id	sid	tid	token	lemma	pos
fumecheng-5678	1	1	facta	facta	PROPN
fumecheng-5678	1	2	universitatis	universitatis	PROPN
fumecheng-5678	1	3	series	series	NOUN
fumecheng-5678	1	4	:	:	PUNCT
fumecheng-5678	1	5	mechanical	mechanical	ADJ
fumecheng-5678	1	6	engineering	engineering	NOUN
fumecheng-5678	1	7	vol	vol	NOUN
fumecheng-5678	1	8	.	.	PROPN
fumecheng-5678	1	9	18	18	NUM
fumecheng-5678	1	10	,	,	PUNCT
fumecheng-5678	1	11	no	no	DET
fumecheng-5678	1	12	2	2	NUM
fumecheng-5678	1	13	,	,	PUNCT
fumecheng-5678	1	14	2020	2020	NUM
fumecheng-5678	1	15	,	,	PUNCT
fumecheng-5678	1	16	pp	pp	ADV
fumecheng-5678	1	17	.	.	PUNCT
fumecheng-5678	2	1	269	269	NUM
fumecheng-5678	2	2	280	280	NUM
fumecheng-5678	2	3	https://doi.org/10.22190/fume190919003v	https://doi.org/10.22190/fume190919003v	PROPN
fumecheng-5678	2	4	©	©	PROPN
fumecheng-5678	2	5	2020	2020	NUM
fumecheng-5678	2	6	by	by	ADP
fumecheng-5678	2	7	university	university	PROPN
fumecheng-5678	2	8	of	of	ADP
fumecheng-5678	2	9	niš	niš	PROPN
fumecheng-5678	2	10	,	,	PUNCT
fumecheng-5678	2	11	serbia	serbia	PROPN
fumecheng-5678	2	12	|	|	ADV
fumecheng-5678	2	13	creative	creative	ADJ
fumecheng-5678	2	14	commons	common	NOUN
fumecheng-5678	2	15	license	license	NOUN
fumecheng-5678	2	16	:	:	PUNCT
fumecheng-5678	2	17	cc	cc	VERB
fumecheng-5678	2	18	by	by	ADP
fumecheng-5678	2	19	-	-	PUNCT
fumecheng-5678	2	20	nc	nc	VERB
fumecheng-5678	2	21	-	-	PUNCT
fumecheng-5678	2	22	nd	nd	ADV
fumecheng-5678	2	23	original	original	ADJ
fumecheng-5678	2	24	scientific	scientific	ADJ
fumecheng-5678	2	25	paper	paper	VERB
fumecheng-5678	2	26	computed	compute	VERB
fumecheng-5678	2	27	torque	torque	NOUN
fumecheng-5678	2	28	control	control	NOUN
fumecheng-5678	2	29	for	for	ADP
fumecheng-5678	2	30	a	a	DET
fumecheng-5678	2	31	spatial	spatial	ADJ
fumecheng-5678	2	32	disorientation	disorientation	NOUN
fumecheng-5678	2	33	trainer	trainer	NOUN
fumecheng-5678	2	34	jelena	jelena	PROPN
fumecheng-5678	2	35	vidaković	vidaković	PROPN
fumecheng-5678	2	36	1	1	NUM
fumecheng-5678	2	37	,	,	PUNCT
fumecheng-5678	2	38	vladimir	vladimir	PROPN
fumecheng-5678	2	39	kvrgić	kvrgić	PROPN
fumecheng-5678	2	40	2	2	NUM
fumecheng-5678	2	41	,	,	PUNCT
fumecheng-5678	2	42	mihailo	mihailo	ADV
fumecheng-5678	2	43	lazarević	lazarević	NOUN
fumecheng-5678	2	44	3	3	NUM
fumecheng-5678	2	45	,	,	PUNCT
fumecheng-5678	2	46	pavle	pavle	VERB
fumecheng-5678	2	47	stepanić	stepanić	NOUN
fumecheng-5678	2	48	1	1	NUM
fumecheng-5678	2	49	1lola	1lola	PROPN
fumecheng-5678	2	50	institute	institute	PROPN
fumecheng-5678	2	51	belgrade	belgrade	PROPN
fumecheng-5678	2	52	,	,	PUNCT
fumecheng-5678	2	53	serbia	serbia	PROPN
fumecheng-5678	2	54	2institute	2institute	NUM
fumecheng-5678	2	55	mihajlo	mihajlo	NOUN
fumecheng-5678	2	56	pupin	pupin	PROPN
fumecheng-5678	2	57	belgrade	belgrade	PROPN
fumecheng-5678	2	58	,	,	PUNCT
fumecheng-5678	2	59	serbia	serbia	PROPN
fumecheng-5678	2	60	3faculty	3faculty	NUM
fumecheng-5678	2	61	of	of	ADP
fumecheng-5678	2	62	mechanical	mechanical	ADJ
fumecheng-5678	2	63	engineering	engineering	NOUN
fumecheng-5678	2	64	,	,	PUNCT
fumecheng-5678	2	65	university	university	PROPN
fumecheng-5678	2	66	of	of	ADP
fumecheng-5678	2	67	belgrade	belgrade	PROPN
fumecheng-5678	2	68	,	,	PUNCT
fumecheng-5678	2	69	serbia	serbia	PROPN
fumecheng-5678	2	70	abstract	abstract	ADJ
fumecheng-5678	2	71	.	.	PUNCT
fumecheng-5678	3	1	a	a	DET
fumecheng-5678	3	2	development	development	NOUN
fumecheng-5678	3	3	of	of	ADP
fumecheng-5678	3	4	a	a	DET
fumecheng-5678	3	5	robot	robot	NOUN
fumecheng-5678	3	6	control	control	NOUN
fumecheng-5678	3	7	system	system	NOUN
fumecheng-5678	3	8	is	be	AUX
fumecheng-5678	3	9	a	a	DET
fumecheng-5678	3	10	highly	highly	ADV
fumecheng-5678	3	11	complex	complex	ADJ
fumecheng-5678	3	12	task	task	NOUN
fumecheng-5678	3	13	due	due	ADP
fumecheng-5678	3	14	to	to	ADP
fumecheng-5678	3	15	nonlinear	nonlinear	ADJ
fumecheng-5678	3	16	dynamic	dynamic	ADJ
fumecheng-5678	3	17	coupling	coupling	NOUN
fumecheng-5678	3	18	between	between	ADP
fumecheng-5678	3	19	the	the	DET
fumecheng-5678	3	20	robot	robot	NOUN
fumecheng-5678	3	21	links	link	NOUN
fumecheng-5678	3	22	.	.	PUNCT
fumecheng-5678	4	1	advanced	advanced	ADJ
fumecheng-5678	4	2	robot	robot	NOUN
fumecheng-5678	4	3	control	control	NOUN
fumecheng-5678	4	4	strategies	strategy	NOUN
fumecheng-5678	4	5	often	often	ADV
fumecheng-5678	4	6	entail	entail	VERB
fumecheng-5678	4	7	difficulties	difficulty	NOUN
fumecheng-5678	4	8	in	in	ADP
fumecheng-5678	4	9	implementation	implementation	NOUN
fumecheng-5678	4	10	,	,	PUNCT
fumecheng-5678	4	11	and	and	CCONJ
fumecheng-5678	4	12	prospective	prospective	ADJ
fumecheng-5678	4	13	benefits	benefit	NOUN
fumecheng-5678	4	14	of	of	ADP
fumecheng-5678	4	15	their	their	PRON
fumecheng-5678	4	16	application	application	NOUN
fumecheng-5678	4	17	need	need	VERB
fumecheng-5678	4	18	to	to	PART
fumecheng-5678	4	19	be	be	AUX
fumecheng-5678	4	20	analyzed	analyze	VERB
fumecheng-5678	4	21	using	use	VERB
fumecheng-5678	4	22	simulation	simulation	NOUN
fumecheng-5678	4	23	techniques	technique	NOUN
fumecheng-5678	4	24	.	.	PUNCT
fumecheng-5678	5	1	computed	compute	VERB
fumecheng-5678	5	2	torque	torque	NOUN
fumecheng-5678	5	3	control	control	NOUN
fumecheng-5678	5	4	(	(	PUNCT
fumecheng-5678	5	5	ctc	ctc	PROPN
fumecheng-5678	5	6	)	)	PUNCT
fumecheng-5678	5	7	is	be	AUX
fumecheng-5678	5	8	a	a	DET
fumecheng-5678	5	9	feedforward	feedforward	ADJ
fumecheng-5678	5	10	control	control	NOUN
fumecheng-5678	5	11	method	method	NOUN
fumecheng-5678	5	12	used	use	VERB
fumecheng-5678	5	13	for	for	ADP
fumecheng-5678	5	14	tracking	tracking	NOUN
fumecheng-5678	5	15	of	of	ADP
fumecheng-5678	5	16	robot	robot	NOUN
fumecheng-5678	5	17	’s	’s	PART
fumecheng-5678	5	18	time	time	NOUN
fumecheng-5678	5	19	-	-	PUNCT
fumecheng-5678	5	20	varying	vary	VERB
fumecheng-5678	5	21	trajectories	trajectory	NOUN
fumecheng-5678	5	22	in	in	ADP
fumecheng-5678	5	23	the	the	DET
fumecheng-5678	5	24	presence	presence	NOUN
fumecheng-5678	5	25	of	of	ADP
fumecheng-5678	5	26	varying	vary	VERB
fumecheng-5678	5	27	loads	load	NOUN
fumecheng-5678	5	28	.	.	PUNCT
fumecheng-5678	6	1	for	for	ADP
fumecheng-5678	6	2	the	the	DET
fumecheng-5678	6	3	implementation	implementation	NOUN
fumecheng-5678	6	4	of	of	ADP
fumecheng-5678	6	5	ctc	ctc	PROPN
fumecheng-5678	6	6	,	,	PUNCT
fumecheng-5678	6	7	the	the	DET
fumecheng-5678	6	8	inverse	inverse	NOUN
fumecheng-5678	6	9	dynamics	dynamic	NOUN
fumecheng-5678	6	10	model	model	NOUN
fumecheng-5678	6	11	of	of	ADP
fumecheng-5678	6	12	the	the	DET
fumecheng-5678	6	13	robot	robot	NOUN
fumecheng-5678	6	14	manipulator	manipulator	NOUN
fumecheng-5678	6	15	has	have	VERB
fumecheng-5678	6	16	to	to	PART
fumecheng-5678	6	17	be	be	AUX
fumecheng-5678	6	18	developed	develop	VERB
fumecheng-5678	6	19	.	.	PUNCT
fumecheng-5678	7	1	in	in	ADP
fumecheng-5678	7	2	this	this	DET
fumecheng-5678	7	3	paper	paper	NOUN
fumecheng-5678	7	4	,	,	PUNCT
fumecheng-5678	7	5	the	the	DET
fumecheng-5678	7	6	addition	addition	NOUN
fumecheng-5678	7	7	of	of	ADP
fumecheng-5678	7	8	ctc	ctc	NOUN
fumecheng-5678	7	9	compensator	compensator	NOUN
fumecheng-5678	7	10	to	to	ADP
fumecheng-5678	7	11	the	the	DET
fumecheng-5678	7	12	feedback	feedback	NOUN
fumecheng-5678	7	13	controller	controller	NOUN
fumecheng-5678	7	14	is	be	AUX
fumecheng-5678	7	15	considered	consider	VERB
fumecheng-5678	7	16	for	for	ADP
fumecheng-5678	7	17	a	a	DET
fumecheng-5678	7	18	spatial	spatial	ADJ
fumecheng-5678	7	19	disorientation	disorientation	NOUN
fumecheng-5678	7	20	trainer	trainer	NOUN
fumecheng-5678	7	21	(	(	PUNCT
fumecheng-5678	7	22	sdt	sdt	PROPN
fumecheng-5678	7	23	)	)	PUNCT
fumecheng-5678	7	24	.	.	PUNCT
fumecheng-5678	8	1	this	this	DET
fumecheng-5678	8	2	pilot	pilot	NOUN
fumecheng-5678	8	3	training	training	NOUN
fumecheng-5678	8	4	system	system	NOUN
fumecheng-5678	8	5	is	be	AUX
fumecheng-5678	8	6	modeled	model	VERB
fumecheng-5678	8	7	as	as	ADP
fumecheng-5678	8	8	a	a	DET
fumecheng-5678	8	9	4dof	4dof	NUM
fumecheng-5678	8	10	robot	robot	NOUN
fumecheng-5678	8	11	manipulator	manipulator	NOUN
fumecheng-5678	8	12	with	with	ADP
fumecheng-5678	8	13	revolute	revolute	ADJ
fumecheng-5678	8	14	joints	joint	NOUN
fumecheng-5678	8	15	.	.	PUNCT
fumecheng-5678	9	1	for	for	ADP
fumecheng-5678	9	2	the	the	DET
fumecheng-5678	9	3	designed	design	VERB
fumecheng-5678	9	4	mechanical	mechanical	ADJ
fumecheng-5678	9	5	structure	structure	NOUN
fumecheng-5678	9	6	,	,	PUNCT
fumecheng-5678	9	7	chosen	choose	VERB
fumecheng-5678	9	8	actuators	actuator	NOUN
fumecheng-5678	9	9	and	and	CCONJ
fumecheng-5678	9	10	considered	consider	VERB
fumecheng-5678	9	11	motion	motion	NOUN
fumecheng-5678	9	12	of	of	ADP
fumecheng-5678	9	13	the	the	DET
fumecheng-5678	9	14	sdt	sdt	PROPN
fumecheng-5678	9	15	,	,	PUNCT
fumecheng-5678	9	16	ctc	ctc	NOUN
fumecheng-5678	9	17	-	-	PUNCT
fumecheng-5678	9	18	based	base	VERB
fumecheng-5678	9	19	control	control	NOUN
fumecheng-5678	9	20	system	system	NOUN
fumecheng-5678	9	21	performance	performance	NOUN
fumecheng-5678	9	22	is	be	AUX
fumecheng-5678	9	23	compared	compare	VERB
fumecheng-5678	9	24	with	with	ADP
fumecheng-5678	9	25	the	the	DET
fumecheng-5678	9	26	traditional	traditional	ADJ
fumecheng-5678	9	27	speed	speed	NOUN
fumecheng-5678	9	28	pi	pi	NOUN
fumecheng-5678	9	29	controller	controller	NOUN
fumecheng-5678	9	30	using	use	VERB
fumecheng-5678	9	31	the	the	DET
fumecheng-5678	9	32	realistic	realistic	ADJ
fumecheng-5678	9	33	simulation	simulation	NOUN
fumecheng-5678	9	34	model	model	NOUN
fumecheng-5678	9	35	.	.	PUNCT
fumecheng-5678	10	1	the	the	DET
fumecheng-5678	10	2	simulation	simulation	NOUN
fumecheng-5678	10	3	results	result	NOUN
fumecheng-5678	10	4	,	,	PUNCT
fumecheng-5678	10	5	which	which	PRON
fumecheng-5678	10	6	showed	show	VERB
fumecheng-5678	10	7	significant	significant	ADJ
fumecheng-5678	10	8	improvement	improvement	NOUN
fumecheng-5678	10	9	in	in	ADP
fumecheng-5678	10	10	the	the	DET
fumecheng-5678	10	11	trajectory	trajectory	NOUN
fumecheng-5678	10	12	tracking	tracking	NOUN
fumecheng-5678	10	13	for	for	ADP
fumecheng-5678	10	14	the	the	DET
fumecheng-5678	10	15	designed	design	VERB
fumecheng-5678	10	16	sdt	sdt	PROPN
fumecheng-5678	10	17	,	,	PUNCT
fumecheng-5678	10	18	can	can	AUX
fumecheng-5678	10	19	be	be	AUX
fumecheng-5678	10	20	used	use	VERB
fumecheng-5678	10	21	for	for	ADP
fumecheng-5678	10	22	the	the	DET
fumecheng-5678	10	23	control	control	NOUN
fumecheng-5678	10	24	system	system	NOUN
fumecheng-5678	10	25	design	design	NOUN
fumecheng-5678	10	26	purpose	purpose	NOUN
fumecheng-5678	10	27	as	as	ADV
fumecheng-5678	10	28	well	well	ADV
fumecheng-5678	10	29	as	as	ADP
fumecheng-5678	10	30	within	within	ADP
fumecheng-5678	10	31	mechanical	mechanical	ADJ
fumecheng-5678	10	32	design	design	NOUN
fumecheng-5678	10	33	verification	verification	NOUN
fumecheng-5678	10	34	.	.	PUNCT
fumecheng-5678	11	1	key	key	ADJ
fumecheng-5678	11	2	words	word	NOUN
fumecheng-5678	11	3	:	:	PUNCT
fumecheng-5678	11	4	computed	compute	VERB
fumecheng-5678	11	5	torque	torque	NOUN
fumecheng-5678	11	6	control	control	NOUN
fumecheng-5678	11	7	,	,	PUNCT
fumecheng-5678	11	8	robot	robot	NOUN
fumecheng-5678	11	9	,	,	PUNCT
fumecheng-5678	11	10	motion	motion	NOUN
fumecheng-5678	11	11	control	control	NOUN
fumecheng-5678	11	12	,	,	PUNCT
fumecheng-5678	11	13	spatial	spatial	ADJ
fumecheng-5678	11	14	disorientation	disorientation	NOUN
fumecheng-5678	11	15	1	1	NUM
fumecheng-5678	11	16	.	.	PUNCT
fumecheng-5678	11	17	introduction	introduction	NOUN
fumecheng-5678	11	18	the	the	DET
fumecheng-5678	11	19	challenge	challenge	NOUN
fumecheng-5678	11	20	of	of	ADP
fumecheng-5678	11	21	robot	robot	NOUN
fumecheng-5678	11	22	control	control	NOUN
fumecheng-5678	11	23	stems	stem	VERB
fumecheng-5678	11	24	from	from	ADP
fumecheng-5678	11	25	nonlinear	nonlinear	ADJ
fumecheng-5678	11	26	and	and	CCONJ
fumecheng-5678	11	27	time	time	NOUN
fumecheng-5678	11	28	-	-	PUNCT
fumecheng-5678	11	29	variable	variable	ADJ
fumecheng-5678	11	30	coupling	coupling	NOUN
fumecheng-5678	11	31	effects	effect	NOUN
fumecheng-5678	11	32	in	in	ADP
fumecheng-5678	11	33	the	the	DET
fumecheng-5678	11	34	dynamic	dynamic	ADJ
fumecheng-5678	11	35	model	model	NOUN
fumecheng-5678	11	36	.	.	PUNCT
fumecheng-5678	12	1	different	different	ADJ
fumecheng-5678	12	2	advanced	advanced	ADJ
fumecheng-5678	12	3	control	control	NOUN
fumecheng-5678	12	4	strategies	strategy	NOUN
fumecheng-5678	12	5	based	base	VERB
fumecheng-5678	12	6	on	on	ADP
fumecheng-5678	12	7	adaptive	adaptive	ADJ
fumecheng-5678	12	8	control	control	NOUN
fumecheng-5678	13	1	[	[	X
fumecheng-5678	13	2	1	1	NUM
fumecheng-5678	13	3	]	]	PUNCT
fumecheng-5678	13	4	,	,	PUNCT
fumecheng-5678	13	5	intelligent	intelligent	ADJ
fumecheng-5678	13	6	control	control	NOUN
fumecheng-5678	14	1	[	[	X
fumecheng-5678	14	2	2	2	NUM
fumecheng-5678	14	3	]	]	PUNCT
fumecheng-5678	14	4	,	,	PUNCT
fumecheng-5678	14	5	soft	soft	ADJ
fumecheng-5678	14	6	computing	computing	NOUN
fumecheng-5678	14	7	schemes	scheme	NOUN
fumecheng-5678	15	1	[	[	X
fumecheng-5678	15	2	3	3	NUM
fumecheng-5678	15	3	,	,	PUNCT
fumecheng-5678	15	4	4	4	NUM
fumecheng-5678	15	5	]	]	PUNCT
fumecheng-5678	15	6	,	,	PUNCT
fumecheng-5678	15	7	optimization	optimization	NOUN
fumecheng-5678	15	8	techniques	technique	NOUN
fumecheng-5678	15	9	received	receive	VERB
fumecheng-5678	15	10	september	september	PROPN
fumecheng-5678	15	11	19	19	NUM
fumecheng-5678	15	12	,	,	PUNCT
fumecheng-5678	15	13	2019	2019	NUM
fumecheng-5678	15	14	/	/	SYM
fumecheng-5678	15	15	accepted	accept	VERB
fumecheng-5678	15	16	december	december	PROPN
fumecheng-5678	15	17	18	18	NUM
fumecheng-5678	15	18	,	,	PUNCT
fumecheng-5678	15	19	2019	2019	NUM
fumecheng-5678	15	20	corresponding	correspond	VERB
fumecheng-5678	15	21	author	author	NOUN
fumecheng-5678	15	22	:	:	PUNCT
fumecheng-5678	15	23	jelena	jelena	PROPN
fumecheng-5678	15	24	vidaković	vidaković	PROPN
fumecheng-5678	15	25	lola	lola	PROPN
fumecheng-5678	15	26	institute	institute	PROPN
fumecheng-5678	15	27	,	,	PUNCT
fumecheng-5678	15	28	kneza	kneza	PROPN
fumecheng-5678	15	29	višeslava	višeslava	PROPN
fumecheng-5678	15	30	70a	70a	NUM
fumecheng-5678	15	31	,	,	PUNCT
fumecheng-5678	15	32	belgrade	belgrade	PROPN
fumecheng-5678	15	33	,	,	PUNCT
fumecheng-5678	15	34	serbia	serbia	PROPN
fumecheng-5678	15	35	e	e	NOUN
fumecheng-5678	15	36	-	-	NOUN
fumecheng-5678	15	37	mail	mail	NOUN
fumecheng-5678	15	38	:	:	PUNCT
fumecheng-5678	15	39	jelena.vidakovic@li.rs	jelena.vidakovic@li.rs	PROPN
fumecheng-5678	15	40	270	270	NUM
fumecheng-5678	15	41	j.	j.	PROPN
fumecheng-5678	15	42	vidaković	vidaković	PROPN
fumecheng-5678	15	43	,	,	PUNCT
fumecheng-5678	15	44	v.	v.	ADP
fumecheng-5678	15	45	kvrgić	kvrgić	NOUN
fumecheng-5678	15	46	,	,	PUNCT
fumecheng-5678	15	47	m.	m.	NOUN
fumecheng-5678	15	48	lazarević	lazarević	PROPN
fumecheng-5678	15	49	,	,	PUNCT
fumecheng-5678	15	50	p.	p.	NOUN
fumecheng-5678	15	51	stepanić	stepanić	NOUN
fumecheng-5678	16	1	[	[	X
fumecheng-5678	16	2	5	5	NUM
fumecheng-5678	16	3	]	]	PUNCT
fumecheng-5678	16	4	,	,	PUNCT
fumecheng-5678	16	5	etc	etc	X
fumecheng-5678	16	6	.	.	X
fumecheng-5678	16	7	have	have	AUX
fumecheng-5678	16	8	been	be	AUX
fumecheng-5678	16	9	used	use	VERB
fumecheng-5678	16	10	to	to	PART
fumecheng-5678	16	11	overcome	overcome	VERB
fumecheng-5678	16	12	nonlinearities	nonlinearitie	NOUN
fumecheng-5678	16	13	and	and	CCONJ
fumecheng-5678	16	14	uncertainties	uncertainty	NOUN
fumecheng-5678	16	15	in	in	ADP
fumecheng-5678	16	16	robot	robot	NOUN
fumecheng-5678	16	17	dynamics	dynamic	NOUN
fumecheng-5678	16	18	.	.	PUNCT
fumecheng-5678	17	1	to	to	PART
fumecheng-5678	17	2	select	select	VERB
fumecheng-5678	17	3	a	a	DET
fumecheng-5678	17	4	proper	proper	ADJ
fumecheng-5678	17	5	control	control	NOUN
fumecheng-5678	17	6	method	method	NOUN
fumecheng-5678	17	7	,	,	PUNCT
fumecheng-5678	17	8	different	different	ADJ
fumecheng-5678	17	9	factors	factor	NOUN
fumecheng-5678	17	10	have	have	VERB
fumecheng-5678	17	11	to	to	PART
fumecheng-5678	17	12	be	be	AUX
fumecheng-5678	17	13	taken	take	VERB
fumecheng-5678	17	14	into	into	ADP
fumecheng-5678	17	15	account	account	NOUN
fumecheng-5678	17	16	.	.	PUNCT
fumecheng-5678	18	1	application	application	NOUN
fumecheng-5678	18	2	for	for	ADP
fumecheng-5678	18	3	which	which	PRON
fumecheng-5678	18	4	the	the	DET
fumecheng-5678	18	5	robot	robot	NOUN
fumecheng-5678	18	6	is	be	AUX
fumecheng-5678	18	7	designed	design	VERB
fumecheng-5678	18	8	defines	define	NOUN
fumecheng-5678	18	9	motion	motion	NOUN
fumecheng-5678	18	10	(	(	PUNCT
fumecheng-5678	18	11	range	range	NOUN
fumecheng-5678	18	12	of	of	ADP
fumecheng-5678	18	13	velocities	velocity	NOUN
fumecheng-5678	18	14	,	,	PUNCT
fumecheng-5678	18	15	accelerations	acceleration	NOUN
fumecheng-5678	18	16	)	)	PUNCT
fumecheng-5678	18	17	and	and	CCONJ
fumecheng-5678	18	18	performance	performance	NOUN
fumecheng-5678	18	19	requirements	requirement	NOUN
fumecheng-5678	18	20	.	.	PUNCT
fumecheng-5678	19	1	characteristics	characteristic	NOUN
fumecheng-5678	19	2	of	of	ADP
fumecheng-5678	19	3	the	the	DET
fumecheng-5678	19	4	mechanical	mechanical	ADJ
fumecheng-5678	19	5	design	design	NOUN
fumecheng-5678	19	6	,	,	PUNCT
fumecheng-5678	19	7	applied	apply	VERB
fumecheng-5678	19	8	actuators	actuator	NOUN
fumecheng-5678	19	9	and	and	CCONJ
fumecheng-5678	19	10	implementation	implementation	NOUN
fumecheng-5678	19	11	requirements	requirement	NOUN
fumecheng-5678	19	12	[	[	X
fumecheng-5678	19	13	6	6	X
fumecheng-5678	19	14	]	]	PUNCT
fumecheng-5678	19	15	have	have	VERB
fumecheng-5678	19	16	a	a	DET
fumecheng-5678	19	17	great	great	ADJ
fumecheng-5678	19	18	practical	practical	ADJ
fumecheng-5678	19	19	value	value	NOUN
fumecheng-5678	19	20	for	for	ADP
fumecheng-5678	19	21	making	make	VERB
fumecheng-5678	19	22	a	a	DET
fumecheng-5678	19	23	choice	choice	NOUN
fumecheng-5678	19	24	of	of	ADP
fumecheng-5678	19	25	the	the	DET
fumecheng-5678	19	26	potential	potential	ADJ
fumecheng-5678	19	27	control	control	NOUN
fumecheng-5678	19	28	strategy	strategy	NOUN
fumecheng-5678	19	29	.	.	PUNCT
fumecheng-5678	20	1	robot	robot	NOUN
fumecheng-5678	20	2	modeling	modeling	NOUN
fumecheng-5678	20	3	and	and	CCONJ
fumecheng-5678	20	4	control	control	NOUN
fumecheng-5678	20	5	methods	method	NOUN
fumecheng-5678	20	6	can	can	AUX
fumecheng-5678	20	7	be	be	AUX
fumecheng-5678	20	8	applied	apply	VERB
fumecheng-5678	20	9	to	to	ADP
fumecheng-5678	20	10	various	various	ADJ
fumecheng-5678	20	11	multibody	multibody	ADJ
fumecheng-5678	20	12	systems	system	NOUN
fumecheng-5678	20	13	that	that	PRON
fumecheng-5678	20	14	are	be	AUX
fumecheng-5678	20	15	not	not	PART
fumecheng-5678	20	16	necessarily	necessarily	ADV
fumecheng-5678	20	17	flexible	flexible	ADJ
fumecheng-5678	20	18	in	in	ADP
fumecheng-5678	20	19	their	their	PRON
fumecheng-5678	20	20	application	application	NOUN
fumecheng-5678	20	21	.	.	PUNCT
fumecheng-5678	21	1	herein	herein	NOUN
fumecheng-5678	21	2	,	,	PUNCT
fumecheng-5678	21	3	a	a	DET
fumecheng-5678	21	4	control	control	NOUN
fumecheng-5678	21	5	strategy	strategy	NOUN
fumecheng-5678	21	6	for	for	ADP
fumecheng-5678	21	7	the	the	DET
fumecheng-5678	21	8	spatial	spatial	ADJ
fumecheng-5678	21	9	disorientation	disorientation	NOUN
fumecheng-5678	21	10	trainer	trainer	NOUN
fumecheng-5678	21	11	(	(	PUNCT
fumecheng-5678	21	12	sdt	sdt	PROPN
fumecheng-5678	21	13	)	)	PUNCT
fumecheng-5678	21	14	,	,	PUNCT
fumecheng-5678	21	15	fig	fig	NOUN
fumecheng-5678	21	16	.	.	PUNCT
fumecheng-5678	22	1	1	1	NUM
fumecheng-5678	22	2	,	,	PUNCT
fumecheng-5678	22	3	a	a	DET
fumecheng-5678	22	4	flight	flight	NOUN
fumecheng-5678	22	5	simulation	simulation	NOUN
fumecheng-5678	22	6	training	training	NOUN
fumecheng-5678	22	7	device	device	NOUN
fumecheng-5678	22	8	designed	design	VERB
fumecheng-5678	22	9	to	to	PART
fumecheng-5678	22	10	train	train	VERB
fumecheng-5678	22	11	pilots	pilot	NOUN
fumecheng-5678	22	12	to	to	PART
fumecheng-5678	22	13	avoid	avoid	VERB
fumecheng-5678	22	14	and	and	CCONJ
fumecheng-5678	22	15	cope	cope	VERB
fumecheng-5678	22	16	with	with	ADP
fumecheng-5678	22	17	in	in	ADP
fumecheng-5678	22	18	-	-	PUNCT
fumecheng-5678	22	19	flight	flight	NOUN
fumecheng-5678	22	20	illusions	illusion	NOUN
fumecheng-5678	22	21	,	,	PUNCT
fumecheng-5678	22	22	is	be	AUX
fumecheng-5678	22	23	considered	consider	VERB
fumecheng-5678	22	24	.	.	PUNCT
fumecheng-5678	23	1	the	the	DET
fumecheng-5678	23	2	sdt	sdt	PROPN
fumecheng-5678	23	3	is	be	AUX
fumecheng-5678	23	4	modeled	model	VERB
fumecheng-5678	23	5	as	as	ADP
fumecheng-5678	23	6	a	a	DET
fumecheng-5678	23	7	4dof	4dof	NUM
fumecheng-5678	23	8	robot	robot	NOUN
fumecheng-5678	23	9	manipulator	manipulator	NOUN
fumecheng-5678	23	10	with	with	ADP
fumecheng-5678	23	11	revolute	revolute	ADJ
fumecheng-5678	23	12	joints	joint	NOUN
fumecheng-5678	23	13	[	[	X
fumecheng-5678	23	14	7	7	NUM
fumecheng-5678	23	15	]	]	PUNCT
fumecheng-5678	23	16	.	.	PUNCT
fumecheng-5678	24	1	modern	modern	ADJ
fumecheng-5678	24	2	combat	combat	NOUN
fumecheng-5678	24	3	aircraft	aircraft	NOUN
fumecheng-5678	24	4	are	be	AUX
fumecheng-5678	24	5	capable	capable	ADJ
fumecheng-5678	24	6	of	of	ADP
fumecheng-5678	24	7	unconventional	unconventional	ADJ
fumecheng-5678	24	8	flight	flight	NOUN
fumecheng-5678	24	9	with	with	ADP
fumecheng-5678	24	10	unusual	unusual	ADJ
fumecheng-5678	24	11	orientations	orientation	NOUN
fumecheng-5678	24	12	.	.	PUNCT
fumecheng-5678	25	1	spatial	spatial	ADJ
fumecheng-5678	25	2	disorientation	disorientation	NOUN
fumecheng-5678	25	3	(	(	PUNCT
fumecheng-5678	25	4	sd	sd	NOUN
fumecheng-5678	25	5	)	)	PUNCT
fumecheng-5678	25	6	is	be	AUX
fumecheng-5678	25	7	one	one	NUM
fumecheng-5678	25	8	of	of	ADP
fumecheng-5678	25	9	the	the	DET
fumecheng-5678	25	10	major	major	ADJ
fumecheng-5678	25	11	threats	threat	NOUN
fumecheng-5678	25	12	to	to	ADP
fumecheng-5678	25	13	the	the	DET
fumecheng-5678	25	14	pilots	pilot	NOUN
fumecheng-5678	25	15	of	of	ADP
fumecheng-5678	25	16	combat	combat	NOUN
fumecheng-5678	25	17	aircraft	aircraft	NOUN
fumecheng-5678	25	18	[	[	X
fumecheng-5678	25	19	8	8	NUM
fumecheng-5678	25	20	-	-	SYM
fumecheng-5678	25	21	10	10	NUM
fumecheng-5678	25	22	]	]	PUNCT
fumecheng-5678	25	23	.	.	PUNCT
fumecheng-5678	26	1	according	accord	VERB
fumecheng-5678	26	2	to	to	ADP
fumecheng-5678	26	3	the	the	DET
fumecheng-5678	26	4	most	most	ADV
fumecheng-5678	26	5	widely	widely	ADV
fumecheng-5678	26	6	used	use	VERB
fumecheng-5678	26	7	definition	definition	NOUN
fumecheng-5678	26	8	,	,	PUNCT
fumecheng-5678	26	9	sd	sd	PROPN
fumecheng-5678	26	10	refers	refer	VERB
fumecheng-5678	26	11	to	to	ADP
fumecheng-5678	26	12	:	:	PUNCT
fumecheng-5678	26	13	“	"	PUNCT
fumecheng-5678	26	14	a	a	DET
fumecheng-5678	26	15	failure	failure	NOUN
fumecheng-5678	26	16	to	to	PART
fumecheng-5678	26	17	sense	sense	VERB
fumecheng-5678	26	18	correctly	correctly	ADV
fumecheng-5678	26	19	the	the	DET
fumecheng-5678	26	20	position	position	NOUN
fumecheng-5678	26	21	,	,	PUNCT
fumecheng-5678	26	22	motion	motion	NOUN
fumecheng-5678	26	23	or	or	CCONJ
fumecheng-5678	26	24	attitude	attitude	NOUN
fumecheng-5678	26	25	of	of	ADP
fumecheng-5678	26	26	the	the	DET
fumecheng-5678	26	27	aircraft	aircraft	NOUN
fumecheng-5678	26	28	or	or	CCONJ
fumecheng-5678	26	29	of	of	ADP
fumecheng-5678	26	30	him	he	PRON
fumecheng-5678	26	31	/	/	PUNCT
fumecheng-5678	26	32	her	she	PRON
fumecheng-5678	26	33	within	within	ADP
fumecheng-5678	26	34	the	the	DET
fumecheng-5678	26	35	fixed	fix	VERB
fumecheng-5678	26	36	coordinate	coordinate	NOUN
fumecheng-5678	26	37	system	system	NOUN
fumecheng-5678	26	38	provided	provide	VERB
fumecheng-5678	26	39	by	by	ADP
fumecheng-5678	26	40	the	the	DET
fumecheng-5678	26	41	surface	surface	NOUN
fumecheng-5678	26	42	of	of	ADP
fumecheng-5678	26	43	the	the	DET
fumecheng-5678	26	44	earth	earth	NOUN
fumecheng-5678	26	45	and	and	CCONJ
fumecheng-5678	26	46	the	the	DET
fumecheng-5678	26	47	gravitational	gravitational	ADJ
fumecheng-5678	26	48	vertical	vertical	NOUN
fumecheng-5678	26	49	”	"	PUNCT
fumecheng-5678	27	1	[	[	X
fumecheng-5678	27	2	11	11	NUM
fumecheng-5678	27	3	]	]	PUNCT
fumecheng-5678	27	4	.	.	PUNCT
fumecheng-5678	28	1	training	training	NOUN
fumecheng-5678	28	2	within	within	ADP
fumecheng-5678	28	3	sd	sd	ADP
fumecheng-5678	28	4	simulators	simulator	NOUN
fumecheng-5678	28	5	of	of	ADP
fumecheng-5678	28	6	different	different	ADJ
fumecheng-5678	28	7	levels	level	NOUN
fumecheng-5678	28	8	of	of	ADP
fumecheng-5678	28	9	complexity	complexity	NOUN
fumecheng-5678	28	10	is	be	AUX
fumecheng-5678	28	11	considered	consider	VERB
fumecheng-5678	28	12	the	the	DET
fumecheng-5678	28	13	most	most	ADV
fumecheng-5678	28	14	effective	effective	ADJ
fumecheng-5678	28	15	countermeasure	countermeasure	NOUN
fumecheng-5678	28	16	to	to	ADP
fumecheng-5678	28	17	spatial	spatial	ADJ
fumecheng-5678	28	18	disorientation	disorientation	NOUN
fumecheng-5678	28	19	[	[	X
fumecheng-5678	28	20	10	10	NUM
fumecheng-5678	28	21	]	]	PUNCT
fumecheng-5678	28	22	.	.	PUNCT
fumecheng-5678	29	1	the	the	DET
fumecheng-5678	29	2	sdt	sdt	PROPN
fumecheng-5678	29	3	considered	consider	VERB
fumecheng-5678	29	4	herein	herein	NOUN
fumecheng-5678	29	5	is	be	AUX
fumecheng-5678	29	6	a	a	DET
fumecheng-5678	29	7	robot	robot	NOUN
fumecheng-5678	29	8	manipulator	manipulator	NOUN
fumecheng-5678	29	9	specifically	specifically	ADV
fumecheng-5678	29	10	designed	design	VERB
fumecheng-5678	29	11	to	to	PART
fumecheng-5678	29	12	examine	examine	VERB
fumecheng-5678	29	13	the	the	DET
fumecheng-5678	29	14	pilot	pilot	NOUN
fumecheng-5678	29	15	's	's	PART
fumecheng-5678	29	16	ability	ability	NOUN
fumecheng-5678	29	17	to	to	PART
fumecheng-5678	29	18	recognize	recognize	VERB
fumecheng-5678	29	19	unusual	unusual	ADJ
fumecheng-5678	29	20	flight	flight	NOUN
fumecheng-5678	29	21	orientations	orientation	NOUN
fumecheng-5678	29	22	,	,	PUNCT
fumecheng-5678	29	23	to	to	PART
fumecheng-5678	29	24	train	train	VERB
fumecheng-5678	29	25	the	the	DET
fumecheng-5678	29	26	pilot	pilot	NOUN
fumecheng-5678	29	27	to	to	PART
fumecheng-5678	29	28	adapt	adapt	VERB
fumecheng-5678	29	29	to	to	ADP
fumecheng-5678	29	30	them	they	PRON
fumecheng-5678	29	31	and	and	CCONJ
fumecheng-5678	29	32	to	to	PART
fumecheng-5678	29	33	persuade	persuade	VERB
fumecheng-5678	29	34	the	the	DET
fumecheng-5678	29	35	pilot	pilot	NOUN
fumecheng-5678	29	36	to	to	PART
fumecheng-5678	29	37	believe	believe	VERB
fumecheng-5678	29	38	in	in	ADP
fumecheng-5678	29	39	the	the	DET
fumecheng-5678	29	40	aircraft	aircraft	NOUN
fumecheng-5678	29	41	instruments	instrument	NOUN
fumecheng-5678	29	42	for	for	ADP
fumecheng-5678	29	43	orientation	orientation	NOUN
fumecheng-5678	29	44	,	,	PUNCT
fumecheng-5678	29	45	and	and	CCONJ
fumecheng-5678	29	46	not	not	PART
fumecheng-5678	29	47	into	into	ADP
fumecheng-5678	29	48	his	his	PRON
fumecheng-5678	29	49	senses	sense	NOUN
fumecheng-5678	29	50	[	[	X
fumecheng-5678	29	51	7	7	NUM
fumecheng-5678	29	52	]	]	PUNCT
fumecheng-5678	29	53	.	.	PUNCT
fumecheng-5678	30	1	the	the	DET
fumecheng-5678	30	2	simplest	simple	ADJ
fumecheng-5678	30	3	approach	approach	NOUN
fumecheng-5678	30	4	in	in	ADP
fumecheng-5678	30	5	robot	robot	NOUN
fumecheng-5678	30	6	control	control	NOUN
fumecheng-5678	30	7	design	design	NOUN
fumecheng-5678	30	8	is	be	AUX
fumecheng-5678	30	9	to	to	PART
fumecheng-5678	30	10	adopt	adopt	VERB
fumecheng-5678	30	11	an	an	DET
fumecheng-5678	30	12	lti	lti	NOUN
fumecheng-5678	30	13	-	-	PUNCT
fumecheng-5678	30	14	model	model	NOUN
fumecheng-5678	30	15	of	of	ADP
fumecheng-5678	30	16	the	the	DET
fumecheng-5678	30	17	process	process	NOUN
fumecheng-5678	30	18	and	and	CCONJ
fumecheng-5678	30	19	to	to	PART
fumecheng-5678	30	20	consider	consider	VERB
fumecheng-5678	30	21	variable	variable	ADJ
fumecheng-5678	30	22	nonlinear	nonlinear	ADJ
fumecheng-5678	30	23	robot	robot	NOUN
fumecheng-5678	30	24	dynamics	dynamic	NOUN
fumecheng-5678	30	25	as	as	ADP
fumecheng-5678	30	26	a	a	DET
fumecheng-5678	30	27	disturbance	disturbance	NOUN
fumecheng-5678	30	28	.	.	PUNCT
fumecheng-5678	31	1	the	the	DET
fumecheng-5678	31	2	traditional	traditional	ADJ
fumecheng-5678	31	3	control	control	NOUN
fumecheng-5678	31	4	method	method	NOUN
fumecheng-5678	31	5	is	be	AUX
fumecheng-5678	31	6	pid	pid	NOUN
fumecheng-5678	31	7	control	control	NOUN
fumecheng-5678	31	8	.	.	PUNCT
fumecheng-5678	32	1	this	this	DET
fumecheng-5678	32	2	approach	approach	NOUN
fumecheng-5678	32	3	can	can	AUX
fumecheng-5678	32	4	be	be	AUX
fumecheng-5678	32	5	justified	justify	VERB
fumecheng-5678	32	6	for	for	ADP
fumecheng-5678	32	7	highly	highly	ADV
fumecheng-5678	32	8	geared	gear	VERB
fumecheng-5678	32	9	manipulators	manipulator	NOUN
fumecheng-5678	32	10	,	,	PUNCT
fumecheng-5678	32	11	as	as	SCONJ
fumecheng-5678	32	12	the	the	DET
fumecheng-5678	32	13	influence	influence	NOUN
fumecheng-5678	32	14	of	of	ADP
fumecheng-5678	32	15	a	a	DET
fumecheng-5678	32	16	nonlinear	nonlinear	ADJ
fumecheng-5678	32	17	variable	variable	ADJ
fumecheng-5678	32	18	dynamics	dynamic	NOUN
fumecheng-5678	32	19	decreases	decrease	VERB
fumecheng-5678	32	20	significantly	significantly	ADV
fumecheng-5678	32	21	with	with	ADP
fumecheng-5678	32	22	high	high	ADJ
fumecheng-5678	32	23	gear	gear	NOUN
fumecheng-5678	32	24	ratio	ratio	NOUN
fumecheng-5678	33	1	[	[	X
fumecheng-5678	33	2	12	12	NUM
fumecheng-5678	33	3	]	]	PUNCT
fumecheng-5678	33	4	,	,	PUNCT
fumecheng-5678	33	5	and	and	CCONJ
fumecheng-5678	33	6	also	also	ADV
fumecheng-5678	33	7	for	for	ADP
fumecheng-5678	33	8	stiff	stiff	ADJ
fumecheng-5678	33	9	manipulators	manipulator	NOUN
fumecheng-5678	33	10	realizing	realize	VERB
fumecheng-5678	33	11	slow	slow	ADJ
fumecheng-5678	33	12	trajectories	trajectory	NOUN
fumecheng-5678	33	13	,	,	PUNCT
fumecheng-5678	33	14	as	as	SCONJ
fumecheng-5678	33	15	the	the	DET
fumecheng-5678	33	16	stiffer	stiff	ADJ
fumecheng-5678	33	17	mechanical	mechanical	ADJ
fumecheng-5678	33	18	design	design	NOUN
fumecheng-5678	33	19	enables	enable	VERB
fumecheng-5678	33	20	the	the	DET
fumecheng-5678	33	21	adoption	adoption	NOUN
fumecheng-5678	33	22	of	of	ADP
fumecheng-5678	33	23	the	the	DET
fumecheng-5678	33	24	larger	large	ADJ
fumecheng-5678	33	25	controller	controller	NOUN
fumecheng-5678	33	26	gains	gain	NOUN
fumecheng-5678	33	27	.	.	PUNCT
fumecheng-5678	34	1	in	in	ADP
fumecheng-5678	34	2	the	the	DET
fumecheng-5678	34	3	case	case	NOUN
fumecheng-5678	34	4	of	of	ADP
fumecheng-5678	34	5	the	the	DET
fumecheng-5678	34	6	sdt	sdt	PROPN
fumecheng-5678	34	7	,	,	PUNCT
fumecheng-5678	34	8	direct	direct	ADJ
fumecheng-5678	34	9	drive	drive	NOUN
fumecheng-5678	34	10	motors	motor	NOUN
fumecheng-5678	34	11	are	be	AUX
fumecheng-5678	34	12	used	use	VERB
fumecheng-5678	34	13	for	for	ADP
fumecheng-5678	34	14	three	three	NUM
fumecheng-5678	34	15	axes	axis	NOUN
fumecheng-5678	34	16	,	,	PUNCT
fumecheng-5678	34	17	but	but	CCONJ
fumecheng-5678	34	18	the	the	DET
fumecheng-5678	34	19	device	device	NOUN
fumecheng-5678	34	20	typically	typically	ADV
fumecheng-5678	34	21	does	do	AUX
fumecheng-5678	34	22	not	not	PART
fumecheng-5678	34	23	achieve	achieve	VERB
fumecheng-5678	34	24	high	high	ADJ
fumecheng-5678	34	25	values	value	NOUN
fumecheng-5678	34	26	of	of	ADP
fumecheng-5678	34	27	speed	speed	NOUN
fumecheng-5678	34	28	[	[	X
fumecheng-5678	34	29	7	7	NUM
fumecheng-5678	34	30	]	]	PUNCT
fumecheng-5678	34	31	.	.	PUNCT
fumecheng-5678	35	1	within	within	ADP
fumecheng-5678	35	2	a	a	DET
fumecheng-5678	35	3	choice	choice	NOUN
fumecheng-5678	35	4	of	of	ADP
fumecheng-5678	35	5	a	a	DET
fumecheng-5678	35	6	control	control	NOUN
fumecheng-5678	35	7	strategy	strategy	NOUN
fumecheng-5678	35	8	for	for	ADP
fumecheng-5678	35	9	the	the	DET
fumecheng-5678	35	10	sdt	sdt	PROPN
fumecheng-5678	35	11	,	,	PUNCT
fumecheng-5678	35	12	the	the	DET
fumecheng-5678	35	13	influence	influence	NOUN
fumecheng-5678	35	14	of	of	ADP
fumecheng-5678	35	15	nonlinear	nonlinear	ADJ
fumecheng-5678	35	16	coupling	coupling	NOUN
fumecheng-5678	35	17	effects	effect	NOUN
fumecheng-5678	35	18	in	in	ADP
fumecheng-5678	35	19	the	the	DET
fumecheng-5678	35	20	dynamic	dynamic	ADJ
fumecheng-5678	35	21	model	model	NOUN
fumecheng-5678	35	22	on	on	ADP
fumecheng-5678	35	23	the	the	DET
fumecheng-5678	35	24	tracking	tracking	NOUN
fumecheng-5678	35	25	capability	capability	NOUN
fumecheng-5678	35	26	of	of	ADP
fumecheng-5678	35	27	the	the	DET
fumecheng-5678	35	28	considered	consider	VERB
fumecheng-5678	35	29	controllers	controller	NOUN
fumecheng-5678	35	30	has	have	VERB
fumecheng-5678	35	31	to	to	PART
fumecheng-5678	35	32	be	be	AUX
fumecheng-5678	35	33	investigated	investigate	VERB
fumecheng-5678	35	34	.	.	PUNCT
fumecheng-5678	36	1	the	the	DET
fumecheng-5678	36	2	feedforward	feedforward	NOUN
fumecheng-5678	36	3	computed	compute	VERB
fumecheng-5678	36	4	torque	torque	NOUN
fumecheng-5678	36	5	control	control	NOUN
fumecheng-5678	36	6	(	(	PUNCT
fumecheng-5678	36	7	ctc	ctc	PROPN
fumecheng-5678	36	8	)	)	PUNCT
fumecheng-5678	36	9	method	method	NOUN
fumecheng-5678	36	10	[	[	X
fumecheng-5678	36	11	13	13	NUM
fumecheng-5678	36	12	]	]	PUNCT
fumecheng-5678	36	13	implies	imply	VERB
fumecheng-5678	36	14	the	the	DET
fumecheng-5678	36	15	cancelation	cancelation	NOUN
fumecheng-5678	36	16	of	of	ADP
fumecheng-5678	36	17	nonlinear	nonlinear	ADJ
fumecheng-5678	36	18	coupled	couple	VERB
fumecheng-5678	36	19	terms	term	NOUN
fumecheng-5678	36	20	in	in	ADP
fumecheng-5678	36	21	a	a	DET
fumecheng-5678	36	22	robot	robot	NOUN
fumecheng-5678	36	23	dynamic	dynamic	ADJ
fumecheng-5678	36	24	model	model	NOUN
fumecheng-5678	36	25	.	.	PUNCT
fumecheng-5678	37	1	the	the	DET
fumecheng-5678	37	2	use	use	NOUN
fumecheng-5678	37	3	of	of	ADP
fumecheng-5678	37	4	feedforward	feedforward	NOUN
fumecheng-5678	37	5	control	control	NOUN
fumecheng-5678	37	6	is	be	AUX
fumecheng-5678	37	7	considered	consider	VERB
fumecheng-5678	37	8	as	as	ADP
fumecheng-5678	37	9	a	a	DET
fumecheng-5678	37	10	solution	solution	NOUN
fumecheng-5678	37	11	capable	capable	ADJ
fumecheng-5678	37	12	of	of	ADP
fumecheng-5678	37	13	suppressing	suppress	VERB
fumecheng-5678	37	14	the	the	DET
fumecheng-5678	37	15	speed	speed	NOUN
fumecheng-5678	37	16	error	error	NOUN
fumecheng-5678	37	17	in	in	ADP
fumecheng-5678	37	18	cases	case	NOUN
fumecheng-5678	37	19	with	with	ADP
fumecheng-5678	37	20	known	known	ADJ
fumecheng-5678	37	21	disturbances	disturbance	NOUN
fumecheng-5678	37	22	[	[	X
fumecheng-5678	37	23	14	14	NUM
fumecheng-5678	37	24	]	]	PUNCT
fumecheng-5678	37	25	.	.	PUNCT
fumecheng-5678	38	1	however	however	ADV
fumecheng-5678	38	2	,	,	PUNCT
fumecheng-5678	38	3	besides	besides	SCONJ
fumecheng-5678	38	4	the	the	DET
fumecheng-5678	38	5	complexity	complexity	NOUN
fumecheng-5678	38	6	of	of	ADP
fumecheng-5678	38	7	dynamic	dynamic	ADJ
fumecheng-5678	38	8	modeling	modeling	NOUN
fumecheng-5678	38	9	for	for	ADP
fumecheng-5678	38	10	multiple	multiple	ADJ
fumecheng-5678	38	11	dofs	dof	NOUN
fumecheng-5678	38	12	robots	robot	NOUN
fumecheng-5678	38	13	[	[	X
fumecheng-5678	38	14	15	15	NUM
fumecheng-5678	38	15	]	]	PUNCT
fumecheng-5678	38	16	,	,	PUNCT
fumecheng-5678	38	17	the	the	DET
fumecheng-5678	38	18	ctc	ctc	NOUN
fumecheng-5678	38	19	method	method	NOUN
fumecheng-5678	38	20	suffers	suffer	VERB
fumecheng-5678	38	21	from	from	ADP
fumecheng-5678	38	22	drawbacks	drawback	NOUN
fumecheng-5678	38	23	related	relate	VERB
fumecheng-5678	38	24	to	to	ADP
fumecheng-5678	38	25	1	1	NUM
fumecheng-5678	38	26	)	)	PUNCT
fumecheng-5678	38	27	errors	error	NOUN
fumecheng-5678	38	28	due	due	ADJ
fumecheng-5678	38	29	to	to	ADP
fumecheng-5678	38	30	structured	structured	ADJ
fumecheng-5678	38	31	and	and	CCONJ
fumecheng-5678	38	32	unstructured	unstructured	ADJ
fumecheng-5678	38	33	uncertainties	uncertainty	NOUN
fumecheng-5678	38	34	in	in	ADP
fumecheng-5678	38	35	a	a	DET
fumecheng-5678	38	36	dynamic	dynamic	ADJ
fumecheng-5678	38	37	model	model	NOUN
fumecheng-5678	38	38	;	;	PUNCT
fumecheng-5678	38	39	2	2	X
fumecheng-5678	38	40	)	)	PUNCT
fumecheng-5678	38	41	possible	possible	ADJ
fumecheng-5678	38	42	difficulties	difficulty	NOUN
fumecheng-5678	38	43	in	in	ADP
fumecheng-5678	38	44	implementation	implementation	NOUN
fumecheng-5678	38	45	.	.	PUNCT
fumecheng-5678	39	1	the	the	DET
fumecheng-5678	39	2	purpose	purpose	NOUN
fumecheng-5678	39	3	of	of	ADP
fumecheng-5678	39	4	this	this	DET
fumecheng-5678	39	5	study	study	NOUN
fumecheng-5678	39	6	is	be	AUX
fumecheng-5678	39	7	to	to	PART
fumecheng-5678	39	8	compare	compare	VERB
fumecheng-5678	39	9	,	,	PUNCT
fumecheng-5678	39	10	using	use	VERB
fumecheng-5678	39	11	appropriate	appropriate	ADJ
fumecheng-5678	39	12	simulation	simulation	NOUN
fumecheng-5678	39	13	techniques	technique	NOUN
fumecheng-5678	39	14	,	,	PUNCT
fumecheng-5678	39	15	the	the	DET
fumecheng-5678	39	16	performances	performance	NOUN
fumecheng-5678	39	17	of	of	ADP
fumecheng-5678	39	18	the	the	DET
fumecheng-5678	39	19	traditional	traditional	ADJ
fumecheng-5678	39	20	pi	pi	NOUN
fumecheng-5678	39	21	controller	controller	NOUN
fumecheng-5678	39	22	and	and	CCONJ
fumecheng-5678	39	23	the	the	DET
fumecheng-5678	39	24	controller	controller	NOUN
fumecheng-5678	39	25	with	with	ADP
fumecheng-5678	39	26	ctc	ctc	PROPN
fumecheng-5678	39	27	compensation	compensation	NOUN
fumecheng-5678	39	28	added	add	VERB
fumecheng-5678	39	29	to	to	PART
fumecheng-5678	39	30	feedback	feedback	VERB
fumecheng-5678	39	31	for	for	ADP
fumecheng-5678	39	32	the	the	DET
fumecheng-5678	39	33	case	case	NOUN
fumecheng-5678	39	34	of	of	ADP
fumecheng-5678	39	35	the	the	DET
fumecheng-5678	39	36	sdt	sdt	PROPN
fumecheng-5678	39	37	.	.	PUNCT
fumecheng-5678	40	1	motivation	motivation	NOUN
fumecheng-5678	40	2	is	be	AUX
fumecheng-5678	40	3	not	not	PART
fumecheng-5678	40	4	only	only	ADV
fumecheng-5678	40	5	to	to	PART
fumecheng-5678	40	6	determine	determine	VERB
fumecheng-5678	40	7	a	a	DET
fumecheng-5678	40	8	proper	proper	ADJ
fumecheng-5678	40	9	control	control	NOUN
fumecheng-5678	40	10	strategy	strategy	NOUN
fumecheng-5678	40	11	but	but	CCONJ
fumecheng-5678	40	12	also	also	ADV
fumecheng-5678	40	13	to	to	PART
fumecheng-5678	40	14	verify	verify	VERB
fumecheng-5678	40	15	the	the	DET
fumecheng-5678	40	16	mechanical	mechanical	ADJ
fumecheng-5678	40	17	structure	structure	NOUN
fumecheng-5678	40	18	design	design	NOUN
fumecheng-5678	40	19	of	of	ADP
fumecheng-5678	40	20	the	the	DET
fumecheng-5678	40	21	device	device	NOUN
fumecheng-5678	40	22	.	.	PUNCT
fumecheng-5678	41	1	computed	compute	VERB
fumecheng-5678	41	2	torque	torque	NOUN
fumecheng-5678	41	3	control	control	NOUN
fumecheng-5678	41	4	for	for	ADP
fumecheng-5678	41	5	a	a	DET
fumecheng-5678	41	6	spatial	spatial	ADJ
fumecheng-5678	41	7	disorientation	disorientation	NOUN
fumecheng-5678	41	8	trainer	trainer	NOUN
fumecheng-5678	41	9	271	271	NUM
fumecheng-5678	41	10	2	2	NUM
fumecheng-5678	41	11	.	.	PUNCT
fumecheng-5678	41	12	trajectory	trajectory	NOUN
fumecheng-5678	41	13	planner	planner	NOUN
fumecheng-5678	41	14	development	development	NOUN
fumecheng-5678	41	15	in	in	ADP
fumecheng-5678	41	16	the	the	DET
fumecheng-5678	41	17	previous	previous	ADJ
fumecheng-5678	41	18	work	work	NOUN
fumecheng-5678	41	19	[	[	X
fumecheng-5678	41	20	7	7	NUM
fumecheng-5678	41	21	]	]	PUNCT
fumecheng-5678	41	22	,	,	PUNCT
fumecheng-5678	41	23	kinematic	kinematic	ADJ
fumecheng-5678	41	24	and	and	CCONJ
fumecheng-5678	41	25	dynamic	dynamic	ADJ
fumecheng-5678	41	26	models	model	NOUN
fumecheng-5678	41	27	of	of	ADP
fumecheng-5678	41	28	the	the	DET
fumecheng-5678	41	29	sdt	sdt	NOUN
fumecheng-5678	41	30	are	be	AUX
fumecheng-5678	41	31	derived	derive	VERB
fumecheng-5678	41	32	and	and	CCONJ
fumecheng-5678	41	33	implemented	implement	VERB
fumecheng-5678	41	34	into	into	ADP
fumecheng-5678	41	35	the	the	DET
fumecheng-5678	41	36	trajectory	trajectory	NOUN
fumecheng-5678	41	37	planner	planner	NOUN
fumecheng-5678	41	38	.	.	PUNCT
fumecheng-5678	42	1	for	for	ADP
fumecheng-5678	42	2	the	the	DET
fumecheng-5678	42	3	sdt	sdt	PROPN
fumecheng-5678	42	4	,	,	PUNCT
fumecheng-5678	42	5	the	the	DET
fumecheng-5678	42	6	discrete	discrete	ADJ
fumecheng-5678	42	7	control	control	NOUN
fumecheng-5678	42	8	system	system	NOUN
fumecheng-5678	42	9	is	be	AUX
fumecheng-5678	42	10	developed	develop	VERB
fumecheng-5678	42	11	with	with	ADP
fumecheng-5678	42	12	a	a	DET
fumecheng-5678	42	13	trajectory	trajectory	NOUN
fumecheng-5678	42	14	planner	planner	NOUN
fumecheng-5678	42	15	that	that	PRON
fumecheng-5678	42	16	calculates	calculate	VERB
fumecheng-5678	42	17	joint	joint	ADJ
fumecheng-5678	42	18	trajectories	trajectory	NOUN
fumecheng-5678	42	19	in	in	ADP
fumecheng-5678	42	20	the	the	DET
fumecheng-5678	42	21	offline	offline	ADJ
fumecheng-5678	42	22	regime	regime	NOUN
fumecheng-5678	42	23	.	.	PUNCT
fumecheng-5678	43	1	at	at	ADP
fumecheng-5678	43	2	the	the	DET
fumecheng-5678	43	3	path	path	NOUN
fumecheng-5678	43	4	update	update	NOUN
fumecheng-5678	43	5	rate	rate	NOUN
fumecheng-5678	43	6	defined	define	VERB
fumecheng-5678	43	7	by	by	ADP
fumecheng-5678	43	8	interpolation	interpolation	NOUN
fumecheng-5678	43	9	period	period	NOUN
fumecheng-5678	43	10	δt	δt	PROPN
fumecheng-5678	43	11	,	,	PUNCT
fumecheng-5678	43	12	reference	reference	NOUN
fumecheng-5678	43	13	joint	joint	ADJ
fumecheng-5678	43	14	trajectories	trajectory	NOUN
fumecheng-5678	43	15	calculated	calculate	VERB
fumecheng-5678	43	16	in	in	ADP
fumecheng-5678	43	17	trajectory	trajectory	NOUN
fumecheng-5678	43	18	planner	planner	NOUN
fumecheng-5678	43	19	are	be	AUX
fumecheng-5678	43	20	sent	send	VERB
fumecheng-5678	43	21	to	to	ADP
fumecheng-5678	43	22	motor	motor	NOUN
fumecheng-5678	43	23	controllers	controller	NOUN
fumecheng-5678	43	24	.	.	PUNCT
fumecheng-5678	44	1	fig	fig	NOUN
fumecheng-5678	44	2	.	.	PUNCT
fumecheng-5678	45	1	1	1	NUM
fumecheng-5678	45	2	sdt	sdt	NOUN
fumecheng-5678	45	3	with	with	ADP
fumecheng-5678	45	4	4	4	NUM
fumecheng-5678	45	5	dof	dof	NOUN
fumecheng-5678	45	6	[	[	X
fumecheng-5678	45	7	7	7	NUM
fumecheng-5678	45	8	,	,	PUNCT
fumecheng-5678	45	9	16	16	NUM
fumecheng-5678	45	10	]	]	PUNCT
fumecheng-5678	45	11	joint	joint	ADJ
fumecheng-5678	45	12	trajectories	trajectory	NOUN
fumecheng-5678	45	13	qk	qk	ADP
fumecheng-5678	45	14	,	,	PUNCT
fumecheng-5678	45	15	k	k	PROPN
fumecheng-5678	45	16	,	,	PUNCT
fumecheng-5678	45	17	k	k	NOUN
fumecheng-5678	45	18	,	,	PUNCT
fumecheng-5678	45	19	k=1	k=1	X
fumecheng-5678	45	20	,	,	PUNCT
fumecheng-5678	45	21	2,	2,	NUM
fumecheng-5678	45	22	..	..	SYM
fumecheng-5678	45	23	4	4	NUM
fumecheng-5678	45	24	,	,	PUNCT
fumecheng-5678	45	25	fig	fig	NOUN
fumecheng-5678	45	26	.	.	PUNCT
fumecheng-5678	46	1	2	2	NUM
fumecheng-5678	46	2	,	,	PUNCT
fumecheng-5678	46	3	that	that	PRON
fumecheng-5678	46	4	are	be	AUX
fumecheng-5678	46	5	used	use	VERB
fumecheng-5678	46	6	as	as	ADP
fumecheng-5678	46	7	reference	reference	NOUN
fumecheng-5678	46	8	values	value	NOUN
fumecheng-5678	46	9	in	in	ADP
fumecheng-5678	46	10	this	this	DET
fumecheng-5678	46	11	study	study	NOUN
fumecheng-5678	46	12	are	be	AUX
fumecheng-5678	46	13	obtained	obtain	VERB
fumecheng-5678	46	14	by	by	ADP
fumecheng-5678	46	15	the	the	DET
fumecheng-5678	46	16	trajectory	trajectory	NOUN
fumecheng-5678	46	17	planner	planner	NOUN
fumecheng-5678	46	18	presented	present	VERB
fumecheng-5678	46	19	in	in	ADP
fumecheng-5678	46	20	[	[	X
fumecheng-5678	46	21	7	7	NUM
fumecheng-5678	46	22	]	]	PUNCT
fumecheng-5678	46	23	.	.	PUNCT
fumecheng-5678	47	1	joint	joint	ADJ
fumecheng-5678	47	2	accelerations	acceleration	NOUN
fumecheng-5678	47	3	of	of	ADP
fumecheng-5678	47	4	the	the	DET
fumecheng-5678	47	5	trajectories	trajectory	NOUN
fumecheng-5678	47	6	previously	previously	ADV
fumecheng-5678	47	7	studied	study	VERB
fumecheng-5678	47	8	in	in	ADP
fumecheng-5678	47	9	[	[	X
fumecheng-5678	47	10	7	7	NUM
fumecheng-5678	47	11	]	]	PUNCT
fumecheng-5678	47	12	,	,	PUNCT
fumecheng-5678	47	13	obtained	obtain	VERB
fumecheng-5678	47	14	after	after	ADP
fumecheng-5678	47	15	applying	apply	VERB
fumecheng-5678	47	16	limitations	limitation	NOUN
fumecheng-5678	47	17	of	of	ADP
fumecheng-5678	47	18	angular	angular	ADJ
fumecheng-5678	47	19	accelerations	acceleration	NOUN
fumecheng-5678	47	20	according	accord	VERB
fumecheng-5678	47	21	to	to	ADP
fumecheng-5678	47	22	maximum	maximum	ADJ
fumecheng-5678	47	23	torques	torque	NOUN
fumecheng-5678	47	24	that	that	PRON
fumecheng-5678	47	25	chosen	choose	VERB
fumecheng-5678	47	26	actuators	actuator	NOUN
fumecheng-5678	47	27	can	can	AUX
fumecheng-5678	47	28	achieve	achieve	VERB
fumecheng-5678	47	29	[	[	PUNCT
fumecheng-5678	47	30	7	7	NUM
fumecheng-5678	47	31	]	]	PUNCT
fumecheng-5678	47	32	are	be	AUX
fumecheng-5678	47	33	used	use	VERB
fumecheng-5678	47	34	herein	herein	NOUN
fumecheng-5678	47	35	,	,	PUNCT
fumecheng-5678	47	36	and	and	CCONJ
fumecheng-5678	47	37	numerical	numerical	ADJ
fumecheng-5678	47	38	integration	integration	NOUN
fumecheng-5678	47	39	is	be	AUX
fumecheng-5678	47	40	performed	perform	VERB
fumecheng-5678	47	41	to	to	PART
fumecheng-5678	47	42	obtain	obtain	VERB
fumecheng-5678	47	43	reference	reference	NOUN
fumecheng-5678	47	44	speeds	speed	NOUN
fumecheng-5678	47	45	and	and	CCONJ
fumecheng-5678	47	46	positions	position	NOUN
fumecheng-5678	47	47	of	of	ADP
fumecheng-5678	47	48	joints	joint	NOUN
fumecheng-5678	47	49	.	.	PUNCT
fumecheng-5678	48	1	272	272	NUM
fumecheng-5678	48	2	j.	j.	PROPN
fumecheng-5678	48	3	vidaković	vidaković	PROPN
fumecheng-5678	48	4	,	,	PUNCT
fumecheng-5678	48	5	v.	v.	ADP
fumecheng-5678	48	6	kvrgić	kvrgić	NOUN
fumecheng-5678	48	7	,	,	PUNCT
fumecheng-5678	48	8	m.	m.	NOUN
fumecheng-5678	48	9	lazarević	lazarević	PROPN
fumecheng-5678	48	10	,	,	PUNCT
fumecheng-5678	48	11	p.	p.	NOUN
fumecheng-5678	48	12	stepanić	stepanić	PROPN
fumecheng-5678	48	13	fig	fig	PROPN
fumecheng-5678	48	14	.	.	PUNCT
fumecheng-5678	49	1	2	2	NUM
fumecheng-5678	49	2	reference	reference	NOUN
fumecheng-5678	49	3	trajectories	trajectory	NOUN
fumecheng-5678	49	4	of	of	ADP
fumecheng-5678	49	5	the	the	DET
fumecheng-5678	49	6	sdt	sdt	PROPN
fumecheng-5678	49	7	joints	joint	NOUN
fumecheng-5678	49	8	3	3	NUM
fumecheng-5678	49	9	.	.	PUNCT
fumecheng-5678	49	10	control	control	NOUN
fumecheng-5678	49	11	system	system	NOUN
fumecheng-5678	49	12	design	design	NOUN
fumecheng-5678	49	13	for	for	ADP
fumecheng-5678	49	14	the	the	DET
fumecheng-5678	49	15	sdt	sdt	NOUN
fumecheng-5678	49	16	in	in	ADP
fumecheng-5678	49	17	this	this	DET
fumecheng-5678	49	18	section	section	NOUN
fumecheng-5678	49	19	,	,	PUNCT
fumecheng-5678	49	20	the	the	DET
fumecheng-5678	49	21	design	design	NOUN
fumecheng-5678	49	22	of	of	ADP
fumecheng-5678	49	23	the	the	DET
fumecheng-5678	49	24	pi	pi	NOUN
fumecheng-5678	49	25	speed	speed	NOUN
fumecheng-5678	49	26	controller	controller	NOUN
fumecheng-5678	49	27	and	and	CCONJ
fumecheng-5678	49	28	the	the	DET
fumecheng-5678	49	29	ctc	ctc	NOUN
fumecheng-5678	49	30	-	-	PUNCT
fumecheng-5678	49	31	based	base	VERB
fumecheng-5678	49	32	controller	controller	NOUN
fumecheng-5678	49	33	are	be	AUX
fumecheng-5678	49	34	presented	present	VERB
fumecheng-5678	49	35	.	.	PUNCT
fumecheng-5678	50	1	the	the	DET
fumecheng-5678	50	2	model	model	NOUN
fumecheng-5678	50	3	of	of	ADP
fumecheng-5678	50	4	the	the	DET
fumecheng-5678	50	5	motor	motor	NOUN
fumecheng-5678	50	6	’s	’s	PART
fumecheng-5678	50	7	mechanical	mechanical	ADJ
fumecheng-5678	50	8	subsystem	subsystem	NOUN
fumecheng-5678	50	9	is	be	AUX
fumecheng-5678	50	10	based	base	VERB
fumecheng-5678	50	11	on	on	ADP
fumecheng-5678	50	12	inertia	inertia	NOUN
fumecheng-5678	50	13	reflected	reflect	VERB
fumecheng-5678	50	14	on	on	ADP
fumecheng-5678	50	15	the	the	DET
fumecheng-5678	50	16	rotor	rotor	NOUN
fumecheng-5678	50	17	’s	’s	PART
fumecheng-5678	50	18	shaft	shaft	NOUN
fumecheng-5678	50	19	(	(	PUNCT
fumecheng-5678	50	20	effective	effective	ADJ
fumecheng-5678	50	21	inertia	inertia	NOUN
fumecheng-5678	50	22	)	)	PUNCT
fumecheng-5678	50	23	,	,	PUNCT
fumecheng-5678	50	24	obtained	obtain	VERB
fumecheng-5678	50	25	from	from	ADP
fumecheng-5678	50	26	the	the	DET
fumecheng-5678	50	27	inverse	inverse	NOUN
fumecheng-5678	50	28	dynamic	dynamic	NOUN
fumecheng-5678	50	29	(	(	PUNCT
fumecheng-5678	50	30	i	i	NOUN
fumecheng-5678	50	31	d	d	PROPN
fumecheng-5678	50	32	)	)	PUNCT
fumecheng-5678	50	33	model	model	NOUN
fumecheng-5678	50	34	of	of	ADP
fumecheng-5678	50	35	the	the	DET
fumecheng-5678	50	36	sdt	sdt	PROPN
fumecheng-5678	50	37	.	.	PUNCT
fumecheng-5678	51	1	the	the	DET
fumecheng-5678	51	2	load	load	NOUN
fumecheng-5678	51	3	torque	torque	NOUN
fumecheng-5678	51	4	calculation	calculation	NOUN
fumecheng-5678	51	5	from	from	ADP
fumecheng-5678	51	6	the	the	DET
fumecheng-5678	51	7	i	i	PROPN
fumecheng-5678	51	8	d	d	PROPN
fumecheng-5678	51	9	model	model	NOUN
fumecheng-5678	51	10	is	be	AUX
fumecheng-5678	51	11	presented	present	VERB
fumecheng-5678	51	12	.	.	PUNCT
fumecheng-5678	52	1	3.1	3.1	NUM
fumecheng-5678	52	2	.	.	PUNCT
fumecheng-5678	52	3	model	model	NOUN
fumecheng-5678	52	4	of	of	ADP
fumecheng-5678	52	5	the	the	DET
fumecheng-5678	52	6	motor	motor	NOUN
fumecheng-5678	52	7	’s	’s	PART
fumecheng-5678	52	8	mechanical	mechanical	ADJ
fumecheng-5678	52	9	subsystem	subsystem	NOUN
fumecheng-5678	52	10	from	from	ADP
fumecheng-5678	52	11	the	the	DET
fumecheng-5678	52	12	equation	equation	NOUN
fumecheng-5678	52	13	of	of	ADP
fumecheng-5678	52	14	motion	motion	NOUN
fumecheng-5678	52	15	of	of	ADP
fumecheng-5678	52	16	rigid	rigid	ADJ
fumecheng-5678	52	17	body	body	NOUN
fumecheng-5678	52	18	rotation	rotation	NOUN
fumecheng-5678	52	19	about	about	ADP
fumecheng-5678	52	20	an	an	DET
fumecheng-5678	52	21	axis	axis	NOUN
fumecheng-5678	52	22	,	,	PUNCT
fumecheng-5678	52	23	the	the	DET
fumecheng-5678	52	24	nonlinear	nonlinear	ADJ
fumecheng-5678	52	25	timevariant	timevariant	ADJ
fumecheng-5678	52	26	model	model	NOUN
fumecheng-5678	52	27	of	of	ADP
fumecheng-5678	52	28	the	the	DET
fumecheng-5678	52	29	motor	motor	NOUN
fumecheng-5678	52	30	’s	’s	PART
fumecheng-5678	52	31	mechanical	mechanical	ADJ
fumecheng-5678	52	32	subsystem	subsystem	NOUN
fumecheng-5678	52	33	in	in	ADP
fumecheng-5678	52	34	robot	robot	NOUN
fumecheng-5678	52	35	’s	’s	PART
fumecheng-5678	52	36	joint	joint	PROPN
fumecheng-5678	52	37	k	k	PROPN
fumecheng-5678	52	38	can	can	AUX
fumecheng-5678	52	39	be	be	AUX
fumecheng-5678	52	40	given	give	VERB
fumecheng-5678	52	41	in	in	ADP
fumecheng-5678	52	42	the	the	DET
fumecheng-5678	52	43	form	form	NOUN
fumecheng-5678	52	44	:	:	PUNCT
fumecheng-5678	52	45	eff	eff	PROPN
fumecheng-5678	52	46	m	m	VERB
fumecheng-5678	52	47	m	m	VERB
fumecheng-5678	52	48	l	l	NOUN
fumecheng-5678	52	49	.k	.k	PUNCT
fumecheng-5678	53	1	k	k	PROPN
fumecheng-5678	54	1	k	k	PROPN
fumecheng-5678	54	2	ki	ki	PROPN
fumecheng-5678	54	3	q	q	PROPN
fumecheng-5678	54	4			NOUN
fumecheng-5678	54	5			VERB
fumecheng-5678	54	6			NOUN
fumecheng-5678	54	7	(	(	PUNCT
fumecheng-5678	54	8	1	1	NUM
fumecheng-5678	54	9	)	)	PUNCT
fumecheng-5678	54	10	where	where	SCONJ
fumecheng-5678	54	11	qmk=	qmk=	NUM
fumecheng-5678	54	12	qmk	qmk	NOUN
fumecheng-5678	54	13	(	(	PUNCT
fumecheng-5678	54	14	t	t	NOUN
fumecheng-5678	54	15	)	)	PUNCT
fumecheng-5678	54	16	is	be	AUX
fumecheng-5678	54	17	the	the	DET
fumecheng-5678	54	18	angular	angular	ADJ
fumecheng-5678	54	19	position	position	NOUN
fumecheng-5678	54	20	of	of	ADP
fumecheng-5678	54	21	the	the	DET
fumecheng-5678	54	22	rotor	rotor	NOUN
fumecheng-5678	54	23	;	;	PUNCT
fumecheng-5678	54	24	ieffk=	ieffk=	NUM
fumecheng-5678	54	25	ieffk(q	ieffk(q	NOUN
fumecheng-5678	54	26	)	)	PUNCT
fumecheng-5678	54	27	is	be	AUX
fumecheng-5678	54	28	effective	effective	ADJ
fumecheng-5678	54	29	inertia	inertia	NOUN
fumecheng-5678	54	30	(	(	PUNCT
fumecheng-5678	54	31	resulting	result	VERB
fumecheng-5678	54	32	from	from	ADP
fumecheng-5678	54	33	the	the	DET
fumecheng-5678	54	34	coupling	coupling	NOUN
fumecheng-5678	54	35	of	of	ADP
fumecheng-5678	54	36	motor	motor	NOUN
fumecheng-5678	54	37	with	with	ADP
fumecheng-5678	54	38	inertial	inertial	ADJ
fumecheng-5678	54	39	load	load	NOUN
fumecheng-5678	54	40	,	,	PUNCT
fumecheng-5678	54	41	as	as	SCONJ
fumecheng-5678	54	42	seen	see	VERB
fumecheng-5678	54	43	from	from	ADP
fumecheng-5678	54	44	the	the	DET
fumecheng-5678	54	45	side	side	NOUN
fumecheng-5678	54	46	of	of	ADP
fumecheng-5678	54	47	the	the	DET
fumecheng-5678	54	48	rotor	rotor	NOUN
fumecheng-5678	54	49	shaft	shaft	NOUN
fumecheng-5678	54	50	)	)	PUNCT
fumecheng-5678	54	51	which	which	PRON
fumecheng-5678	54	52	is	be	AUX
fumecheng-5678	54	53	a	a	DET
fumecheng-5678	54	54	function	function	NOUN
fumecheng-5678	54	55	of	of	ADP
fumecheng-5678	54	56	the	the	DET
fumecheng-5678	54	57	instantaneous	instantaneous	ADJ
fumecheng-5678	54	58	manipulator	manipulator	NOUN
fumecheng-5678	54	59	configuration	configuration	NOUN
fumecheng-5678	54	60	q	q	NOUN
fumecheng-5678	54	61	=	=	NOUN
fumecheng-5678	54	62	q(t)=(q1(t	q(t)=(q1(t	NOUN
fumecheng-5678	54	63	)	)	PUNCT
fumecheng-5678	54	64	,	,	PUNCT
fumecheng-5678	54	65	q2(t	q2(t	PROPN
fumecheng-5678	54	66	)	)	PUNCT
fumecheng-5678	54	67	,	,	PUNCT
fumecheng-5678	54	68	..	..	PUNCT
fumecheng-5678	54	69	,	,	PUNCT
fumecheng-5678	54	70	qn(t	qn(t	NUM
fumecheng-5678	54	71	)	)	PUNCT
fumecheng-5678	54	72	)	)	PUNCT
fumecheng-5678	54	73	;	;	PUNCT
fumecheng-5678	54	74	n	n	X
fumecheng-5678	54	75	is	be	AUX
fumecheng-5678	54	76	the	the	DET
fumecheng-5678	54	77	number	number	NOUN
fumecheng-5678	54	78	of	of	ADP
fumecheng-5678	54	79	degrees	degree	NOUN
fumecheng-5678	54	80	of	of	ADP
fumecheng-5678	54	81	freedom	freedom	NOUN
fumecheng-5678	54	82	;	;	PUNCT
fumecheng-5678	54	83	τmk=	τmk=	PROPN
fumecheng-5678	54	84	τmk(t	τmk(t	NOUN
fumecheng-5678	54	85	)	)	PUNCT
fumecheng-5678	54	86	is	be	AUX
fumecheng-5678	54	87	the	the	DET
fumecheng-5678	54	88	driving	drive	VERB
fumecheng-5678	54	89	torque	torque	NOUN
fumecheng-5678	54	90	generated	generate	VERB
fumecheng-5678	54	91	by	by	ADP
fumecheng-5678	54	92	the	the	DET
fumecheng-5678	54	93	motor	motor	NOUN
fumecheng-5678	54	94	;	;	PUNCT
fumecheng-5678	54	95	τlk	τlk	X
fumecheng-5678	54	96	=	=	SYM
fumecheng-5678	54	97	τlk(t	τlk(t	X
fumecheng-5678	54	98	)	)	PUNCT
fumecheng-5678	54	99	is	be	AUX
fumecheng-5678	54	100	the	the	DET
fumecheng-5678	54	101	load	load	NOUN
fumecheng-5678	54	102	torque	torque	NOUN
fumecheng-5678	54	103	,	,	PUNCT
fumecheng-5678	54	104	t	t	PROPN
fumecheng-5678	54	105	is	be	AUX
fumecheng-5678	54	106	time	time	NOUN
fumecheng-5678	54	107	.	.	PUNCT
fumecheng-5678	55	1	when	when	SCONJ
fumecheng-5678	55	2	the	the	DET
fumecheng-5678	55	3	motor	motor	NOUN
fumecheng-5678	55	4	in	in	ADP
fumecheng-5678	55	5	joint	joint	ADJ
fumecheng-5678	55	6	k	k	PROPN
fumecheng-5678	55	7	is	be	AUX
fumecheng-5678	55	8	coupled	couple	VERB
fumecheng-5678	55	9	with	with	ADP
fumecheng-5678	55	10	the	the	DET
fumecheng-5678	55	11	inertial	inertial	ADJ
fumecheng-5678	55	12	load	load	NOUN
fumecheng-5678	55	13	using	use	VERB
fumecheng-5678	55	14	gear	gear	NOUN
fumecheng-5678	55	15	train	train	NOUN
fumecheng-5678	55	16	with	with	ADP
fumecheng-5678	55	17	gear	gear	NOUN
fumecheng-5678	55	18	ratio	ratio	NOUN
fumecheng-5678	55	19	rk	rk	NOUN
fumecheng-5678	55	20	,	,	PUNCT
fumecheng-5678	55	21	the	the	DET
fumecheng-5678	55	22	relation	relation	NOUN
fumecheng-5678	55	23	with	with	ADP
fumecheng-5678	55	24	the	the	DET
fumecheng-5678	55	25	angular	angular	ADJ
fumecheng-5678	55	26	position	position	NOUN
fumecheng-5678	55	27	of	of	ADP
fumecheng-5678	55	28	joint	joint	ADJ
fumecheng-5678	55	29	k	k	PROPN
fumecheng-5678	55	30	is	be	AUX
fumecheng-5678	55	31	qmk=	qmk=	NUM
fumecheng-5678	55	32	rk	rk	NOUN
fumecheng-5678	55	33	qk	qk	NOUN
fumecheng-5678	55	34	.	.	PUNCT
fumecheng-5678	56	1	in	in	ADP
fumecheng-5678	56	2	eq	eq	ADP
fumecheng-5678	56	3	.	.	PUNCT
fumecheng-5678	57	1	(	(	PUNCT
fumecheng-5678	57	2	1	1	NUM
fumecheng-5678	57	3	)	)	PUNCT
fumecheng-5678	57	4	,	,	PUNCT
fumecheng-5678	57	5	the	the	DET
fumecheng-5678	57	6	bounded	bounded	ADJ
fumecheng-5678	57	7	nonlinear	nonlinear	ADJ
fumecheng-5678	57	8	friction	friction	NOUN
fumecheng-5678	57	9	terms	term	NOUN
fumecheng-5678	57	10	computed	compute	VERB
fumecheng-5678	57	11	torque	torque	NOUN
fumecheng-5678	57	12	control	control	NOUN
fumecheng-5678	57	13	for	for	ADP
fumecheng-5678	57	14	a	a	DET
fumecheng-5678	57	15	spatial	spatial	ADJ
fumecheng-5678	57	16	disorientation	disorientation	NOUN
fumecheng-5678	57	17	trainer	trainer	NOUN
fumecheng-5678	57	18	273	273	NUM
fumecheng-5678	57	19	are	be	AUX
fumecheng-5678	57	20	neglected	neglect	VERB
fumecheng-5678	57	21	and	and	CCONJ
fumecheng-5678	57	22	treated	treat	VERB
fumecheng-5678	57	23	as	as	ADP
fumecheng-5678	57	24	disturbances	disturbance	NOUN
fumecheng-5678	57	25	[	[	X
fumecheng-5678	57	26	17	17	NUM
fumecheng-5678	57	27	]	]	PUNCT
fumecheng-5678	57	28	.	.	PUNCT
fumecheng-5678	58	1	the	the	DET
fumecheng-5678	58	2	deterministic	deterministic	ADJ
fumecheng-5678	58	3	part	part	NOUN
fumecheng-5678	58	4	of	of	ADP
fumecheng-5678	58	5	load	load	NOUN
fumecheng-5678	58	6	torque	torque	PROPN
fumecheng-5678	58	7	τlk	τlk	PROPN
fumecheng-5678	58	8	,	,	PUNCT
fumecheng-5678	58	9	τldk	τldk	ADJ
fumecheng-5678	58	10	,	,	PUNCT
fumecheng-5678	58	11	and	and	CCONJ
fumecheng-5678	58	12	effective	effective	ADJ
fumecheng-5678	58	13	inertia	inertia	NOUN
fumecheng-5678	58	14	ieffk	ieffk	NOUN
fumecheng-5678	58	15	are	be	AUX
fumecheng-5678	58	16	calculated	calculate	VERB
fumecheng-5678	58	17	from	from	ADP
fumecheng-5678	58	18	the	the	DET
fumecheng-5678	58	19	i	i	PROPN
fumecheng-5678	58	20	d	d	PROPN
fumecheng-5678	58	21	model	model	NOUN
fumecheng-5678	58	22	.	.	PUNCT
fumecheng-5678	59	1	herein	herein	PROPN
fumecheng-5678	59	2	,	,	PUNCT
fumecheng-5678	59	3	the	the	DET
fumecheng-5678	59	4	robot	robot	NOUN
fumecheng-5678	59	5	i	i	PROPN
fumecheng-5678	59	6	d	d	PROPN
fumecheng-5678	59	7	model	model	NOUN
fumecheng-5678	59	8	is	be	AUX
fumecheng-5678	59	9	given	give	VERB
fumecheng-5678	59	10	in	in	ADP
fumecheng-5678	59	11	the	the	DET
fumecheng-5678	59	12	form	form	NOUN
fumecheng-5678	59	13	of	of	ADP
fumecheng-5678	59	14	a	a	DET
fumecheng-5678	59	15	set	set	NOUN
fumecheng-5678	59	16	of	of	ADP
fumecheng-5678	59	17	n	n	NOUN
fumecheng-5678	59	18	coupled	couple	VERB
fumecheng-5678	59	19	nonlinear	nonlinear	ADJ
fumecheng-5678	59	20	differential	differential	ADJ
fumecheng-5678	59	21	equations	equation	NOUN
fumecheng-5678	59	22	:	:	PUNCT
fumecheng-5678	59	23	1	1	NUM
fumecheng-5678	59	24	1	1	NUM
fumecheng-5678	59	25	1	1	NUM
fumecheng-5678	59	26	(	(	PUNCT
fumecheng-5678	59	27	)	)	PUNCT
fumecheng-5678	59	28	(	(	PUNCT
fumecheng-5678	59	29	)	)	PUNCT
fumecheng-5678	59	30	(	(	PUNCT
fumecheng-5678	59	31	)	)	PUNCT
fumecheng-5678	59	32	n	n	CCONJ
fumecheng-5678	59	33	n	n	CCONJ
fumecheng-5678	59	34	n	n	CCONJ
fumecheng-5678	59	35	kj	kj	PROPN
fumecheng-5678	59	36	j	j	PROPN
fumecheng-5678	59	37	kji	kji	INTJ
fumecheng-5678	59	38	j	j	PROPN
fumecheng-5678	60	1	i	i	PRON
fumecheng-5678	60	2	k	k	PROPN
fumecheng-5678	61	1	k	k	PROPN
fumecheng-5678	61	2	j	j	PROPN
fumecheng-5678	62	1	j	j	PROPN
fumecheng-5678	63	1	i	i	PRON
fumecheng-5678	63	2	d	d	NOUN
fumecheng-5678	63	3	q	q	NOUN
fumecheng-5678	63	4	h	h	NOUN
fumecheng-5678	63	5	q	q	NOUN
fumecheng-5678	63	6	q	q	NOUN
fumecheng-5678	63	7	g	g	PROPN
fumecheng-5678	63	8	.	.	PROPN
fumecheng-5678	64	1			NUM
fumecheng-5678	65	1			NUM
fumecheng-5678	65	2			PROPN
fumecheng-5678	65	3			ADV
fumecheng-5678	65	4			PUNCT
fumecheng-5678	65	5			X
fumecheng-5678	66	1	q	q	X
fumecheng-5678	66	2	q	q	X
fumecheng-5678	66	3	q	q	X
fumecheng-5678	66	4	(	(	PUNCT
fumecheng-5678	66	5	2	2	NUM
fumecheng-5678	66	6	)	)	PUNCT
fumecheng-5678	66	7	each	each	DET
fumecheng-5678	66	8	equation	equation	NOUN
fumecheng-5678	66	9	(	(	PUNCT
fumecheng-5678	66	10	for	for	ADP
fumecheng-5678	66	11	every	every	DET
fumecheng-5678	66	12	joint	joint	ADJ
fumecheng-5678	66	13	k	k	NOUN
fumecheng-5678	66	14	)	)	PUNCT
fumecheng-5678	66	15	in	in	ADP
fumecheng-5678	66	16	the	the	DET
fumecheng-5678	66	17	presented	present	VERB
fumecheng-5678	66	18	set	set	NOUN
fumecheng-5678	66	19	of	of	ADP
fumecheng-5678	66	20	n	n	PRON
fumecheng-5678	66	21	differential	differential	ADJ
fumecheng-5678	66	22	equations	equation	NOUN
fumecheng-5678	66	23	contains	contain	VERB
fumecheng-5678	66	24	the	the	DET
fumecheng-5678	66	25	torque	torque	NOUN
fumecheng-5678	66	26	or	or	CCONJ
fumecheng-5678	66	27	force	force	NOUN
fumecheng-5678	66	28	terms	term	NOUN
fumecheng-5678	66	29	classified	classify	VERB
fumecheng-5678	66	30	into	into	ADP
fumecheng-5678	66	31	four	four	NUM
fumecheng-5678	66	32	groups	group	NOUN
fumecheng-5678	66	33	:	:	PUNCT
fumecheng-5678	66	34	1	1	X
fumecheng-5678	66	35	)	)	PUNCT
fumecheng-5678	66	36	inertialdkk(q	inertialdkk(q	NOUN
fumecheng-5678	66	37	)	)	PUNCT
fumecheng-5678	66	38	k	k	NOUN
fumecheng-5678	66	39	,	,	PUNCT
fumecheng-5678	66	40	2	2	X
fumecheng-5678	66	41	)	)	PUNCT
fumecheng-5678	66	42	reaction	reaction	NOUN
fumecheng-5678	66	43	terms	term	NOUN
fumecheng-5678	66	44	generated	generate	VERB
fumecheng-5678	66	45	by	by	ADP
fumecheng-5678	66	46	accelerations	acceleration	NOUN
fumecheng-5678	66	47	of	of	ADP
fumecheng-5678	66	48	other	other	ADJ
fumecheng-5678	66	49	jointsdkj(q	jointsdkj(q	PROPN
fumecheng-5678	66	50	)	)	PUNCT
fumecheng-5678	66	51	j	j	PROPN
fumecheng-5678	66	52	,	,	PUNCT
fumecheng-5678	66	53	j≠k	j≠k	PROPN
fumecheng-5678	66	54	,	,	PUNCT
fumecheng-5678	66	55	3	3	X
fumecheng-5678	66	56	)	)	PUNCT
fumecheng-5678	66	57	reaction	reaction	NOUN
fumecheng-5678	66	58	-	-	PUNCT
fumecheng-5678	66	59	velocity	velocity	NOUN
fumecheng-5678	66	60	generated	generate	VERB
fumecheng-5678	66	61	(	(	PUNCT
fumecheng-5678	66	62	centrifugal	centrifugal	ADJ
fumecheng-5678	66	63	and	and	CCONJ
fumecheng-5678	66	64	coriolis	corioli	NOUN
fumecheng-5678	66	65	)	)	PUNCT
fumecheng-5678	66	66	terms	term	NOUN
fumecheng-5678	66	67	-	-	PUNCT
fumecheng-5678	66	68	hkji(q	hkji(q	VERB
fumecheng-5678	66	69	)	)	PUNCT
fumecheng-5678	67	1	j	j	PROPN
fumecheng-5678	68	1	i	i	PROPN
fumecheng-5678	68	2	,	,	PUNCT
fumecheng-5678	68	3	4	4	X
fumecheng-5678	68	4	)	)	PUNCT
fumecheng-5678	68	5	force	force	NOUN
fumecheng-5678	68	6	or	or	CCONJ
fumecheng-5678	68	7	torque	torque	NOUN
fumecheng-5678	68	8	generated	generate	VERB
fumecheng-5678	68	9	at	at	ADP
fumecheng-5678	68	10	the	the	DET
fumecheng-5678	68	11	joint	joint	NOUN
fumecheng-5678	68	12	by	by	ADP
fumecheng-5678	68	13	gravity	gravity	NOUN
fumecheng-5678	68	14	in	in	ADP
fumecheng-5678	68	15	the	the	DET
fumecheng-5678	68	16	current	current	ADJ
fumecheng-5678	68	17	manipulator	manipulator	NOUN
fumecheng-5678	68	18	configuration	configuration	NOUN
fumecheng-5678	68	19	-	-	PUNCT
fumecheng-5678	68	20	gk(q	gk(q	NOUN
fumecheng-5678	68	21	)	)	PUNCT
fumecheng-5678	68	22	.	.	PUNCT
fumecheng-5678	69	1	in	in	ADP
fumecheng-5678	69	2	eq	eq	ADP
fumecheng-5678	69	3	.	.	PUNCT
fumecheng-5678	69	4	(	(	PUNCT
fumecheng-5678	69	5	2	2	NUM
fumecheng-5678	69	6	)	)	PUNCT
fumecheng-5678	69	7	,	,	PUNCT
fumecheng-5678	69	8	τk	τk	SCONJ
fumecheng-5678	69	9	is	be	AUX
fumecheng-5678	69	10	the	the	DET
fumecheng-5678	69	11	actuating	actuate	VERB
fumecheng-5678	69	12	torque	torque	NOUN
fumecheng-5678	69	13	for	for	ADP
fumecheng-5678	69	14	joint	joint	ADJ
fumecheng-5678	69	15	k.	k.	PROPN
fumecheng-5678	70	1	the	the	DET
fumecheng-5678	70	2	i	i	PROPN
fumecheng-5678	70	3	d	d	PROPN
fumecheng-5678	70	4	model	model	NOUN
fumecheng-5678	70	5	of	of	ADP
fumecheng-5678	70	6	the	the	DET
fumecheng-5678	70	7	sdt	sdt	NOUN
fumecheng-5678	70	8	obtained	obtain	VERB
fumecheng-5678	70	9	by	by	ADP
fumecheng-5678	70	10	the	the	DET
fumecheng-5678	70	11	recursive	recursive	PROPN
fumecheng-5678	70	12	newton	newton	PROPN
fumecheng-5678	70	13	–	–	PUNCT
fumecheng-5678	70	14	euler	euler	NOUN
fumecheng-5678	70	15	method	method	NOUN
fumecheng-5678	70	16	was	be	AUX
fumecheng-5678	70	17	presented	present	VERB
fumecheng-5678	70	18	in	in	ADP
fumecheng-5678	70	19	[	[	X
fumecheng-5678	70	20	7	7	NUM
fumecheng-5678	70	21	]	]	PUNCT
fumecheng-5678	70	22	.	.	PUNCT
fumecheng-5678	71	1	the	the	DET
fumecheng-5678	71	2	effective	effective	ADJ
fumecheng-5678	71	3	inertia	inertia	NOUN
fumecheng-5678	71	4	for	for	ADP
fumecheng-5678	71	5	the	the	DET
fumecheng-5678	71	6	motor	motor	NOUN
fumecheng-5678	71	7	’s	’s	PART
fumecheng-5678	71	8	mechanical	mechanical	ADJ
fumecheng-5678	71	9	subsystem	subsystem	NOUN
fumecheng-5678	71	10	in	in	ADP
fumecheng-5678	71	11	joint	joint	ADJ
fumecheng-5678	71	12	k	k	PROPN
fumecheng-5678	71	13	,	,	PUNCT
fumecheng-5678	71	14	eq	eq	NOUN
fumecheng-5678	71	15	.	.	PUNCT
fumecheng-5678	72	1	(	(	PUNCT
fumecheng-5678	72	2	1	1	X
fumecheng-5678	72	3	)	)	PUNCT
fumecheng-5678	72	4	can	can	AUX
fumecheng-5678	72	5	be	be	AUX
fumecheng-5678	72	6	calculated	calculate	VERB
fumecheng-5678	72	7	for	for	ADP
fumecheng-5678	72	8	every	every	DET
fumecheng-5678	72	9	interpolation	interpolation	NOUN
fumecheng-5678	72	10	period	period	NOUN
fumecheng-5678	72	11	in	in	ADP
fumecheng-5678	72	12	the	the	DET
fumecheng-5678	72	13	form	form	NOUN
fumecheng-5678	72	14	of	of	ADP
fumecheng-5678	72	15	eq	eq	PROPN
fumecheng-5678	72	16	.	.	PUNCT
fumecheng-5678	73	1	(	(	PUNCT
fumecheng-5678	73	2	3	3	NUM
fumecheng-5678	73	3	)	)	PUNCT
fumecheng-5678	73	4	,	,	PUNCT
fumecheng-5678	74	1	[	[	X
fumecheng-5678	74	2	13	13	NUM
fumecheng-5678	74	3	]	]	SYM
fumecheng-5678	74	4	:	:	PUNCT
fumecheng-5678	74	5	2	2	NUM
fumecheng-5678	74	6	eff	eff	PROPN
fumecheng-5678	74	7	m	m	PROPN
fumecheng-5678	74	8	(	(	PUNCT
fumecheng-5678	74	9	)	)	PUNCT
fumecheng-5678	74	10	(	(	PUNCT
fumecheng-5678	74	11	(	(	PUNCT
fumecheng-5678	74	12	)	)	PUNCT
fumecheng-5678	74	13	/	/	SYM
fumecheng-5678	74	14	)	)	PUNCT
fumecheng-5678	74	15	.k	.k	PUNCT
fumecheng-5678	75	1	k	k	PROPN
fumecheng-5678	76	1	kk	kk	INTJ
fumecheng-5678	76	2	ki	ki	INTJ
fumecheng-5678	77	1	i	i	PRON
fumecheng-5678	77	2	d	d	PROPN
fumecheng-5678	77	3	r	r	VERB
fumecheng-5678	77	4	q	q	ADJ
fumecheng-5678	77	5	q	q	X
fumecheng-5678	77	6	(	(	PUNCT
fumecheng-5678	77	7	3	3	NUM
fumecheng-5678	77	8	)	)	PUNCT
fumecheng-5678	77	9	where	where	SCONJ
fumecheng-5678	77	10	imk	imk	PROPN
fumecheng-5678	77	11	is	be	AUX
fumecheng-5678	77	12	the	the	DET
fumecheng-5678	77	13	inertia	inertia	NOUN
fumecheng-5678	77	14	of	of	ADP
fumecheng-5678	77	15	motor	motor	NOUN
fumecheng-5678	77	16	and	and	CCONJ
fumecheng-5678	77	17	gearbox	gearbox	NOUN
fumecheng-5678	77	18	,	,	PUNCT
fumecheng-5678	77	19	and	and	CCONJ
fumecheng-5678	77	20	dkk(q	dkk(q	NOUN
fumecheng-5678	77	21	)	)	PUNCT
fumecheng-5678	77	22	is	be	AUX
fumecheng-5678	77	23	calculated	calculate	VERB
fumecheng-5678	77	24	from	from	ADP
fumecheng-5678	77	25	the	the	DET
fumecheng-5678	77	26	i	i	PROPN
fumecheng-5678	77	27	d	d	PROPN
fumecheng-5678	77	28	model	model	NOUN
fumecheng-5678	77	29	,	,	PUNCT
fumecheng-5678	77	30	eq	eq	NOUN
fumecheng-5678	77	31	.	.	PUNCT
fumecheng-5678	78	1	(	(	PUNCT
fumecheng-5678	78	2	2	2	NUM
fumecheng-5678	78	3	)	)	PUNCT
fumecheng-5678	78	4	.	.	PUNCT
fumecheng-5678	79	1	in	in	ADP
fumecheng-5678	79	2	this	this	DET
fumecheng-5678	79	3	study	study	NOUN
fumecheng-5678	79	4	,	,	PUNCT
fumecheng-5678	79	5	the	the	DET
fumecheng-5678	79	6	model	model	NOUN
fumecheng-5678	79	7	parameters	parameter	NOUN
fumecheng-5678	79	8	for	for	ADP
fumecheng-5678	79	9	motors	motor	NOUN
fumecheng-5678	79	10	’	'	PUNCT
fumecheng-5678	79	11	mechanical	mechanical	ADJ
fumecheng-5678	79	12	subsystems	subsystem	NOUN
fumecheng-5678	79	13	are	be	AUX
fumecheng-5678	79	14	chosen	choose	VERB
fumecheng-5678	79	15	based	base	VERB
fumecheng-5678	79	16	on	on	ADP
fumecheng-5678	79	17	motors	motor	NOUN
fumecheng-5678	79	18	selected	select	VERB
fumecheng-5678	79	19	in	in	ADP
fumecheng-5678	79	20	[	[	X
fumecheng-5678	79	21	7	7	NUM
fumecheng-5678	79	22	]	]	PUNCT
fumecheng-5678	79	23	.	.	PUNCT
fumecheng-5678	80	1	it	it	PRON
fumecheng-5678	80	2	should	should	AUX
fumecheng-5678	80	3	be	be	AUX
fumecheng-5678	80	4	noted	note	VERB
fumecheng-5678	80	5	that	that	SCONJ
fumecheng-5678	80	6	the	the	DET
fumecheng-5678	80	7	algorithm	algorithm	NOUN
fumecheng-5678	80	8	that	that	PRON
fumecheng-5678	80	9	calculates	calculate	VERB
fumecheng-5678	80	10	the	the	DET
fumecheng-5678	80	11	achievable	achievable	ADJ
fumecheng-5678	80	12	joint	joint	ADJ
fumecheng-5678	80	13	trajectories	trajectory	NOUN
fumecheng-5678	80	14	based	base	VERB
fumecheng-5678	80	15	on	on	ADP
fumecheng-5678	80	16	maximum	maximum	ADJ
fumecheng-5678	80	17	torques	torque	NOUN
fumecheng-5678	80	18	that	that	PRON
fumecheng-5678	80	19	motors	motor	NOUN
fumecheng-5678	80	20	can	can	AUX
fumecheng-5678	80	21	achieve	achieve	VERB
fumecheng-5678	80	22	presented	present	VERB
fumecheng-5678	80	23	in	in	ADP
fumecheng-5678	80	24	[	[	X
fumecheng-5678	80	25	7	7	NUM
fumecheng-5678	80	26	]	]	PUNCT
fumecheng-5678	80	27	is	be	AUX
fumecheng-5678	80	28	implemented	implement	VERB
fumecheng-5678	80	29	into	into	ADP
fumecheng-5678	80	30	the	the	DET
fumecheng-5678	80	31	trajectory	trajectory	NOUN
fumecheng-5678	80	32	planner	planner	NOUN
fumecheng-5678	80	33	.	.	PUNCT
fumecheng-5678	81	1	3.2	3.2	NUM
fumecheng-5678	81	2	.	.	X
fumecheng-5678	82	1	decoupling	decouple	VERB
fumecheng-5678	82	2	of	of	ADP
fumecheng-5678	82	3	robot	robot	NOUN
fumecheng-5678	82	4	dynamics	dynamic	NOUN
fumecheng-5678	82	5	and	and	CCONJ
fumecheng-5678	82	6	its	its	PRON
fumecheng-5678	82	7	implementation	implementation	NOUN
fumecheng-5678	82	8	in	in	ADP
fumecheng-5678	82	9	the	the	DET
fumecheng-5678	82	10	simulation	simulation	NOUN
fumecheng-5678	82	11	models	model	NOUN
fumecheng-5678	82	12	with	with	ADP
fumecheng-5678	82	13	the	the	DET
fumecheng-5678	82	14	decoupling	decoupling	NOUN
fumecheng-5678	82	15	of	of	ADP
fumecheng-5678	82	16	a	a	DET
fumecheng-5678	82	17	robot	robot	NOUN
fumecheng-5678	82	18	dynamics	dynamic	NOUN
fumecheng-5678	82	19	,	,	PUNCT
fumecheng-5678	82	20	a	a	DET
fumecheng-5678	82	21	single	single	ADJ
fumecheng-5678	82	22	joint	joint	ADJ
fumecheng-5678	82	23	control	control	NOUN
fumecheng-5678	82	24	that	that	PRON
fumecheng-5678	82	25	takes	take	VERB
fumecheng-5678	82	26	into	into	ADP
fumecheng-5678	82	27	account	account	NOUN
fumecheng-5678	82	28	a	a	DET
fumecheng-5678	82	29	dynamic	dynamic	ADJ
fumecheng-5678	82	30	model	model	NOUN
fumecheng-5678	82	31	through	through	ADP
fumecheng-5678	82	32	the	the	DET
fumecheng-5678	82	33	deterministic	deterministic	ADJ
fumecheng-5678	82	34	part	part	NOUN
fumecheng-5678	82	35	of	of	ADP
fumecheng-5678	82	36	the	the	DET
fumecheng-5678	82	37	motor	motor	NOUN
fumecheng-5678	82	38	load	load	NOUN
fumecheng-5678	82	39	torque	torque	PROPN
fumecheng-5678	82	40	τlk	τlk	PROPN
fumecheng-5678	82	41	,	,	PUNCT
fumecheng-5678	82	42	eq	eq	NOUN
fumecheng-5678	82	43	.	.	PUNCT
fumecheng-5678	83	1	(	(	PUNCT
fumecheng-5678	83	2	1	1	NUM
fumecheng-5678	83	3	)	)	PUNCT
fumecheng-5678	83	4	,	,	PUNCT
fumecheng-5678	83	5	denoted	denote	VERB
fumecheng-5678	83	6	herein	herein	NOUN
fumecheng-5678	83	7	as	as	ADP
fumecheng-5678	83	8	τldk	τldk	NUM
fumecheng-5678	83	9	,	,	PUNCT
fumecheng-5678	83	10	can	can	AUX
fumecheng-5678	83	11	be	be	AUX
fumecheng-5678	83	12	considered	consider	VERB
fumecheng-5678	83	13	.	.	PUNCT
fumecheng-5678	84	1	herein	herein	NOUN
fumecheng-5678	84	2	,	,	PUNCT
fumecheng-5678	84	3	the	the	DET
fumecheng-5678	84	4	method	method	NOUN
fumecheng-5678	84	5	for	for	ADP
fumecheng-5678	84	6	decoupling	decoupling	NOUN
fumecheng-5678	84	7	of	of	ADP
fumecheng-5678	84	8	robot	robot	NOUN
fumecheng-5678	84	9	dynamics	dynamic	NOUN
fumecheng-5678	84	10	given	give	VERB
fumecheng-5678	84	11	in	in	ADP
fumecheng-5678	84	12	[	[	NOUN
fumecheng-5678	84	13	13	13	NUM
fumecheng-5678	84	14	]	]	PUNCT
fumecheng-5678	84	15	is	be	AUX
fumecheng-5678	84	16	extended	extend	VERB
fumecheng-5678	84	17	to	to	PART
fumecheng-5678	84	18	include	include	VERB
fumecheng-5678	84	19	the	the	DET
fumecheng-5678	84	20	case	case	NOUN
fumecheng-5678	84	21	when	when	SCONJ
fumecheng-5678	84	22	the	the	DET
fumecheng-5678	84	23	motion	motion	NOUN
fumecheng-5678	84	24	of	of	ADP
fumecheng-5678	84	25	other	other	ADJ
fumecheng-5678	84	26	links	link	NOUN
fumecheng-5678	84	27	(	(	PUNCT
fumecheng-5678	84	28	actuated	actuate	VERB
fumecheng-5678	84	29	by	by	ADP
fumecheng-5678	84	30	their	their	PRON
fumecheng-5678	84	31	motors	motor	NOUN
fumecheng-5678	84	32	)	)	PUNCT
fumecheng-5678	84	33	alleviates	alleviate	VERB
fumecheng-5678	84	34	the	the	DET
fumecheng-5678	84	35	load	load	NOUN
fumecheng-5678	84	36	of	of	ADP
fumecheng-5678	84	37	the	the	DET
fumecheng-5678	84	38	motor	motor	NOUN
fumecheng-5678	84	39	in	in	ADP
fumecheng-5678	84	40	the	the	DET
fumecheng-5678	84	41	observed	observed	ADJ
fumecheng-5678	84	42	joint	joint	NOUN
fumecheng-5678	84	43	.	.	PUNCT
fumecheng-5678	85	1	within	within	ADP
fumecheng-5678	85	2	this	this	DET
fumecheng-5678	85	3	method	method	NOUN
fumecheng-5678	85	4	,	,	PUNCT
fumecheng-5678	85	5	load	load	NOUN
fumecheng-5678	85	6	torque	torque	NOUN
fumecheng-5678	85	7	τldk	τldk	NOUN
fumecheng-5678	85	8	is	be	AUX
fumecheng-5678	85	9	calculated	calculate	VERB
fumecheng-5678	85	10	for	for	ADP
fumecheng-5678	85	11	every	every	DET
fumecheng-5678	85	12	interpolation	interpolation	NOUN
fumecheng-5678	85	13	period	period	NOUN
fumecheng-5678	85	14	from	from	ADP
fumecheng-5678	85	15	the	the	DET
fumecheng-5678	85	16	i	i	PROPN
fumecheng-5678	85	17	d	d	PROPN
fumecheng-5678	85	18	model	model	NOUN
fumecheng-5678	85	19	,	,	PUNCT
fumecheng-5678	85	20	eq	eq	NOUN
fumecheng-5678	85	21	.	.	PUNCT
fumecheng-5678	86	1	(	(	PUNCT
fumecheng-5678	86	2	2	2	NUM
fumecheng-5678	86	3	)	)	PUNCT
fumecheng-5678	86	4	,	,	PUNCT
fumecheng-5678	86	5	rewritten	rewrite	VERB
fumecheng-5678	86	6	in	in	ADP
fumecheng-5678	86	7	the	the	DET
fumecheng-5678	86	8	following	follow	VERB
fumecheng-5678	86	9	form	form	NOUN
fumecheng-5678	86	10	:	:	PUNCT
fumecheng-5678	86	11	coupled	couple	VERB
fumecheng-5678	86	12	coupled	couple	VERB
fumecheng-5678	86	13	1	1	NUM
fumecheng-5678	86	14	,	,	PUNCT
fumecheng-5678	86	15	1	1	NUM
fumecheng-5678	86	16	1	1	NUM
fumecheng-5678	86	17	(	(	PUNCT
fumecheng-5678	86	18	)	)	PUNCT
fumecheng-5678	86	19	,	,	PUNCT
fumecheng-5678	86	20	(	(	PUNCT
fumecheng-5678	86	21	)	)	PUNCT
fumecheng-5678	86	22	(	(	PUNCT
fumecheng-5678	86	23	)	)	PUNCT
fumecheng-5678	86	24	(	(	PUNCT
fumecheng-5678	86	25	)	)	PUNCT
fumecheng-5678	86	26	.	.	PUNCT
fumecheng-5678	87	1	kk	kk	PROPN
fumecheng-5678	87	2	k	k	PROPN
fumecheng-5678	87	3	k	k	PROPN
fumecheng-5678	87	4	k	k	PROPN
fumecheng-5678	87	5	n	n	CCONJ
fumecheng-5678	87	6	n	n	CCONJ
fumecheng-5678	87	7	n	n	ADV
fumecheng-5678	87	8	k	k	PROPN
fumecheng-5678	87	9	kj	kj	PROPN
fumecheng-5678	87	10	j	j	PROPN
fumecheng-5678	87	11	kji	kji	INTJ
fumecheng-5678	88	1	j	j	PROPN
fumecheng-5678	89	1	i	i	PRON
fumecheng-5678	89	2	k	k	PROPN
fumecheng-5678	90	1	j	j	PROPN
fumecheng-5678	90	2	j	j	PROPN
fumecheng-5678	91	1	k	k	PROPN
fumecheng-5678	91	2	j	j	PROPN
fumecheng-5678	92	1	i	i	PRON
fumecheng-5678	93	1	d	d	X
fumecheng-5678	93	2	q	q	PROPN
fumecheng-5678	94	1	d	d	X
fumecheng-5678	94	2	q	q	NOUN
fumecheng-5678	94	3	h	h	NOUN
fumecheng-5678	94	4	q	q	NOUN
fumecheng-5678	94	5	q	q	NOUN
fumecheng-5678	94	6	g	g	NOUN
fumecheng-5678	94	7			NOUN
fumecheng-5678	94	8			NOUN
fumecheng-5678	94	9			NOUN
fumecheng-5678	94	10			NUM
fumecheng-5678	94	11			NOUN
fumecheng-5678	95	1			NUM
fumecheng-5678	95	2			PROPN
fumecheng-5678	95	3			ADV
fumecheng-5678	95	4			PROPN
fumecheng-5678	95	5			PROPN
fumecheng-5678	95	6			ADJ
fumecheng-5678	95	7			NOUN
fumecheng-5678	95	8			PRON
fumecheng-5678	95	9	q	q	X
fumecheng-5678	95	10	q	q	X
fumecheng-5678	95	11	q	q	X
fumecheng-5678	95	12	q	q	X
fumecheng-5678	95	13	(	(	PUNCT
fumecheng-5678	95	14	4	4	NUM
fumecheng-5678	95	15	)	)	PUNCT
fumecheng-5678	95	16	torque	torque	NOUN
fumecheng-5678	95	17	τcoupledk	τcoupledk	NOUN
fumecheng-5678	95	18	=	=	NOUN
fumecheng-5678	95	19	τcoupledk	τcoupledk	NOUN
fumecheng-5678	95	20	(	(	PUNCT
fumecheng-5678	95	21	t	t	NOUN
fumecheng-5678	95	22	)	)	PUNCT
fumecheng-5678	95	23	in	in	ADP
fumecheng-5678	95	24	eq	eq	ADP
fumecheng-5678	95	25	.	.	PUNCT
fumecheng-5678	96	1	(	(	PUNCT
fumecheng-5678	96	2	4	4	X
fumecheng-5678	96	3	)	)	PUNCT
fumecheng-5678	96	4	consists	consist	VERB
fumecheng-5678	96	5	of	of	ADP
fumecheng-5678	96	6	load	load	NOUN
fumecheng-5678	96	7	torque	torque	NOUN
fumecheng-5678	96	8	τldk=	τldk=	NUM
fumecheng-5678	96	9	τldk	τldk	X
fumecheng-5678	96	10	(	(	PUNCT
fumecheng-5678	96	11	t	t	NOUN
fumecheng-5678	96	12	)	)	PUNCT
fumecheng-5678	96	13	,	,	PUNCT
fumecheng-5678	96	14	and	and	CCONJ
fumecheng-5678	96	15	torque	torque	NOUN
fumecheng-5678	96	16	τalleviatek	τalleviatek	NOUN
fumecheng-5678	96	17	=	=	X
fumecheng-5678	96	18	τalleviatek	τalleviatek	NOUN
fumecheng-5678	96	19	(	(	PUNCT
fumecheng-5678	96	20	t	t	NOUN
fumecheng-5678	96	21	)	)	PUNCT
fumecheng-5678	96	22	produced	produce	VERB
fumecheng-5678	96	23	by	by	ADP
fumecheng-5678	96	24	the	the	DET
fumecheng-5678	96	25	motion	motion	NOUN
fumecheng-5678	96	26	of	of	ADP
fumecheng-5678	96	27	other	other	ADJ
fumecheng-5678	96	28	links	link	NOUN
fumecheng-5678	96	29	actuated	actuate	VERB
fumecheng-5678	96	30	by	by	ADP
fumecheng-5678	96	31	other	other	ADJ
fumecheng-5678	96	32	motors	motor	NOUN
fumecheng-5678	96	33	,	,	PUNCT
fumecheng-5678	96	34	which	which	PRON
fumecheng-5678	96	35	contributes	contribute	VERB
fumecheng-5678	96	36	to	to	ADP
fumecheng-5678	96	37	the	the	DET
fumecheng-5678	96	38	motion	motion	NOUN
fumecheng-5678	96	39	of	of	ADP
fumecheng-5678	96	40	link	link	NOUN
fumecheng-5678	96	41	k	k	PROPN
fumecheng-5678	96	42	(	(	PUNCT
fumecheng-5678	96	43	it	it	PRON
fumecheng-5678	96	44	acts	act	VERB
fumecheng-5678	96	45	in	in	ADP
fumecheng-5678	96	46	the	the	DET
fumecheng-5678	96	47	direction	direction	NOUN
fumecheng-5678	96	48	of	of	ADP
fumecheng-5678	96	49	desired	desire	VERB
fumecheng-5678	96	50	angular	angular	ADJ
fumecheng-5678	96	51	acceleration	acceleration	NOUN
fumecheng-5678	96	52	k	k	PROPN
fumecheng-5678	96	53	)	)	PUNCT
fumecheng-5678	96	54	and	and	CCONJ
fumecheng-5678	96	55	reduces	reduce	VERB
fumecheng-5678	96	56	the	the	DET
fumecheng-5678	96	57	driving	drive	VERB
fumecheng-5678	96	58	torque	torque	NOUN
fumecheng-5678	96	59	that	that	SCONJ
fumecheng-5678	96	60	the	the	DET
fumecheng-5678	96	61	motor	motor	NOUN
fumecheng-5678	96	62	in	in	ADP
fumecheng-5678	96	63	joint	joint	ADJ
fumecheng-5678	96	64	k	k	PROPN
fumecheng-5678	96	65	has	have	VERB
fumecheng-5678	96	66	to	to	PART
fumecheng-5678	96	67	generate	generate	VERB
fumecheng-5678	96	68	to	to	ADP
fumecheng-5678	96	69	274	274	NUM
fumecheng-5678	96	70	j.	j.	PROPN
fumecheng-5678	96	71	vidaković	vidaković	PROPN
fumecheng-5678	96	72	,	,	PUNCT
fumecheng-5678	96	73	v.	v.	ADP
fumecheng-5678	96	74	kvrgić	kvrgić	NOUN
fumecheng-5678	96	75	,	,	PUNCT
fumecheng-5678	96	76	m.	m.	NOUN
fumecheng-5678	96	77	lazarević	lazarević	PROPN
fumecheng-5678	96	78	,	,	PUNCT
fumecheng-5678	96	79	p.	p.	NOUN
fumecheng-5678	96	80	stepanić	stepanić	NOUN
fumecheng-5678	96	81	achieve	achieve	VERB
fumecheng-5678	96	82	the	the	DET
fumecheng-5678	96	83	desired	desire	VERB
fumecheng-5678	96	84	link	link	NOUN
fumecheng-5678	96	85	motion	motion	NOUN
fumecheng-5678	96	86	.	.	PUNCT
fumecheng-5678	97	1	τldk	τldk	PROPN
fumecheng-5678	97	2	and	and	CCONJ
fumecheng-5678	97	3	τalleviatek	τalleviatek	NOUN
fumecheng-5678	97	4	are	be	AUX
fumecheng-5678	97	5	calculated	calculate	VERB
fumecheng-5678	97	6	for	for	ADP
fumecheng-5678	97	7	every	every	DET
fumecheng-5678	97	8	interpolation	interpolation	NOUN
fumecheng-5678	97	9	period	period	NOUN
fumecheng-5678	97	10	from	from	ADP
fumecheng-5678	97	11	the	the	DET
fumecheng-5678	97	12	i	i	PROPN
fumecheng-5678	97	13	d	d	PROPN
fumecheng-5678	97	14	model	model	NOUN
fumecheng-5678	97	15	,	,	PUNCT
fumecheng-5678	97	16	eq	eq	NOUN
fumecheng-5678	97	17	.	.	PROPN
fumecheng-5678	97	18	4	4	NUM
fumecheng-5678	97	19	,	,	PUNCT
fumecheng-5678	97	20	as	as	SCONJ
fumecheng-5678	97	21	given	give	VERB
fumecheng-5678	97	22	in	in	ADP
fumecheng-5678	97	23	algorithm	algorithm	NOUN
fumecheng-5678	97	24	1	1	NUM
fumecheng-5678	97	25	:	:	PUNCT
fumecheng-5678	97	26	algorithm	algorithm	NOUN
fumecheng-5678	97	27	1	1	NUM
fumecheng-5678	97	28	:	:	PUNCT
fumecheng-5678	97	29	if	if	SCONJ
fumecheng-5678	97	30	sign	sign	NOUN
fumecheng-5678	97	31	(	(	PUNCT
fumecheng-5678	97	32	k)=sign(τcoupledk	k)=sign(τcoupledk	NOUN
fumecheng-5678	97	33	)	)	PUNCT
fumecheng-5678	97	34	,	,	PUNCT
fumecheng-5678	97	35	then	then	ADV
fumecheng-5678	97	36	τldk	τldk	PROPN
fumecheng-5678	97	37	=	=	SYM
fumecheng-5678	97	38	τcoupledk	τcoupledk	NOUN
fumecheng-5678	97	39	/	/	SYM
fumecheng-5678	97	40	rk	rk	NOUN
fumecheng-5678	97	41	,	,	PUNCT
fumecheng-5678	97	42	τalleviatek=0	τalleviatek=0	PROPN
fumecheng-5678	97	43	;	;	PUNCT
fumecheng-5678	97	44	else	else	ADV
fumecheng-5678	97	45	if	if	SCONJ
fumecheng-5678	97	46	abs(dkk(q)q	abs(dkk(q)q	VERB
fumecheng-5678	97	47	k	k	X
fumecheng-5678	97	48	)	)	PUNCT
fumecheng-5678	97	49	>	>	X
fumecheng-5678	97	50	abs(τcoupledk	abs(τcoupledk	NOUN
fumecheng-5678	97	51	)	)	PUNCT
fumecheng-5678	97	52	,	,	PUNCT
fumecheng-5678	97	53	then	then	ADV
fumecheng-5678	97	54	τldk=0	τldk=0	PROPN
fumecheng-5678	97	55	,	,	PUNCT
fumecheng-5678	97	56	τalleviatek=	τalleviatek=	PUNCT
fumecheng-5678	97	57	-τcoupledk	-τcoupledk	NOUN
fumecheng-5678	97	58	/	/	SYM
fumecheng-5678	97	59	rk	rk	NOUN
fumecheng-5678	97	60	;	;	PUNCT
fumecheng-5678	97	61	else	else	ADV
fumecheng-5678	97	62	τldk=	τldk=	NUM
fumecheng-5678	97	63	-τk	-τk	PROPN
fumecheng-5678	97	64	/	/	SYM
fumecheng-5678	97	65	rk	rk	NOUN
fumecheng-5678	97	66	,	,	PUNCT
fumecheng-5678	97	67	τalleviatek=	τalleviatek=	NUM
fumecheng-5678	97	68	(	(	PUNCT
fumecheng-5678	97	69	τk	τk	ADP
fumecheng-5678	97	70	-τcoupledk	-τcoupledk	NOUN
fumecheng-5678	97	71	)	)	PUNCT
fumecheng-5678	97	72	/	/	SYM
fumecheng-5678	98	1	rk	rk	NOUN
fumecheng-5678	98	2	;	;	PUNCT
fumecheng-5678	98	3	in	in	ADP
fumecheng-5678	98	4	algorithm	algorithm	NOUN
fumecheng-5678	98	5	1	1	NUM
fumecheng-5678	98	6	,	,	PUNCT
fumecheng-5678	98	7	abs	ab	NOUN
fumecheng-5678	98	8	stands	stand	VERB
fumecheng-5678	98	9	for	for	ADP
fumecheng-5678	98	10	absolute	absolute	ADJ
fumecheng-5678	98	11	value	value	NOUN
fumecheng-5678	98	12	.	.	PUNCT
fumecheng-5678	99	1	the	the	DET
fumecheng-5678	99	2	application	application	NOUN
fumecheng-5678	99	3	of	of	ADP
fumecheng-5678	99	4	the	the	DET
fumecheng-5678	99	5	proposed	propose	VERB
fumecheng-5678	99	6	algorithm	algorithm	NOUN
fumecheng-5678	99	7	in	in	ADP
fumecheng-5678	99	8	the	the	DET
fumecheng-5678	99	9	simulation	simulation	NOUN
fumecheng-5678	99	10	models	model	NOUN
fumecheng-5678	99	11	used	use	VERB
fumecheng-5678	99	12	in	in	ADP
fumecheng-5678	99	13	this	this	DET
fumecheng-5678	99	14	study	study	NOUN
fumecheng-5678	99	15	is	be	AUX
fumecheng-5678	99	16	given	give	VERB
fumecheng-5678	99	17	below	below	ADP
fumecheng-5678	99	18	in	in	ADP
fumecheng-5678	99	19	fig	fig	NOUN
fumecheng-5678	99	20	.	.	PUNCT
fumecheng-5678	100	1	3	3	X
fumecheng-5678	100	2	.	.	X
fumecheng-5678	100	3	fig	fig	NOUN
fumecheng-5678	100	4	.	.	PUNCT
fumecheng-5678	101	1	3	3	NUM
fumecheng-5678	101	2	decoupling	decoupling	NOUN
fumecheng-5678	101	3	of	of	ADP
fumecheng-5678	101	4	the	the	DET
fumecheng-5678	101	5	inverse	inverse	ADJ
fumecheng-5678	101	6	dynamic	dynamic	ADJ
fumecheng-5678	101	7	model	model	NOUN
fumecheng-5678	101	8	the	the	DET
fumecheng-5678	101	9	dynamic	dynamic	ADJ
fumecheng-5678	101	10	saturation	saturation	NOUN
fumecheng-5678	101	11	is	be	AUX
fumecheng-5678	101	12	implemented	implement	VERB
fumecheng-5678	101	13	in	in	ADP
fumecheng-5678	101	14	the	the	DET
fumecheng-5678	101	15	following	following	ADJ
fumecheng-5678	101	16	way	way	NOUN
fumecheng-5678	101	17	:	:	PUNCT
fumecheng-5678	101	18	if	if	SCONJ
fumecheng-5678	101	19	sign	sign	NOUN
fumecheng-5678	101	20	(	(	PUNCT
fumecheng-5678	101	21	k(t))>0	k(t))>0	X
fumecheng-5678	101	22	then	then	ADV
fumecheng-5678	101	23	the	the	DET
fumecheng-5678	101	24	upper	upper	ADJ
fumecheng-5678	101	25	motor	motor	NOUN
fumecheng-5678	101	26	saturation	saturation	NOUN
fumecheng-5678	101	27	limit	limit	NOUN
fumecheng-5678	101	28	is	be	AUX
fumecheng-5678	101	29	increased	increase	VERB
fumecheng-5678	101	30	by	by	ADP
fumecheng-5678	101	31	value	value	NOUN
fumecheng-5678	101	32	of	of	ADP
fumecheng-5678	101	33	τalleviatek(t	τalleviatek(t	NOUN
fumecheng-5678	101	34	)	)	PUNCT
fumecheng-5678	101	35	,	,	PUNCT
fumecheng-5678	101	36	and	and	CCONJ
fumecheng-5678	101	37	if	if	SCONJ
fumecheng-5678	101	38	sign	sign	NOUN
fumecheng-5678	101	39	(	(	PUNCT
fumecheng-5678	101	40	k(t))<0	k(t))<0	PROPN
fumecheng-5678	101	41	then	then	ADV
fumecheng-5678	101	42	τalleviatek(t	τalleviatek(t	NUM
fumecheng-5678	101	43	)	)	PUNCT
fumecheng-5678	101	44	is	be	AUX
fumecheng-5678	101	45	added	add	VERB
fumecheng-5678	101	46	to	to	ADP
fumecheng-5678	101	47	the	the	DET
fumecheng-5678	101	48	lower	low	ADJ
fumecheng-5678	101	49	motor	motor	NOUN
fumecheng-5678	101	50	saturation	saturation	NOUN
fumecheng-5678	101	51	limit	limit	NOUN
fumecheng-5678	101	52	(	(	PUNCT
fumecheng-5678	101	53	τalleviatek(t	τalleviatek(t	NOUN
fumecheng-5678	101	54	)	)	PUNCT
fumecheng-5678	101	55	and	and	CCONJ
fumecheng-5678	101	56	k	k	PROPN
fumecheng-5678	101	57	are	be	AUX
fumecheng-5678	101	58	always	always	ADV
fumecheng-5678	101	59	the	the	DET
fumecheng-5678	101	60	same	same	ADJ
fumecheng-5678	101	61	in	in	ADP
fumecheng-5678	101	62	sign	sign	NOUN
fumecheng-5678	101	63	)	)	PUNCT
fumecheng-5678	101	64	.	.	PUNCT
fumecheng-5678	102	1	in	in	ADP
fumecheng-5678	102	2	this	this	DET
fumecheng-5678	102	3	way	way	NOUN
fumecheng-5678	102	4	,	,	PUNCT
fumecheng-5678	102	5	the	the	DET
fumecheng-5678	102	6	motor	motor	NOUN
fumecheng-5678	102	7	saturation	saturation	NOUN
fumecheng-5678	102	8	in	in	ADP
fumecheng-5678	102	9	the	the	DET
fumecheng-5678	102	10	simulation	simulation	NOUN
fumecheng-5678	102	11	model	model	NOUN
fumecheng-5678	102	12	does	do	AUX
fumecheng-5678	102	13	not	not	PART
fumecheng-5678	102	14	influence	influence	VERB
fumecheng-5678	102	15	τalleviatek	τalleviatek	NOUN
fumecheng-5678	102	16	,	,	PUNCT
fumecheng-5678	102	17	nor	nor	CCONJ
fumecheng-5678	102	18	does	do	VERB
fumecheng-5678	102	19	it	it	PRON
fumecheng-5678	102	20	with	with	ADP
fumecheng-5678	102	21	the	the	DET
fumecheng-5678	102	22	real	real	ADJ
fumecheng-5678	102	23	device	device	NOUN
fumecheng-5678	102	24	.	.	PUNCT
fumecheng-5678	103	1	3.3	3.3	NUM
fumecheng-5678	103	2	.	.	PUNCT
fumecheng-5678	104	1	design	design	NOUN
fumecheng-5678	104	2	of	of	ADP
fumecheng-5678	104	3	the	the	DET
fumecheng-5678	104	4	pi	pi	NOUN
fumecheng-5678	104	5	speed	speed	NOUN
fumecheng-5678	104	6	controller	controller	NOUN
fumecheng-5678	104	7	for	for	ADP
fumecheng-5678	104	8	simulation	simulation	NOUN
fumecheng-5678	104	9	models	model	NOUN
fumecheng-5678	104	10	pi	pi	PROPN
fumecheng-5678	104	11	controller	controller	NOUN
fumecheng-5678	104	12	is	be	AUX
fumecheng-5678	104	13	the	the	DET
fumecheng-5678	104	14	most	most	ADV
fumecheng-5678	104	15	commonly	commonly	ADV
fumecheng-5678	104	16	used	use	VERB
fumecheng-5678	104	17	control	control	NOUN
fumecheng-5678	104	18	algorithm	algorithm	NOUN
fumecheng-5678	104	19	in	in	ADP
fumecheng-5678	104	20	the	the	DET
fumecheng-5678	104	21	process	process	NOUN
fumecheng-5678	104	22	control	control	NOUN
fumecheng-5678	104	23	industry	industry	NOUN
fumecheng-5678	104	24	[	[	X
fumecheng-5678	104	25	18	18	NUM
fumecheng-5678	104	26	]	]	PUNCT
fumecheng-5678	104	27	.	.	PUNCT
fumecheng-5678	105	1	herein	herein	PROPN
fumecheng-5678	105	2	,	,	PUNCT
fumecheng-5678	105	3	pi	pi	NOUN
fumecheng-5678	105	4	controller	controller	NOUN
fumecheng-5678	105	5	is	be	AUX
fumecheng-5678	105	6	selected	select	VERB
fumecheng-5678	105	7	to	to	PART
fumecheng-5678	105	8	obtain	obtain	VERB
fumecheng-5678	105	9	a	a	DET
fumecheng-5678	105	10	second	second	ADJ
fumecheng-5678	105	11	-	-	PUNCT
fumecheng-5678	105	12	order	order	NOUN
fumecheng-5678	105	13	closed	close	VERB
fumecheng-5678	105	14	-	-	PUNCT
fumecheng-5678	105	15	loop	loop	NOUN
fumecheng-5678	105	16	system	system	NOUN
fumecheng-5678	105	17	with	with	ADP
fumecheng-5678	105	18	a	a	DET
fumecheng-5678	105	19	characteristic	characteristic	ADJ
fumecheng-5678	105	20	polynomial	polynomial	NOUN
fumecheng-5678	105	21	in	in	ADP
fumecheng-5678	105	22	a	a	DET
fumecheng-5678	105	23	form	form	NOUN
fumecheng-5678	105	24	s2	s2	NOUN
fumecheng-5678	105	25	+	+	NOUN
fumecheng-5678	105	26	2ζkωnks+ωnk	2ζkωnks+ωnk	NUM
fumecheng-5678	105	27	2	2	NUM
fumecheng-5678	105	28	,	,	PUNCT
fumecheng-5678	105	29	(	(	PUNCT
fumecheng-5678	105	30	ζk	ζk	PROPN
fumecheng-5678	105	31	is	be	AUX
fumecheng-5678	105	32	damping	damp	VERB
fumecheng-5678	105	33	factor	factor	NOUN
fumecheng-5678	105	34	)	)	PUNCT
fumecheng-5678	105	35	,	,	PUNCT
fumecheng-5678	105	36	for	for	ADP
fumecheng-5678	105	37	comparison	comparison	NOUN
fumecheng-5678	105	38	of	of	ADP
fumecheng-5678	105	39	the	the	DET
fumecheng-5678	105	40	natural	natural	ADJ
fumecheng-5678	105	41	frequency	frequency	NOUN
fumecheng-5678	105	42	of	of	ADP
fumecheng-5678	105	43	closed	closed	ADJ
fumecheng-5678	105	44	-	-	PUNCT
fumecheng-5678	105	45	loop	loop	NOUN
fumecheng-5678	105	46	system	system	NOUN
fumecheng-5678	105	47	ωnk	ωnk	NOUN
fumecheng-5678	105	48	with	with	ADP
fumecheng-5678	105	49	lowest	low	ADJ
fumecheng-5678	105	50	natural	natural	ADJ
fumecheng-5678	105	51	frequency	frequency	NOUN
fumecheng-5678	105	52	ωr	ωr	NOUN
fumecheng-5678	105	53	of	of	ADP
fumecheng-5678	105	54	the	the	DET
fumecheng-5678	105	55	mechanical	mechanical	ADJ
fumecheng-5678	105	56	structure	structure	NOUN
fumecheng-5678	105	57	.	.	PUNCT
fumecheng-5678	106	1	the	the	DET
fumecheng-5678	106	2	characteristic	characteristic	ADJ
fumecheng-5678	106	3	polynomial	polynomial	NOUN
fumecheng-5678	106	4	of	of	ADP
fumecheng-5678	106	5	the	the	DET
fumecheng-5678	106	6	closed	closed	ADJ
fumecheng-5678	106	7	-	-	PUNCT
fumecheng-5678	106	8	loop	loop	NOUN
fumecheng-5678	106	9	system	system	NOUN
fumecheng-5678	106	10	is	be	AUX
fumecheng-5678	106	11	equal	equal	ADJ
fumecheng-5678	106	12	to	to	ADP
fumecheng-5678	106	13	the	the	DET
fumecheng-5678	106	14	denominator	denominator	NOUN
fumecheng-5678	106	15	den(s	den(s	PROPN
fumecheng-5678	106	16	)	)	PUNCT
fumecheng-5678	106	17	of	of	ADP
fumecheng-5678	106	18	the	the	DET
fumecheng-5678	106	19	closed	closed	ADJ
fumecheng-5678	106	20	-	-	PUNCT
fumecheng-5678	106	21	loop	loop	NOUN
fumecheng-5678	106	22	transfer	transfer	NOUN
fumecheng-5678	106	23	function	function	NOUN
fumecheng-5678	106	24	and	and	CCONJ
fumecheng-5678	106	25	for	for	ADP
fumecheng-5678	106	26	the	the	DET
fumecheng-5678	106	27	pi	pi	NOUN
fumecheng-5678	106	28	speed	speed	NOUN
fumecheng-5678	106	29	controller	controller	NOUN
fumecheng-5678	106	30	,	,	PUNCT
fumecheng-5678	106	31	it	it	PRON
fumecheng-5678	106	32	is	be	AUX
fumecheng-5678	106	33	given	give	VERB
fumecheng-5678	106	34	in	in	ADP
fumecheng-5678	106	35	eq	eq	ADP
fumecheng-5678	106	36	.	.	PUNCT
fumecheng-5678	107	1	(	(	PUNCT
fumecheng-5678	107	2	5	5	NUM
fumecheng-5678	107	3	):	):	PUNCT
fumecheng-5678	107	4	2	2	NUM
fumecheng-5678	107	5	ps	ps	NOUN
fumecheng-5678	107	6	eff	eff	PROPN
fumecheng-5678	107	7	is	be	AUX
fumecheng-5678	107	8	effden(s	effden(s	PROPN
fumecheng-5678	107	9	)	)	PUNCT
fumecheng-5678	108	1	k	k	PROPN
fumecheng-5678	108	2	/	/	SYM
fumecheng-5678	108	3	k	k	PROPN
fumecheng-5678	108	4	/	/	PUNCT
fumecheng-5678	108	5	,	,	PUNCT
fumecheng-5678	109	1	k	k	PROPN
fumecheng-5678	109	2	k	k	PROPN
fumecheng-5678	109	3	k	k	PROPN
fumecheng-5678	110	1	ks	ks	PROPN
fumecheng-5678	110	2	s	s	PROPN
fumecheng-5678	110	3	i	i	PRON
fumecheng-5678	110	4	i	i	PROPN
fumecheng-5678	110	5			PROPN
fumecheng-5678	110	6			X
fumecheng-5678	110	7	(	(	PUNCT
fumecheng-5678	110	8	5	5	NUM
fumecheng-5678	110	9	)	)	PUNCT
fumecheng-5678	110	10	where	where	SCONJ
fumecheng-5678	110	11	kpsk	kpsk	NOUN
fumecheng-5678	110	12	and	and	CCONJ
fumecheng-5678	110	13	kisk	kisk	NOUN
fumecheng-5678	110	14	are	be	AUX
fumecheng-5678	110	15	proportional	proportional	ADJ
fumecheng-5678	110	16	and	and	CCONJ
fumecheng-5678	110	17	integral	integral	ADJ
fumecheng-5678	110	18	gains	gain	NOUN
fumecheng-5678	110	19	,	,	PUNCT
fumecheng-5678	110	20	respectively	respectively	ADV
fumecheng-5678	110	21	.	.	PUNCT
fumecheng-5678	111	1	for	for	ADP
fumecheng-5678	111	2	joint	joint	ADJ
fumecheng-5678	111	3	k	k	PROPN
fumecheng-5678	111	4	,	,	PUNCT
fumecheng-5678	111	5	k=1	k=1	X
fumecheng-5678	111	6	,	,	PUNCT
fumecheng-5678	111	7	2	2	NUM
fumecheng-5678	111	8	..	..	SYM
fumecheng-5678	111	9	4	4	NUM
fumecheng-5678	111	10	,	,	PUNCT
fumecheng-5678	111	11	the	the	DET
fumecheng-5678	111	12	load	load	NOUN
fumecheng-5678	111	13	torque	torque	NOUN
fumecheng-5678	111	14	due	due	ADP
fumecheng-5678	111	15	to	to	ADP
fumecheng-5678	111	16	the	the	DET
fumecheng-5678	111	17	motion	motion	NOUN
fumecheng-5678	111	18	of	of	ADP
fumecheng-5678	111	19	the	the	DET
fumecheng-5678	111	20	chain	chain	NOUN
fumecheng-5678	111	21	of	of	ADP
fumecheng-5678	111	22	other	other	ADJ
fumecheng-5678	111	23	interconnected	interconnected	ADJ
fumecheng-5678	111	24	links	link	NOUN
fumecheng-5678	111	25	,	,	PUNCT
fumecheng-5678	111	26	τldk	τldk	NUM
fumecheng-5678	111	27	,	,	PUNCT
fumecheng-5678	111	28	is	be	AUX
fumecheng-5678	111	29	treated	treat	VERB
fumecheng-5678	111	30	as	as	ADP
fumecheng-5678	111	31	a	a	DET
fumecheng-5678	111	32	disturbance	disturbance	NOUN
fumecheng-5678	111	33	.	.	PUNCT
fumecheng-5678	112	1	as	as	SCONJ
fumecheng-5678	112	2	said	say	VERB
fumecheng-5678	112	3	before	before	ADV
fumecheng-5678	112	4	,	,	PUNCT
fumecheng-5678	112	5	ieffk	ieffk	VERB
fumecheng-5678	112	6	in	in	ADP
fumecheng-5678	112	7	eq	eq	ADP
fumecheng-5678	112	8	.	.	PUNCT
fumecheng-5678	113	1	(	(	PUNCT
fumecheng-5678	113	2	5	5	NUM
fumecheng-5678	113	3	)	)	PUNCT
fumecheng-5678	113	4	depends	depend	VERB
fumecheng-5678	113	5	on	on	ADP
fumecheng-5678	113	6	robot	robot	NOUN
fumecheng-5678	113	7	configuration	configuration	NOUN
fumecheng-5678	113	8	.	.	PUNCT
fumecheng-5678	114	1	herein	herein	NOUN
fumecheng-5678	114	2	,	,	PUNCT
fumecheng-5678	114	3	tuning	tuning	NOUN
fumecheng-5678	114	4	is	be	AUX
fumecheng-5678	114	5	performed	perform	VERB
fumecheng-5678	114	6	for	for	ADP
fumecheng-5678	114	7	the	the	DET
fumecheng-5678	114	8	lti	lti	PROPN
fumecheng-5678	114	9	-	-	PUNCT
fumecheng-5678	114	10	model	model	NOUN
fumecheng-5678	114	11	with	with	ADP
fumecheng-5678	114	12	the	the	DET
fumecheng-5678	114	13	highest	high	ADJ
fumecheng-5678	114	14	load	load	NOUN
fumecheng-5678	114	15	[	[	X
fumecheng-5678	114	16	19	19	NUM
fumecheng-5678	114	17	]	]	PUNCT
fumecheng-5678	114	18	,	,	PUNCT
fumecheng-5678	114	19	i.e.	i.e.	X
fumecheng-5678	114	20	for	for	ADP
fumecheng-5678	114	21	the	the	DET
fumecheng-5678	114	22	maximum	maximum	ADJ
fumecheng-5678	114	23	value	value	NOUN
fumecheng-5678	114	24	of	of	ADP
fumecheng-5678	114	25	effective	effective	ADJ
fumecheng-5678	114	26	inertia	inertia	NOUN
fumecheng-5678	114	27	.	.	PUNCT
fumecheng-5678	115	1	given	give	VERB
fumecheng-5678	115	2	that	that	SCONJ
fumecheng-5678	115	3	the	the	DET
fumecheng-5678	115	4	structural	structural	ADJ
fumecheng-5678	115	5	flexibilities	flexibility	NOUN
fumecheng-5678	115	6	of	of	ADP
fumecheng-5678	115	7	the	the	DET
fumecheng-5678	115	8	system	system	NOUN
fumecheng-5678	115	9	are	be	AUX
fumecheng-5678	115	10	not	not	PART
fumecheng-5678	115	11	modeled	model	VERB
fumecheng-5678	115	12	,	,	PUNCT
fumecheng-5678	115	13	special	special	ADJ
fumecheng-5678	115	14	attention	attention	NOUN
fumecheng-5678	115	15	must	must	AUX
fumecheng-5678	115	16	be	be	AUX
fumecheng-5678	115	17	paid	pay	VERB
fumecheng-5678	115	18	not	not	PART
fumecheng-5678	115	19	to	to	PART
fumecheng-5678	115	20	excite	excite	VERB
fumecheng-5678	115	21	structural	structural	ADJ
fumecheng-5678	115	22	resonances	resonance	NOUN
fumecheng-5678	115	23	.	.	PUNCT
fumecheng-5678	116	1	a	a	DET
fumecheng-5678	116	2	rule	rule	NOUN
fumecheng-5678	116	3	of	of	ADP
fumecheng-5678	116	4	thumb	thumb	NOUN
fumecheng-5678	116	5	is	be	AUX
fumecheng-5678	116	6	that	that	SCONJ
fumecheng-5678	116	7	the	the	DET
fumecheng-5678	116	8	maximal	maximal	ADJ
fumecheng-5678	116	9	natural	natural	ADJ
fumecheng-5678	116	10	frequency	frequency	NOUN
fumecheng-5678	116	11	of	of	ADP
fumecheng-5678	116	12	closed	closed	ADJ
fumecheng-5678	116	13	-	-	PUNCT
fumecheng-5678	116	14	loop	loop	NOUN
fumecheng-5678	116	15	system	system	NOUN
fumecheng-5678	116	16	ωnk	ωnk	NOUN
fumecheng-5678	116	17	is	be	AUX
fumecheng-5678	116	18	at	at	ADV
fumecheng-5678	116	19	least	least	ADV
fumecheng-5678	116	20	two	two	NUM
fumecheng-5678	116	21	times	time	NOUN
fumecheng-5678	116	22	smaller	small	ADJ
fumecheng-5678	116	23	than	than	ADP
fumecheng-5678	116	24	the	the	DET
fumecheng-5678	116	25	lowest	low	ADJ
fumecheng-5678	116	26	natural	natural	ADJ
fumecheng-5678	116	27	frequency	frequency	NOUN
fumecheng-5678	116	28	of	of	ADP
fumecheng-5678	116	29	mechanical	mechanical	ADJ
fumecheng-5678	116	30	structure	structure	NOUN
fumecheng-5678	116	31	ωr	ωr	X
fumecheng-5678	116	32	(	(	PUNCT
fumecheng-5678	116	33	ωnkmax=0.5ωr	ωnkmax=0.5ωr	NOUN
fumecheng-5678	116	34	)	)	PUNCT
fumecheng-5678	117	1	[	[	X
fumecheng-5678	117	2	20	20	NUM
fumecheng-5678	117	3	]	]	PUNCT
fumecheng-5678	117	4	.	.	PUNCT
fumecheng-5678	118	1	however	however	ADV
fumecheng-5678	118	2	,	,	PUNCT
fumecheng-5678	118	3	if	if	SCONJ
fumecheng-5678	118	4	we	we	PRON
fumecheng-5678	118	5	consider	consider	VERB
fumecheng-5678	118	6	a	a	DET
fumecheng-5678	118	7	request	request	NOUN
fumecheng-5678	118	8	that	that	SCONJ
fumecheng-5678	118	9	the	the	DET
fumecheng-5678	118	10	motion	motion	NOUN
fumecheng-5678	118	11	of	of	ADP
fumecheng-5678	118	12	the	the	DET
fumecheng-5678	118	13	robot	robot	NOUN
fumecheng-5678	118	14	link	link	NOUN
fumecheng-5678	118	15	is	be	AUX
fumecheng-5678	118	16	never	never	ADV
fumecheng-5678	118	17	underdamped	underdamped	ADJ
fumecheng-5678	118	18	computed	compute	VERB
fumecheng-5678	118	19	torque	torque	NOUN
fumecheng-5678	118	20	control	control	NOUN
fumecheng-5678	118	21	for	for	ADP
fumecheng-5678	118	22	a	a	DET
fumecheng-5678	118	23	spatial	spatial	ADJ
fumecheng-5678	118	24	disorientation	disorientation	NOUN
fumecheng-5678	118	25	trainer	trainer	NOUN
fumecheng-5678	118	26	275	275	NUM
fumecheng-5678	119	1	[	[	X
fumecheng-5678	119	2	12	12	NUM
fumecheng-5678	119	3	]	]	PUNCT
fumecheng-5678	119	4	,	,	PUNCT
fumecheng-5678	119	5	the	the	DET
fumecheng-5678	119	6	value	value	NOUN
fumecheng-5678	119	7	of	of	ADP
fumecheng-5678	119	8	damping	damp	VERB
fumecheng-5678	119	9	factor	factor	NOUN
fumecheng-5678	119	10	ζk=1	ζk=1	PROPN
fumecheng-5678	119	11	for	for	ADP
fumecheng-5678	119	12	the	the	DET
fumecheng-5678	119	13	maximum	maximum	ADJ
fumecheng-5678	119	14	value	value	NOUN
fumecheng-5678	119	15	of	of	ADP
fumecheng-5678	119	16	effective	effective	ADJ
fumecheng-5678	119	17	inertia	inertia	NOUN
fumecheng-5678	119	18	ieffkmax	ieffkmax	NOUN
fumecheng-5678	119	19	,	,	PUNCT
fumecheng-5678	119	20	eq	eq	NOUN
fumecheng-5678	119	21	.	.	PUNCT
fumecheng-5678	120	1	(	(	PUNCT
fumecheng-5678	120	2	6	6	NUM
fumecheng-5678	120	3	)	)	PUNCT
fumecheng-5678	120	4	,	,	PUNCT
fumecheng-5678	120	5	achieves	achieve	VERB
fumecheng-5678	120	6	the	the	DET
fumecheng-5678	120	7	fastest	fast	ADJ
fumecheng-5678	120	8	response	response	NOUN
fumecheng-5678	120	9	without	without	ADP
fumecheng-5678	120	10	oscillations	oscillation	NOUN
fumecheng-5678	120	11	for	for	ADP
fumecheng-5678	120	12	all	all	DET
fumecheng-5678	120	13	values	value	NOUN
fumecheng-5678	120	14	of	of	ADP
fumecheng-5678	120	15	ieffk	ieffk	NOUN
fumecheng-5678	120	16	[	[	X
fumecheng-5678	120	17	6	6	NUM
fumecheng-5678	120	18	]	]	PUNCT
fumecheng-5678	120	19	.	.	PUNCT
fumecheng-5678	121	1			NOUN
fumecheng-5678	121	2	ps	ps	PROPN
fumecheng-5678	121	3	eff	eff	PROPN
fumecheng-5678	121	4	isk	isk	PROPN
fumecheng-5678	121	5	/	/	SYM
fumecheng-5678	121	6	2	2	NUM
fumecheng-5678	121	7	(	(	PUNCT
fumecheng-5678	121	8	)	)	PUNCT
fumecheng-5678	121	9	kk	kk	PROPN
fumecheng-5678	121	10	k	k	PROPN
fumecheng-5678	121	11	k	k	PROPN
fumecheng-5678	122	1	ki	ki	VERB
fumecheng-5678	122	2			PROPN
fumecheng-5678	122	3	q	q	X
fumecheng-5678	122	4	(	(	PUNCT
fumecheng-5678	122	5	6	6	NUM
fumecheng-5678	122	6	)	)	PUNCT
fumecheng-5678	122	7	considering	consider	VERB
fumecheng-5678	122	8	that	that	SCONJ
fumecheng-5678	122	9	the	the	DET
fumecheng-5678	122	10	sdt	sdt	PROPN
fumecheng-5678	122	11	is	be	AUX
fumecheng-5678	122	12	not	not	PART
fumecheng-5678	122	13	flexible	flexible	ADJ
fumecheng-5678	122	14	in	in	ADP
fumecheng-5678	122	15	application	application	NOUN
fumecheng-5678	122	16	,	,	PUNCT
fumecheng-5678	122	17	ieffkmax	ieffkmax	NOUN
fumecheng-5678	122	18	can	can	AUX
fumecheng-5678	122	19	be	be	AUX
fumecheng-5678	122	20	determined	determine	VERB
fumecheng-5678	122	21	beforehand	beforehand	ADV
fumecheng-5678	122	22	,	,	PUNCT
fumecheng-5678	122	23	in	in	ADP
fumecheng-5678	122	24	the	the	DET
fumecheng-5678	122	25	offline	offline	ADJ
fumecheng-5678	122	26	regime	regime	NOUN
fumecheng-5678	122	27	.	.	PUNCT
fumecheng-5678	123	1	here	here	ADV
fumecheng-5678	123	2	,	,	PUNCT
fumecheng-5678	123	3	ieffkmax	ieffkmax	NOUN
fumecheng-5678	123	4	,	,	PUNCT
fumecheng-5678	123	5	for	for	ADP
fumecheng-5678	123	6	which	which	PRON
fumecheng-5678	123	7	it	it	PRON
fumecheng-5678	123	8	applies	apply	VERB
fumecheng-5678	123	9	ζk=1	ζk=1	PROPN
fumecheng-5678	123	10	,	,	PUNCT
fumecheng-5678	123	11	is	be	AUX
fumecheng-5678	123	12	obtained	obtain	VERB
fumecheng-5678	123	13	from	from	ADP
fumecheng-5678	123	14	i	i	PROPN
fumecheng-5678	123	15	d	d	PROPN
fumecheng-5678	123	16	model	model	PROPN
fumecheng-5678	123	17	simulation	simulation	NOUN
fumecheng-5678	123	18	using	use	VERB
fumecheng-5678	123	19	eq	eq	PROPN
fumecheng-5678	123	20	.	.	PUNCT
fumecheng-5678	124	1	(	(	PUNCT
fumecheng-5678	124	2	3	3	NUM
fumecheng-5678	124	3	)	)	PUNCT
fumecheng-5678	124	4	,	,	PUNCT
fumecheng-5678	124	5	for	for	ADP
fumecheng-5678	124	6	the	the	DET
fumecheng-5678	124	7	motion	motion	NOUN
fumecheng-5678	124	8	given	give	VERB
fumecheng-5678	124	9	in	in	ADP
fumecheng-5678	124	10	fig	fig	NOUN
fumecheng-5678	124	11	.	.	PUNCT
fumecheng-5678	125	1	2	2	NUM
fumecheng-5678	125	2	.	.	X
fumecheng-5678	125	3	for	for	ADP
fumecheng-5678	125	4	realistic	realistic	ADJ
fumecheng-5678	125	5	simulation	simulation	NOUN
fumecheng-5678	125	6	purposes	purpose	NOUN
fumecheng-5678	125	7	,	,	PUNCT
fumecheng-5678	125	8	to	to	PART
fumecheng-5678	125	9	take	take	VERB
fumecheng-5678	125	10	into	into	ADP
fumecheng-5678	125	11	account	account	NOUN
fumecheng-5678	125	12	possibilities	possibility	NOUN
fumecheng-5678	125	13	for	for	ADP
fumecheng-5678	125	14	a	a	DET
fumecheng-5678	125	15	higher	high	ADJ
fumecheng-5678	125	16	value	value	NOUN
fumecheng-5678	125	17	of	of	ADP
fumecheng-5678	125	18	ieffkmax	ieffkmax	NOUN
fumecheng-5678	125	19	for	for	ADP
fumecheng-5678	125	20	different	different	ADJ
fumecheng-5678	125	21	sdt	sdt	PROPN
fumecheng-5678	125	22	trajectories	trajectory	NOUN
fumecheng-5678	125	23	,	,	PUNCT
fumecheng-5678	125	24	choice	choice	NOUN
fumecheng-5678	125	25	of	of	ADP
fumecheng-5678	125	26	pi	pi	NOUN
fumecheng-5678	125	27	speed	speed	NOUN
fumecheng-5678	125	28	controller	controller	NOUN
fumecheng-5678	125	29	gains	gain	NOUN
fumecheng-5678	125	30	takes	take	VERB
fumecheng-5678	125	31	into	into	ADP
fumecheng-5678	125	32	account	account	NOUN
fumecheng-5678	125	33	the	the	DET
fumecheng-5678	125	34	lowest	low	ADJ
fumecheng-5678	125	35	structural	structural	ADJ
fumecheng-5678	125	36	natural	natural	ADJ
fumecheng-5678	125	37	frequency	frequency	NOUN
fumecheng-5678	125	38	,	,	PUNCT
fumecheng-5678	125	39	with	with	ADP
fumecheng-5678	125	40	integral	integral	ADJ
fumecheng-5678	125	41	gain	gain	NOUN
fumecheng-5678	125	42	kisk	kisk	NOUN
fumecheng-5678	125	43	chosen	choose	VERB
fumecheng-5678	125	44	to	to	PART
fumecheng-5678	125	45	be	be	AUX
fumecheng-5678	125	46	kisk	kisk	NOUN
fumecheng-5678	125	47	=	=	SYM
fumecheng-5678	125	48	0.25ωr	0.25ωr	NOUN
fumecheng-5678	125	49	2	2	NUM
fumecheng-5678	125	50	ieffkmax	ieffkmax	NOUN
fumecheng-5678	125	51	.	.	PUNCT
fumecheng-5678	126	1	if	if	SCONJ
fumecheng-5678	126	2	a	a	DET
fumecheng-5678	126	3	basic	basic	ADJ
fumecheng-5678	126	4	structure	structure	NOUN
fumecheng-5678	126	5	of	of	ADP
fumecheng-5678	126	6	the	the	DET
fumecheng-5678	126	7	pi	pi	NOUN
fumecheng-5678	126	8	speed	speed	NOUN
fumecheng-5678	126	9	controller	controller	NOUN
fumecheng-5678	126	10	is	be	AUX
fumecheng-5678	126	11	used	use	VERB
fumecheng-5678	126	12	,	,	PUNCT
fumecheng-5678	126	13	overshoots	overshoot	NOUN
fumecheng-5678	126	14	are	be	AUX
fumecheng-5678	126	15	present	present	ADJ
fumecheng-5678	126	16	for	for	SCONJ
fumecheng-5678	126	17	the	the	DET
fumecheng-5678	126	18	values	value	NOUN
fumecheng-5678	126	19	ζ>1	ζ>1	VERB
fumecheng-5678	126	20	[	[	X
fumecheng-5678	126	21	14	14	NUM
fumecheng-5678	126	22	]	]	PUNCT
fumecheng-5678	126	23	.	.	PUNCT
fumecheng-5678	127	1	in	in	ADP
fumecheng-5678	127	2	fig.4	fig.4	PRON
fumecheng-5678	127	3	step	step	NOUN
fumecheng-5678	127	4	response	response	NOUN
fumecheng-5678	127	5	for	for	ADP
fumecheng-5678	127	6	the	the	DET
fumecheng-5678	127	7	sdt	sdt	PROPN
fumecheng-5678	127	8	first	first	ADJ
fumecheng-5678	127	9	axis	axis	NOUN
fumecheng-5678	127	10	’	'	PUNCT
fumecheng-5678	127	11	closed	closed	ADJ
fumecheng-5678	127	12	-	-	PUNCT
fumecheng-5678	127	13	loop	loop	NOUN
fumecheng-5678	127	14	system	system	NOUN
fumecheng-5678	127	15	with	with	ADP
fumecheng-5678	127	16	the	the	DET
fumecheng-5678	127	17	lti	lti	PROPN
fumecheng-5678	127	18	model	model	NOUN
fumecheng-5678	127	19	process	process	NOUN
fumecheng-5678	127	20	in	in	ADP
fumecheng-5678	127	21	which	which	PRON
fumecheng-5678	127	22	ieff1=	ieff1=	PROPN
fumecheng-5678	127	23	ieff1max	ieff1max	NOUN
fumecheng-5678	127	24	,	,	PUNCT
fumecheng-5678	127	25	obtained	obtain	VERB
fumecheng-5678	127	26	using	use	VERB
fumecheng-5678	127	27	the	the	DET
fumecheng-5678	127	28	basic	basic	ADJ
fumecheng-5678	127	29	structure	structure	NOUN
fumecheng-5678	127	30	of	of	ADP
fumecheng-5678	127	31	pi	pi	NOUN
fumecheng-5678	127	32	speed	speed	NOUN
fumecheng-5678	127	33	controller	controller	NOUN
fumecheng-5678	127	34	with	with	ADP
fumecheng-5678	127	35	kisk	kisk	NOUN
fumecheng-5678	127	36	set	set	VERB
fumecheng-5678	127	37	as	as	ADP
fumecheng-5678	127	38	0.25	0.25	NUM
fumecheng-5678	127	39	ωr	ωr	SYM
fumecheng-5678	127	40	2	2	NUM
fumecheng-5678	127	41	ieff1max	ieff1max	NOUN
fumecheng-5678	127	42	and	and	CCONJ
fumecheng-5678	127	43	for	for	ADP
fumecheng-5678	127	44	the	the	DET
fumecheng-5678	127	45	damping	damp	VERB
fumecheng-5678	127	46	factor	factor	NOUN
fumecheng-5678	127	47	ζ1=1	ζ1=1	PROPN
fumecheng-5678	127	48	,	,	PUNCT
fumecheng-5678	127	49	is	be	AUX
fumecheng-5678	127	50	given	give	VERB
fumecheng-5678	127	51	in	in	ADP
fumecheng-5678	127	52	red	red	ADJ
fumecheng-5678	127	53	line	line	NOUN
fumecheng-5678	127	54	.	.	PUNCT
fumecheng-5678	128	1	the	the	DET
fumecheng-5678	128	2	rise	rise	NOUN
fumecheng-5678	128	3	time	time	NOUN
fumecheng-5678	128	4	is	be	AUX
fumecheng-5678	128	5	0.022	0.022	NUM
fumecheng-5678	128	6	,	,	PUNCT
fumecheng-5678	128	7	the	the	DET
fumecheng-5678	128	8	settling	settling	NOUN
fumecheng-5678	128	9	time	time	NOUN
fumecheng-5678	128	10	is	be	AUX
fumecheng-5678	128	11	0.16	0.16	NUM
fumecheng-5678	128	12	,	,	PUNCT
fumecheng-5678	128	13	and	and	CCONJ
fumecheng-5678	128	14	the	the	DET
fumecheng-5678	128	15	overshoot	overshoot	NOUN
fumecheng-5678	128	16	is	be	AUX
fumecheng-5678	128	17	13.53	13.53	NUM
fumecheng-5678	128	18	%	%	NOUN
fumecheng-5678	128	19	.	.	PUNCT
fumecheng-5678	129	1	in	in	ADP
fumecheng-5678	129	2	an	an	DET
fumecheng-5678	129	3	attempt	attempt	NOUN
fumecheng-5678	129	4	to	to	PART
fumecheng-5678	129	5	achieve	achieve	VERB
fumecheng-5678	129	6	smaller	small	ADJ
fumecheng-5678	129	7	overshoot	overshoot	NOUN
fumecheng-5678	129	8	,	,	PUNCT
fumecheng-5678	129	9	(	(	PUNCT
fumecheng-5678	129	10	in	in	ADP
fumecheng-5678	129	11	many	many	ADJ
fumecheng-5678	129	12	practical	practical	ADJ
fumecheng-5678	129	13	servo	servo	NOUN
fumecheng-5678	129	14	control	control	NOUN
fumecheng-5678	129	15	applications	application	NOUN
fumecheng-5678	129	16	,	,	PUNCT
fumecheng-5678	129	17	the	the	DET
fumecheng-5678	129	18	overshoot	overshoot	NOUN
fumecheng-5678	129	19	for	for	ADP
fumecheng-5678	129	20	the	the	DET
fumecheng-5678	129	21	speed	speed	NOUN
fumecheng-5678	129	22	step	step	NOUN
fumecheng-5678	129	23	response	response	NOUN
fumecheng-5678	129	24	is	be	AUX
fumecheng-5678	129	25	usually	usually	ADV
fumecheng-5678	129	26	limited	limit	VERB
fumecheng-5678	129	27	below	below	ADP
fumecheng-5678	129	28	10	10	NUM
fumecheng-5678	129	29	%	%	NOUN
fumecheng-5678	129	30	of	of	ADP
fumecheng-5678	129	31	the	the	DET
fumecheng-5678	129	32	step	step	NOUN
fumecheng-5678	129	33	level	level	NOUN
fumecheng-5678	129	34	[	[	X
fumecheng-5678	129	35	21	21	NUM
fumecheng-5678	129	36	]	]	PUNCT
fumecheng-5678	129	37	)	)	PUNCT
fumecheng-5678	129	38	,	,	PUNCT
fumecheng-5678	129	39	a	a	DET
fumecheng-5678	129	40	different	different	ADJ
fumecheng-5678	129	41	structure	structure	NOUN
fumecheng-5678	129	42	of	of	ADP
fumecheng-5678	129	43	pi	pi	NOUN
fumecheng-5678	129	44	controller	controller	NOUN
fumecheng-5678	129	45	is	be	AUX
fumecheng-5678	129	46	used	use	VERB
fumecheng-5678	129	47	here	here	ADV
fumecheng-5678	129	48	,	,	PUNCT
fumecheng-5678	129	49	fig	fig	NOUN
fumecheng-5678	129	50	.	.	PUNCT
fumecheng-5678	130	1	5	5	NUM
fumecheng-5678	130	2	.	.	X
fumecheng-5678	130	3	proportional	proportional	ADJ
fumecheng-5678	130	4	gain	gain	NOUN
fumecheng-5678	130	5	relocated	relocate	VERB
fumecheng-5678	130	6	in	in	ADP
fumecheng-5678	130	7	the	the	DET
fumecheng-5678	130	8	feedback	feedback	NOUN
fumecheng-5678	130	9	path	path	NOUN
fumecheng-5678	130	10	avoids	avoid	VERB
fumecheng-5678	130	11	the	the	DET
fumecheng-5678	130	12	overshoot	overshoot	NOUN
fumecheng-5678	130	13	for	for	ADP
fumecheng-5678	130	14	the	the	DET
fumecheng-5678	130	15	values	value	NOUN
fumecheng-5678	130	16	of	of	ADP
fumecheng-5678	130	17	ζ≥1	ζ≥1	NOUN
fumecheng-5678	130	18	due	due	ADP
fumecheng-5678	130	19	to	to	ADP
fumecheng-5678	130	20	the	the	DET
fumecheng-5678	130	21	closed	closed	ADJ
fumecheng-5678	130	22	-	-	PUNCT
fumecheng-5678	130	23	loop	loop	NOUN
fumecheng-5678	130	24	zero	zero	NUM
fumecheng-5678	130	25	removal	removal	NOUN
fumecheng-5678	130	26	,	,	PUNCT
fumecheng-5678	130	27	while	while	SCONJ
fumecheng-5678	130	28	at	at	ADP
fumecheng-5678	130	29	the	the	DET
fumecheng-5678	130	30	same	same	ADJ
fumecheng-5678	130	31	time	time	NOUN
fumecheng-5678	130	32	keeps	keep	VERB
fumecheng-5678	130	33	the	the	DET
fumecheng-5678	130	34	denominator	denominator	NOUN
fumecheng-5678	130	35	unchanged	unchanged	ADJ
fumecheng-5678	130	36	[	[	X
fumecheng-5678	130	37	14	14	NUM
fumecheng-5678	130	38	]	]	PUNCT
fumecheng-5678	130	39	.	.	PUNCT
fumecheng-5678	131	1	the	the	DET
fumecheng-5678	131	2	response	response	NOUN
fumecheng-5678	131	3	is	be	AUX
fumecheng-5678	131	4	now	now	ADV
fumecheng-5678	131	5	slower	slow	ADJ
fumecheng-5678	131	6	and	and	CCONJ
fumecheng-5678	131	7	,	,	PUNCT
fumecheng-5678	131	8	to	to	PART
fumecheng-5678	131	9	obtain	obtain	VERB
fumecheng-5678	131	10	a	a	DET
fumecheng-5678	131	11	faster	fast	ADJ
fumecheng-5678	131	12	response	response	NOUN
fumecheng-5678	131	13	,	,	PUNCT
fumecheng-5678	131	14	values	value	NOUN
fumecheng-5678	131	15	of	of	ADP
fumecheng-5678	131	16	damping	damp	VERB
fumecheng-5678	131	17	factor	factor	NOUN
fumecheng-5678	131	18	ζk	ζk	NOUN
fumecheng-5678	131	19	are	be	AUX
fumecheng-5678	131	20	chosen	choose	VERB
fumecheng-5678	131	21	to	to	PART
fumecheng-5678	131	22	be	be	AUX
fumecheng-5678	131	23	slightly	slightly	ADV
fumecheng-5678	131	24	lesser	less	ADJ
fumecheng-5678	131	25	than	than	ADP
fumecheng-5678	131	26	1	1	NUM
fumecheng-5678	131	27	for	for	ADP
fumecheng-5678	131	28	ieffkmax	ieffkmax	NOUN
fumecheng-5678	131	29	.	.	PUNCT
fumecheng-5678	132	1	in	in	ADP
fumecheng-5678	132	2	fig	fig	NOUN
fumecheng-5678	132	3	.	.	PUNCT
fumecheng-5678	133	1	4	4	NUM
fumecheng-5678	133	2	,	,	PUNCT
fumecheng-5678	133	3	step	step	NOUN
fumecheng-5678	133	4	response	response	NOUN
fumecheng-5678	133	5	for	for	ADP
fumecheng-5678	133	6	the	the	DET
fumecheng-5678	133	7	sdt	sdt	PROPN
fumecheng-5678	133	8	first	first	ADJ
fumecheng-5678	133	9	axis	axis	NOUN
fumecheng-5678	133	10	’	'	PUNCT
fumecheng-5678	133	11	closed	closed	ADJ
fumecheng-5678	133	12	-	-	PUNCT
fumecheng-5678	133	13	loop	loop	NOUN
fumecheng-5678	133	14	system	system	NOUN
fumecheng-5678	133	15	,	,	PUNCT
fumecheng-5678	133	16	with	with	ADP
fumecheng-5678	133	17	the	the	DET
fumecheng-5678	133	18	applied	apply	VERB
fumecheng-5678	133	19	pi	pi	NOUN
fumecheng-5678	133	20	speed	speed	NOUN
fumecheng-5678	133	21	controller	controller	NOUN
fumecheng-5678	133	22	structure	structure	NOUN
fumecheng-5678	133	23	shown	show	VERB
fumecheng-5678	133	24	in	in	ADP
fumecheng-5678	133	25	fig	fig	NOUN
fumecheng-5678	133	26	.	.	PUNCT
fumecheng-5678	134	1	5	5	NUM
fumecheng-5678	135	1	[	[	SYM
fumecheng-5678	135	2	14	14	NUM
fumecheng-5678	135	3	]	]	PUNCT
fumecheng-5678	135	4	is	be	AUX
fumecheng-5678	135	5	given	give	VERB
fumecheng-5678	135	6	in	in	ADP
fumecheng-5678	135	7	blue	blue	ADJ
fumecheng-5678	135	8	line	line	NOUN
fumecheng-5678	135	9	.	.	PUNCT
fumecheng-5678	136	1	for	for	SCONJ
fumecheng-5678	136	2	the	the	DET
fumecheng-5678	136	3	lti	lti	PROPN
fumecheng-5678	136	4	model	model	PROPN
fumecheng-5678	136	5	process	process	NOUN
fumecheng-5678	136	6	with	with	ADP
fumecheng-5678	136	7	ieff1max	ieff1max	NOUN
fumecheng-5678	136	8	,	,	PUNCT
fumecheng-5678	136	9	with	with	ADP
fumecheng-5678	136	10	kisk	kisk	NOUN
fumecheng-5678	136	11	set	set	VERB
fumecheng-5678	136	12	as	as	ADP
fumecheng-5678	136	13	0.25	0.25	NUM
fumecheng-5678	136	14	ωr	ωr	SYM
fumecheng-5678	136	15	2	2	NUM
fumecheng-5678	136	16	ieff1max	ieff1max	NOUN
fumecheng-5678	136	17	,	,	PUNCT
fumecheng-5678	136	18	and	and	CCONJ
fumecheng-5678	136	19	for	for	ADP
fumecheng-5678	136	20	damping	damp	VERB
fumecheng-5678	136	21	factor	factor	NOUN
fumecheng-5678	136	22	ζ1=0.95	ζ1=0.95	NOUN
fumecheng-5678	136	23	,	,	PUNCT
fumecheng-5678	136	24	the	the	DET
fumecheng-5678	136	25	rise	rise	NOUN
fumecheng-5678	136	26	time	time	NOUN
fumecheng-5678	136	27	is	be	AUX
fumecheng-5678	136	28	0.094	0.094	NUM
fumecheng-5678	136	29	,	,	PUNCT
fumecheng-5678	136	30	the	the	DET
fumecheng-5678	136	31	settling	settling	NOUN
fumecheng-5678	136	32	time	time	NOUN
fumecheng-5678	136	33	is	be	AUX
fumecheng-5678	136	34	0.159	0.159	NUM
fumecheng-5678	136	35	,	,	PUNCT
fumecheng-5678	136	36	and	and	CCONJ
fumecheng-5678	136	37	the	the	DET
fumecheng-5678	136	38	overshoot	overshoot	NOUN
fumecheng-5678	136	39	is	be	AUX
fumecheng-5678	136	40	zero	zero	NUM
fumecheng-5678	136	41	.	.	PUNCT
fumecheng-5678	137	1	this	this	DET
fumecheng-5678	137	2	type	type	NOUN
fumecheng-5678	137	3	of	of	ADP
fumecheng-5678	137	4	pi	pi	NOUN
fumecheng-5678	137	5	speed	speed	NOUN
fumecheng-5678	137	6	controller	controller	NOUN
fumecheng-5678	137	7	is	be	AUX
fumecheng-5678	137	8	adopted	adopt	VERB
fumecheng-5678	137	9	for	for	ADP
fumecheng-5678	137	10	all	all	DET
fumecheng-5678	137	11	four	four	NUM
fumecheng-5678	137	12	axes	axis	NOUN
fumecheng-5678	137	13	of	of	ADP
fumecheng-5678	137	14	the	the	DET
fumecheng-5678	137	15	sdt	sdt	PROPN
fumecheng-5678	137	16	in	in	ADP
fumecheng-5678	137	17	simulation	simulation	NOUN
fumecheng-5678	137	18	models	model	NOUN
fumecheng-5678	137	19	.	.	PUNCT
fumecheng-5678	138	1	fig	fig	NOUN
fumecheng-5678	138	2	.	.	PUNCT
fumecheng-5678	139	1	4	4	NUM
fumecheng-5678	139	2	step	step	NOUN
fumecheng-5678	139	3	responses	response	NOUN
fumecheng-5678	139	4	for	for	ADP
fumecheng-5678	139	5	the	the	DET
fumecheng-5678	139	6	sdt	sdt	PROPN
fumecheng-5678	139	7	’s	’s	PART
fumecheng-5678	139	8	first	first	ADJ
fumecheng-5678	139	9	axis	axis	NOUN
fumecheng-5678	139	10	with	with	ADP
fumecheng-5678	139	11	pi	pi	NOUN
fumecheng-5678	139	12	speed	speed	NOUN
fumecheng-5678	139	13	controllers	controller	NOUN
fumecheng-5678	139	14	276	276	NUM
fumecheng-5678	139	15	j.	j.	PROPN
fumecheng-5678	139	16	vidaković	vidaković	PROPN
fumecheng-5678	139	17	,	,	PUNCT
fumecheng-5678	139	18	v.	v.	ADP
fumecheng-5678	139	19	kvrgić	kvrgić	NOUN
fumecheng-5678	139	20	,	,	PUNCT
fumecheng-5678	139	21	m.	m.	NOUN
fumecheng-5678	139	22	lazarević	lazarević	PROPN
fumecheng-5678	139	23	,	,	PUNCT
fumecheng-5678	139	24	p.	p.	NOUN
fumecheng-5678	139	25	stepanić	stepanić	PROPN
fumecheng-5678	139	26	fig	fig	PROPN
fumecheng-5678	139	27	.	.	PUNCT
fumecheng-5678	140	1	5	5	NUM
fumecheng-5678	140	2	the	the	DET
fumecheng-5678	140	3	pi	pi	NOUN
fumecheng-5678	140	4	speed	speed	NOUN
fumecheng-5678	140	5	controller	controller	NOUN
fumecheng-5678	140	6	with	with	ADP
fumecheng-5678	140	7	proportional	proportional	ADJ
fumecheng-5678	140	8	gain	gain	NOUN
fumecheng-5678	140	9	in	in	ADP
fumecheng-5678	140	10	the	the	DET
fumecheng-5678	140	11	feedback	feedback	NOUN
fumecheng-5678	140	12	path	path	NOUN
fumecheng-5678	141	1	[	[	X
fumecheng-5678	141	2	14	14	NUM
fumecheng-5678	141	3	]	]	PUNCT
fumecheng-5678	141	4	,	,	PUNCT
fumecheng-5678	141	5	mrk	mrk	PROPN
fumecheng-5678	141	6	is	be	AUX
fumecheng-5678	141	7	the	the	DET
fumecheng-5678	141	8	reference	reference	NOUN
fumecheng-5678	141	9	speed	speed	NOUN
fumecheng-5678	141	10	for	for	ADP
fumecheng-5678	141	11	joint	joint	NOUN
fumecheng-5678	141	12	k	k	PROPN
fumecheng-5678	142	1	it	it	PRON
fumecheng-5678	142	2	should	should	AUX
fumecheng-5678	142	3	be	be	AUX
fumecheng-5678	142	4	noted	note	VERB
fumecheng-5678	142	5	that	that	SCONJ
fumecheng-5678	142	6	in	in	ADP
fumecheng-5678	142	7	simulation	simulation	NOUN
fumecheng-5678	142	8	models	model	NOUN
fumecheng-5678	142	9	that	that	PRON
fumecheng-5678	142	10	use	use	VERB
fumecheng-5678	142	11	only	only	ADV
fumecheng-5678	142	12	pi	pi	NOUN
fumecheng-5678	142	13	speed	speed	NOUN
fumecheng-5678	142	14	control	control	NOUN
fumecheng-5678	142	15	,	,	PUNCT
fumecheng-5678	142	16	load	load	VERB
fumecheng-5678	142	17	torque	torque	NOUN
fumecheng-5678	142	18	τlk	τlk	PROPN
fumecheng-5678	142	19	=	=	ADJ
fumecheng-5678	142	20	τldk	τldk	ADJ
fumecheng-5678	142	21	and	and	CCONJ
fumecheng-5678	142	22	torque	torque	NOUN
fumecheng-5678	142	23	contribution	contribution	NOUN
fumecheng-5678	142	24	of	of	ADP
fumecheng-5678	142	25	other	other	ADJ
fumecheng-5678	142	26	links	link	NOUN
fumecheng-5678	142	27	’	'	PUNCT
fumecheng-5678	142	28	motion	motion	NOUN
fumecheng-5678	142	29	τalleviatek	τalleviatek	NOUN
fumecheng-5678	142	30	,	,	PUNCT
fumecheng-5678	142	31	eq	eq	NOUN
fumecheng-5678	142	32	.	.	PUNCT
fumecheng-5678	143	1	(	(	PUNCT
fumecheng-5678	143	2	4	4	NUM
fumecheng-5678	143	3	)	)	PUNCT
fumecheng-5678	143	4	and	and	CCONJ
fumecheng-5678	143	5	algorithm	algorithm	NOUN
fumecheng-5678	143	6	1	1	NUM
fumecheng-5678	143	7	,	,	PUNCT
fumecheng-5678	143	8	are	be	AUX
fumecheng-5678	143	9	simulated	simulate	VERB
fumecheng-5678	143	10	,	,	PUNCT
fumecheng-5678	143	11	and	and	CCONJ
fumecheng-5678	143	12	the	the	DET
fumecheng-5678	143	13	dynamic	dynamic	ADJ
fumecheng-5678	143	14	saturation	saturation	NOUN
fumecheng-5678	143	15	is	be	AUX
fumecheng-5678	143	16	included	include	VERB
fumecheng-5678	143	17	as	as	SCONJ
fumecheng-5678	143	18	presented	present	VERB
fumecheng-5678	143	19	in	in	ADP
fumecheng-5678	143	20	fig	fig	NOUN
fumecheng-5678	143	21	.	.	PUNCT
fumecheng-5678	144	1	3	3	NUM
fumecheng-5678	144	2	.	.	X
fumecheng-5678	144	3	3.4	3.4	NUM
fumecheng-5678	144	4	.	.	PUNCT
fumecheng-5678	145	1	feedforward	feedforward	PROPN
fumecheng-5678	145	2	computed	compute	VERB
fumecheng-5678	145	3	torque	torque	NOUN
fumecheng-5678	145	4	method	method	NOUN
fumecheng-5678	145	5	in	in	ADP
fumecheng-5678	145	6	the	the	DET
fumecheng-5678	145	7	single	single	ADJ
fumecheng-5678	145	8	joint	joint	ADJ
fumecheng-5678	145	9	computed	compute	VERB
fumecheng-5678	145	10	torque	torque	NOUN
fumecheng-5678	145	11	control	control	NOUN
fumecheng-5678	145	12	method	method	NOUN
fumecheng-5678	145	13	,	,	PUNCT
fumecheng-5678	145	14	the	the	DET
fumecheng-5678	145	15	load	load	NOUN
fumecheng-5678	145	16	torque	torque	NOUN
fumecheng-5678	145	17	due	due	ADP
fumecheng-5678	145	18	to	to	ADP
fumecheng-5678	145	19	the	the	DET
fumecheng-5678	145	20	motion	motion	NOUN
fumecheng-5678	145	21	of	of	ADP
fumecheng-5678	145	22	the	the	DET
fumecheng-5678	145	23	chain	chain	NOUN
fumecheng-5678	145	24	of	of	ADP
fumecheng-5678	145	25	robot	robot	NOUN
fumecheng-5678	145	26	’s	’s	PART
fumecheng-5678	145	27	interconnected	interconnected	ADJ
fumecheng-5678	145	28	links	link	NOUN
fumecheng-5678	145	29	,	,	PUNCT
fumecheng-5678	145	30	τldk=	τldk=	NUM
fumecheng-5678	145	31	τldk(q	τldk(q	NOUN
fumecheng-5678	145	32	)	)	PUNCT
fumecheng-5678	145	33	,	,	PUNCT
fumecheng-5678	145	34	calculated	calculate	VERB
fumecheng-5678	145	35	from	from	ADP
fumecheng-5678	145	36	the	the	DET
fumecheng-5678	145	37	i	i	PROPN
fumecheng-5678	145	38	d	d	PROPN
fumecheng-5678	145	39	model	model	NOUN
fumecheng-5678	145	40	for	for	ADP
fumecheng-5678	145	41	every	every	DET
fumecheng-5678	145	42	interpolation	interpolation	NOUN
fumecheng-5678	145	43	period	period	NOUN
fumecheng-5678	145	44	,	,	PUNCT
fumecheng-5678	145	45	eq	eq	NOUN
fumecheng-5678	145	46	.	.	PUNCT
fumecheng-5678	146	1	(	(	PUNCT
fumecheng-5678	146	2	4	4	NUM
fumecheng-5678	146	3	)	)	PUNCT
fumecheng-5678	146	4	and	and	CCONJ
fumecheng-5678	146	5	algorithm	algorithm	NOUN
fumecheng-5678	146	6	1	1	NUM
fumecheng-5678	146	7	,	,	PUNCT
fumecheng-5678	146	8	is	be	AUX
fumecheng-5678	146	9	canceled	cancel	VERB
fumecheng-5678	146	10	with	with	ADP
fumecheng-5678	146	11	a	a	DET
fumecheng-5678	146	12	feedforward	feedforward	NOUN
fumecheng-5678	146	13	signal	signal	NOUN
fumecheng-5678	146	14	.	.	PUNCT
fumecheng-5678	147	1	the	the	DET
fumecheng-5678	147	2	feedback	feedback	NOUN
fumecheng-5678	147	3	controller	controller	NOUN
fumecheng-5678	147	4	is	be	AUX
fumecheng-5678	147	5	added	add	VERB
fumecheng-5678	147	6	to	to	PART
fumecheng-5678	147	7	improve	improve	VERB
fumecheng-5678	147	8	the	the	DET
fumecheng-5678	147	9	reference	reference	NOUN
fumecheng-5678	147	10	-	-	PUNCT
fumecheng-5678	147	11	tracking	tracking	NOUN
fumecheng-5678	147	12	capability	capability	NOUN
fumecheng-5678	147	13	(	(	PUNCT
fumecheng-5678	147	14	to	to	PART
fumecheng-5678	147	15	suppress	suppress	VERB
fumecheng-5678	147	16	the	the	DET
fumecheng-5678	147	17	errors	error	NOUN
fumecheng-5678	147	18	in	in	ADP
fumecheng-5678	147	19	dynamic	dynamic	ADJ
fumecheng-5678	147	20	modeling	modeling	NOUN
fumecheng-5678	147	21	,	,	PUNCT
fumecheng-5678	147	22	as	as	ADV
fumecheng-5678	147	23	well	well	ADV
fumecheng-5678	147	24	as	as	ADP
fumecheng-5678	147	25	the	the	DET
fumecheng-5678	147	26	effects	effect	NOUN
fumecheng-5678	147	27	of	of	ADP
fumecheng-5678	147	28	stochastic	stochastic	ADJ
fumecheng-5678	147	29	disturbances	disturbance	NOUN
fumecheng-5678	147	30	)	)	PUNCT
fumecheng-5678	147	31	.	.	PUNCT
fumecheng-5678	148	1	for	for	ADP
fumecheng-5678	148	2	achieving	achieve	VERB
fumecheng-5678	148	3	of	of	ADP
fumecheng-5678	148	4	realistic	realistic	ADJ
fumecheng-5678	148	5	comparison	comparison	NOUN
fumecheng-5678	148	6	in	in	ADP
fumecheng-5678	148	7	a	a	DET
fumecheng-5678	148	8	simulation	simulation	NOUN
fumecheng-5678	148	9	model	model	NOUN
fumecheng-5678	148	10	,	,	PUNCT
fumecheng-5678	148	11	to	to	PART
fumecheng-5678	148	12	account	account	VERB
fumecheng-5678	148	13	for	for	ADP
fumecheng-5678	148	14	modeling	model	VERB
fumecheng-5678	148	15	errors	error	NOUN
fumecheng-5678	148	16	and	and	CCONJ
fumecheng-5678	148	17	stochastic	stochastic	ADJ
fumecheng-5678	148	18	disturbances	disturbance	NOUN
fumecheng-5678	148	19	,	,	PUNCT
fumecheng-5678	148	20	the	the	DET
fumecheng-5678	148	21	load	load	NOUN
fumecheng-5678	148	22	torque	torque	NOUN
fumecheng-5678	148	23	is	be	AUX
fumecheng-5678	148	24	simulated	simulate	VERB
fumecheng-5678	148	25	as	as	ADP
fumecheng-5678	148	26	τlk=	τlk=	PROPN
fumecheng-5678	148	27	τldk(q)(1	τldk(q)(1	PROPN
fumecheng-5678	148	28	+	+	SYM
fumecheng-5678	148	29	asinωdkt	asinωdkt	NOUN
fumecheng-5678	148	30	)	)	PUNCT
fumecheng-5678	148	31	where	where	SCONJ
fumecheng-5678	148	32	a	a	PRON
fumecheng-5678	148	33	and	and	CCONJ
fumecheng-5678	148	34	ωdk	ωdk	ADJ
fumecheng-5678	148	35	are	be	AUX
fumecheng-5678	148	36	the	the	DET
fumecheng-5678	148	37	amplitude	amplitude	NOUN
fumecheng-5678	148	38	and	and	CCONJ
fumecheng-5678	148	39	frequency	frequency	NOUN
fumecheng-5678	148	40	of	of	ADP
fumecheng-5678	148	41	the	the	DET
fumecheng-5678	148	42	simulated	simulate	VERB
fumecheng-5678	148	43	disturbances	disturbance	NOUN
fumecheng-5678	148	44	[	[	X
fumecheng-5678	148	45	6	6	NUM
fumecheng-5678	148	46	]	]	PUNCT
fumecheng-5678	148	47	,	,	PUNCT
fumecheng-5678	148	48	fig	fig	NOUN
fumecheng-5678	148	49	.	.	PUNCT
fumecheng-5678	149	1	6	6	NUM
fumecheng-5678	149	2	.	.	X
fumecheng-5678	149	3	τldk	τldk	NOUN
fumecheng-5678	149	4	and	and	CCONJ
fumecheng-5678	149	5	τalleviatek	τalleviatek	NOUN
fumecheng-5678	149	6	,	,	PUNCT
fumecheng-5678	149	7	eq	eq	NOUN
fumecheng-5678	149	8	.	.	PUNCT
fumecheng-5678	150	1	(	(	PUNCT
fumecheng-5678	150	2	4	4	NUM
fumecheng-5678	150	3	)	)	PUNCT
fumecheng-5678	150	4	and	and	CCONJ
fumecheng-5678	150	5	algorithm	algorithm	NOUN
fumecheng-5678	150	6	1	1	NUM
fumecheng-5678	150	7	,	,	PUNCT
fumecheng-5678	150	8	are	be	AUX
fumecheng-5678	150	9	simulated	simulate	VERB
fumecheng-5678	150	10	,	,	PUNCT
fumecheng-5678	150	11	and	and	CCONJ
fumecheng-5678	150	12	the	the	DET
fumecheng-5678	150	13	dynamic	dynamic	ADJ
fumecheng-5678	150	14	saturation	saturation	NOUN
fumecheng-5678	150	15	is	be	AUX
fumecheng-5678	150	16	included	include	VERB
fumecheng-5678	150	17	as	as	SCONJ
fumecheng-5678	150	18	presented	present	VERB
fumecheng-5678	150	19	in	in	ADP
fumecheng-5678	150	20	fig	fig	NOUN
fumecheng-5678	150	21	.	.	PUNCT
fumecheng-5678	151	1	3	3	X
fumecheng-5678	151	2	.	.	X
fumecheng-5678	151	3	fig	fig	NOUN
fumecheng-5678	151	4	.	.	PUNCT
fumecheng-5678	152	1	6	6	NUM
fumecheng-5678	152	2	simulation	simulation	NOUN
fumecheng-5678	152	3	model	model	NOUN
fumecheng-5678	152	4	for	for	ADP
fumecheng-5678	152	5	single	single	ADJ
fumecheng-5678	152	6	joint	joint	ADJ
fumecheng-5678	152	7	ctc	ctc	PROPN
fumecheng-5678	152	8	method	method	NOUN
fumecheng-5678	152	9	computed	compute	VERB
fumecheng-5678	152	10	torque	torque	NOUN
fumecheng-5678	152	11	control	control	NOUN
fumecheng-5678	152	12	for	for	ADP
fumecheng-5678	152	13	a	a	DET
fumecheng-5678	152	14	spatial	spatial	ADJ
fumecheng-5678	152	15	disorientation	disorientation	NOUN
fumecheng-5678	152	16	trainer	trainer	NOUN
fumecheng-5678	152	17	277	277	NUM
fumecheng-5678	152	18	4	4	NUM
fumecheng-5678	152	19	.	.	PUNCT
fumecheng-5678	152	20	simulation	simulation	NOUN
fumecheng-5678	152	21	results	result	VERB
fumecheng-5678	152	22	in	in	ADP
fumecheng-5678	152	23	this	this	DET
fumecheng-5678	152	24	section	section	NOUN
fumecheng-5678	152	25	,	,	PUNCT
fumecheng-5678	152	26	simulation	simulation	NOUN
fumecheng-5678	152	27	results	result	VERB
fumecheng-5678	152	28	for	for	SCONJ
fumecheng-5678	152	29	the	the	DET
fumecheng-5678	152	30	two	two	NUM
fumecheng-5678	152	31	single	single	ADJ
fumecheng-5678	152	32	-	-	PUNCT
fumecheng-5678	152	33	joint	joint	ADJ
fumecheng-5678	152	34	control	control	NOUN
fumecheng-5678	152	35	methods	method	NOUN
fumecheng-5678	152	36	presented	present	VERB
fumecheng-5678	152	37	in	in	ADP
fumecheng-5678	152	38	section	section	NOUN
fumecheng-5678	152	39	3	3	NUM
fumecheng-5678	152	40	are	be	AUX
fumecheng-5678	152	41	given	give	VERB
fumecheng-5678	152	42	.	.	PUNCT
fumecheng-5678	153	1	the	the	DET
fumecheng-5678	153	2	performance	performance	NOUN
fumecheng-5678	153	3	of	of	ADP
fumecheng-5678	153	4	the	the	DET
fumecheng-5678	153	5	pi	pi	NOUN
fumecheng-5678	153	6	speed	speed	NOUN
fumecheng-5678	153	7	controller	controller	NOUN
fumecheng-5678	153	8	is	be	AUX
fumecheng-5678	153	9	compared	compare	VERB
fumecheng-5678	153	10	to	to	ADP
fumecheng-5678	153	11	the	the	DET
fumecheng-5678	153	12	same	same	ADJ
fumecheng-5678	153	13	feedback	feedback	NOUN
fumecheng-5678	153	14	controller	controller	NOUN
fumecheng-5678	153	15	with	with	ADP
fumecheng-5678	153	16	added	add	VERB
fumecheng-5678	153	17	ctc	ctc	PROPN
fumecheng-5678	153	18	compensation	compensation	PROPN
fumecheng-5678	153	19	.	.	PUNCT
fumecheng-5678	154	1	from	from	ADP
fumecheng-5678	154	2	catia	catia	PROPN
fumecheng-5678	154	3	software	software	PROPN
fumecheng-5678	154	4	,	,	PUNCT
fumecheng-5678	154	5	the	the	DET
fumecheng-5678	154	6	lowest	low	ADJ
fumecheng-5678	154	7	structural	structural	ADJ
fumecheng-5678	154	8	natural	natural	ADJ
fumecheng-5678	154	9	frequency	frequency	NOUN
fumecheng-5678	154	10	of	of	ADP
fumecheng-5678	154	11	the	the	DET
fumecheng-5678	154	12	sdt	sdt	PROPN
fumecheng-5678	154	13	is	be	AUX
fumecheng-5678	154	14	obtained	obtain	VERB
fumecheng-5678	154	15	to	to	PART
fumecheng-5678	154	16	be	be	AUX
fumecheng-5678	154	17	ωr	ωr	ADP
fumecheng-5678	154	18	=	=	NOUN
fumecheng-5678	154	19	10.5028	10.5028	NUM
fumecheng-5678	154	20	hz	hz	VERB
fumecheng-5678	154	21	.	.	PROPN
fumecheng-5678	155	1	for	for	ADP
fumecheng-5678	155	2	axis	axis	NOUN
fumecheng-5678	155	3	1	1	NUM
fumecheng-5678	155	4	,	,	PUNCT
fumecheng-5678	155	5	an	an	DET
fumecheng-5678	155	6	ac	ac	PROPN
fumecheng-5678	155	7	motor	motor	NOUN
fumecheng-5678	155	8	is	be	AUX
fumecheng-5678	155	9	chosen	choose	VERB
fumecheng-5678	155	10	with	with	ADP
fumecheng-5678	155	11	a	a	DET
fumecheng-5678	155	12	maximum	maximum	ADJ
fumecheng-5678	155	13	torque	torque	NOUN
fumecheng-5678	155	14	of	of	ADP
fumecheng-5678	155	15	203.2	203.2	NUM
fumecheng-5678	155	16	nm	nm	NOUN
fumecheng-5678	155	17	and	and	CCONJ
fumecheng-5678	155	18	a	a	DET
fumecheng-5678	155	19	gearbox	gearbox	NOUN
fumecheng-5678	155	20	ratio	ratio	NOUN
fumecheng-5678	155	21	67.2	67.2	NUM
fumecheng-5678	155	22	,	,	PUNCT
fumecheng-5678	155	23	moment	moment	NOUN
fumecheng-5678	155	24	inertia	inertia	NOUN
fumecheng-5678	155	25	of	of	ADP
fumecheng-5678	155	26	the	the	DET
fumecheng-5678	155	27	motor	motor	NOUN
fumecheng-5678	155	28	is	be	AUX
fumecheng-5678	155	29	im1=1291.10	im1=1291.10	ADV
fumecheng-5678	155	30	-	-	PUNCT
fumecheng-5678	155	31	4	4	NUM
fumecheng-5678	155	32	kgm2	kgm2	ADJ
fumecheng-5678	156	1	[	[	X
fumecheng-5678	156	2	7	7	NUM
fumecheng-5678	156	3	,	,	PUNCT
fumecheng-5678	156	4	22	22	NUM
fumecheng-5678	156	5	]	]	PUNCT
fumecheng-5678	156	6	.	.	PUNCT
fumecheng-5678	157	1	axes	axis	NOUN
fumecheng-5678	157	2	2	2	NUM
fumecheng-5678	157	3	,	,	PUNCT
fumecheng-5678	157	4	3	3	NUM
fumecheng-5678	157	5	and	and	CCONJ
fumecheng-5678	157	6	4	4	NUM
fumecheng-5678	157	7	are	be	AUX
fumecheng-5678	157	8	actuated	actuate	VERB
fumecheng-5678	157	9	by	by	ADP
fumecheng-5678	157	10	torque	torque	NOUN
fumecheng-5678	157	11	motors	motor	NOUN
fumecheng-5678	157	12	.	.	PUNCT
fumecheng-5678	158	1	the	the	DET
fumecheng-5678	158	2	motor	motor	NOUN
fumecheng-5678	158	3	for	for	ADP
fumecheng-5678	158	4	axis	axis	NOUN
fumecheng-5678	158	5	2	2	NUM
fumecheng-5678	158	6	achieves	achieve	VERB
fumecheng-5678	158	7	a	a	DET
fumecheng-5678	158	8	maximum	maximum	ADJ
fumecheng-5678	158	9	torque	torque	NOUN
fumecheng-5678	158	10	of	of	ADP
fumecheng-5678	158	11	3950	3950	NUM
fumecheng-5678	158	12	nm	nm	NOUN
fumecheng-5678	158	13	and	and	CCONJ
fumecheng-5678	158	14	has	have	VERB
fumecheng-5678	158	15	a	a	DET
fumecheng-5678	158	16	moment	moment	NOUN
fumecheng-5678	158	17	of	of	ADP
fumecheng-5678	158	18	inertia	inertia	NOUN
fumecheng-5678	158	19	im2=173.10	im2=173.10	ADJ
fumecheng-5678	158	20	-	-	PUNCT
fumecheng-5678	158	21	2	2	NUM
fumecheng-5678	158	22	kgm2	kgm2	NOUN
fumecheng-5678	158	23	.	.	PUNCT
fumecheng-5678	159	1	the	the	DET
fumecheng-5678	159	2	motors	motor	NOUN
fumecheng-5678	159	3	for	for	ADP
fumecheng-5678	159	4	axes	axis	NOUN
fumecheng-5678	159	5	3	3	NUM
fumecheng-5678	159	6	and	and	CCONJ
fumecheng-5678	159	7	4	4	NUM
fumecheng-5678	159	8	achieve	achieve	VERB
fumecheng-5678	159	9	maximum	maximum	ADJ
fumecheng-5678	159	10	torques	torque	NOUN
fumecheng-5678	159	11	of	of	ADP
fumecheng-5678	159	12	2150	2150	NUM
fumecheng-5678	159	13	nm	nm	NOUN
fumecheng-5678	159	14	and	and	CCONJ
fumecheng-5678	159	15	have	have	VERB
fumecheng-5678	159	16	moments	moment	NOUN
fumecheng-5678	159	17	of	of	ADP
fumecheng-5678	159	18	inertia	inertia	NOUN
fumecheng-5678	159	19	im3,4=53.1.10	im3,4=53.1.10	NOUN
fumecheng-5678	159	20	-	-	SYM
fumecheng-5678	159	21	2	2	NUM
fumecheng-5678	159	22	kgm2	kgm2	NOUN
fumecheng-5678	159	23	[	[	X
fumecheng-5678	159	24	7	7	NUM
fumecheng-5678	159	25	,	,	PUNCT
fumecheng-5678	159	26	23	23	NUM
fumecheng-5678	159	27	]	]	PUNCT
fumecheng-5678	159	28	.	.	PUNCT
fumecheng-5678	160	1	the	the	DET
fumecheng-5678	160	2	simulated	simulate	VERB
fumecheng-5678	160	3	gondola	gondola	PROPN
fumecheng-5678	160	4	payload	payload	NOUN
fumecheng-5678	160	5	is	be	AUX
fumecheng-5678	160	6	180	180	NUM
fumecheng-5678	160	7	kg	kg	NOUN
fumecheng-5678	161	1	[	[	X
fumecheng-5678	161	2	7	7	NUM
fumecheng-5678	161	3	]	]	PUNCT
fumecheng-5678	161	4	.	.	PUNCT
fumecheng-5678	162	1	simulink	simulink	NOUN
fumecheng-5678	162	2	models	model	NOUN
fumecheng-5678	162	3	are	be	AUX
fumecheng-5678	162	4	designed	design	VERB
fumecheng-5678	162	5	for	for	ADP
fumecheng-5678	162	6	all	all	DET
fumecheng-5678	162	7	4	4	NUM
fumecheng-5678	162	8	axes	axis	NOUN
fumecheng-5678	162	9	of	of	ADP
fumecheng-5678	162	10	the	the	DET
fumecheng-5678	162	11	sdt	sdt	NOUN
fumecheng-5678	162	12	for	for	ADP
fumecheng-5678	162	13	processes	process	NOUN
fumecheng-5678	162	14	with	with	ADP
fumecheng-5678	162	15	maximum	maximum	ADJ
fumecheng-5678	162	16	loads	load	NOUN
fumecheng-5678	162	17	(	(	PUNCT
fumecheng-5678	162	18	maximum	maximum	ADJ
fumecheng-5678	162	19	effective	effective	ADJ
fumecheng-5678	162	20	inertias	inertia	NOUN
fumecheng-5678	162	21	)	)	PUNCT
fumecheng-5678	162	22	.	.	PUNCT
fumecheng-5678	163	1	the	the	DET
fumecheng-5678	163	2	reference	reference	NOUN
fumecheng-5678	163	3	speeds	speed	NOUN
fumecheng-5678	163	4	are	be	AUX
fumecheng-5678	163	5	simulated	simulate	VERB
fumecheng-5678	163	6	as	as	ADP
fumecheng-5678	163	7	a	a	DET
fumecheng-5678	163	8	series	series	NOUN
fumecheng-5678	163	9	of	of	ADP
fumecheng-5678	163	10	discrete	discrete	ADJ
fumecheng-5678	163	11	values	value	NOUN
fumecheng-5678	163	12	obtained	obtain	VERB
fumecheng-5678	163	13	from	from	ADP
fumecheng-5678	163	14	the	the	DET
fumecheng-5678	163	15	trajectory	trajectory	NOUN
fumecheng-5678	163	16	planner	planner	NOUN
fumecheng-5678	163	17	,	,	PUNCT
fumecheng-5678	163	18	fig	fig	NOUN
fumecheng-5678	163	19	.	.	PUNCT
fumecheng-5678	164	1	2	2	X
fumecheng-5678	164	2	.	.	X
fumecheng-5678	164	3	in	in	ADP
fumecheng-5678	164	4	the	the	DET
fumecheng-5678	164	5	models	model	NOUN
fumecheng-5678	164	6	with	with	ADP
fumecheng-5678	164	7	pi	pi	NOUN
fumecheng-5678	164	8	speed	speed	NOUN
fumecheng-5678	164	9	feedback	feedback	NOUN
fumecheng-5678	164	10	only	only	ADV
fumecheng-5678	164	11	,	,	PUNCT
fumecheng-5678	164	12	fig	fig	NOUN
fumecheng-5678	164	13	.	.	PUNCT
fumecheng-5678	165	1	5	5	NUM
fumecheng-5678	165	2	,	,	PUNCT
fumecheng-5678	165	3	load	load	NOUN
fumecheng-5678	165	4	torque	torque	NOUN
fumecheng-5678	165	5	τldk	τldk	NOUN
fumecheng-5678	165	6	and	and	CCONJ
fumecheng-5678	165	7	torque	torque	NOUN
fumecheng-5678	165	8	contribution	contribution	NOUN
fumecheng-5678	165	9	of	of	ADP
fumecheng-5678	165	10	other	other	ADJ
fumecheng-5678	165	11	links	link	NOUN
fumecheng-5678	165	12	’	'	PUNCT
fumecheng-5678	165	13	motion	motion	NOUN
fumecheng-5678	165	14	τalleviatek	τalleviatek	NOUN
fumecheng-5678	165	15	,	,	PUNCT
fumecheng-5678	165	16	eq	eq	NOUN
fumecheng-5678	165	17	.	.	PUNCT
fumecheng-5678	166	1	(	(	PUNCT
fumecheng-5678	166	2	4	4	NUM
fumecheng-5678	166	3	)	)	PUNCT
fumecheng-5678	166	4	and	and	CCONJ
fumecheng-5678	166	5	algorithm	algorithm	NOUN
fumecheng-5678	166	6	1	1	NUM
fumecheng-5678	166	7	,	,	PUNCT
fumecheng-5678	166	8	fig	fig	NOUN
fumecheng-5678	166	9	.	.	PUNCT
fumecheng-5678	167	1	3	3	NUM
fumecheng-5678	167	2	,	,	PUNCT
fumecheng-5678	167	3	are	be	AUX
fumecheng-5678	167	4	simulated	simulate	VERB
fumecheng-5678	167	5	for	for	ADP
fumecheng-5678	167	6	every	every	DET
fumecheng-5678	167	7	interpolation	interpolation	NOUN
fumecheng-5678	167	8	period	period	NOUN
fumecheng-5678	167	9	δt=5	δt=5	PROPN
fumecheng-5678	167	10	ms	ms	PROPN
fumecheng-5678	167	11	.	.	PROPN
fumecheng-5678	167	12	in	in	ADP
fumecheng-5678	167	13	models	model	NOUN
fumecheng-5678	167	14	with	with	ADP
fumecheng-5678	167	15	pi	pi	NOUN
fumecheng-5678	167	16	speed	speed	NOUN
fumecheng-5678	167	17	feedback	feedback	NOUN
fumecheng-5678	167	18	plus	plus	CCONJ
fumecheng-5678	167	19	ctc	ctc	NOUN
fumecheng-5678	167	20	compensators	compensator	NOUN
fumecheng-5678	167	21	,	,	PUNCT
fumecheng-5678	167	22	load	load	NOUN
fumecheng-5678	167	23	torque	torque	NOUN
fumecheng-5678	167	24	τldk	τldk	NOUN
fumecheng-5678	167	25	is	be	AUX
fumecheng-5678	167	26	compensated	compensate	VERB
fumecheng-5678	167	27	in	in	ADP
fumecheng-5678	167	28	every	every	DET
fumecheng-5678	167	29	interpolation	interpolation	NOUN
fumecheng-5678	167	30	period	period	NOUN
fumecheng-5678	167	31	,	,	PUNCT
fumecheng-5678	167	32	while	while	SCONJ
fumecheng-5678	167	33	load	load	NOUN
fumecheng-5678	167	34	torque	torque	NOUN
fumecheng-5678	167	35	τlk	τlk	PROPN
fumecheng-5678	167	36	is	be	AUX
fumecheng-5678	167	37	simulated	simulate	VERB
fumecheng-5678	167	38	as	as	ADP
fumecheng-5678	167	39	τlk=	τlk=	PROPN
fumecheng-5678	167	40	τldk(q)(1	τldk(q)(1	PROPN
fumecheng-5678	167	41	+	+	NUM
fumecheng-5678	167	42	asinωdkt	asinωdkt	NOUN
fumecheng-5678	167	43	)	)	PUNCT
fumecheng-5678	167	44	,	,	PUNCT
fumecheng-5678	167	45	a	a	PRON
fumecheng-5678	167	46	is	be	AUX
fumecheng-5678	167	47	chosen	choose	VERB
fumecheng-5678	167	48	to	to	PART
fumecheng-5678	167	49	be	be	AUX
fumecheng-5678	167	50	0.05	0.05	NUM
fumecheng-5678	167	51	(	(	PUNCT
fumecheng-5678	167	52	meaning	mean	VERB
fumecheng-5678	167	53	that	that	SCONJ
fumecheng-5678	167	54	the	the	DET
fumecheng-5678	167	55	load	load	NOUN
fumecheng-5678	167	56	torque	torque	NOUN
fumecheng-5678	167	57	estimation	estimation	NOUN
fumecheng-5678	167	58	error	error	NOUN
fumecheng-5678	167	59	is	be	AUX
fumecheng-5678	167	60	about	about	ADV
fumecheng-5678	167	61	5	5	NUM
fumecheng-5678	167	62	%	%	NOUN
fumecheng-5678	167	63	)	)	PUNCT
fumecheng-5678	167	64	;	;	PUNCT
fumecheng-5678	167	65	τldk	τldk	NOUN
fumecheng-5678	167	66	and	and	CCONJ
fumecheng-5678	167	67	τalleviatek	τalleviatek	NOUN
fumecheng-5678	167	68	are	be	AUX
fumecheng-5678	167	69	calculated	calculate	VERB
fumecheng-5678	167	70	from	from	ADP
fumecheng-5678	167	71	eq	eq	PROPN
fumecheng-5678	167	72	.	.	PUNCT
fumecheng-5678	168	1	(	(	PUNCT
fumecheng-5678	168	2	4	4	NUM
fumecheng-5678	168	3	)	)	PUNCT
fumecheng-5678	168	4	and	and	CCONJ
fumecheng-5678	168	5	algorithm	algorithm	NOUN
fumecheng-5678	168	6	1	1	NUM
fumecheng-5678	168	7	,	,	PUNCT
fumecheng-5678	168	8	fig	fig	NOUN
fumecheng-5678	168	9	.	.	PUNCT
fumecheng-5678	169	1	6	6	NUM
fumecheng-5678	169	2	.	.	X
fumecheng-5678	169	3	dynamic	dynamic	ADJ
fumecheng-5678	169	4	saturation	saturation	NOUN
fumecheng-5678	169	5	presented	present	VERB
fumecheng-5678	169	6	in	in	ADP
fumecheng-5678	169	7	section	section	NOUN
fumecheng-5678	169	8	3.2	3.2	NUM
fumecheng-5678	169	9	is	be	AUX
fumecheng-5678	169	10	applied	apply	VERB
fumecheng-5678	169	11	at	at	ADP
fumecheng-5678	169	12	the	the	DET
fumecheng-5678	169	13	outputs	output	NOUN
fumecheng-5678	169	14	of	of	ADP
fumecheng-5678	169	15	controllers	controller	NOUN
fumecheng-5678	169	16	for	for	ADP
fumecheng-5678	169	17	all	all	DET
fumecheng-5678	169	18	simulation	simulation	NOUN
fumecheng-5678	169	19	models	model	NOUN
fumecheng-5678	169	20	.	.	PUNCT
fumecheng-5678	170	1	process	process	NOUN
fumecheng-5678	170	2	and	and	CCONJ
fumecheng-5678	170	3	controller	controller	NOUN
fumecheng-5678	170	4	parameters	parameter	NOUN
fumecheng-5678	170	5	for	for	ADP
fumecheng-5678	170	6	pi	pi	NOUN
fumecheng-5678	170	7	speed	speed	NOUN
fumecheng-5678	170	8	control	control	NOUN
fumecheng-5678	170	9	are	be	AUX
fumecheng-5678	170	10	given	give	VERB
fumecheng-5678	170	11	in	in	ADP
fumecheng-5678	170	12	table	table	NOUN
fumecheng-5678	170	13	1	1	NUM
fumecheng-5678	170	14	.	.	PUNCT
fumecheng-5678	170	15	variation	variation	NOUN
fumecheng-5678	170	16	of	of	ADP
fumecheng-5678	170	17	the	the	DET
fumecheng-5678	170	18	effective	effective	ADJ
fumecheng-5678	170	19	inertia	inertia	NOUN
fumecheng-5678	170	20	in	in	ADP
fumecheng-5678	170	21	percent	percent	NOUN
fumecheng-5678	170	22	is	be	AUX
fumecheng-5678	170	23	given	give	VERB
fumecheng-5678	170	24	,	,	PUNCT
fumecheng-5678	170	25	and	and	CCONJ
fumecheng-5678	170	26	the	the	DET
fumecheng-5678	170	27	variation	variation	NOUN
fumecheng-5678	170	28	of	of	ADP
fumecheng-5678	170	29	damping	damp	VERB
fumecheng-5678	170	30	factor	factor	NOUN
fumecheng-5678	170	31	ζk	ζk	NOUN
fumecheng-5678	170	32	for	for	ADP
fumecheng-5678	170	33	the	the	DET
fumecheng-5678	170	34	motion	motion	NOUN
fumecheng-5678	170	35	given	give	VERB
fumecheng-5678	170	36	in	in	ADP
fumecheng-5678	170	37	fig	fig	NOUN
fumecheng-5678	170	38	2	2	NUM
fumecheng-5678	170	39	.	.	PUNCT
fumecheng-5678	170	40	is	be	AUX
fumecheng-5678	170	41	presented	present	VERB
fumecheng-5678	170	42	for	for	ADP
fumecheng-5678	170	43	the	the	DET
fumecheng-5678	170	44	minimum	minimum	NOUN
fumecheng-5678	170	45	,	,	PUNCT
fumecheng-5678	170	46	the	the	DET
fumecheng-5678	170	47	median	median	NOUN
fumecheng-5678	170	48	and	and	CCONJ
fumecheng-5678	170	49	the	the	DET
fumecheng-5678	170	50	maximum	maximum	ADJ
fumecheng-5678	170	51	value	value	NOUN
fumecheng-5678	170	52	of	of	ADP
fumecheng-5678	170	53	effective	effective	ADJ
fumecheng-5678	170	54	inertia	inertia	NOUN
fumecheng-5678	170	55	.	.	PUNCT
fumecheng-5678	171	1	it	it	PRON
fumecheng-5678	171	2	should	should	AUX
fumecheng-5678	171	3	be	be	AUX
fumecheng-5678	171	4	noted	note	VERB
fumecheng-5678	171	5	that	that	SCONJ
fumecheng-5678	171	6	the	the	DET
fumecheng-5678	171	7	oscillation	oscillation	NOUN
fumecheng-5678	171	8	frequency	frequency	NOUN
fumecheng-5678	171	9	of	of	ADP
fumecheng-5678	171	10	the	the	DET
fumecheng-5678	171	11	closed	closed	ADJ
fumecheng-5678	171	12	-	-	PUNCT
fumecheng-5678	171	13	loop	loop	NOUN
fumecheng-5678	171	14	system	system	NOUN
fumecheng-5678	171	15	time	time	NOUN
fumecheng-5678	171	16	response	response	NOUN
fumecheng-5678	171	17	is	be	AUX
fumecheng-5678	171	18	smaller	small	ADJ
fumecheng-5678	171	19	than	than	ADP
fumecheng-5678	171	20	the	the	DET
fumecheng-5678	171	21	natural	natural	ADJ
fumecheng-5678	171	22	frequency	frequency	NOUN
fumecheng-5678	171	23	of	of	ADP
fumecheng-5678	171	24	the	the	DET
fumecheng-5678	171	25	closed	closed	ADJ
fumecheng-5678	171	26	-	-	PUNCT
fumecheng-5678	171	27	loop	loop	NOUN
fumecheng-5678	171	28	system	system	NOUN
fumecheng-5678	171	29	2	2	NUM
fumecheng-5678	171	30	o	o	NOUN
fumecheng-5678	171	31	n	n	CCONJ
fumecheng-5678	171	32	1k	1k	NOUN
fumecheng-5678	171	33	k	k	PROPN
fumecheng-5678	171	34	k	k	X
fumecheng-5678	172	1			PROPN
fumecheng-5678	172	2			PROPN
fumecheng-5678	172	3			PROPN
fumecheng-5678	172	4	.	.	PUNCT
fumecheng-5678	173	1	for	for	ADP
fumecheng-5678	173	2	ζk=0.95	ζk=0.95	NOUN
fumecheng-5678	173	3	for	for	ADP
fumecheng-5678	173	4	ieffkmax	ieffkmax	NOUN
fumecheng-5678	173	5	,	,	PUNCT
fumecheng-5678	173	6	the	the	DET
fumecheng-5678	173	7	oscillation	oscillation	NOUN
fumecheng-5678	173	8	frequency	frequency	NOUN
fumecheng-5678	173	9	of	of	ADP
fumecheng-5678	173	10	the	the	DET
fumecheng-5678	173	11	closed	closed	ADJ
fumecheng-5678	173	12	-	-	PUNCT
fumecheng-5678	173	13	loop	loop	NOUN
fumecheng-5678	173	14	system	system	NOUN
fumecheng-5678	173	15	time	time	NOUN
fumecheng-5678	173	16	response	response	NOUN
fumecheng-5678	173	17	with	with	ADP
fumecheng-5678	173	18	the	the	DET
fumecheng-5678	173	19	adopted	adopt	VERB
fumecheng-5678	173	20	gains	gain	NOUN
fumecheng-5678	173	21	is	be	AUX
fumecheng-5678	173	22	ωok=0.32ωnk=0.16ωr	ωok=0.32ωnk=0.16ωr	NOUN
fumecheng-5678	173	23	.	.	PUNCT
fumecheng-5678	173	24	table	table	NOUN
fumecheng-5678	173	25	1	1	NUM
fumecheng-5678	173	26	process	process	NOUN
fumecheng-5678	173	27	and	and	CCONJ
fumecheng-5678	173	28	controller	controller	NOUN
fumecheng-5678	173	29	parameters	parameter	NOUN
fumecheng-5678	173	30	,	,	PUNCT
fumecheng-5678	173	31	variation	variation	NOUN
fumecheng-5678	173	32	of	of	ADP
fumecheng-5678	173	33	effective	effective	ADJ
fumecheng-5678	173	34	inertia	inertia	NOUN
fumecheng-5678	173	35	and	and	CCONJ
fumecheng-5678	173	36	variation	variation	NOUN
fumecheng-5678	173	37	of	of	ADP
fumecheng-5678	173	38	damping	damp	VERB
fumecheng-5678	173	39	factor	factor	NOUN
fumecheng-5678	173	40	ζk	ζk	NOUN
fumecheng-5678	173	41	for	for	ADP
fumecheng-5678	173	42	the	the	DET
fumecheng-5678	173	43	motion	motion	NOUN
fumecheng-5678	173	44	given	give	VERB
fumecheng-5678	173	45	in	in	ADP
fumecheng-5678	173	46	fig	fig	NOUN
fumecheng-5678	173	47	.	.	PUNCT
fumecheng-5678	174	1	2	2	NUM
fumecheng-5678	174	2	joint	joint	ADJ
fumecheng-5678	174	3	ieffkmax	ieffkmax	NOUN
fumecheng-5678	174	4	[	[	X
fumecheng-5678	174	5	kgm2	kgm2	NOUN
fumecheng-5678	174	6	]	]	PUNCT
fumecheng-5678	174	7	gain	gain	VERB
fumecheng-5678	174	8	variation	variation	NOUN
fumecheng-5678	174	9	of	of	ADP
fumecheng-5678	175	1	eff	eff	PROPN
fumecheng-5678	175	2	.	.	PUNCT
fumecheng-5678	175	3	inertia	inertia	PROPN
fumecheng-5678	176	1	[	[	X
fumecheng-5678	176	2	%	%	X
fumecheng-5678	176	3	]	]	X
fumecheng-5678	176	4	ζk	ζk	PROPN
fumecheng-5678	176	5	kpsk	kpsk	PROPN
fumecheng-5678	176	6	kisk	kisk	NOUN
fumecheng-5678	176	7	ieffkmax	ieffkmax	PROPN
fumecheng-5678	176	8	ieffkmed	ieffkme	VERB
fumecheng-5678	176	9	ieffkmin	ieffkmin	VERB
fumecheng-5678	176	10	1	1	NUM
fumecheng-5678	176	11	4.26	4.26	NUM
fumecheng-5678	176	12	267.1	267.1	NUM
fumecheng-5678	176	13	4.64.103	4.64.103	NOUN
fumecheng-5678	176	14	39.95	39.95	NUM
fumecheng-5678	176	15	0.95	0.95	NUM
fumecheng-5678	176	16	1.06	1.06	NUM
fumecheng-5678	176	17	1.23	1.23	NUM
fumecheng-5678	176	18	2	2	NUM
fumecheng-5678	176	19	98.01	98.01	NUM
fumecheng-5678	176	20	6	6	NUM
fumecheng-5678	176	21	.	.	PUNCT
fumecheng-5678	176	22	34.103	34.103	NUM
fumecheng-5678	176	23	1.07.105	1.07.105	NOUN
fumecheng-5678	176	24	31.82	31.82	NUM
fumecheng-5678	176	25	0.98	0.98	NUM
fumecheng-5678	176	26	1.07	1.07	NUM
fumecheng-5678	176	27	1.18	1.18	NUM
fumecheng-5678	176	28	3	3	NUM
fumecheng-5678	176	29	796.3	796.3	NUM
fumecheng-5678	176	30	5.2.104	5.2.104	NUM
fumecheng-5678	176	31	8.67.105	8.67.105	NOUN
fumecheng-5678	176	32	7.29	7.29	NUM
fumecheng-5678	176	33	0.99	0.99	NUM
fumecheng-5678	176	34	1.009	1.009	NUM
fumecheng-5678	176	35	1.03	1.03	NUM
fumecheng-5678	176	36	4	4	NUM
fumecheng-5678	176	37	250.28	250.28	NUM
fumecheng-5678	177	1	1.57.104	1.57.104	NOUN
fumecheng-5678	177	2	2.73.105	2.73.105	NOUN
fumecheng-5678	177	3	25.4	25.4	NUM
fumecheng-5678	177	4	0.95	0.95	NUM
fumecheng-5678	177	5	1.017	1.017	NUM
fumecheng-5678	177	6	1.099	1.099	NUM
fumecheng-5678	177	7	in	in	ADP
fumecheng-5678	177	8	fig	fig	NOUN
fumecheng-5678	177	9	.	.	PUNCT
fumecheng-5678	178	1	7	7	NUM
fumecheng-5678	178	2	,	,	PUNCT
fumecheng-5678	178	3	trajectory	trajectory	NOUN
fumecheng-5678	178	4	tracking	tracking	NOUN
fumecheng-5678	178	5	for	for	ADP
fumecheng-5678	178	6	axes	axis	NOUN
fumecheng-5678	178	7	k=1	k=1	X
fumecheng-5678	178	8	,	,	PUNCT
fumecheng-5678	178	9	2	2	NUM
fumecheng-5678	178	10	..	..	SYM
fumecheng-5678	178	11	4	4	NUM
fumecheng-5678	178	12	with	with	ADP
fumecheng-5678	178	13	two	two	NUM
fumecheng-5678	178	14	considered	consider	VERB
fumecheng-5678	178	15	types	type	NOUN
fumecheng-5678	178	16	of	of	ADP
fumecheng-5678	178	17	controllers	controller	NOUN
fumecheng-5678	178	18	are	be	AUX
fumecheng-5678	178	19	presented	present	VERB
fumecheng-5678	178	20	.	.	PUNCT
fumecheng-5678	179	1	the	the	DET
fumecheng-5678	179	2	reference	reference	NOUN
fumecheng-5678	179	3	value	value	NOUN
fumecheng-5678	179	4	(	(	PUNCT
fumecheng-5678	179	5	a	a	DET
fumecheng-5678	179	6	series	series	NOUN
fumecheng-5678	179	7	of	of	ADP
fumecheng-5678	179	8	discrete	discrete	ADJ
fumecheng-5678	179	9	values	value	NOUN
fumecheng-5678	179	10	obtained	obtain	VERB
fumecheng-5678	179	11	from	from	ADP
fumecheng-5678	179	12	the	the	DET
fumecheng-5678	179	13	trajectory	trajectory	NOUN
fumecheng-5678	179	14	planner	planner	NOUN
fumecheng-5678	179	15	,	,	PUNCT
fumecheng-5678	179	16	fig	fig	NOUN
fumecheng-5678	179	17	.	.	NOUN
fumecheng-5678	179	18	2	2	NUM
fumecheng-5678	179	19	)	)	PUNCT
fumecheng-5678	179	20	is	be	AUX
fumecheng-5678	179	21	given	give	VERB
fumecheng-5678	179	22	in	in	ADP
fumecheng-5678	179	23	blue	blue	ADJ
fumecheng-5678	179	24	color	color	NOUN
fumecheng-5678	179	25	,	,	PUNCT
fumecheng-5678	179	26	the	the	DET
fumecheng-5678	179	27	outputs	output	NOUN
fumecheng-5678	179	28	obtained	obtain	VERB
fumecheng-5678	179	29	by	by	ADP
fumecheng-5678	179	30	the	the	DET
fumecheng-5678	179	31	pi	pi	NOUN
fumecheng-5678	179	32	speed	speed	NOUN
fumecheng-5678	179	33	controller	controller	NOUN
fumecheng-5678	179	34	are	be	AUX
fumecheng-5678	179	35	given	give	VERB
fumecheng-5678	179	36	in	in	ADP
fumecheng-5678	179	37	red	red	ADJ
fumecheng-5678	179	38	,	,	PUNCT
fumecheng-5678	179	39	while	while	SCONJ
fumecheng-5678	179	40	the	the	DET
fumecheng-5678	179	41	outputs	output	NOUN
fumecheng-5678	179	42	obtained	obtain	VERB
fumecheng-5678	179	43	by	by	ADP
fumecheng-5678	179	44	the	the	DET
fumecheng-5678	179	45	pi	pi	NOUN
fumecheng-5678	179	46	speed	speed	NOUN
fumecheng-5678	179	47	controller	controller	NOUN
fumecheng-5678	179	48	with	with	ADP
fumecheng-5678	179	49	added	add	VERB
fumecheng-5678	179	50	ctc	ctc	NOUN
fumecheng-5678	179	51	are	be	AUX
fumecheng-5678	179	52	given	give	VERB
fumecheng-5678	179	53	in	in	ADP
fumecheng-5678	179	54	green	green	ADJ
fumecheng-5678	179	55	color	color	NOUN
fumecheng-5678	179	56	.	.	PUNCT
fumecheng-5678	180	1	the	the	DET
fumecheng-5678	180	2	errors	errors	PROPN
fumecheng-5678	180	3	ek=	ek=	PROPN
fumecheng-5678	180	4	k	k	PROPN
fumecheng-5678	180	5	rk	rk	VERB
fumecheng-5678	180	6	,	,	PUNCT
fumecheng-5678	180	7	k=1	k=1	X
fumecheng-5678	180	8	,	,	PUNCT
fumecheng-5678	180	9	2	2	NUM
fumecheng-5678	180	10	..	..	SYM
fumecheng-5678	180	11	4	4	NUM
fumecheng-5678	180	12	in	in	ADP
fumecheng-5678	180	13	obtained	obtain	VERB
fumecheng-5678	180	14	speeds	speed	NOUN
fumecheng-5678	180	15	are	be	AUX
fumecheng-5678	180	16	given	give	VERB
fumecheng-5678	180	17	in	in	ADP
fumecheng-5678	180	18	fig	fig	NOUN
fumecheng-5678	180	19	.	.	PUNCT
fumecheng-5678	181	1	8	8	NUM
fumecheng-5678	181	2	.	.	X
fumecheng-5678	181	3	278	278	NUM
fumecheng-5678	181	4	j.	j.	PROPN
fumecheng-5678	181	5	vidaković	vidaković	PROPN
fumecheng-5678	181	6	,	,	PUNCT
fumecheng-5678	181	7	v.	v.	ADP
fumecheng-5678	181	8	kvrgić	kvrgić	NOUN
fumecheng-5678	181	9	,	,	PUNCT
fumecheng-5678	181	10	m.	m.	NOUN
fumecheng-5678	181	11	lazarević	lazarević	PROPN
fumecheng-5678	181	12	,	,	PUNCT
fumecheng-5678	181	13	p.	p.	NOUN
fumecheng-5678	181	14	stepanić	stepanić	PROPN
fumecheng-5678	181	15	fig	fig	PROPN
fumecheng-5678	181	16	.	.	PUNCT
fumecheng-5678	181	17	7	7	NUM
fumecheng-5678	182	1	the	the	DET
fumecheng-5678	182	2	obtained	obtain	VERB
fumecheng-5678	182	3	trajectory	trajectory	NOUN
fumecheng-5678	182	4	tracking	tracking	NOUN
fumecheng-5678	182	5	results	result	NOUN
fumecheng-5678	182	6	:	:	PUNCT
fumecheng-5678	182	7	reference	reference	NOUN
fumecheng-5678	182	8	value	value	NOUN
fumecheng-5678	182	9	is	be	AUX
fumecheng-5678	182	10	in	in	ADP
fumecheng-5678	182	11	the	the	DET
fumecheng-5678	182	12	blue	blue	ADJ
fumecheng-5678	182	13	line	line	NOUN
fumecheng-5678	182	14	,	,	PUNCT
fumecheng-5678	182	15	tracking	tracking	NOUN
fumecheng-5678	182	16	obtained	obtain	VERB
fumecheng-5678	182	17	by	by	ADP
fumecheng-5678	182	18	the	the	DET
fumecheng-5678	182	19	pi	pi	NOUN
fumecheng-5678	182	20	speed	speed	NOUN
fumecheng-5678	182	21	controller	controller	NOUN
fumecheng-5678	182	22	is	be	AUX
fumecheng-5678	182	23	in	in	ADP
fumecheng-5678	182	24	the	the	DET
fumecheng-5678	182	25	red	red	ADJ
fumecheng-5678	182	26	line	line	NOUN
fumecheng-5678	182	27	,	,	PUNCT
fumecheng-5678	182	28	tracking	tracking	NOUN
fumecheng-5678	182	29	obtained	obtain	VERB
fumecheng-5678	182	30	by	by	ADP
fumecheng-5678	182	31	ctc	ctc	PROPN
fumecheng-5678	182	32	compensation	compensation	NOUN
fumecheng-5678	182	33	added	add	VERB
fumecheng-5678	182	34	to	to	ADP
fumecheng-5678	182	35	the	the	DET
fumecheng-5678	182	36	pi	pi	NOUN
fumecheng-5678	182	37	speed	speed	NOUN
fumecheng-5678	182	38	controller	controller	NOUN
fumecheng-5678	182	39	is	be	AUX
fumecheng-5678	182	40	in	in	ADP
fumecheng-5678	182	41	the	the	DET
fumecheng-5678	182	42	green	green	ADJ
fumecheng-5678	182	43	line	line	NOUN
fumecheng-5678	182	44	as	as	SCONJ
fumecheng-5678	182	45	can	can	AUX
fumecheng-5678	182	46	be	be	AUX
fumecheng-5678	182	47	seen	see	VERB
fumecheng-5678	182	48	,	,	PUNCT
fumecheng-5678	182	49	there	there	PRON
fumecheng-5678	182	50	is	be	VERB
fumecheng-5678	182	51	an	an	DET
fumecheng-5678	182	52	improvement	improvement	NOUN
fumecheng-5678	182	53	in	in	ADP
fumecheng-5678	182	54	trajectory	trajectory	NOUN
fumecheng-5678	182	55	tracking	tracking	NOUN
fumecheng-5678	182	56	when	when	SCONJ
fumecheng-5678	182	57	ctc	ctc	PROPN
fumecheng-5678	182	58	compensation	compensation	PROPN
fumecheng-5678	182	59	is	be	AUX
fumecheng-5678	182	60	added	add	VERB
fumecheng-5678	182	61	to	to	ADP
fumecheng-5678	182	62	pi	pi	NOUN
fumecheng-5678	182	63	speed	speed	NOUN
fumecheng-5678	182	64	feedback	feedback	NOUN
fumecheng-5678	182	65	for	for	ADP
fumecheng-5678	182	66	the	the	DET
fumecheng-5678	182	67	desired	desire	VERB
fumecheng-5678	182	68	sdt	sdt	PROPN
fumecheng-5678	182	69	motion	motion	NOUN
fumecheng-5678	182	70	.	.	PUNCT
fumecheng-5678	183	1	the	the	DET
fumecheng-5678	183	2	constant	constant	ADJ
fumecheng-5678	183	3	reference	reference	NOUN
fumecheng-5678	183	4	speed	speed	NOUN
fumecheng-5678	183	5	is	be	AUX
fumecheng-5678	183	6	simulated	simulate	VERB
fumecheng-5678	183	7	in	in	ADP
fumecheng-5678	183	8	segments	segment	NOUN
fumecheng-5678	183	9	for	for	ADP
fumecheng-5678	183	10	the	the	DET
fumecheng-5678	183	11	joints	joint	NOUN
fumecheng-5678	183	12	2	2	NUM
fumecheng-5678	183	13	and	and	CCONJ
fumecheng-5678	183	14	4	4	NUM
fumecheng-5678	183	15	(	(	PUNCT
fumecheng-5678	183	16	denoted	denote	VERB
fumecheng-5678	183	17	in	in	ADP
fumecheng-5678	183	18	fig	fig	NOUN
fumecheng-5678	183	19	.	.	PUNCT
fumecheng-5678	184	1	8)	8)	NUM
fumecheng-5678	184	2	,	,	PUNCT
fumecheng-5678	184	3	and	and	CCONJ
fumecheng-5678	184	4	it	it	PRON
fumecheng-5678	184	5	can	can	AUX
fumecheng-5678	184	6	be	be	AUX
fumecheng-5678	184	7	seen	see	VERB
fumecheng-5678	184	8	that	that	SCONJ
fumecheng-5678	184	9	the	the	DET
fumecheng-5678	184	10	small	small	ADJ
fumecheng-5678	184	11	steady	steady	ADJ
fumecheng-5678	184	12	-	-	PUNCT
fumecheng-5678	184	13	state	state	NOUN
fumecheng-5678	184	14	error	error	NOUN
fumecheng-5678	184	15	is	be	AUX
fumecheng-5678	184	16	present	present	ADJ
fumecheng-5678	184	17	with	with	ADP
fumecheng-5678	184	18	the	the	DET
fumecheng-5678	184	19	pi	pi	NOUN
fumecheng-5678	184	20	speed	speed	NOUN
fumecheng-5678	184	21	control	control	NOUN
fumecheng-5678	184	22	as	as	ADP
fumecheng-5678	184	23	a	a	DET
fumecheng-5678	184	24	result	result	NOUN
fumecheng-5678	184	25	of	of	ADP
fumecheng-5678	184	26	varying	vary	VERB
fumecheng-5678	184	27	disturbance	disturbance	NOUN
fumecheng-5678	184	28	and	and	CCONJ
fumecheng-5678	184	29	limited	limited	ADJ
fumecheng-5678	184	30	controller	controller	NOUN
fumecheng-5678	184	31	gains	gain	NOUN
fumecheng-5678	184	32	.	.	PUNCT
fumecheng-5678	185	1	the	the	DET
fumecheng-5678	185	2	ctc	ctc	PROPN
fumecheng-5678	185	3	addition	addition	NOUN
fumecheng-5678	185	4	achieves	achieve	VERB
fumecheng-5678	185	5	zero	zero	NUM
fumecheng-5678	185	6	error	error	NOUN
fumecheng-5678	185	7	in	in	ADP
fumecheng-5678	185	8	steadystate	steadystate	NOUN
fumecheng-5678	185	9	.	.	PUNCT
fumecheng-5678	186	1	the	the	DET
fumecheng-5678	186	2	short	short	ADV
fumecheng-5678	186	3	-	-	PUNCT
fumecheng-5678	186	4	lasting	last	VERB
fumecheng-5678	186	5	high	high	ADJ
fumecheng-5678	186	6	values	value	NOUN
fumecheng-5678	186	7	of	of	ADP
fumecheng-5678	186	8	error	error	NOUN
fumecheng-5678	186	9	in	in	ADP
fumecheng-5678	186	10	pi	pi	NOUN
fumecheng-5678	186	11	speed	speed	NOUN
fumecheng-5678	186	12	control	control	NOUN
fumecheng-5678	186	13	for	for	ADP
fumecheng-5678	186	14	joint	joint	ADJ
fumecheng-5678	186	15	2	2	NUM
fumecheng-5678	186	16	at	at	ADP
fumecheng-5678	186	17	certain	certain	ADJ
fumecheng-5678	186	18	time	time	NOUN
fumecheng-5678	186	19	instants	instant	NOUN
fumecheng-5678	186	20	are	be	AUX
fumecheng-5678	186	21	caused	cause	VERB
fumecheng-5678	186	22	by	by	ADP
fumecheng-5678	186	23	sudden	sudden	ADJ
fumecheng-5678	186	24	and	and	CCONJ
fumecheng-5678	186	25	large	large	ADJ
fumecheng-5678	186	26	changes	change	NOUN
fumecheng-5678	186	27	in	in	ADP
fumecheng-5678	186	28	load	load	NOUN
fumecheng-5678	186	29	torque	torque	NOUN
fumecheng-5678	186	30	τld2	τld2	NOUN
fumecheng-5678	186	31	in	in	ADP
fumecheng-5678	186	32	those	those	DET
fumecheng-5678	186	33	instants	instant	NOUN
fumecheng-5678	186	34	.	.	PUNCT
fumecheng-5678	187	1	the	the	DET
fumecheng-5678	187	2	gains	gain	NOUN
fumecheng-5678	187	3	for	for	ADP
fumecheng-5678	187	4	pi	pi	NOUN
fumecheng-5678	187	5	speed	speed	NOUN
fumecheng-5678	187	6	controllers	controller	NOUN
fumecheng-5678	187	7	are	be	AUX
fumecheng-5678	187	8	selected	select	VERB
fumecheng-5678	187	9	for	for	ADP
fumecheng-5678	187	10	the	the	DET
fumecheng-5678	187	11	maximum	maximum	ADJ
fumecheng-5678	187	12	values	value	NOUN
fumecheng-5678	187	13	of	of	ADP
fumecheng-5678	187	14	effective	effective	ADJ
fumecheng-5678	187	15	inertia	inertia	NOUN
fumecheng-5678	187	16	ieffk	ieffk	NOUN
fumecheng-5678	187	17	,	,	PUNCT
fumecheng-5678	187	18	and	and	CCONJ
fumecheng-5678	187	19	control	control	NOUN
fumecheng-5678	187	20	system	system	NOUN
fumecheng-5678	187	21	performance	performance	NOUN
fumecheng-5678	187	22	is	be	AUX
fumecheng-5678	187	23	expected	expect	VERB
fumecheng-5678	187	24	to	to	PART
fumecheng-5678	187	25	deteriorate	deteriorate	VERB
fumecheng-5678	187	26	to	to	ADP
fumecheng-5678	187	27	a	a	DET
fumecheng-5678	187	28	certain	certain	ADJ
fumecheng-5678	187	29	extent	extent	NOUN
fumecheng-5678	187	30	for	for	ADP
fumecheng-5678	187	31	smaller	small	ADJ
fumecheng-5678	187	32	values	value	NOUN
fumecheng-5678	187	33	of	of	ADP
fumecheng-5678	187	34	ieffk	ieffk	NOUN
fumecheng-5678	187	35	.	.	PUNCT
fumecheng-5678	188	1	to	to	PART
fumecheng-5678	188	2	examine	examine	VERB
fumecheng-5678	188	3	the	the	DET
fumecheng-5678	188	4	performance	performance	NOUN
fumecheng-5678	188	5	decay	decay	NOUN
fumecheng-5678	188	6	,	,	PUNCT
fumecheng-5678	188	7	the	the	DET
fumecheng-5678	188	8	simulation	simulation	NOUN
fumecheng-5678	188	9	models	model	NOUN
fumecheng-5678	188	10	with	with	ADP
fumecheng-5678	188	11	the	the	DET
fumecheng-5678	188	12	same	same	ADJ
fumecheng-5678	188	13	pi	pi	NOUN
fumecheng-5678	188	14	controllers	controller	NOUN
fumecheng-5678	188	15	(	(	PUNCT
fumecheng-5678	188	16	designed	design	VERB
fumecheng-5678	188	17	for	for	ADP
fumecheng-5678	188	18	ieffkmax	ieffkmax	NOUN
fumecheng-5678	188	19	)	)	PUNCT
fumecheng-5678	188	20	and	and	CCONJ
fumecheng-5678	188	21	processes	process	NOUN
fumecheng-5678	188	22	with	with	ADP
fumecheng-5678	188	23	the	the	DET
fumecheng-5678	188	24	minimum	minimum	ADJ
fumecheng-5678	188	25	value	value	NOUN
fumecheng-5678	188	26	of	of	ADP
fumecheng-5678	188	27	ieffk	ieffk	NOUN
fumecheng-5678	188	28	are	be	AUX
fumecheng-5678	188	29	developed	develop	VERB
fumecheng-5678	188	30	.	.	PUNCT
fumecheng-5678	189	1	the	the	DET
fumecheng-5678	189	2	performance	performance	NOUN
fumecheng-5678	189	3	deterioration	deterioration	NOUN
fumecheng-5678	189	4	is	be	AUX
fumecheng-5678	189	5	not	not	PART
fumecheng-5678	189	6	significant	significant	ADJ
fumecheng-5678	189	7	except	except	SCONJ
fumecheng-5678	189	8	for	for	ADP
fumecheng-5678	189	9	joint	joint	ADJ
fumecheng-5678	189	10	2	2	NUM
fumecheng-5678	189	11	.	.	PUNCT
fumecheng-5678	190	1	for	for	ADP
fumecheng-5678	190	2	example	example	NOUN
fumecheng-5678	190	3	,	,	PUNCT
fumecheng-5678	190	4	the	the	DET
fumecheng-5678	190	5	maximum	maximum	ADJ
fumecheng-5678	190	6	error	error	NOUN
fumecheng-5678	190	7	for	for	ADP
fumecheng-5678	190	8	joint	joint	ADJ
fumecheng-5678	190	9	2	2	NUM
fumecheng-5678	190	10	with	with	ADP
fumecheng-5678	190	11	the	the	DET
fumecheng-5678	190	12	pi	pi	NOUN
fumecheng-5678	190	13	speed	speed	NOUN
fumecheng-5678	190	14	controller	controller	NOUN
fumecheng-5678	190	15	for	for	ADP
fumecheng-5678	190	16	the	the	DET
fumecheng-5678	190	17	process	process	NOUN
fumecheng-5678	190	18	with	with	ADP
fumecheng-5678	190	19	ieff2max	ieff2max	NUM
fumecheng-5678	190	20	(	(	PUNCT
fumecheng-5678	190	21	circled	circle	VERB
fumecheng-5678	190	22	in	in	ADP
fumecheng-5678	190	23	fig	fig	NOUN
fumecheng-5678	190	24	8	8	NUM
fumecheng-5678	190	25	.	.	PUNCT
fumecheng-5678	190	26	)	)	PUNCT
fumecheng-5678	190	27	is	be	AUX
fumecheng-5678	190	28	1.08	1.08	NUM
fumecheng-5678	190	29	rad	rad	NOUN
fumecheng-5678	190	30	/	/	SYM
fumecheng-5678	190	31	s	s	PROPN
fumecheng-5678	190	32	,	,	PUNCT
fumecheng-5678	190	33	and	and	CCONJ
fumecheng-5678	190	34	for	for	ADP
fumecheng-5678	190	35	the	the	DET
fumecheng-5678	190	36	process	process	NOUN
fumecheng-5678	190	37	with	with	ADP
fumecheng-5678	190	38	ieff2min	ieff2min	NOUN
fumecheng-5678	190	39	this	this	DET
fumecheng-5678	190	40	error	error	NOUN
fumecheng-5678	190	41	is	be	AUX
fumecheng-5678	190	42	1.204	1.204	NUM
fumecheng-5678	190	43	rad	rad	NOUN
fumecheng-5678	190	44	/	/	SYM
fumecheng-5678	190	45	s.	s.	PROPN
fumecheng-5678	190	46	when	when	SCONJ
fumecheng-5678	190	47	ctc	ctc	PROPN
fumecheng-5678	190	48	is	be	AUX
fumecheng-5678	190	49	added	add	VERB
fumecheng-5678	190	50	,	,	PUNCT
fumecheng-5678	190	51	the	the	DET
fumecheng-5678	190	52	difference	difference	NOUN
fumecheng-5678	190	53	in	in	ADP
fumecheng-5678	190	54	these	these	DET
fumecheng-5678	190	55	errors	error	NOUN
fumecheng-5678	190	56	(	(	PUNCT
fumecheng-5678	190	57	for	for	ADP
fumecheng-5678	190	58	ieff2max	ieff2max	NUM
fumecheng-5678	190	59	and	and	CCONJ
fumecheng-5678	190	60	ieff2min	ieff2min	NOUN
fumecheng-5678	190	61	)	)	PUNCT
fumecheng-5678	190	62	is	be	AUX
fumecheng-5678	190	63	insignificant	insignificant	ADJ
fumecheng-5678	190	64	.	.	PUNCT
fumecheng-5678	191	1	simulation	simulation	NOUN
fumecheng-5678	191	2	results	result	NOUN
fumecheng-5678	191	3	showed	show	VERB
fumecheng-5678	191	4	that	that	SCONJ
fumecheng-5678	191	5	for	for	ADP
fumecheng-5678	191	6	the	the	DET
fumecheng-5678	191	7	designed	design	VERB
fumecheng-5678	191	8	sdt	sdt	PROPN
fumecheng-5678	191	9	the	the	DET
fumecheng-5678	191	10	influence	influence	NOUN
fumecheng-5678	191	11	of	of	ADP
fumecheng-5678	191	12	the	the	DET
fumecheng-5678	191	13	nonlinear	nonlinear	ADJ
fumecheng-5678	191	14	dynamic	dynamic	ADJ
fumecheng-5678	191	15	model	model	NOUN
fumecheng-5678	191	16	on	on	ADP
fumecheng-5678	191	17	the	the	DET
fumecheng-5678	191	18	control	control	NOUN
fumecheng-5678	191	19	system	system	NOUN
fumecheng-5678	191	20	performance	performance	NOUN
fumecheng-5678	191	21	is	be	AUX
fumecheng-5678	191	22	not	not	PART
fumecheng-5678	191	23	negligible	negligible	ADJ
fumecheng-5678	191	24	for	for	ADP
fumecheng-5678	191	25	relatively	relatively	ADV
fumecheng-5678	191	26	small	small	ADJ
fumecheng-5678	191	27	values	value	NOUN
fumecheng-5678	191	28	of	of	ADP
fumecheng-5678	191	29	joint	joint	ADJ
fumecheng-5678	191	30	speeds	speed	NOUN
fumecheng-5678	191	31	.	.	PUNCT
fumecheng-5678	192	1	with	with	ADP
fumecheng-5678	192	2	the	the	DET
fumecheng-5678	192	3	reduction	reduction	NOUN
fumecheng-5678	192	4	of	of	ADP
fumecheng-5678	192	5	inertia	inertia	NOUN
fumecheng-5678	192	6	/	/	SYM
fumecheng-5678	192	7	mass	mass	NOUN
fumecheng-5678	192	8	of	of	ADP
fumecheng-5678	192	9	the	the	DET
fumecheng-5678	192	10	mechanical	mechanical	ADJ
fumecheng-5678	192	11	structure	structure	NOUN
fumecheng-5678	192	12	,	,	PUNCT
fumecheng-5678	192	13	the	the	DET
fumecheng-5678	192	14	significance	significance	NOUN
fumecheng-5678	192	15	of	of	ADP
fumecheng-5678	192	16	improvements	improvement	NOUN
fumecheng-5678	192	17	in	in	ADP
fumecheng-5678	192	18	trajectory	trajectory	NOUN
fumecheng-5678	192	19	tracking	tracking	NOUN
fumecheng-5678	192	20	achieved	achieve	VERB
fumecheng-5678	192	21	by	by	ADP
fumecheng-5678	192	22	the	the	DET
fumecheng-5678	192	23	addition	addition	NOUN
fumecheng-5678	192	24	of	of	ADP
fumecheng-5678	192	25	ctc	ctc	NOUN
fumecheng-5678	192	26	compensation	compensation	NOUN
fumecheng-5678	192	27	may	may	AUX
fumecheng-5678	192	28	be	be	AUX
fumecheng-5678	192	29	higher	high	ADJ
fumecheng-5678	192	30	(	(	PUNCT
fumecheng-5678	192	31	due	due	ADP
fumecheng-5678	192	32	to	to	ADP
fumecheng-5678	192	33	gains	gain	NOUN
fumecheng-5678	192	34	limitation	limitation	NOUN
fumecheng-5678	192	35	of	of	ADP
fumecheng-5678	192	36	general	general	ADJ
fumecheng-5678	192	37	pid	pid	NOUN
fumecheng-5678	192	38	controller	controller	NOUN
fumecheng-5678	192	39	to	to	PART
fumecheng-5678	192	40	avoid	avoid	VERB
fumecheng-5678	192	41	unwanted	unwanted	ADJ
fumecheng-5678	192	42	resonant	resonant	ADJ
fumecheng-5678	192	43	effects	effect	NOUN
fumecheng-5678	192	44	)	)	PUNCT
fumecheng-5678	192	45	.	.	PUNCT
fumecheng-5678	193	1	considering	consider	VERB
fumecheng-5678	193	2	that	that	SCONJ
fumecheng-5678	193	3	weight	weight	NOUN
fumecheng-5678	193	4	reduction	reduction	NOUN
fumecheng-5678	193	5	is	be	AUX
fumecheng-5678	193	6	performed	perform	VERB
fumecheng-5678	193	7	to	to	PART
fumecheng-5678	193	8	reduce	reduce	VERB
fumecheng-5678	193	9	the	the	DET
fumecheng-5678	193	10	computed	computed	ADJ
fumecheng-5678	193	11	torque	torque	NOUN
fumecheng-5678	193	12	control	control	NOUN
fumecheng-5678	193	13	for	for	ADP
fumecheng-5678	193	14	a	a	DET
fumecheng-5678	193	15	spatial	spatial	ADJ
fumecheng-5678	193	16	disorientation	disorientation	NOUN
fumecheng-5678	193	17	trainer	trainer	NOUN
fumecheng-5678	193	18	279	279	NUM
fumecheng-5678	193	19	motors	motor	NOUN
fumecheng-5678	193	20	’	'	PUNCT
fumecheng-5678	193	21	size	size	NOUN
fumecheng-5678	193	22	(	(	PUNCT
fumecheng-5678	193	23	power	power	NOUN
fumecheng-5678	193	24	)	)	PUNCT
fumecheng-5678	193	25	(	(	PUNCT
fumecheng-5678	193	26	to	to	PART
fumecheng-5678	193	27	achieve	achieve	VERB
fumecheng-5678	193	28	the	the	DET
fumecheng-5678	193	29	design	design	NOUN
fumecheng-5678	193	30	and	and	CCONJ
fumecheng-5678	193	31	usage	usage	NOUN
fumecheng-5678	193	32	cost	cost	NOUN
fumecheng-5678	193	33	reduction	reduction	NOUN
fumecheng-5678	193	34	)	)	PUNCT
fumecheng-5678	193	35	,	,	PUNCT
fumecheng-5678	193	36	this	this	DET
fumecheng-5678	193	37	possibility	possibility	NOUN
fumecheng-5678	193	38	should	should	AUX
fumecheng-5678	193	39	be	be	AUX
fumecheng-5678	193	40	tested	test	VERB
fumecheng-5678	193	41	by	by	ADP
fumecheng-5678	193	42	control	control	NOUN
fumecheng-5678	193	43	system	system	NOUN
fumecheng-5678	193	44	performance	performance	NOUN
fumecheng-5678	193	45	simulation	simulation	NOUN
fumecheng-5678	193	46	for	for	ADP
fumecheng-5678	193	47	the	the	DET
fumecheng-5678	193	48	chosen	choose	VERB
fumecheng-5678	193	49	smaller	small	ADJ
fumecheng-5678	193	50	motors	motor	NOUN
fumecheng-5678	193	51	and	and	CCONJ
fumecheng-5678	193	52	selected	select	VERB
fumecheng-5678	193	53	pid	pid	NOUN
fumecheng-5678	193	54	controller	controller	NOUN
fumecheng-5678	193	55	structure	structure	NOUN
fumecheng-5678	193	56	with	with	ADP
fumecheng-5678	193	57	the	the	DET
fumecheng-5678	193	58	adopted	adopt	VERB
fumecheng-5678	193	59	tuning	tuning	NOUN
fumecheng-5678	193	60	method	method	NOUN
fumecheng-5678	193	61	.	.	PUNCT
fumecheng-5678	194	1	the	the	DET
fumecheng-5678	194	2	benefits	benefit	NOUN
fumecheng-5678	194	3	of	of	ADP
fumecheng-5678	194	4	the	the	DET
fumecheng-5678	194	5	achieved	achieve	VERB
fumecheng-5678	194	6	improvements	improvement	NOUN
fumecheng-5678	194	7	should	should	AUX
fumecheng-5678	194	8	be	be	AUX
fumecheng-5678	194	9	weighted	weight	VERB
fumecheng-5678	194	10	with	with	ADP
fumecheng-5678	194	11	the	the	DET
fumecheng-5678	194	12	complexity	complexity	NOUN
fumecheng-5678	194	13	of	of	ADP
fumecheng-5678	194	14	practical	practical	ADJ
fumecheng-5678	194	15	implementation	implementation	NOUN
fumecheng-5678	194	16	.	.	PUNCT
fumecheng-5678	195	1	5	5	X
fumecheng-5678	195	2	.	.	X
fumecheng-5678	195	3	conclusion	conclusion	NOUN
fumecheng-5678	195	4	in	in	ADP
fumecheng-5678	195	5	this	this	DET
fumecheng-5678	195	6	paper	paper	NOUN
fumecheng-5678	195	7	,	,	PUNCT
fumecheng-5678	195	8	the	the	DET
fumecheng-5678	195	9	application	application	NOUN
fumecheng-5678	195	10	of	of	ADP
fumecheng-5678	195	11	the	the	DET
fumecheng-5678	195	12	computed	computed	ADJ
fumecheng-5678	195	13	torque	torque	NOUN
fumecheng-5678	195	14	method	method	NOUN
fumecheng-5678	195	15	for	for	ADP
fumecheng-5678	195	16	the	the	DET
fumecheng-5678	195	17	motion	motion	NOUN
fumecheng-5678	195	18	control	control	NOUN
fumecheng-5678	195	19	of	of	ADP
fumecheng-5678	195	20	the	the	DET
fumecheng-5678	195	21	spatial	spatial	ADJ
fumecheng-5678	195	22	disorientation	disorientation	NOUN
fumecheng-5678	195	23	trainer	trainer	NOUN
fumecheng-5678	195	24	is	be	AUX
fumecheng-5678	195	25	investigated	investigate	VERB
fumecheng-5678	195	26	using	use	VERB
fumecheng-5678	195	27	realistic	realistic	ADJ
fumecheng-5678	195	28	simulation	simulation	NOUN
fumecheng-5678	195	29	.	.	PUNCT
fumecheng-5678	196	1	the	the	DET
fumecheng-5678	196	2	sdt	sdt	PROPN
fumecheng-5678	196	3	device	device	NOUN
fumecheng-5678	196	4	is	be	AUX
fumecheng-5678	196	5	modeled	model	VERB
fumecheng-5678	196	6	as	as	ADP
fumecheng-5678	196	7	a	a	DET
fumecheng-5678	196	8	4dof	4dof	NUM
fumecheng-5678	196	9	robot	robot	NOUN
fumecheng-5678	196	10	manipulator	manipulator	NOUN
fumecheng-5678	196	11	with	with	ADP
fumecheng-5678	196	12	revolute	revolute	ADJ
fumecheng-5678	196	13	joints	joint	NOUN
fumecheng-5678	196	14	.	.	PUNCT
fumecheng-5678	197	1	models	model	NOUN
fumecheng-5678	197	2	for	for	ADP
fumecheng-5678	197	3	the	the	DET
fumecheng-5678	197	4	motors	motor	NOUN
fumecheng-5678	197	5	’	'	PUNCT
fumecheng-5678	197	6	mechanical	mechanical	ADJ
fumecheng-5678	197	7	subsystems	subsystem	NOUN
fumecheng-5678	197	8	used	use	VERB
fumecheng-5678	197	9	in	in	ADP
fumecheng-5678	197	10	simulation	simulation	NOUN
fumecheng-5678	197	11	examples	example	NOUN
fumecheng-5678	197	12	account	account	VERB
fumecheng-5678	197	13	for	for	ADP
fumecheng-5678	197	14	robot	robot	NOUN
fumecheng-5678	197	15	dynamic	dynamic	ADJ
fumecheng-5678	197	16	model	model	NOUN
fumecheng-5678	197	17	through	through	ADP
fumecheng-5678	197	18	inertia	inertia	NOUN
fumecheng-5678	197	19	reflected	reflect	VERB
fumecheng-5678	197	20	on	on	ADP
fumecheng-5678	197	21	the	the	DET
fumecheng-5678	197	22	rotor	rotor	NOUN
fumecheng-5678	197	23	shaft	shaft	NOUN
fumecheng-5678	197	24	.	.	PUNCT
fumecheng-5678	198	1	gains	gain	NOUN
fumecheng-5678	198	2	of	of	ADP
fumecheng-5678	198	3	the	the	DET
fumecheng-5678	198	4	applied	apply	VERB
fumecheng-5678	198	5	pi	pi	NOUN
fumecheng-5678	198	6	speed	speed	NOUN
fumecheng-5678	198	7	controllers	controller	NOUN
fumecheng-5678	198	8	are	be	AUX
fumecheng-5678	198	9	limited	limit	VERB
fumecheng-5678	198	10	taking	take	VERB
fumecheng-5678	198	11	into	into	ADP
fumecheng-5678	198	12	account	account	NOUN
fumecheng-5678	198	13	the	the	DET
fumecheng-5678	198	14	lowest	low	ADJ
fumecheng-5678	198	15	natural	natural	ADJ
fumecheng-5678	198	16	frequency	frequency	NOUN
fumecheng-5678	198	17	of	of	ADP
fumecheng-5678	198	18	the	the	DET
fumecheng-5678	198	19	mechanical	mechanical	ADJ
fumecheng-5678	198	20	structure	structure	NOUN
fumecheng-5678	198	21	obtained	obtain	VERB
fumecheng-5678	198	22	from	from	ADP
fumecheng-5678	198	23	cae	cae	PROPN
fumecheng-5678	198	24	software	software	NOUN
fumecheng-5678	198	25	.	.	PUNCT
fumecheng-5678	199	1	the	the	DET
fumecheng-5678	199	2	dynamic	dynamic	ADJ
fumecheng-5678	199	3	saturation	saturation	NOUN
fumecheng-5678	199	4	based	base	VERB
fumecheng-5678	199	5	on	on	ADP
fumecheng-5678	199	6	the	the	DET
fumecheng-5678	199	7	maximum	maximum	ADJ
fumecheng-5678	199	8	torques	torque	NOUN
fumecheng-5678	199	9	for	for	ADP
fumecheng-5678	199	10	the	the	DET
fumecheng-5678	199	11	selected	select	VERB
fumecheng-5678	199	12	actuators	actuator	NOUN
fumecheng-5678	199	13	is	be	AUX
fumecheng-5678	199	14	applied	apply	VERB
fumecheng-5678	199	15	at	at	ADP
fumecheng-5678	199	16	the	the	DET
fumecheng-5678	199	17	outputs	output	NOUN
fumecheng-5678	199	18	of	of	ADP
fumecheng-5678	199	19	controllers	controller	NOUN
fumecheng-5678	199	20	.	.	PUNCT
fumecheng-5678	200	1	within	within	ADP
fumecheng-5678	200	2	ctc	ctc	PROPN
fumecheng-5678	200	3	compensation	compensation	PROPN
fumecheng-5678	200	4	,	,	PUNCT
fumecheng-5678	200	5	the	the	DET
fumecheng-5678	200	6	reasonable	reasonable	ADJ
fumecheng-5678	200	7	error	error	NOUN
fumecheng-5678	200	8	in	in	ADP
fumecheng-5678	200	9	load	load	NOUN
fumecheng-5678	200	10	torque	torque	NOUN
fumecheng-5678	200	11	calculation	calculation	NOUN
fumecheng-5678	200	12	from	from	ADP
fumecheng-5678	200	13	the	the	DET
fumecheng-5678	200	14	dynamic	dynamic	ADJ
fumecheng-5678	200	15	model	model	NOUN
fumecheng-5678	200	16	is	be	AUX
fumecheng-5678	200	17	assumed	assume	VERB
fumecheng-5678	200	18	.	.	PUNCT
fumecheng-5678	201	1	the	the	DET
fumecheng-5678	201	2	addition	addition	NOUN
fumecheng-5678	201	3	of	of	ADP
fumecheng-5678	201	4	ctc	ctc	NOUN
fumecheng-5678	201	5	compensator	compensator	NOUN
fumecheng-5678	201	6	to	to	ADP
fumecheng-5678	201	7	the	the	DET
fumecheng-5678	201	8	pi	pi	NOUN
fumecheng-5678	201	9	speed	speed	NOUN
fumecheng-5678	201	10	feedback	feedback	NOUN
fumecheng-5678	201	11	controller	controller	NOUN
fumecheng-5678	201	12	achieved	achieve	VERB
fumecheng-5678	201	13	considerable	considerable	ADJ
fumecheng-5678	201	14	improvement	improvement	NOUN
fumecheng-5678	201	15	in	in	ADP
fumecheng-5678	201	16	trajectory	trajectory	NOUN
fumecheng-5678	201	17	tracking	tracking	NOUN
fumecheng-5678	201	18	in	in	ADP
fumecheng-5678	201	19	simulation	simulation	NOUN
fumecheng-5678	201	20	example	example	NOUN
fumecheng-5678	201	21	.	.	PUNCT
fumecheng-5678	202	1	the	the	DET
fumecheng-5678	202	2	simulation	simulation	NOUN
fumecheng-5678	202	3	results	result	NOUN
fumecheng-5678	202	4	are	be	AUX
fumecheng-5678	202	5	significant	significant	ADJ
fumecheng-5678	202	6	regarding	regard	VERB
fumecheng-5678	202	7	the	the	DET
fumecheng-5678	202	8	choice	choice	NOUN
fumecheng-5678	202	9	of	of	ADP
fumecheng-5678	202	10	the	the	DET
fumecheng-5678	202	11	control	control	NOUN
fumecheng-5678	202	12	method	method	NOUN
fumecheng-5678	202	13	for	for	ADP
fumecheng-5678	202	14	the	the	DET
fumecheng-5678	202	15	sdt	sdt	NOUN
fumecheng-5678	202	16	,	,	PUNCT
fumecheng-5678	202	17	and	and	CCONJ
fumecheng-5678	202	18	also	also	ADV
fumecheng-5678	202	19	in	in	ADP
fumecheng-5678	202	20	reference	reference	NOUN
fumecheng-5678	202	21	to	to	ADP
fumecheng-5678	202	22	the	the	DET
fumecheng-5678	202	23	design	design	NOUN
fumecheng-5678	202	24	of	of	ADP
fumecheng-5678	202	25	the	the	DET
fumecheng-5678	202	26	mechanical	mechanical	ADJ
fumecheng-5678	202	27	structure	structure	NOUN
fumecheng-5678	202	28	of	of	ADP
fumecheng-5678	202	29	the	the	DET
fumecheng-5678	202	30	manipulator	manipulator	NOUN
fumecheng-5678	202	31	and	and	CCONJ
fumecheng-5678	202	32	the	the	DET
fumecheng-5678	202	33	appropriate	appropriate	ADJ
fumecheng-5678	202	34	choice	choice	NOUN
fumecheng-5678	202	35	of	of	ADP
fumecheng-5678	202	36	motors	motor	NOUN
fumecheng-5678	202	37	.	.	PUNCT
fumecheng-5678	203	1	fig	fig	NOUN
fumecheng-5678	203	2	.	.	PUNCT
fumecheng-5678	204	1	8	8	NUM
fumecheng-5678	204	2	errors	error	NOUN
fumecheng-5678	204	3	in	in	ADP
fumecheng-5678	204	4	speed	speed	NOUN
fumecheng-5678	204	5	:	:	PUNCT
fumecheng-5678	204	6	obtained	obtain	VERB
fumecheng-5678	204	7	by	by	ADP
fumecheng-5678	204	8	the	the	DET
fumecheng-5678	204	9	pi	pi	NOUN
fumecheng-5678	204	10	speed	speed	NOUN
fumecheng-5678	204	11	controller	controller	NOUN
fumecheng-5678	204	12	in	in	ADP
fumecheng-5678	204	13	the	the	DET
fumecheng-5678	204	14	red	red	ADJ
fumecheng-5678	204	15	line	line	NOUN
fumecheng-5678	204	16	,	,	PUNCT
fumecheng-5678	204	17	obtained	obtain	VERB
fumecheng-5678	204	18	by	by	ADP
fumecheng-5678	204	19	ctc	ctc	PROPN
fumecheng-5678	204	20	compensation	compensation	NOUN
fumecheng-5678	204	21	added	add	VERB
fumecheng-5678	204	22	to	to	ADP
fumecheng-5678	204	23	the	the	DET
fumecheng-5678	204	24	pi	pi	NOUN
fumecheng-5678	204	25	speed	speed	NOUN
fumecheng-5678	204	26	controller	controller	NOUN
fumecheng-5678	204	27	in	in	ADP
fumecheng-5678	204	28	the	the	DET
fumecheng-5678	204	29	green	green	ADJ
fumecheng-5678	204	30	line	line	NOUN
fumecheng-5678	204	31	280	280	NUM
fumecheng-5678	204	32	j.	j.	PROPN
fumecheng-5678	204	33	vidaković	vidaković	PROPN
fumecheng-5678	204	34	,	,	PUNCT
fumecheng-5678	204	35	v.	v.	ADP
fumecheng-5678	204	36	kvrgić	kvrgić	NOUN
fumecheng-5678	204	37	,	,	PUNCT
fumecheng-5678	204	38	m.	m.	NOUN
fumecheng-5678	204	39	lazarević	lazarević	PROPN
fumecheng-5678	204	40	,	,	PUNCT
fumecheng-5678	204	41	p.	p.	NOUN
fumecheng-5678	204	42	stepanić	stepanić	NOUN
fumecheng-5678	204	43	acknowledgements	acknowledgement	NOUN
fumecheng-5678	204	44	:	:	PUNCT
fumecheng-5678	204	45	this	this	DET
fumecheng-5678	204	46	research	research	NOUN
fumecheng-5678	204	47	has	have	AUX
fumecheng-5678	204	48	been	be	AUX
fumecheng-5678	204	49	supported	support	VERB
fumecheng-5678	204	50	by	by	ADP
fumecheng-5678	204	51	research	research	NOUN
fumecheng-5678	204	52	grants	grant	NOUN
fumecheng-5678	204	53	of	of	ADP
fumecheng-5678	204	54	the	the	DET
fumecheng-5678	204	55	serbian	serbian	PROPN
fumecheng-5678	204	56	ministry	ministry	PROPN
fumecheng-5678	204	57	of	of	ADP
fumecheng-5678	204	58	education	education	PROPN
fumecheng-5678	204	59	,	,	PUNCT
fumecheng-5678	204	60	science	science	NOUN
fumecheng-5678	204	61	and	and	CCONJ
fumecheng-5678	204	62	technological	technological	ADJ
fumecheng-5678	204	63	development	development	NOUN
fumecheng-5678	204	64	under	under	ADP
fumecheng-5678	204	65	contract	contract	NOUN
fumecheng-5678	204	66	numbers	number	NOUN
fumecheng-5678	204	67	451	451	NUM
fumecheng-5678	204	68	-	-	SYM
fumecheng-5678	204	69	03	03	NUM
fumecheng-5678	204	70	-	-	PUNCT
fumecheng-5678	204	71	68/202014/200066	68/202014/200066	ADJ
fumecheng-5678	204	72	,	,	PUNCT
fumecheng-5678	204	73	451	451	NUM
fumecheng-5678	204	74	-	-	SYM
fumecheng-5678	204	75	03	03	NUM
fumecheng-5678	204	76	-	-	PUNCT
fumecheng-5678	204	77	68/2020	68/2020	NUM
fumecheng-5678	204	78	-	-	PUNCT
fumecheng-5678	204	79	14/200105	14/200105	NUM
fumecheng-5678	204	80	and	and	CCONJ
fumecheng-5678	204	81	451	451	NUM
fumecheng-5678	204	82	-	-	SYM
fumecheng-5678	204	83	03	03	NUM
fumecheng-5678	204	84	-	-	PUNCT
fumecheng-5678	204	85	68/2020	68/2020	NUM
fumecheng-5678	204	86	-	-	PUNCT
fumecheng-5678	204	87	14/200034	14/200034	NUM
fumecheng-5678	204	88	.	.	PUNCT
fumecheng-5678	205	1	references	reference	NOUN
fumecheng-5678	205	2	1	1	NUM
fumecheng-5678	205	3	.	.	PUNCT
fumecheng-5678	205	4	slotine	slotine	PROPN
fumecheng-5678	205	5	,	,	PUNCT
fumecheng-5678	205	6	j	j	PROPN
fumecheng-5678	205	7	-	-	PUNCT
fumecheng-5678	205	8	je	je	PROPN
fumecheng-5678	205	9	.	.	PROPN
fumecheng-5678	205	10	,	,	PUNCT
fumecheng-5678	205	11	weiping	weiping	NOUN
fumecheng-5678	205	12	,	,	PUNCT
fumecheng-5678	205	13	l.	l.	PROPN
fumecheng-5678	205	14	,	,	PUNCT
fumecheng-5678	205	15	1988	1988	NUM
fumecheng-5678	205	16	,	,	PUNCT
fumecheng-5678	205	17	adaptive	adaptive	ADJ
fumecheng-5678	205	18	manipulator	manipulator	NOUN
fumecheng-5678	205	19	control	control	NOUN
fumecheng-5678	205	20	:	:	PUNCT
fumecheng-5678	205	21	a	a	DET
fumecheng-5678	205	22	case	case	NOUN
fumecheng-5678	205	23	study	study	NOUN
fumecheng-5678	205	24	,	,	PUNCT
fumecheng-5678	205	25	ieee	ieee	NOUN
fumecheng-5678	205	26	transactions	transaction	NOUN
fumecheng-5678	205	27	on	on	ADP
fumecheng-5678	205	28	automatic	automatic	ADJ
fumecheng-5678	205	29	control	control	NOUN
fumecheng-5678	205	30	,	,	PUNCT
fumecheng-5678	205	31	33(11	33(11	NUM
fumecheng-5678	205	32	)	)	PUNCT
fumecheng-5678	205	33	,	,	PUNCT
fumecheng-5678	205	34	pp	pp	PROPN
fumecheng-5678	205	35	.	.	PUNCT
fumecheng-5678	206	1	995	995	NUM
fumecheng-5678	206	2	-	-	SYM
fumecheng-5678	206	3	1003	1003	NUM
fumecheng-5678	206	4	.	.	PUNCT
fumecheng-5678	207	1	2	2	X
fumecheng-5678	207	2	.	.	X
fumecheng-5678	208	1	chen	chen	PROPN
fumecheng-5678	208	2	,	,	PUNCT
fumecheng-5678	208	3	c	c	X
fumecheng-5678	208	4	-	-	PUNCT
fumecheng-5678	208	5	s.	s.	PROPN
fumecheng-5678	208	6	,	,	PUNCT
fumecheng-5678	208	7	2008	2008	NUM
fumecheng-5678	208	8	,	,	PUNCT
fumecheng-5678	208	9	dynamic	dynamic	ADJ
fumecheng-5678	208	10	structure	structure	NOUN
fumecheng-5678	208	11	neural	neural	ADJ
fumecheng-5678	208	12	-	-	PUNCT
fumecheng-5678	208	13	fuzzy	fuzzy	ADJ
fumecheng-5678	208	14	networks	network	NOUN
fumecheng-5678	208	15	for	for	ADP
fumecheng-5678	208	16	robust	robust	ADJ
fumecheng-5678	208	17	adaptive	adaptive	ADJ
fumecheng-5678	208	18	control	control	NOUN
fumecheng-5678	208	19	of	of	ADP
fumecheng-5678	208	20	robot	robot	NOUN
fumecheng-5678	208	21	manipulators	manipulator	NOUN
fumecheng-5678	208	22	,	,	PUNCT
fumecheng-5678	208	23	ieee	ieee	NOUN
fumecheng-5678	208	24	transactions	transaction	NOUN
fumecheng-5678	208	25	on	on	ADP
fumecheng-5678	208	26	industrial	industrial	ADJ
fumecheng-5678	208	27	electronics	electronic	NOUN
fumecheng-5678	208	28	,	,	PUNCT
fumecheng-5678	208	29	55(9	55(9	NUM
fumecheng-5678	208	30	)	)	PUNCT
fumecheng-5678	208	31	,	,	PUNCT
fumecheng-5678	208	32	pp	pp	PROPN
fumecheng-5678	208	33	.	.	PUNCT
fumecheng-5678	208	34	3402	3402	NUM
fumecheng-5678	208	35	-	-	SYM
fumecheng-5678	208	36	3414	3414	NUM
fumecheng-5678	208	37	.	.	PUNCT
fumecheng-5678	209	1	3	3	X
fumecheng-5678	209	2	.	.	X
fumecheng-5678	209	3	li	li	PROPN
fumecheng-5678	209	4	,	,	PUNCT
fumecheng-5678	209	5	x.	x.	PROPN
fumecheng-5678	209	6	,	,	PUNCT
fumecheng-5678	209	7	chien	chien	PROPN
fumecheng-5678	209	8	,	,	PUNCT
fumecheng-5678	209	9	c.c	c.c	PROPN
fumecheng-5678	209	10	.	.	PROPN
fumecheng-5678	209	11	,	,	PUNCT
fumecheng-5678	209	12	2013	2013	NUM
fumecheng-5678	209	13	,	,	PUNCT
fumecheng-5678	209	14	adaptive	adaptive	ADJ
fumecheng-5678	209	15	neural	neural	ADJ
fumecheng-5678	209	16	network	network	NOUN
fumecheng-5678	209	17	control	control	NOUN
fumecheng-5678	209	18	of	of	ADP
fumecheng-5678	209	19	robot	robot	NOUN
fumecheng-5678	209	20	based	base	VERB
fumecheng-5678	209	21	on	on	ADP
fumecheng-5678	209	22	a	a	DET
fumecheng-5678	209	23	unified	unified	ADJ
fumecheng-5678	209	24	objective	objective	NOUN
fumecheng-5678	209	25	bound	bind	VERB
fumecheng-5678	209	26	,	,	PUNCT
fumecheng-5678	209	27	ieee	ieee	NOUN
fumecheng-5678	209	28	transactions	transaction	NOUN
fumecheng-5678	209	29	on	on	ADP
fumecheng-5678	209	30	control	control	NOUN
fumecheng-5678	209	31	systems	system	NOUN
fumecheng-5678	209	32	technology	technology	NOUN
fumecheng-5678	209	33	,	,	PUNCT
fumecheng-5678	209	34	22(3	22(3	NUM
fumecheng-5678	209	35	)	)	PUNCT
fumecheng-5678	209	36	,	,	PUNCT
fumecheng-5678	209	37	pp	pp	ADP
fumecheng-5678	209	38	.	.	PUNCT
fumecheng-5678	210	1	1032	1032	NUM
fumecheng-5678	210	2	-	-	SYM
fumecheng-5678	210	3	1043	1043	NUM
fumecheng-5678	210	4	.	.	PUNCT
fumecheng-5678	211	1	4	4	X
fumecheng-5678	211	2	.	.	X
fumecheng-5678	211	3	peng	peng	PROPN
fumecheng-5678	211	4	,	,	PUNCT
fumecheng-5678	211	5	j.	j.	PROPN
fumecheng-5678	211	6	,	,	PUNCT
fumecheng-5678	211	7	yan	yan	PROPN
fumecheng-5678	211	8	,	,	PUNCT
fumecheng-5678	211	9	l.	l.	PROPN
fumecheng-5678	211	10	,	,	PUNCT
fumecheng-5678	211	11	jie	jie	PROPN
fumecheng-5678	211	12	,	,	PUNCT
fumecheng-5678	211	13	w.	w.	PROPN
fumecheng-5678	211	14	,	,	PUNCT
fumecheng-5678	211	15	2014	2014	NUM
fumecheng-5678	211	16	,	,	PUNCT
fumecheng-5678	211	17	fuzzy	fuzzy	ADJ
fumecheng-5678	211	18	adaptive	adaptive	ADJ
fumecheng-5678	211	19	output	output	NOUN
fumecheng-5678	211	20	feedback	feedback	NOUN
fumecheng-5678	211	21	control	control	NOUN
fumecheng-5678	211	22	for	for	ADP
fumecheng-5678	211	23	robotic	robotic	ADJ
fumecheng-5678	211	24	systems	system	NOUN
fumecheng-5678	211	25	based	base	VERB
fumecheng-5678	211	26	on	on	ADP
fumecheng-5678	211	27	fuzzy	fuzzy	ADJ
fumecheng-5678	211	28	adaptive	adaptive	ADJ
fumecheng-5678	211	29	observer	observer	NOUN
fumecheng-5678	211	30	,	,	PUNCT
fumecheng-5678	211	31	nonlinear	nonlinear	ADJ
fumecheng-5678	211	32	dynamics	dynamic	NOUN
fumecheng-5678	211	33	,	,	PUNCT
fumecheng-5678	211	34	78(2	78(2	NOUN
fumecheng-5678	211	35	)	)	PUNCT
fumecheng-5678	211	36	,	,	PUNCT
fumecheng-5678	211	37	pp	pp	ADJ
fumecheng-5678	211	38	.	.	PUNCT
fumecheng-5678	212	1	789	789	NUM
fumecheng-5678	212	2	-	-	SYM
fumecheng-5678	212	3	801	801	NUM
fumecheng-5678	212	4	.	.	PUNCT
fumecheng-5678	213	1	5	5	NUM
fumecheng-5678	213	2	.	.	X
fumecheng-5678	213	3	daş	daş	PROPN
fumecheng-5678	213	4	,	,	PUNCT
fumecheng-5678	213	5	m.t	m.t	PROPN
fumecheng-5678	213	6	.	.	PROPN
fumecheng-5678	213	7	,	,	PUNCT
fumecheng-5678	213	8	dülger	dülger	NOUN
fumecheng-5678	213	9	,	,	PUNCT
fumecheng-5678	213	10	l.c	l.c	PROPN
fumecheng-5678	213	11	.	.	PROPN
fumecheng-5678	213	12	,	,	PUNCT
fumecheng-5678	213	13	daş	daş	PROPN
fumecheng-5678	213	14	,	,	PUNCT
fumecheng-5678	213	15	g.s	g.s	PROPN
fumecheng-5678	213	16	.	.	PROPN
fumecheng-5678	213	17	,	,	PUNCT
fumecheng-5678	213	18	2013	2013	NUM
fumecheng-5678	213	19	,	,	PUNCT
fumecheng-5678	213	20	robotic	robotic	ADJ
fumecheng-5678	213	21	applications	application	NOUN
fumecheng-5678	213	22	with	with	ADP
fumecheng-5678	213	23	particle	particle	NOUN
fumecheng-5678	213	24	swarm	swarm	NOUN
fumecheng-5678	213	25	optimization	optimization	NOUN
fumecheng-5678	213	26	(	(	PUNCT
fumecheng-5678	213	27	pso	pso	NOUN
fumecheng-5678	213	28	)	)	PUNCT
fumecheng-5678	213	29	,	,	PUNCT
fumecheng-5678	213	30	proc	proc	NOUN
fumecheng-5678	213	31	.	.	PUNCT
fumecheng-5678	214	1	international	international	ADJ
fumecheng-5678	214	2	conference	conference	NOUN
fumecheng-5678	214	3	on	on	ADP
fumecheng-5678	214	4	control	control	NOUN
fumecheng-5678	214	5	,	,	PUNCT
fumecheng-5678	214	6	decision	decision	NOUN
fumecheng-5678	214	7	and	and	CCONJ
fumecheng-5678	214	8	information	information	NOUN
fumecheng-5678	214	9	technologies	technology	NOUN
fumecheng-5678	214	10	(	(	PUNCT
fumecheng-5678	214	11	codit	codit	NOUN
fumecheng-5678	214	12	)	)	PUNCT
fumecheng-5678	214	13	ieee	ieee	NOUN
fumecheng-5678	214	14	,	,	PUNCT
fumecheng-5678	214	15	pp	pp	ADP
fumecheng-5678	214	16	.	.	PUNCT
fumecheng-5678	215	1	160	160	NUM
fumecheng-5678	215	2	-	-	SYM
fumecheng-5678	215	3	165	165	NUM
fumecheng-5678	215	4	.	.	NOUN
fumecheng-5678	216	1	6	6	NUM
fumecheng-5678	216	2	.	.	X
fumecheng-5678	217	1	vidakovic	vidakovic	PROPN
fumecheng-5678	217	2	,	,	PUNCT
fumecheng-5678	217	3	j.	j.	PROPN
fumecheng-5678	217	4	,	,	PUNCT
fumecheng-5678	217	5	kvrgic	kvrgic	NOUN
fumecheng-5678	217	6	,	,	PUNCT
fumecheng-5678	217	7	v.	v.	PROPN
fumecheng-5678	217	8	,	,	PUNCT
fumecheng-5678	217	9	lazarevic	lazarevic	NOUN
fumecheng-5678	217	10	,	,	PUNCT
fumecheng-5678	217	11	m.	m.	NOUN
fumecheng-5678	217	12	,	,	PUNCT
fumecheng-5678	217	13	2018	2018	NUM
fumecheng-5678	217	14	,	,	PUNCT
fumecheng-5678	217	15	control	control	NOUN
fumecheng-5678	217	16	system	system	NOUN
fumecheng-5678	217	17	design	design	NOUN
fumecheng-5678	217	18	for	for	ADP
fumecheng-5678	217	19	a	a	DET
fumecheng-5678	217	20	centrifuge	centrifuge	NOUN
fumecheng-5678	217	21	motion	motion	NOUN
fumecheng-5678	217	22	simulator	simulator	NOUN
fumecheng-5678	217	23	based	base	VERB
fumecheng-5678	217	24	on	on	ADP
fumecheng-5678	217	25	dynamic	dynamic	ADJ
fumecheng-5678	217	26	model	model	NOUN
fumecheng-5678	217	27	,	,	PUNCT
fumecheng-5678	217	28	strojniski	strojniski	ADJ
fumecheng-5678	217	29	vestnik	vestnik	PROPN
fumecheng-5678	217	30	/	/	SYM
fumecheng-5678	217	31	journal	journal	NOUN
fumecheng-5678	217	32	of	of	ADP
fumecheng-5678	217	33	mechanical	mechanical	ADJ
fumecheng-5678	217	34	engineering	engineering	NOUN
fumecheng-5678	217	35	,	,	PUNCT
fumecheng-5678	217	36	64	64	NUM
fumecheng-5678	217	37	(	(	PUNCT
fumecheng-5678	217	38	7	7	NUM
fumecheng-5678	217	39	-	-	SYM
fumecheng-5678	217	40	8)	8)	NUM
fumecheng-5678	217	41	,	,	PUNCT
fumecheng-5678	217	42	pp	pp	ADJ
fumecheng-5678	217	43	.	.	PUNCT
fumecheng-5678	218	1	465	465	NUM
fumecheng-5678	218	2	-	-	SYM
fumecheng-5678	218	3	474	474	NUM
fumecheng-5678	218	4	.	.	PUNCT
fumecheng-5678	219	1	7	7	X
fumecheng-5678	219	2	.	.	X
fumecheng-5678	219	3	kvrgic	kvrgic	NOUN
fumecheng-5678	219	4	,	,	PUNCT
fumecheng-5678	219	5	v.m	v.m	PROPN
fumecheng-5678	219	6	.	.	PROPN
fumecheng-5678	219	7	,	,	PUNCT
fumecheng-5678	219	8	visnjic	visnjic	PROPN
fumecheng-5678	219	9	,	,	PUNCT
fumecheng-5678	219	10	z.m	z.m	PROPN
fumecheng-5678	219	11	.	.	PROPN
fumecheng-5678	219	12	,	,	PUNCT
fumecheng-5678	219	13	cvijanovic	cvijanovic	PROPN
fumecheng-5678	219	14	,	,	PUNCT
fumecheng-5678	219	15	v.b	v.b	PROPN
fumecheng-5678	219	16	.	.	PROPN
fumecheng-5678	219	17	,	,	PUNCT
fumecheng-5678	219	18	divnic	divnic	PROPN
fumecheng-5678	219	19	,	,	PUNCT
fumecheng-5678	219	20	d.s	d.s	PROPN
fumecheng-5678	219	21	.	.	PROPN
fumecheng-5678	219	22	,	,	PUNCT
fumecheng-5678	219	23	mitrovic	mitrovic	PROPN
fumecheng-5678	219	24	,	,	PUNCT
fumecheng-5678	219	25	s.m	s.m	PROPN
fumecheng-5678	219	26	.	.	PROPN
fumecheng-5678	219	27	,	,	PUNCT
fumecheng-5678	219	28	2015	2015	NUM
fumecheng-5678	219	29	,	,	PUNCT
fumecheng-5678	219	30	dynamics	dynamic	NOUN
fumecheng-5678	219	31	and	and	CCONJ
fumecheng-5678	219	32	control	control	NOUN
fumecheng-5678	219	33	of	of	ADP
fumecheng-5678	219	34	a	a	DET
fumecheng-5678	219	35	spatial	spatial	ADJ
fumecheng-5678	219	36	disorientation	disorientation	NOUN
fumecheng-5678	219	37	trainer	trainer	NOUN
fumecheng-5678	219	38	,	,	PUNCT
fumecheng-5678	219	39	robotics	robotic	NOUN
fumecheng-5678	219	40	and	and	CCONJ
fumecheng-5678	219	41	computer	computer	NOUN
fumecheng-5678	219	42	-	-	PUNCT
fumecheng-5678	219	43	integrated	integrate	VERB
fumecheng-5678	219	44	manufacturing	manufacturing	NOUN
fumecheng-5678	219	45	,	,	PUNCT
fumecheng-5678	219	46	35	35	NUM
fumecheng-5678	219	47	,	,	PUNCT
fumecheng-5678	219	48	pp	pp	ADJ
fumecheng-5678	219	49	.	.	PUNCT
fumecheng-5678	220	1	104	104	NUM
fumecheng-5678	220	2	-	-	SYM
fumecheng-5678	220	3	125	125	NUM
fumecheng-5678	220	4	.	.	NOUN
fumecheng-5678	220	5	8	8	NUM
fumecheng-5678	220	6	.	.	X
fumecheng-5678	221	1	previc	previc	VERB
fumecheng-5678	221	2	,	,	PUNCT
fumecheng-5678	221	3	f.h	f.h	PROPN
fumecheng-5678	221	4	.	.	PROPN
fumecheng-5678	221	5	,	,	PUNCT
fumecheng-5678	221	6	ercoline	ercoline	NOUN
fumecheng-5678	221	7	,	,	PUNCT
fumecheng-5678	221	8	w.r	w.r	PROPN
fumecheng-5678	221	9	.	.	PROPN
fumecheng-5678	221	10	,	,	PUNCT
fumecheng-5678	221	11	2004	2004	NUM
fumecheng-5678	221	12	,	,	PUNCT
fumecheng-5678	221	13	chapter	chapter	NOUN
fumecheng-5678	221	14	1	1	NUM
fumecheng-5678	221	15	.	.	PUNCT
fumecheng-5678	222	1	spatial	spatial	ADJ
fumecheng-5678	222	2	disorientation	disorientation	NOUN
fumecheng-5678	222	3	in	in	ADP
fumecheng-5678	222	4	aviation	aviation	NOUN
fumecheng-5678	222	5	:	:	PUNCT
fumecheng-5678	222	6	historical	historical	ADJ
fumecheng-5678	222	7	background	background	NOUN
fumecheng-5678	222	8	,	,	PUNCT
fumecheng-5678	222	9	concepts	concept	NOUN
fumecheng-5678	222	10	,	,	PUNCT
fumecheng-5678	222	11	and	and	CCONJ
fumecheng-5678	222	12	terminology	terminology	NOUN
fumecheng-5678	222	13	,	,	PUNCT
fumecheng-5678	222	14	progress	progress	NOUN
fumecheng-5678	222	15	in	in	ADP
fumecheng-5678	222	16	astronautics	astronautic	NOUN
fumecheng-5678	222	17	and	and	CCONJ
fumecheng-5678	222	18	aeronautics	aeronautic	NOUN
fumecheng-5678	222	19	,	,	PUNCT
fumecheng-5678	222	20	203	203	NUM
fumecheng-5678	222	21	,	,	PUNCT
fumecheng-5678	222	22	pp	pp	ADJ
fumecheng-5678	222	23	.	.	PUNCT
fumecheng-5678	223	1	1	1	NUM
fumecheng-5678	223	2	-	-	SYM
fumecheng-5678	223	3	36	36	NUM
fumecheng-5678	223	4	.	.	PUNCT
fumecheng-5678	224	1	9	9	NUM
fumecheng-5678	224	2	.	.	X
fumecheng-5678	224	3	lawson	lawson	PROPN
fumecheng-5678	224	4	,	,	PUNCT
fumecheng-5678	224	5	b.d	b.d	PROPN
fumecheng-5678	224	6	.	.	PROPN
fumecheng-5678	224	7	,	,	PUNCT
fumecheng-5678	224	8	curry	curry	PROPN
fumecheng-5678	224	9	,	,	PUNCT
fumecheng-5678	224	10	i.p	i.p	PROPN
fumecheng-5678	224	11	.	.	PROPN
fumecheng-5678	224	12	,	,	PUNCT
fumecheng-5678	224	13	muth	muth	PROPN
fumecheng-5678	224	14	,	,	PUNCT
fumecheng-5678	224	15	e.r	e.r	PROPN
fumecheng-5678	224	16	.	.	PROPN
fumecheng-5678	224	17	,	,	PUNCT
fumecheng-5678	224	18	hayes	hayes	PROPN
fumecheng-5678	224	19	,	,	PUNCT
fumecheng-5678	224	20	a.m.	a.m.	ADV
fumecheng-5678	224	21	,	,	PUNCT
fumecheng-5678	224	22	milam	milam	PROPN
fumecheng-5678	224	23	,	,	PUNCT
fumecheng-5678	224	24	l.s	l.s	PROPN
fumecheng-5678	224	25	.	.	PROPN
fumecheng-5678	224	26	,	,	PUNCT
fumecheng-5678	224	27	brill	brill	PROPN
fumecheng-5678	224	28	,	,	PUNCT
fumecheng-5678	224	29	j.c	j.c	PROPN
fumecheng-5678	224	30	.	.	PROPN
fumecheng-5678	224	31	,	,	PUNCT
fumecheng-5678	224	32	2017	2017	NUM
fumecheng-5678	224	33	,	,	PUNCT
fumecheng-5678	224	34	training	training	NOUN
fumecheng-5678	224	35	as	as	ADP
fumecheng-5678	224	36	a	a	DET
fumecheng-5678	224	37	countermeasure	countermeasure	NOUN
fumecheng-5678	224	38	for	for	ADP
fumecheng-5678	224	39	spatial	spatial	ADJ
fumecheng-5678	224	40	disorientation	disorientation	NOUN
fumecheng-5678	224	41	(	(	PUNCT
fumecheng-5678	224	42	sd	sd	NOUN
fumecheng-5678	224	43	)	)	PUNCT
fumecheng-5678	224	44	mishaps	mishap	NOUN
fumecheng-5678	224	45	:	:	PUNCT
fumecheng-5678	224	46	have	have	VERB
fumecheng-5678	224	47	opportunities	opportunity	NOUN
fumecheng-5678	224	48	for	for	ADP
fumecheng-5678	224	49	improvement	improvement	NOUN
fumecheng-5678	224	50	been	be	AUX
fumecheng-5678	224	51	missed	miss	VERB
fumecheng-5678	224	52	,	,	PUNCT
fumecheng-5678	224	53	educational	educational	ADJ
fumecheng-5678	224	54	notes	note	NOUN
fumecheng-5678	224	55	paper	paper	VERB
fumecheng-5678	224	56	nato	nato	PROPN
fumecheng-5678	224	57	-	-	PUNCT
fumecheng-5678	224	58	sto	sto	NOUN
fumecheng-5678	224	59	-	-	PUNCT
fumecheng-5678	224	60	en	en	NOUN
fumecheng-5678	224	61	-	-	PUNCT
fumecheng-5678	224	62	hfm	hfm	PROPN
fumecheng-5678	224	63	265	265	NUM
fumecheng-5678	224	64	.	.	PUNCT
fumecheng-5678	225	1	10	10	NUM
fumecheng-5678	225	2	.	.	PUNCT
fumecheng-5678	226	1	lewkowicz	lewkowicz	PROPN
fumecheng-5678	226	2	,	,	PUNCT
fumecheng-5678	226	3	r.	r.	PROPN
fumecheng-5678	226	4	,	,	PUNCT
fumecheng-5678	226	5	kowaleczko	kowaleczko	PROPN
fumecheng-5678	226	6	,	,	PUNCT
fumecheng-5678	226	7	g.	g.	PROPN
fumecheng-5678	226	8	,	,	PUNCT
fumecheng-5678	226	9	2019	2019	NUM
fumecheng-5678	226	10	,	,	PUNCT
fumecheng-5678	226	11	kinematic	kinematic	ADJ
fumecheng-5678	226	12	issues	issue	NOUN
fumecheng-5678	226	13	of	of	ADP
fumecheng-5678	226	14	a	a	DET
fumecheng-5678	226	15	spatial	spatial	ADJ
fumecheng-5678	226	16	disorientation	disorientation	NOUN
fumecheng-5678	226	17	simulator	simulator	NOUN
fumecheng-5678	226	18	,	,	PUNCT
fumecheng-5678	226	19	mechanism	mechanism	NOUN
fumecheng-5678	226	20	and	and	CCONJ
fumecheng-5678	226	21	machine	machine	NOUN
fumecheng-5678	226	22	theory	theory	NOUN
fumecheng-5678	226	23	,	,	PUNCT
fumecheng-5678	226	24	138	138	NUM
fumecheng-5678	226	25	,	,	PUNCT
fumecheng-5678	226	26	pp	pp	ADJ
fumecheng-5678	226	27	.	.	PUNCT
fumecheng-5678	227	1	169	169	NUM
fumecheng-5678	227	2	-	-	SYM
fumecheng-5678	227	3	181	181	NUM
fumecheng-5678	227	4	.	.	PUNCT
fumecheng-5678	228	1	11	11	NUM
fumecheng-5678	228	2	.	.	X
fumecheng-5678	229	1	gradwell	gradwell	PROPN
fumecheng-5678	229	2	,	,	PUNCT
fumecheng-5678	229	3	d.	d.	PROPN
fumecheng-5678	229	4	,	,	PUNCT
fumecheng-5678	229	5	rainford	rainford	PROPN
fumecheng-5678	229	6	,	,	PUNCT
fumecheng-5678	229	7	d.	d.	PROPN
fumecheng-5678	229	8	,	,	PUNCT
fumecheng-5678	229	9	2006	2006	NUM
fumecheng-5678	229	10	,	,	PUNCT
fumecheng-5678	229	11	ernsting	ernste	VERB
fumecheng-5678	229	12	's	's	PART
fumecheng-5678	229	13	aviation	aviation	NOUN
fumecheng-5678	229	14	and	and	CCONJ
fumecheng-5678	229	15	space	space	NOUN
fumecheng-5678	229	16	medicine	medicine	NOUN
fumecheng-5678	229	17	4e	4e	PROPN
fumecheng-5678	229	18	,	,	PUNCT
fumecheng-5678	229	19	crc	crc	NOUN
fumecheng-5678	229	20	press	press	NOUN
fumecheng-5678	229	21	,	,	PUNCT
fumecheng-5678	229	22	433	433	NUM
fumecheng-5678	229	23	p.	p.	NOUN
fumecheng-5678	229	24	12	12	NUM
fumecheng-5678	229	25	.	.	PUNCT
fumecheng-5678	230	1	craig	craig	PROPN
fumecheng-5678	230	2	,	,	PUNCT
fumecheng-5678	230	3	j.j	j.j	PROPN
fumecheng-5678	230	4	.	.	PROPN
fumecheng-5678	230	5	,	,	PUNCT
fumecheng-5678	230	6	2005	2005	NUM
fumecheng-5678	230	7	,	,	PUNCT
fumecheng-5678	230	8	introduction	introduction	NOUN
fumecheng-5678	230	9	to	to	ADP
fumecheng-5678	230	10	robotics	robotic	NOUN
fumecheng-5678	230	11	:	:	PUNCT
fumecheng-5678	230	12	mechanics	mechanic	NOUN
fumecheng-5678	230	13	and	and	CCONJ
fumecheng-5678	230	14	control	control	NOUN
fumecheng-5678	230	15	(	(	PUNCT
fumecheng-5678	230	16	3rd	3rd	ADJ
fumecheng-5678	230	17	ed	ed	NOUN
fumecheng-5678	230	18	.	.	PUNCT
fumecheng-5678	230	19	)	)	PUNCT
fumecheng-5678	230	20	,	,	PUNCT
fumecheng-5678	230	21	pearson	pearson	PROPN
fumecheng-5678	230	22	prentice	prentice	PROPN
fumecheng-5678	230	23	hall	hall	PROPN
fumecheng-5678	230	24	,	,	PUNCT
fumecheng-5678	230	25	upper	upper	ADJ
fumecheng-5678	230	26	saddle	saddle	NOUN
fumecheng-5678	230	27	river	river	NOUN
fumecheng-5678	230	28	,	,	PUNCT
fumecheng-5678	230	29	264	264	NUM
fumecheng-5678	230	30	p.	p.	NOUN
fumecheng-5678	230	31	,	,	PUNCT
fumecheng-5678	230	32	281	281	NUM
fumecheng-5678	230	33	p.	p.	NOUN
fumecheng-5678	230	34	13	13	NUM
fumecheng-5678	230	35	.	.	PUNCT
fumecheng-5678	231	1	spong	spong	PROPN
fumecheng-5678	231	2	,	,	PUNCT
fumecheng-5678	231	3	m.w	m.w	PROPN
fumecheng-5678	231	4	.	.	PROPN
fumecheng-5678	231	5	,	,	PUNCT
fumecheng-5678	231	6	vidyasagar	vidyasagar	ADJ
fumecheng-5678	231	7	,	,	PUNCT
fumecheng-5678	231	8	m.	m.	NOUN
fumecheng-5678	231	9	,	,	PUNCT
fumecheng-5678	231	10	2008	2008	NUM
fumecheng-5678	231	11	,	,	PUNCT
fumecheng-5678	231	12	robot	robot	NOUN
fumecheng-5678	231	13	dynamics	dynamic	NOUN
fumecheng-5678	231	14	and	and	CCONJ
fumecheng-5678	231	15	control	control	NOUN
fumecheng-5678	231	16	,	,	PUNCT
fumecheng-5678	231	17	john	john	PROPN
fumecheng-5678	231	18	wiley	wiley	PROPN
fumecheng-5678	231	19	&	&	CCONJ
fumecheng-5678	231	20	sons	son	NOUN
fumecheng-5678	231	21	,	,	PUNCT
fumecheng-5678	231	22	244	244	NUM
fumecheng-5678	231	23	p.	p.	NOUN
fumecheng-5678	231	24	,	,	PUNCT
fumecheng-5678	231	25	247	247	NUM
fumecheng-5678	231	26	p.	p.	NOUN
fumecheng-5678	231	27	,	,	PUNCT
fumecheng-5678	231	28	238	238	NUM
fumecheng-5678	231	29	p.	p.	NOUN
fumecheng-5678	231	30	14	14	NUM
fumecheng-5678	231	31	.	.	PUNCT
fumecheng-5678	232	1	vukosavic	vukosavic	PROPN
fumecheng-5678	232	2	,	,	PUNCT
fumecheng-5678	232	3	s.	s.	PROPN
fumecheng-5678	232	4	,	,	PUNCT
fumecheng-5678	232	5	2007	2007	NUM
fumecheng-5678	232	6	,	,	PUNCT
fumecheng-5678	232	7	digital	digital	ADJ
fumecheng-5678	232	8	control	control	NOUN
fumecheng-5678	232	9	of	of	ADP
fumecheng-5678	232	10	electrical	electrical	ADJ
fumecheng-5678	232	11	drives	drive	NOUN
fumecheng-5678	232	12	,	,	PUNCT
fumecheng-5678	232	13	springer	springer	NOUN
fumecheng-5678	232	14	-	-	PUNCT
fumecheng-5678	232	15	verlag	verlag	PROPN
fumecheng-5678	232	16	us	us	PROPN
fumecheng-5678	232	17	,	,	PUNCT
fumecheng-5678	232	18	new	new	PROPN
fumecheng-5678	232	19	york	york	PROPN
fumecheng-5678	232	20	,	,	PUNCT
fumecheng-5678	232	21	pp	pp	PROPN
fumecheng-5678	232	22	.	.	PUNCT
fumecheng-5678	233	1	2627	2627	NUM
fumecheng-5678	233	2	,	,	PUNCT
fumecheng-5678	233	3	40	40	NUM
fumecheng-5678	233	4	p.	p.	NOUN
fumecheng-5678	233	5	15	15	NUM
fumecheng-5678	233	6	.	.	PUNCT
fumecheng-5678	234	1	kvrgic	kvrgic	NOUN
fumecheng-5678	234	2	,	,	PUNCT
fumecheng-5678	234	3	v.	v.	PROPN
fumecheng-5678	234	4	,	,	PUNCT
fumecheng-5678	234	5	vidaković	vidaković	NOUN
fumecheng-5678	234	6	,	,	PUNCT
fumecheng-5678	234	7	j.	j.	PROPN
fumecheng-5678	234	8	,	,	PUNCT
fumecheng-5678	234	9	2020	2020	NUM
fumecheng-5678	234	10	,	,	PUNCT
fumecheng-5678	234	11	efficient	efficient	ADJ
fumecheng-5678	234	12	method	method	NOUN
fumecheng-5678	234	13	for	for	ADP
fumecheng-5678	234	14	robot	robot	NOUN
fumecheng-5678	234	15	forward	forward	ADJ
fumecheng-5678	234	16	dynamics	dynamic	NOUN
fumecheng-5678	234	17	computation	computation	NOUN
fumecheng-5678	234	18	,	,	PUNCT
fumecheng-5678	234	19	mechanism	mechanism	NOUN
fumecheng-5678	234	20	and	and	CCONJ
fumecheng-5678	234	21	machine	machine	NOUN
fumecheng-5678	234	22	theory	theory	NOUN
fumecheng-5678	234	23	,	,	PUNCT
fumecheng-5678	234	24	145	145	NUM
fumecheng-5678	234	25	,	,	PUNCT
fumecheng-5678	234	26	103680	103680	NUM
fumecheng-5678	234	27	.	.	PUNCT
fumecheng-5678	235	1	16	16	NUM
fumecheng-5678	235	2	.	.	PUNCT
fumecheng-5678	236	1	dančuo	dančuo	PROPN
fumecheng-5678	236	2	,	,	PUNCT
fumecheng-5678	236	3	z.	z.	PROPN
fumecheng-5678	236	4	,	,	PUNCT
fumecheng-5678	236	5	kvrgić	kvrgić	PROPN
fumecheng-5678	236	6	,	,	PUNCT
fumecheng-5678	236	7	v.	v.	ADV
fumecheng-5678	236	8	,	,	PUNCT
fumecheng-5678	236	9	rašuo	rašuo	NOUN
fumecheng-5678	236	10	,	,	PUNCT
fumecheng-5678	236	11	b.	b.	PROPN
fumecheng-5678	236	12	,	,	PUNCT
fumecheng-5678	236	13	vidaković	vidaković	PROPN
fumecheng-5678	236	14	,	,	PUNCT
fumecheng-5678	236	15	j.	j.	PROPN
fumecheng-5678	236	16	,	,	PUNCT
fumecheng-5678	236	17	2013	2013	NUM
fumecheng-5678	236	18	,	,	PUNCT
fumecheng-5678	236	19	on	on	ADP
fumecheng-5678	236	20	dynamics	dynamic	NOUN
fumecheng-5678	236	21	of	of	ADP
fumecheng-5678	236	22	a	a	DET
fumecheng-5678	236	23	spatial	spatial	ADJ
fumecheng-5678	236	24	disorientation	disorientation	NOUN
fumecheng-5678	236	25	trainer	trainer	NOUN
fumecheng-5678	236	26	for	for	ADP
fumecheng-5678	236	27	pilot	pilot	NOUN
fumecheng-5678	236	28	training	training	NOUN
fumecheng-5678	236	29	,	,	PUNCT
fumecheng-5678	236	30	proc	proc	NOUN
fumecheng-5678	236	31	.	.	PUNCT
fumecheng-5678	237	1	fourth	fourth	ADJ
fumecheng-5678	237	2	serbian	serbian	ADJ
fumecheng-5678	237	3	congress	congress	PROPN
fumecheng-5678	237	4	on	on	ADP
fumecheng-5678	237	5	theoretical	theoretical	ADJ
fumecheng-5678	237	6	and	and	CCONJ
fumecheng-5678	237	7	applied	applied	ADJ
fumecheng-5678	237	8	mechanics	mechanic	NOUN
fumecheng-5678	237	9	,	,	PUNCT
fumecheng-5678	237	10	vrnjačka	vrnjačka	NOUN
fumecheng-5678	237	11	banja	banja	PROPN
fumecheng-5678	237	12	,	,	PUNCT
fumecheng-5678	237	13	pp	pp	ADJ
fumecheng-5678	237	14	.	.	PUNCT
fumecheng-5678	238	1	681	681	NUM
fumecheng-5678	238	2	-	-	SYM
fumecheng-5678	238	3	686	686	NUM
fumecheng-5678	238	4	.	.	PUNCT
fumecheng-5678	239	1	17	17	NUM
fumecheng-5678	239	2	.	.	PUNCT
fumecheng-5678	240	1	lee	lee	PROPN
fumecheng-5678	240	2	,	,	PUNCT
fumecheng-5678	240	3	h.s	h.s	PROPN
fumecheng-5678	240	4	.	.	PROPN
fumecheng-5678	240	5	,	,	PUNCT
fumecheng-5678	240	6	tomizuka	tomizuka	PROPN
fumecheng-5678	240	7	,	,	PUNCT
fumecheng-5678	240	8	m.	m.	NOUN
fumecheng-5678	240	9	,	,	PUNCT
fumecheng-5678	240	10	1996	1996	NUM
fumecheng-5678	240	11	,	,	PUNCT
fumecheng-5678	240	12	robust	robust	ADJ
fumecheng-5678	240	13	motion	motion	NOUN
fumecheng-5678	240	14	controller	controller	NOUN
fumecheng-5678	240	15	design	design	NOUN
fumecheng-5678	240	16	for	for	ADP
fumecheng-5678	240	17	high	high	ADJ
fumecheng-5678	240	18	-	-	PUNCT
fumecheng-5678	240	19	accuracy	accuracy	NOUN
fumecheng-5678	240	20	positioning	positioning	NOUN
fumecheng-5678	240	21	systems	system	NOUN
fumecheng-5678	240	22	,	,	PUNCT
fumecheng-5678	240	23	ieee	ieee	NOUN
fumecheng-5678	240	24	transaction	transaction	NOUN
fumecheng-5678	240	25	on	on	ADP
fumecheng-5678	240	26	industrial	industrial	ADJ
fumecheng-5678	240	27	electronnics	electronnic	NOUN
fumecheng-5678	240	28	,	,	PUNCT
fumecheng-5678	240	29	43(1	43(1	NOUN
fumecheng-5678	240	30	)	)	PUNCT
fumecheng-5678	240	31	,	,	PUNCT
fumecheng-5678	240	32	pp	pp	PROPN
fumecheng-5678	240	33	.	.	PUNCT
fumecheng-5678	241	1	48	48	NUM
fumecheng-5678	241	2	-	-	SYM
fumecheng-5678	241	3	55	55	NUM
fumecheng-5678	241	4	.	.	PUNCT
fumecheng-5678	242	1	18	18	NUM
fumecheng-5678	242	2	.	.	PUNCT
fumecheng-5678	242	3	demirtas	demirta	NOUN
fumecheng-5678	242	4	,	,	PUNCT
fumecheng-5678	242	5	m.	m.	NOUN
fumecheng-5678	242	6	,	,	PUNCT
fumecheng-5678	242	7	2011	2011	NUM
fumecheng-5678	242	8	,	,	PUNCT
fumecheng-5678	242	9	off	off	ADP
fumecheng-5678	242	10	-	-	PUNCT
fumecheng-5678	242	11	line	line	NOUN
fumecheng-5678	242	12	tuning	tuning	NOUN
fumecheng-5678	242	13	of	of	ADP
fumecheng-5678	242	14	a	a	DET
fumecheng-5678	242	15	pi	pi	NOUN
fumecheng-5678	242	16	speed	speed	NOUN
fumecheng-5678	242	17	controller	controller	NOUN
fumecheng-5678	242	18	for	for	ADP
fumecheng-5678	242	19	a	a	DET
fumecheng-5678	242	20	permanent	permanent	ADJ
fumecheng-5678	242	21	magnet	magnet	NOUN
fumecheng-5678	242	22	brushless	brushless	NOUN
fumecheng-5678	242	23	dc	dc	PROPN
fumecheng-5678	242	24	motor	motor	NOUN
fumecheng-5678	242	25	using	use	VERB
fumecheng-5678	242	26	dsp	dsp	NOUN
fumecheng-5678	242	27	,	,	PUNCT
fumecheng-5678	242	28	energy	energy	NOUN
fumecheng-5678	242	29	conversion	conversion	NOUN
fumecheng-5678	242	30	and	and	CCONJ
fumecheng-5678	242	31	management	management	NOUN
fumecheng-5678	242	32	,	,	PUNCT
fumecheng-5678	242	33	52(1	52(1	NOUN
fumecheng-5678	242	34	)	)	PUNCT
fumecheng-5678	242	35	,	,	PUNCT
fumecheng-5678	242	36	pp	pp	PROPN
fumecheng-5678	242	37	.	.	PUNCT
fumecheng-5678	243	1	264	264	NUM
fumecheng-5678	243	2	-	-	SYM
fumecheng-5678	243	3	273	273	NUM
fumecheng-5678	243	4	.	.	NOUN
fumecheng-5678	244	1	19	19	NUM
fumecheng-5678	244	2	.	.	X
fumecheng-5678	244	3	aström	aström	PROPN
fumecheng-5678	244	4	,	,	PUNCT
fumecheng-5678	244	5	k.	k.	PROPN
fumecheng-5678	244	6	,	,	PUNCT
fumecheng-5678	244	7	hägglund	hägglund	NOUN
fumecheng-5678	244	8	,	,	PUNCT
fumecheng-5678	244	9	t.	t.	PROPN
fumecheng-5678	244	10	,	,	PUNCT
fumecheng-5678	244	11	1995	1995	NUM
fumecheng-5678	244	12	,	,	PUNCT
fumecheng-5678	244	13	pid	pid	NOUN
fumecheng-5678	244	14	controllers	controller	NOUN
fumecheng-5678	244	15	:	:	PUNCT
fumecheng-5678	245	1	theory	theory	NOUN
fumecheng-5678	245	2	,	,	PUNCT
fumecheng-5678	245	3	design	design	NOUN
fumecheng-5678	245	4	,	,	PUNCT
fumecheng-5678	245	5	and	and	CCONJ
fumecheng-5678	245	6	tuning	tuning	NOUN
fumecheng-5678	245	7	,	,	PUNCT
fumecheng-5678	245	8	(	(	PUNCT
fumecheng-5678	245	9	2nd	2nd	ADJ
fumecheng-5678	245	10	ed	ed	NOUN
fumecheng-5678	245	11	.	.	PUNCT
fumecheng-5678	245	12	)	)	PUNCT
fumecheng-5678	245	13	,	,	PUNCT
fumecheng-5678	245	14	isa	isa	NOUN
fumecheng-5678	245	15	,	,	PUNCT
fumecheng-5678	245	16	research	research	NOUN
fumecheng-5678	245	17	triangle	triangle	NOUN
fumecheng-5678	245	18	park	park	PROPN
fumecheng-5678	245	19	nc	nc	PROPN
fumecheng-5678	245	20	,	,	PUNCT
fumecheng-5678	245	21	52	52	NUM
fumecheng-5678	245	22	p.	p.	NOUN
fumecheng-5678	245	23	20	20	NUM
fumecheng-5678	245	24	.	.	PUNCT
fumecheng-5678	246	1	paul	paul	PROPN
fumecheng-5678	246	2	,	,	PUNCT
fumecheng-5678	246	3	r.p	r.p	PROPN
fumecheng-5678	246	4	.	.	PROPN
fumecheng-5678	246	5	,	,	PUNCT
fumecheng-5678	246	6	1981	1981	NUM
fumecheng-5678	246	7	,	,	PUNCT
fumecheng-5678	246	8	robot	robot	NOUN
fumecheng-5678	246	9	manipulators	manipulator	NOUN
fumecheng-5678	246	10	:	:	PUNCT
fumecheng-5678	246	11	mathematics	mathematic	NOUN
fumecheng-5678	246	12	,	,	PUNCT
fumecheng-5678	246	13	programming	programming	NOUN
fumecheng-5678	246	14	,	,	PUNCT
fumecheng-5678	246	15	and	and	CCONJ
fumecheng-5678	246	16	control	control	NOUN
fumecheng-5678	246	17	:	:	PUNCT
fumecheng-5678	246	18	the	the	DET
fumecheng-5678	246	19	computer	computer	NOUN
fumecheng-5678	246	20	control	control	NOUN
fumecheng-5678	246	21	of	of	ADP
fumecheng-5678	246	22	robot	robot	NOUN
fumecheng-5678	246	23	manipulators	manipulator	NOUN
fumecheng-5678	246	24	,	,	PUNCT
fumecheng-5678	246	25	mit	mit	PROPN
fumecheng-5678	246	26	press	press	NOUN
fumecheng-5678	246	27	,	,	PUNCT
fumecheng-5678	246	28	cambridge	cambridge	PROPN
fumecheng-5678	246	29	ma	ma	PROPN
fumecheng-5678	246	30	,	,	PUNCT
fumecheng-5678	246	31	200	200	NUM
fumecheng-5678	246	32	p.	p.	NOUN
fumecheng-5678	246	33	21	21	NUM
fumecheng-5678	246	34	.	.	PUNCT
fumecheng-5678	247	1	dhaouadi	dhaouadi	PROPN
fumecheng-5678	247	2	,	,	PUNCT
fumecheng-5678	247	3	r.	r.	PROPN
fumecheng-5678	247	4	,	,	PUNCT
fumecheng-5678	247	5	kubo	kubo	PROPN
fumecheng-5678	247	6	,	,	PUNCT
fumecheng-5678	247	7	k.	k.	PROPN
fumecheng-5678	247	8	,	,	PUNCT
fumecheng-5678	247	9	tobise	tobise	PROPN
fumecheng-5678	247	10	,	,	PUNCT
fumecheng-5678	247	11	m.	m.	NOUN
fumecheng-5678	247	12	,	,	PUNCT
fumecheng-5678	247	13	1993	1993	NUM
fumecheng-5678	247	14	,	,	PUNCT
fumecheng-5678	247	15	two	two	NUM
fumecheng-5678	247	16	-	-	PUNCT
fumecheng-5678	247	17	degree	degree	NOUN
fumecheng-5678	247	18	-	-	PUNCT
fumecheng-5678	247	19	of	of	ADP
fumecheng-5678	247	20	-	-	PUNCT
fumecheng-5678	247	21	freedom	freedom	NOUN
fumecheng-5678	247	22	robust	robust	ADJ
fumecheng-5678	247	23	speed	speed	NOUN
fumecheng-5678	247	24	controller	controller	NOUN
fumecheng-5678	247	25	for	for	ADP
fumecheng-5678	247	26	highperformance	highperformance	NOUN
fumecheng-5678	247	27	rolling	rolling	NOUN
fumecheng-5678	247	28	mill	mill	NOUN
fumecheng-5678	247	29	drives	drive	NOUN
fumecheng-5678	247	30	,	,	PUNCT
fumecheng-5678	247	31	ieee	ieee	NOUN
fumecheng-5678	247	32	transactions	transaction	NOUN
fumecheng-5678	247	33	on	on	ADP
fumecheng-5678	247	34	industry	industry	NOUN
fumecheng-5678	247	35	applications	application	NOUN
fumecheng-5678	247	36	,	,	PUNCT
fumecheng-5678	247	37	29(5	29(5	NUM
fumecheng-5678	247	38	)	)	PUNCT
fumecheng-5678	247	39	,	,	PUNCT
fumecheng-5678	247	40	pp	pp	ADP
fumecheng-5678	247	41	.	.	PUNCT
fumecheng-5678	248	1	919	919	NUM
fumecheng-5678	248	2	-	-	SYM
fumecheng-5678	248	3	926	926	NUM
fumecheng-5678	248	4	.	.	PUNCT
fumecheng-5678	249	1	22	22	NUM
fumecheng-5678	249	2	.	.	PUNCT
fumecheng-5678	250	1	siemens	siemen	NOUN
fumecheng-5678	250	2	configuration	configuration	NOUN
fumecheng-5678	250	3	manual	manual	NOUN
fumecheng-5678	250	4	,	,	PUNCT
fumecheng-5678	250	5	(	(	PUNCT
fumecheng-5678	250	6	pft6	pft6	NOUN
fumecheng-5678	250	7	)	)	PUNCT
fumecheng-5678	250	8	,	,	PUNCT
fumecheng-5678	250	9	edition	edition	NOUN
fumecheng-5678	250	10	12	12	NUM
fumecheng-5678	250	11	,	,	PUNCT
fumecheng-5678	250	12	2004	2004	NUM
fumecheng-5678	250	13	,	,	PUNCT
fumecheng-5678	250	14	6sn1197	6sn1197	PROPN
fumecheng-5678	250	15	-	-	PUNCT
fumecheng-5678	250	16	0ad12	0ad12	PROPN
fumecheng-5678	250	17	-	-	PUNCT
fumecheng-5678	250	18	0bp0	0bp0	NOUN
fumecheng-5678	250	19	.	.	PUNCT
fumecheng-5678	251	1	23	23	NUM
fumecheng-5678	251	2	.	.	PUNCT
fumecheng-5678	252	1	siemens	siemen	NOUN
fumecheng-5678	252	2	configuration	configuration	NOUN
fumecheng-5678	252	3	manual	manual	NOUN
fumecheng-5678	252	4	,	,	PUNCT
fumecheng-5678	252	5	2009	2009	NUM
fumecheng-5678	252	6	,	,	PUNCT
fumecheng-5678	252	7	05/2009	05/2009	NUM
fumecheng-5678	252	8	,	,	PUNCT
fumecheng-5678	252	9	6sn1197	6sn1197	NUM
fumecheng-5678	252	10	-	-	PUNCT
fumecheng-5678	252	11	0ae00	0ae00	PROPN
fumecheng-5678	252	12	-	-	PUNCT
fumecheng-5678	252	13	0bp3	0bp3	NUM
fumecheng-5678	252	14	.	.	PUNCT