NOUN
fumecheng-11470	188	36	,	,	PUNCT
fumecheng-11470	188	37	which	which	PRON
fumecheng-11470	188	38	is	be	AUX
fumecheng-11470	188	39	the	the	DET
fumecheng-11470	188	40	equation	equation	NOUN
fumecheng-11470	188	41	for	for	ADP
fumecheng-11470	188	42	calculating	calculate	VERB
fumecheng-11470	188	43	the	the	DET
fumecheng-11470	188	44	error	error	NOUN
fumecheng-11470	188	45	between	between	ADP
fumecheng-11470	188	46	the	the	DET
fumecheng-11470	188	47	predicted	predict	VERB
fumecheng-11470	188	48	and	and	CCONJ
fumecheng-11470	188	49	actual	actual	ADJ
fumecheng-11470	188	50	values	value	NOUN
fumecheng-11470	188	51	of	of	ADP
fumecheng-11470	188	52	the	the	DET
fumecheng-11470	188	53	neural	neural	ADJ
fumecheng-11470	188	54	network	network	NOUN
fumecheng-11470	188	55	,	,	PUNCT
fumecheng-11470	188	56	and	and	CCONJ
fumecheng-11470	188	57	use	use	VERB
fumecheng-11470	188	58	eq	eq	ADJ
fumecheng-11470	188	59	.	.	PUNCT
fumecheng-11470	189	1	(	(	PUNCT
fumecheng-11470	189	2	9	9	NUM
fumecheng-11470	189	3	)	)	PUNCT
fumecheng-11470	189	4	here	here	ADV
fumecheng-11470	189	5	.	.	PUNCT
fumecheng-11470	190	1	step	step	NOUN
fumecheng-11470	190	2	2	2	NUM
fumecheng-11470	190	3	:	:	PUNCT
fumecheng-11470	190	4	the	the	DET
fumecheng-11470	190	5	training	training	NOUN
fumecheng-11470	190	6	data	datum	NOUN
fumecheng-11470	190	7	is	be	AUX
fumecheng-11470	190	8	used	use	VERB
fumecheng-11470	190	9	as	as	ADP
fumecheng-11470	190	10	the	the	DET
fumecheng-11470	190	11	input	input	NOUN
fumecheng-11470	190	12	of	of	ADP
fumecheng-11470	190	13	the	the	DET
fumecheng-11470	190	14	neural	neural	ADJ
fumecheng-11470	190	15	network	network	NOUN
fumecheng-11470	190	16	.	.	PUNCT
fumecheng-11470	191	1	the	the	DET
fumecheng-11470	191	2	training	training	NOUN
fumecheng-11470	191	3	data	datum	NOUN
fumecheng-11470	191	4	,	,	PUNCT
fumecheng-11470	191	5	i.e.	i.e.	X
fumecheng-11470	191	6	,	,	PUNCT
fumecheng-11470	191	7	the	the	DET
fumecheng-11470	191	8	position	position	NOUN
fumecheng-11470	191	9	,	,	PUNCT
fumecheng-11470	191	10	speed	speed	NOUN
fumecheng-11470	191	11	,	,	PUNCT
fumecheng-11470	191	12	theoretical	theoretical	ADJ
fumecheng-11470	191	13	torque	torque	NOUN
fumecheng-11470	191	14	,	,	PUNCT
fumecheng-11470	191	15	actual	actual	ADJ
fumecheng-11470	191	16	torque	torque	NOUN
fumecheng-11470	191	17	,	,	PUNCT
fumecheng-11470	191	18	and	and	CCONJ
fumecheng-11470	191	19	temperature	temperature	NOUN
fumecheng-11470	191	20	values	value	NOUN
fumecheng-11470	191	21	of	of	ADP
fumecheng-11470	191	22	the	the	DET
fumecheng-11470	191	23	robot	robot	NOUN
fumecheng-11470	191	24	joints	joint	NOUN
fumecheng-11470	191	25	,	,	PUNCT
fumecheng-11470	191	26	are	be	AUX
fumecheng-11470	191	27	used	use	VERB
fumecheng-11470	191	28	to	to	PART
fumecheng-11470	191	29	obtain	obtain	VERB
fumecheng-11470	191	30	the	the	DET
fumecheng-11470	191	31	corresponding	corresponding	ADJ
fumecheng-11470	191	32	output	output	NOUN
fumecheng-11470	191	33	values	value	NOUN
fumecheng-11470	191	34	through	through	ADP
fumecheng-11470	191	35	the	the	DET
fumecheng-11470	191	36	neural	neural	ADJ
fumecheng-11470	191	37	network	network	NOUN
fumecheng-11470	191	38	.	.	PUNCT
fumecheng-11470	192	1	step	step	NOUN
fumecheng-11470	192	2	3	3	NUM
fumecheng-11470	192	3	:	:	PUNCT
fumecheng-11470	192	4	the	the	DET
fumecheng-11470	192	5	error	error	NOUN
fumecheng-11470	192	6	between	between	ADP
fumecheng-11470	192	7	the	the	DET
fumecheng-11470	192	8	output	output	NOUN
fumecheng-11470	192	9	value	value	NOUN
fumecheng-11470	192	10	of	of	ADP
fumecheng-11470	192	11	the	the	DET
fumecheng-11470	192	12	neural	neural	ADJ
fumecheng-11470	192	13	network	network	NOUN
fumecheng-11470	192	14	and	and	CCONJ
fumecheng-11470	192	15	the	the	DET
fumecheng-11470	192	16	objective	objective	ADJ
fumecheng-11470	192	17	value	value	NOUN
fumecheng-11470	192	18	,	,	PUNCT
fumecheng-11470	192	19	which	which	PRON
fumecheng-11470	192	20	is	be	AUX
fumecheng-11470	192	21	the	the	DET
fumecheng-11470	192	22	value	value	NOUN
fumecheng-11470	192	23	of	of	ADP
fumecheng-11470	192	24	the	the	DET
fumecheng-11470	192	25	friction	friction	NOUN
fumecheng-11470	192	26	torque	torque	NOUN
fumecheng-11470	192	27	of	of	ADP
fumecheng-11470	192	28	the	the	DET
fumecheng-11470	192	29	robot	robot	NOUN
fumecheng-11470	192	30	joint	joint	NOUN
fumecheng-11470	192	31	,	,	PUNCT
fumecheng-11470	192	32	is	be	AUX
fumecheng-11470	192	33	found	find	VERB
fumecheng-11470	192	34	according	accord	VERB
fumecheng-11470	192	35	to	to	ADP
fumecheng-11470	192	36	the	the	DET
fumecheng-11470	192	37	error	error	NOUN
fumecheng-11470	192	38	calculation	calculation	NOUN
fumecheng-11470	192	39	equation	equation	NOUN
fumecheng-11470	192	40	.	.	PUNCT
fumecheng-11470	193	1	step	step	NOUN
fumecheng-11470	193	2	4	4	NUM
fumecheng-11470	193	3	:	:	PUNCT
fumecheng-11470	193	4	clear	clear	VERB
fumecheng-11470	193	5	the	the	DET
fumecheng-11470	193	6	residual	residual	ADJ
fumecheng-11470	193	7	update	update	NOUN
fumecheng-11470	193	8	parameter	parameter	NOUN
fumecheng-11470	193	9	values	value	NOUN
fumecheng-11470	193	10	from	from	ADP
fumecheng-11470	193	11	the	the	DET
fumecheng-11470	193	12	previous	previous	ADJ
fumecheng-11470	193	13	iteration	iteration	NOUN
fumecheng-11470	193	14	.	.	PUNCT
fumecheng-11470	194	1	step	step	NOUN
fumecheng-11470	194	2	5	5	NUM
fumecheng-11470	194	3	:	:	PUNCT
fumecheng-11470	194	4	error	error	NOUN
fumecheng-11470	194	5	back	back	NOUN
fumecheng-11470	194	6	propagation	propagation	NOUN
fumecheng-11470	194	7	and	and	CCONJ
fumecheng-11470	194	8	calculation	calculation	NOUN
fumecheng-11470	194	9	of	of	ADP
fumecheng-11470	194	10	updated	update	VERB
fumecheng-11470	194	11	parameter	parameter	NOUN
fumecheng-11470	194	12	values	value	NOUN
fumecheng-11470	194	13	.	.	PUNCT
fumecheng-11470	195	1	step	step	NOUN
fumecheng-11470	195	2	6	6	NUM
fumecheng-11470	195	3	:	:	PUNCT
fumecheng-11470	195	4	make	make	VERB
fumecheng-11470	195	5	the	the	DET
fumecheng-11470	195	6	parameter	parameter	NOUN
fumecheng-11470	195	7	update	update	NOUN
fumecheng-11470	195	8	values	value	NOUN
fumecheng-11470	195	9	imposed	impose	VERB
fumecheng-11470	195	10	on	on	ADP
fumecheng-11470	195	11	the	the	DET
fumecheng-11470	195	12	parameters	parameter	NOUN
fumecheng-11470	195	13	of	of	ADP
fumecheng-11470	195	14	the	the	DET
fumecheng-11470	195	15	neural	neural	ADJ
fumecheng-11470	195	16	network	network	NOUN
fumecheng-11470	195	17	.	.	PUNCT
fumecheng-11470	196	1	step	step	NOUN
fumecheng-11470	196	2	7	7	NUM
fumecheng-11470	196	3	:	:	PUNCT
fumecheng-11470	196	4	determine	determine	VERB
fumecheng-11470	196	5	if	if	SCONJ
fumecheng-11470	196	6	the	the	DET
fumecheng-11470	196	7	present	present	ADJ
fumecheng-11470	196	8	maximum	maximum	ADJ
fumecheng-11470	196	9	iteration	iteration	NOUN
fumecheng-11470	196	10	number	number	NOUN
fumecheng-11470	196	11	is	be	AUX
fumecheng-11470	196	12	reached	reach	VERB
fumecheng-11470	196	13	.	.	PUNCT
fumecheng-11470	197	1	if	if	SCONJ
fumecheng-11470	197	2	the	the	DET
fumecheng-11470	197	3	current	current	ADJ
fumecheng-11470	197	4	step	step	NOUN
fumecheng-11470	197	5	number	number	NOUN
fumecheng-11470	197	6	is	be	AUX
fumecheng-11470	197	7	less	less	ADJ
fumecheng-11470	197	8	than	than	ADP
fumecheng-11470	197	9	the	the	DET
fumecheng-11470	197	10	maximum	maximum	ADJ
fumecheng-11470	197	11	iteration	iteration	NOUN
fumecheng-11470	197	12	number	number	NOUN
fumecheng-11470	197	13	,	,	PUNCT
fumecheng-11470	197	14	go	go	VERB
fumecheng-11470	197	15	to	to	PART
fumecheng-11470	197	16	step	step	VERB
fumecheng-11470	197	17	2	2	NUM
fumecheng-11470	197	18	.	.	PUNCT
fumecheng-11470	198	1	if	if	SCONJ
fumecheng-11470	198	2	the	the	DET
fumecheng-11470	198	3	current	current	ADJ
fumecheng-11470	198	4	step	step	NOUN
fumecheng-11470	198	5	number	number	NOUN
fumecheng-11470	198	6	equals	equal	VERB
fumecheng-11470	198	7	the	the	DET
fumecheng-11470	198	8	maximum	maximum	ADJ
fumecheng-11470	198	9	iteration	iteration	NOUN
fumecheng-11470	198	10	step	step	NOUN
fumecheng-11470	198	11	,	,	PUNCT
fumecheng-11470	198	12	then	then	ADV
fumecheng-11470	198	13	end	end	VERB
fumecheng-11470	198	14	.	.	PUNCT
fumecheng-11470	199	1	study	study	NOUN
fumecheng-11470	199	2	of	of	ADP
fumecheng-11470	199	3	friction	friction	NOUN
fumecheng-11470	199	4	compensation	compensation	NOUN
fumecheng-11470	199	5	model	model	NOUN
fumecheng-11470	199	6	for	for	ADP
fumecheng-11470	199	7	mobile	mobile	NOUN
fumecheng-11470	199	8	robot	robot	NOUN
fumecheng-11470	199	9	’s	’s	PART
fumecheng-11470	199	10	joints	joint	NOUN
fumecheng-11470	199	11	731	731	NUM
fumecheng-11470	199	12	fig	fig	NOUN
fumecheng-11470	199	13	.	.	PUNCT
fumecheng-11470	200	1	7	7	NUM
fumecheng-11470	200	2	neural	neural	ADJ
fumecheng-11470	200	3	network	network	NOUN
fumecheng-11470	200	4	training	training	NOUN
fumecheng-11470	200	5	flow	flow	NOUN
fumecheng-11470	200	6	chart	chart	NOUN
fumecheng-11470	200	7	in	in	ADP
fumecheng-11470	200	8	this	this	DET
fumecheng-11470	200	9	study	study	NOUN
fumecheng-11470	200	10	,	,	PUNCT
fumecheng-11470	200	11	the	the	DET
fumecheng-11470	200	12	learning	learning	NOUN
fumecheng-11470	200	13	rate	rate	NOUN
fumecheng-11470	200	14	was	be	AUX
fumecheng-11470	200	15	set	set	VERB
fumecheng-11470	200	16	to	to	ADP
fumecheng-11470	200	17	0.01	0.01	NUM
fumecheng-11470	200	18	,	,	PUNCT
fumecheng-11470	200	19	and	and	CCONJ
fumecheng-11470	200	20	the	the	DET
fumecheng-11470	200	21	maximum	maximum	ADJ
fumecheng-11470	200	22	number	number	NOUN
fumecheng-11470	200	23	of	of	ADP
fumecheng-11470	200	24	iteration	iteration	NOUN
fumecheng-11470	200	25	steps	step	NOUN
fumecheng-11470	200	26	was	be	AUX
fumecheng-11470	200	27	set	set	VERB
fumecheng-11470	200	28	to	to	ADP
fumecheng-11470	200	29	500	500	NUM
fumecheng-11470	200	30	during	during	ADP
fumecheng-11470	200	31	training	training	NOUN
fumecheng-11470	200	32	.	.	PUNCT
fumecheng-11470	201	1	the	the	DET
fumecheng-11470	201	2	training	training	NOUN
fumecheng-11470	201	3	tool	tool	NOUN
fumecheng-11470	201	4	uses	use	VERB
fumecheng-11470	201	5	the	the	DET
fumecheng-11470	201	6	optimizer	optimizer	NOUN
fumecheng-11470	201	7	in	in	ADP
fumecheng-11470	201	8	pytorch	pytorch	NOUN
fumecheng-11470	201	9	and	and	CCONJ
fumecheng-11470	201	10	the	the	DET
fumecheng-11470	201	11	stochastic	stochastic	ADJ
fumecheng-11470	201	12	gradient	gradient	ADJ
fumecheng-11470	201	13	descent	descent	NOUN
fumecheng-11470	201	14	algorithm	algorithm	NOUN
fumecheng-11470	201	15	sgd	sgd	PROPN
fumecheng-11470	201	16	(	(	PUNCT
fumecheng-11470	201	17	stochastic	stochastic	ADJ
fumecheng-11470	201	18	gradient	gradient	ADJ
fumecheng-11470	201	19	descent	descent	NOUN
fumecheng-11470	201	20	)	)	PUNCT
fumecheng-11470	202	1	[	[	X
fumecheng-11470	202	2	31	31	NUM
fumecheng-11470	202	3	]	]	PUNCT
fumecheng-11470	202	4	.	.	PUNCT
fumecheng-11470	203	1	since	since	SCONJ
fumecheng-11470	203	2	the	the	DET
fumecheng-11470	203	3	stochastic	stochastic	ADJ
fumecheng-11470	203	4	gradient	gradient	ADJ
fumecheng-11470	203	5	descent	descent	NOUN
fumecheng-11470	203	6	algorithm	algorithm	NOUN
fumecheng-11470	203	7	uses	use	VERB
fumecheng-11470	203	8	one	one	NUM
fumecheng-11470	203	9	sample	sample	NOUN
fumecheng-11470	203	10	in	in	ADP
fumecheng-11470	203	11	each	each	DET
fumecheng-11470	203	12	iteration	iteration	NOUN
fumecheng-11470	203	13	to	to	PART
fumecheng-11470	203	14	update	update	VERB
fumecheng-11470	203	15	the	the	DET
fumecheng-11470	203	16	parameters	parameter	NOUN
fumecheng-11470	203	17	,	,	PUNCT
fumecheng-11470	203	18	the	the	DET
fumecheng-11470	203	19	training	training	NOUN
fumecheng-11470	203	20	is	be	AUX
fumecheng-11470	203	21	faster	fast	ADJ
fumecheng-11470	203	22	,	,	PUNCT
fumecheng-11470	203	23	and	and	CCONJ
fumecheng-11470	203	24	the	the	DET
fumecheng-11470	203	25	specific	specific	ADJ
fumecheng-11470	203	26	mathematical	mathematical	ADJ
fumecheng-11470	203	27	expression	expression	NOUN
fumecheng-11470	203	28	for	for	ADP
fumecheng-11470	203	29	parameter	parameter	NOUN
fumecheng-11470	203	30	update	update	NOUN
fumecheng-11470	203	31	is	be	AUX
fumecheng-11470	203	32	as	as	SCONJ
fumecheng-11470	203	33	follows	follow	VERB
fumecheng-11470	203	34	:	:	PUNCT
fumecheng-11470	203	35	1	1	NUM
fumecheng-11470	203	36	θj	θj	NOUN
fumecheng-11470	203	37	jθ	jθ	ADV
fumecheng-11470	203	38	θ	θ	PROPN
fumecheng-11470	203	39	a	a	DET
fumecheng-11470	203	40	loss+	loss+	X
fumecheng-11470	203	41	=	=	SYM
fumecheng-11470	203	42	+	+	CCONJ
fumecheng-11470	203	43			PROPN
fumecheng-11470	203	44	(	(	PUNCT
fumecheng-11470	203	45	10	10	NUM
fumecheng-11470	203	46	)	)	PUNCT
fumecheng-11470	203	47	where	where	SCONJ
fumecheng-11470	203	48	a	a	PRON
fumecheng-11470	203	49	is	be	AUX
fumecheng-11470	203	50	the	the	DET
fumecheng-11470	203	51	learning	learning	NOUN
fumecheng-11470	203	52	rate	rate	NOUN
fumecheng-11470	203	53	,	,	PUNCT
fumecheng-11470	203	54	𝜃𝑗	𝜃𝑗	PUNCT
fumecheng-11470	203	55	is	be	AUX
fumecheng-11470	203	56	the	the	DET
fumecheng-11470	203	57	weight	weight	NOUN
fumecheng-11470	203	58	coefficient	coefficient	NOUN
fumecheng-11470	203	59	under	under	ADP
fumecheng-11470	203	60	the	the	DET
fumecheng-11470	203	61	jth	jth	PROPN
fumecheng-11470	203	62	iteration	iteration	NOUN
fumecheng-11470	203	63	,	,	PUNCT
fumecheng-11470	203	64	j	j	PROPN
fumecheng-11470	203	65	is	be	AUX
fumecheng-11470	203	66	the	the	DET
fumecheng-11470	203	67	number	number	NOUN
fumecheng-11470	203	68	of	of	ADP
fumecheng-11470	203	69	iterations	iteration	NOUN
fumecheng-11470	203	70	,	,	PUNCT
fumecheng-11470	203	71	θloss	θloss	PROPN
fumecheng-11470	203	72	is	be	AUX
fumecheng-11470	203	73	the	the	DET
fumecheng-11470	203	74	gradient	gradient	NOUN
fumecheng-11470	203	75	of	of	ADP
fumecheng-11470	203	76	the	the	DET
fumecheng-11470	203	77	loss	loss	NOUN
fumecheng-11470	203	78	function	function	NOUN
fumecheng-11470	203	79	.	.	PUNCT
fumecheng-11470	204	1	when	when	SCONJ
fumecheng-11470	204	2	the	the	DET
fumecheng-11470	204	3	number	number	NOUN
fumecheng-11470	204	4	of	of	ADP
fumecheng-11470	204	5	iterative	iterative	NOUN
fumecheng-11470	204	6	steps	step	NOUN
fumecheng-11470	204	7	reaches	reach	VERB
fumecheng-11470	204	8	500	500	NUM
fumecheng-11470	204	9	,	,	PUNCT
fumecheng-11470	204	10	the	the	DET
fumecheng-11470	204	11	loss	loss	NOUN
fumecheng-11470	204	12	value	value	NOUN
fumecheng-11470	204	13	in	in	ADP
fumecheng-11470	204	14	the	the	DET
fumecheng-11470	204	15	training	training	NOUN
fumecheng-11470	204	16	process	process	NOUN
fumecheng-11470	204	17	tends	tend	VERB
fumecheng-11470	204	18	to	to	ADP
fumecheng-11470	204	19	zero	zero	NUM
fumecheng-11470	204	20	,	,	PUNCT
fumecheng-11470	204	21	and	and	CCONJ
fumecheng-11470	204	22	the	the	DET
fumecheng-11470	204	23	training	training	NOUN
fumecheng-11470	204	24	ends	end	VERB
fumecheng-11470	204	25	.	.	PUNCT
fumecheng-11470	205	1	the	the	DET
fumecheng-11470	205	2	final	final	ADJ
fumecheng-11470	205	3	neural	neural	ADJ
fumecheng-11470	205	4	network	network	NOUN
fumecheng-11470	205	5	fitting	fitting	ADJ
fumecheng-11470	205	6	results	result	NOUN
fumecheng-11470	205	7	(	(	PUNCT
fumecheng-11470	205	8	figs	fig	NOUN
fumecheng-11470	205	9	.	.	PUNCT
fumecheng-11470	206	1	8	8	NUM
fumecheng-11470	206	2	-	-	SYM
fumecheng-11470	206	3	11	11	NUM
fumecheng-11470	206	4	)	)	PUNCT
fumecheng-11470	206	5	732	732	NUM
fumecheng-11470	206	6	y.	y.	PROPN
fumecheng-11470	206	7	cao	cao	PROPN
fumecheng-11470	206	8	,	,	PUNCT
fumecheng-11470	206	9	n.m	n.m	PROPN
fumecheng-11470	206	10	.	.	PROPN
fumecheng-11470	206	11	nor	nor	CCONJ
fumecheng-11470	206	12	,	,	PUNCT
fumecheng-11470	206	13	z.	z.	PROPN
fumecheng-11470	206	14	samad	samad	PROPN
fumecheng-11470	206	15	show	show	VERB
fumecheng-11470	206	16	that	that	SCONJ
fumecheng-11470	206	17	the	the	DET
fumecheng-11470	206	18	output	output	NOUN
fumecheng-11470	206	19	value	value	NOUN
fumecheng-11470	206	20	of	of	ADP
fumecheng-11470	206	21	the	the	DET
fumecheng-11470	206	22	neural	neural	ADJ
fumecheng-11470	206	23	network	network	NOUN
fumecheng-11470	206	24	and	and	CCONJ
fumecheng-11470	206	25	the	the	DET
fumecheng-11470	206	26	target	target	NOUN
fumecheng-11470	206	27	value	value	NOUN
fumecheng-11470	206	28	are	be	AUX
fumecheng-11470	206	29	the	the	DET
fumecheng-11470	206	30	same	same	ADJ
fumecheng-11470	206	31	for	for	ADP
fumecheng-11470	206	32	a	a	DET
fumecheng-11470	206	33	given	give	VERB
fumecheng-11470	206	34	velocity	velocity	NOUN
fumecheng-11470	206	35	of	of	ADP
fumecheng-11470	206	36	the	the	DET
fumecheng-11470	206	37	robot	robot	NOUN
fumecheng-11470	206	38	joint	joint	NOUN
fumecheng-11470	206	39	,	,	PUNCT
fumecheng-11470	206	40	and	and	CCONJ
fumecheng-11470	206	41	the	the	DET
fumecheng-11470	206	42	fitting	fitting	ADJ
fumecheng-11470	206	43	effect	effect	NOUN
fumecheng-11470	206	44	is	be	AUX
fumecheng-11470	206	45	good	good	ADJ
fumecheng-11470	206	46	.	.	PUNCT
fumecheng-11470	207	1	therefore	therefore	ADV
fumecheng-11470	207	2	,	,	PUNCT
fumecheng-11470	207	3	it	it	PRON
fumecheng-11470	207	4	is	be	AUX
fumecheng-11470	207	5	assumed	assume	VERB
fumecheng-11470	207	6	that	that	SCONJ
fumecheng-11470	207	7	the	the	DET
fumecheng-11470	207	8	initialized	initialize	VERB
fumecheng-11470	207	9	neural	neural	ADJ
fumecheng-11470	207	10	network	network	NOUN
fumecheng-11470	207	11	has	have	AUX
fumecheng-11470	207	12	already	already	ADV
fumecheng-11470	207	13	learned	learn	VERB
fumecheng-11470	207	14	the	the	DET
fumecheng-11470	207	15	information	information	NOUN
fumecheng-11470	207	16	about	about	ADP
fumecheng-11470	207	17	the	the	DET
fumecheng-11470	207	18	correlation	correlation	NOUN
fumecheng-11470	207	19	between	between	ADP
fumecheng-11470	207	20	the	the	DET
fumecheng-11470	207	21	speed	speed	NOUN
fumecheng-11470	207	22	of	of	ADP
fumecheng-11470	207	23	the	the	DET
fumecheng-11470	207	24	robot	robot	NOUN
fumecheng-11470	207	25	joints	joint	NOUN
fumecheng-11470	207	26	and	and	CCONJ
fumecheng-11470	207	27	the	the	DET
fumecheng-11470	207	28	friction	friction	NOUN
fumecheng-11470	207	29	torque	torque	NOUN
fumecheng-11470	207	30	:	:	PUNCT
fumecheng-11470	207	31	1	1	X
fumecheng-11470	207	32	)	)	PUNCT
fumecheng-11470	207	33	by	by	ADP
fumecheng-11470	207	34	low	low	ADJ
fumecheng-11470	207	35	-	-	PUNCT
fumecheng-11470	207	36	speed	speed	NOUN
fumecheng-11470	207	37	and	and	CCONJ
fumecheng-11470	207	38	high	high	ADJ
fumecheng-11470	207	39	-	-	PUNCT
fumecheng-11470	207	40	speed	speed	NOUN
fumecheng-11470	207	41	phases	phase	NOUN
fumecheng-11470	207	42	low	low	ADJ
fumecheng-11470	207	43	-	-	PUNCT
fumecheng-11470	207	44	speed	speed	NOUN
fumecheng-11470	207	45	phase	phase	NOUN
fumecheng-11470	207	46	fig	fig	NOUN
fumecheng-11470	207	47	.	.	PUNCT
fumecheng-11470	208	1	8	8	NUM
fumecheng-11470	208	2	convergence	convergence	NOUN
fumecheng-11470	208	3	diagram	diagram	NOUN
fumecheng-11470	208	4	of	of	ADP
fumecheng-11470	208	5	low	low	ADJ
fumecheng-11470	208	6	-	-	PUNCT
fumecheng-11470	208	7	speed	speed	NOUN
fumecheng-11470	208	8	stage	stage	NOUN
fumecheng-11470	208	9	high	high	ADJ
fumecheng-11470	208	10	-	-	PUNCT
fumecheng-11470	208	11	speed	speed	NOUN
fumecheng-11470	208	12	phase	phase	NOUN
fumecheng-11470	208	13	fig	fig	NOUN
fumecheng-11470	208	14	.	.	PUNCT
fumecheng-11470	209	1	9	9	NUM
fumecheng-11470	209	2	convergence	convergence	NOUN
fumecheng-11470	209	3	diagram	diagram	NOUN
fumecheng-11470	209	4	of	of	ADP
fumecheng-11470	209	5	high	high	ADJ
fumecheng-11470	209	6	-	-	PUNCT
fumecheng-11470	209	7	speed	speed	NOUN
fumecheng-11470	209	8	stage	stage	NOUN
fumecheng-11470	209	9	study	study	NOUN
fumecheng-11470	209	10	of	of	ADP
fumecheng-11470	209	11	friction	friction	NOUN
fumecheng-11470	209	12	compensation	compensation	NOUN
fumecheng-11470	209	13	model	model	NOUN
fumecheng-11470	209	14	for	for	ADP
fumecheng-11470	209	15	mobile	mobile	NOUN
fumecheng-11470	209	16	robot	robot	NOUN
fumecheng-11470	209	17	’s	’s	PART
fumecheng-11470	209	18	joints	joint	NOUN
fumecheng-11470	209	19	733	733	NUM
fumecheng-11470	209	20	2	2	NUM
fumecheng-11470	209	21	)	)	PUNCT
fumecheng-11470	209	22	by	by	ADP
fumecheng-11470	209	23	acceleration	acceleration	NOUN
fumecheng-11470	209	24	and	and	CCONJ
fumecheng-11470	209	25	uniform	uniform	NOUN
fumecheng-11470	209	26	phase	phase	NOUN
fumecheng-11470	209	27	acceleration	acceleration	NOUN
fumecheng-11470	209	28	phase	phase	NOUN
fumecheng-11470	209	29	:	:	PUNCT
fumecheng-11470	209	30	fig	fig	NOUN
fumecheng-11470	209	31	.	.	PUNCT
fumecheng-11470	210	1	10	10	NUM
fumecheng-11470	210	2	convergence	convergence	NOUN
fumecheng-11470	210	3	diagram	diagram	NOUN
fumecheng-11470	210	4	of	of	ADP
fumecheng-11470	210	5	the	the	DET
fumecheng-11470	210	6	acceleration	acceleration	NOUN
fumecheng-11470	210	7	phase	phase	NOUN
fumecheng-11470	210	8	uniform	uniform	NOUN
fumecheng-11470	210	9	phase	phase	NOUN
fumecheng-11470	210	10	:	:	PUNCT
fumecheng-11470	210	11	fig	fig	NOUN
fumecheng-11470	210	12	.	.	PUNCT
fumecheng-11470	211	1	11	11	NUM
fumecheng-11470	211	2	convergence	convergence	NOUN
fumecheng-11470	211	3	diagram	diagram	NOUN
fumecheng-11470	211	4	of	of	ADP
fumecheng-11470	211	5	uniform	uniform	ADJ
fumecheng-11470	211	6	velocity	velocity	NOUN
fumecheng-11470	211	7	stage	stage	NOUN
fumecheng-11470	211	8	the	the	DET
fumecheng-11470	211	9	conclusions	conclusion	NOUN
fumecheng-11470	211	10	are	be	AUX
fumecheng-11470	211	11	that	that	SCONJ
fumecheng-11470	211	12	the	the	DET
fumecheng-11470	211	13	algorithm	algorithm	NOUN
fumecheng-11470	211	14	of	of	ADP
fumecheng-11470	211	15	the	the	DET
fumecheng-11470	211	16	friction	friction	NOUN
fumecheng-11470	211	17	compensation	compensation	NOUN
fumecheng-11470	211	18	model	model	NOUN
fumecheng-11470	211	19	divided	divide	VERB
fumecheng-11470	211	20	by	by	ADP
fumecheng-11470	211	21	acceleration	acceleration	NOUN
fumecheng-11470	211	22	/	/	SYM
fumecheng-11470	211	23	deceleration	deceleration	NOUN
fumecheng-11470	211	24	/	/	SYM
fumecheng-11470	211	25	homogeneous	homogeneous	ADJ
fumecheng-11470	211	26	speed	speed	NOUN
fumecheng-11470	211	27	converged	converge	VERB
fumecheng-11470	211	28	fastest	fast	ADV
fumecheng-11470	211	29	,	,	PUNCT
fumecheng-11470	211	30	and	and	CCONJ
fumecheng-11470	211	31	the	the	DET
fumecheng-11470	211	32	algorithm	algorithm	NOUN
fumecheng-11470	211	33	converged	converge	VERB
fumecheng-11470	211	34	between	between	ADP
fumecheng-11470	211	35	40	40	NUM
fumecheng-11470	211	36	-	-	SYM
fumecheng-11470	211	37	150	150	NUM
fumecheng-11470	211	38	iterations	iteration	NOUN
fumecheng-11470	211	39	.	.	PUNCT
fumecheng-11470	212	1	the	the	DET
fumecheng-11470	212	2	algorithm	algorithm	NOUN
fumecheng-11470	212	3	converged	converge	VERB
fumecheng-11470	212	4	fastest	fast	ADV
fumecheng-11470	212	5	in	in	ADP
fumecheng-11470	212	6	the	the	DET
fumecheng-11470	212	7	homogeneous	homogeneous	ADJ
fumecheng-11470	212	8	speed	speed	NOUN
fumecheng-11470	212	9	condition	condition	NOUN
fumecheng-11470	212	10	and	and	CCONJ
fumecheng-11470	212	11	converged	converge	VERB
fumecheng-11470	212	12	after	after	ADP
fumecheng-11470	212	13	40	40	NUM
fumecheng-11470	212	14	iterations	iteration	NOUN
fumecheng-11470	212	15	because	because	SCONJ
fumecheng-11470	212	16	the	the	DET
fumecheng-11470	212	17	friction	friction	NOUN
fumecheng-11470	212	18	force	force	NOUN
fumecheng-11470	212	19	in	in	ADP
fumecheng-11470	212	20	the	the	DET
fumecheng-11470	212	21	homogeneous	homogeneous	ADJ
fumecheng-11470	212	22	speed	speed	NOUN
fumecheng-11470	212	23	condition	condition	NOUN
fumecheng-11470	212	24	was	be	AUX
fumecheng-11470	212	25	most	most	ADV
fumecheng-11470	212	26	stable	stable	ADJ
fumecheng-11470	212	27	.	.	PUNCT
fumecheng-11470	213	1	the	the	DET
fumecheng-11470	213	2	algorithm	algorithm	NOUN
fumecheng-11470	213	3	converges	converge	VERB
fumecheng-11470	213	4	slowest	slow	ADJ
fumecheng-11470	213	5	in	in	ADP
fumecheng-11470	213	6	the	the	DET
fumecheng-11470	213	7	low	low	ADJ
fumecheng-11470	213	8	-	-	PUNCT
fumecheng-11470	213	9	speed	speed	NOUN
fumecheng-11470	213	10	case	case	NOUN
fumecheng-11470	213	11	,	,	PUNCT
fumecheng-11470	213	12	going	go	VERB
fumecheng-11470	213	13	through	through	ADP
fumecheng-11470	213	14	two	two	NUM
fumecheng-11470	213	15	convergence	convergence	NOUN
fumecheng-11470	213	16	processes	process	NOUN
fumecheng-11470	213	17	and	and	CCONJ
fumecheng-11470	213	18	converging	converge	VERB
fumecheng-11470	213	19	after	after	ADP
fumecheng-11470	213	20	150	150	NUM
fumecheng-11470	213	21	iterations	iteration	NOUN
fumecheng-11470	213	22	,	,	PUNCT
fumecheng-11470	213	23	which	which	PRON
fumecheng-11470	213	24	is	be	AUX
fumecheng-11470	213	25	due	due	ADJ
fumecheng-11470	213	26	to	to	ADP
fumecheng-11470	213	27	the	the	DET
fumecheng-11470	213	28	existence	existence	NOUN
fumecheng-11470	213	29	of	of	ADP
fumecheng-11470	213	30	multiple	multiple	ADJ
fumecheng-11470	213	31	state	state	NOUN
fumecheng-11470	213	32	transition	transition	NOUN
fumecheng-11470	213	33	processes	process	NOUN
fumecheng-11470	213	34	for	for	ADP
fumecheng-11470	213	35	the	the	DET
fumecheng-11470	213	36	friction	friction	NOUN
fumecheng-11470	213	37	inside	inside	ADP
fumecheng-11470	213	38	the	the	DET
fumecheng-11470	213	39	joint	joint	NOUN
fumecheng-11470	213	40	in	in	ADP
fumecheng-11470	213	41	the	the	DET
fumecheng-11470	213	42	low	low	ADJ
fumecheng-11470	213	43	-	-	PUNCT
fumecheng-11470	213	44	speed	speed	NOUN
fumecheng-11470	213	45	case	case	NOUN
fumecheng-11470	213	46	,	,	PUNCT
fumecheng-11470	213	47	involving	involve	VERB
fumecheng-11470	213	48	various	various	ADJ
fumecheng-11470	213	49	stages	stage	NOUN
fumecheng-11470	213	50	such	such	ADJ
fumecheng-11470	213	51	as	as	ADP
fumecheng-11470	213	52	elastic	elastic	ADJ
fumecheng-11470	213	53	deformation	deformation	NOUN
fumecheng-11470	213	54	stage	stage	NOUN
fumecheng-11470	213	55	,	,	PUNCT
fumecheng-11470	213	56	boundary	boundary	ADJ
fumecheng-11470	213	57	lubrication	lubrication	NOUN
fumecheng-11470	213	58	stage	stage	NOUN
fumecheng-11470	213	59	,	,	PUNCT
fumecheng-11470	213	60	and	and	CCONJ
fumecheng-11470	213	61	partial	partial	ADJ
fumecheng-11470	213	62	liquid	liquid	ADJ
fumecheng-11470	213	63	lubrication	lubrication	NOUN
fumecheng-11470	213	64	.	.	PUNCT
fumecheng-11470	214	1	734	734	NUM
fumecheng-11470	214	2	y.	y.	PROPN
fumecheng-11470	214	3	cao	cao	PROPN
fumecheng-11470	214	4	,	,	PUNCT
fumecheng-11470	214	5	n.m	n.m	PROPN
fumecheng-11470	214	6	.	.	PROPN
fumecheng-11470	214	7	nor	nor	CCONJ
fumecheng-11470	214	8	,	,	PUNCT
fumecheng-11470	214	9	z.	z.	PROPN
fumecheng-11470	214	10	samad	samad	PROPN
fumecheng-11470	214	11	3.2	3.2	NUM
fumecheng-11470	214	12	.	.	PUNCT
fumecheng-11470	215	1	training	training	NOUN
fumecheng-11470	215	2	results	result	VERB
fumecheng-11470	215	3	the	the	DET
fumecheng-11470	215	4	following	following	NOUN
fumecheng-11470	215	5	shows	show	VERB
fumecheng-11470	215	6	the	the	DET
fumecheng-11470	215	7	training	training	NOUN
fumecheng-11470	215	8	effects	effect	NOUN
fumecheng-11470	215	9	of	of	ADP
fumecheng-11470	215	10	these	these	DET
fumecheng-11470	215	11	three	three	NUM
fumecheng-11470	215	12	modes	mode	NOUN
fumecheng-11470	215	13	in	in	ADP
fumecheng-11470	215	14	four	four	NUM
fumecheng-11470	215	15	different	different	ADJ
fumecheng-11470	215	16	scenarios	scenario	NOUN
fumecheng-11470	215	17	:	:	PUNCT
fumecheng-11470	215	18	high	high	ADJ
fumecheng-11470	215	19	speed	speed	NOUN
fumecheng-11470	215	20	,	,	PUNCT
fumecheng-11470	215	21	low	low	ADJ
fumecheng-11470	215	22	speed	speed	NOUN
fumecheng-11470	215	23	,	,	PUNCT
fumecheng-11470	215	24	acceleration	acceleration	NOUN
fumecheng-11470	215	25	and	and	CCONJ
fumecheng-11470	215	26	uniform	uniform	ADJ
fumecheng-11470	215	27	speed	speed	NOUN
fumecheng-11470	215	28	.	.	PUNCT
fumecheng-11470	216	1	the	the	DET
fumecheng-11470	216	2	training	training	NOUN
fumecheng-11470	216	3	results	result	NOUN
fumecheng-11470	216	4	of	of	ADP
fumecheng-11470	216	5	the	the	DET
fumecheng-11470	216	6	linear	linear	ADJ
fumecheng-11470	216	7	model	model	NOUN
fumecheng-11470	216	8	are	be	AUX
fumecheng-11470	216	9	given	give	VERB
fumecheng-11470	216	10	in	in	ADP
fumecheng-11470	216	11	fig	fig	NOUN
fumecheng-11470	216	12	12	12	NUM
fumecheng-11470	216	13	.	.	PUNCT
fumecheng-11470	217	1	fig	fig	NOUN
fumecheng-11470	217	2	.	.	PUNCT
fumecheng-11470	218	1	12	12	NUM
fumecheng-11470	218	2	coefficient	coefficient	NOUN
fumecheng-11470	218	3	of	of	ADP
fumecheng-11470	218	4	determination	determination	NOUN
fumecheng-11470	218	5	curves	curve	NOUN
fumecheng-11470	218	6	tested	test	VERB
fumecheng-11470	218	7	using	use	VERB
fumecheng-11470	218	8	the	the	DET
fumecheng-11470	218	9	linear	linear	ADJ
fumecheng-11470	218	10	model	model	NOUN
fumecheng-11470	218	11	:	:	PUNCT
fumecheng-11470	218	12	a	a	X
fumecheng-11470	218	13	)	)	PUNCT
fumecheng-11470	218	14	low	low	ADJ
fumecheng-11470	218	15	-	-	PUNCT
fumecheng-11470	218	16	speed	speed	NOUN
fumecheng-11470	218	17	state	state	NOUN
fumecheng-11470	218	18	,	,	PUNCT
fumecheng-11470	218	19	b	b	NOUN
fumecheng-11470	218	20	)	)	PUNCT
fumecheng-11470	218	21	high	high	ADJ
fumecheng-11470	218	22	-	-	PUNCT
fumecheng-11470	218	23	speed	speed	NOUN
fumecheng-11470	218	24	state	state	NOUN
fumecheng-11470	218	25	,	,	PUNCT
fumecheng-11470	218	26	c	c	NOUN
fumecheng-11470	218	27	)	)	PUNCT
fumecheng-11470	218	28	accelerated	accelerate	VERB
fumecheng-11470	218	29	situation	situation	NOUN
fumecheng-11470	218	30	,	,	PUNCT
fumecheng-11470	218	31	d	d	X
fumecheng-11470	218	32	)	)	PUNCT
fumecheng-11470	218	33	uniform	uniform	ADJ
fumecheng-11470	218	34	speed	speed	NOUN
fumecheng-11470	218	35	situation	situation	NOUN
fumecheng-11470	218	36	a	a	PRON
fumecheng-11470	218	37	)	)	PUNCT
fumecheng-11470	218	38	b	b	NOUN
fumecheng-11470	218	39	)	)	PUNCT
fumecheng-11470	218	40	c	c	NOUN
fumecheng-11470	218	41	)	)	PUNCT
fumecheng-11470	218	42	d	d	NOUN
fumecheng-11470	218	43	)	)	PUNCT
fumecheng-11470	218	44	study	study	NOUN
fumecheng-11470	218	45	of	of	ADP
fumecheng-11470	218	46	friction	friction	NOUN
fumecheng-11470	218	47	compensation	compensation	NOUN
fumecheng-11470	218	48	model	model	NOUN
fumecheng-11470	218	49	for	for	ADP
fumecheng-11470	218	50	mobile	mobile	NOUN
fumecheng-11470	218	51	robot	robot	NOUN
fumecheng-11470	218	52	’s	’s	PART
fumecheng-11470	218	53	joints	joint	NOUN
fumecheng-11470	218	54	735	735	NUM
fumecheng-11470	218	55	the	the	DET
fumecheng-11470	218	56	training	training	NOUN
fumecheng-11470	218	57	results	result	NOUN
fumecheng-11470	218	58	of	of	ADP
fumecheng-11470	218	59	the	the	DET
fumecheng-11470	218	60	nonlinear	nonlinear	ADJ
fumecheng-11470	218	61	model	model	NOUN
fumecheng-11470	218	62	are	be	AUX
fumecheng-11470	218	63	presented	present	VERB
fumecheng-11470	218	64	in	in	ADP
fumecheng-11470	218	65	fig	fig	NOUN
fumecheng-11470	218	66	.	.	PUNCT
fumecheng-11470	219	1	13	13	NUM
fumecheng-11470	219	2	.	.	X
fumecheng-11470	219	3	fig	fig	NOUN
fumecheng-11470	219	4	.	.	PUNCT
fumecheng-11470	220	1	13	13	NUM
fumecheng-11470	220	2	coefficient	coefficient	NOUN
fumecheng-11470	220	3	of	of	ADP
fumecheng-11470	220	4	determination	determination	NOUN
fumecheng-11470	220	5	curves	curve	NOUN
fumecheng-11470	220	6	tested	test	VERB
fumecheng-11470	220	7	using	use	VERB
fumecheng-11470	220	8	the	the	DET
fumecheng-11470	220	9	nonlinear	nonlinear	ADJ
fumecheng-11470	220	10	model	model	NOUN
fumecheng-11470	220	11	:	:	PUNCT
fumecheng-11470	220	12	a	a	X
fumecheng-11470	220	13	)	)	PUNCT
fumecheng-11470	220	14	low	low	ADJ
fumecheng-11470	220	15	-	-	PUNCT
fumecheng-11470	220	16	speed	speed	NOUN
fumecheng-11470	220	17	state	state	NOUN
fumecheng-11470	220	18	,	,	PUNCT
fumecheng-11470	220	19	b	b	NOUN
fumecheng-11470	220	20	)	)	PUNCT
fumecheng-11470	220	21	high	high	ADJ
fumecheng-11470	220	22	-	-	PUNCT
fumecheng-11470	220	23	speed	speed	NOUN
fumecheng-11470	220	24	state	state	NOUN
fumecheng-11470	220	25	,	,	PUNCT
fumecheng-11470	220	26	c	c	NOUN
fumecheng-11470	220	27	)	)	PUNCT
fumecheng-11470	220	28	accelerated	accelerate	VERB
fumecheng-11470	220	29	situation	situation	NOUN
fumecheng-11470	220	30	,	,	PUNCT
fumecheng-11470	220	31	d	d	X
fumecheng-11470	220	32	)	)	PUNCT
fumecheng-11470	220	33	uniform	uniform	ADJ
fumecheng-11470	220	34	speed	speed	NOUN
fumecheng-11470	220	35	situation	situation	NOUN
fumecheng-11470	220	36	a	a	DET
fumecheng-11470	220	37	)	)	PUNCT
fumecheng-11470	220	38	b	b	NOUN
fumecheng-11470	220	39	)	)	PUNCT
fumecheng-11470	220	40	c	c	NOUN
fumecheng-11470	220	41	)	)	PUNCT
fumecheng-11470	221	1	d	d	NOUN
fumecheng-11470	221	2	)	)	PUNCT
fumecheng-11470	221	3	736	736	NUM
fumecheng-11470	221	4	y.	y.	PROPN
fumecheng-11470	221	5	cao	cao	PROPN
fumecheng-11470	221	6	,	,	PUNCT
fumecheng-11470	221	7	n.m	n.m	PROPN
fumecheng-11470	221	8	.	.	PROPN
fumecheng-11470	221	9	nor	nor	CCONJ
fumecheng-11470	221	10	,	,	PUNCT
fumecheng-11470	221	11	z.	z.	PROPN
fumecheng-11470	221	12	samad	samad	PROPN
fumecheng-11470	221	13	finally	finally	ADV
fumecheng-11470	221	14	,	,	PUNCT
fumecheng-11470	221	15	the	the	DET
fumecheng-11470	221	16	training	training	NOUN
fumecheng-11470	221	17	results	result	NOUN
fumecheng-11470	221	18	of	of	ADP
fumecheng-11470	221	19	the	the	DET
fumecheng-11470	221	20	neural	neural	ADJ
fumecheng-11470	221	21	network	network	NOUN
fumecheng-11470	221	22	model	model	NOUN
fumecheng-11470	221	23	are	be	AUX
fumecheng-11470	221	24	depicted	depict	VERB
fumecheng-11470	221	25	in	in	ADP
fumecheng-11470	221	26	fig	fig	NOUN
fumecheng-11470	221	27	.	.	PUNCT
fumecheng-11470	222	1	14	14	NUM
fumecheng-11470	222	2	.	.	X
fumecheng-11470	222	3	fig	fig	NOUN
fumecheng-11470	222	4	.	.	PUNCT
fumecheng-11470	223	1	14	14	NUM
fumecheng-11470	223	2	coefficient	coefficient	NOUN
fumecheng-11470	223	3	of	of	ADP
fumecheng-11470	223	4	determination	determination	NOUN
fumecheng-11470	223	5	curves	curve	NOUN
fumecheng-11470	223	6	tested	test	VERB
fumecheng-11470	223	7	using	use	VERB
fumecheng-11470	223	8	the	the	DET
fumecheng-11470	223	9	neural	neural	ADJ
fumecheng-11470	223	10	network	network	NOUN
fumecheng-11470	223	11	model	model	NOUN
fumecheng-11470	223	12	:	:	PUNCT
fumecheng-11470	223	13	a	a	X
fumecheng-11470	223	14	)	)	PUNCT
fumecheng-11470	223	15	lowspeed	lowspeed	ADJ
fumecheng-11470	223	16	state	state	PROPN
fumecheng-11470	223	17	,	,	PUNCT
fumecheng-11470	223	18	b	b	NOUN
fumecheng-11470	223	19	)	)	PUNCT
fumecheng-11470	223	20	high	high	ADJ
fumecheng-11470	223	21	-	-	PUNCT
fumecheng-11470	223	22	speed	speed	NOUN
fumecheng-11470	223	23	state	state	NOUN
fumecheng-11470	223	24	,	,	PUNCT
fumecheng-11470	223	25	c	c	NOUN
fumecheng-11470	223	26	)	)	PUNCT
fumecheng-11470	223	27	accelerated	accelerate	VERB
fumecheng-11470	223	28	situation	situation	NOUN
fumecheng-11470	223	29	,	,	PUNCT
fumecheng-11470	223	30	d	d	X
fumecheng-11470	223	31	)	)	PUNCT
fumecheng-11470	223	32	uniform	uniform	ADJ
fumecheng-11470	223	33	speed	speed	NOUN
fumecheng-11470	223	34	situation	situation	NOUN
fumecheng-11470	223	35	a	a	PRON
fumecheng-11470	223	36	)	)	PUNCT
fumecheng-11470	223	37	b	b	NOUN
fumecheng-11470	223	38	)	)	PUNCT
fumecheng-11470	223	39	c	c	NOUN
fumecheng-11470	223	40	)	)	PUNCT
fumecheng-11470	223	41	d	d	NOUN
fumecheng-11470	223	42	)	)	PUNCT
fumecheng-11470	223	43	study	study	NOUN
fumecheng-11470	223	44	of	of	ADP
fumecheng-11470	223	45	friction	friction	NOUN
fumecheng-11470	223	46	compensation	compensation	NOUN
fumecheng-11470	223	47	model	model	NOUN
fumecheng-11470	223	48	for	for	ADP
fumecheng-11470	223	49	mobile	mobile	NOUN
fumecheng-11470	223	50	robot	robot	NOUN
fumecheng-11470	223	51	’s	’s	PART
fumecheng-11470	223	52	joints	joint	NOUN
fumecheng-11470	223	53	737	737	NUM
fumecheng-11470	223	54	the	the	DET
fumecheng-11470	223	55	following	following	ADJ
fumecheng-11470	223	56	conclusions	conclusion	NOUN
fumecheng-11470	223	57	are	be	AUX
fumecheng-11470	223	58	drawn	draw	VERB
fumecheng-11470	223	59	from	from	ADP
fumecheng-11470	223	60	the	the	DET
fumecheng-11470	223	61	results	result	NOUN
fumecheng-11470	223	62	presented	present	VERB
fumecheng-11470	223	63	above	above	ADP
fumecheng-11470	223	64	:	:	PUNCT
fumecheng-11470	223	65	▪	▪	X
fumecheng-11470	223	66	the	the	DET
fumecheng-11470	223	67	learning	learning	NOUN
fumecheng-11470	223	68	results	result	NOUN
fumecheng-11470	223	69	of	of	ADP
fumecheng-11470	223	70	neural	neural	ADJ
fumecheng-11470	223	71	networks	network	NOUN
fumecheng-11470	223	72	are	be	AUX
fumecheng-11470	223	73	significantly	significantly	ADV
fumecheng-11470	223	74	better	well	ADJ
fumecheng-11470	223	75	than	than	ADP
fumecheng-11470	223	76	other	other	ADJ
fumecheng-11470	223	77	mathematical	mathematical	ADJ
fumecheng-11470	223	78	models	model	NOUN
fumecheng-11470	223	79	.	.	PUNCT
fumecheng-11470	224	1	▪	▪	NOUN
fumecheng-11470	224	2	the	the	DET
fumecheng-11470	224	3	model	model	NOUN
fumecheng-11470	224	4	trained	train	VERB
fumecheng-11470	224	5	by	by	ADP
fumecheng-11470	224	6	the	the	DET
fumecheng-11470	224	7	plus	plus	ADJ
fumecheng-11470	224	8	and	and	CCONJ
fumecheng-11470	224	9	uniform	uniform	ADJ
fumecheng-11470	224	10	speed	speed	NOUN
fumecheng-11470	224	11	stage	stage	NOUN
fumecheng-11470	224	12	performs	perform	VERB
fumecheng-11470	224	13	better	well	ADV
fumecheng-11470	224	14	in	in	ADP
fumecheng-11470	224	15	the	the	DET
fumecheng-11470	224	16	test	test	NOUN
fumecheng-11470	224	17	set	set	VERB
fumecheng-11470	224	18	than	than	ADP
fumecheng-11470	224	19	the	the	DET
fumecheng-11470	224	20	model	model	NOUN
fumecheng-11470	224	21	trained	train	VERB
fumecheng-11470	224	22	by	by	ADP
fumecheng-11470	224	23	the	the	DET
fumecheng-11470	224	24	high	high	ADJ
fumecheng-11470	224	25	and	and	CCONJ
fumecheng-11470	224	26	low	low	ADJ
fumecheng-11470	224	27	speeds	speed	NOUN
fumecheng-11470	224	28	.	.	PUNCT
fumecheng-11470	225	1	therefore	therefore	ADV
fumecheng-11470	225	2	,	,	PUNCT
fumecheng-11470	225	3	the	the	DET
fumecheng-11470	225	4	combination	combination	NOUN
fumecheng-11470	225	5	of	of	ADP
fumecheng-11470	225	6	"	"	PUNCT
fumecheng-11470	225	7	neural	neural	ADJ
fumecheng-11470	225	8	network+training	network+training	PROPN
fumecheng-11470	225	9	acceleration	acceleration	NOUN
fumecheng-11470	225	10	or	or	CCONJ
fumecheng-11470	225	11	homogeneous	homogeneous	ADJ
fumecheng-11470	225	12	model	model	NOUN
fumecheng-11470	225	13	"	"	PUNCT
fumecheng-11470	225	14	should	should	AUX
fumecheng-11470	225	15	be	be	AUX
fumecheng-11470	225	16	adopted	adopt	VERB
fumecheng-11470	225	17	to	to	PART
fumecheng-11470	225	18	obtain	obtain	VERB
fumecheng-11470	225	19	the	the	DET
fumecheng-11470	225	20	best	good	ADJ
fumecheng-11470	225	21	friction	friction	NOUN
fumecheng-11470	225	22	compensation	compensation	NOUN
fumecheng-11470	225	23	results	result	NOUN
fumecheng-11470	225	24	.	.	PUNCT
fumecheng-11470	226	1	3.3	3.3	NUM
fumecheng-11470	226	2	.	.	PUNCT
fumecheng-11470	227	1	experimental	experimental	ADJ
fumecheng-11470	227	2	validation	validation	NOUN
fumecheng-11470	227	3	the	the	DET
fumecheng-11470	227	4	experiment	experiment	NOUN
fumecheng-11470	227	5	uses	use	VERB
fumecheng-11470	227	6	a	a	DET
fumecheng-11470	227	7	four	four	NUM
fumecheng-11470	227	8	-	-	PUNCT
fumecheng-11470	227	9	wheeled	wheel	VERB
fumecheng-11470	227	10	mobile	mobile	ADJ
fumecheng-11470	227	11	robot	robot	NOUN
fumecheng-11470	227	12	platform	platform	NOUN
fumecheng-11470	227	13	(	(	PUNCT
fumecheng-11470	227	14	fig	fig	NOUN
fumecheng-11470	227	15	.	.	PUNCT
fumecheng-11470	227	16	15	15	NUM
fumecheng-11470	227	17	)	)	PUNCT
fumecheng-11470	227	18	with	with	ADP
fumecheng-11470	227	19	a	a	DET
fumecheng-11470	227	20	load	load	NOUN
fumecheng-11470	227	21	capacity	capacity	NOUN
fumecheng-11470	227	22	of	of	ADP
fumecheng-11470	227	23	20	20	NUM
fumecheng-11470	227	24	kg	kg	NOUN
fumecheng-11470	227	25	.	.	PUNCT
fumecheng-11470	228	1	the	the	DET
fumecheng-11470	228	2	power	power	NOUN
fumecheng-11470	228	3	unit	unit	NOUN
fumecheng-11470	228	4	drives	drive	VERB
fumecheng-11470	228	5	four	four	NUM
fumecheng-11470	228	6	integrated	integrated	ADJ
fumecheng-11470	228	7	joint	joint	ADJ
fumecheng-11470	228	8	modules	module	NOUN
fumecheng-11470	228	9	by	by	ADP
fumecheng-11470	228	10	an	an	DET
fumecheng-11470	228	11	industrial	industrial	ADJ
fumecheng-11470	228	12	computer	computer	NOUN
fumecheng-11470	228	13	.	.	PUNCT
fumecheng-11470	229	1	fig	fig	NOUN
fumecheng-11470	229	2	.	.	PUNCT
fumecheng-11470	230	1	15	15	NUM
fumecheng-11470	230	2	mobile	mobile	NOUN
fumecheng-11470	230	3	robot	robot	NOUN
fumecheng-11470	230	4	test	test	NOUN
fumecheng-11470	230	5	platform	platform	PROPN
fumecheng-11470	230	6	fig	fig	NOUN
fumecheng-11470	230	7	.	.	PUNCT
fumecheng-11470	231	1	16	16	NUM
fumecheng-11470	231	2	mobile	mobile	ADJ
fumecheng-11470	231	3	robot	robot	NOUN
fumecheng-11470	231	4	’s	’s	PART
fumecheng-11470	231	5	joint	joint	ADJ
fumecheng-11470	231	6	each	each	DET
fumecheng-11470	231	7	integrated	integrate	VERB
fumecheng-11470	231	8	joint	joint	ADJ
fumecheng-11470	231	9	module	module	NOUN
fumecheng-11470	231	10	(	(	PUNCT
fumecheng-11470	231	11	fig	fig	NOUN
fumecheng-11470	231	12	.	.	PUNCT
fumecheng-11470	231	13	16	16	NUM
fumecheng-11470	231	14	)	)	PUNCT
fumecheng-11470	231	15	comprises	comprise	VERB
fumecheng-11470	231	16	a	a	DET
fumecheng-11470	231	17	harmonic	harmonic	ADJ
fumecheng-11470	231	18	reducer	reducer	NOUN
fumecheng-11470	231	19	,	,	PUNCT
fumecheng-11470	231	20	frameless	frameless	ADJ
fumecheng-11470	231	21	torque	torque	NOUN
fumecheng-11470	231	22	motor	motor	NOUN
fumecheng-11470	231	23	,	,	PUNCT
fumecheng-11470	231	24	brake	brake	NOUN
fumecheng-11470	231	25	,	,	PUNCT
fumecheng-11470	231	26	incremental	incremental	ADJ
fumecheng-11470	231	27	encoder	encoder	NOUN
fumecheng-11470	231	28	,	,	PUNCT
fumecheng-11470	231	29	absolute	absolute	ADJ
fumecheng-11470	231	30	encoder	encoder	NOUN
fumecheng-11470	231	31	,	,	PUNCT
fumecheng-11470	231	32	and	and	CCONJ
fumecheng-11470	231	33	servo	servo	NOUN
fumecheng-11470	231	34	driver	driver	NOUN
fumecheng-11470	231	35	,	,	PUNCT
fumecheng-11470	231	36	which	which	PRON
fumecheng-11470	231	37	is	be	AUX
fumecheng-11470	231	38	compact	compact	ADJ
fumecheng-11470	231	39	and	and	CCONJ
fumecheng-11470	231	40	easy	easy	ADJ
fumecheng-11470	231	41	to	to	PART
fumecheng-11470	231	42	install	install	VERB
fumecheng-11470	231	43	.	.	PUNCT
fumecheng-11470	232	1	by	by	ADP
fumecheng-11470	232	2	comparing	compare	VERB
fumecheng-11470	232	3	the	the	DET
fumecheng-11470	232	4	position	position	NOUN
fumecheng-11470	232	5	and	and	CCONJ
fumecheng-11470	232	6	speed	speed	NOUN
fumecheng-11470	232	7	of	of	ADP
fumecheng-11470	232	8	the	the	DET
fumecheng-11470	232	9	feedback	feedback	NOUN
fumecheng-11470	232	10	of	of	ADP
fumecheng-11470	232	11	the	the	DET
fumecheng-11470	232	12	two	two	NUM
fumecheng-11470	232	13	encoders	encoder	NOUN
fumecheng-11470	232	14	and	and	CCONJ
fumecheng-11470	232	15	referring	refer	VERB
fumecheng-11470	232	16	to	to	ADP
fumecheng-11470	232	17	the	the	DET
fumecheng-11470	232	18	drive	drive	ADJ
fumecheng-11470	232	19	current	current	ADJ
fumecheng-11470	232	20	and	and	CCONJ
fumecheng-11470	232	21	motor	motor	NOUN
fumecheng-11470	232	22	torque	torque	NOUN
fumecheng-11470	232	23	output	output	NOUN
fumecheng-11470	232	24	,	,	PUNCT
fumecheng-11470	232	25	the	the	DET
fumecheng-11470	232	26	magnitude	magnitude	NOUN
fumecheng-11470	232	27	of	of	ADP
fumecheng-11470	232	28	the	the	DET
fumecheng-11470	232	29	external	external	ADJ
fumecheng-11470	232	30	force	force	NOUN
fumecheng-11470	232	31	on	on	ADP
fumecheng-11470	232	32	the	the	DET
fumecheng-11470	232	33	joint	joint	NOUN
fumecheng-11470	232	34	where	where	SCONJ
fumecheng-11470	232	35	the	the	DET
fumecheng-11470	232	36	module	module	NOUN
fumecheng-11470	232	37	is	be	AUX
fumecheng-11470	232	38	located	locate	VERB
fumecheng-11470	232	39	can	can	AUX
fumecheng-11470	232	40	be	be	AUX
fumecheng-11470	232	41	determined	determine	VERB
fumecheng-11470	232	42	.	.	PUNCT
fumecheng-11470	233	1	the	the	DET
fumecheng-11470	233	2	programming	programming	NOUN
fumecheng-11470	233	3	scheme	scheme	NOUN
fumecheng-11470	233	4	is	be	AUX
fumecheng-11470	233	5	designed	design	VERB
fumecheng-11470	233	6	to	to	PART
fumecheng-11470	233	7	test	test	VERB
fumecheng-11470	233	8	eight	eight	NUM
fumecheng-11470	233	9	data	datum	NOUN
fumecheng-11470	233	10	sets	set	NOUN
fumecheng-11470	233	11	in	in	ADP
fumecheng-11470	233	12	the	the	DET
fumecheng-11470	233	13	practical	practical	ADJ
fumecheng-11470	233	14	application	application	NOUN
fumecheng-11470	233	15	of	of	ADP
fumecheng-11470	233	16	mobile	mobile	ADJ
fumecheng-11470	233	17	robots	robot	NOUN
fumecheng-11470	233	18	.	.	PUNCT
fumecheng-11470	234	1	the	the	DET
fumecheng-11470	234	2	torque	torque	NOUN
fumecheng-11470	234	3	accuracy	accuracy	NOUN
fumecheng-11470	234	4	without	without	ADP
fumecheng-11470	234	5	friction	friction	NOUN
fumecheng-11470	234	6	compensation	compensation	NOUN
fumecheng-11470	234	7	and	and	CCONJ
fumecheng-11470	234	8	with	with	ADP
fumecheng-11470	234	9	friction	friction	NOUN
fumecheng-11470	234	10	compensation	compensation	NOUN
fumecheng-11470	234	11	is	be	AUX
fumecheng-11470	234	12	compared	compare	VERB
fumecheng-11470	234	13	.	.	PUNCT
fumecheng-11470	235	1	the	the	DET
fumecheng-11470	235	2	calculation	calculation	NOUN
fumecheng-11470	235	3	method	method	NOUN
fumecheng-11470	235	4	of	of	ADP
fumecheng-11470	235	5	torque	torque	NOUN
fumecheng-11470	235	6	relative	relative	ADJ
fumecheng-11470	235	7	error	error	NOUN
fumecheng-11470	235	8	is	be	AUX
fumecheng-11470	235	9	eq	eq	ADJ
fumecheng-11470	235	10	.	.	PROPN
fumecheng-11470	235	11	11	11	NUM
fumecheng-11470	235	12	.	.	X
fumecheng-11470	236	1	738	738	NUM
fumecheng-11470	236	2	y.	y.	PROPN
fumecheng-11470	236	3	cao	cao	PROPN
fumecheng-11470	236	4	,	,	PUNCT
fumecheng-11470	236	5	n.m	n.m	PROPN
fumecheng-11470	236	6	.	.	PROPN
fumecheng-11470	236	7	nor	nor	CCONJ
fumecheng-11470	236	8	,	,	PUNCT
fumecheng-11470	236	9	z.	z.	PROPN
fumecheng-11470	236	10	samad	samad	PROPN
fumecheng-11470	236	11	(	(	PUNCT
fumecheng-11470	236	12	)	)	PUNCT
fumecheng-11470	236	13	δ	δ	PROPN
fumecheng-11470	236	14	100%s	100%s	NUM
fumecheng-11470	236	15	f	f	NOUN
fumecheng-11470	236	16	a	a	DET
fumecheng-11470	236	17	a	a	PROPN
fumecheng-11470	236	18	t	t	NOUN
fumecheng-11470	236	19	t	t	NOUN
fumecheng-11470	236	20	t	t	PROPN
fumecheng-11470	236	21	t	t	PROPN
fumecheng-11470	236	22	+	+	CCONJ
fumecheng-11470	236	23	−	−	PROPN
fumecheng-11470	236	24	=	=	SYM
fumecheng-11470	236	25			NOUN
fumecheng-11470	236	26	(	(	PUNCT
fumecheng-11470	236	27	11	11	NUM
fumecheng-11470	236	28	)	)	PUNCT
fumecheng-11470	236	29	here	here	ADV
fumecheng-11470	236	30	,	,	PUNCT
fumecheng-11470	236	31	ts	ts	X
fumecheng-11470	236	32	is	be	AUX
fumecheng-11470	236	33	the	the	DET
fumecheng-11470	236	34	theoretical	theoretical	ADJ
fumecheng-11470	236	35	torque	torque	NOUN
fumecheng-11470	236	36	,	,	PUNCT
fumecheng-11470	236	37	tf	tf	PROPN
fumecheng-11470	236	38	is	be	AUX
fumecheng-11470	236	39	the	the	DET
fumecheng-11470	236	40	frictional	frictional	ADJ
fumecheng-11470	236	41	force	force	NOUN
fumecheng-11470	236	42	compensation	compensation	NOUN
fumecheng-11470	236	43	torque	torque	NOUN
fumecheng-11470	236	44	,	,	PUNCT
fumecheng-11470	236	45	ta	ta	X
fumecheng-11470	236	46	is	be	AUX
fumecheng-11470	236	47	the	the	DET
fumecheng-11470	236	48	actual	actual	ADJ
fumecheng-11470	236	49	feedback	feedback	NOUN
fumecheng-11470	236	50	torque	torque	NOUN
fumecheng-11470	236	51	.	.	PUNCT
fumecheng-11470	237	1	in	in	ADP
fumecheng-11470	237	2	the	the	DET
fumecheng-11470	237	3	calculation	calculation	NOUN
fumecheng-11470	237	4	of	of	ADP
fumecheng-11470	237	5	the	the	DET
fumecheng-11470	237	6	relative	relative	ADJ
fumecheng-11470	237	7	error	error	NOUN
fumecheng-11470	237	8	,	,	PUNCT
fumecheng-11470	237	9	the	the	DET
fumecheng-11470	237	10	data	datum	NOUN
fumecheng-11470	237	11	that	that	PRON
fumecheng-11470	237	12	are	be	AUX
fumecheng-11470	237	13	too	too	ADV
fumecheng-11470	237	14	small	small	ADJ
fumecheng-11470	237	15	to	to	PART
fumecheng-11470	237	16	cause	cause	VERB
fumecheng-11470	237	17	the	the	DET
fumecheng-11470	237	18	error	error	NOUN
fumecheng-11470	237	19	explosion	explosion	NOUN
fumecheng-11470	237	20	part	part	NOUN
fumecheng-11470	237	21	of	of	ADP
fumecheng-11470	237	22	the	the	DET
fumecheng-11470	237	23	original	original	ADJ
fumecheng-11470	237	24	data	datum	NOUN
fumecheng-11470	237	25	have	have	AUX
fumecheng-11470	237	26	been	be	AUX
fumecheng-11470	237	27	excluded	exclude	VERB
fumecheng-11470	237	28	,	,	PUNCT
fumecheng-11470	237	29	where	where	SCONJ
fumecheng-11470	237	30	𝑇𝐹	𝑇𝐹	PROPN
fumecheng-11470	237	31	is	be	AUX
fumecheng-11470	237	32	zero	zero	NUM
fumecheng-11470	237	33	before	before	ADP
fumecheng-11470	237	34	friction	friction	NOUN
fumecheng-11470	237	35	compensation	compensation	NOUN
fumecheng-11470	237	36	.	.	PUNCT
fumecheng-11470	238	1	the	the	DET
fumecheng-11470	238	2	average	average	ADJ
fumecheng-11470	238	3	relative	relative	ADJ
fumecheng-11470	238	4	error	error	NOUN
fumecheng-11470	238	5	refers	refer	VERB
fumecheng-11470	238	6	to	to	ADP
fumecheng-11470	238	7	the	the	DET
fumecheng-11470	238	8	average	average	NOUN
fumecheng-11470	238	9	of	of	ADP
fumecheng-11470	238	10	the	the	DET
fumecheng-11470	238	11	relative	relative	ADJ
fumecheng-11470	238	12	error	error	NOUN
fumecheng-11470	238	13	of	of	ADP
fumecheng-11470	238	14	each	each	DET
fumecheng-11470	238	15	joint	joint	NOUN
fumecheng-11470	238	16	under	under	ADP
fumecheng-11470	238	17	different	different	ADJ
fumecheng-11470	238	18	paths	path	NOUN
fumecheng-11470	238	19	.	.	PUNCT
fumecheng-11470	239	1	it	it	PRON
fumecheng-11470	239	2	is	be	AUX
fumecheng-11470	239	3	given	give	VERB
fumecheng-11470	239	4	in	in	ADP
fumecheng-11470	239	5	fig	fig	NOUN
fumecheng-11470	239	6	.	.	PUNCT
fumecheng-11470	240	1	17	17	NUM
fumecheng-11470	240	2	.	.	X
fumecheng-11470	240	3	fig	fig	NOUN
fumecheng-11470	240	4	.	.	PUNCT
fumecheng-11470	241	1	17	17	NUM
fumecheng-11470	241	2	robot	robot	NOUN
fumecheng-11470	241	3	joint	joint	PROPN
fumecheng-11470	241	4	compensation	compensation	NOUN
fumecheng-11470	241	5	error	error	NOUN
fumecheng-11470	241	6	diagram	diagram	NOUN
fumecheng-11470	241	7	from	from	ADP
fumecheng-11470	241	8	the	the	DET
fumecheng-11470	241	9	test	test	NOUN
fumecheng-11470	241	10	data	datum	NOUN
fumecheng-11470	241	11	given	give	VERB
fumecheng-11470	241	12	in	in	ADP
fumecheng-11470	241	13	table	table	NOUN
fumecheng-11470	241	14	3	3	NUM
fumecheng-11470	241	15	,	,	PUNCT
fumecheng-11470	241	16	it	it	PRON
fumecheng-11470	241	17	can	can	AUX
fumecheng-11470	241	18	be	be	AUX
fumecheng-11470	241	19	shown	show	VERB
fumecheng-11470	241	20	that	that	SCONJ
fumecheng-11470	241	21	the	the	DET
fumecheng-11470	241	22	relative	relative	ADJ
fumecheng-11470	241	23	error	error	NOUN
fumecheng-11470	241	24	δ	δ	PROPN
fumecheng-11470	241	25	of	of	ADP
fumecheng-11470	241	26	each	each	DET
fumecheng-11470	241	27	joint	joint	NOUN
fumecheng-11470	241	28	of	of	ADP
fumecheng-11470	241	29	the	the	DET
fumecheng-11470	241	30	mobile	mobile	ADJ
fumecheng-11470	241	31	robot	robot	NOUN
fumecheng-11470	241	32	under	under	ADP
fumecheng-11470	241	33	eight	eight	NUM
fumecheng-11470	241	34	test	test	NOUN
fumecheng-11470	241	35	groups	group	NOUN
fumecheng-11470	241	36	after	after	SCONJ
fumecheng-11470	241	37	friction	friction	NOUN
fumecheng-11470	241	38	compensation	compensation	NOUN
fumecheng-11470	241	39	has	have	AUX
fumecheng-11470	241	40	been	be	AUX
fumecheng-11470	241	41	reduced	reduce	VERB
fumecheng-11470	241	42	to	to	ADP
fumecheng-11470	241	43	different	different	ADJ
fumecheng-11470	241	44	degrees	degree	NOUN
fumecheng-11470	241	45	compared	compare	VERB
fumecheng-11470	241	46	with	with	ADP
fumecheng-11470	241	47	that	that	PRON
fumecheng-11470	241	48	before	before	ADP
fumecheng-11470	241	49	compensation	compensation	NOUN
fumecheng-11470	241	50	,	,	PUNCT
fumecheng-11470	241	51	and	and	CCONJ
fumecheng-11470	241	52	the	the	DET
fumecheng-11470	241	53	values	value	NOUN
fumecheng-11470	241	54	are	be	AUX
fumecheng-11470	241	55	concentrated	concentrate	VERB
fumecheng-11470	241	56	in	in	ADP
fumecheng-11470	241	57	the	the	DET
fumecheng-11470	241	58	range	range	NOUN
fumecheng-11470	241	59	of	of	ADP
fumecheng-11470	241	60	15	15	NUM
fumecheng-11470	241	61	%	%	NOUN
fumecheng-11470	241	62	-75	-75	NUM
fumecheng-11470	241	63	%	%	NOUN
fumecheng-11470	241	64	.	.	PUNCT
fumecheng-11470	242	1	table	table	NOUN
fumecheng-11470	242	2	3	3	NUM
fumecheng-11470	242	3	friction	friction	NOUN
fumecheng-11470	242	4	compensation	compensation	NOUN
fumecheng-11470	242	5	relative	relative	ADJ
fumecheng-11470	242	6	error	error	NOUN
fumecheng-11470	242	7	table	table	NOUN
fumecheng-11470	242	8	error	error	NOUN
fumecheng-11470	242	9	(	(	PUNCT
fumecheng-11470	242	10	δ	δ	NOUN
fumecheng-11470	242	11	)	)	PUNCT
fumecheng-11470	242	12	joint	joint	ADJ
fumecheng-11470	242	13	1	1	NUM
fumecheng-11470	242	14	joint	joint	ADJ
fumecheng-11470	242	15	2	2	NUM
fumecheng-11470	242	16	joint	joint	NOUN
fumecheng-11470	242	17	3	3	NUM
fumecheng-11470	242	18	joint	joint	NOUN
fumecheng-11470	242	19	4	4	NUM
fumecheng-11470	242	20	a	a	DET
fumecheng-11470	242	21	b	b	NOUN
fumecheng-11470	242	22	a	a	PRON
fumecheng-11470	242	23	b	b	NOUN
fumecheng-11470	242	24	a	a	DET
fumecheng-11470	242	25	b	b	NOUN
fumecheng-11470	242	26	a	a	DET
fumecheng-11470	242	27	b	b	PROPN
fumecheng-11470	242	28	group	group	NOUN
fumecheng-11470	242	29	1	1	NUM
fumecheng-11470	242	30	28	28	NUM
fumecheng-11470	242	31	%	%	NOUN
fumecheng-11470	242	32	18	18	NUM
fumecheng-11470	242	33	%	%	NOUN
fumecheng-11470	242	34	37	37	NUM
fumecheng-11470	242	35	%	%	NOUN
fumecheng-11470	242	36	15	15	NUM
fumecheng-11470	242	37	%	%	NOUN
fumecheng-11470	242	38	45	45	NUM
fumecheng-11470	242	39	%	%	NOUN
fumecheng-11470	242	40	16	16	NUM
fumecheng-11470	242	41	%	%	NOUN
fumecheng-11470	242	42	47	47	NUM
fumecheng-11470	242	43	%	%	NOUN
fumecheng-11470	242	44	24	24	NUM
fumecheng-11470	242	45	%	%	NOUN
fumecheng-11470	242	46	group	group	NOUN
fumecheng-11470	242	47	2	2	NUM
fumecheng-11470	242	48	57	57	NUM
fumecheng-11470	242	49	%	%	NOUN
fumecheng-11470	242	50	21	21	NUM
fumecheng-11470	242	51	%	%	NOUN
fumecheng-11470	242	52	57	57	NUM
fumecheng-11470	242	53	%	%	NOUN
fumecheng-11470	242	54	20	20	NUM
fumecheng-11470	242	55	%	%	NOUN
fumecheng-11470	242	56	58	58	NUM
fumecheng-11470	242	57	%	%	NOUN
fumecheng-11470	242	58	19	19	NUM
fumecheng-11470	242	59	%	%	NOUN
fumecheng-11470	242	60	56	56	NUM
fumecheng-11470	242	61	%	%	NOUN
fumecheng-11470	242	62	28	28	NUM
fumecheng-11470	242	63	%	%	NOUN
fumecheng-11470	242	64	group	group	NOUN
fumecheng-11470	242	65	3	3	NUM
fumecheng-11470	242	66	62	62	NUM
fumecheng-11470	242	67	%	%	NOUN
fumecheng-11470	242	68	31	31	NUM
fumecheng-11470	242	69	%	%	NOUN
fumecheng-11470	242	70	75	75	NUM
fumecheng-11470	242	71	%	%	NOUN
fumecheng-11470	242	72	24	24	NUM
fumecheng-11470	242	73	%	%	NOUN
fumecheng-11470	242	74	56	56	NUM
fumecheng-11470	242	75	%	%	NOUN
fumecheng-11470	242	76	34	34	NUM
fumecheng-11470	242	77	%	%	NOUN
fumecheng-11470	242	78	60	60	NUM
fumecheng-11470	242	79	%	%	NOUN
fumecheng-11470	242	80	32	32	NUM
fumecheng-11470	242	81	%	%	NOUN
fumecheng-11470	242	82	group	group	NOUN
fumecheng-11470	242	83	4	4	NUM
fumecheng-11470	242	84	60	60	NUM
fumecheng-11470	242	85	%	%	NOUN
fumecheng-11470	242	86	35	35	NUM
fumecheng-11470	242	87	%	%	NOUN
fumecheng-11470	242	88	65	65	NUM
fumecheng-11470	242	89	%	%	NOUN
fumecheng-11470	242	90	40	40	NUM
fumecheng-11470	242	91	%	%	NOUN
fumecheng-11470	242	92	56	56	NUM
fumecheng-11470	242	93	%	%	NOUN
fumecheng-11470	242	94	28	28	NUM
fumecheng-11470	242	95	%	%	NOUN
fumecheng-11470	242	96	68	68	NUM
fumecheng-11470	242	97	%	%	NOUN
fumecheng-11470	242	98	38	38	NUM
fumecheng-11470	242	99	%	%	NOUN
fumecheng-11470	242	100	group	group	NOUN
fumecheng-11470	242	101	5	5	NUM
fumecheng-11470	242	102	75	75	NUM
fumecheng-11470	242	103	%	%	NOUN
fumecheng-11470	242	104	45	45	NUM
fumecheng-11470	242	105	%	%	NOUN
fumecheng-11470	242	106	48	48	NUM
fumecheng-11470	242	107	%	%	NOUN
fumecheng-11470	242	108	20	20	NUM
fumecheng-11470	242	109	%	%	NOUN
fumecheng-11470	242	110	53	53	NUM
fumecheng-11470	242	111	%	%	NOUN
fumecheng-11470	242	112	20	20	NUM
fumecheng-11470	242	113	%	%	NOUN
fumecheng-11470	242	114	56	56	NUM
fumecheng-11470	242	115	%	%	NOUN
fumecheng-11470	242	116	27	27	NUM
fumecheng-11470	242	117	%	%	NOUN
fumecheng-11470	242	118	group	group	NOUN
fumecheng-11470	242	119	6	6	NUM
fumecheng-11470	242	120	64	64	NUM
fumecheng-11470	242	121	%	%	NOUN
fumecheng-11470	242	122	37	37	NUM
fumecheng-11470	242	123	%	%	NOUN
fumecheng-11470	242	124	46	46	NUM
fumecheng-11470	242	125	%	%	NOUN
fumecheng-11470	242	126	38	38	NUM
fumecheng-11470	242	127	%	%	NOUN
fumecheng-11470	242	128	60	60	NUM
fumecheng-11470	242	129	%	%	NOUN
fumecheng-11470	242	130	41	41	NUM
fumecheng-11470	242	131	%	%	NOUN
fumecheng-11470	242	132	58	58	NUM
fumecheng-11470	242	133	%	%	NOUN
fumecheng-11470	242	134	45	45	NUM
fumecheng-11470	242	135	%	%	NOUN
fumecheng-11470	242	136	group	group	NOUN
fumecheng-11470	242	137	7	7	NUM
fumecheng-11470	242	138	73	73	NUM
fumecheng-11470	242	139	%	%	NOUN
fumecheng-11470	242	140	35	35	NUM
fumecheng-11470	242	141	%	%	NOUN
fumecheng-11470	242	142	59	59	NUM
fumecheng-11470	242	143	%	%	NOUN
fumecheng-11470	242	144	24	24	NUM
fumecheng-11470	242	145	%	%	NOUN
fumecheng-11470	242	146	72	72	NUM
fumecheng-11470	242	147	%	%	NOUN
fumecheng-11470	242	148	45	45	NUM
fumecheng-11470	242	149	%	%	NOUN
fumecheng-11470	242	150	65	65	NUM
fumecheng-11470	242	151	%	%	NOUN
fumecheng-11470	242	152	35	35	NUM
fumecheng-11470	242	153	%	%	NOUN
fumecheng-11470	242	154	group	group	NOUN
fumecheng-11470	242	155	8	8	NUM
fumecheng-11470	242	156	67	67	NUM
fumecheng-11470	242	157	%	%	NOUN
fumecheng-11470	242	158	24	24	NUM
fumecheng-11470	242	159	%	%	NOUN
fumecheng-11470	242	160	69	69	NUM
fumecheng-11470	242	161	%	%	NOUN
fumecheng-11470	242	162	23	23	NUM
fumecheng-11470	242	163	%	%	NOUN
fumecheng-11470	242	164	75	75	NUM
fumecheng-11470	242	165	%	%	NOUN
fumecheng-11470	242	166	45	45	NUM
fumecheng-11470	242	167	%	%	NOUN
fumecheng-11470	242	168	64	64	NUM
fumecheng-11470	242	169	%	%	NOUN
fumecheng-11470	242	170	19	19	NUM
fumecheng-11470	242	171	%	%	NOUN
fumecheng-11470	242	172	average	average	ADJ
fumecheng-11470	242	173	error	error	NOUN
fumecheng-11470	242	174	61	61	NUM
fumecheng-11470	242	175	%	%	NOUN
fumecheng-11470	242	176	31	31	NUM
fumecheng-11470	242	177	%	%	NOUN
fumecheng-11470	242	178	57	57	NUM
fumecheng-11470	242	179	%	%	NOUN
fumecheng-11470	242	180	25.5	25.5	NUM
fumecheng-11470	242	181	%	%	NOUN
fumecheng-11470	242	182	59	59	NUM
fumecheng-11470	242	183	%	%	NOUN
fumecheng-11470	242	184	31	31	NUM
fumecheng-11470	242	185	%	%	NOUN
fumecheng-11470	242	186	59	59	NUM
fumecheng-11470	242	187	%	%	NOUN
fumecheng-11470	242	188	31	31	NUM
fumecheng-11470	242	189	%	%	NOUN
fumecheng-11470	242	190	*	*	PUNCT
fumecheng-11470	242	191	note	note	VERB
fumecheng-11470	242	192	a	a	PRON
fumecheng-11470	242	193	is	be	AUX
fumecheng-11470	242	194	“	"	PUNCT
fumecheng-11470	242	195	before	before	ADP
fumecheng-11470	242	196	friction	friction	NOUN
fumecheng-11470	242	197	compensation	compensation	NOUN
fumecheng-11470	242	198	”	"	PUNCT
fumecheng-11470	242	199	;	;	PUNCT
fumecheng-11470	242	200	b	b	X
fumecheng-11470	242	201	is	be	AUX
fumecheng-11470	242	202	“	"	PUNCT
fumecheng-11470	242	203	after	after	ADP
fumecheng-11470	242	204	friction	friction	NOUN
fumecheng-11470	242	205	compensation	compensation	NOUN
fumecheng-11470	242	206	”	"	PUNCT
fumecheng-11470	242	207	study	study	NOUN
fumecheng-11470	242	208	of	of	ADP
fumecheng-11470	242	209	friction	friction	NOUN
fumecheng-11470	242	210	compensation	compensation	NOUN
fumecheng-11470	242	211	model	model	NOUN
fumecheng-11470	242	212	for	for	ADP
fumecheng-11470	242	213	mobile	mobile	NOUN
fumecheng-11470	242	214	robot	robot	NOUN
fumecheng-11470	242	215	’s	’s	PART
fumecheng-11470	242	216	joints	joint	NOUN
fumecheng-11470	242	217	739	739	NUM
fumecheng-11470	242	218	4	4	NUM
fumecheng-11470	242	219	.	.	PUNCT
fumecheng-11470	242	220	conclusions	conclusion	NOUN
fumecheng-11470	242	221	in	in	ADP
fumecheng-11470	242	222	this	this	DET
fumecheng-11470	242	223	study	study	NOUN
fumecheng-11470	242	224	,	,	PUNCT
fumecheng-11470	242	225	to	to	PART
fumecheng-11470	242	226	decrease	decrease	VERB
fumecheng-11470	242	227	the	the	DET
fumecheng-11470	242	228	frictional	frictional	ADJ
fumecheng-11470	242	229	force	force	NOUN
fumecheng-11470	242	230	of	of	ADP
fumecheng-11470	242	231	mobile	mobile	ADJ
fumecheng-11470	242	232	robot	robot	NOUN
fumecheng-11470	242	233	joints	joint	NOUN
fumecheng-11470	242	234	,	,	PUNCT
fumecheng-11470	242	235	we	we	PRON
fumecheng-11470	242	236	explore	explore	VERB
fumecheng-11470	242	237	a	a	DET
fumecheng-11470	242	238	suitable	suitable	ADJ
fumecheng-11470	242	239	frictional	frictional	ADJ
fumecheng-11470	242	240	force	force	NOUN
fumecheng-11470	242	241	compensation	compensation	NOUN
fumecheng-11470	242	242	model	model	NOUN
fumecheng-11470	242	243	to	to	PART
fumecheng-11470	242	244	give	give	VERB
fumecheng-11470	242	245	the	the	DET
fumecheng-11470	242	246	robot	robot	NOUN
fumecheng-11470	242	247	joints	joint	NOUN
fumecheng-11470	242	248	the	the	DET
fumecheng-11470	242	249	ability	ability	NOUN
fumecheng-11470	242	250	to	to	PART
fumecheng-11470	242	251	adaptive	adaptive	ADJ
fumecheng-11470	242	252	adjust	adjust	VERB
fumecheng-11470	242	253	and	and	CCONJ
fumecheng-11470	242	254	improve	improve	VERB
fumecheng-11470	242	255	accuracy	accuracy	NOUN
fumecheng-11470	242	256	.	.	PUNCT
fumecheng-11470	243	1	a	a	DET
fumecheng-11470	243	2	friction	friction	NOUN
fumecheng-11470	243	3	compensation	compensation	NOUN
fumecheng-11470	243	4	model	model	NOUN
fumecheng-11470	243	5	based	base	VERB
fumecheng-11470	243	6	on	on	ADP
fumecheng-11470	243	7	deep	deep	ADJ
fumecheng-11470	243	8	learning	learning	NOUN
fumecheng-11470	243	9	is	be	AUX
fumecheng-11470	243	10	developed	develop	VERB
fumecheng-11470	243	11	.	.	PUNCT
fumecheng-11470	244	1	the	the	DET
fumecheng-11470	244	2	friction	friction	NOUN
fumecheng-11470	244	3	compensation	compensation	NOUN
fumecheng-11470	244	4	model	model	NOUN
fumecheng-11470	244	5	’s	’s	PART
fumecheng-11470	244	6	inputs	input	NOUN
fumecheng-11470	244	7	are	be	AUX
fumecheng-11470	244	8	load	load	NOUN
fumecheng-11470	244	9	,	,	PUNCT
fumecheng-11470	244	10	position	position	NOUN
fumecheng-11470	244	11	,	,	PUNCT
fumecheng-11470	244	12	speed	speed	NOUN
fumecheng-11470	244	13	,	,	PUNCT
fumecheng-11470	244	14	torque	torque	NOUN
fumecheng-11470	244	15	,	,	PUNCT
fumecheng-11470	244	16	and	and	CCONJ
fumecheng-11470	244	17	temperature	temperature	NOUN
fumecheng-11470	244	18	data	datum	NOUN
fumecheng-11470	244	19	,	,	PUNCT
fumecheng-11470	244	20	and	and	CCONJ
fumecheng-11470	244	21	its	its	PRON
fumecheng-11470	244	22	outputs	output	NOUN
fumecheng-11470	244	23	are	be	AUX
fumecheng-11470	244	24	friction	friction	NOUN
fumecheng-11470	244	25	compensation	compensation	NOUN
fumecheng-11470	244	26	values	value	NOUN
fumecheng-11470	244	27	.	.	PUNCT
fumecheng-11470	245	1	this	this	DET
fumecheng-11470	245	2	deep	deep	ADJ
fumecheng-11470	245	3	learning	learning	NOUN
fumecheng-11470	245	4	-	-	PUNCT
fumecheng-11470	245	5	based	base	VERB
fumecheng-11470	245	6	robot	robot	NOUN
fumecheng-11470	245	7	joint	joint	ADJ
fumecheng-11470	245	8	friction	friction	NOUN
fumecheng-11470	245	9	recognition	recognition	NOUN
fumecheng-11470	245	10	method	method	NOUN
fumecheng-11470	245	11	can	can	AUX
fumecheng-11470	245	12	solve	solve	VERB
fumecheng-11470	245	13	the	the	DET
fumecheng-11470	245	14	problem	problem	NOUN
fumecheng-11470	245	15	that	that	SCONJ
fumecheng-11470	245	16	the	the	DET
fumecheng-11470	245	17	existing	exist	VERB
fumecheng-11470	245	18	friction	friction	NOUN
fumecheng-11470	245	19	model	model	NOUN
fumecheng-11470	245	20	is	be	AUX
fumecheng-11470	245	21	not	not	PART
fumecheng-11470	245	22	accurate	accurate	ADJ
fumecheng-11470	245	23	and	and	CCONJ
fumecheng-11470	245	24	the	the	DET
fumecheng-11470	245	25	recognition	recognition	NOUN
fumecheng-11470	245	26	method	method	NOUN
fumecheng-11470	245	27	is	be	AUX
fumecheng-11470	245	28	not	not	PART
fumecheng-11470	245	29	precise	precise	ADJ
fumecheng-11470	245	30	enough	enough	ADV
fumecheng-11470	245	31	.	.	PUNCT
fumecheng-11470	246	1	from	from	ADP
fumecheng-11470	246	2	the	the	DET
fumecheng-11470	246	3	experimental	experimental	ADJ
fumecheng-11470	246	4	results	result	NOUN
fumecheng-11470	246	5	,	,	PUNCT
fumecheng-11470	246	6	the	the	DET
fumecheng-11470	246	7	optimal	optimal	ADJ
fumecheng-11470	246	8	friction	friction	NOUN
fumecheng-11470	246	9	compensation	compensation	NOUN
fumecheng-11470	246	10	model	model	NOUN
fumecheng-11470	246	11	is	be	AUX
fumecheng-11470	246	12	the	the	DET
fumecheng-11470	246	13	"	"	PUNCT
fumecheng-11470	246	14	neural	neural	ADJ
fumecheng-11470	246	15	network	network	NOUN
fumecheng-11470	246	16	+	+	CCONJ
fumecheng-11470	246	17	training	training	NOUN
fumecheng-11470	246	18	acceleration	acceleration	NOUN
fumecheng-11470	246	19	and	and	CCONJ
fumecheng-11470	246	20	uniformity	uniformity	NOUN
fumecheng-11470	246	21	model	model	NOUN
fumecheng-11470	246	22	"	"	PUNCT
fumecheng-11470	246	23	,	,	PUNCT
fumecheng-11470	246	24	and	and	CCONJ
fumecheng-11470	246	25	this	this	DET
fumecheng-11470	246	26	model	model	NOUN
fumecheng-11470	246	27	can	can	AUX
fumecheng-11470	246	28	reduce	reduce	VERB
fumecheng-11470	246	29	the	the	DET
fumecheng-11470	246	30	error	error	NOUN
fumecheng-11470	246	31	best	good	ADJ
fumecheng-11470	246	32	on	on	ADP
fumecheng-11470	246	33	the	the	DET
fumecheng-11470	246	34	test	test	NOUN
fumecheng-11470	246	35	set	set	NOUN
fumecheng-11470	246	36	.	.	PUNCT
fumecheng-11470	247	1	by	by	ADP
fumecheng-11470	247	2	testing	test	VERB
fumecheng-11470	247	3	on	on	ADP
fumecheng-11470	247	4	the	the	DET
fumecheng-11470	247	5	four	four	NUM
fumecheng-11470	247	6	-	-	PUNCT
fumecheng-11470	247	7	wheel	wheel	NOUN
fumecheng-11470	247	8	mobile	mobile	NOUN
fumecheng-11470	247	9	robot	robot	NOUN
fumecheng-11470	247	10	experimental	experimental	ADJ
fumecheng-11470	247	11	platform	platform	NOUN
fumecheng-11470	247	12	,	,	PUNCT
fumecheng-11470	247	13	the	the	DET
fumecheng-11470	247	14	average	average	ADJ
fumecheng-11470	247	15	relative	relative	ADJ
fumecheng-11470	247	16	error	error	NOUN
fumecheng-11470	247	17	δ	δ	NOUN
fumecheng-11470	247	18	of	of	ADP
fumecheng-11470	247	19	each	each	DET
fumecheng-11470	247	20	joint	joint	NOUN
fumecheng-11470	247	21	under	under	ADP
fumecheng-11470	247	22	different	different	ADJ
fumecheng-11470	247	23	robot	robot	NOUN
fumecheng-11470	247	24	paths	path	NOUN
fumecheng-11470	247	25	can	can	AUX
fumecheng-11470	247	26	reach	reach	VERB
fumecheng-11470	247	27	15	15	NUM
fumecheng-11470	247	28	%	%	NOUN
fumecheng-11470	247	29	after	after	ADP
fumecheng-11470	247	30	friction	friction	NOUN
fumecheng-11470	247	31	compensation	compensation	NOUN
fumecheng-11470	247	32	.	.	PUNCT
fumecheng-11470	248	1	this	this	PRON
fumecheng-11470	248	2	has	have	VERB
fumecheng-11470	248	3	practical	practical	ADJ
fumecheng-11470	248	4	significance	significance	NOUN
fumecheng-11470	248	5	for	for	ADP
fumecheng-11470	248	6	improving	improve	VERB
fumecheng-11470	248	7	the	the	DET
fumecheng-11470	248	8	accuracy	accuracy	NOUN
fumecheng-11470	248	9	of	of	ADP
fumecheng-11470	248	10	mobile	mobile	ADJ
fumecheng-11470	248	11	robot	robot	NOUN
fumecheng-11470	248	12	joints	joint	NOUN
fumecheng-11470	248	13	.	.	PUNCT
fumecheng-11470	249	1	future	future	ADJ
fumecheng-11470	249	2	work	work	NOUN
fumecheng-11470	249	3	will	will	AUX
fumecheng-11470	249	4	continue	continue	VERB
fumecheng-11470	249	5	to	to	PART
fumecheng-11470	249	6	explore	explore	VERB
fumecheng-11470	249	7	the	the	DET
fumecheng-11470	249	8	impact	impact	NOUN
fumecheng-11470	249	9	of	of	ADP
fumecheng-11470	249	10	the	the	DET
fumecheng-11470	249	11	joint	joint	ADJ
fumecheng-11470	249	12	friction	friction	NOUN
fumecheng-11470	249	13	compensation	compensation	NOUN
fumecheng-11470	249	14	model	model	NOUN
fumecheng-11470	249	15	on	on	ADP
fumecheng-11470	249	16	mobile	mobile	ADJ
fumecheng-11470	249	17	robot	robot	NOUN
fumecheng-11470	249	18	positioning	positioning	NOUN
fumecheng-11470	249	19	accuracy	accuracy	NOUN
fumecheng-11470	249	20	.	.	PUNCT
fumecheng-11470	250	1	references	reference	NOUN
fumecheng-11470	250	2	1	1	NUM
fumecheng-11470	250	3	.	.	PUNCT
fumecheng-11470	251	1	kermani	kermani	NOUN
fumecheng-11470	251	2	,	,	PUNCT
fumecheng-11470	251	3	m.r	m.r	PROPN
fumecheng-11470	251	4	.	.	PROPN
fumecheng-11470	251	5	,	,	PUNCT
fumecheng-11470	251	6	wong	wong	PROPN
fumecheng-11470	251	7	,	,	PUNCT
fumecheng-11470	251	8	m.	m.	NOUN
fumecheng-11470	251	9	,	,	PUNCT
fumecheng-11470	251	10	patel	patel	PROPN
fumecheng-11470	251	11	,	,	PUNCT
fumecheng-11470	251	12	r.v	r.v	PROPN
fumecheng-11470	251	13	.	.	PROPN
fumecheng-11470	251	14	,	,	PUNCT
fumecheng-11470	251	15	moallem	moallem	PROPN
fumecheng-11470	251	16	,	,	PUNCT
fumecheng-11470	251	17	m.	m.	NOUN
fumecheng-11470	251	18	,	,	PUNCT
fumecheng-11470	251	19	ostojic	ostojic	NOUN
fumecheng-11470	251	20	,	,	PUNCT
fumecheng-11470	251	21	m.	m.	NOUN
fumecheng-11470	251	22	,	,	PUNCT
fumecheng-11470	251	23	2004	2004	NUM
fumecheng-11470	251	24	,	,	PUNCT
fumecheng-11470	251	25	friction	friction	NOUN
fumecheng-11470	251	26	compensation	compensation	NOUN
fumecheng-11470	251	27	in	in	ADP
fumecheng-11470	251	28	low	low	ADJ
fumecheng-11470	251	29	and	and	CCONJ
fumecheng-11470	251	30	highreversal	highreversal	ADJ
fumecheng-11470	251	31	-	-	PUNCT
fumecheng-11470	251	32	velocity	velocity	NOUN
fumecheng-11470	251	33	manipulators	manipulator	NOUN
fumecheng-11470	251	34	,	,	PUNCT
fumecheng-11470	251	35	ieee	ieee	NOUN
fumecheng-11470	251	36	international	international	ADJ
fumecheng-11470	251	37	conference	conference	NOUN
fumecheng-11470	251	38	on	on	ADP
fumecheng-11470	251	39	robotics	robotic	NOUN
fumecheng-11470	251	40	and	and	CCONJ
fumecheng-11470	251	41	automation	automation	NOUN
fumecheng-11470	251	42	,	,	PUNCT
fumecheng-11470	251	43	proceedings	proceeding	NOUN
fumecheng-11470	251	44	.	.	PUNCT
fumecheng-11470	252	1	icra'04	icra'04	NOUN
fumecheng-11470	252	2	,	,	PUNCT
fumecheng-11470	252	3	5	5	NUM
fumecheng-11470	252	4	,	,	PUNCT
fumecheng-11470	252	5	pp	pp	ADJ
fumecheng-11470	252	6	.	.	PUNCT
fumecheng-11470	253	1	4320	4320	NUM
fumecheng-11470	253	2	-	-	SYM
fumecheng-11470	253	3	4325	4325	NUM
fumecheng-11470	253	4	.	.	PUNCT
fumecheng-11470	254	1	2	2	X
fumecheng-11470	254	2	.	.	X
fumecheng-11470	254	3	iwatani	iwatani	PROPN
fumecheng-11470	254	4	,	,	PUNCT
fumecheng-11470	254	5	m.	m.	NOUN
fumecheng-11470	254	6	,	,	PUNCT
fumecheng-11470	254	7	kikuuwe	kikuuwe	PROPN
fumecheng-11470	254	8	,	,	PUNCT
fumecheng-11470	254	9	r.	r.	PROPN
fumecheng-11470	254	10	,	,	PUNCT
fumecheng-11470	254	11	2015	2015	NUM
fumecheng-11470	254	12	,	,	PUNCT
fumecheng-11470	254	13	an	an	DET
fumecheng-11470	254	14	identification	identification	NOUN
fumecheng-11470	254	15	procedure	procedure	NOUN
fumecheng-11470	254	16	for	for	ADP
fumecheng-11470	254	17	rate	rate	NOUN
fumecheng-11470	254	18	-	-	PUNCT
fumecheng-11470	254	19	dependent	dependent	ADJ
fumecheng-11470	254	20	friction	friction	NOUN
fumecheng-11470	254	21	laws	law	NOUN
fumecheng-11470	254	22	of	of	ADP
fumecheng-11470	254	23	robotic	robotic	ADJ
fumecheng-11470	254	24	manipulator	manipulator	NOUN
fumecheng-11470	254	25	with	with	ADP
fumecheng-11470	254	26	limited	limited	ADJ
fumecheng-11470	254	27	motion	motion	NOUN
fumecheng-11470	254	28	range	range	NOUN
fumecheng-11470	254	29	,	,	PUNCT
fumecheng-11470	254	30	in	in	ADP
fumecheng-11470	254	31	2015	2015	NUM
fumecheng-11470	254	32	10th	10th	ADJ
fumecheng-11470	254	33	asian	asian	ADJ
fumecheng-11470	254	34	control	control	NOUN
fumecheng-11470	254	35	conference	conference	PROPN
fumecheng-11470	254	36	(	(	PUNCT
fumecheng-11470	254	37	ascc	ascc	NOUN
fumecheng-11470	254	38	)	)	PUNCT
fumecheng-11470	254	39	,	,	PUNCT
fumecheng-11470	254	40	pp	pp	ADP
fumecheng-11470	254	41	.	.	PUNCT
fumecheng-11470	255	1	1	1	NUM
fumecheng-11470	255	2	-	-	SYM
fumecheng-11470	255	3	5	5	NUM
fumecheng-11470	255	4	.	.	NOUN
fumecheng-11470	255	5	3	3	NUM
fumecheng-11470	255	6	.	.	X
fumecheng-11470	255	7	marques	marques	PROPN
fumecheng-11470	255	8	,	,	PUNCT
fumecheng-11470	255	9	f.	f.	PROPN
fumecheng-11470	255	10	,	,	PUNCT
fumecheng-11470	255	11	flores	flore	NOUN
fumecheng-11470	255	12	,	,	PUNCT
fumecheng-11470	255	13	p.	p.	PROPN
fumecheng-11470	255	14	,	,	PUNCT
fumecheng-11470	255	15	pimenta	pimenta	PROPN
fumecheng-11470	255	16	claro	claro	PROPN
fumecheng-11470	255	17	,	,	PUNCT
fumecheng-11470	255	18	j.	j.	PROPN
fumecheng-11470	255	19	c.	c.	PROPN
fumecheng-11470	255	20	,	,	PUNCT
fumecheng-11470	255	21	lankarani	lankarani	PROPN
fumecheng-11470	255	22	,	,	PUNCT
fumecheng-11470	255	23	h.	h.	PROPN
fumecheng-11470	255	24	m.	m.	PROPN
fumecheng-11470	255	25	,	,	PUNCT
fumecheng-11470	255	26	2016	2016	NUM
fumecheng-11470	255	27	,	,	PUNCT
fumecheng-11470	255	28	a	a	DET
fumecheng-11470	255	29	survey	survey	NOUN
fumecheng-11470	255	30	and	and	CCONJ
fumecheng-11470	255	31	comparison	comparison	NOUN
fumecheng-11470	255	32	of	of	ADP
fumecheng-11470	255	33	several	several	ADJ
fumecheng-11470	255	34	friction	friction	NOUN
fumecheng-11470	255	35	force	force	NOUN
fumecheng-11470	255	36	models	model	NOUN
fumecheng-11470	255	37	for	for	ADP
fumecheng-11470	255	38	dynamic	dynamic	ADJ
fumecheng-11470	255	39	analysis	analysis	NOUN
fumecheng-11470	255	40	of	of	ADP
fumecheng-11470	255	41	multibody	multibody	ADJ
fumecheng-11470	255	42	mechanical	mechanical	ADJ
fumecheng-11470	255	43	systems	system	NOUN
fumecheng-11470	255	44	,	,	PUNCT
fumecheng-11470	255	45	nonlinear	nonlinear	ADJ
fumecheng-11470	255	46	dynamics	dynamic	NOUN
fumecheng-11470	255	47	,	,	PUNCT
fumecheng-11470	255	48	86	86	NUM
fumecheng-11470	255	49	,	,	PUNCT
fumecheng-11470	255	50	pp	pp	ADJ
fumecheng-11470	255	51	.	.	PUNCT
fumecheng-11470	256	1	1407	1407	NUM
fumecheng-11470	256	2	-	-	SYM
fumecheng-11470	256	3	1443	1443	NUM
fumecheng-11470	256	4	.	.	PUNCT
fumecheng-11470	257	1	4	4	X
fumecheng-11470	257	2	.	.	X
fumecheng-11470	257	3	bona	bona	PROPN
fumecheng-11470	257	4	,	,	PUNCT
fumecheng-11470	257	5	b.	b.	PROPN
fumecheng-11470	257	6	,	,	PUNCT
fumecheng-11470	257	7	indri	indri	PROPN
fumecheng-11470	257	8	,	,	PUNCT
fumecheng-11470	257	9	m.	m.	NOUN
fumecheng-11470	257	10	,	,	PUNCT
fumecheng-11470	257	11	2005	2005	NUM
fumecheng-11470	257	12	,	,	PUNCT
fumecheng-11470	257	13	friction	friction	NOUN
fumecheng-11470	257	14	compensation	compensation	NOUN
fumecheng-11470	257	15	in	in	ADP
fumecheng-11470	257	16	robotics	robotic	NOUN
fumecheng-11470	257	17	:	:	PUNCT
fumecheng-11470	257	18	an	an	DET
fumecheng-11470	257	19	overview	overview	NOUN
fumecheng-11470	257	20	,	,	PUNCT
fumecheng-11470	257	21	in	in	ADP
fumecheng-11470	257	22	proceedings	proceeding	NOUN
fumecheng-11470	257	23	of	of	ADP
fumecheng-11470	257	24	the	the	DET
fumecheng-11470	257	25	44th	44th	ADJ
fumecheng-11470	257	26	ieee	ieee	NOUN
fumecheng-11470	257	27	conference	conference	NOUN
fumecheng-11470	257	28	on	on	ADP
fumecheng-11470	257	29	decision	decision	NOUN
fumecheng-11470	257	30	and	and	CCONJ
fumecheng-11470	257	31	control	control	NOUN
fumecheng-11470	257	32	,	,	PUNCT
fumecheng-11470	257	33	pp	pp	ADJ
fumecheng-11470	257	34	.	.	PUNCT
fumecheng-11470	258	1	4360	4360	NUM
fumecheng-11470	258	2	-	-	SYM
fumecheng-11470	258	3	4367	4367	NUM
fumecheng-11470	258	4	.	.	PUNCT
fumecheng-11470	259	1	5	5	NUM
fumecheng-11470	259	2	.	.	X
fumecheng-11470	259	3	virgala	virgala	PROPN
fumecheng-11470	259	4	,	,	PUNCT
fumecheng-11470	259	5	i.	i.	PROPN
fumecheng-11470	259	6	,	,	PUNCT
fumecheng-11470	259	7	frankovský	frankovský	PROPN
fumecheng-11470	259	8	,	,	PUNCT
fumecheng-11470	259	9	p.	p.	PROPN
fumecheng-11470	259	10	,	,	PUNCT
fumecheng-11470	259	11	kenderová	kenderová	PROPN
fumecheng-11470	259	12	,	,	PUNCT
fumecheng-11470	259	13	m.	m.	NOUN
fumecheng-11470	259	14	,	,	PUNCT
fumecheng-11470	259	15	2013	2013	NUM
fumecheng-11470	259	16	,	,	PUNCT
fumecheng-11470	259	17	friction	friction	NOUN
fumecheng-11470	259	18	effect	effect	NOUN
fumecheng-11470	259	19	analysis	analysis	NOUN
fumecheng-11470	259	20	of	of	ADP
fumecheng-11470	259	21	a	a	DET
fumecheng-11470	259	22	dc	dc	PROPN
fumecheng-11470	259	23	motor	motor	NOUN
fumecheng-11470	259	24	,	,	PUNCT
fumecheng-11470	259	25	american	american	ADJ
fumecheng-11470	259	26	journal	journal	PROPN
fumecheng-11470	259	27	of	of	ADP
fumecheng-11470	259	28	mechanical	mechanical	ADJ
fumecheng-11470	259	29	engineering	engineering	NOUN
fumecheng-11470	259	30	,	,	PUNCT
fumecheng-11470	259	31	1(1	1(1	NUM
fumecheng-11470	259	32	)	)	PUNCT
fumecheng-11470	259	33	,	,	PUNCT
fumecheng-11470	259	34	pp	pp	ADJ
fumecheng-11470	259	35	.	.	PUNCT
fumecheng-11470	260	1	1	1	NUM
fumecheng-11470	260	2	-	-	SYM
fumecheng-11470	260	3	5	5	NUM
fumecheng-11470	260	4	,	,	PUNCT
fumecheng-11470	260	5	doi	doi	NOUN
fumecheng-11470	260	6	:	:	PUNCT
fumecheng-11470	260	7	10.12691	10.12691	NUM
fumecheng-11470	260	8	/	/	SYM
fumecheng-11470	260	9	ajme-1	ajme-1	NUM
fumecheng-11470	260	10	-	-	PUNCT
fumecheng-11470	260	11	1	1	NUM
fumecheng-11470	260	12	-	-	SYM
fumecheng-11470	260	13	1	1	NUM
fumecheng-11470	260	14	6	6	NUM
fumecheng-11470	260	15	.	.	PUNCT
fumecheng-11470	261	1	richard	richard	PROPN
fumecheng-11470	261	2	,	,	PUNCT
fumecheng-11470	261	3	t.	t.	PROPN
fumecheng-11470	261	4	,	,	PUNCT
fumecheng-11470	261	5	germay	germay	PROPN
fumecheng-11470	261	6	,	,	PUNCT
fumecheng-11470	261	7	c.	c.	PROPN
fumecheng-11470	261	8	,	,	PUNCT
fumecheng-11470	261	9	detournay	detournay	PROPN
fumecheng-11470	261	10	,	,	PUNCT
fumecheng-11470	261	11	e.	e.	PROPN
fumecheng-11470	261	12	,	,	PUNCT
fumecheng-11470	261	13	2007	2007	NUM
fumecheng-11470	261	14	,	,	PUNCT
fumecheng-11470	261	15	a	a	DET
fumecheng-11470	261	16	simplified	simplified	ADJ
fumecheng-11470	261	17	model	model	NOUN
fumecheng-11470	261	18	to	to	PART
fumecheng-11470	261	19	explore	explore	VERB
fumecheng-11470	261	20	the	the	DET
fumecheng-11470	261	21	root	root	NOUN
fumecheng-11470	261	22	cause	cause	NOUN
fumecheng-11470	261	23	of	of	ADP
fumecheng-11470	261	24	stick	stick	NOUN
fumecheng-11470	261	25	–	–	PUNCT
fumecheng-11470	261	26	slip	slip	NOUN
fumecheng-11470	261	27	vibrations	vibration	NOUN
fumecheng-11470	261	28	in	in	ADP
fumecheng-11470	261	29	drilling	drilling	NOUN
fumecheng-11470	261	30	systems	system	NOUN
fumecheng-11470	261	31	with	with	ADP
fumecheng-11470	261	32	drag	drag	NOUN
fumecheng-11470	261	33	bits	bit	NOUN
fumecheng-11470	261	34	,	,	PUNCT
fumecheng-11470	261	35	journal	journal	NOUN
fumecheng-11470	261	36	of	of	ADP
fumecheng-11470	261	37	sound	sound	NOUN
fumecheng-11470	261	38	and	and	CCONJ
fumecheng-11470	261	39	vibration	vibration	NOUN
fumecheng-11470	261	40	,	,	PUNCT
fumecheng-11470	261	41	305(3	305(3	NUM
fumecheng-11470	261	42	)	)	PUNCT
fumecheng-11470	261	43	,	,	PUNCT
fumecheng-11470	261	44	pp	pp	ADP
fumecheng-11470	261	45	.	.	PUNCT
fumecheng-11470	262	1	432	432	NUM
fumecheng-11470	262	2	-	-	SYM
fumecheng-11470	262	3	456	456	NUM
fumecheng-11470	262	4	.	.	PUNCT
fumecheng-11470	263	1	7	7	NUM
fumecheng-11470	263	2	.	.	X
fumecheng-11470	263	3	nikfar	nikfar	ADV
fumecheng-11470	263	4	,	,	PUNCT
fumecheng-11470	263	5	f.	f.	PROPN
fumecheng-11470	263	6	,	,	PUNCT
fumecheng-11470	263	7	konstantinidis	konstantinidis	PROPN
fumecheng-11470	263	8	,	,	PUNCT
fumecheng-11470	263	9	d.	d.	PROPN
fumecheng-11470	263	10	,	,	PUNCT
fumecheng-11470	263	11	2017	2017	NUM
fumecheng-11470	263	12	,	,	PUNCT
fumecheng-11470	263	13	effect	effect	NOUN
fumecheng-11470	263	14	of	of	ADP
fumecheng-11470	263	15	the	the	DET
fumecheng-11470	263	16	stick	stick	NOUN
fumecheng-11470	263	17	-	-	PUNCT
fumecheng-11470	263	18	slip	slip	NOUN
fumecheng-11470	263	19	phenomenon	phenomenon	NOUN
fumecheng-11470	263	20	on	on	ADP
fumecheng-11470	263	21	the	the	DET
fumecheng-11470	263	22	sliding	slide	VERB
fumecheng-11470	263	23	response	response	NOUN
fumecheng-11470	263	24	of	of	ADP
fumecheng-11470	263	25	objects	object	NOUN
fumecheng-11470	263	26	subjected	subject	VERB
fumecheng-11470	263	27	to	to	ADP
fumecheng-11470	263	28	pulse	pulse	NOUN
fumecheng-11470	263	29	excitation	excitation	NOUN
fumecheng-11470	263	30	,	,	PUNCT
fumecheng-11470	263	31	journal	journal	NOUN
fumecheng-11470	263	32	of	of	ADP
fumecheng-11470	263	33	engineering	engineering	NOUN
fumecheng-11470	263	34	mechanics	mechanic	NOUN
fumecheng-11470	263	35	,	,	PUNCT
fumecheng-11470	263	36	143(4	143(4	NUM
fumecheng-11470	263	37	)	)	PUNCT
fumecheng-11470	263	38	,	,	PUNCT
fumecheng-11470	263	39	04016122	04016122	NUM
fumecheng-11470	263	40	.	.	PUNCT
fumecheng-11470	264	1	8	8	NUM
fumecheng-11470	264	2	.	.	X
fumecheng-11470	264	3	keck	keck	PROPN
fumecheng-11470	264	4	,	,	PUNCT
fumecheng-11470	264	5	a.	a.	PROPN
fumecheng-11470	264	6	,	,	PUNCT
fumecheng-11470	264	7	zimmermann	zimmermann	PROPN
fumecheng-11470	264	8	,	,	PUNCT
fumecheng-11470	264	9	j.	j.	PROPN
fumecheng-11470	264	10	,	,	PUNCT
fumecheng-11470	264	11	sawodny	sawodny	VERB
fumecheng-11470	264	12	,	,	PUNCT
fumecheng-11470	264	13	o.	o.	NOUN
fumecheng-11470	264	14	,	,	PUNCT
fumecheng-11470	264	15	2017	2017	NUM
fumecheng-11470	264	16	,	,	PUNCT
fumecheng-11470	264	17	friction	friction	NOUN
fumecheng-11470	264	18	parameter	parameter	NOUN
fumecheng-11470	264	19	identification	identification	NOUN
fumecheng-11470	264	20	and	and	CCONJ
fumecheng-11470	264	21	compensation	compensation	NOUN
fumecheng-11470	264	22	using	use	VERB
fumecheng-11470	264	23	the	the	DET
fumecheng-11470	264	24	elastoplastic	elastoplastic	ADJ
fumecheng-11470	264	25	friction	friction	NOUN
fumecheng-11470	264	26	model	model	NOUN
fumecheng-11470	264	27	,	,	PUNCT
fumecheng-11470	264	28	mechatronics	mechatronic	NOUN
fumecheng-11470	264	29	,	,	PUNCT
fumecheng-11470	264	30	47	47	NUM
fumecheng-11470	264	31	,	,	PUNCT
fumecheng-11470	264	32	pp	pp	ADJ
fumecheng-11470	264	33	.	.	PUNCT
fumecheng-11470	265	1	168	168	NUM
fumecheng-11470	265	2	-	-	SYM
fumecheng-11470	265	3	182	182	NUM
fumecheng-11470	265	4	.	.	PUNCT
fumecheng-11470	266	1	9	9	NUM
fumecheng-11470	266	2	.	.	X
fumecheng-11470	266	3	beerens	beeren	NOUN
fumecheng-11470	266	4	,	,	PUNCT
fumecheng-11470	266	5	r.	r.	PROPN
fumecheng-11470	266	6	,	,	PUNCT
fumecheng-11470	266	7	bisoffi	bisoffi	PROPN
fumecheng-11470	266	8	,	,	PUNCT
fumecheng-11470	266	9	a.	a.	NOUN
fumecheng-11470	266	10	,	,	PUNCT
fumecheng-11470	266	11	zaccarian	zaccarian	NOUN
fumecheng-11470	266	12	,	,	PUNCT
fumecheng-11470	266	13	l.	l.	PROPN
fumecheng-11470	266	14	,	,	PUNCT
fumecheng-11470	266	15	heemels	heemel	NOUN
fumecheng-11470	266	16	,	,	PUNCT
fumecheng-11470	266	17	w.	w.	PROPN
fumecheng-11470	266	18	p.	p.	PROPN
fumecheng-11470	266	19	,	,	PUNCT
fumecheng-11470	266	20	nijmeijer	nijmeijer	PROPN
fumecheng-11470	266	21	,	,	PUNCT
fumecheng-11470	266	22	h.	h.	PROPN
fumecheng-11470	266	23	,	,	PUNCT
fumecheng-11470	266	24	van	van	PROPN
fumecheng-11470	266	25	de	de	X
fumecheng-11470	266	26	wouw	wouw	PROPN
fumecheng-11470	266	27	,	,	PUNCT
fumecheng-11470	266	28	n.	n.	NOUN
fumecheng-11470	266	29	,	,	PUNCT
fumecheng-11470	266	30	2018	2018	NUM
fumecheng-11470	266	31	,	,	PUNCT
fumecheng-11470	266	32	hybrid	hybrid	ADJ
fumecheng-11470	266	33	pid	pid	NOUN
fumecheng-11470	266	34	control	control	NOUN
fumecheng-11470	266	35	for	for	ADP
fumecheng-11470	266	36	transient	transient	ADJ
fumecheng-11470	266	37	performance	performance	NOUN
fumecheng-11470	266	38	improvement	improvement	NOUN
fumecheng-11470	266	39	of	of	ADP
fumecheng-11470	266	40	motion	motion	NOUN
fumecheng-11470	266	41	systems	system	NOUN
fumecheng-11470	266	42	with	with	ADP
fumecheng-11470	266	43	friction	friction	NOUN
fumecheng-11470	266	44	,	,	PUNCT
fumecheng-11470	266	45	in	in	ADP
fumecheng-11470	266	46	2018	2018	NUM
fumecheng-11470	266	47	annual	annual	ADJ
fumecheng-11470	266	48	american	american	PROPN
fumecheng-11470	266	49	control	control	PROPN
fumecheng-11470	266	50	conference	conference	PROPN
fumecheng-11470	266	51	(	(	PUNCT
fumecheng-11470	266	52	acc	acc	PROPN
fumecheng-11470	266	53	)	)	PUNCT
fumecheng-11470	266	54	,	,	PUNCT
fumecheng-11470	267	1	pp	pp	ADJ
fumecheng-11470	267	2	.	.	PUNCT
fumecheng-11470	268	1	539	539	NUM
fumecheng-11470	268	2	-	-	SYM
fumecheng-11470	268	3	544	544	NUM
fumecheng-11470	268	4	.	.	NOUN
fumecheng-11470	268	5	10	10	NUM
fumecheng-11470	268	6	.	.	PUNCT
fumecheng-11470	268	7	wojtyra	wojtyra	PROPN
fumecheng-11470	268	8	,	,	PUNCT
fumecheng-11470	268	9	m.	m.	NOUN
fumecheng-11470	268	10	,	,	PUNCT
fumecheng-11470	268	11	2017	2017	NUM
fumecheng-11470	268	12	,	,	PUNCT
fumecheng-11470	268	13	modeling	modeling	NOUN
fumecheng-11470	268	14	of	of	ADP
fumecheng-11470	268	15	static	static	ADJ
fumecheng-11470	268	16	friction	friction	NOUN
fumecheng-11470	268	17	in	in	ADP
fumecheng-11470	268	18	closed	closed	ADJ
fumecheng-11470	268	19	-	-	PUNCT
fumecheng-11470	268	20	loop	loop	NOUN
fumecheng-11470	268	21	kinematic	kinematic	ADJ
fumecheng-11470	268	22	chains	chain	NOUN
fumecheng-11470	268	23	—	—	PUNCT
fumecheng-11470	268	24	uniqueness	uniqueness	NOUN
fumecheng-11470	268	25	and	and	CCONJ
fumecheng-11470	268	26	parametric	parametric	ADJ
fumecheng-11470	268	27	sensitivity	sensitivity	NOUN
fumecheng-11470	268	28	problems	problem	NOUN
fumecheng-11470	268	29	,	,	PUNCT
fumecheng-11470	268	30	multibody	multibody	ADJ
fumecheng-11470	268	31	system	system	NOUN
fumecheng-11470	268	32	dynamics	dynamic	NOUN
fumecheng-11470	268	33	,	,	PUNCT
fumecheng-11470	268	34	39(4	39(4	NOUN
fumecheng-11470	268	35	)	)	PUNCT
fumecheng-11470	268	36	,	,	PUNCT
fumecheng-11470	268	37	pp	pp	ADJ
fumecheng-11470	268	38	.	.	PUNCT
fumecheng-11470	269	1	337	337	NUM
fumecheng-11470	269	2	-	-	SYM
fumecheng-11470	269	3	361	361	NUM
fumecheng-11470	269	4	.	.	PUNCT
fumecheng-11470	270	1	11	11	NUM
fumecheng-11470	270	2	.	.	PUNCT
fumecheng-11470	271	1	lampaert	lampaert	ADJ
fumecheng-11470	271	2	,	,	PUNCT
fumecheng-11470	271	3	v.	v.	PROPN
fumecheng-11470	271	4	,	,	PUNCT
fumecheng-11470	271	5	al	al	PROPN
fumecheng-11470	271	6	-	-	PUNCT
fumecheng-11470	271	7	bender	bender	PROPN
fumecheng-11470	271	8	,	,	PUNCT
fumecheng-11470	271	9	f.	f.	PROPN
fumecheng-11470	271	10	,	,	PUNCT
fumecheng-11470	271	11	swevers	swevers	PROPN
fumecheng-11470	271	12	,	,	PUNCT
fumecheng-11470	271	13	j.	j.	PROPN
fumecheng-11470	271	14	,	,	PUNCT
fumecheng-11470	271	15	2003	2003	NUM
fumecheng-11470	271	16	,	,	PUNCT
fumecheng-11470	271	17	a	a	DET
fumecheng-11470	271	18	generalized	generalize	VERB
fumecheng-11470	271	19	maxwell	maxwell	NOUN
fumecheng-11470	271	20	-	-	PUNCT
fumecheng-11470	271	21	slip	slip	NOUN
fumecheng-11470	271	22	friction	friction	NOUN
fumecheng-11470	271	23	model	model	NOUN
fumecheng-11470	271	24	appropriate	appropriate	ADJ
fumecheng-11470	271	25	for	for	ADP
fumecheng-11470	271	26	control	control	NOUN
fumecheng-11470	271	27	purposes	purpose	NOUN
fumecheng-11470	271	28	,	,	PUNCT
fumecheng-11470	271	29	in	in	ADP
fumecheng-11470	271	30	2003	2003	NUM
fumecheng-11470	271	31	ieee	ieee	NOUN
fumecheng-11470	271	32	international	international	ADJ
fumecheng-11470	271	33	workshop	workshop	NOUN
fumecheng-11470	271	34	on	on	ADP
fumecheng-11470	271	35	workload	workload	NOUN
fumecheng-11470	271	36	characterization	characterization	NOUN
fumecheng-11470	271	37	,	,	PUNCT
fumecheng-11470	271	38	4	4	NUM
fumecheng-11470	271	39	,	,	PUNCT
fumecheng-11470	271	40	pp	pp	ADJ
fumecheng-11470	271	41	.	.	PUNCT
fumecheng-11470	272	1	1170	1170	NUM
fumecheng-11470	272	2	-	-	SYM
fumecheng-11470	272	3	1177	1177	NUM
fumecheng-11470	272	4	.	.	PUNCT
fumecheng-11470	273	1	12	12	NUM
fumecheng-11470	273	2	.	.	PUNCT
fumecheng-11470	274	1	xu	xu	PROPN
fumecheng-11470	274	2	,	,	PUNCT
fumecheng-11470	274	3	l.	l.	PROPN
fumecheng-11470	274	4	,	,	PUNCT
fumecheng-11470	274	5	yao	yao	PROPN
fumecheng-11470	274	6	,	,	PUNCT
fumecheng-11470	274	7	b.	b.	PROPN
fumecheng-11470	274	8	,	,	PUNCT
fumecheng-11470	274	9	2008	2008	NUM
fumecheng-11470	274	10	,	,	PUNCT
fumecheng-11470	274	11	adaptive	adaptive	ADJ
fumecheng-11470	274	12	robust	robust	ADJ
fumecheng-11470	274	13	control	control	NOUN
fumecheng-11470	274	14	of	of	ADP
fumecheng-11470	274	15	mechanical	mechanical	ADJ
fumecheng-11470	274	16	systems	system	NOUN
fumecheng-11470	274	17	with	with	ADP
fumecheng-11470	274	18	non	non	ADJ
fumecheng-11470	274	19	-	-	ADJ
fumecheng-11470	274	20	linear	linear	ADJ
fumecheng-11470	274	21	dynamic	dynamic	ADJ
fumecheng-11470	274	22	friction	friction	NOUN
fumecheng-11470	274	23	compensation	compensation	NOUN
fumecheng-11470	274	24	,	,	PUNCT
fumecheng-11470	274	25	international	international	ADJ
fumecheng-11470	274	26	journal	journal	NOUN
fumecheng-11470	274	27	of	of	ADP
fumecheng-11470	274	28	control	control	NOUN
fumecheng-11470	274	29	,	,	PUNCT
fumecheng-11470	274	30	81(2	81(2	NUM
fumecheng-11470	274	31	)	)	PUNCT
fumecheng-11470	274	32	,	,	PUNCT
fumecheng-11470	274	33	pp	pp	ADP
fumecheng-11470	274	34	.	.	PUNCT
fumecheng-11470	275	1	167	167	NUM
fumecheng-11470	275	2	-	-	SYM
fumecheng-11470	275	3	176	176	NUM
fumecheng-11470	275	4	.	.	PUNCT
fumecheng-11470	276	1	13	13	NUM
fumecheng-11470	276	2	.	.	X
fumecheng-11470	276	3	piasek	piasek	PROPN
fumecheng-11470	276	4	,	,	PUNCT
fumecheng-11470	276	5	j.	j.	PROPN
fumecheng-11470	276	6	,	,	PUNCT
fumecheng-11470	276	7	patelski	patelski	PROPN
fumecheng-11470	276	8	,	,	PUNCT
fumecheng-11470	276	9	r.	r.	PROPN
fumecheng-11470	276	10	,	,	PUNCT
fumecheng-11470	276	11	pazderski	pazderski	PROPN
fumecheng-11470	276	12	,	,	PUNCT
fumecheng-11470	276	13	d.	d.	PROPN
fumecheng-11470	276	14	,	,	PUNCT
fumecheng-11470	276	15	kozłowski	kozłowski	PROPN
fumecheng-11470	276	16	,	,	PUNCT
fumecheng-11470	276	17	k.	k.	PROPN
fumecheng-11470	276	18	,	,	PUNCT
fumecheng-11470	276	19	2019	2019	NUM
fumecheng-11470	276	20	,	,	PUNCT
fumecheng-11470	276	21	identification	identification	NOUN
fumecheng-11470	276	22	of	of	ADP
fumecheng-11470	276	23	a	a	DET
fumecheng-11470	276	24	dynamic	dynamic	ADJ
fumecheng-11470	276	25	friction	friction	NOUN
fumecheng-11470	276	26	model	model	NOUN
fumecheng-11470	276	27	and	and	CCONJ
fumecheng-11470	276	28	its	its	PRON
fumecheng-11470	276	29	application	application	NOUN
fumecheng-11470	276	30	in	in	ADP
fumecheng-11470	276	31	a	a	DET
fumecheng-11470	276	32	precise	precise	ADJ
fumecheng-11470	276	33	tracking	tracking	NOUN
fumecheng-11470	276	34	control	control	NOUN
fumecheng-11470	276	35	,	,	PUNCT
fumecheng-11470	276	36	acta	acta	PROPN
fumecheng-11470	276	37	polytechnica	polytechnica	PROPN
fumecheng-11470	276	38	hungarica	hungarica	PROPN
fumecheng-11470	276	39	,	,	PUNCT
fumecheng-11470	276	40	16(10	16(10	NOUN
fumecheng-11470	276	41	)	)	PUNCT
fumecheng-11470	276	42	,	,	PUNCT
fumecheng-11470	276	43	pp	pp	PROPN
fumecheng-11470	276	44	.	.	PUNCT
fumecheng-11470	277	1	83	83	NUM
fumecheng-11470	277	2	-	-	SYM
fumecheng-11470	277	3	99	99	NUM
fumecheng-11470	277	4	.	.	PUNCT
fumecheng-11470	278	1	14	14	NUM
fumecheng-11470	278	2	.	.	PUNCT
fumecheng-11470	279	1	swevers	swevers	PROPN
fumecheng-11470	279	2	,	,	PUNCT
fumecheng-11470	279	3	j.	j.	PROPN
fumecheng-11470	279	4	,	,	PUNCT
fumecheng-11470	279	5	al	al	PROPN
fumecheng-11470	279	6	-	-	PUNCT
fumecheng-11470	279	7	bender	bender	PROPN
fumecheng-11470	279	8	,	,	PUNCT
fumecheng-11470	279	9	f.	f.	PROPN
fumecheng-11470	279	10	,	,	PUNCT
fumecheng-11470	279	11	ganseman	ganseman	NOUN
fumecheng-11470	279	12	,	,	PUNCT
fumecheng-11470	279	13	c.g	c.g	PROPN
fumecheng-11470	279	14	.	.	PROPN
fumecheng-11470	279	15	,	,	PUNCT
fumecheng-11470	279	16	projogo	projogo	PROPN
fumecheng-11470	279	17	,	,	PUNCT
fumecheng-11470	279	18	t.	t.	PROPN
fumecheng-11470	279	19	,	,	PUNCT
fumecheng-11470	279	20	2000	2000	NUM
fumecheng-11470	279	21	,	,	PUNCT
fumecheng-11470	279	22	an	an	DET
fumecheng-11470	279	23	integrated	integrate	VERB
fumecheng-11470	279	24	friction	friction	NOUN
fumecheng-11470	279	25	model	model	NOUN
fumecheng-11470	279	26	structure	structure	NOUN
fumecheng-11470	279	27	with	with	ADP
fumecheng-11470	279	28	improved	improved	ADJ
fumecheng-11470	279	29	presliding	preslide	VERB
fumecheng-11470	279	30	behavior	behavior	NOUN
fumecheng-11470	279	31	for	for	ADP
fumecheng-11470	279	32	accurate	accurate	ADJ
fumecheng-11470	279	33	friction	friction	NOUN
fumecheng-11470	279	34	compensation	compensation	NOUN
fumecheng-11470	279	35	,	,	PUNCT
fumecheng-11470	279	36	ieee	ieee	NOUN
fumecheng-11470	279	37	transactions	transaction	NOUN
fumecheng-11470	279	38	on	on	ADP
fumecheng-11470	279	39	automatic	automatic	ADJ
fumecheng-11470	279	40	control	control	NOUN
fumecheng-11470	279	41	,	,	PUNCT
fumecheng-11470	279	42	45(4	45(4	NUM
fumecheng-11470	279	43	)	)	PUNCT
fumecheng-11470	279	44	,	,	PUNCT
fumecheng-11470	279	45	pp	pp	ADJ
fumecheng-11470	279	46	.	.	PUNCT
fumecheng-11470	280	1	675	675	NUM
fumecheng-11470	280	2	-	-	SYM
fumecheng-11470	280	3	686	686	NUM
fumecheng-11470	280	4	.	.	NOUN
fumecheng-11470	281	1	15	15	NUM
fumecheng-11470	281	2	.	.	PUNCT
fumecheng-11470	282	1	lee	lee	PROPN
fumecheng-11470	282	2	,	,	PUNCT
fumecheng-11470	282	3	t.h	t.h	PROPN
fumecheng-11470	282	4	.	.	PROPN
fumecheng-11470	282	5	,	,	PUNCT
fumecheng-11470	282	6	tan	tan	PROPN
fumecheng-11470	282	7	,	,	PUNCT
fumecheng-11470	282	8	k.k	k.k	PROPN
fumecheng-11470	282	9	.	.	PROPN
fumecheng-11470	282	10	,	,	PUNCT
fumecheng-11470	282	11	huang	huang	PROPN
fumecheng-11470	282	12	,	,	PUNCT
fumecheng-11470	282	13	s.	s.	PROPN
fumecheng-11470	282	14	,	,	PUNCT
fumecheng-11470	282	15	2010	2010	NUM
fumecheng-11470	282	16	,	,	PUNCT
fumecheng-11470	282	17	adaptive	adaptive	ADJ
fumecheng-11470	282	18	friction	friction	NOUN
fumecheng-11470	282	19	compensation	compensation	NOUN
fumecheng-11470	282	20	with	with	ADP
fumecheng-11470	282	21	a	a	DET
fumecheng-11470	282	22	dynamical	dynamical	ADJ
fumecheng-11470	282	23	friction	friction	NOUN
fumecheng-11470	282	24	model	model	NOUN
fumecheng-11470	282	25	,	,	PUNCT
fumecheng-11470	282	26	ieee	ieee	PROPN
fumecheng-11470	282	27	/	/	SYM
fumecheng-11470	282	28	asme	asme	PROPN
fumecheng-11470	282	29	transactions	transaction	NOUN
fumecheng-11470	282	30	on	on	ADP
fumecheng-11470	282	31	mechatronics	mechatronic	NOUN
fumecheng-11470	282	32	,	,	PUNCT
fumecheng-11470	282	33	16(1	16(1	NUM
fumecheng-11470	282	34	)	)	PUNCT
fumecheng-11470	282	35	,	,	PUNCT
fumecheng-11470	282	36	pp	pp	PROPN
fumecheng-11470	282	37	.	.	PUNCT
fumecheng-11470	283	1	133	133	NUM
fumecheng-11470	283	2	-	-	SYM
fumecheng-11470	283	3	140	140	NUM
fumecheng-11470	283	4	.	.	PUNCT
fumecheng-11470	284	1	16	16	NUM
fumecheng-11470	284	2	.	.	PUNCT
fumecheng-11470	285	1	iskandar	iskandar	NOUN
fumecheng-11470	285	2	,	,	PUNCT
fumecheng-11470	285	3	m.	m.	NOUN
fumecheng-11470	285	4	,	,	PUNCT
fumecheng-11470	285	5	wolf	wolf	PROPN
fumecheng-11470	285	6	,	,	PUNCT
fumecheng-11470	285	7	s.	s.	PROPN
fumecheng-11470	285	8	,	,	PUNCT
fumecheng-11470	285	9	2019	2019	NUM
fumecheng-11470	285	10	,	,	PUNCT
fumecheng-11470	285	11	dynamic	dynamic	ADJ
fumecheng-11470	285	12	friction	friction	NOUN
fumecheng-11470	285	13	model	model	NOUN
fumecheng-11470	285	14	with	with	ADP
fumecheng-11470	285	15	thermal	thermal	ADJ
fumecheng-11470	285	16	and	and	CCONJ
fumecheng-11470	285	17	load	load	NOUN
fumecheng-11470	285	18	dependency	dependency	NOUN
fumecheng-11470	285	19	:	:	PUNCT
fumecheng-11470	285	20	modeling	modeling	NOUN
fumecheng-11470	285	21	,	,	PUNCT
fumecheng-11470	285	22	compensation	compensation	NOUN
fumecheng-11470	285	23	,	,	PUNCT
fumecheng-11470	285	24	and	and	CCONJ
fumecheng-11470	285	25	external	external	ADJ
fumecheng-11470	285	26	force	force	NOUN
fumecheng-11470	285	27	estimation	estimation	NOUN
fumecheng-11470	285	28	,	,	PUNCT
fumecheng-11470	285	29	in	in	ADP
fumecheng-11470	285	30	2019	2019	NUM
fumecheng-11470	285	31	international	international	ADJ
fumecheng-11470	285	32	conference	conference	NOUN
fumecheng-11470	285	33	on	on	ADP
fumecheng-11470	285	34	robotics	robotic	NOUN
fumecheng-11470	285	35	and	and	CCONJ
fumecheng-11470	285	36	automation	automation	NOUN
fumecheng-11470	285	37	(	(	PUNCT
fumecheng-11470	285	38	icra	icra	PROPN
fumecheng-11470	285	39	)	)	PUNCT
fumecheng-11470	285	40	,	,	PUNCT
fumecheng-11470	285	41	pp	pp	ADJ
fumecheng-11470	285	42	.	.	PUNCT
fumecheng-11470	286	1	7367	7367	NUM
fumecheng-11470	286	2	-	-	SYM
fumecheng-11470	286	3	7373	7373	NUM
fumecheng-11470	286	4	.	.	PUNCT
fumecheng-11470	287	1	740	740	NUM
fumecheng-11470	287	2	y.	y.	PROPN
fumecheng-11470	287	3	cao	cao	PROPN
fumecheng-11470	287	4	,	,	PUNCT
fumecheng-11470	287	5	n.m	n.m	PROPN
fumecheng-11470	287	6	.	.	PROPN
fumecheng-11470	287	7	nor	nor	CCONJ
fumecheng-11470	287	8	,	,	PUNCT
fumecheng-11470	287	9	z.	z.	PROPN
fumecheng-11470	287	10	samad	samad	PROPN
fumecheng-11470	287	11	17	17	NUM
fumecheng-11470	287	12	.	.	PUNCT
fumecheng-11470	288	1	piasek	piasek	PROPN
fumecheng-11470	288	2	,	,	PUNCT
fumecheng-11470	288	3	j.	j.	PROPN
fumecheng-11470	288	4	,	,	PUNCT
fumecheng-11470	288	5	patelski	patelski	PROPN
fumecheng-11470	288	6	,	,	PUNCT
fumecheng-11470	288	7	r.	r.	PROPN
fumecheng-11470	288	8	,	,	PUNCT
fumecheng-11470	288	9	pazderski	pazderski	PROPN
fumecheng-11470	288	10	,	,	PUNCT
fumecheng-11470	288	11	d.	d.	PROPN
fumecheng-11470	288	12	,	,	PUNCT
fumecheng-11470	288	13	kozłowski	kozłowski	PROPN
fumecheng-11470	288	14	,	,	PUNCT
fumecheng-11470	288	15	k.	k.	PROPN
fumecheng-11470	288	16	,	,	PUNCT
fumecheng-11470	288	17	2019	2019	NUM
fumecheng-11470	288	18	,	,	PUNCT
fumecheng-11470	288	19	identification	identification	NOUN
fumecheng-11470	288	20	of	of	ADP
fumecheng-11470	288	21	a	a	DET
fumecheng-11470	288	22	dynamic	dynamic	ADJ
fumecheng-11470	288	23	friction	friction	NOUN
fumecheng-11470	288	24	model	model	NOUN
fumecheng-11470	288	25	and	and	CCONJ
fumecheng-11470	288	26	its	its	PRON
fumecheng-11470	288	27	application	application	NOUN
fumecheng-11470	288	28	in	in	ADP
fumecheng-11470	288	29	a	a	DET
fumecheng-11470	288	30	precise	precise	ADJ
fumecheng-11470	288	31	tracking	tracking	NOUN
fumecheng-11470	288	32	control	control	NOUN
fumecheng-11470	288	33	,	,	PUNCT
fumecheng-11470	288	34	acta	acta	PROPN
fumecheng-11470	288	35	polytechnica	polytechnica	PROPN
fumecheng-11470	288	36	hungarica	hungarica	PROPN
fumecheng-11470	288	37	,	,	PUNCT
fumecheng-11470	288	38	16(10	16(10	NOUN
fumecheng-11470	288	39	)	)	PUNCT
fumecheng-11470	288	40	,	,	PUNCT
fumecheng-11470	288	41	pp	pp	PROPN
fumecheng-11470	288	42	.	.	PUNCT
fumecheng-11470	289	1	83	83	NUM
fumecheng-11470	289	2	-	-	SYM
fumecheng-11470	289	3	99	99	NUM
fumecheng-11470	289	4	.	.	PUNCT
fumecheng-11470	290	1	18	18	NUM
fumecheng-11470	290	2	.	.	PUNCT
fumecheng-11470	290	3	gandarilla	gandarilla	NOUN
fumecheng-11470	290	4	,	,	PUNCT
fumecheng-11470	290	5	i.	i.	NOUN
fumecheng-11470	290	6	,	,	PUNCT
fumecheng-11470	290	7	santibáñez	santibáñez	PROPN
fumecheng-11470	290	8	,	,	PUNCT
fumecheng-11470	290	9	v.	v.	PROPN
fumecheng-11470	290	10	,	,	PUNCT
fumecheng-11470	290	11	sandoval	sandoval	PROPN
fumecheng-11470	290	12	,	,	PUNCT
fumecheng-11470	290	13	j.	j.	PROPN
fumecheng-11470	290	14	,	,	PUNCT
fumecheng-11470	290	15	campa	campa	PROPN
fumecheng-11470	290	16	,	,	PUNCT
fumecheng-11470	290	17	r.	r.	PROPN
fumecheng-11470	290	18	,	,	PUNCT
fumecheng-11470	290	19	2022	2022	NUM
fumecheng-11470	290	20	,	,	PUNCT
fumecheng-11470	290	21	joint	joint	ADJ
fumecheng-11470	290	22	position	position	NOUN
fumecheng-11470	290	23	regulation	regulation	NOUN
fumecheng-11470	290	24	of	of	ADP
fumecheng-11470	290	25	a	a	DET
fumecheng-11470	290	26	class	class	NOUN
fumecheng-11470	290	27	of	of	ADP
fumecheng-11470	290	28	underactuated	underactuated	ADJ
fumecheng-11470	290	29	mechanical	mechanical	ADJ
fumecheng-11470	290	30	systems	system	NOUN
fumecheng-11470	290	31	affected	affect	VERB
fumecheng-11470	290	32	by	by	ADP
fumecheng-11470	290	33	lugre	lugre	ADJ
fumecheng-11470	290	34	dynamic	dynamic	ADJ
fumecheng-11470	290	35	friction	friction	NOUN
fumecheng-11470	290	36	via	via	ADP
fumecheng-11470	290	37	the	the	DET
fumecheng-11470	290	38	ida	ida	PROPN
fumecheng-11470	290	39	-	-	PUNCT
fumecheng-11470	290	40	pbc	pbc	PROPN
fumecheng-11470	290	41	method	method	NOUN
fumecheng-11470	290	42	,	,	PUNCT
fumecheng-11470	290	43	international	international	ADJ
fumecheng-11470	290	44	journal	journal	NOUN
fumecheng-11470	290	45	of	of	ADP
fumecheng-11470	290	46	control	control	NOUN
fumecheng-11470	290	47	,	,	PUNCT
fumecheng-11470	290	48	95(6	95(6	NUM
fumecheng-11470	290	49	)	)	PUNCT
fumecheng-11470	290	50	,	,	PUNCT
fumecheng-11470	290	51	pp	pp	PROPN
fumecheng-11470	290	52	.	.	PUNCT
fumecheng-11470	291	1	1419	1419	NUM
fumecheng-11470	291	2	-	-	SYM
fumecheng-11470	291	3	1431	1431	NUM
fumecheng-11470	291	4	.	.	PUNCT
fumecheng-11470	292	1	19	19	NUM
fumecheng-11470	292	2	.	.	PUNCT
fumecheng-11470	293	1	cılız	cılız	PROPN
fumecheng-11470	293	2	,	,	PUNCT
fumecheng-11470	293	3	m.k	m.k	PROPN
fumecheng-11470	293	4	.	.	PROPN
fumecheng-11470	293	5	,	,	PUNCT
fumecheng-11470	293	6	tomizuka	tomizuka	PROPN
fumecheng-11470	293	7	,	,	PUNCT
fumecheng-11470	293	8	m.	m.	NOUN
fumecheng-11470	293	9	,	,	PUNCT
fumecheng-11470	293	10	2007	2007	NUM
fumecheng-11470	293	11	,	,	PUNCT
fumecheng-11470	293	12	friction	friction	NOUN
fumecheng-11470	293	13	modelling	modelling	NOUN
fumecheng-11470	293	14	and	and	CCONJ
fumecheng-11470	293	15	compensation	compensation	NOUN
fumecheng-11470	293	16	for	for	ADP
fumecheng-11470	293	17	motion	motion	NOUN
fumecheng-11470	293	18	control	control	NOUN
fumecheng-11470	293	19	using	use	VERB
fumecheng-11470	293	20	hybrid	hybrid	ADJ
fumecheng-11470	293	21	neural	neural	ADJ
fumecheng-11470	293	22	network	network	NOUN
fumecheng-11470	293	23	models	model	NOUN
fumecheng-11470	293	24	,	,	PUNCT
fumecheng-11470	293	25	engineering	engineering	NOUN
fumecheng-11470	293	26	applications	application	NOUN
fumecheng-11470	293	27	of	of	ADP
fumecheng-11470	293	28	artificial	artificial	ADJ
fumecheng-11470	293	29	intelligence	intelligence	NOUN
fumecheng-11470	293	30	,	,	PUNCT
fumecheng-11470	293	31	20(7	20(7	NUM
fumecheng-11470	293	32	)	)	PUNCT
fumecheng-11470	293	33	,	,	PUNCT
fumecheng-11470	293	34	pp	pp	PROPN
fumecheng-11470	293	35	.	.	PUNCT
fumecheng-11470	293	36	898	898	NUM
fumecheng-11470	293	37	-	-	SYM
fumecheng-11470	293	38	911	911	NUM
fumecheng-11470	293	39	.	.	NOUN
fumecheng-11470	293	40	20	20	NUM
fumecheng-11470	293	41	.	.	PUNCT
fumecheng-11470	294	1	doan	doan	PROPN
fumecheng-11470	294	2	,	,	PUNCT
fumecheng-11470	294	3	q.v	q.v	PROPN
fumecheng-11470	294	4	.	.	PROPN
fumecheng-11470	294	5	,	,	PUNCT
fumecheng-11470	294	6	le	le	X
fumecheng-11470	294	7	,	,	PUNCT
fumecheng-11470	294	8	t.d	t.d	PROPN
fumecheng-11470	294	9	.	.	PROPN
fumecheng-11470	294	10	,	,	PUNCT
fumecheng-11470	294	11	le	le	PROPN
fumecheng-11470	294	12	,	,	PUNCT
fumecheng-11470	294	13	q.d	q.d	PROPN
fumecheng-11470	294	14	.	.	PROPN
fumecheng-11470	294	15	,	,	PUNCT
fumecheng-11470	294	16	kang	kang	PROPN
fumecheng-11470	294	17	,	,	PUNCT
fumecheng-11470	294	18	h.j	h.j	PROPN
fumecheng-11470	294	19	.	.	PROPN
fumecheng-11470	294	20	,	,	PUNCT
fumecheng-11470	294	21	2018	2018	NUM
fumecheng-11470	294	22	,	,	PUNCT
fumecheng-11470	294	23	a	a	DET
fumecheng-11470	294	24	neural	neural	ADJ
fumecheng-11470	294	25	network	network	NOUN
fumecheng-11470	294	26	–	–	PUNCT
fumecheng-11470	294	27	based	base	VERB
fumecheng-11470	294	28	synchronized	synchronize	VERB
fumecheng-11470	294	29	computed	compute	VERB
fumecheng-11470	294	30	torque	torque	NOUN
fumecheng-11470	294	31	controller	controller	NOUN
fumecheng-11470	294	32	for	for	ADP
fumecheng-11470	294	33	three	three	NUM
fumecheng-11470	294	34	degree	degree	NOUN
fumecheng-11470	294	35	-	-	PUNCT
fumecheng-11470	294	36	of	of	ADP
fumecheng-11470	294	37	-	-	PUNCT
fumecheng-11470	294	38	freedom	freedom	NOUN
fumecheng-11470	294	39	planar	planar	ADJ
fumecheng-11470	294	40	parallel	parallel	ADJ
fumecheng-11470	294	41	manipulators	manipulator	NOUN
fumecheng-11470	294	42	with	with	ADP
fumecheng-11470	294	43	uncertainties	uncertainty	NOUN
fumecheng-11470	294	44	compensation	compensation	NOUN
fumecheng-11470	294	45	,	,	PUNCT
fumecheng-11470	294	46	international	international	ADJ
fumecheng-11470	294	47	journal	journal	NOUN
fumecheng-11470	294	48	of	of	ADP
fumecheng-11470	294	49	advanced	advanced	ADJ
fumecheng-11470	294	50	robotic	robotic	ADJ
fumecheng-11470	294	51	systems	system	NOUN
fumecheng-11470	294	52	,	,	PUNCT
fumecheng-11470	294	53	15(2	15(2	NUM
fumecheng-11470	294	54	)	)	PUNCT
fumecheng-11470	294	55	,	,	PUNCT
fumecheng-11470	294	56	doi	doi	NOUN
fumecheng-11470	294	57	:	:	PUNCT
fumecheng-11470	294	58	10.1177/1729881418767307	10.1177/1729881418767307	NUM
fumecheng-11470	294	59	.	.	NOUN
fumecheng-11470	294	60	21	21	NUM
fumecheng-11470	294	61	.	.	PUNCT
fumecheng-11470	295	1	grami	grami	NOUN
fumecheng-11470	295	2	,	,	PUNCT
fumecheng-11470	295	3	s.	s.	PROPN
fumecheng-11470	295	4	,	,	PUNCT
fumecheng-11470	295	5	okonkwo	okonkwo	PROPN
fumecheng-11470	295	6	,	,	PUNCT
fumecheng-11470	295	7	p.c	p.c	PROPN
fumecheng-11470	295	8	.	.	PROPN
fumecheng-11470	295	9	,	,	PUNCT
fumecheng-11470	295	10	2021	2021	NUM
fumecheng-11470	295	11	,	,	PUNCT
fumecheng-11470	295	12	friction	friction	NOUN
fumecheng-11470	295	13	compensation	compensation	NOUN
fumecheng-11470	295	14	in	in	ADP
fumecheng-11470	295	15	robot	robot	NOUN
fumecheng-11470	295	16	manipulator	manipulator	NOUN
fumecheng-11470	295	17	using	use	VERB
fumecheng-11470	295	18	artificial	artificial	ADJ
fumecheng-11470	295	19	neural	neural	ADJ
fumecheng-11470	295	20	network	network	NOUN
fumecheng-11470	295	21	,	,	PUNCT
fumecheng-11470	295	22	in	in	ADP
fumecheng-11470	295	23	advances	advance	NOUN
fumecheng-11470	295	24	in	in	ADP
fumecheng-11470	295	25	automation	automation	NOUN
fumecheng-11470	295	26	,	,	PUNCT
fumecheng-11470	295	27	signal	signal	NOUN
fumecheng-11470	295	28	processing	processing	NOUN
fumecheng-11470	295	29	,	,	PUNCT
fumecheng-11470	295	30	instrumentation	instrumentation	NOUN
fumecheng-11470	295	31	,	,	PUNCT
fumecheng-11470	295	32	and	and	CCONJ
fumecheng-11470	295	33	control	control	NOUN
fumecheng-11470	295	34	:	:	PUNCT
fumecheng-11470	295	35	select	select	ADJ
fumecheng-11470	295	36	proceedings	proceeding	NOUN
fumecheng-11470	295	37	of	of	ADP
fumecheng-11470	295	38	i	i	NOUN
fumecheng-11470	295	39	-	-	PUNCT
fumecheng-11470	295	40	casic	casic	ADJ
fumecheng-11470	295	41	2020	2020	NUM
fumecheng-11470	295	42	,	,	PUNCT
fumecheng-11470	295	43	pp	pp	PROPN
fumecheng-11470	295	44	.	.	PUNCT
fumecheng-11470	296	1	641	641	NUM
fumecheng-11470	296	2	-	-	SYM
fumecheng-11470	296	3	650	650	NUM
fumecheng-11470	296	4	.	.	PUNCT
fumecheng-11470	297	1	22	22	NUM
fumecheng-11470	297	2	.	.	PUNCT
fumecheng-11470	297	3	yen	yen	NOUN
fumecheng-11470	297	4	,	,	PUNCT
fumecheng-11470	297	5	v.t	v.t	PROPN
fumecheng-11470	297	6	.	.	PROPN
fumecheng-11470	297	7	,	,	PUNCT
fumecheng-11470	297	8	nan	nan	PROPN
fumecheng-11470	297	9	,	,	PUNCT
fumecheng-11470	297	10	w.y	w.y	PROPN
fumecheng-11470	297	11	.	.	PROPN
fumecheng-11470	297	12	,	,	PUNCT
fumecheng-11470	297	13	van	van	PROPN
fumecheng-11470	297	14	cuong	cuong	PROPN
fumecheng-11470	297	15	,	,	PUNCT
fumecheng-11470	297	16	p.	p.	PROPN
fumecheng-11470	297	17	,	,	PUNCT
fumecheng-11470	297	18	quynh	quynh	NOUN
fumecheng-11470	297	19	,	,	PUNCT
fumecheng-11470	297	20	n.x	n.x	PROPN
fumecheng-11470	297	21	.	.	PROPN
fumecheng-11470	297	22	,	,	PUNCT
fumecheng-11470	297	23	thich	thich	PROPN
fumecheng-11470	297	24	,	,	PUNCT
fumecheng-11470	297	25	v.h	v.h	PROPN
fumecheng-11470	297	26	.	.	PROPN
fumecheng-11470	297	27	,	,	PUNCT
fumecheng-11470	297	28	2017	2017	NUM
fumecheng-11470	297	29	,	,	PUNCT
fumecheng-11470	297	30	robust	robust	ADJ
fumecheng-11470	297	31	adaptive	adaptive	ADJ
fumecheng-11470	297	32	sliding	slide	VERB
fumecheng-11470	297	33	mode	mode	NOUN
fumecheng-11470	297	34	control	control	NOUN
fumecheng-11470	297	35	for	for	ADP
fumecheng-11470	297	36	industrial	industrial	ADJ
fumecheng-11470	297	37	robot	robot	NOUN
fumecheng-11470	297	38	manipulator	manipulator	NOUN
fumecheng-11470	297	39	using	use	VERB
fumecheng-11470	297	40	fuzzy	fuzzy	ADJ
fumecheng-11470	297	41	wavelet	wavelet	NOUN
fumecheng-11470	297	42	neural	neural	ADJ
fumecheng-11470	297	43	networks	network	NOUN
fumecheng-11470	297	44	,	,	PUNCT
fumecheng-11470	297	45	international	international	ADJ
fumecheng-11470	297	46	journal	journal	NOUN
fumecheng-11470	297	47	of	of	ADP
fumecheng-11470	297	48	control	control	NOUN
fumecheng-11470	297	49	,	,	PUNCT
fumecheng-11470	297	50	automation	automation	NOUN
fumecheng-11470	297	51	and	and	CCONJ
fumecheng-11470	297	52	systems	system	NOUN
fumecheng-11470	297	53	,	,	PUNCT
fumecheng-11470	297	54	15(6	15(6	NUM
fumecheng-11470	297	55	)	)	PUNCT
fumecheng-11470	297	56	,	,	PUNCT
fumecheng-11470	297	57	pp	pp	PROPN
fumecheng-11470	297	58	.	.	PUNCT
fumecheng-11470	298	1	2930	2930	NUM
fumecheng-11470	298	2	-	-	SYM
fumecheng-11470	298	3	2941	2941	NUM
fumecheng-11470	298	4	.	.	PUNCT
fumecheng-11470	299	1	23	23	NUM
fumecheng-11470	299	2	.	.	X
fumecheng-11470	299	3	ali	ali	PROPN
fumecheng-11470	299	4	,	,	PUNCT
fumecheng-11470	299	5	k.	k.	PROPN
fumecheng-11470	299	6	,	,	PUNCT
fumecheng-11470	299	7	ullah	ullah	PROPN
fumecheng-11470	299	8	,	,	PUNCT
fumecheng-11470	299	9	s.	s.	PROPN
fumecheng-11470	299	10	,	,	PUNCT
fumecheng-11470	299	11	mehmood	mehmood	PROPN
fumecheng-11470	299	12	,	,	PUNCT
fumecheng-11470	299	13	a.	a.	PROPN
fumecheng-11470	299	14	,	,	PUNCT
fumecheng-11470	299	15	mostafa	mostafa	PROPN
fumecheng-11470	299	16	,	,	PUNCT
fumecheng-11470	299	17	h.	h.	PROPN
fumecheng-11470	299	18	,	,	PUNCT
fumecheng-11470	299	19	marey	marey	PROPN
fumecheng-11470	299	20	,	,	PUNCT
fumecheng-11470	299	21	m.	m.	NOUN
fumecheng-11470	299	22	,	,	PUNCT
fumecheng-11470	299	23	iqbal	iqbal	PROPN
fumecheng-11470	299	24	,	,	PUNCT
fumecheng-11470	299	25	j.	j.	PROPN
fumecheng-11470	299	26	,	,	PUNCT
fumecheng-11470	299	27	2022	2022	NUM
fumecheng-11470	299	28	,	,	PUNCT
fumecheng-11470	299	29	adaptive	adaptive	ADJ
fumecheng-11470	299	30	fit	fit	ADJ
fumecheng-11470	299	31	-	-	PUNCT
fumecheng-11470	299	32	smc	smc	NOUN
fumecheng-11470	299	33	approach	approach	NOUN
fumecheng-11470	299	34	for	for	ADP
fumecheng-11470	299	35	an	an	DET
fumecheng-11470	299	36	anthropomorphic	anthropomorphic	ADJ
fumecheng-11470	299	37	manipulator	manipulator	NOUN
fumecheng-11470	299	38	with	with	ADP
fumecheng-11470	299	39	robust	robust	ADJ
fumecheng-11470	299	40	exact	exact	ADJ
fumecheng-11470	299	41	differentiator	differentiator	NOUN
fumecheng-11470	299	42	and	and	CCONJ
fumecheng-11470	299	43	neural	neural	ADJ
fumecheng-11470	299	44	network	network	NOUN
fumecheng-11470	299	45	-	-	PUNCT
fumecheng-11470	299	46	based	base	VERB
fumecheng-11470	299	47	friction	friction	NOUN
fumecheng-11470	299	48	compensation	compensation	NOUN
fumecheng-11470	299	49	,	,	PUNCT
fumecheng-11470	299	50	ieee	ieee	NOUN
fumecheng-11470	299	51	access	access	NOUN
fumecheng-11470	299	52	,	,	PUNCT
fumecheng-11470	299	53	10	10	NUM
fumecheng-11470	299	54	,	,	PUNCT
fumecheng-11470	299	55	pp	pp	ADJ
fumecheng-11470	299	56	.	.	PUNCT
fumecheng-11470	300	1	3378	3378	NUM
fumecheng-11470	300	2	-	-	SYM
fumecheng-11470	300	3	3389	3389	NUM
fumecheng-11470	300	4	.	.	PUNCT
fumecheng-11470	301	1	24	24	NUM
fumecheng-11470	301	2	.	.	PUNCT
fumecheng-11470	302	1	ruan	ruan	PROPN
fumecheng-11470	302	2	,	,	PUNCT
fumecheng-11470	302	3	w.	w.	PROPN
fumecheng-11470	302	4	,	,	PUNCT
fumecheng-11470	302	5	dong	dong	PROPN
fumecheng-11470	302	6	,	,	PUNCT
fumecheng-11470	302	7	q.	q.	PROPN
fumecheng-11470	302	8	,	,	PUNCT
fumecheng-11470	302	9	zhang	zhang	PROPN
fumecheng-11470	302	10	,	,	PUNCT
fumecheng-11470	302	11	x.	x.	PROPN
fumecheng-11470	302	12	,	,	PUNCT
fumecheng-11470	302	13	li	li	PROPN
fumecheng-11470	302	14	,	,	PUNCT
fumecheng-11470	302	15	z.	z.	PROPN
fumecheng-11470	302	16	,	,	PUNCT
fumecheng-11470	302	17	2021	2021	NUM
fumecheng-11470	302	18	,	,	PUNCT
fumecheng-11470	302	19	friction	friction	NOUN
fumecheng-11470	302	20	compensation	compensation	NOUN
fumecheng-11470	302	21	control	control	NOUN
fumecheng-11470	302	22	of	of	ADP
fumecheng-11470	302	23	electromechanical	electromechanical	ADJ
fumecheng-11470	302	24	actuator	actuator	NOUN
fumecheng-11470	302	25	based	base	VERB
fumecheng-11470	302	26	on	on	ADP
fumecheng-11470	302	27	neural	neural	ADJ
fumecheng-11470	302	28	network	network	NOUN
fumecheng-11470	302	29	adaptive	adaptive	ADJ
fumecheng-11470	302	30	sliding	slide	VERB
fumecheng-11470	302	31	mode	mode	NOUN
fumecheng-11470	302	32	,	,	PUNCT
fumecheng-11470	302	33	sensors	sensor	NOUN
fumecheng-11470	302	34	,	,	PUNCT
fumecheng-11470	302	35	21(4	21(4	NUM
fumecheng-11470	302	36	)	)	PUNCT
fumecheng-11470	302	37	,	,	PUNCT
fumecheng-11470	302	38	1508	1508	NUM
fumecheng-11470	302	39	.	.	PUNCT
fumecheng-11470	303	1	25	25	NUM
fumecheng-11470	303	2	.	.	PUNCT
fumecheng-11470	303	3	nevmerzhitskiy	nevmerzhitskiy	NOUN
fumecheng-11470	303	4	,	,	PUNCT
fumecheng-11470	303	5	m.n	m.n	PROPN
fumecheng-11470	303	6	.	.	PROPN
fumecheng-11470	303	7	,	,	PUNCT
fumecheng-11470	303	8	notkin	notkin	PROPN
fumecheng-11470	303	9	,	,	PUNCT
fumecheng-11470	303	10	b.s	b.s	PROPN
fumecheng-11470	303	11	.	.	PROPN
fumecheng-11470	303	12	,	,	PUNCT
fumecheng-11470	303	13	vara	vara	PROPN
fumecheng-11470	303	14	,	,	PUNCT
fumecheng-11470	303	15	a.v	a.v	PROPN
fumecheng-11470	303	16	.	.	PROPN
fumecheng-11470	303	17	,	,	PUNCT
fumecheng-11470	303	18	zmeu	zmeu	PROPN
fumecheng-11470	303	19	,	,	PUNCT
fumecheng-11470	303	20	k.v	k.v	PROPN
fumecheng-11470	303	21	.	.	PROPN
fumecheng-11470	303	22	,	,	PUNCT
fumecheng-11470	303	23	2019	2019	NUM
fumecheng-11470	303	24	,	,	PUNCT
fumecheng-11470	303	25	friction	friction	NOUN
fumecheng-11470	303	26	model	model	NOUN
fumecheng-11470	303	27	of	of	ADP
fumecheng-11470	303	28	industrial	industrial	ADJ
fumecheng-11470	303	29	robot	robot	NOUN
fumecheng-11470	303	30	joint	joint	ADJ
fumecheng-11470	303	31	with	with	ADP
fumecheng-11470	303	32	temperature	temperature	NOUN
fumecheng-11470	303	33	correction	correction	NOUN
fumecheng-11470	303	34	by	by	ADP
fumecheng-11470	303	35	example	example	NOUN
fumecheng-11470	303	36	of	of	ADP
fumecheng-11470	303	37	kuka	kuka	PROPN
fumecheng-11470	303	38	kr10	kr10	PROPN
fumecheng-11470	303	39	,	,	PUNCT
fumecheng-11470	303	40	journal	journal	NOUN
fumecheng-11470	303	41	of	of	ADP
fumecheng-11470	303	42	robotics	robotic	NOUN
fumecheng-11470	303	43	,	,	PUNCT
fumecheng-11470	303	44	2019	2019	NUM
fumecheng-11470	303	45	,	,	PUNCT
fumecheng-11470	303	46	6931563	6931563	NUM
fumecheng-11470	303	47	.	.	PUNCT
fumecheng-11470	304	1	26	26	NUM
fumecheng-11470	304	2	.	.	PUNCT
fumecheng-11470	305	1	bittencourt	bittencourt	PROPN
fumecheng-11470	305	2	,	,	PUNCT
fumecheng-11470	305	3	a.c	a.c	PROPN
fumecheng-11470	305	4	.	.	PROPN
fumecheng-11470	305	5	,	,	PUNCT
fumecheng-11470	305	6	wernholt	wernholt	PROPN
fumecheng-11470	305	7	,	,	PUNCT
fumecheng-11470	305	8	e.	e.	PROPN
fumecheng-11470	305	9	,	,	PUNCT
fumecheng-11470	305	10	sander	sander	NOUN
fumecheng-11470	305	11	-	-	PUNCT
fumecheng-11470	305	12	tavallaey	tavallaey	PROPN
fumecheng-11470	305	13	,	,	PUNCT
fumecheng-11470	305	14	s.	s.	PROPN
fumecheng-11470	305	15	,	,	PUNCT
fumecheng-11470	305	16	brogårdh	brogårdh	NOUN
fumecheng-11470	305	17	,	,	PUNCT
fumecheng-11470	305	18	t.	t.	PROPN
fumecheng-11470	305	19	,	,	PUNCT
fumecheng-11470	305	20	2010	2010	NUM
fumecheng-11470	305	21	,	,	PUNCT
fumecheng-11470	305	22	an	an	DET
fumecheng-11470	305	23	extended	extended	ADJ
fumecheng-11470	305	24	friction	friction	NOUN
fumecheng-11470	305	25	model	model	NOUN
fumecheng-11470	305	26	to	to	PART
fumecheng-11470	305	27	capture	capture	VERB
fumecheng-11470	305	28	load	load	NOUN
fumecheng-11470	305	29	and	and	CCONJ
fumecheng-11470	305	30	temperature	temperature	NOUN
fumecheng-11470	305	31	effects	effect	NOUN
fumecheng-11470	305	32	in	in	ADP
fumecheng-11470	305	33	robot	robot	NOUN
fumecheng-11470	305	34	joints	joint	NOUN
fumecheng-11470	305	35	,	,	PUNCT
fumecheng-11470	305	36	proceedings	proceeding	NOUN
fumecheng-11470	305	37	of	of	ADP
fumecheng-11470	305	38	2010	2010	NUM
fumecheng-11470	305	39	ieee	ieee	NOUN
fumecheng-11470	305	40	/	/	SYM
fumecheng-11470	305	41	rsj	rsj	NOUN
fumecheng-11470	305	42	international	international	ADJ
fumecheng-11470	305	43	conference	conference	NOUN
fumecheng-11470	305	44	on	on	ADP
fumecheng-11470	305	45	intelligent	intelligent	ADJ
fumecheng-11470	305	46	robots	robot	NOUN
fumecheng-11470	305	47	and	and	CCONJ
fumecheng-11470	305	48	systems	system	NOUN
fumecheng-11470	305	49	,	,	PUNCT
fumecheng-11470	305	50	pp	pp	ADP
fumecheng-11470	305	51	.	.	PUNCT
fumecheng-11470	305	52	6161	6161	NUM
fumecheng-11470	305	53	-	-	SYM
fumecheng-11470	305	54	6167	6167	NUM
fumecheng-11470	305	55	.	.	PUNCT
fumecheng-11470	306	1	27	27	NUM
fumecheng-11470	306	2	.	.	PUNCT
fumecheng-11470	307	1	raviola	raviola	PROPN
fumecheng-11470	307	2	,	,	PUNCT
fumecheng-11470	307	3	a.	a.	PROPN
fumecheng-11470	307	4	,	,	PUNCT
fumecheng-11470	307	5	guida	guida	PROPN
fumecheng-11470	307	6	,	,	PUNCT
fumecheng-11470	307	7	r.	r.	PROPN
fumecheng-11470	307	8	,	,	PUNCT
fumecheng-11470	307	9	de	de	PROPN
fumecheng-11470	307	10	martin	martin	PROPN
fumecheng-11470	307	11	,	,	PUNCT
fumecheng-11470	307	12	a.	a.	PROPN
fumecheng-11470	307	13	,	,	PUNCT
fumecheng-11470	307	14	pastorelli	pastorelli	PROPN
fumecheng-11470	307	15	,	,	PUNCT
fumecheng-11470	307	16	s.	s.	PROPN
fumecheng-11470	307	17	,	,	PUNCT
fumecheng-11470	307	18	mauro	mauro	PROPN
fumecheng-11470	307	19	,	,	PUNCT
fumecheng-11470	307	20	s.	s.	PROPN
fumecheng-11470	307	21	,	,	PUNCT
fumecheng-11470	307	22	sorli	sorli	NOUN
fumecheng-11470	307	23	,	,	PUNCT
fumecheng-11470	307	24	m.	m.	NOUN
fumecheng-11470	307	25	,	,	PUNCT
fumecheng-11470	307	26	2021	2021	NUM
fumecheng-11470	307	27	,	,	PUNCT
fumecheng-11470	307	28	effects	effect	NOUN
fumecheng-11470	307	29	of	of	ADP
fumecheng-11470	307	30	temperature	temperature	NOUN
fumecheng-11470	307	31	and	and	CCONJ
fumecheng-11470	307	32	mounting	mount	VERB
fumecheng-11470	307	33	configuration	configuration	NOUN
fumecheng-11470	307	34	on	on	ADP
fumecheng-11470	307	35	the	the	DET
fumecheng-11470	307	36	dynamic	dynamic	ADJ
fumecheng-11470	307	37	parameters	parameter	NOUN
fumecheng-11470	307	38	identification	identification	NOUN
fumecheng-11470	307	39	of	of	ADP
fumecheng-11470	307	40	industrial	industrial	ADJ
fumecheng-11470	307	41	robots	robot	NOUN
fumecheng-11470	307	42	,	,	PUNCT
fumecheng-11470	307	43	robotics	robotic	NOUN
fumecheng-11470	307	44	,	,	PUNCT
fumecheng-11470	307	45	10(3	10(3	NUM
fumecheng-11470	307	46	)	)	PUNCT
fumecheng-11470	307	47	,	,	PUNCT
fumecheng-11470	307	48	83	83	NUM
fumecheng-11470	307	49	.	.	PUNCT
fumecheng-11470	307	50	28	28	NUM
fumecheng-11470	307	51	.	.	PUNCT
fumecheng-11470	308	1	thomas	thomas	PROPN
fumecheng-11470	308	2	,	,	PUNCT
fumecheng-11470	308	3	a.j	a.j	PROPN
fumecheng-11470	308	4	.	.	PROPN
fumecheng-11470	308	5	,	,	PUNCT
fumecheng-11470	308	6	petridis	petridis	VERB
fumecheng-11470	308	7	,	,	PUNCT
fumecheng-11470	308	8	m.	m.	NOUN
fumecheng-11470	308	9	,	,	PUNCT
fumecheng-11470	308	10	walters	walters	PROPN
fumecheng-11470	308	11	,	,	PUNCT
fumecheng-11470	308	12	s.d	s.d	PROPN
fumecheng-11470	308	13	.	.	PROPN
fumecheng-11470	308	14	,	,	PUNCT
fumecheng-11470	308	15	gheytassi	gheytassi	PROPN
fumecheng-11470	308	16	,	,	PUNCT
fumecheng-11470	308	17	s.m	s.m	PROPN
fumecheng-11470	308	18	.	.	PROPN
fumecheng-11470	308	19	,	,	PUNCT
fumecheng-11470	308	20	morgan	morgan	PROPN
fumecheng-11470	308	21	,	,	PUNCT
fumecheng-11470	308	22	r.	r.	PROPN
fumecheng-11470	308	23	e.	e.	PROPN
fumecheng-11470	308	24	,	,	PUNCT
fumecheng-11470	308	25	2017	2017	NUM
fumecheng-11470	308	26	,	,	PUNCT
fumecheng-11470	308	27	two	two	NUM
fumecheng-11470	308	28	hidden	hidden	ADJ
fumecheng-11470	308	29	layers	layer	NOUN
fumecheng-11470	308	30	are	be	AUX
fumecheng-11470	308	31	usually	usually	ADV
fumecheng-11470	308	32	better	well	ADJ
fumecheng-11470	308	33	than	than	ADP
fumecheng-11470	308	34	one	one	NUM
fumecheng-11470	308	35	,	,	PUNCT
fumecheng-11470	308	36	in	in	ADP
fumecheng-11470	308	37	engineering	engineering	NOUN
fumecheng-11470	308	38	applications	application	NOUN
fumecheng-11470	308	39	of	of	ADP
fumecheng-11470	308	40	neural	neural	ADJ
fumecheng-11470	308	41	networks	network	NOUN
fumecheng-11470	308	42	:	:	PUNCT
fumecheng-11470	308	43	18th	18th	ADJ
fumecheng-11470	308	44	international	international	ADJ
fumecheng-11470	308	45	conference	conference	NOUN
fumecheng-11470	308	46	,	,	PUNCT
fumecheng-11470	308	47	eann	eann	NOUN
fumecheng-11470	308	48	2017	2017	NUM
fumecheng-11470	308	49	,	,	PUNCT
fumecheng-11470	308	50	athens	athens	PROPN
fumecheng-11470	308	51	,	,	PUNCT
fumecheng-11470	308	52	greece	greece	PROPN
fumecheng-11470	308	53	,	,	PUNCT
fumecheng-11470	308	54	proceedings	proceeding	NOUN
fumecheng-11470	308	55	,	,	PUNCT
fumecheng-11470	308	56	pp	pp	X
fumecheng-11470	308	57	.	.	PUNCT
fumecheng-11470	309	1	279	279	NUM
fumecheng-11470	309	2	-	-	SYM
fumecheng-11470	309	3	290	290	NUM
fumecheng-11470	309	4	.	.	PUNCT
fumecheng-11470	310	1	29	29	NUM
fumecheng-11470	310	2	.	.	PUNCT
fumecheng-11470	311	1	xu	xu	PROPN
fumecheng-11470	311	2	,	,	PUNCT
fumecheng-11470	311	3	h.	h.	PROPN
fumecheng-11470	311	4	,	,	PUNCT
fumecheng-11470	311	5	shi	shi	PROPN
fumecheng-11470	311	6	,	,	PUNCT
fumecheng-11470	311	7	z.	z.	PROPN
fumecheng-11470	311	8	,	,	PUNCT
fumecheng-11470	311	9	yu	yu	PROPN
fumecheng-11470	311	10	,	,	PUNCT
fumecheng-11470	311	11	b.	b.	PROPN
fumecheng-11470	311	12	,	,	PUNCT
fumecheng-11470	311	13	wang	wang	PROPN
fumecheng-11470	311	14	,	,	PUNCT
fumecheng-11470	311	15	h.	h.	PROPN
fumecheng-11470	311	16	,	,	PUNCT
fumecheng-11470	311	17	2019	2019	NUM
fumecheng-11470	311	18	,	,	PUNCT
fumecheng-11470	311	19	optimal	optimal	ADJ
fumecheng-11470	311	20	measurement	measurement	NOUN
fumecheng-11470	311	21	speed	speed	NOUN
fumecheng-11470	311	22	and	and	CCONJ
fumecheng-11470	311	23	its	its	PRON
fumecheng-11470	311	24	determination	determination	NOUN
fumecheng-11470	311	25	method	method	NOUN
fumecheng-11470	311	26	in	in	ADP
fumecheng-11470	311	27	the	the	DET
fumecheng-11470	311	28	transmission	transmission	NOUN
fumecheng-11470	311	29	precision	precision	NOUN
fumecheng-11470	311	30	evaluation	evaluation	NOUN
fumecheng-11470	311	31	of	of	ADP
fumecheng-11470	311	32	precision	precision	NOUN
fumecheng-11470	311	33	reducers	reducer	NOUN
fumecheng-11470	311	34	,	,	PUNCT
fumecheng-11470	311	35	applied	apply	VERB
fumecheng-11470	311	36	sciences	science	NOUN
fumecheng-11470	311	37	,	,	PUNCT
fumecheng-11470	311	38	9(10	9(10	NUM
fumecheng-11470	311	39	)	)	PUNCT
fumecheng-11470	311	40	,	,	PUNCT
fumecheng-11470	311	41	2146	2146	NUM
fumecheng-11470	311	42	.	.	PUNCT
fumecheng-11470	312	1	30	30	NUM
fumecheng-11470	312	2	.	.	PUNCT
fumecheng-11470	313	1	maharana	maharana	PROPN
fumecheng-11470	313	2	,	,	PUNCT
fumecheng-11470	313	3	k.	k.	PROPN
fumecheng-11470	313	4	,	,	PUNCT
fumecheng-11470	313	5	mondal	mondal	PROPN
fumecheng-11470	313	6	,	,	PUNCT
fumecheng-11470	313	7	s.	s.	PROPN
fumecheng-11470	313	8	,	,	PUNCT
fumecheng-11470	313	9	nemade	nemade	PROPN
fumecheng-11470	313	10	,	,	PUNCT
fumecheng-11470	313	11	b.	b.	PROPN
fumecheng-11470	313	12	,	,	PUNCT
fumecheng-11470	313	13	2022	2022	NUM
fumecheng-11470	313	14	,	,	PUNCT
fumecheng-11470	313	15	a	a	DET
fumecheng-11470	313	16	review	review	NOUN
fumecheng-11470	313	17	:	:	PUNCT
fumecheng-11470	313	18	data	datum	NOUN
fumecheng-11470	313	19	pre	pre	ADJ
fumecheng-11470	313	20	-	-	ADJ
fumecheng-11470	313	21	processing	processing	ADJ
fumecheng-11470	313	22	and	and	CCONJ
fumecheng-11470	313	23	data	datum	NOUN
fumecheng-11470	313	24	augmentation	augmentation	NOUN
fumecheng-11470	313	25	techniques	technique	NOUN
fumecheng-11470	313	26	,	,	PUNCT
fumecheng-11470	313	27	global	global	ADJ
fumecheng-11470	313	28	transitions	transition	NOUN
fumecheng-11470	313	29	proceedings	proceeding	NOUN
fumecheng-11470	313	30	,	,	PUNCT
fumecheng-11470	313	31	3(1	3(1	NUM
fumecheng-11470	313	32	)	)	PUNCT
fumecheng-11470	313	33	,	,	PUNCT
fumecheng-11470	313	34	pp	pp	ADP
fumecheng-11470	313	35	.	.	PUNCT
fumecheng-11470	314	1	91	91	NUM
fumecheng-11470	314	2	-	-	SYM
fumecheng-11470	314	3	99	99	NUM
fumecheng-11470	314	4	.	.	PUNCT
fumecheng-11470	315	1	31	31	NUM
fumecheng-11470	315	2	.	.	PUNCT
fumecheng-11470	316	1	gower	gower	PROPN
fumecheng-11470	316	2	,	,	PUNCT
fumecheng-11470	316	3	r.m	r.m	PROPN
fumecheng-11470	316	4	.	.	PROPN
fumecheng-11470	316	5	,	,	PUNCT
fumecheng-11470	316	6	loizou	loizou	PROPN
fumecheng-11470	316	7	,	,	PUNCT
fumecheng-11470	316	8	n.	n.	NOUN
fumecheng-11470	316	9	,	,	PUNCT
fumecheng-11470	316	10	qian	qian	PROPN
fumecheng-11470	316	11	,	,	PUNCT
fumecheng-11470	316	12	x.	x.	PROPN
fumecheng-11470	316	13	,	,	PUNCT
fumecheng-11470	316	14	sailanbayev	sailanbayev	PROPN
fumecheng-11470	316	15	,	,	PUNCT
fumecheng-11470	316	16	a.	a.	PROPN
fumecheng-11470	316	17	,	,	PUNCT
fumecheng-11470	316	18	shulgin	shulgin	NOUN
fumecheng-11470	316	19	,	,	PUNCT
fumecheng-11470	316	20	e.	e.	PROPN
fumecheng-11470	316	21	,	,	PUNCT
fumecheng-11470	316	22	richtárik	richtárik	PROPN
fumecheng-11470	316	23	,	,	PUNCT
fumecheng-11470	316	24	p.	p.	NOUN
fumecheng-11470	316	25	,	,	PUNCT
fumecheng-11470	316	26	2019	2019	NUM
fumecheng-11470	316	27	,	,	PUNCT
fumecheng-11470	316	28	sgd	sgd	PROPN
fumecheng-11470	316	29	:	:	PUNCT
fumecheng-11470	316	30	general	general	ADJ
fumecheng-11470	316	31	analysis	analysis	NOUN
fumecheng-11470	316	32	and	and	CCONJ
fumecheng-11470	316	33	improved	improved	ADJ
fumecheng-11470	316	34	rates	rate	NOUN
fumecheng-11470	316	35	,	,	PUNCT
fumecheng-11470	316	36	in	in	ADP
fumecheng-11470	316	37	international	international	ADJ
fumecheng-11470	316	38	conference	conference	NOUN
fumecheng-11470	316	39	on	on	ADP
fumecheng-11470	316	40	machine	machine	NOUN
fumecheng-11470	316	41	learning	learning	NOUN
fumecheng-11470	316	42	,	,	PUNCT
fumecheng-11470	316	43	pp	pp	ADP
fumecheng-11470	316	44	.	.	PUNCT
fumecheng-11470	317	1	5200	5200	NUM
fumecheng-11470	317	2	-	-	SYM
fumecheng-11470	317	3	5209	5209	NUM
fumecheng-11470	317	4	.	.	PUNCT