id	sid	tid	token	lemma	pos
fcis-11254	1	1	frontiers	frontier	NOUN
fcis-11254	1	2	in	in	ADP
fcis-11254	1	3	computing	computing	NOUN
fcis-11254	1	4	and	and	CCONJ
fcis-11254	1	5	intelligent	intelligent	ADJ
fcis-11254	1	6	systems	system	NOUN
fcis-11254	1	7	issn	issn	VERB
fcis-11254	1	8	:	:	PUNCT
fcis-11254	1	9	2832	2832	NUM
fcis-11254	1	10	-	-	SYM
fcis-11254	1	11	6024	6024	NUM
fcis-11254	1	12	|	|	NOUN
fcis-11254	1	13	vol	vol	NOUN
fcis-11254	1	14	.	.	PROPN
fcis-11254	2	1	4	4	NUM
fcis-11254	2	2	,	,	PUNCT
fcis-11254	2	3	no	no	INTJ
fcis-11254	2	4	.	.	NOUN
fcis-11254	2	5	3	3	NUM
fcis-11254	2	6	,	,	PUNCT
fcis-11254	2	7	2023	2023	NUM
fcis-11254	2	8	125	125	NUM
fcis-11254	2	9	a	a	DET
fcis-11254	2	10	gravity	gravity	NOUN
fcis-11254	2	11	compensation	compensation	NOUN
fcis-11254	2	12	algorithm	algorithm	NOUN
fcis-11254	2	13	of	of	ADP
fcis-11254	2	14	robot	robot	NOUN
fcis-11254	2	15	manipulator	manipulator	NOUN
fcis-11254	2	16	control	control	NOUN
fcis-11254	2	17	based	base	VERB
fcis-11254	2	18	on	on	ADP
fcis-11254	2	19	the	the	DET
fcis-11254	2	20	trigonometric	trigonometric	ADJ
fcis-11254	2	21	function	function	NOUN
fcis-11254	2	22	yan	yan	PROPN
fcis-11254	2	23	wang	wang	PROPN
fcis-11254	2	24	,	,	PUNCT
fcis-11254	2	25	xue	xue	PROPN
fcis-11254	2	26	chen	chen	PROPN
fcis-11254	2	27	guizhou	guizhou	PROPN
fcis-11254	2	28	light	light	PROPN
fcis-11254	2	29	industry	industry	PROPN
fcis-11254	2	30	technical	technical	PROPN
fcis-11254	2	31	college	college	PROPN
fcis-11254	2	32	,	,	PUNCT
fcis-11254	2	33	guiyang	guiyang	PROPN
fcis-11254	2	34	550025	550025	NUM
fcis-11254	3	1	,	,	PUNCT
fcis-11254	3	2	china	china	PROPN
fcis-11254	3	3	abstract	abstract	NOUN
fcis-11254	3	4	:	:	PUNCT
fcis-11254	3	5	the	the	DET
fcis-11254	3	6	conventional	conventional	ADJ
fcis-11254	3	7	gravity	gravity	NOUN
fcis-11254	3	8	compensation	compensation	NOUN
fcis-11254	3	9	algorithm	algorithm	NOUN
fcis-11254	3	10	requires	require	VERB
fcis-11254	3	11	precise	precise	ADJ
fcis-11254	3	12	dynamic	dynamic	ADJ
fcis-11254	3	13	parameters	parameter	NOUN
fcis-11254	3	14	and	and	CCONJ
fcis-11254	3	15	a	a	DET
fcis-11254	3	16	complex	complex	ADJ
fcis-11254	3	17	matrix	matrix	NOUN
fcis-11254	3	18	transformation	transformation	NOUN
fcis-11254	3	19	operation	operation	NOUN
fcis-11254	3	20	,	,	PUNCT
fcis-11254	3	21	which	which	PRON
fcis-11254	3	22	is	be	AUX
fcis-11254	3	23	difficult	difficult	ADJ
fcis-11254	3	24	in	in	ADP
fcis-11254	3	25	applications	application	NOUN
fcis-11254	3	26	to	to	ADP
fcis-11254	3	27	real	real	ADJ
fcis-11254	3	28	-	-	PUNCT
fcis-11254	3	29	time	time	NOUN
fcis-11254	3	30	control	control	NOUN
fcis-11254	3	31	.	.	PUNCT
fcis-11254	4	1	in	in	ADP
fcis-11254	4	2	this	this	DET
fcis-11254	4	3	paper	paper	NOUN
fcis-11254	4	4	,	,	PUNCT
fcis-11254	4	5	a	a	DET
fcis-11254	4	6	simple	simple	ADJ
fcis-11254	4	7	and	and	CCONJ
fcis-11254	4	8	practical	practical	ADJ
fcis-11254	4	9	gravity	gravity	NOUN
fcis-11254	4	10	compensation	compensation	NOUN
fcis-11254	4	11	algorithm	algorithm	NOUN
fcis-11254	4	12	is	be	AUX
fcis-11254	4	13	proposed	propose	VERB
fcis-11254	4	14	based	base	VERB
fcis-11254	4	15	on	on	ADP
fcis-11254	4	16	the	the	DET
fcis-11254	4	17	space	space	NOUN
fcis-11254	4	18	geometry	geometry	NOUN
fcis-11254	4	19	characteristics	characteristic	NOUN
fcis-11254	4	20	of	of	ADP
fcis-11254	4	21	a	a	DET
fcis-11254	4	22	mechanical	mechanical	ADJ
fcis-11254	4	23	arm	arm	NOUN
fcis-11254	4	24	and	and	CCONJ
fcis-11254	4	25	the	the	DET
fcis-11254	4	26	principle	principle	NOUN
fcis-11254	4	27	of	of	ADP
fcis-11254	4	28	torque	torque	NOUN
fcis-11254	4	29	balance	balance	NOUN
fcis-11254	4	30	.	.	PUNCT
fcis-11254	5	1	this	this	DET
fcis-11254	5	2	algorithm	algorithm	NOUN
fcis-11254	5	3	does	do	AUX
fcis-11254	5	4	not	not	PART
fcis-11254	5	5	require	require	VERB
fcis-11254	5	6	a	a	DET
fcis-11254	5	7	complex	complex	ADJ
fcis-11254	5	8	calculation	calculation	NOUN
fcis-11254	5	9	of	of	ADP
fcis-11254	5	10	space	space	NOUN
fcis-11254	5	11	coordinate	coordinate	NOUN
fcis-11254	5	12	transformation	transformation	NOUN
fcis-11254	5	13	and	and	CCONJ
fcis-11254	5	14	does	do	AUX
fcis-11254	5	15	not	not	PART
fcis-11254	5	16	require	require	VERB
fcis-11254	5	17	obtaining	obtain	VERB
fcis-11254	5	18	all	all	DET
fcis-11254	5	19	accurate	accurate	ADJ
fcis-11254	5	20	dynamic	dynamic	ADJ
fcis-11254	5	21	models	model	NOUN
fcis-11254	5	22	and	and	CCONJ
fcis-11254	5	23	parameters	parameter	NOUN
fcis-11254	5	24	.	.	PUNCT
fcis-11254	6	1	it	it	PRON
fcis-11254	6	2	only	only	ADV
fcis-11254	6	3	requires	require	VERB
fcis-11254	6	4	estimating	estimate	VERB
fcis-11254	6	5	the	the	DET
fcis-11254	6	6	maximum	maximum	ADJ
fcis-11254	6	7	gravity	gravity	NOUN
fcis-11254	6	8	moment	moment	NOUN
fcis-11254	6	9	of	of	ADP
fcis-11254	6	10	the	the	DET
fcis-11254	6	11	mechanical	mechanical	ADJ
fcis-11254	6	12	arm	arm	NOUN
fcis-11254	6	13	and	and	CCONJ
fcis-11254	6	14	simply	simply	ADV
fcis-11254	6	15	calculating	calculate	VERB
fcis-11254	6	16	the	the	DET
fcis-11254	6	17	trigonometric	trigonometric	ADJ
fcis-11254	6	18	function	function	NOUN
fcis-11254	6	19	.	.	PUNCT
fcis-11254	7	1	thus	thus	ADV
fcis-11254	7	2	,	,	PUNCT
fcis-11254	7	3	this	this	DET
fcis-11254	7	4	algorithm	algorithm	NOUN
fcis-11254	7	5	can	can	AUX
fcis-11254	7	6	be	be	AUX
fcis-11254	7	7	extended	extend	VERB
fcis-11254	7	8	to	to	ADP
fcis-11254	7	9	a	a	DET
fcis-11254	7	10	non	non	ADJ
fcis-11254	7	11	-	-	ADJ
fcis-11254	7	12	parallel	parallel	ADJ
fcis-11254	7	13	shaft	shaft	NOUN
fcis-11254	7	14	mechanical	mechanical	ADJ
fcis-11254	7	15	arm	arm	NOUN
fcis-11254	7	16	,	,	PUNCT
fcis-11254	7	17	which	which	PRON
fcis-11254	7	18	is	be	AUX
fcis-11254	7	19	suitable	suitable	ADJ
fcis-11254	7	20	for	for	ADP
fcis-11254	7	21	n	n	DET
fcis-11254	7	22	joints	joint	NOUN
fcis-11254	7	23	in	in	ADP
fcis-11254	7	24	space	space	NOUN
fcis-11254	7	25	.	.	PUNCT
fcis-11254	8	1	to	to	PART
fcis-11254	8	2	verify	verify	VERB
fcis-11254	8	3	the	the	DET
fcis-11254	8	4	control	control	NOUN
fcis-11254	8	5	effect	effect	NOUN
fcis-11254	8	6	after	after	ADP
fcis-11254	8	7	gravity	gravity	NOUN
fcis-11254	8	8	compensation	compensation	NOUN
fcis-11254	8	9	,	,	PUNCT
fcis-11254	8	10	the	the	DET
fcis-11254	8	11	most	most	ADV
fcis-11254	8	12	easily	easily	ADV
fcis-11254	8	13	comprehensible	comprehensible	ADJ
fcis-11254	8	14	proportional	proportional	ADJ
fcis-11254	8	15	-	-	PUNCT
fcis-11254	8	16	derivative	derivative	ADJ
fcis-11254	8	17	controller	controller	NOUN
fcis-11254	8	18	combined	combine	VERB
fcis-11254	8	19	with	with	ADP
fcis-11254	8	20	gravity	gravity	NOUN
fcis-11254	8	21	compensation	compensation	NOUN
fcis-11254	8	22	is	be	AUX
fcis-11254	8	23	used	use	VERB
fcis-11254	8	24	to	to	PART
fcis-11254	8	25	control	control	VERB
fcis-11254	8	26	two	two	NUM
fcis-11254	8	27	-	-	PUNCT
fcis-11254	8	28	joint	joint	ADJ
fcis-11254	8	29	and	and	CCONJ
fcis-11254	8	30	three	three	NUM
fcis-11254	8	31	-	-	PUNCT
fcis-11254	8	32	joint	joint	ADJ
fcis-11254	8	33	mechanical	mechanical	ADJ
fcis-11254	8	34	arms	arm	NOUN
fcis-11254	8	35	for	for	ADP
fcis-11254	8	36	simulation	simulation	NOUN
fcis-11254	8	37	.	.	PUNCT
fcis-11254	9	1	with	with	ADP
fcis-11254	9	2	the	the	DET
fcis-11254	9	3	gravity	gravity	NOUN
fcis-11254	9	4	compensation	compensation	NOUN
fcis-11254	9	5	and	and	CCONJ
fcis-11254	9	6	non	non	NOUN
fcis-11254	9	7	-	-	NOUN
fcis-11254	9	8	compensation	compensation	NOUN
fcis-11254	9	9	of	of	ADP
fcis-11254	9	10	the	the	DET
fcis-11254	9	11	mechanical	mechanical	ADJ
fcis-11254	9	12	arm	arm	NOUN
fcis-11254	9	13	and	and	CCONJ
fcis-11254	9	14	with	with	ADP
fcis-11254	9	15	a	a	DET
fcis-11254	9	16	comparison	comparison	NOUN
fcis-11254	9	17	with	with	ADP
fcis-11254	9	18	other	other	ADJ
fcis-11254	9	19	compensation	compensation	NOUN
fcis-11254	9	20	methods	method	NOUN
fcis-11254	9	21	,	,	PUNCT
fcis-11254	9	22	such	such	ADJ
fcis-11254	9	23	as	as	ADP
fcis-11254	9	24	the	the	DET
fcis-11254	9	25	fixed	fix	VERB
fcis-11254	9	26	gravity	gravity	NOUN
fcis-11254	9	27	compensation	compensation	NOUN
fcis-11254	9	28	algorithm	algorithm	NOUN
fcis-11254	9	29	,	,	PUNCT
fcis-11254	9	30	the	the	DET
fcis-11254	9	31	results	result	NOUN
fcis-11254	9	32	show	show	VERB
fcis-11254	9	33	that	that	SCONJ
fcis-11254	9	34	the	the	DET
fcis-11254	9	35	gravity	gravity	NOUN
fcis-11254	9	36	compensation	compensation	NOUN
fcis-11254	9	37	algorithm	algorithm	NOUN
fcis-11254	9	38	can	can	AUX
fcis-11254	9	39	achieve	achieve	VERB
fcis-11254	9	40	better	well	ADJ
fcis-11254	9	41	trajectory	trajectory	NOUN
fcis-11254	9	42	tracking	tracking	NOUN
fcis-11254	9	43	control	control	NOUN
fcis-11254	9	44	,	,	PUNCT
fcis-11254	9	45	higher	high	ADJ
fcis-11254	9	46	steady	steady	ADJ
fcis-11254	9	47	-	-	PUNCT
fcis-11254	9	48	state	state	NOUN
fcis-11254	9	49	precision	precision	NOUN
fcis-11254	9	50	,	,	PUNCT
fcis-11254	9	51	an	an	DET
fcis-11254	9	52	effectively	effectively	ADV
fcis-11254	9	53	reduced	reduce	VERB
fcis-11254	9	54	work	work	NOUN
fcis-11254	9	55	burden	burden	NOUN
fcis-11254	9	56	of	of	ADP
fcis-11254	9	57	the	the	DET
fcis-11254	9	58	controller	controller	NOUN
fcis-11254	9	59	and	and	CCONJ
fcis-11254	9	60	improved	improved	ADJ
fcis-11254	9	61	system	system	NOUN
fcis-11254	9	62	stability	stability	NOUN
fcis-11254	9	63	.	.	PUNCT
fcis-11254	10	1	keywords	keyword	NOUN
fcis-11254	10	2	:	:	PUNCT
fcis-11254	10	3	robot	robot	NOUN
fcis-11254	10	4	manipulator	manipulator	NOUN
fcis-11254	10	5	;	;	PUNCT
fcis-11254	10	6	trajectory	trajectory	NOUN
fcis-11254	10	7	tracking	tracking	NOUN
fcis-11254	10	8	control	control	NOUN
fcis-11254	10	9	;	;	PUNCT
fcis-11254	10	10	gravity	gravity	NOUN
fcis-11254	10	11	compensation	compensation	NOUN
fcis-11254	10	12	;	;	PUNCT
fcis-11254	10	13	trigonometric	trigonometric	ADJ
fcis-11254	10	14	function	function	NOUN
fcis-11254	10	15	.	.	PUNCT
fcis-11254	11	1	1	1	X
fcis-11254	11	2	.	.	X
fcis-11254	11	3	introduction	introduction	NOUN
fcis-11254	11	4	service	service	NOUN
fcis-11254	11	5	robots	robot	NOUN
fcis-11254	11	6	have	have	VERB
fcis-11254	11	7	a	a	DET
fcis-11254	11	8	human	human	ADJ
fcis-11254	11	9	-	-	PUNCT
fcis-11254	11	10	like	like	ADJ
fcis-11254	11	11	appearance	appearance	NOUN
fcis-11254	11	12	and	and	CCONJ
fcis-11254	11	13	structure	structure	NOUN
fcis-11254	11	14	that	that	PRON
fcis-11254	11	15	mainly	mainly	ADV
fcis-11254	11	16	relies	rely	VERB
fcis-11254	11	17	on	on	ADP
fcis-11254	11	18	a	a	DET
fcis-11254	11	19	mechanical	mechanical	ADJ
fcis-11254	11	20	arm	arm	NOUN
fcis-11254	11	21	to	to	PART
fcis-11254	11	22	complete	complete	VERB
fcis-11254	11	23	daily	daily	ADJ
fcis-11254	11	24	operations	operation	NOUN
fcis-11254	11	25	.	.	PUNCT
fcis-11254	12	1	these	these	DET
fcis-11254	12	2	robots	robot	NOUN
fcis-11254	12	3	require	require	VERB
fcis-11254	12	4	trajectory	trajectory	NOUN
fcis-11254	12	5	tracking	tracking	NOUN
fcis-11254	12	6	control	control	NOUN
fcis-11254	12	7	to	to	PART
fcis-11254	12	8	accomplish	accomplish	VERB
fcis-11254	12	9	these	these	DET
fcis-11254	12	10	actions	action	NOUN
fcis-11254	12	11	and	and	CCONJ
fcis-11254	12	12	tasks	task	NOUN
fcis-11254	12	13	.	.	PUNCT
fcis-11254	13	1	since	since	SCONJ
fcis-11254	13	2	most	most	ADJ
fcis-11254	13	3	of	of	ADP
fcis-11254	13	4	the	the	DET
fcis-11254	13	5	driving	drive	VERB
fcis-11254	13	6	force	force	NOUN
fcis-11254	13	7	of	of	ADP
fcis-11254	13	8	the	the	DET
fcis-11254	13	9	mechanical	mechanical	ADJ
fcis-11254	13	10	arm	arm	NOUN
fcis-11254	13	11	in	in	ADP
fcis-11254	13	12	space	space	NOUN
fcis-11254	13	13	motion	motion	NOUN
fcis-11254	13	14	works	work	VERB
fcis-11254	13	15	against	against	ADP
fcis-11254	13	16	its	its	PRON
fcis-11254	13	17	own	own	ADJ
fcis-11254	13	18	gravity	gravity	NOUN
fcis-11254	13	19	,	,	PUNCT
fcis-11254	13	20	to	to	PART
fcis-11254	13	21	reduce	reduce	VERB
fcis-11254	13	22	gravity	gravity	NOUN
fcis-11254	13	23	disturbance	disturbance	NOUN
fcis-11254	13	24	and	and	CCONJ
fcis-11254	13	25	improve	improve	VERB
fcis-11254	13	26	steady	steady	ADJ
fcis-11254	13	27	-	-	PUNCT
fcis-11254	13	28	state	state	NOUN
fcis-11254	13	29	precision	precision	NOUN
fcis-11254	13	30	,	,	PUNCT
fcis-11254	13	31	it	it	PRON
fcis-11254	13	32	is	be	AUX
fcis-11254	13	33	necessary	necessary	ADJ
fcis-11254	13	34	to	to	PART
fcis-11254	13	35	compensate	compensate	VERB
fcis-11254	13	36	the	the	DET
fcis-11254	13	37	gravity	gravity	NOUN
fcis-11254	13	38	of	of	ADP
fcis-11254	13	39	the	the	DET
fcis-11254	13	40	mechanical	mechanical	ADJ
fcis-11254	13	41	arm	arm	NOUN
fcis-11254	13	42	in	in	ADP
fcis-11254	13	43	the	the	DET
fcis-11254	13	44	control	control	NOUN
fcis-11254	13	45	process	process	NOUN
fcis-11254	13	46	.	.	PUNCT
fcis-11254	14	1	at	at	ADP
fcis-11254	14	2	present	present	ADJ
fcis-11254	14	3	,	,	PUNCT
fcis-11254	14	4	some	some	DET
fcis-11254	14	5	progress	progress	NOUN
fcis-11254	14	6	has	have	AUX
fcis-11254	14	7	been	be	AUX
fcis-11254	14	8	made	make	VERB
fcis-11254	14	9	in	in	ADP
fcis-11254	14	10	the	the	DET
fcis-11254	14	11	study	study	NOUN
fcis-11254	14	12	of	of	ADP
fcis-11254	14	13	gravity	gravity	NOUN
fcis-11254	14	14	compensation	compensation	NOUN
fcis-11254	14	15	,	,	PUNCT
fcis-11254	14	16	mainly	mainly	ADV
fcis-11254	14	17	including	include	VERB
fcis-11254	14	18	a	a	DET
fcis-11254	14	19	mechanicalstructure	mechanicalstructure	NOUN
fcis-11254	14	20	method	method	NOUN
fcis-11254	14	21	and	and	CCONJ
fcis-11254	14	22	a	a	DET
fcis-11254	14	23	control	control	NOUN
fcis-11254	14	24	-	-	PUNCT
fcis-11254	14	25	analysis	analysis	NOUN
fcis-11254	14	26	method	method	NOUN
fcis-11254	14	27	[	[	X
fcis-11254	14	28	1	1	NUM
fcis-11254	14	29	]	]	PUNCT
fcis-11254	14	30	.	.	PUNCT
fcis-11254	15	1	in	in	ADP
fcis-11254	15	2	the	the	DET
fcis-11254	15	3	mechanical	mechanical	ADJ
fcis-11254	15	4	-	-	PUNCT
fcis-11254	15	5	structure	structure	NOUN
fcis-11254	15	6	method	method	NOUN
fcis-11254	15	7	,	,	PUNCT
fcis-11254	15	8	some	some	DET
fcis-11254	15	9	compensation	compensation	NOUN
fcis-11254	15	10	devices	device	NOUN
fcis-11254	15	11	are	be	AUX
fcis-11254	15	12	added	add	VERB
fcis-11254	15	13	to	to	ADP
fcis-11254	15	14	the	the	DET
fcis-11254	15	15	mechanical	mechanical	ADJ
fcis-11254	15	16	structure	structure	NOUN
fcis-11254	15	17	in	in	ADP
fcis-11254	15	18	ref	ref	NOUN
fcis-11254	15	19	.	.	PUNCT
fcis-11254	16	1	[	[	X
fcis-11254	16	2	2	2	NUM
fcis-11254	16	3	-	-	SYM
fcis-11254	16	4	5	5	NUM
fcis-11254	16	5	]	]	PUNCT
fcis-11254	16	6	;	;	PUNCT
fcis-11254	16	7	for	for	ADP
fcis-11254	16	8	example	example	NOUN
fcis-11254	16	9	,	,	PUNCT
fcis-11254	16	10	the	the	DET
fcis-11254	16	11	gravity	gravity	NOUN
fcis-11254	16	12	was	be	AUX
fcis-11254	16	13	compensated	compensate	VERB
fcis-11254	16	14	by	by	ADP
fcis-11254	16	15	adding	add	VERB
fcis-11254	16	16	springs	spring	NOUN
fcis-11254	16	17	to	to	ADP
fcis-11254	16	18	each	each	DET
fcis-11254	16	19	joint	joint	NOUN
fcis-11254	16	20	.	.	PUNCT
fcis-11254	17	1	in	in	ADP
fcis-11254	17	2	the	the	DET
fcis-11254	17	3	control	control	NOUN
fcis-11254	17	4	-	-	PUNCT
fcis-11254	17	5	analysis	analysis	NOUN
fcis-11254	17	6	method	method	NOUN
fcis-11254	17	7	,	,	PUNCT
fcis-11254	17	8	a	a	DET
fcis-11254	17	9	feedforward	feedforward	NOUN
fcis-11254	17	10	or	or	CCONJ
fcis-11254	17	11	feedback	feedback	NOUN
fcis-11254	17	12	link	link	NOUN
fcis-11254	17	13	is	be	AUX
fcis-11254	17	14	added	add	VERB
fcis-11254	17	15	to	to	ADP
fcis-11254	17	16	the	the	DET
fcis-11254	17	17	control	control	NOUN
fcis-11254	17	18	strategy	strategy	NOUN
fcis-11254	17	19	to	to	PART
fcis-11254	17	20	compensate	compensate	VERB
fcis-11254	17	21	its	its	PRON
fcis-11254	17	22	own	own	ADJ
fcis-11254	17	23	gravity	gravity	NOUN
fcis-11254	17	24	.	.	PUNCT
fcis-11254	18	1	in	in	ADP
fcis-11254	18	2	this	this	DET
fcis-11254	18	3	paper	paper	NOUN
fcis-11254	18	4	,	,	PUNCT
fcis-11254	18	5	we	we	PRON
fcis-11254	18	6	will	will	AUX
fcis-11254	18	7	study	study	VERB
fcis-11254	18	8	the	the	DET
fcis-11254	18	9	controlanalysis	controlanalysis	NOUN
fcis-11254	18	10	method	method	NOUN
fcis-11254	18	11	.	.	PUNCT
fcis-11254	19	1	in	in	ADP
fcis-11254	19	2	ref	ref	NOUN
fcis-11254	19	3	.	.	PUNCT
fcis-11254	20	1	[	[	X
fcis-11254	20	2	6	6	NUM
fcis-11254	20	3	,	,	PUNCT
fcis-11254	20	4	7	7	NUM
fcis-11254	20	5	]	]	PUNCT
fcis-11254	20	6	,	,	PUNCT
fcis-11254	20	7	a	a	DET
fcis-11254	20	8	fixed	fix	VERB
fcis-11254	20	9	position	position	NOUN
fcis-11254	20	10	control	control	NOUN
fcis-11254	20	11	algorithm	algorithm	NOUN
fcis-11254	20	12	of	of	ADP
fcis-11254	20	13	a	a	DET
fcis-11254	20	14	mechanical	mechanical	ADJ
fcis-11254	20	15	arm	arm	NOUN
fcis-11254	20	16	with	with	ADP
fcis-11254	20	17	fixed	fix	VERB
fcis-11254	20	18	gravity	gravity	NOUN
fcis-11254	20	19	compensation	compensation	NOUN
fcis-11254	20	20	was	be	AUX
fcis-11254	20	21	proposed	propose	VERB
fcis-11254	20	22	,	,	PUNCT
fcis-11254	20	23	which	which	PRON
fcis-11254	20	24	is	be	AUX
fcis-11254	20	25	relatively	relatively	ADV
fcis-11254	20	26	simple	simple	ADJ
fcis-11254	20	27	and	and	CCONJ
fcis-11254	20	28	applicable	applicable	ADJ
fcis-11254	20	29	to	to	ADP
fcis-11254	20	30	fixed	fix	VERB
fcis-11254	20	31	position	position	NOUN
fcis-11254	20	32	control	control	NOUN
fcis-11254	20	33	in	in	ADP
fcis-11254	20	34	operating	operate	VERB
fcis-11254	20	35	space	space	NOUN
fcis-11254	20	36	.	.	PUNCT
fcis-11254	21	1	however	however	ADV
fcis-11254	21	2	,	,	PUNCT
fcis-11254	21	3	the	the	DET
fcis-11254	21	4	error	error	NOUN
fcis-11254	21	5	of	of	ADP
fcis-11254	21	6	the	the	DET
fcis-11254	21	7	trajectory	trajectory	NOUN
fcis-11254	21	8	tracking	tracking	NOUN
fcis-11254	21	9	control	control	NOUN
fcis-11254	21	10	of	of	ADP
fcis-11254	21	11	this	this	DET
fcis-11254	21	12	method	method	NOUN
fcis-11254	21	13	is	be	AUX
fcis-11254	21	14	relatively	relatively	ADV
fcis-11254	21	15	large	large	ADJ
fcis-11254	21	16	.	.	PUNCT
fcis-11254	22	1	in	in	ADP
fcis-11254	22	2	ref	ref	NOUN
fcis-11254	22	3	.	.	PUNCT
fcis-11254	23	1	[	[	X
fcis-11254	23	2	8	8	NUM
fcis-11254	23	3	,	,	PUNCT
fcis-11254	23	4	9	9	NUM
fcis-11254	23	5	]	]	PUNCT
fcis-11254	23	6	,	,	PUNCT
fcis-11254	23	7	the	the	DET
fcis-11254	23	8	least	least	ADJ
fcis-11254	23	9	squares	square	NOUN
fcis-11254	23	10	method	method	NOUN
fcis-11254	23	11	and	and	CCONJ
fcis-11254	23	12	back	back	ADJ
fcis-11254	23	13	-	-	PUNCT
fcis-11254	23	14	propagation	propagation	NOUN
fcis-11254	23	15	neural	neural	ADJ
fcis-11254	23	16	network	network	NOUN
fcis-11254	23	17	were	be	AUX
fcis-11254	23	18	applied	apply	VERB
fcis-11254	23	19	to	to	PART
fcis-11254	23	20	identify	identify	VERB
fcis-11254	23	21	dynamic	dynamic	ADJ
fcis-11254	23	22	parameters	parameter	NOUN
fcis-11254	23	23	such	such	ADJ
fcis-11254	23	24	as	as	ADP
fcis-11254	23	25	the	the	DET
fcis-11254	23	26	mass	mass	ADJ
fcis-11254	23	27	and	and	CCONJ
fcis-11254	23	28	mass	mass	ADJ
fcis-11254	23	29	centre	centre	NOUN
fcis-11254	23	30	of	of	ADP
fcis-11254	23	31	a	a	DET
fcis-11254	23	32	mechanical	mechanical	ADJ
fcis-11254	23	33	arm	arm	NOUN
fcis-11254	23	34	connecting	connect	VERB
fcis-11254	23	35	rod	rod	NOUN
fcis-11254	23	36	and	and	CCONJ
fcis-11254	23	37	to	to	PART
fcis-11254	23	38	estimate	estimate	VERB
fcis-11254	23	39	the	the	DET
fcis-11254	23	40	gravity	gravity	NOUN
fcis-11254	23	41	term	term	NOUN
fcis-11254	23	42	.	.	PUNCT
fcis-11254	24	1	however	however	ADV
fcis-11254	24	2	,	,	PUNCT
fcis-11254	24	3	this	this	DET
fcis-11254	24	4	method	method	NOUN
fcis-11254	24	5	is	be	AUX
fcis-11254	24	6	time	time	NOUN
fcis-11254	24	7	-	-	PUNCT
fcis-11254	24	8	consuming	consume	VERB
fcis-11254	24	9	and	and	CCONJ
fcis-11254	24	10	complex	complex	ADJ
fcis-11254	24	11	and	and	CCONJ
fcis-11254	24	12	is	be	AUX
fcis-11254	24	13	not	not	PART
fcis-11254	24	14	easy	easy	ADJ
fcis-11254	24	15	to	to	PART
fcis-11254	24	16	control	control	VERB
fcis-11254	24	17	in	in	ADP
fcis-11254	24	18	real	real	ADJ
fcis-11254	24	19	time	time	NOUN
fcis-11254	24	20	.	.	PUNCT
fcis-11254	25	1	to	to	PART
fcis-11254	25	2	realise	realise	VERB
fcis-11254	25	3	the	the	DET
fcis-11254	25	4	trajectory	trajectory	NOUN
fcis-11254	25	5	tracking	tracking	NOUN
fcis-11254	25	6	control	control	NOUN
fcis-11254	25	7	of	of	ADP
fcis-11254	25	8	a	a	DET
fcis-11254	25	9	mechanical	mechanical	ADJ
fcis-11254	25	10	arm	arm	NOUN
fcis-11254	25	11	,	,	PUNCT
fcis-11254	25	12	a	a	DET
fcis-11254	25	13	gravity	gravity	NOUN
fcis-11254	25	14	compensation	compensation	NOUN
fcis-11254	25	15	algorithm	algorithm	NOUN
fcis-11254	25	16	was	be	AUX
fcis-11254	25	17	applied	apply	VERB
fcis-11254	25	18	for	for	ADP
fcis-11254	25	19	real	real	ADJ
fcis-11254	25	20	-	-	PUNCT
fcis-11254	25	21	time	time	NOUN
fcis-11254	25	22	and	and	CCONJ
fcis-11254	25	23	accurate	accurate	ADJ
fcis-11254	25	24	estimation	estimation	NOUN
fcis-11254	25	25	of	of	ADP
fcis-11254	25	26	the	the	DET
fcis-11254	25	27	gravity	gravity	NOUN
fcis-11254	25	28	moment	moment	NOUN
fcis-11254	25	29	in	in	ADP
fcis-11254	25	30	ref	ref	NOUN
fcis-11254	25	31	.	.	PUNCT
fcis-11254	26	1	[	[	X
fcis-11254	26	2	10	10	NUM
fcis-11254	26	3	,	,	PUNCT
fcis-11254	26	4	11	11	NUM
fcis-11254	26	5	]	]	PUNCT
fcis-11254	26	6	.	.	PUNCT
fcis-11254	27	1	however	however	ADV
fcis-11254	27	2	,	,	PUNCT
fcis-11254	27	3	in	in	ADP
fcis-11254	27	4	real	real	ADJ
fcis-11254	27	5	-	-	PUNCT
fcis-11254	27	6	life	life	NOUN
fcis-11254	27	7	applications	application	NOUN
fcis-11254	27	8	,	,	PUNCT
fcis-11254	27	9	it	it	PRON
fcis-11254	27	10	is	be	AUX
fcis-11254	27	11	difficult	difficult	ADJ
fcis-11254	27	12	to	to	PART
fcis-11254	27	13	guarantee	guarantee	VERB
fcis-11254	27	14	the	the	DET
fcis-11254	27	15	accuracy	accuracy	NOUN
fcis-11254	27	16	of	of	ADP
fcis-11254	27	17	gravity	gravity	NOUN
fcis-11254	27	18	compensation	compensation	NOUN
fcis-11254	27	19	because	because	SCONJ
fcis-11254	27	20	various	various	ADJ
fcis-11254	27	21	accurate	accurate	ADJ
fcis-11254	27	22	dynamic	dynamic	ADJ
fcis-11254	27	23	parameters	parameter	NOUN
fcis-11254	27	24	are	be	AUX
fcis-11254	27	25	difficult	difficult	ADJ
fcis-11254	27	26	to	to	PART
fcis-11254	27	27	obtain	obtain	VERB
fcis-11254	27	28	.	.	PUNCT
fcis-11254	28	1	in	in	ADP
fcis-11254	28	2	ref	ref	NOUN
fcis-11254	28	3	.	.	PUNCT
fcis-11254	29	1	[	[	X
fcis-11254	29	2	12	12	NUM
fcis-11254	29	3	,	,	PUNCT
fcis-11254	29	4	13	13	NUM
fcis-11254	29	5	]	]	PUNCT
fcis-11254	29	6	,	,	PUNCT
fcis-11254	29	7	a	a	DET
fcis-11254	29	8	system	system	NOUN
fcis-11254	29	9	dynamics	dynamic	NOUN
fcis-11254	29	10	model	model	NOUN
fcis-11254	29	11	using	use	VERB
fcis-11254	29	12	lagrange	lagrange	NOUN
fcis-11254	29	13	’s	’s	PART
fcis-11254	29	14	equation	equation	NOUN
fcis-11254	29	15	was	be	AUX
fcis-11254	29	16	built	build	VERB
fcis-11254	29	17	to	to	PART
fcis-11254	29	18	calculate	calculate	VERB
fcis-11254	29	19	the	the	DET
fcis-11254	29	20	torque	torque	NOUN
fcis-11254	29	21	generated	generate	VERB
fcis-11254	29	22	by	by	ADP
fcis-11254	29	23	each	each	DET
fcis-11254	29	24	part	part	NOUN
fcis-11254	29	25	of	of	ADP
fcis-11254	29	26	the	the	DET
fcis-11254	29	27	centre	centre	NOUN
fcis-11254	29	28	of	of	ADP
fcis-11254	29	29	gravity	gravity	NOUN
fcis-11254	29	30	in	in	ADP
fcis-11254	29	31	joint	joint	ADJ
fcis-11254	29	32	space	space	NOUN
fcis-11254	29	33	,	,	PUNCT
fcis-11254	29	34	using	use	VERB
fcis-11254	29	35	the	the	DET
fcis-11254	29	36	torque	torque	NOUN
fcis-11254	29	37	motor	motor	NOUN
fcis-11254	29	38	to	to	PART
fcis-11254	29	39	obtain	obtain	VERB
fcis-11254	29	40	the	the	DET
fcis-11254	29	41	corresponding	corresponding	ADJ
fcis-11254	29	42	torque	torque	NOUN
fcis-11254	29	43	for	for	ADP
fcis-11254	29	44	gravity	gravity	NOUN
fcis-11254	29	45	compensation	compensation	NOUN
fcis-11254	29	46	.	.	PUNCT
fcis-11254	30	1	one	one	NUM
fcis-11254	30	2	disadvantage	disadvantage	NOUN
fcis-11254	30	3	of	of	ADP
fcis-11254	30	4	this	this	DET
fcis-11254	30	5	method	method	NOUN
fcis-11254	30	6	is	be	AUX
fcis-11254	30	7	that	that	SCONJ
fcis-11254	30	8	the	the	DET
fcis-11254	30	9	calculation	calculation	NOUN
fcis-11254	30	10	of	of	ADP
fcis-11254	30	11	the	the	DET
fcis-11254	30	12	gravity	gravity	NOUN
fcis-11254	30	13	matrix	matrix	NOUN
fcis-11254	30	14	with	with	ADP
fcis-11254	30	15	multiple	multiple	ADJ
fcis-11254	30	16	degrees	degree	NOUN
fcis-11254	30	17	of	of	ADP
fcis-11254	30	18	freedom	freedom	NOUN
fcis-11254	30	19	is	be	AUX
fcis-11254	30	20	relatively	relatively	ADV
fcis-11254	30	21	complex	complex	ADJ
fcis-11254	30	22	and	and	CCONJ
fcis-11254	30	23	the	the	DET
fcis-11254	30	24	exact	exact	ADJ
fcis-11254	30	25	parameters	parameter	NOUN
fcis-11254	30	26	of	of	ADP
fcis-11254	30	27	the	the	DET
fcis-11254	30	28	lagrange	lagrange	NOUN
fcis-11254	30	29	equation	equation	NOUN
fcis-11254	30	30	are	be	AUX
fcis-11254	30	31	not	not	PART
fcis-11254	30	32	easily	easily	ADV
fcis-11254	30	33	obtained	obtain	VERB
fcis-11254	30	34	.	.	PUNCT
fcis-11254	31	1	based	base	VERB
fcis-11254	31	2	on	on	ADP
fcis-11254	31	3	the	the	DET
fcis-11254	31	4	traditional	traditional	ADJ
fcis-11254	31	5	fixed	fix	VERB
fcis-11254	31	6	gravity	gravity	NOUN
fcis-11254	31	7	compensation	compensation	NOUN
fcis-11254	31	8	,	,	PUNCT
fcis-11254	31	9	the	the	DET
fcis-11254	31	10	gravity	gravity	NOUN
fcis-11254	31	11	compensation	compensation	NOUN
fcis-11254	31	12	function	function	NOUN
fcis-11254	31	13	of	of	ADP
fcis-11254	31	14	each	each	DET
fcis-11254	31	15	joint	joint	NOUN
fcis-11254	31	16	was	be	AUX
fcis-11254	31	17	derived	derive	VERB
fcis-11254	31	18	in	in	ADP
fcis-11254	31	19	ref	ref	NOUN
fcis-11254	31	20	.	.	PUNCT
fcis-11254	32	1	[	[	X
fcis-11254	32	2	14	14	NUM
fcis-11254	32	3	]	]	PUNCT
fcis-11254	32	4	.	.	PUNCT
fcis-11254	33	1	a	a	DET
fcis-11254	33	2	relatively	relatively	ADV
fcis-11254	33	3	accurate	accurate	ADJ
fcis-11254	33	4	online	online	ADJ
fcis-11254	33	5	gravity	gravity	NOUN
fcis-11254	33	6	compensation	compensation	NOUN
fcis-11254	33	7	proportional	proportional	ADJ
fcis-11254	33	8	-	-	PUNCT
fcis-11254	33	9	derivative	derivative	ADJ
fcis-11254	33	10	(	(	PUNCT
fcis-11254	33	11	pd	pd	NOUN
fcis-11254	33	12	)	)	PUNCT
fcis-11254	33	13	control	control	NOUN
fcis-11254	33	14	strategy	strategy	NOUN
fcis-11254	33	15	was	be	AUX
fcis-11254	33	16	proposed	propose	VERB
fcis-11254	33	17	for	for	ADP
fcis-11254	33	18	the	the	DET
fcis-11254	33	19	right	right	ADJ
fcis-11254	33	20	arm	arm	NOUN
fcis-11254	33	21	of	of	ADP
fcis-11254	33	22	a	a	DET
fcis-11254	33	23	de	de	ADJ
fcis-11254	33	24	-	-	ADJ
fcis-11254	33	25	icing	icing	ADJ
fcis-11254	33	26	robot	robot	NOUN
fcis-11254	33	27	.	.	PUNCT
fcis-11254	34	1	however	however	ADV
fcis-11254	34	2	,	,	PUNCT
fcis-11254	34	3	this	this	DET
fcis-11254	34	4	compensation	compensation	NOUN
fcis-11254	34	5	algorithm	algorithm	NOUN
fcis-11254	34	6	requires	require	VERB
fcis-11254	34	7	knowing	know	VERB
fcis-11254	34	8	the	the	DET
fcis-11254	34	9	weight	weight	NOUN
fcis-11254	34	10	and	and	CCONJ
fcis-11254	34	11	mass	mass	NOUN
fcis-11254	34	12	centre	centre	NOUN
fcis-11254	34	13	as	as	ADV
fcis-11254	34	14	well	well	ADV
fcis-11254	34	15	as	as	ADP
fcis-11254	34	16	other	other	ADJ
fcis-11254	34	17	parameters	parameter	NOUN
fcis-11254	34	18	of	of	ADP
fcis-11254	34	19	the	the	DET
fcis-11254	34	20	mechanical	mechanical	ADJ
fcis-11254	34	21	arm	arm	NOUN
fcis-11254	34	22	in	in	ADP
fcis-11254	34	23	advance	advance	NOUN
fcis-11254	34	24	and	and	CCONJ
fcis-11254	34	25	is	be	AUX
fcis-11254	34	26	only	only	ADV
fcis-11254	34	27	applicable	applicable	ADJ
fcis-11254	34	28	to	to	ADP
fcis-11254	34	29	parallel	parallel	ADJ
fcis-11254	34	30	shaft	shaft	NOUN
fcis-11254	34	31	mechanical	mechanical	ADJ
fcis-11254	34	32	arms	arm	NOUN
fcis-11254	34	33	.	.	PUNCT
fcis-11254	35	1	it	it	PRON
fcis-11254	35	2	can	can	AUX
fcis-11254	35	3	be	be	AUX
fcis-11254	35	4	seen	see	VERB
fcis-11254	35	5	from	from	ADP
fcis-11254	35	6	the	the	DET
fcis-11254	35	7	above	above	ADJ
fcis-11254	35	8	review	review	NOUN
fcis-11254	35	9	that	that	SCONJ
fcis-11254	35	10	the	the	DET
fcis-11254	35	11	conventional	conventional	ADJ
fcis-11254	35	12	gravity	gravity	NOUN
fcis-11254	35	13	compensation	compensation	NOUN
fcis-11254	35	14	algorithm	algorithm	NOUN
fcis-11254	35	15	requires	require	VERB
fcis-11254	35	16	precise	precise	ADJ
fcis-11254	35	17	dynamic	dynamic	ADJ
fcis-11254	35	18	parameters	parameter	NOUN
fcis-11254	35	19	and	and	CCONJ
fcis-11254	35	20	a	a	DET
fcis-11254	35	21	complex	complex	ADJ
fcis-11254	35	22	matrix	matrix	NOUN
fcis-11254	35	23	transformation	transformation	NOUN
fcis-11254	35	24	operation	operation	NOUN
fcis-11254	35	25	,	,	PUNCT
fcis-11254	35	26	which	which	PRON
fcis-11254	35	27	is	be	AUX
fcis-11254	35	28	difficult	difficult	ADJ
fcis-11254	35	29	in	in	ADP
fcis-11254	35	30	applications	application	NOUN
fcis-11254	35	31	in	in	ADP
fcis-11254	35	32	real	real	ADJ
fcis-11254	35	33	-	-	PUNCT
fcis-11254	35	34	time	time	NOUN
fcis-11254	35	35	control	control	NOUN
fcis-11254	35	36	.	.	PUNCT
fcis-11254	36	1	although	although	SCONJ
fcis-11254	36	2	some	some	DET
fcis-11254	36	3	improved	improve	VERB
fcis-11254	36	4	real	real	ADJ
fcis-11254	36	5	-	-	PUNCT
fcis-11254	36	6	time	time	NOUN
fcis-11254	36	7	control	control	NOUN
fcis-11254	36	8	algorithms	algorithm	NOUN
fcis-11254	36	9	are	be	AUX
fcis-11254	36	10	simple	simple	ADJ
fcis-11254	36	11	to	to	PART
fcis-11254	36	12	calculate	calculate	VERB
fcis-11254	36	13	,	,	PUNCT
fcis-11254	36	14	they	they	PRON
fcis-11254	36	15	are	be	AUX
fcis-11254	36	16	only	only	ADV
fcis-11254	36	17	applicable	applicable	ADJ
fcis-11254	36	18	to	to	ADP
fcis-11254	36	19	parallel	parallel	ADJ
fcis-11254	36	20	shaft	shaft	NOUN
fcis-11254	36	21	mechanical	mechanical	ADJ
fcis-11254	36	22	arms	arm	NOUN
fcis-11254	37	1	[	[	X
fcis-11254	37	2	15	15	NUM
fcis-11254	37	3	]	]	PUNCT
fcis-11254	37	4	.	.	PUNCT
fcis-11254	38	1	in	in	ADP
fcis-11254	38	2	view	view	NOUN
fcis-11254	38	3	of	of	ADP
fcis-11254	38	4	the	the	DET
fcis-11254	38	5	shortcomings	shortcoming	NOUN
fcis-11254	38	6	of	of	ADP
fcis-11254	38	7	the	the	DET
fcis-11254	38	8	above	above	ADJ
fcis-11254	38	9	studies	study	NOUN
fcis-11254	38	10	,	,	PUNCT
fcis-11254	38	11	in	in	ADP
fcis-11254	38	12	this	this	DET
fcis-11254	38	13	paper	paper	NOUN
fcis-11254	38	14	,	,	PUNCT
fcis-11254	38	15	we	we	PRON
fcis-11254	38	16	study	study	VERB
fcis-11254	38	17	a	a	DET
fcis-11254	38	18	seemingly	seemingly	ADV
fcis-11254	38	19	simpler	simple	ADJ
fcis-11254	38	20	gravity	gravity	NOUN
fcis-11254	38	21	compensation	compensation	NOUN
fcis-11254	38	22	method	method	NOUN
fcis-11254	38	23	.	.	PUNCT
fcis-11254	39	1	this	this	DET
fcis-11254	39	2	algorithm	algorithm	NOUN
fcis-11254	39	3	does	do	AUX
fcis-11254	39	4	not	not	PART
fcis-11254	39	5	need	need	VERB
fcis-11254	39	6	complicated	complicated	ADJ
fcis-11254	39	7	calculations	calculation	NOUN
fcis-11254	39	8	,	,	PUNCT
fcis-11254	39	9	nor	nor	CCONJ
fcis-11254	39	10	does	do	AUX
fcis-11254	39	11	it	it	PRON
fcis-11254	39	12	require	require	VERB
fcis-11254	39	13	obtaining	obtain	VERB
fcis-11254	39	14	all	all	DET
fcis-11254	39	15	accurate	accurate	ADJ
fcis-11254	39	16	dynamic	dynamic	ADJ
fcis-11254	39	17	models	model	NOUN
fcis-11254	39	18	and	and	CCONJ
fcis-11254	39	19	parameters	parameter	NOUN
fcis-11254	39	20	to	to	PART
fcis-11254	39	21	achieve	achieve	VERB
fcis-11254	39	22	a	a	DET
fcis-11254	39	23	better	well	ADJ
fcis-11254	39	24	control	control	NOUN
fcis-11254	39	25	effect	effect	NOUN
fcis-11254	39	26	,	,	PUNCT
fcis-11254	39	27	and	and	CCONJ
fcis-11254	39	28	it	it	PRON
fcis-11254	39	29	is	be	AUX
fcis-11254	39	30	also	also	ADV
fcis-11254	39	31	suitable	suitable	ADJ
fcis-11254	39	32	for	for	ADP
fcis-11254	39	33	non	non	ADJ
fcis-11254	39	34	-	-	ADJ
fcis-11254	39	35	parallel	parallel	ADJ
fcis-11254	39	36	shaft	shaft	NOUN
fcis-11254	39	37	mechanical	mechanical	ADJ
fcis-11254	39	38	arms	arm	NOUN
fcis-11254	39	39	.	.	PUNCT
fcis-11254	40	1	126	126	NUM
fcis-11254	40	2	2	2	NUM
fcis-11254	40	3	.	.	PUNCT
fcis-11254	40	4	gravity	gravity	NOUN
fcis-11254	40	5	compensation	compensation	NOUN
fcis-11254	40	6	algorithm	algorithm	NOUN
fcis-11254	40	7	of	of	ADP
fcis-11254	40	8	a	a	DET
fcis-11254	40	9	mechanical	mechanical	ADJ
fcis-11254	40	10	arm	arm	NOUN
fcis-11254	40	11	2.1	2.1	NUM
fcis-11254	40	12	.	.	PUNCT
fcis-11254	41	1	analysis	analysis	NOUN
fcis-11254	41	2	of	of	ADP
fcis-11254	41	3	gravity	gravity	NOUN
fcis-11254	41	4	compensation	compensation	NOUN
fcis-11254	41	5	of	of	ADP
fcis-11254	41	6	a	a	DET
fcis-11254	41	7	mechanical	mechanical	ADJ
fcis-11254	41	8	arm	arm	NOUN
fcis-11254	41	9	according	accord	VERB
fcis-11254	41	10	to	to	ADP
fcis-11254	41	11	the	the	DET
fcis-11254	41	12	lagrange	lagrange	NOUN
fcis-11254	41	13	modelling	modelling	NOUN
fcis-11254	41	14	method	method	NOUN
fcis-11254	41	15	,	,	PUNCT
fcis-11254	41	16	the	the	DET
fcis-11254	41	17	mechanical	mechanical	ADJ
fcis-11254	41	18	arm	arm	NOUN
fcis-11254	41	19	dynamics	dynamic	NOUN
fcis-11254	41	20	equation	equation	NOUN
fcis-11254	41	21	with	with	ADP
fcis-11254	41	22	n	n	DET
fcis-11254	41	23	degrees	degree	NOUN
fcis-11254	41	24	of	of	ADP
fcis-11254	41	25	freedom	freedom	NOUN
fcis-11254	41	26	can	can	AUX
fcis-11254	41	27	be	be	AUX
fcis-11254	41	28	expressed	express	VERB
fcis-11254	41	29	as	as	SCONJ
fcis-11254	41	30	follows	follow	VERB
fcis-11254	41	31	:	:	PUNCT
fcis-11254	41	32	(	(	PUNCT
fcis-11254	41	33	)	)	PUNCT
fcis-11254	42	1	+	+	CCONJ
fcis-11254	42	2	(	(	PUNCT
fcis-11254	42	3	)	)	PUNCT
fcis-11254	42	4	(	(	PUNCT
fcis-11254	42	5	)	)	PUNCT
fcis-11254	42	6	q	q	NOUN
fcis-11254	42	7	q	q	X
fcis-11254	42	8	q	q	NOUN
fcis-11254	42	9	,	,	PUNCT
fcis-11254	42	10	q	q	PRON
fcis-11254	42	11	q	q	X
fcis-11254	42	12	q	q	NOUN
fcis-11254	42	13	m	m	NOUN
fcis-11254	42	14	c	c	NOUN
fcis-11254	42	15	g	g	NOUN
fcis-11254	42	16	γ	γ	PROPN
fcis-11254	42	17			NOUN
fcis-11254	42	18			NOUN
fcis-11254	42	19	(	(	PUNCT
fcis-11254	42	20	1	1	NUM
fcis-11254	42	21	)	)	PUNCT
fcis-11254	42	22	where	where	SCONJ
fcis-11254	42	23	(	(	PUNCT
fcis-11254	42	24	)	)	PUNCT
fcis-11254	42	25	q	q	PROPN
fcis-11254	42	26	t	t	PROPN
fcis-11254	42	27	represents	represent	VERB
fcis-11254	42	28	the	the	DET
fcis-11254	42	29	angular	angular	ADJ
fcis-11254	42	30	displacement	displacement	ADJ
fcis-11254	42	31	vector	vector	NOUN
fcis-11254	42	32	of	of	ADP
fcis-11254	42	33	a	a	DET
fcis-11254	42	34	joint	joint	NOUN
fcis-11254	42	35	,	,	PUNCT
fcis-11254	42	36	which	which	PRON
fcis-11254	42	37	is	be	AUX
fcis-11254	42	38	a	a	DET
fcis-11254	42	39	bounded	bounded	ADJ
fcis-11254	42	40	differentiable	differentiable	ADJ
fcis-11254	42	41	vector	vector	NOUN
fcis-11254	42	42	;	;	PUNCT
fcis-11254	42	43	(	(	PUNCT
fcis-11254	42	44	)	)	PUNCT
fcis-11254	42	45	qm	qm	PROPN
fcis-11254	42	46	represents	represent	VERB
fcis-11254	42	47	the	the	DET
fcis-11254	42	48	inertial	inertial	ADJ
fcis-11254	42	49	matrix	matrix	NOUN
fcis-11254	42	50	of	of	ADP
fcis-11254	42	51	the	the	DET
fcis-11254	42	52	mechanical	mechanical	ADJ
fcis-11254	42	53	arm	arm	NOUN
fcis-11254	42	54	;	;	PUNCT
fcis-11254	42	55	(	(	PUNCT
fcis-11254	42	56	)	)	PUNCT
fcis-11254	42	57	q	q	X
fcis-11254	42	58	,	,	PUNCT
fcis-11254	42	59	qc	qc	PROPN
fcis-11254	42	60			NOUN
fcis-11254	42	61	represents	represent	VERB
fcis-11254	42	62	the	the	DET
fcis-11254	42	63	coriolis	coriolis	PROPN
fcis-11254	42	64	force	force	NOUN
fcis-11254	42	65	and	and	CCONJ
fcis-11254	42	66	the	the	DET
fcis-11254	42	67	centrifugal	centrifugal	PROPN
fcis-11254	42	68	force	force	PROPN
fcis-11254	42	69	vector	vector	NOUN
fcis-11254	42	70	;	;	PUNCT
fcis-11254	42	71	(	(	PUNCT
fcis-11254	42	72	)	)	PUNCT
fcis-11254	42	73	qg	qg	PROPN
fcis-11254	42	74	represents	represent	VERB
fcis-11254	42	75	the	the	DET
fcis-11254	42	76	gravity	gravity	NOUN
fcis-11254	42	77	vector	vector	NOUN
fcis-11254	42	78	;	;	PUNCT
fcis-11254	42	79	and	and	CCONJ
fcis-11254	42	80	γ	γ	NOUN
fcis-11254	42	81	represents	represent	VERB
fcis-11254	42	82	the	the	DET
fcis-11254	42	83	input	input	NOUN
fcis-11254	42	84	torque	torque	NOUN
fcis-11254	42	85	.	.	PUNCT
fcis-11254	43	1	mechanical	mechanical	ADJ
fcis-11254	43	2	arms	arm	NOUN
fcis-11254	43	3	usually	usually	ADV
fcis-11254	43	4	work	work	VERB
fcis-11254	43	5	at	at	ADP
fcis-11254	43	6	a	a	DET
fcis-11254	43	7	low	low	ADJ
fcis-11254	43	8	speed	speed	NOUN
fcis-11254	43	9	.	.	PUNCT
fcis-11254	44	1	it	it	PRON
fcis-11254	44	2	can	can	AUX
fcis-11254	44	3	be	be	AUX
fcis-11254	44	4	seen	see	VERB
fcis-11254	44	5	from	from	ADP
fcis-11254	44	6	eq	eq	PROPN
fcis-11254	44	7	.	.	PUNCT
fcis-11254	45	1	(	(	PUNCT
fcis-11254	45	2	1	1	NUM
fcis-11254	45	3	)	)	PUNCT
fcis-11254	45	4	that	that	SCONJ
fcis-11254	45	5	the	the	DET
fcis-11254	45	6	dynamic	dynamic	ADJ
fcis-11254	45	7	performance	performance	NOUN
fcis-11254	45	8	of	of	ADP
fcis-11254	45	9	the	the	DET
fcis-11254	45	10	robot	robot	NOUN
fcis-11254	45	11	is	be	AUX
fcis-11254	45	12	affected	affect	VERB
fcis-11254	45	13	by	by	ADP
fcis-11254	45	14	gravity	gravity	NOUN
fcis-11254	45	15	.	.	PUNCT
fcis-11254	46	1	if	if	SCONJ
fcis-11254	46	2	gravity	gravity	NOUN
fcis-11254	46	3	is	be	AUX
fcis-11254	46	4	regarded	regard	VERB
fcis-11254	46	5	as	as	ADP
fcis-11254	46	6	a	a	DET
fcis-11254	46	7	disturbance	disturbance	NOUN
fcis-11254	46	8	,	,	PUNCT
fcis-11254	46	9	most	most	ADJ
fcis-11254	46	10	of	of	ADP
fcis-11254	46	11	the	the	DET
fcis-11254	46	12	work	work	NOUN
fcis-11254	46	13	done	do	VERB
fcis-11254	46	14	by	by	ADP
fcis-11254	46	15	the	the	DET
fcis-11254	46	16	input	input	NOUN
fcis-11254	46	17	torque	torque	NOUN
fcis-11254	46	18	will	will	AUX
fcis-11254	46	19	be	be	AUX
fcis-11254	46	20	used	use	VERB
fcis-11254	46	21	to	to	PART
fcis-11254	46	22	overcome	overcome	VERB
fcis-11254	46	23	the	the	DET
fcis-11254	46	24	disturbance	disturbance	NOUN
fcis-11254	46	25	of	of	ADP
fcis-11254	46	26	the	the	DET
fcis-11254	46	27	gravity	gravity	NOUN
fcis-11254	46	28	moment	moment	NOUN
fcis-11254	46	29	.	.	PUNCT
fcis-11254	47	1	if	if	SCONJ
fcis-11254	47	2	gravity	gravity	NOUN
fcis-11254	47	3	can	can	AUX
fcis-11254	47	4	be	be	AUX
fcis-11254	47	5	compensated	compensate	VERB
fcis-11254	47	6	effectively	effectively	ADV
fcis-11254	47	7	in	in	ADP
fcis-11254	47	8	the	the	DET
fcis-11254	47	9	control	control	NOUN
fcis-11254	47	10	process	process	NOUN
fcis-11254	47	11	,	,	PUNCT
fcis-11254	47	12	the	the	DET
fcis-11254	47	13	control	control	NOUN
fcis-11254	47	14	efficiency	efficiency	NOUN
fcis-11254	47	15	will	will	AUX
fcis-11254	47	16	be	be	AUX
fcis-11254	47	17	greatly	greatly	ADV
fcis-11254	47	18	improved	improve	VERB
fcis-11254	47	19	.	.	PUNCT
fcis-11254	48	1	2.2	2.2	NUM
fcis-11254	48	2	.	.	PUNCT
fcis-11254	48	3	calculation	calculation	NOUN
fcis-11254	48	4	of	of	ADP
fcis-11254	48	5	the	the	DET
fcis-11254	48	6	gravity	gravity	NOUN
fcis-11254	48	7	moment	moment	NOUN
fcis-11254	48	8	of	of	ADP
fcis-11254	48	9	a	a	DET
fcis-11254	48	10	mechanical	mechanical	ADJ
fcis-11254	48	11	arm	arm	NOUN
fcis-11254	48	12	according	accord	VERB
fcis-11254	48	13	to	to	ADP
fcis-11254	48	14	the	the	DET
fcis-11254	48	15	lagrange	lagrange	NOUN
fcis-11254	48	16	equation	equation	NOUN
fcis-11254	48	17	for	for	ADP
fcis-11254	48	18	robots	robot	NOUN
fcis-11254	48	19	,	,	PUNCT
fcis-11254	48	20	the	the	DET
fcis-11254	48	21	gravity	gravity	NOUN
fcis-11254	48	22	term	term	NOUN
fcis-11254	48	23	of	of	ADP
fcis-11254	48	24	the	the	DET
fcis-11254	48	25	ith	ith	PROPN
fcis-11254	48	26	joint	joint	NOUN
fcis-11254	48	27	of	of	ADP
fcis-11254	48	28	the	the	DET
fcis-11254	48	29	mechanical	mechanical	ADJ
fcis-11254	48	30	arm	arm	NOUN
fcis-11254	48	31	with	with	ADP
fcis-11254	48	32	n	n	DET
fcis-11254	48	33	joints	joint	NOUN
fcis-11254	48	34	can	can	AUX
fcis-11254	48	35	be	be	AUX
fcis-11254	48	36	expressed	express	VERB
fcis-11254	48	37	as	as	SCONJ
fcis-11254	48	38	follows	follow	VERB
fcis-11254	48	39	:	:	PUNCT
fcis-11254	48	40	0n	0n	NUM
fcis-11254	48	41	t	t	PROPN
fcis-11254	49	1	kk	kk	INTJ
fcis-11254	50	1	i	i	PRON
fcis-11254	50	2	k	k	PROPN
fcis-11254	51	1	k	k	PROPN
fcis-11254	51	2	k	k	PROPN
fcis-11254	52	1	i	i	PRON
fcis-11254	52	2	i	i	PRON
fcis-11254	53	1	g	g	VERB
fcis-11254	53	2	m	m	VERB
fcis-11254	53	3	g	g	NOUN
fcis-11254	53	4	q	q	ADJ
fcis-11254	53	5			ADJ
fcis-11254	54	1			PROPN
fcis-11254	54	2			PROPN
fcis-11254	54	3			PROPN
fcis-11254	54	4	t	t	PROPN
fcis-11254	54	5	p	p	X
fcis-11254	54	6	(	(	PUNCT
fcis-11254	54	7	2	2	NUM
fcis-11254	54	8	)	)	PUNCT
fcis-11254	54	9	where	where	SCONJ
fcis-11254	54	10	km	km	NOUN
fcis-11254	54	11	is	be	AUX
fcis-11254	54	12	the	the	DET
fcis-11254	54	13	mass	mass	NOUN
fcis-11254	54	14	of	of	ADP
fcis-11254	54	15	each	each	DET
fcis-11254	54	16	connecting	connect	VERB
fcis-11254	54	17	rod	rod	NOUN
fcis-11254	54	18	of	of	ADP
fcis-11254	54	19	the	the	DET
fcis-11254	54	20	robot	robot	NOUN
fcis-11254	54	21	arm	arm	NOUN
fcis-11254	54	22	,	,	PUNCT
fcis-11254	54	23	g	g	PROPN
fcis-11254	54	24	is	be	AUX
fcis-11254	54	25	the	the	DET
fcis-11254	54	26	gravity	gravity	NOUN
fcis-11254	54	27	acceleration	acceleration	NOUN
fcis-11254	54	28	vector	vector	NOUN
fcis-11254	54	29	in	in	ADP
fcis-11254	54	30	the	the	DET
fcis-11254	54	31	basic	basic	ADJ
fcis-11254	54	32	coordinate	coordinate	NOUN
fcis-11254	54	33	system	system	NOUN
fcis-11254	54	34	,	,	PUNCT
fcis-11254	54	35	0	0	NUM
fcis-11254	54	36	kt	kt	PROPN
fcis-11254	54	37	is	be	AUX
fcis-11254	54	38	the	the	DET
fcis-11254	54	39	homogeneous	homogeneous	ADJ
fcis-11254	54	40	transformation	transformation	NOUN
fcis-11254	54	41	matrix	matrix	NOUN
fcis-11254	54	42	of	of	ADP
fcis-11254	54	43	the	the	DET
fcis-11254	54	44	k	k	NOUN
fcis-11254	54	45	-	-	PUNCT
fcis-11254	54	46	coordinate	coordinate	NOUN
fcis-11254	54	47	relative	relative	ADJ
fcis-11254	54	48	to	to	ADP
fcis-11254	54	49	the	the	DET
fcis-11254	54	50	basic	basic	ADJ
fcis-11254	54	51	coordinate	coordinate	NOUN
fcis-11254	54	52	system	system	NOUN
fcis-11254	54	53	and	and	CCONJ
fcis-11254	54	54	k	k	PROPN
fcis-11254	54	55	kp	kp	PROPN
fcis-11254	54	56	represents	represent	VERB
fcis-11254	54	57	the	the	DET
fcis-11254	54	58	distance	distance	NOUN
fcis-11254	54	59	vector	vector	NOUN
fcis-11254	54	60	from	from	ADP
fcis-11254	54	61	the	the	DET
fcis-11254	54	62	origin	origin	NOUN
fcis-11254	54	63	of	of	ADP
fcis-11254	54	64	the	the	DET
fcis-11254	54	65	k	k	NOUN
fcis-11254	54	66	-	-	NOUN
fcis-11254	54	67	coordinate	coordinate	NOUN
fcis-11254	54	68	to	to	ADP
fcis-11254	54	69	the	the	DET
fcis-11254	54	70	mass	mass	ADJ
fcis-11254	54	71	centre	centre	NOUN
fcis-11254	54	72	of	of	ADP
fcis-11254	54	73	the	the	DET
fcis-11254	54	74	connection	connection	NOUN
fcis-11254	54	75	rod	rod	NOUN
fcis-11254	54	76	k.	k.	PROPN
fcis-11254	54	77	therefore	therefore	ADV
fcis-11254	54	78	,	,	PUNCT
fcis-11254	54	79	the	the	DET
fcis-11254	54	80	gravity	gravity	NOUN
fcis-11254	54	81	matrix	matrix	NOUN
fcis-11254	54	82	is	be	AUX
fcis-11254	54	83	given	give	VERB
fcis-11254	54	84	as	as	SCONJ
fcis-11254	54	85	follows	follow	VERB
fcis-11254	54	86	:	:	PUNCT
fcis-11254	54	87			ADJ
fcis-11254	54	88	t1	t1	ADJ
fcis-11254	54	89	2	2	NUM
fcis-11254	54	90	3	3	NUM
fcis-11254	54	91	(	(	PUNCT
fcis-11254	54	92	)	)	PUNCT
fcis-11254	54	93	,	,	PUNCT
fcis-11254	54	94	,	,	PUNCT
fcis-11254	54	95	,	,	PUNCT
fcis-11254	54	96	...	...	PUNCT
fcis-11254	54	97	,	,	PUNCT
fcis-11254	55	1	nq	nq	PROPN
fcis-11254	55	2	g	g	PROPN
fcis-11254	55	3	g	g	PROPN
fcis-11254	55	4	g	g	PROPN
fcis-11254	55	5	gg	gg	NOUN
fcis-11254	55	6	(	(	PUNCT
fcis-11254	55	7	3	3	X
fcis-11254	55	8	)	)	PUNCT
fcis-11254	55	9	we	we	PRON
fcis-11254	55	10	can	can	AUX
fcis-11254	55	11	apply	apply	VERB
fcis-11254	55	12	eq	eq	ADP
fcis-11254	55	13	.	.	PUNCT
fcis-11254	56	1	(	(	PUNCT
fcis-11254	56	2	2	2	NUM
fcis-11254	56	3	)	)	PUNCT
fcis-11254	56	4	to	to	PART
fcis-11254	56	5	exactly	exactly	ADV
fcis-11254	56	6	calculate	calculate	VERB
fcis-11254	56	7	the	the	DET
fcis-11254	56	8	gravity	gravity	NOUN
fcis-11254	56	9	term	term	NOUN
fcis-11254	56	10	at	at	ADP
fcis-11254	56	11	each	each	DET
fcis-11254	56	12	moment	moment	NOUN
fcis-11254	56	13	and	and	CCONJ
fcis-11254	56	14	compensate	compensate	VERB
fcis-11254	56	15	for	for	ADP
fcis-11254	56	16	it	it	PRON
fcis-11254	56	17	,	,	PUNCT
fcis-11254	56	18	that	that	ADV
fcis-11254	56	19	is	is	ADV
fcis-11254	56	20	,	,	PUNCT
fcis-11254	56	21	to	to	PART
fcis-11254	56	22	make	make	VERB
fcis-11254	56	23	the	the	DET
fcis-11254	56	24	gravity	gravity	NOUN
fcis-11254	56	25	compensation	compensation	NOUN
fcis-11254	56	26	term	term	NOUN
fcis-11254	56	27	(	(	PUNCT
fcis-11254	56	28	)	)	PUNCT
fcis-11254	56	29	q0γ	q0γ	PROPN
fcis-11254	56	30	g	g	NOUN
fcis-11254	56	31	(	(	PUNCT
fcis-11254	56	32	4	4	NUM
fcis-11254	56	33	)	)	PUNCT
fcis-11254	56	34	let	let	VERB
fcis-11254	56	35	the	the	DET
fcis-11254	56	36	input	input	NOUN
fcis-11254	56	37	torque	torque	NOUN
fcis-11254	56	38	be	be	AUX
fcis-11254	56	39	'	'	PUNCT
fcis-11254	56	40	0γ	0γ	NOUN
fcis-11254	56	41	=	=	SYM
fcis-11254	56	42	γ	γ	X
fcis-11254	56	43	+	+	X
fcis-11254	56	44	γ	γ	X
fcis-11254	56	45	(	(	PUNCT
fcis-11254	56	46	5	5	NUM
fcis-11254	56	47	)	)	PUNCT
fcis-11254	56	48	substituting	substitute	VERB
fcis-11254	56	49	eqs	eqs	PROPN
fcis-11254	56	50	.	.	PUNCT
fcis-11254	57	1	(	(	PUNCT
fcis-11254	57	2	3	3	X
fcis-11254	57	3	)	)	PUNCT
fcis-11254	57	4	and	and	CCONJ
fcis-11254	57	5	(	(	PUNCT
fcis-11254	57	6	4	4	NUM
fcis-11254	57	7	)	)	PUNCT
fcis-11254	57	8	into	into	ADP
fcis-11254	57	9	eq	eq	NOUN
fcis-11254	57	10	.	.	PUNCT
fcis-11254	58	1	(	(	PUNCT
fcis-11254	58	2	1	1	NUM
fcis-11254	58	3	)	)	PUNCT
fcis-11254	58	4	,	,	PUNCT
fcis-11254	58	5	we	we	PRON
fcis-11254	58	6	get	get	VERB
fcis-11254	58	7	(	(	PUNCT
fcis-11254	58	8	)	)	PUNCT
fcis-11254	59	1	+	+	CCONJ
fcis-11254	59	2	(	(	PUNCT
fcis-11254	59	3	)	)	PUNCT
fcis-11254	59	4	q	q	NOUN
fcis-11254	59	5	q	q	X
fcis-11254	59	6	q	q	NOUN
fcis-11254	59	7	,	,	PUNCT
fcis-11254	59	8	q	q	NOUN
fcis-11254	59	9	q	q	PUNCT
fcis-11254	59	10			NUM
fcis-11254	59	11	'	'	VERB
fcis-11254	59	12	m	m	VERB
fcis-11254	59	13	c	c	NOUN
fcis-11254	59	14	γ	γ	NOUN
fcis-11254	59	15			NOUN
fcis-11254	59	16			NOUN
fcis-11254	59	17	(	(	PUNCT
fcis-11254	59	18	6	6	NUM
fcis-11254	59	19	)	)	PUNCT
fcis-11254	59	20	where	where	SCONJ
fcis-11254	59	21	'	'	PUNCT
fcis-11254	59	22	γ	γ	X
fcis-11254	59	23	is	be	AUX
fcis-11254	59	24	the	the	DET
fcis-11254	59	25	input	input	NOUN
fcis-11254	59	26	torque	torque	NOUN
fcis-11254	59	27	after	after	ADP
fcis-11254	59	28	gravity	gravity	NOUN
fcis-11254	59	29	compensation	compensation	NOUN
fcis-11254	59	30	.	.	PUNCT
fcis-11254	60	1	thus	thus	ADV
fcis-11254	60	2	,	,	PUNCT
fcis-11254	60	3	the	the	DET
fcis-11254	60	4	input	input	NOUN
fcis-11254	60	5	torque	torque	NOUN
fcis-11254	60	6	can	can	AUX
fcis-11254	60	7	completely	completely	ADV
fcis-11254	60	8	compensate	compensate	VERB
fcis-11254	60	9	the	the	DET
fcis-11254	60	10	gravity	gravity	NOUN
fcis-11254	60	11	term	term	NOUN
fcis-11254	60	12	,	,	PUNCT
fcis-11254	60	13	which	which	PRON
fcis-11254	60	14	means	mean	VERB
fcis-11254	60	15	that	that	SCONJ
fcis-11254	60	16	it	it	PRON
fcis-11254	60	17	can	can	AUX
fcis-11254	60	18	completely	completely	ADV
fcis-11254	60	19	eliminate	eliminate	VERB
fcis-11254	60	20	the	the	DET
fcis-11254	60	21	disturbance	disturbance	NOUN
fcis-11254	60	22	of	of	ADP
fcis-11254	60	23	the	the	DET
fcis-11254	60	24	gravity	gravity	NOUN
fcis-11254	60	25	moment	moment	NOUN
fcis-11254	60	26	.	.	PUNCT
fcis-11254	61	1	however	however	ADV
fcis-11254	61	2	,	,	PUNCT
fcis-11254	61	3	the	the	DET
fcis-11254	61	4	prerequisite	prerequisite	NOUN
fcis-11254	61	5	is	be	AUX
fcis-11254	61	6	to	to	PART
fcis-11254	61	7	know	know	VERB
fcis-11254	61	8	the	the	DET
fcis-11254	61	9	dynamic	dynamic	ADJ
fcis-11254	61	10	parameters	parameter	NOUN
fcis-11254	61	11	,	,	PUNCT
fcis-11254	61	12	such	such	ADJ
fcis-11254	61	13	as	as	ADP
fcis-11254	61	14	the	the	DET
fcis-11254	61	15	mass	mass	ADJ
fcis-11254	61	16	and	and	CCONJ
fcis-11254	61	17	mass	mass	ADJ
fcis-11254	61	18	centre	centre	NOUN
fcis-11254	61	19	,	,	PUNCT
fcis-11254	61	20	of	of	ADP
fcis-11254	61	21	each	each	DET
fcis-11254	61	22	connecting	connect	VERB
fcis-11254	61	23	rod	rod	NOUN
fcis-11254	61	24	of	of	ADP
fcis-11254	61	25	the	the	DET
fcis-11254	61	26	robot	robot	NOUN
fcis-11254	61	27	arm	arm	NOUN
fcis-11254	61	28	.	.	PUNCT
fcis-11254	62	1	it	it	PRON
fcis-11254	62	2	can	can	AUX
fcis-11254	62	3	be	be	AUX
fcis-11254	62	4	seen	see	VERB
fcis-11254	62	5	from	from	ADP
fcis-11254	62	6	eq	eq	PROPN
fcis-11254	62	7	.	.	PUNCT
fcis-11254	63	1	(	(	PUNCT
fcis-11254	63	2	2	2	NUM
fcis-11254	63	3	)	)	PUNCT
fcis-11254	63	4	that	that	PRON
fcis-11254	63	5	,	,	PUNCT
fcis-11254	63	6	to	to	PART
fcis-11254	63	7	calculate	calculate	VERB
fcis-11254	63	8	the	the	DET
fcis-11254	63	9	gravity	gravity	NOUN
fcis-11254	63	10	moment	moment	NOUN
fcis-11254	63	11	of	of	ADP
fcis-11254	63	12	each	each	DET
fcis-11254	63	13	joint	joint	NOUN
fcis-11254	63	14	of	of	ADP
fcis-11254	63	15	the	the	DET
fcis-11254	63	16	mechanical	mechanical	ADJ
fcis-11254	63	17	arm	arm	NOUN
fcis-11254	63	18	,	,	PUNCT
fcis-11254	63	19	the	the	DET
fcis-11254	63	20	two	two	NUM
fcis-11254	63	21	parameter	parameter	NOUN
fcis-11254	63	22	values	value	NOUN
fcis-11254	63	23	of	of	ADP
fcis-11254	63	24	mass	mass	ADJ
fcis-11254	63	25	km	km	NOUN
fcis-11254	63	26	and	and	CCONJ
fcis-11254	63	27	mass	mass	ADJ
fcis-11254	63	28	centre	centre	NOUN
fcis-11254	63	29	distance	distance	NOUN
fcis-11254	63	30	(	(	PUNCT
fcis-11254	63	31	k	k	X
fcis-11254	63	32	kp	kp	PROPN
fcis-11254	63	33	)	)	PUNCT
fcis-11254	63	34	must	must	AUX
fcis-11254	63	35	be	be	AUX
fcis-11254	63	36	known	know	VERB
fcis-11254	63	37	in	in	ADP
fcis-11254	63	38	advance	advance	NOUN
fcis-11254	63	39	.	.	PUNCT
fcis-11254	64	1	however	however	ADV
fcis-11254	64	2	,	,	PUNCT
fcis-11254	64	3	it	it	PRON
fcis-11254	64	4	is	be	AUX
fcis-11254	64	5	difficult	difficult	ADJ
fcis-11254	64	6	to	to	PART
fcis-11254	64	7	obtain	obtain	VERB
fcis-11254	64	8	relatively	relatively	ADV
fcis-11254	64	9	accurate	accurate	ADJ
fcis-11254	64	10	values	value	NOUN
fcis-11254	64	11	using	use	VERB
fcis-11254	64	12	conventional	conventional	ADJ
fcis-11254	64	13	measurement	measurement	NOUN
fcis-11254	64	14	methods	method	NOUN
fcis-11254	64	15	.	.	PUNCT
fcis-11254	65	1	moreover	moreover	ADV
fcis-11254	65	2	,	,	PUNCT
fcis-11254	65	3	this	this	DET
fcis-11254	65	4	method	method	NOUN
fcis-11254	65	5	requires	require	VERB
fcis-11254	65	6	a	a	DET
fcis-11254	65	7	large	large	ADJ
fcis-11254	65	8	number	number	NOUN
fcis-11254	65	9	of	of	ADP
fcis-11254	65	10	calculations	calculation	NOUN
fcis-11254	65	11	on	on	ADP
fcis-11254	65	12	the	the	DET
fcis-11254	65	13	rotation	rotation	NOUN
fcis-11254	65	14	transformation	transformation	NOUN
fcis-11254	65	15	matrix	matrix	NOUN
fcis-11254	65	16	,	,	PUNCT
fcis-11254	65	17	which	which	PRON
fcis-11254	65	18	becomes	become	VERB
fcis-11254	65	19	very	very	ADV
fcis-11254	65	20	large	large	ADJ
fcis-11254	65	21	when	when	SCONJ
fcis-11254	65	22	there	there	PRON
fcis-11254	65	23	are	be	VERB
fcis-11254	65	24	more	more	ADJ
fcis-11254	65	25	joints	joint	NOUN
fcis-11254	65	26	,	,	PUNCT
fcis-11254	65	27	so	so	SCONJ
fcis-11254	65	28	it	it	PRON
fcis-11254	65	29	is	be	AUX
fcis-11254	65	30	difficult	difficult	ADJ
fcis-11254	65	31	to	to	PART
fcis-11254	65	32	apply	apply	VERB
fcis-11254	65	33	this	this	DET
fcis-11254	65	34	method	method	NOUN
fcis-11254	65	35	in	in	ADP
fcis-11254	65	36	actual	actual	ADJ
fcis-11254	65	37	applications	application	NOUN
fcis-11254	65	38	.	.	PUNCT
fcis-11254	66	1	2.3	2.3	NUM
fcis-11254	66	2	.	.	PUNCT
fcis-11254	67	1	gravity	gravity	NOUN
fcis-11254	67	2	compensation	compensation	NOUN
fcis-11254	67	3	algorithm	algorithm	NOUN
fcis-11254	67	4	of	of	ADP
fcis-11254	67	5	parallel	parallel	ADJ
fcis-11254	67	6	shaft	shaft	NOUN
fcis-11254	67	7	mechanical	mechanical	ADJ
fcis-11254	67	8	arms	arm	NOUN
fcis-11254	67	9	perpendicular	perpendicular	NOUN
fcis-11254	67	10	to	to	PART
fcis-11254	67	11	gravity	gravity	VERB
fcis-11254	67	12	fig	fig	NOUN
fcis-11254	67	13	1	1	NUM
fcis-11254	67	14	.	.	PUNCT
fcis-11254	67	15	coordinate	coordinate	NOUN
fcis-11254	67	16	of	of	ADP
fcis-11254	67	17	an	an	DET
fcis-11254	67	18	n	n	CCONJ
fcis-11254	67	19	-	-	PUNCT
fcis-11254	67	20	joint	joint	ADJ
fcis-11254	67	21	mechanical	mechanical	ADJ
fcis-11254	67	22	arm	arm	NOUN
fcis-11254	67	23	figure	figure	NOUN
fcis-11254	67	24	1	1	NUM
fcis-11254	67	25	shows	show	VERB
fcis-11254	67	26	the	the	DET
fcis-11254	67	27	coordinate	coordinate	NOUN
fcis-11254	67	28	of	of	ADP
fcis-11254	67	29	a	a	DET
fcis-11254	67	30	mechanical	mechanical	ADJ
fcis-11254	67	31	arm	arm	NOUN
fcis-11254	67	32	with	with	ADP
fcis-11254	67	33	n	n	NOUN
fcis-11254	67	34	joints	joint	NOUN
fcis-11254	67	35	as	as	ADP
fcis-11254	67	36	rotating	rotate	VERB
fcis-11254	67	37	joints	joint	NOUN
fcis-11254	67	38	,	,	PUNCT
fcis-11254	67	39	x	x	PUNCT
fcis-11254	67	40	as	as	ADP
fcis-11254	67	41	the	the	DET
fcis-11254	67	42	connecting	connect	VERB
fcis-11254	67	43	rod	rod	NOUN
fcis-11254	67	44	direction	direction	NOUN
fcis-11254	67	45	and	and	CCONJ
fcis-11254	67	46	z	z	NOUN
fcis-11254	67	47	as	as	ADP
fcis-11254	67	48	the	the	DET
fcis-11254	67	49	rotation	rotation	NOUN
fcis-11254	67	50	axis	axis	NOUN
fcis-11254	67	51	direction	direction	NOUN
fcis-11254	67	52	.	.	PUNCT
fcis-11254	68	1	in	in	ADP
fcis-11254	68	2	the	the	DET
fcis-11254	68	3	basic	basic	ADJ
fcis-11254	68	4	coordinate	coordinate	NOUN
fcis-11254	68	5	{	{	PUNCT
fcis-11254	68	6	0	0	NUM
fcis-11254	68	7	}	}	PUNCT
fcis-11254	68	8	,	,	PUNCT
fcis-11254	68	9	the	the	DET
fcis-11254	68	10	gravity	gravity	NOUN
fcis-11254	68	11	direction	direction	NOUN
fcis-11254	68	12	is	be	AUX
fcis-11254	68	13	0	0	NUM
fcis-11254	68	14	-	-	SYM
fcis-11254	68	15	y	y	NOUN
fcis-11254	68	16	and	and	CCONJ
fcis-11254	68	17	the	the	DET
fcis-11254	68	18	rotation	rotation	NOUN
fcis-11254	68	19	axis	axis	NOUN
fcis-11254	68	20	direction	direction	NOUN
fcis-11254	68	21	0z	0z	NOUN
fcis-11254	68	22	is	be	AUX
fcis-11254	68	23	perpendicular	perpendicular	ADJ
fcis-11254	68	24	to	to	ADP
fcis-11254	68	25	the	the	DET
fcis-11254	68	26	plane	plane	NOUN
fcis-11254	68	27	0	0	NUM
fcis-11254	68	28	0x	0x	X
fcis-11254	68	29	y	y	PROPN
fcis-11254	68	30	.	.	PUNCT
fcis-11254	69	1	if	if	SCONJ
fcis-11254	69	2	not	not	PART
fcis-11254	69	3	specified	specify	VERB
fcis-11254	69	4	,	,	PUNCT
fcis-11254	69	5	the	the	DET
fcis-11254	69	6	basic	basic	ADJ
fcis-11254	69	7	coordinate	coordinate	NOUN
fcis-11254	69	8	studied	study	VERB
fcis-11254	69	9	in	in	ADP
fcis-11254	69	10	the	the	DET
fcis-11254	69	11	following	follow	VERB
fcis-11254	69	12	section	section	NOUN
fcis-11254	69	13	is	be	AUX
fcis-11254	69	14	the	the	DET
fcis-11254	69	15	coordinate	coordinate	NOUN
fcis-11254	69	16	system	system	NOUN
fcis-11254	69	17	shown	show	VERB
fcis-11254	69	18	in	in	ADP
fcis-11254	69	19	fig	fig	NOUN
fcis-11254	69	20	.	.	PUNCT
fcis-11254	70	1	1	1	X
fcis-11254	70	2	.	.	X
fcis-11254	70	3	joint	joint	ADJ
fcis-11254	70	4	angle	angle	NOUN
fcis-11254	70	5	1q	1q	NUM
fcis-11254	70	6	is	be	AUX
fcis-11254	70	7	defined	define	VERB
fcis-11254	70	8	as	as	ADP
fcis-11254	70	9	the	the	DET
fcis-11254	70	10	angle	angle	NOUN
fcis-11254	70	11	between	between	ADP
fcis-11254	70	12	0x	0x	NOUN
fcis-11254	70	13	and	and	CCONJ
fcis-11254	70	14	the	the	DET
fcis-11254	70	15	connecting	connect	VERB
fcis-11254	70	16	rod	rod	NOUN
fcis-11254	70	17	1x	1x	NUM
fcis-11254	70	18	in	in	ADP
fcis-11254	70	19	the	the	DET
fcis-11254	70	20	basic	basic	ADJ
fcis-11254	70	21	coordinate	coordinate	NOUN
fcis-11254	70	22	system	system	NOUN
fcis-11254	70	23	and	and	CCONJ
fcis-11254	70	24	nq	nq	PROPN
fcis-11254	70	25	is	be	AUX
fcis-11254	70	26	defined	define	VERB
fcis-11254	70	27	as	as	ADP
fcis-11254	70	28	the	the	DET
fcis-11254	70	29	angle	angle	NOUN
fcis-11254	70	30	between	between	ADP
fcis-11254	70	31	the	the	DET
fcis-11254	70	32	connection	connection	NOUN
fcis-11254	70	33	rods	rod	NOUN
fcis-11254	70	34	-1nx	-1nx	NOUN
fcis-11254	70	35	and	and	CCONJ
fcis-11254	70	36	nx	nx	X
fcis-11254	70	37	.	.	PUNCT
fcis-11254	71	1	according	accord	VERB
fcis-11254	71	2	to	to	ADP
fcis-11254	71	3	the	the	DET
fcis-11254	71	4	definition	definition	NOUN
fcis-11254	71	5	of	of	ADP
fcis-11254	71	6	joint	joint	ADJ
fcis-11254	71	7	angle	angle	NOUN
fcis-11254	71	8	and	and	CCONJ
fcis-11254	71	9	the	the	DET
fcis-11254	71	10	property	property	NOUN
fcis-11254	71	11	of	of	ADP
fcis-11254	71	12	gravity	gravity	NOUN
fcis-11254	71	13	,	,	PUNCT
fcis-11254	71	14	when	when	SCONJ
fcis-11254	71	15	the	the	DET
fcis-11254	71	16	mechanical	mechanical	ADJ
fcis-11254	71	17	arm	arm	NOUN
fcis-11254	71	18	is	be	AUX
fcis-11254	71	19	fully	fully	ADV
fcis-11254	71	20	expanded	expand	VERB
fcis-11254	71	21	along	along	ADP
fcis-11254	71	22	the	the	DET
fcis-11254	71	23	direction	direction	NOUN
fcis-11254	71	24	perpendicular	perpendicular	NOUN
fcis-11254	71	25	to	to	ADP
fcis-11254	71	26	gravity	gravity	NOUN
fcis-11254	71	27	,	,	PUNCT
fcis-11254	71	28	in	in	ADP
fcis-11254	71	29	other	other	ADJ
fcis-11254	71	30	words	word	NOUN
fcis-11254	71	31	,	,	PUNCT
fcis-11254	71	32	when	when	SCONJ
fcis-11254	71	33	1	1	NUM
fcis-11254	71	34	2	2	NUM
fcis-11254	71	35	n	n	NOUN
fcis-11254	71	36	0q	0q	NOUN
fcis-11254	71	37	q	q	PROPN
fcis-11254	71	38	q	q	ADJ
fcis-11254	71	39			PROPN
fcis-11254	71	40			NUM
fcis-11254	71	41	……	……	NOUN
fcis-11254	71	42	,	,	PUNCT
fcis-11254	71	43	the	the	DET
fcis-11254	71	44	maximum	maximum	ADJ
fcis-11254	71	45	gravity	gravity	NOUN
fcis-11254	71	46	moment	moment	NOUN
fcis-11254	71	47	is	be	AUX
fcis-11254	71	48	received	receive	VERB
fcis-11254	71	49	.	.	PUNCT
fcis-11254	72	1	if	if	SCONJ
fcis-11254	72	2	the	the	DET
fcis-11254	72	3	mechanical	mechanical	ADJ
fcis-11254	72	4	arm	arm	NOUN
fcis-11254	72	5	meets	meet	VERB
fcis-11254	72	6	the	the	DET
fcis-11254	72	7	following	follow	VERB
fcis-11254	72	8	two	two	NUM
fcis-11254	72	9	conditions	condition	NOUN
fcis-11254	72	10	,	,	PUNCT
fcis-11254	72	11	then	then	ADV
fcis-11254	72	12	the	the	DET
fcis-11254	72	13	maximum	maximum	ADJ
fcis-11254	72	14	value	value	NOUN
fcis-11254	72	15	of	of	ADP
fcis-11254	72	16	the	the	DET
fcis-11254	72	17	gravity	gravity	NOUN
fcis-11254	72	18	moment	moment	NOUN
fcis-11254	72	19	at	at	ADP
fcis-11254	72	20	each	each	DET
fcis-11254	72	21	joint	joint	NOUN
fcis-11254	72	22	can	can	AUX
fcis-11254	72	23	be	be	AUX
fcis-11254	72	24	derived	derive	VERB
fcis-11254	72	25	from	from	ADP
fcis-11254	72	26	eq	eq	ADP
fcis-11254	72	27	.	.	PUNCT
fcis-11254	73	1	(	(	PUNCT
fcis-11254	73	2	2	2	NUM
fcis-11254	73	3	):	):	PUNCT
fcis-11254	73	4	1	1	NUM
fcis-11254	73	5	)	)	PUNCT
fcis-11254	73	6	all	all	DET
fcis-11254	73	7	joints	joint	NOUN
fcis-11254	73	8	are	be	AUX
fcis-11254	73	9	rotating	rotate	VERB
fcis-11254	73	10	joints	joint	NOUN
fcis-11254	73	11	.	.	PUNCT
fcis-11254	74	1	2	2	NUM
fcis-11254	74	2	)	)	PUNCT
fcis-11254	74	3	for	for	ADP
fcis-11254	74	4	all	all	DET
fcis-11254	74	5	connecting	connect	VERB
fcis-11254	74	6	rods	rod	NOUN
fcis-11254	74	7	,	,	PUNCT
fcis-11254	74	8	the	the	DET
fcis-11254	74	9	mass	mass	ADJ
fcis-11254	74	10	centre	centre	NOUN
fcis-11254	74	11	of	of	ADP
fcis-11254	74	12	the	the	DET
fcis-11254	74	13	i	i	PROPN
fcis-11254	74	14	connecting	connect	VERB
fcis-11254	74	15	rod	rod	NOUN
fcis-11254	74	16	is	be	AUX
fcis-11254	74	17	on	on	ADP
fcis-11254	74	18	the	the	DET
fcis-11254	74	19	line	line	NOUN
fcis-11254	74	20	between	between	ADP
fcis-11254	74	21	the	the	DET
fcis-11254	74	22	i	i	PROPN
fcis-11254	74	23	coordinate	coordinate	NOUN
fcis-11254	74	24	system	system	NOUN
fcis-11254	74	25	and	and	CCONJ
fcis-11254	74	26	the	the	DET
fcis-11254	74	27	origin	origin	NOUN
fcis-11254	74	28	of	of	ADP
fcis-11254	74	29	the	the	DET
fcis-11254	74	30	i	i	PROPN
fcis-11254	74	31	+1	+1	ADJ
fcis-11254	74	32	coordinate	coordinate	NOUN
fcis-11254	74	33	system	system	NOUN
fcis-11254	74	34	.	.	PUNCT
fcis-11254	75	1	1	1	NUM
fcis-11254	75	2	1	1	NUM
fcis-11254	75	3	1	1	NUM
fcis-11254	75	4	2	2	NUM
fcis-11254	75	5	1	1	NUM
fcis-11254	75	6	2	2	NUM
fcis-11254	75	7	2	2	NUM
fcis-11254	75	8	22	22	NUM
fcis-11254	75	9	3	3	NUM
fcis-11254	75	10	3	3	NUM
fcis-11254	75	11	3	3	NUM
fcis-11254	75	12	3	3	NUM
fcis-11254	75	13	3	3	NUM
fcis-11254	75	14	4	4	NUM
fcis-11254	75	15	1	1	NUM
fcis-11254	75	16	1	1	NUM
fcis-11254	75	17	1	1	NUM
fcis-11254	75	18	1	1	NUM
fcis-11254	75	19	...	...	PUNCT
fcis-11254	75	20	...	...	PUNCT
fcis-11254	76	1	n	n	PRON
fcis-11254	76	2	c	c	X
fcis-11254	76	3	k	k	PROPN
fcis-11254	76	4	k	k	PROPN
fcis-11254	77	1	n	n	PROPN
fcis-11254	77	2	c	c	NOUN
fcis-11254	77	3	k	k	PROPN
fcis-11254	77	4	k	k	PROPN
fcis-11254	78	1	n	n	PROPN
fcis-11254	78	2	c	c	NOUN
fcis-11254	78	3	k	k	PROPN
fcis-11254	78	4	k	k	PROPN
fcis-11254	79	1	n	n	PROPN
fcis-11254	79	2	c	c	PROPN
fcis-11254	79	3	n	n	CCONJ
fcis-11254	79	4	n	n	CCONJ
fcis-11254	79	5	n	n	CCONJ
fcis-11254	79	6	n	n	CCONJ
fcis-11254	79	7	n	n	NOUN
fcis-11254	79	8	c	c	NOUN
fcis-11254	79	9	n	n	CCONJ
fcis-11254	79	10	n	n	PRON
fcis-11254	79	11	m	m	PROPN
fcis-11254	79	12	l	l	NOUN
fcis-11254	79	13	l	l	X
fcis-11254	79	14	m	m	VERB
fcis-11254	79	15	g	g	NOUN
fcis-11254	79	16	m	m	PROPN
fcis-11254	79	17	l	l	NOUN
fcis-11254	79	18	l	l	NOUN
fcis-11254	79	19	mg	mg	NOUN
fcis-11254	80	1	g	g	PROPN
fcis-11254	80	2	gm	gm	PROPN
fcis-11254	80	3	l	l	PROPN
fcis-11254	80	4	l	l	X
fcis-11254	80	5	m	m	VERB
fcis-11254	80	6	g	g	NOUN
fcis-11254	80	7	g	g	PROPN
fcis-11254	80	8	m	m	PROPN
fcis-11254	80	9	l	l	NOUN
fcis-11254	80	10	l	l	NOUN
fcis-11254	80	11	m	m	VERB
fcis-11254	80	12	m	m	VERB
fcis-11254	80	13	l	l	NOUN
fcis-11254	81	1			NUM
fcis-11254	82	1			NUM
fcis-11254	82	2			PROPN
fcis-11254	82	3			PROPN
fcis-11254	82	4			PROPN
fcis-11254	82	5			PROPN
fcis-11254	82	6			PROPN
fcis-11254	82	7			PROPN
fcis-11254	82	8			ADJ
fcis-11254	82	9			NOUN
fcis-11254	82	10			NUM
fcis-11254	82	11			ADJ
fcis-11254	82	12			NOUN
fcis-11254	82	13			PROPN
fcis-11254	82	14			NOUN
fcis-11254	82	15			NOUN
fcis-11254	82	16			NOUN
fcis-11254	82	17			NOUN
fcis-11254	82	18			ADJ
fcis-11254	82	19			ADJ
fcis-11254	82	20			NOUN
fcis-11254	82	21			NOUN
fcis-11254	82	22			NOUN
fcis-11254	82	23			NOUN
fcis-11254	82	24			NOUN
fcis-11254	82	25			NOUN
fcis-11254	82	26			NOUN
fcis-11254	82	27			NOUN
fcis-11254	82	28			NOUN
fcis-11254	82	29			NOUN
fcis-11254	82	30			ADJ
fcis-11254	82	31			ADJ
fcis-11254	82	32			NOUN
fcis-11254	82	33			NOUN
fcis-11254	82	34			NOUN
fcis-11254	82	35			NOUN
fcis-11254	82	36			NOUN
fcis-11254	82	37			NOUN
fcis-11254	82	38			NOUN
fcis-11254	82	39			NOUN
fcis-11254	82	40			NOUN
fcis-11254	82	41			NOUN
fcis-11254	82	42			NOUN
fcis-11254	82	43			NOUN
fcis-11254	82	44			NOUN
fcis-11254	82	45			NOUN
fcis-11254	82	46			PROPN
fcis-11254	82	47			PROPN
fcis-11254	82	48			PROPN
fcis-11254	82	49			NOUN
fcis-11254	82	50			NOUN
fcis-11254	82	51			NOUN
fcis-11254	82	52			NOUN
fcis-11254	82	53			NOUN
fcis-11254	82	54			PROPN
fcis-11254	82	55			X
fcis-11254	82	56			X
fcis-11254	82	57			X
fcis-11254	82	58	(	(	PUNCT
fcis-11254	82	59	7	7	X
fcis-11254	82	60	)	)	PUNCT
fcis-11254	82	61	where	where	SCONJ
fcis-11254	82	62	ng	ng	PROPN
fcis-11254	82	63	represents	represent	VERB
fcis-11254	82	64	the	the	DET
fcis-11254	82	65	maximum	maximum	ADJ
fcis-11254	82	66	value	value	NOUN
fcis-11254	82	67	of	of	ADP
fcis-11254	82	68	the	the	DET
fcis-11254	82	69	gravity	gravity	NOUN
fcis-11254	82	70	moment	moment	NOUN
fcis-11254	82	71	of	of	ADP
fcis-11254	82	72	the	the	DET
fcis-11254	82	73	nth	nth	PROPN
fcis-11254	82	74	joint	joint	NOUN
fcis-11254	82	75	,	,	PUNCT
fcis-11254	82	76	nm	nm	ADV
fcis-11254	82	77	is	be	AUX
fcis-11254	82	78	the	the	DET
fcis-11254	82	79	gravity	gravity	NOUN
fcis-11254	82	80	of	of	ADP
fcis-11254	82	81	the	the	DET
fcis-11254	82	82	nth	nth	NOUN
fcis-11254	82	83	x0	x0	PROPN
fcis-11254	82	84	y0	y0	PROPN
fcis-11254	82	85	z0	z0	PROPN
fcis-11254	82	86	q1	q1	PROPN
fcis-11254	82	87	θ1	θ1	NOUN
fcis-11254	82	88	xn-1	xn-1	PUNCT
fcis-11254	82	89	yn-1	yn-1	ADP
fcis-11254	82	90	zn-1	zn-1	PROPN
fcis-11254	82	91	qn	qn	PROPN
fcis-11254	82	92	θn	θn	PROPN
fcis-11254	82	93	x1	x1	PROPN
fcis-11254	82	94	y1	y1	PROPN
fcis-11254	82	95	z1	z1	PROPN
fcis-11254	82	96	xn	xn	PROPN
fcis-11254	82	97	yn	yn	PROPN
fcis-11254	82	98	zn	zn	PROPN
fcis-11254	82	99	z0	z0	PROPN
fcis-11254	82	100	127	127	NUM
fcis-11254	82	101	connecting	connect	VERB
fcis-11254	82	102	rod	rod	NOUN
fcis-11254	82	103	,	,	PUNCT
fcis-11254	82	104	nl	nl	PROPN
fcis-11254	82	105	is	be	AUX
fcis-11254	82	106	the	the	DET
fcis-11254	82	107	length	length	NOUN
fcis-11254	82	108	of	of	ADP
fcis-11254	82	109	the	the	DET
fcis-11254	82	110	nth	nth	NOUN
fcis-11254	82	111	connecting	connect	VERB
fcis-11254	82	112	rod	rod	NOUN
fcis-11254	82	113	,	,	PUNCT
fcis-11254	82	114	c	c	PROPN
fcis-11254	82	115	nl	nl	PROPN
fcis-11254	82	116	is	be	AUX
fcis-11254	82	117	the	the	DET
fcis-11254	82	118	distance	distance	NOUN
fcis-11254	82	119	between	between	ADP
fcis-11254	82	120	the	the	DET
fcis-11254	82	121	mass	mass	ADJ
fcis-11254	82	122	centre	centre	NOUN
fcis-11254	82	123	of	of	ADP
fcis-11254	82	124	the	the	DET
fcis-11254	82	125	nth	nth	NOUN
fcis-11254	82	126	connecting	connect	VERB
fcis-11254	82	127	rod	rod	NOUN
fcis-11254	82	128	and	and	CCONJ
fcis-11254	82	129	the	the	DET
fcis-11254	82	130	origin	origin	NOUN
fcis-11254	82	131	of	of	ADP
fcis-11254	82	132	the	the	DET
fcis-11254	82	133	nth	nth	NOUN
fcis-11254	82	134	coordinate	coordinate	NOUN
fcis-11254	82	135	system	system	NOUN
fcis-11254	82	136	and	and	CCONJ
fcis-11254	82	137	g	g	NOUN
fcis-11254	82	138	is	be	AUX
fcis-11254	82	139	the	the	DET
fcis-11254	82	140	acceleration	acceleration	NOUN
fcis-11254	82	141	due	due	ADP
fcis-11254	82	142	to	to	ADP
fcis-11254	82	143	gravity	gravity	NOUN
fcis-11254	82	144	.	.	PUNCT
fcis-11254	83	1	parallel	parallel	ADJ
fcis-11254	83	2	shaft	shaft	NOUN
fcis-11254	83	3	mechanical	mechanical	ADJ
fcis-11254	83	4	arm	arm	NOUN
fcis-11254	83	5	perpendicular	perpendicular	NOUN
fcis-11254	83	6	to	to	ADP
fcis-11254	83	7	gravity	gravity	NOUN
fcis-11254	83	8	refers	refer	VERB
fcis-11254	83	9	to	to	ADP
fcis-11254	83	10	all	all	DET
fcis-11254	83	11	joint	joint	ADJ
fcis-11254	83	12	axis	axis	NOUN
fcis-11254	83	13	angles	angle	NOUN
fcis-11254	83	14	n	n	DET
fcis-11254	83	15	k	k	NOUN
fcis-11254	83	16			NOUN
fcis-11254	83	17	(	(	PUNCT
fcis-11254	83	18	k	k	X
fcis-11254	83	19	is	be	AUX
fcis-11254	83	20	an	an	DET
fcis-11254	83	21	integer	integer	NOUN
fcis-11254	83	22	)	)	PUNCT
fcis-11254	83	23	;	;	PUNCT
fcis-11254	83	24	in	in	ADP
fcis-11254	83	25	other	other	ADJ
fcis-11254	83	26	words	word	NOUN
fcis-11254	83	27	,	,	PUNCT
fcis-11254	83	28	all	all	DET
fcis-11254	83	29	joint	joint	ADJ
fcis-11254	83	30	axes	axis	NOUN
fcis-11254	83	31	of	of	ADP
fcis-11254	83	32	the	the	DET
fcis-11254	83	33	mechanical	mechanical	ADJ
fcis-11254	83	34	arm	arm	NOUN
fcis-11254	83	35	are	be	AUX
fcis-11254	83	36	perpendicular	perpendicular	ADJ
fcis-11254	83	37	to	to	ADP
fcis-11254	83	38	the	the	DET
fcis-11254	83	39	direction	direction	NOUN
fcis-11254	83	40	of	of	ADP
fcis-11254	83	41	gravity	gravity	NOUN
fcis-11254	83	42	and	and	CCONJ
fcis-11254	83	43	parallel	parallel	NOUN
fcis-11254	83	44	to	to	ADP
fcis-11254	83	45	each	each	DET
fcis-11254	83	46	other	other	ADJ
fcis-11254	83	47	.	.	PUNCT
fcis-11254	84	1	according	accord	VERB
fcis-11254	84	2	to	to	ADP
fcis-11254	84	3	the	the	DET
fcis-11254	84	4	property	property	NOUN
fcis-11254	84	5	of	of	ADP
fcis-11254	84	6	torque	torque	NOUN
fcis-11254	84	7	and	and	CCONJ
fcis-11254	84	8	the	the	DET
fcis-11254	84	9	space	space	NOUN
fcis-11254	84	10	geometry	geometry	NOUN
fcis-11254	84	11	characteristics	characteristic	NOUN
fcis-11254	84	12	of	of	ADP
fcis-11254	84	13	the	the	DET
fcis-11254	84	14	mechanical	mechanical	ADJ
fcis-11254	84	15	arm	arm	NOUN
fcis-11254	84	16	,	,	PUNCT
fcis-11254	84	17	we	we	PRON
fcis-11254	84	18	consider	consider	VERB
fcis-11254	84	19	the	the	DET
fcis-11254	84	20	maximum	maximum	ADJ
fcis-11254	84	21	gravity	gravity	NOUN
fcis-11254	84	22	moment	moment	NOUN
fcis-11254	84	23	and	and	CCONJ
fcis-11254	84	24	joint	joint	ADJ
fcis-11254	84	25	angle	angle	NOUN
fcis-11254	84	26	of	of	ADP
fcis-11254	84	27	each	each	DET
fcis-11254	84	28	joint	joint	NOUN
fcis-11254	84	29	as	as	ADP
fcis-11254	84	30	variables	variable	NOUN
fcis-11254	84	31	.	.	PUNCT
fcis-11254	85	1	thus	thus	ADV
fcis-11254	85	2	,	,	PUNCT
fcis-11254	85	3	the	the	DET
fcis-11254	85	4	online	online	ADJ
fcis-11254	85	5	gravity	gravity	NOUN
fcis-11254	85	6	compensation	compensation	NOUN
fcis-11254	85	7	algorithm	algorithm	NOUN
fcis-11254	85	8	is	be	AUX
fcis-11254	85	9	designed	design	VERB
fcis-11254	85	10	as	as	SCONJ
fcis-11254	85	11	follows	follow	VERB
fcis-11254	85	12	:	:	PUNCT
fcis-11254	85	13	1	1	NUM
fcis-11254	85	14	1	1	NUM
fcis-11254	85	15	1	1	NUM
fcis-11254	85	16	1	1	NUM
fcis-11254	85	17	2	2	NUM
fcis-11254	85	18	1	1	NUM
fcis-11254	85	19	2	2	NUM
fcis-11254	85	20	2	2	NUM
fcis-11254	85	21	2	2	NUM
fcis-11254	85	22	1	1	NUM
fcis-11254	85	23	2	2	NUM
fcis-11254	85	24	3	3	NUM
fcis-11254	85	25	2	2	NUM
fcis-11254	85	26	3	3	NUM
fcis-11254	85	27	3	3	NUM
fcis-11254	85	28	3	3	NUM
fcis-11254	85	29	1	1	NUM
fcis-11254	85	30	2	2	NUM
fcis-11254	85	31	33	33	NUM
fcis-11254	85	32	4	4	NUM
fcis-11254	85	33	11	11	NUM
fcis-11254	85	34	1	1	NUM
fcis-11254	85	35	1	1	NUM
fcis-11254	85	36	1	1	NUM
fcis-11254	85	37	1	1	NUM
fcis-11254	85	38	1	1	NUM
fcis-11254	85	39	(	(	PUNCT
fcis-11254	85	40	)	)	PUNCT
fcis-11254	85	41	cos	cos	PROPN
fcis-11254	85	42	(	(	PUNCT
fcis-11254	85	43	)	)	PUNCT
fcis-11254	85	44	(	(	PUNCT
fcis-11254	85	45	)	)	PUNCT
fcis-11254	85	46	(	(	PUNCT
fcis-11254	85	47	)	)	PUNCT
fcis-11254	85	48	cos	cos	PROPN
fcis-11254	85	49	(	(	PUNCT
fcis-11254	85	50	+	+	CCONJ
fcis-11254	85	51	)	)	PUNCT
fcis-11254	85	52	(	(	PUNCT
fcis-11254	85	53	)	)	PUNCT
fcis-11254	85	54	(	(	PUNCT
fcis-11254	85	55	)	)	PUNCT
fcis-11254	85	56	cos	cos	PROPN
fcis-11254	85	57	(	(	PUNCT
fcis-11254	85	58	+	+	CCONJ
fcis-11254	85	59	+	+	X
fcis-11254	85	60	)	)	PUNCT
fcis-11254	85	61	(	(	PUNCT
fcis-11254	85	62	)	)	PUNCT
fcis-11254	85	63	...	...	PUNCT
fcis-11254	85	64	...	...	PUNCT
fcis-11254	85	65	(	(	PUNCT
fcis-11254	85	66	)	)	PUNCT
fcis-11254	85	67	(	(	PUNCT
fcis-11254	85	68	)	)	PUNCT
fcis-11254	85	69	cos	cos	PROPN
fcis-11254	85	70	(	(	PUNCT
fcis-11254	85	71	)	)	PUNCT
fcis-11254	85	72	(	(	PUNCT
fcis-11254	85	73	)	)	PUNCT
fcis-11254	85	74	cos	cos	PROPN
fcis-11254	85	75	(	(	PUNCT
fcis-11254	85	76	)	)	PUNCT
fcis-11254	85	77	n	n	PRON
fcis-11254	85	78	c	c	NOUN
fcis-11254	85	79	k	k	PROPN
fcis-11254	85	80	k	k	PROPN
fcis-11254	86	1	n	n	PROPN
fcis-11254	86	2	c	c	NOUN
fcis-11254	86	3	k	k	PROPN
fcis-11254	86	4	k	k	PROPN
fcis-11254	87	1	n	n	PROPN
fcis-11254	88	1	c	c	PROPN
fcis-11254	88	2	k	k	PROPN
fcis-11254	88	3	k	k	PROPN
fcis-11254	88	4	nn	nn	PROPN
fcis-11254	88	5	c	c	PROPN
fcis-11254	88	6	n	n	CCONJ
fcis-11254	88	7	n	n	CCONJ
fcis-11254	88	8	n	n	CCONJ
fcis-11254	88	9	n	n	NOUN
fcis-11254	89	1	i	i	PRON
fcis-11254	90	1	n	n	VERB
fcis-11254	91	1	i	i	PRON
fcis-11254	91	2	n	n	VERB
fcis-11254	91	3	c	c	NOUN
fcis-11254	91	4	n	n	CCONJ
fcis-11254	91	5	n	n	ADV
fcis-11254	91	6	i	i	PRON
fcis-11254	91	7	i	i	PRON
fcis-11254	91	8	m	m	VERB
fcis-11254	91	9	l	l	VERB
fcis-11254	91	10	l	l	X
fcis-11254	91	11	m	m	VERB
fcis-11254	91	12	g	g	NOUN
fcis-11254	91	13	q	q	X
fcis-11254	91	14	g	g	PROPN
fcis-11254	91	15	q	q	NOUN
fcis-11254	91	16	m	m	NOUN
fcis-11254	91	17	l	l	NOUN
fcis-11254	91	18	l	l	NOUN
fcis-11254	91	19	m	m	VERB
fcis-11254	91	20	g	g	NOUN
fcis-11254	91	21	q	q	NOUN
fcis-11254	91	22	q	q	NOUN
fcis-11254	91	23	g	g	PROPN
fcis-11254	91	24	q	q	NOUN
fcis-11254	91	25	m	m	NOUN
fcis-11254	91	26	l	l	NOUN
fcis-11254	91	27	l	l	NOUN
fcis-11254	91	28	m	m	VERB
fcis-11254	91	29	g	g	NOUN
fcis-11254	91	30	q	q	X
fcis-11254	91	31	q	q	X
fcis-11254	91	32	qg	qg	PROPN
fcis-11254	91	33	q	q	PROPN
fcis-11254	91	34	g	g	PROPN
fcis-11254	91	35	q	q	NOUN
fcis-11254	91	36	m	m	NOUN
fcis-11254	91	37	l	l	NOUN
fcis-11254	91	38	l	l	NOUN
fcis-11254	91	39	m	m	VERB
fcis-11254	91	40	g	g	NOUN
fcis-11254	91	41	q	q	X
fcis-11254	91	42	g	g	PROPN
fcis-11254	91	43	q	q	NOUN
fcis-11254	91	44	m	m	NOUN
fcis-11254	91	45	l	l	NOUN
fcis-11254	91	46	g	g	NOUN
fcis-11254	91	47	q	q	PROPN
fcis-11254	92	1			NUM
fcis-11254	92	2			NUM
fcis-11254	92	3			NUM
fcis-11254	92	4			NOUN
fcis-11254	92	5			PROPN
fcis-11254	92	6			PROPN
fcis-11254	92	7			PROPN
fcis-11254	92	8			PROPN
fcis-11254	92	9			NUM
fcis-11254	92	10			PROPN
fcis-11254	92	11			ADJ
fcis-11254	92	12			NOUN
fcis-11254	92	13			NOUN
fcis-11254	92	14			NOUN
fcis-11254	92	15			NOUN
fcis-11254	92	16			NOUN
fcis-11254	92	17			PROPN
fcis-11254	92	18			PROPN
fcis-11254	92	19			PROPN
fcis-11254	92	20			NOUN
fcis-11254	92	21			NOUN
fcis-11254	92	22			PUNCT
fcis-11254	93	1			ADJ
fcis-11254	93	2			ADJ
fcis-11254	93	3			NOUN
fcis-11254	93	4			NOUN
fcis-11254	93	5			NOUN
fcis-11254	93	6			NOUN
fcis-11254	93	7			NOUN
fcis-11254	93	8			PROPN
fcis-11254	93	9			SYM
fcis-11254	93	10			VERB
fcis-11254	93	11			PROPN
fcis-11254	93	12			PROPN
fcis-11254	93	13			VERB
fcis-11254	93	14			X
fcis-11254	93	15			X
fcis-11254	93	16			X
fcis-11254	93	17			X
fcis-11254	93	18			X
fcis-11254	93	19			VERB
fcis-11254	93	20			PROPN
fcis-11254	93	21			PROPN
fcis-11254	94	1			PUNCT
fcis-11254	95	1			PUNCT
fcis-11254	95	2			NOUN
fcis-11254	96	1			NOUN
fcis-11254	96	2			NOUN
fcis-11254	96	3			NOUN
fcis-11254	96	4			NOUN
fcis-11254	96	5			NOUN
fcis-11254	96	6			NOUN
fcis-11254	96	7			NOUN
fcis-11254	96	8			NOUN
fcis-11254	96	9			NOUN
fcis-11254	96	10			NOUN
fcis-11254	96	11			NOUN
fcis-11254	96	12			NOUN
fcis-11254	96	13			NOUN
fcis-11254	96	14			NOUN
fcis-11254	96	15			NOUN
fcis-11254	96	16			NOUN
fcis-11254	96	17			NOUN
fcis-11254	96	18			NOUN
fcis-11254	96	19	(	(	PUNCT
fcis-11254	96	20	8)	8)	NUM
fcis-11254	96	21	where	where	SCONJ
fcis-11254	96	22	(	(	PUNCT
fcis-11254	96	23	)	)	PUNCT
fcis-11254	96	24	ng	ng	PROPN
fcis-11254	96	25	q	q	PROPN
fcis-11254	96	26	represents	represent	VERB
fcis-11254	96	27	the	the	DET
fcis-11254	96	28	torque	torque	NOUN
fcis-11254	96	29	to	to	PART
fcis-11254	96	30	be	be	AUX
fcis-11254	96	31	compensated	compensate	VERB
fcis-11254	96	32	for	for	ADP
fcis-11254	96	33	the	the	DET
fcis-11254	96	34	nth	nth	PROPN
fcis-11254	96	35	joint	joint	NOUN
fcis-11254	96	36	,	,	PUNCT
fcis-11254	96	37	nm	nm	ADV
fcis-11254	96	38	is	be	AUX
fcis-11254	96	39	the	the	DET
fcis-11254	96	40	gravity	gravity	NOUN
fcis-11254	96	41	of	of	ADP
fcis-11254	96	42	the	the	DET
fcis-11254	96	43	nth	nth	NOUN
fcis-11254	96	44	connecting	connect	VERB
fcis-11254	96	45	rod	rod	NOUN
fcis-11254	96	46	,	,	PUNCT
fcis-11254	96	47	nl	nl	PROPN
fcis-11254	96	48	is	be	AUX
fcis-11254	96	49	the	the	DET
fcis-11254	96	50	length	length	NOUN
fcis-11254	96	51	of	of	ADP
fcis-11254	96	52	the	the	DET
fcis-11254	96	53	nth	nth	NOUN
fcis-11254	96	54	connecting	connect	VERB
fcis-11254	96	55	rod	rod	NOUN
fcis-11254	96	56	,	,	PUNCT
fcis-11254	96	57	c	c	PROPN
fcis-11254	96	58	nl	nl	PROPN
fcis-11254	96	59	is	be	AUX
fcis-11254	96	60	the	the	DET
fcis-11254	96	61	distance	distance	NOUN
fcis-11254	96	62	between	between	ADP
fcis-11254	96	63	the	the	DET
fcis-11254	96	64	mass	mass	ADJ
fcis-11254	96	65	centre	centre	NOUN
fcis-11254	96	66	of	of	ADP
fcis-11254	96	67	the	the	DET
fcis-11254	96	68	nth	nth	NOUN
fcis-11254	96	69	connecting	connect	VERB
fcis-11254	96	70	rod	rod	NOUN
fcis-11254	96	71	and	and	CCONJ
fcis-11254	96	72	the	the	DET
fcis-11254	96	73	origin	origin	NOUN
fcis-11254	96	74	of	of	ADP
fcis-11254	96	75	the	the	DET
fcis-11254	96	76	nth	nth	NOUN
fcis-11254	96	77	coordinate	coordinate	NOUN
fcis-11254	96	78	system	system	NOUN
fcis-11254	96	79	,	,	PUNCT
fcis-11254	96	80	g	g	PROPN
fcis-11254	96	81	is	be	AUX
fcis-11254	96	82	the	the	DET
fcis-11254	96	83	acceleration	acceleration	NOUN
fcis-11254	96	84	due	due	ADP
fcis-11254	96	85	to	to	ADP
fcis-11254	96	86	gravity	gravity	NOUN
fcis-11254	96	87	and	and	CCONJ
fcis-11254	96	88	iq	iq	PROPN
fcis-11254	96	89	is	be	AUX
fcis-11254	96	90	the	the	DET
fcis-11254	96	91	ith	ith	PROPN
fcis-11254	96	92	joint	joint	ADJ
fcis-11254	96	93	angle	angle	NOUN
fcis-11254	96	94	.	.	PUNCT
fcis-11254	97	1	2.4	2.4	NUM
fcis-11254	97	2	.	.	PUNCT
fcis-11254	97	3	general	general	ADJ
fcis-11254	97	4	gravity	gravity	NOUN
fcis-11254	97	5	compensation	compensation	NOUN
fcis-11254	97	6	algorithm	algorithm	NOUN
fcis-11254	97	7	of	of	ADP
fcis-11254	97	8	a	a	DET
fcis-11254	97	9	space	space	NOUN
fcis-11254	97	10	manipulator	manipulator	NOUN
fcis-11254	97	11	fig	fig	NOUN
fcis-11254	97	12	2	2	NUM
fcis-11254	97	13	.	.	PUNCT
fcis-11254	98	1	definition	definition	NOUN
fcis-11254	98	2	of	of	ADP
fcis-11254	98	3	the	the	DET
fcis-11254	98	4	joint	joint	ADJ
fcis-11254	98	5	axis	axis	NOUN
fcis-11254	98	6	angle	angle	NOUN
fcis-11254	98	7	as	as	SCONJ
fcis-11254	98	8	shown	show	VERB
fcis-11254	98	9	in	in	ADP
fcis-11254	98	10	fig	fig	NOUN
fcis-11254	98	11	.	.	PUNCT
fcis-11254	99	1	2	2	NUM
fcis-11254	99	2	,	,	PUNCT
fcis-11254	99	3	the	the	DET
fcis-11254	99	4	joint	joint	ADJ
fcis-11254	99	5	axis	axis	NOUN
fcis-11254	99	6	angle	angle	NOUN
fcis-11254	99	7	n	n	NOUN
fcis-11254	99	8	is	be	AUX
fcis-11254	99	9	defined	define	VERB
fcis-11254	99	10	as	as	ADP
fcis-11254	99	11	the	the	DET
fcis-11254	99	12	angle	angle	NOUN
fcis-11254	99	13	between	between	ADP
fcis-11254	99	14	the	the	DET
fcis-11254	99	15	rotation	rotation	NOUN
fcis-11254	99	16	joint	joint	ADJ
fcis-11254	99	17	axis	axis	NOUN
fcis-11254	99	18	nz	nz	PROPN
fcis-11254	99	19	and	and	CCONJ
fcis-11254	99	20	the	the	DET
fcis-11254	99	21	horizontal	horizontal	ADJ
fcis-11254	99	22	plane	plane	NOUN
fcis-11254	99	23	0	0	NUM
fcis-11254	99	24	0z	0z	NUM
fcis-11254	99	25	x	x	X
fcis-11254	99	26	.	.	PUNCT
fcis-11254	100	1	whether	whether	SCONJ
fcis-11254	100	2	and	and	CCONJ
fcis-11254	100	3	how	how	SCONJ
fcis-11254	100	4	much	much	ADJ
fcis-11254	100	5	the	the	DET
fcis-11254	100	6	space	space	NOUN
fcis-11254	100	7	manipulator	manipulator	NOUN
fcis-11254	100	8	requires	require	VERB
fcis-11254	100	9	gravity	gravity	NOUN
fcis-11254	100	10	compensation	compensation	NOUN
fcis-11254	100	11	during	during	ADP
fcis-11254	100	12	the	the	DET
fcis-11254	100	13	control	control	NOUN
fcis-11254	100	14	process	process	NOUN
fcis-11254	100	15	are	be	AUX
fcis-11254	100	16	closely	closely	ADV
fcis-11254	100	17	related	relate	VERB
fcis-11254	100	18	to	to	ADP
fcis-11254	100	19	the	the	DET
fcis-11254	100	20	joint	joint	ADJ
fcis-11254	100	21	axis	axis	NOUN
fcis-11254	100	22	angle	angle	NOUN
fcis-11254	100	23	.	.	PUNCT
fcis-11254	101	1	as	as	ADV
fcis-11254	101	2	long	long	ADV
fcis-11254	101	3	as	as	SCONJ
fcis-11254	101	4	the	the	DET
fcis-11254	101	5	joint	joint	ADJ
fcis-11254	101	6	axis	axis	NOUN
fcis-11254	101	7	angle	angle	NOUN
fcis-11254	101	8	θ	θ	PROPN
fcis-11254	101	9	/	/	SYM
fcis-11254	101	10	2n	2n	NUM
fcis-11254	101	11	k	k	PROPN
fcis-11254	101	12	(	(	PUNCT
fcis-11254	101	13	k	k	PROPN
fcis-11254	101	14	is	be	AUX
fcis-11254	101	15	a	a	DET
fcis-11254	101	16	non	non	ADJ
fcis-11254	101	17	-	-	ADJ
fcis-11254	101	18	zero	zero	NUM
fcis-11254	101	19	integer	integer	NOUN
fcis-11254	101	20	)	)	PUNCT
fcis-11254	101	21	,	,	PUNCT
fcis-11254	101	22	the	the	DET
fcis-11254	101	23	manipulator	manipulator	NOUN
fcis-11254	101	24	will	will	AUX
fcis-11254	101	25	be	be	AUX
fcis-11254	101	26	disturbed	disturb	VERB
fcis-11254	101	27	by	by	ADP
fcis-11254	101	28	the	the	DET
fcis-11254	101	29	gravity	gravity	NOUN
fcis-11254	101	30	and	and	CCONJ
fcis-11254	101	31	it	it	PRON
fcis-11254	101	32	will	will	AUX
fcis-11254	101	33	be	be	AUX
fcis-11254	101	34	necessary	necessary	ADJ
fcis-11254	101	35	to	to	PART
fcis-11254	101	36	compensate	compensate	VERB
fcis-11254	101	37	the	the	DET
fcis-11254	101	38	gravity	gravity	NOUN
fcis-11254	101	39	.	.	PUNCT
fcis-11254	102	1	according	accord	VERB
fcis-11254	102	2	to	to	ADP
fcis-11254	102	3	the	the	DET
fcis-11254	102	4	property	property	NOUN
fcis-11254	102	5	of	of	ADP
fcis-11254	102	6	torque	torque	NOUN
fcis-11254	102	7	and	and	CCONJ
fcis-11254	102	8	the	the	DET
fcis-11254	102	9	space	space	NOUN
fcis-11254	102	10	geometry	geometry	NOUN
fcis-11254	102	11	characteristics	characteristic	NOUN
fcis-11254	102	12	of	of	ADP
fcis-11254	102	13	the	the	DET
fcis-11254	102	14	mechanical	mechanical	ADJ
fcis-11254	102	15	arm	arm	NOUN
fcis-11254	102	16	,	,	PUNCT
fcis-11254	102	17	taking	take	VERB
fcis-11254	102	18	the	the	DET
fcis-11254	102	19	maximum	maximum	ADJ
fcis-11254	102	20	gravity	gravity	NOUN
fcis-11254	102	21	moment	moment	NOUN
fcis-11254	102	22	,	,	PUNCT
fcis-11254	102	23	joint	joint	ADJ
fcis-11254	102	24	axis	axis	NOUN
fcis-11254	102	25	angle	angle	NOUN
fcis-11254	102	26	and	and	CCONJ
fcis-11254	102	27	joint	joint	ADJ
fcis-11254	102	28	angle	angle	NOUN
fcis-11254	102	29	of	of	ADP
fcis-11254	102	30	each	each	DET
fcis-11254	102	31	joint	joint	NOUN
fcis-11254	102	32	as	as	ADP
fcis-11254	102	33	variables	variable	NOUN
fcis-11254	102	34	,	,	PUNCT
fcis-11254	102	35	the	the	DET
fcis-11254	102	36	online	online	ADJ
fcis-11254	102	37	gravity	gravity	NOUN
fcis-11254	102	38	compensation	compensation	NOUN
fcis-11254	102	39	algorithm	algorithm	NOUN
fcis-11254	102	40	is	be	AUX
fcis-11254	102	41	designed	design	VERB
fcis-11254	102	42	as	as	SCONJ
fcis-11254	102	43	follows	follow	VERB
fcis-11254	102	44	:	:	PUNCT
fcis-11254	102	45	1	1	NUM
fcis-11254	102	46	1	1	NUM
fcis-11254	102	47	1	1	NUM
fcis-11254	102	48	1	1	NUM
fcis-11254	102	49	1	1	NUM
fcis-11254	102	50	2	2	NUM
fcis-11254	102	51	1	1	NUM
fcis-11254	102	52	2	2	NUM
fcis-11254	102	53	2	2	NUM
fcis-11254	102	54	2	2	NUM
fcis-11254	102	55	2	2	NUM
fcis-11254	102	56	1	1	NUM
fcis-11254	102	57	1	1	NUM
fcis-11254	102	58	2	2	NUM
fcis-11254	102	59	3	3	NUM
fcis-11254	102	60	2	2	NUM
fcis-11254	102	61	3	3	NUM
fcis-11254	102	62	3	3	NUM
fcis-11254	102	63	3	3	NUM
fcis-11254	102	64	3	3	NUM
fcis-11254	102	65	1	1	NUM
fcis-11254	102	66	1	1	NUM
fcis-11254	102	67	2	2	NUM
fcis-11254	102	68	2	2	NUM
fcis-11254	102	69	33	33	NUM
fcis-11254	102	70	4	4	NUM
fcis-11254	102	71	21	21	NUM
fcis-11254	102	72	1	1	NUM
fcis-11254	102	73	1	1	NUM
fcis-11254	102	74	1	1	NUM
fcis-11254	102	75	1	1	NUM
fcis-11254	102	76	1	1	NUM
fcis-11254	102	77	1	1	NUM
fcis-11254	102	78	(	(	PUNCT
fcis-11254	102	79	)	)	PUNCT
fcis-11254	102	80	cos	cos	PROPN
fcis-11254	102	81	(	(	PUNCT
fcis-11254	102	82	)	)	PUNCT
fcis-11254	102	83	(	(	PUNCT
fcis-11254	102	84	)	)	PUNCT
fcis-11254	102	85	(	(	PUNCT
fcis-11254	102	86	)	)	PUNCT
fcis-11254	102	87	cos	cos	PROPN
fcis-11254	102	88	(	(	PUNCT
fcis-11254	102	89	+	+	CCONJ
fcis-11254	102	90	)	)	PUNCT
fcis-11254	102	91	(	(	PUNCT
fcis-11254	102	92	)	)	PUNCT
fcis-11254	102	93	(	(	PUNCT
fcis-11254	102	94	)	)	PUNCT
fcis-11254	102	95	cos	cos	PROPN
fcis-11254	102	96	(	(	PUNCT
fcis-11254	102	97	+	+	PROPN
fcis-11254	102	98	+	+	X
fcis-11254	102	99	)	)	PUNCT
fcis-11254	102	100	(	(	PUNCT
fcis-11254	102	101	)	)	PUNCT
fcis-11254	102	102	...	...	PUNCT
fcis-11254	102	103	...	...	PUNCT
fcis-11254	103	1	(	(	PUNCT
fcis-11254	103	2	)	)	PUNCT
fcis-11254	103	3	(	(	PUNCT
fcis-11254	103	4	)	)	PUNCT
fcis-11254	103	5	cos	cos	PROPN
fcis-11254	103	6	(	(	PUNCT
fcis-11254	103	7	+	+	NUM
fcis-11254	103	8	)	)	PUNCT
fcis-11254	103	9	(	(	PUNCT
fcis-11254	103	10	)	)	PUNCT
fcis-11254	103	11	n	n	PRON
fcis-11254	103	12	c	c	NOUN
fcis-11254	103	13	k	k	PROPN
fcis-11254	103	14	k	k	PROPN
fcis-11254	104	1	n	n	PROPN
fcis-11254	104	2	c	c	NOUN
fcis-11254	104	3	k	k	PROPN
fcis-11254	104	4	k	k	PROPN
fcis-11254	105	1	n	n	PROPN
fcis-11254	106	1	c	c	PROPN
fcis-11254	106	2	k	k	PROPN
fcis-11254	106	3	k	k	PROPN
fcis-11254	106	4	nn	nn	PROPN
fcis-11254	106	5	c	c	PROPN
fcis-11254	106	6	n	n	CCONJ
fcis-11254	106	7	n	n	CCONJ
fcis-11254	106	8	n	n	CCONJ
fcis-11254	106	9	n	n	CCONJ
fcis-11254	106	10	n	n	NOUN
fcis-11254	107	1	i	i	PRON
fcis-11254	107	2	i	i	PRON
fcis-11254	107	3	n	n	VERB
fcis-11254	107	4	n	n	CCONJ
fcis-11254	107	5	i	i	PRON
fcis-11254	107	6	n	n	CCONJ
fcis-11254	107	7	n	n	NOUN
fcis-11254	107	8	m	m	VERB
fcis-11254	107	9	l	l	NOUN
fcis-11254	107	10	l	l	NOUN
fcis-11254	107	11	m	m	VERB
fcis-11254	107	12	g	g	NOUN
fcis-11254	107	13	q	q	X
fcis-11254	107	14	g	g	PROPN
fcis-11254	107	15	q	q	NOUN
fcis-11254	107	16	m	m	NOUN
fcis-11254	107	17	l	l	NOUN
fcis-11254	107	18	l	l	NOUN
fcis-11254	107	19	m	m	VERB
fcis-11254	107	20	g	g	NOUN
fcis-11254	107	21	q	q	NOUN
fcis-11254	107	22	q	q	NOUN
fcis-11254	107	23	g	g	PROPN
fcis-11254	107	24	q	q	NOUN
fcis-11254	107	25	m	m	NOUN
fcis-11254	107	26	l	l	NOUN
fcis-11254	107	27	l	l	NOUN
fcis-11254	107	28	m	m	VERB
fcis-11254	107	29	g	g	NOUN
fcis-11254	107	30	q	q	X
fcis-11254	107	31	q	q	X
fcis-11254	107	32	qg	qg	PROPN
fcis-11254	107	33	q	q	PROPN
fcis-11254	107	34	g	g	PROPN
fcis-11254	107	35	q	q	NOUN
fcis-11254	107	36	m	m	NOUN
fcis-11254	107	37	l	l	NOUN
fcis-11254	107	38	l	l	NOUN
fcis-11254	107	39	m	m	VERB
fcis-11254	107	40	g	g	NOUN
fcis-11254	107	41	q	q	NOUN
fcis-11254	107	42	q	q	NOUN
fcis-11254	107	43	g	g	PROPN
fcis-11254	107	44	q	q	NOUN
fcis-11254	107	45	m	m	VERB
fcis-11254	107	46	l	l	NOUN
fcis-11254	107	47			NUM
fcis-11254	107	48			NUM
fcis-11254	107	49			NUM
fcis-11254	107	50			NUM
fcis-11254	107	51			NUM
fcis-11254	107	52			NUM
fcis-11254	107	53			NUM
fcis-11254	107	54			NUM
fcis-11254	107	55			NUM
fcis-11254	107	56			NUM
fcis-11254	107	57			NUM
fcis-11254	107	58			NOUN
fcis-11254	107	59			PROPN
fcis-11254	107	60			PROPN
fcis-11254	107	61			PROPN
fcis-11254	107	62			PROPN
fcis-11254	107	63			PROPN
fcis-11254	107	64			PROPN
fcis-11254	107	65			PUNCT
fcis-11254	107	66			PROPN
fcis-11254	107	67			NOUN
fcis-11254	107	68			PROPN
fcis-11254	107	69			PROPN
fcis-11254	107	70			NOUN
fcis-11254	107	71			NOUN
fcis-11254	107	72			NOUN
fcis-11254	107	73			NOUN
fcis-11254	107	74			PROPN
fcis-11254	107	75			NOUN
fcis-11254	107	76			ADJ
fcis-11254	107	77			ADJ
fcis-11254	107	78			NOUN
fcis-11254	107	79			NOUN
fcis-11254	107	80			NOUN
fcis-11254	107	81			NOUN
fcis-11254	107	82			NOUN
fcis-11254	107	83			PROPN
fcis-11254	107	84			SYM
fcis-11254	107	85			VERB
fcis-11254	107	86			PROPN
fcis-11254	107	87			PROPN
fcis-11254	107	88			X
fcis-11254	107	89			X
fcis-11254	107	90			X
fcis-11254	107	91			X
fcis-11254	107	92	1	1	NUM
fcis-11254	107	93	1	1	NUM
fcis-11254	107	94	cos	cos	PROPN
fcis-11254	107	95	(	(	PUNCT
fcis-11254	107	96	)	)	PUNCT
fcis-11254	107	97	n	n	ADP
fcis-11254	107	98	c	c	NOUN
fcis-11254	108	1	n	n	INTJ
fcis-11254	109	1	i	i	PRON
fcis-11254	110	1	i	i	PRON
fcis-11254	111	1	n	n	VERB
fcis-11254	112	1	i	i	PRON
fcis-11254	112	2	g	g	NOUN
fcis-11254	112	3	q	q	X
fcis-11254	112	4	q	q	PROPN
fcis-11254	113	1			ADJ
fcis-11254	113	2			PROPN
fcis-11254	113	3			NUM
fcis-11254	113	4			NUM
fcis-11254	113	5			ADJ
fcis-11254	113	6			NOUN
fcis-11254	113	7			PROPN
fcis-11254	113	8			NOUN
fcis-11254	113	9			NOUN
fcis-11254	113	10			NOUN
fcis-11254	113	11			NOUN
fcis-11254	113	12			NOUN
fcis-11254	113	13			NOUN
fcis-11254	113	14			NOUN
fcis-11254	113	15			NOUN
fcis-11254	113	16			NOUN
fcis-11254	113	17			NOUN
fcis-11254	113	18			NOUN
fcis-11254	113	19			NOUN
fcis-11254	113	20			NOUN
fcis-11254	113	21			NOUN
fcis-11254	113	22			NOUN
fcis-11254	113	23			NOUN
fcis-11254	113	24			NOUN
fcis-11254	113	25			NOUN
fcis-11254	113	26			NOUN
fcis-11254	113	27			NOUN
fcis-11254	113	28			NOUN
fcis-11254	113	29			NOUN
fcis-11254	113	30			NOUN
fcis-11254	113	31			NOUN
fcis-11254	113	32			NOUN
fcis-11254	113	33			NOUN
fcis-11254	113	34			NOUN
fcis-11254	113	35			PROPN
fcis-11254	113	36			PROPN
fcis-11254	113	37			X
fcis-11254	113	38	(	(	PUNCT
fcis-11254	113	39	9	9	NUM
fcis-11254	113	40	)	)	PUNCT
fcis-11254	113	41	where	where	SCONJ
fcis-11254	113	42	(	(	PUNCT
fcis-11254	113	43	)	)	PUNCT
fcis-11254	113	44	ng	ng	PROPN
fcis-11254	113	45	q	q	PROPN
fcis-11254	113	46	represents	represent	VERB
fcis-11254	113	47	the	the	DET
fcis-11254	113	48	torque	torque	NOUN
fcis-11254	113	49	to	to	PART
fcis-11254	113	50	be	be	AUX
fcis-11254	113	51	compensated	compensate	VERB
fcis-11254	113	52	for	for	ADP
fcis-11254	113	53	the	the	DET
fcis-11254	113	54	nth	nth	PROPN
fcis-11254	113	55	joint	joint	NOUN
fcis-11254	113	56	,	,	PUNCT
fcis-11254	113	57	nm	nm	ADV
fcis-11254	113	58	is	be	AUX
fcis-11254	113	59	the	the	DET
fcis-11254	113	60	gravity	gravity	NOUN
fcis-11254	113	61	of	of	ADP
fcis-11254	113	62	the	the	DET
fcis-11254	113	63	nth	nth	NOUN
fcis-11254	113	64	connecting	connect	VERB
fcis-11254	113	65	rod	rod	NOUN
fcis-11254	113	66	,	,	PUNCT
fcis-11254	113	67	nl	nl	PROPN
fcis-11254	113	68	is	be	AUX
fcis-11254	113	69	the	the	DET
fcis-11254	113	70	length	length	NOUN
fcis-11254	113	71	of	of	ADP
fcis-11254	113	72	the	the	DET
fcis-11254	113	73	nth	nth	NOUN
fcis-11254	113	74	connecting	connect	VERB
fcis-11254	113	75	rod	rod	NOUN
fcis-11254	113	76	,	,	PUNCT
fcis-11254	113	77	c	c	PROPN
fcis-11254	113	78	nl	nl	PROPN
fcis-11254	113	79	is	be	AUX
fcis-11254	113	80	the	the	DET
fcis-11254	113	81	distance	distance	NOUN
fcis-11254	113	82	between	between	ADP
fcis-11254	113	83	the	the	DET
fcis-11254	113	84	mass	mass	ADJ
fcis-11254	113	85	centre	centre	NOUN
fcis-11254	113	86	of	of	ADP
fcis-11254	113	87	the	the	DET
fcis-11254	113	88	nth	nth	NOUN
fcis-11254	113	89	connecting	connect	VERB
fcis-11254	113	90	rod	rod	NOUN
fcis-11254	113	91	and	and	CCONJ
fcis-11254	113	92	the	the	DET
fcis-11254	113	93	origin	origin	NOUN
fcis-11254	113	94	of	of	ADP
fcis-11254	113	95	the	the	DET
fcis-11254	113	96	nth	nth	NOUN
fcis-11254	113	97	coordinate	coordinate	NOUN
fcis-11254	113	98	system	system	NOUN
fcis-11254	113	99	,	,	PUNCT
fcis-11254	113	100	g	g	PROPN
fcis-11254	113	101	is	be	AUX
fcis-11254	113	102	the	the	DET
fcis-11254	113	103	acceleration	acceleration	NOUN
fcis-11254	113	104	due	due	ADP
fcis-11254	113	105	to	to	ADP
fcis-11254	113	106	gravity	gravity	NOUN
fcis-11254	113	107	,	,	PUNCT
fcis-11254	113	108	iq	iq	PROPN
fcis-11254	113	109	is	be	AUX
fcis-11254	113	110	the	the	DET
fcis-11254	113	111	ith	ith	PROPN
fcis-11254	113	112	joint	joint	ADJ
fcis-11254	113	113	angle	angle	NOUN
fcis-11254	113	114	and	and	CCONJ
fcis-11254	113	115	n	n	NOUN
fcis-11254	113	116	is	be	AUX
fcis-11254	113	117	the	the	DET
fcis-11254	113	118	compensation	compensation	NOUN
fcis-11254	113	119	coefficient	coefficient	NOUN
fcis-11254	113	120	.	.	PUNCT
fcis-11254	114	1	the	the	DET
fcis-11254	114	2	general	general	ADJ
fcis-11254	114	3	gravity	gravity	NOUN
fcis-11254	114	4	compensation	compensation	NOUN
fcis-11254	114	5	algorithm	algorithm	NOUN
fcis-11254	114	6	of	of	ADP
fcis-11254	114	7	a	a	DET
fcis-11254	114	8	space	space	NOUN
fcis-11254	114	9	manipulator	manipulator	NOUN
fcis-11254	114	10	[	[	X
fcis-11254	114	11	see	see	VERB
fcis-11254	114	12	eq	eq	ADP
fcis-11254	114	13	.	.	PUNCT
fcis-11254	115	1	(	(	PUNCT
fcis-11254	115	2	9	9	NUM
fcis-11254	115	3	)	)	PUNCT
fcis-11254	115	4	]	]	PUNCT
fcis-11254	115	5	has	have	VERB
fcis-11254	115	6	a	a	DET
fcis-11254	115	7	compensation	compensation	NOUN
fcis-11254	115	8	coefficient	coefficient	NOUN
fcis-11254	115	9	n	n	NOUN
fcis-11254	115	10	compared	compare	VERB
fcis-11254	115	11	with	with	ADP
fcis-11254	115	12	the	the	DET
fcis-11254	115	13	gravity	gravity	NOUN
fcis-11254	115	14	compensation	compensation	NOUN
fcis-11254	115	15	algorithm	algorithm	NOUN
fcis-11254	115	16	of	of	ADP
fcis-11254	115	17	parallel	parallel	ADJ
fcis-11254	115	18	shaft	shaft	NOUN
fcis-11254	116	1	mechanical	mechanical	ADJ
fcis-11254	116	2	arms	arm	NOUN
fcis-11254	117	1	[	[	AUX
fcis-11254	117	2	see	see	NOUN
fcis-11254	117	3	eq	eq	ADP
fcis-11254	117	4	.	.	PUNCT
fcis-11254	118	1	(	(	PUNCT
fcis-11254	118	2	8)	8)	NUM
fcis-11254	118	3	]	]	PUNCT
fcis-11254	118	4	.	.	PUNCT
fcis-11254	119	1	this	this	DET
fcis-11254	119	2	coefficient	coefficient	NOUN
fcis-11254	119	3	is	be	AUX
fcis-11254	119	4	related	relate	VERB
fcis-11254	119	5	to	to	ADP
fcis-11254	119	6	the	the	DET
fcis-11254	119	7	joint	joint	ADJ
fcis-11254	119	8	axis	axis	NOUN
fcis-11254	119	9	angle	angle	NOUN
fcis-11254	119	10	,	,	PUNCT
fcis-11254	119	11	which	which	PRON
fcis-11254	119	12	is	be	AUX
fcis-11254	119	13	defined	define	VERB
fcis-11254	119	14	as	as	SCONJ
fcis-11254	119	15	follows	follow	VERB
fcis-11254	119	16	:	:	PUNCT
fcis-11254	119	17	1	1	NUM
fcis-11254	119	18	1	1	NUM
fcis-11254	119	19	2	2	NUM
fcis-11254	119	20	2	2	NUM
fcis-11254	119	21	3	3	NUM
fcis-11254	119	22	3	3	NUM
fcis-11254	119	23	1	1	NUM
fcis-11254	119	24	1	1	NUM
fcis-11254	119	25	cos	cos	PROPN
fcis-11254	119	26	(	(	PUNCT
fcis-11254	119	27	)	)	PUNCT
fcis-11254	119	28	cos	cos	PROPN
fcis-11254	119	29	(	(	PUNCT
fcis-11254	119	30	)	)	PUNCT
fcis-11254	119	31	cos	cos	PROPN
fcis-11254	119	32	(	(	PUNCT
fcis-11254	119	33	)	)	PUNCT
fcis-11254	119	34	cos	cos	PROPN
fcis-11254	119	35	(	(	PUNCT
fcis-11254	119	36	)	)	PUNCT
fcis-11254	119	37	cos	cos	PROPN
fcis-11254	119	38	(	(	PUNCT
fcis-11254	119	39	)	)	PUNCT
fcis-11254	119	40	n	n	CCONJ
fcis-11254	119	41	n	n	CCONJ
fcis-11254	119	42	n	n	CCONJ
fcis-11254	119	43	n	n	ADV
fcis-11254	119	44			NUM
fcis-11254	119	45			X
fcis-11254	120	1			NUM
fcis-11254	120	2			X
fcis-11254	120	3			NUM
fcis-11254	120	4			X
fcis-11254	121	1			NUM
fcis-11254	121	2			X
fcis-11254	121	3			NUM
fcis-11254	121	4			X
fcis-11254	121	5			PROPN
fcis-11254	121	6			PROPN
fcis-11254	121	7			PROPN
fcis-11254	121	8			NOUN
fcis-11254	121	9			PROPN
fcis-11254	121	10			ADJ
fcis-11254	121	11			NOUN
fcis-11254	121	12			PROPN
fcis-11254	121	13			NOUN
fcis-11254	121	14			NOUN
fcis-11254	121	15			NOUN
fcis-11254	121	16			NOUN
fcis-11254	121	17			NOUN
fcis-11254	121	18			NOUN
fcis-11254	121	19			NOUN
fcis-11254	121	20			NOUN
fcis-11254	121	21			NOUN
fcis-11254	121	22			NOUN
fcis-11254	121	23			ADJ
fcis-11254	121	24			ADJ
fcis-11254	121	25			NOUN
fcis-11254	121	26			NOUN
fcis-11254	121	27			NOUN
fcis-11254	121	28			NOUN
fcis-11254	121	29			NOUN
fcis-11254	121	30			NOUN
fcis-11254	121	31			NOUN
fcis-11254	121	32			NOUN
fcis-11254	121	33			NOUN
fcis-11254	121	34			NOUN
fcis-11254	121	35			NOUN
fcis-11254	121	36			NOUN
fcis-11254	121	37			NOUN
fcis-11254	121	38			NOUN
fcis-11254	121	39			NOUN
fcis-11254	121	40			NOUN
fcis-11254	121	41			NOUN
fcis-11254	121	42			PROPN
fcis-11254	121	43			PROPN
fcis-11254	121	44			VERB
fcis-11254	121	45			PROPN
fcis-11254	121	46	…	…	PUNCT
fcis-11254	121	47	…	…	PUNCT
fcis-11254	121	48	…	…	PUNCT
fcis-11254	121	49	(	(	PUNCT
fcis-11254	121	50	10	10	NUM
fcis-11254	121	51	)	)	PUNCT
fcis-11254	121	52	the	the	DET
fcis-11254	121	53	compensation	compensation	NOUN
fcis-11254	121	54	coefficient	coefficient	NOUN
fcis-11254	121	55	is	be	AUX
fcis-11254	121	56	zero	zero	NUM
fcis-11254	121	57	when	when	SCONJ
fcis-11254	121	58	the	the	DET
fcis-11254	121	59	th	th	X
fcis-11254	121	60	joint	joint	ADJ
fcis-11254	121	61	axis	axis	NOUN
fcis-11254	121	62	angle	angle	NOUN
fcis-11254	121	63	/	/	SYM
fcis-11254	121	64	2n	2n	NUM
fcis-11254	121	65	k	k	NOUN
fcis-11254	121	66			PRON
fcis-11254	121	67	(	(	PUNCT
fcis-11254	121	68	k	k	PROPN
fcis-11254	121	69	is	be	AUX
fcis-11254	121	70	a	a	DET
fcis-11254	121	71	non	non	ADJ
fcis-11254	121	72	-	-	ADJ
fcis-11254	121	73	zero	zero	NUM
fcis-11254	121	74	integer	integer	NOUN
fcis-11254	121	75	)	)	PUNCT
fcis-11254	121	76	because	because	SCONJ
fcis-11254	121	77	,	,	PUNCT
fcis-11254	121	78	at	at	ADP
fcis-11254	121	79	this	this	DET
fcis-11254	121	80	point	point	NOUN
fcis-11254	121	81	,	,	PUNCT
fcis-11254	121	82	the	the	DET
fcis-11254	121	83	joint	joint	ADJ
fcis-11254	121	84	axis	axis	NOUN
fcis-11254	121	85	is	be	AUX
fcis-11254	121	86	parallel	parallel	ADJ
fcis-11254	121	87	to	to	ADP
fcis-11254	121	88	the	the	DET
fcis-11254	121	89	direction	direction	NOUN
fcis-11254	121	90	of	of	ADP
fcis-11254	121	91	gravity	gravity	NOUN
fcis-11254	121	92	and	and	CCONJ
fcis-11254	121	93	gravity	gravity	NOUN
fcis-11254	121	94	has	have	VERB
fcis-11254	121	95	a	a	DET
fcis-11254	121	96	little	little	ADJ
fcis-11254	121	97	influence	influence	NOUN
fcis-11254	121	98	on	on	ADP
fcis-11254	121	99	the	the	DET
fcis-11254	121	100	rotation	rotation	NOUN
fcis-11254	121	101	motion	motion	NOUN
fcis-11254	121	102	of	of	ADP
fcis-11254	121	103	the	the	DET
fcis-11254	121	104	joint	joint	NOUN
fcis-11254	121	105	.	.	PUNCT
fcis-11254	122	1	therefore	therefore	ADV
fcis-11254	122	2	,	,	PUNCT
fcis-11254	122	3	no	no	DET
fcis-11254	122	4	gravity	gravity	NOUN
fcis-11254	122	5	compensation	compensation	NOUN
fcis-11254	122	6	is	be	AUX
fcis-11254	122	7	required	require	VERB
fcis-11254	122	8	.	.	PUNCT
fcis-11254	123	1	most	most	ADJ
fcis-11254	123	2	of	of	ADP
fcis-11254	123	3	the	the	DET
fcis-11254	123	4	previous	previous	ADJ
fcis-11254	123	5	studies	study	NOUN
fcis-11254	123	6	have	have	AUX
fcis-11254	123	7	been	be	AUX
fcis-11254	123	8	conducted	conduct	VERB
fcis-11254	123	9	on	on	ADP
fcis-11254	123	10	parallel	parallel	ADJ
fcis-11254	123	11	shaft	shaft	NOUN
fcis-11254	123	12	mechanical	mechanical	ADJ
fcis-11254	123	13	arms	arm	NOUN
fcis-11254	123	14	with	with	ADP
fcis-11254	123	15	all	all	DET
fcis-11254	123	16	joint	joint	ADJ
fcis-11254	123	17	axis	axis	NOUN
fcis-11254	123	18	angles	angle	NOUN
fcis-11254	123	19	of	of	ADP
fcis-11254	123	20	n	n	DET
fcis-11254	123	21	k	k	NOUN
fcis-11254	123	22			PRON
fcis-11254	123	23	(	(	PUNCT
fcis-11254	123	24	k	k	X
fcis-11254	123	25	is	be	AUX
fcis-11254	123	26	an	an	DET
fcis-11254	123	27	integer	integer	NOUN
fcis-11254	123	28	)	)	PUNCT
fcis-11254	123	29	.	.	PUNCT
fcis-11254	124	1	in	in	ADP
fcis-11254	124	2	this	this	DET
fcis-11254	124	3	case	case	NOUN
fcis-11254	124	4	,	,	PUNCT
fcis-11254	124	5	all	all	DET
fcis-11254	124	6	joint	joint	ADJ
fcis-11254	124	7	axes	axis	NOUN
fcis-11254	124	8	are	be	AUX
fcis-11254	124	9	perpendicular	perpendicular	ADJ
fcis-11254	124	10	to	to	ADP
fcis-11254	124	11	the	the	DET
fcis-11254	124	12	direction	direction	NOUN
fcis-11254	124	13	of	of	ADP
fcis-11254	124	14	gravity	gravity	NOUN
fcis-11254	124	15	and	and	CCONJ
fcis-11254	124	16	the	the	DET
fcis-11254	124	17	compensation	compensation	NOUN
fcis-11254	124	18	coefficient	coefficient	NOUN
fcis-11254	124	19	is	be	AUX
fcis-11254	124	20	1	1	NUM
fcis-11254	124	21	.	.	PUNCT
fcis-11254	125	1	the	the	DET
fcis-11254	125	2	rotation	rotation	NOUN
fcis-11254	125	3	motion	motion	NOUN
fcis-11254	125	4	of	of	ADP
fcis-11254	125	5	the	the	DET
fcis-11254	125	6	joint	joint	NOUN
fcis-11254	125	7	is	be	AUX
fcis-11254	125	8	mostly	mostly	ADV
fcis-11254	125	9	affected	affect	VERB
fcis-11254	125	10	by	by	ADP
fcis-11254	125	11	gravity	gravity	NOUN
fcis-11254	125	12	.	.	PUNCT
fcis-11254	126	1	when	when	SCONJ
fcis-11254	126	2	the	the	DET
fcis-11254	126	3	direction	direction	NOUN
fcis-11254	126	4	of	of	ADP
fcis-11254	126	5	the	the	DET
fcis-11254	126	6	joint	joint	ADJ
fcis-11254	126	7	axis	axis	NOUN
fcis-11254	126	8	is	be	AUX
fcis-11254	126	9	neither	neither	CCONJ
fcis-11254	126	10	parallel	parallel	ADJ
fcis-11254	126	11	nor	nor	CCONJ
fcis-11254	126	12	perpendicular	perpendicular	ADJ
fcis-11254	126	13	to	to	ADP
fcis-11254	126	14	the	the	DET
fcis-11254	126	15	direction	direction	NOUN
fcis-11254	126	16	of	of	ADP
fcis-11254	126	17	gravity	gravity	NOUN
fcis-11254	126	18	,	,	PUNCT
fcis-11254	126	19	the	the	DET
fcis-11254	126	20	compensation	compensation	NOUN
fcis-11254	126	21	coefficient	coefficient	VERB
fcis-11254	126	22	n	n	NOUN
fcis-11254	126	23	of	of	ADP
fcis-11254	126	24	each	each	DET
fcis-11254	126	25	joint	joint	NOUN
fcis-11254	126	26	is	be	AUX
fcis-11254	126	27	used	use	VERB
fcis-11254	126	28	to	to	PART
fcis-11254	126	29	indicate	indicate	VERB
fcis-11254	126	30	the	the	DET
fcis-11254	126	31	influence	influence	NOUN
fcis-11254	126	32	of	of	ADP
fcis-11254	126	33	gravity	gravity	NOUN
fcis-11254	126	34	on	on	ADP
fcis-11254	126	35	the	the	DET
fcis-11254	126	36	rotation	rotation	NOUN
fcis-11254	126	37	motion	motion	NOUN
fcis-11254	126	38	of	of	ADP
fcis-11254	126	39	the	the	DET
fcis-11254	126	40	joint	joint	NOUN
fcis-11254	126	41	.	.	PUNCT
fcis-11254	127	1	the	the	PRON
fcis-11254	127	2	larger	large	ADJ
fcis-11254	127	3	the	the	DET
fcis-11254	127	4	value	value	NOUN
fcis-11254	127	5	is	be	AUX
fcis-11254	127	6	,	,	PUNCT
fcis-11254	127	7	the	the	PRON
fcis-11254	127	8	larger	large	ADJ
fcis-11254	127	9	the	the	DET
fcis-11254	127	10	disturbance	disturbance	NOUN
fcis-11254	127	11	of	of	ADP
fcis-11254	127	12	gravity	gravity	NOUN
fcis-11254	127	13	is	be	AUX
fcis-11254	127	14	,	,	PUNCT
fcis-11254	127	15	and	and	CCONJ
fcis-11254	127	16	the	the	DET
fcis-11254	127	17	corresponding	correspond	VERB
fcis-11254	127	18	gravity	gravity	NOUN
fcis-11254	127	19	compensation	compensation	NOUN
fcis-11254	127	20	is	be	AUX
fcis-11254	127	21	calculated	calculate	VERB
fcis-11254	127	22	according	accord	VERB
fcis-11254	127	23	to	to	ADP
fcis-11254	127	24	the	the	DET
fcis-11254	127	25	algorithm	algorithm	NOUN
fcis-11254	127	26	.	.	PUNCT
fcis-11254	128	1	therefore	therefore	ADV
fcis-11254	128	2	,	,	PUNCT
fcis-11254	128	3	the	the	DET
fcis-11254	128	4	gravity	gravity	NOUN
fcis-11254	128	5	compensation	compensation	NOUN
fcis-11254	128	6	algorithm	algorithm	NOUN
fcis-11254	128	7	modified	modify	VERB
fcis-11254	128	8	by	by	ADP
fcis-11254	128	9	the	the	DET
fcis-11254	128	10	compensation	compensation	NOUN
fcis-11254	128	11	coefficient	coefficient	NOUN
fcis-11254	128	12	is	be	AUX
fcis-11254	128	13	suitable	suitable	ADJ
fcis-11254	128	14	for	for	ADP
fcis-11254	128	15	non	non	ADJ
fcis-11254	128	16	-	-	ADJ
fcis-11254	128	17	parallel	parallel	ADJ
fcis-11254	128	18	shaft	shaft	NOUN
fcis-11254	128	19	mechanical	mechanical	ADJ
fcis-11254	128	20	arms	arm	NOUN
fcis-11254	128	21	of	of	ADP
fcis-11254	128	22	any	any	DET
fcis-11254	128	23	joint	joint	ADJ
fcis-11254	128	24	axis	axis	NOUN
fcis-11254	128	25	angle	angle	NOUN
fcis-11254	128	26	,	,	PUNCT
fcis-11254	128	27	which	which	PRON
fcis-11254	128	28	extends	extend	VERB
fcis-11254	128	29	the	the	DET
fcis-11254	128	30	application	application	NOUN
fcis-11254	128	31	scope	scope	NOUN
fcis-11254	128	32	of	of	ADP
fcis-11254	128	33	the	the	DET
fcis-11254	128	34	algorithm	algorithm	NOUN
fcis-11254	128	35	in	in	ADP
fcis-11254	128	36	this	this	DET
fcis-11254	128	37	paper	paper	NOUN
fcis-11254	128	38	.	.	PUNCT
fcis-11254	129	1	128	128	NUM
fcis-11254	129	2	3	3	NUM
fcis-11254	129	3	.	.	PUNCT
fcis-11254	129	4	control	control	NOUN
fcis-11254	129	5	scheme	scheme	NOUN
fcis-11254	129	6	design	design	NOUN
fcis-11254	129	7	and	and	CCONJ
fcis-11254	129	8	stability	stability	NOUN
fcis-11254	129	9	analysis	analysis	NOUN
fcis-11254	129	10	3.1	3.1	NUM
fcis-11254	129	11	.	.	PUNCT
fcis-11254	130	1	control	control	NOUN
fcis-11254	130	2	scheme	scheme	NOUN
fcis-11254	130	3	design	design	NOUN
fcis-11254	130	4	to	to	PART
fcis-11254	130	5	verify	verify	VERB
fcis-11254	130	6	the	the	DET
fcis-11254	130	7	feasibility	feasibility	NOUN
fcis-11254	130	8	and	and	CCONJ
fcis-11254	130	9	effectiveness	effectiveness	NOUN
fcis-11254	130	10	of	of	ADP
fcis-11254	130	11	the	the	DET
fcis-11254	130	12	compensation	compensation	NOUN
fcis-11254	130	13	algorithm	algorithm	NOUN
fcis-11254	130	14	of	of	ADP
fcis-11254	130	15	the	the	DET
fcis-11254	130	16	mechanical	mechanical	ADJ
fcis-11254	130	17	arm	arm	NOUN
fcis-11254	130	18	trajectory	trajectory	NOUN
fcis-11254	130	19	tracking	tracking	NOUN
fcis-11254	130	20	control	control	NOUN
fcis-11254	130	21	system	system	NOUN
fcis-11254	130	22	,	,	PUNCT
fcis-11254	130	23	the	the	DET
fcis-11254	130	24	simplest	simple	ADJ
fcis-11254	130	25	pd	pd	NOUN
fcis-11254	130	26	control	control	NOUN
fcis-11254	130	27	is	be	AUX
fcis-11254	130	28	adopted	adopt	VERB
fcis-11254	130	29	for	for	ADP
fcis-11254	130	30	the	the	DET
fcis-11254	130	31	convenience	convenience	NOUN
fcis-11254	130	32	of	of	ADP
fcis-11254	130	33	analysis	analysis	NOUN
fcis-11254	130	34	.	.	PUNCT
fcis-11254	131	1	the	the	DET
fcis-11254	131	2	control	control	NOUN
fcis-11254	131	3	process	process	NOUN
fcis-11254	131	4	of	of	ADP
fcis-11254	131	5	the	the	DET
fcis-11254	131	6	dual	dual	ADJ
fcis-11254	131	7	-	-	PUNCT
fcis-11254	131	8	joint	joint	ADJ
fcis-11254	131	9	mechanical	mechanical	ADJ
fcis-11254	131	10	arm	arm	NOUN
fcis-11254	131	11	system	system	NOUN
fcis-11254	131	12	is	be	AUX
fcis-11254	131	13	shown	show	VERB
fcis-11254	131	14	as	as	SCONJ
fcis-11254	131	15	follows	follow	VERB
fcis-11254	131	16	.	.	PUNCT
fcis-11254	132	1	pd	pd	PROPN
fcis-11254	132	2	controller	controller	PROPN
fcis-11254	132	3	joint	joint	PROPN
fcis-11254	132	4	driver	driver	NOUN
fcis-11254	132	5	qd	qd	ADP
fcis-11254	132	6	q	q	PROPN
fcis-11254	132	7	gravity	gravity	NOUN
fcis-11254	132	8	compensation	compensation	NOUN
fcis-11254	132	9	—	—	PUNCT
fcis-11254	132	10	e	e	X
fcis-11254	132	11	fig	fig	NOUN
fcis-11254	132	12	3	3	X
fcis-11254	132	13	.	.	PUNCT
fcis-11254	132	14	control	control	NOUN
fcis-11254	132	15	flow	flow	PROPN
fcis-11254	132	16	chart	chart	NOUN
fcis-11254	132	17	the	the	DET
fcis-11254	132	18	expected	expect	VERB
fcis-11254	132	19	input	input	NOUN
fcis-11254	132	20	of	of	ADP
fcis-11254	132	21	the	the	DET
fcis-11254	132	22	control	control	NOUN
fcis-11254	132	23	system	system	NOUN
fcis-11254	132	24	is	be	AUX
fcis-11254	132	25	dq	dq	PROPN
fcis-11254	132	26	,	,	PUNCT
fcis-11254	132	27	the	the	DET
fcis-11254	132	28	output	output	NOUN
fcis-11254	132	29	variable	variable	NOUN
fcis-11254	132	30	is	be	AUX
fcis-11254	132	31	the	the	DET
fcis-11254	132	32	real	real	ADJ
fcis-11254	132	33	-	-	PUNCT
fcis-11254	132	34	time	time	NOUN
fcis-11254	132	35	joint	joint	ADJ
fcis-11254	132	36	angle	angle	NOUN
fcis-11254	132	37	q	q	NOUN
fcis-11254	132	38	and	and	CCONJ
fcis-11254	132	39	the	the	DET
fcis-11254	132	40	error	error	NOUN
fcis-11254	132	41	variable	variable	NOUN
fcis-11254	132	42	is	be	AUX
fcis-11254	132	43	defined	define	VERB
fcis-11254	132	44	as	as	ADP
fcis-11254	132	45	de	de	NOUN
fcis-11254	132	46	=	=	NOUN
fcis-11254	132	47	q	q	PROPN
fcis-11254	132	48	q	q	NOUN
fcis-11254	132	49	,	,	PUNCT
fcis-11254	132	50	dq	dq	PROPN
fcis-11254	132	51	q	q	PROPN
fcis-11254	132	52	e	e	NOUN
fcis-11254	132	53			NOUN
fcis-11254	132	54			NOUN
fcis-11254	132	55	(	(	PUNCT
fcis-11254	132	56	11	11	NUM
fcis-11254	132	57	)	)	PUNCT
fcis-11254	132	58	among	among	ADP
fcis-11254	132	59	these	these	PRON
fcis-11254	132	60	,	,	PUNCT
fcis-11254	132	61	the	the	DET
fcis-11254	132	62	pd	pd	PROPN
fcis-11254	132	63	controller	controller	NOUN
fcis-11254	132	64	uses	use	VERB
fcis-11254	132	65	input	input	NOUN
fcis-11254	132	66	and	and	CCONJ
fcis-11254	132	67	output	output	NOUN
fcis-11254	132	68	deviation	deviation	NOUN
fcis-11254	132	69	for	for	ADP
fcis-11254	132	70	control	control	NOUN
fcis-11254	132	71	and	and	CCONJ
fcis-11254	132	72	its	its	PRON
fcis-11254	132	73	control	control	NOUN
fcis-11254	132	74	law	law	NOUN
fcis-11254	132	75	is	be	AUX
fcis-11254	132	76	given	give	VERB
fcis-11254	132	77	as	as	ADP
fcis-11254	132	78	(	(	PUNCT
fcis-11254	132	79	)	)	PUNCT
fcis-11254	132	80	p	p	NOUN
fcis-11254	132	81	v	v	NUM
fcis-11254	132	82	d=	d=	NOUN
fcis-11254	132	83	q	q	VERB
fcis-11254	132	84	γ	γ	PROPN
fcis-11254	132	85	k	k	PROPN
fcis-11254	132	86	e	e	PROPN
fcis-11254	132	87	k	k	PROPN
fcis-11254	132	88	e	e	X
fcis-11254	132	89	g	g	NOUN
fcis-11254	132	90	(	(	PUNCT
fcis-11254	132	91	12	12	NUM
fcis-11254	132	92	)	)	PUNCT
fcis-11254	132	93	where	where	SCONJ
fcis-11254	132	94	pk	pk	NOUN
fcis-11254	132	95	and	and	CCONJ
fcis-11254	132	96	vk	vk	PROPN
fcis-11254	132	97	are	be	AUX
fcis-11254	132	98	n	n	ADV
fcis-11254	132	99	-	-	PUNCT
fcis-11254	132	100	dimensional	dimensional	ADJ
fcis-11254	132	101	positive	positive	ADJ
fcis-11254	132	102	definite	definite	ADJ
fcis-11254	132	103	diagonal	diagonal	ADJ
fcis-11254	132	104	constant	constant	ADJ
fcis-11254	132	105	matrices	matrix	NOUN
fcis-11254	132	106	,	,	PUNCT
fcis-11254	132	107	and	and	CCONJ
fcis-11254	132	108	the	the	DET
fcis-11254	132	109	variables	variable	NOUN
fcis-11254	132	110	g	g	PROPN
fcis-11254	132	111			PROPN
fcis-11254	132	112	are	be	AUX
fcis-11254	132	113	defined	define	VERB
fcis-11254	132	114	in	in	ADP
fcis-11254	132	115	eq	eq	ADP
fcis-11254	132	116	.	.	PUNCT
fcis-11254	133	1	(	(	PUNCT
fcis-11254	133	2	9	9	NUM
fcis-11254	133	3	)	)	PUNCT
fcis-11254	133	4	.	.	PUNCT
fcis-11254	134	1			ADJ
fcis-11254	134	2	t1	t1	PROPN
fcis-11254	134	3	2	2	NUM
fcis-11254	134	4	n	n	CCONJ
fcis-11254	134	5	(	(	PUNCT
fcis-11254	134	6	)	)	PUNCT
fcis-11254	134	7	=	=	SYM
fcis-11254	134	8	(	(	PUNCT
fcis-11254	134	9	)	)	PUNCT
fcis-11254	134	10	,	,	PUNCT
fcis-11254	134	11	(	(	PUNCT
fcis-11254	134	12	)	)	PUNCT
fcis-11254	134	13	(	(	PUNCT
fcis-11254	134	14	)	)	PUNCT
fcis-11254	134	15	q	q	PROPN
fcis-11254	134	16	g	g	PROPN
fcis-11254	134	17	q	q	X
fcis-11254	134	18	g	g	PROPN
fcis-11254	134	19	q	q	X
fcis-11254	134	20	g	g	PROPN
fcis-11254	134	21	qg	qg	PROPN
fcis-11254	134	22	,	,	PUNCT
fcis-11254	134	23	...	...	PUNCT
fcis-11254	134	24	,	,	PUNCT
fcis-11254	134	25	(	(	PUNCT
fcis-11254	134	26	13	13	NUM
fcis-11254	134	27	)	)	PUNCT
fcis-11254	134	28	using	use	VERB
fcis-11254	134	29	eqs	eqs	PROPN
fcis-11254	134	30	.	.	PUNCT
fcis-11254	135	1	(	(	PUNCT
fcis-11254	135	2	1	1	X
fcis-11254	135	3	)	)	PUNCT
fcis-11254	135	4	and	and	CCONJ
fcis-11254	135	5	(	(	PUNCT
fcis-11254	135	6	12	12	NUM
fcis-11254	135	7	)	)	PUNCT
fcis-11254	135	8	,	,	PUNCT
fcis-11254	135	9	we	we	PRON
fcis-11254	135	10	derive	derive	VERB
fcis-11254	135	11	(	(	PUNCT
fcis-11254	135	12	)	)	PUNCT
fcis-11254	136	1	+	+	CCONJ
fcis-11254	136	2	(	(	PUNCT
fcis-11254	136	3	)	)	PUNCT
fcis-11254	136	4	(	(	PUNCT
fcis-11254	136	5	)	)	PUNCT
fcis-11254	136	6	(	(	PUNCT
fcis-11254	136	7	)	)	PUNCT
fcis-11254	136	8	p	p	NOUN
fcis-11254	136	9	v	v	NUM
fcis-11254	136	10	dq	dq	NUM
fcis-11254	136	11	q	q	NOUN
fcis-11254	136	12	,	,	PUNCT
fcis-11254	136	13	q	q	PRON
fcis-11254	136	14	q	q	X
fcis-11254	136	15	q	q	VERB
fcis-11254	136	16			PROPN
fcis-11254	136	17			ADJ
fcis-11254	136	18	m	m	VERB
fcis-11254	136	19	q	q	X
fcis-11254	136	20	c	c	NOUN
fcis-11254	136	21	q	q	NOUN
fcis-11254	136	22	g	g	PROPN
fcis-11254	136	23	k	k	PROPN
fcis-11254	136	24	e	e	PROPN
fcis-11254	136	25	k	k	PROPN
fcis-11254	136	26	e	e	PROPN
fcis-11254	136	27	g	g	NOUN
fcis-11254	136	28			NOUN
fcis-11254	136	29			NOUN
fcis-11254	136	30	(	(	PUNCT
fcis-11254	136	31	14	14	NUM
fcis-11254	136	32	)	)	PUNCT
fcis-11254	136	33	3.2	3.2	NUM
fcis-11254	136	34	.	.	PUNCT
fcis-11254	137	1	system	system	NOUN
fcis-11254	137	2	stability	stability	NOUN
fcis-11254	137	3	analysis	analysis	NOUN
fcis-11254	137	4	the	the	DET
fcis-11254	137	5	closed	closed	ADJ
fcis-11254	137	6	-	-	PUNCT
fcis-11254	137	7	loop	loop	NOUN
fcis-11254	137	8	control	control	NOUN
fcis-11254	137	9	equation	equation	NOUN
fcis-11254	137	10	[	[	AUX
fcis-11254	137	11	see	see	VERB
fcis-11254	137	12	eq	eq	ADP
fcis-11254	137	13	.	.	PUNCT
fcis-11254	138	1	(	(	PUNCT
fcis-11254	138	2	14	14	NUM
fcis-11254	138	3	)	)	PUNCT
fcis-11254	138	4	]	]	PUNCT
fcis-11254	138	5	and	and	CCONJ
fcis-11254	138	6	eq	eq	NOUN
fcis-11254	138	7	.	.	PUNCT
fcis-11254	139	1	(	(	PUNCT
fcis-11254	139	2	11	11	NUM
fcis-11254	139	3	)	)	PUNCT
fcis-11254	139	4	are	be	AUX
fcis-11254	139	5	rewritten	rewrite	VERB
fcis-11254	139	6	in	in	ADP
fcis-11254	139	7	the	the	DET
fcis-11254	139	8	state	state	NOUN
fcis-11254	139	9	space	space	NOUN
fcis-11254	139	10	form	form	NOUN
fcis-11254	139	11	as	as	SCONJ
fcis-11254	139	12	follows	follow	VERB
fcis-11254	139	13	:	:	PUNCT
fcis-11254	139	14	1	1	NUM
fcis-11254	139	15	(	(	PUNCT
fcis-11254	139	16	)	)	PUNCT
fcis-11254	140	1	+	+	CCONJ
fcis-11254	140	2	(	(	PUNCT
fcis-11254	140	3	)	)	PUNCT
fcis-11254	140	4	+	+	CCONJ
fcis-11254	140	5	(	(	PUNCT
fcis-11254	140	6	)	)	PUNCT
fcis-11254	140	7	(	(	PUNCT
fcis-11254	140	8	)	)	PUNCT
fcis-11254	141	1	p	p	NOUN
fcis-11254	141	2	v	v	NUM
fcis-11254	141	3	d	d	X
fcis-11254	141	4	qd	qd	NOUN
fcis-11254	141	5	q	q	NOUN
fcis-11254	141	6	e	e	X
fcis-11254	141	7	q	q	X
fcis-11254	141	8	q	q	NOUN
fcis-11254	141	9	,	,	PUNCT
fcis-11254	141	10	q	q	NOUN
fcis-11254	141	11	q	q	X
fcis-11254	141	12	q	q	X
fcis-11254	141	13	qdt	qdt	NOUN
fcis-11254	141	14			NOUN
fcis-11254	141	15			ADP
fcis-11254	141	16			PROPN
fcis-11254	141	17			PRON
fcis-11254	141	18			ADV
fcis-11254	141	19			X
fcis-11254	141	20			PROPN
fcis-11254	142	1			PROPN
fcis-11254	142	2			PROPN
fcis-11254	142	3			PROPN
fcis-11254	142	4			PROPN
fcis-11254	142	5			PROPN
fcis-11254	142	6			VERB
fcis-11254	142	7			PROPN
fcis-11254	142	8			PROPN
fcis-11254	142	9	e	e	PROPN
fcis-11254	142	10	m	m	PROPN
fcis-11254	142	11	k	k	PROPN
fcis-11254	142	12	k	k	PROPN
fcis-11254	142	13	c	c	PROPN
fcis-11254	142	14	g	g	PROPN
fcis-11254	142	15	gq	gq	PROPN
fcis-11254	142	16			NOUN
fcis-11254	142	17			NOUN
fcis-11254	142	18			NOUN
fcis-11254	142	19			NOUN
fcis-11254	142	20			NOUN
fcis-11254	142	21	(	(	PUNCT
fcis-11254	142	22	15	15	NUM
fcis-11254	142	23	)	)	PUNCT
fcis-11254	142	24	the	the	DET
fcis-11254	142	25	lyapunov	lyapunov	ADJ
fcis-11254	142	26	function	function	NOUN
fcis-11254	142	27	is	be	AUX
fcis-11254	142	28	constructed	construct	VERB
fcis-11254	142	29	as	as	SCONJ
fcis-11254	142	30	follows	follow	VERB
fcis-11254	142	31	:	:	PUNCT
fcis-11254	142	32	(	(	PUNCT
fcis-11254	142	33	)	)	PUNCT
fcis-11254	142	34	(	(	PUNCT
fcis-11254	142	35	)	)	PUNCT
fcis-11254	142	36	(	(	PUNCT
fcis-11254	142	37	)	)	PUNCT
fcis-11254	142	38	v	v	NOUN
fcis-11254	142	39	e	e	NOUN
fcis-11254	142	40	,	,	PUNCT
fcis-11254	142	41	q	q	X
fcis-11254	142	42	p	p	X
fcis-11254	142	43	e	e	PROPN
fcis-11254	142	44	h	h	PROPN
fcis-11254	142	45	e	e	PROPN
fcis-11254	142	46	tq	tq	PROPN
fcis-11254	142	47	q	q	NOUN
fcis-11254	142	48			NOUN
fcis-11254	142	49	(	(	PUNCT
fcis-11254	142	50	16	16	NUM
fcis-11254	142	51	)	)	PUNCT
fcis-11254	142	52	where	where	SCONJ
fcis-11254	142	53	t	t	PROPN
fcis-11254	142	54	t	t	PROPN
fcis-11254	142	55	t	t	PROPN
fcis-11254	142	56	1	1	NUM
fcis-11254	142	57	1	1	NUM
fcis-11254	142	58	(	(	PUNCT
fcis-11254	142	59	)	)	PUNCT
fcis-11254	142	60	=	=	SYM
fcis-11254	142	61	(	(	PUNCT
fcis-11254	142	62	)	)	PUNCT
fcis-11254	142	63	2	2	NUM
fcis-11254	142	64	1	1	NUM
fcis-11254	142	65	1	1	NUM
fcis-11254	142	66	(	(	PUNCT
fcis-11254	142	67	)	)	PUNCT
fcis-11254	142	68	(	(	PUNCT
fcis-11254	142	69	)	)	PUNCT
fcis-11254	142	70	(	(	PUNCT
fcis-11254	142	71	)	)	PUNCT
fcis-11254	142	72	(	(	PUNCT
fcis-11254	142	73	)	)	PUNCT
fcis-11254	142	74	(	(	PUNCT
fcis-11254	142	75	)	)	PUNCT
fcis-11254	142	76	2	2	NUM
fcis-11254	142	77	2	2	NUM
fcis-11254	142	78	d	d	NOUN
fcis-11254	142	79	d	d	X
fcis-11254	142	80	u	u	NOUN
fcis-11254	142	81	p	p	PROPN
fcis-11254	142	82	d	d	PROPN
fcis-11254	142	83	d	d	X
fcis-11254	142	84	p	p	PROPN
fcis-11254	143	1	d	d	X
fcis-11254	143	2	p	p	X
fcis-11254	143	3	e	e	X
fcis-11254	143	4	q	q	PROPN
fcis-11254	143	5	-e	-e	NUM
fcis-11254	143	6	h	h	NOUN
fcis-11254	143	7	e	e	NOUN
fcis-11254	143	8	u	u	NOUN
fcis-11254	143	9	q	q	PROPN
fcis-11254	143	10	e	e	X
fcis-11254	143	11	k	k	X
fcis-11254	143	12	q	q	X
fcis-11254	143	13	q	q	X
fcis-11254	143	14	q	q	ADV
fcis-11254	143	15			ADP
fcis-11254	143	16			NOUN
fcis-11254	144	1			NOUN
fcis-11254	144	2			NUM
fcis-11254	144	3			PROPN
fcis-11254	144	4			PROPN
fcis-11254	144	5			PROPN
fcis-11254	144	6			PUNCT
fcis-11254	144	7			PUNCT
fcis-11254	144	8			PUNCT
fcis-11254	144	9			PROPN
fcis-11254	144	10	m	m	PROPN
fcis-11254	144	11	e	e	PROPN
fcis-11254	144	12	k	k	PROPN
fcis-11254	144	13	e	e	PROPN
fcis-11254	144	14	e	e	X
fcis-11254	144	15	g	g	PROPN
fcis-11254	144	16	g	g	PROPN
fcis-11254	144	17	k	k	PROPN
fcis-11254	144	18	g	g	PROPN
fcis-11254	144	19	(	(	PUNCT
fcis-11254	144	20	17	17	NUM
fcis-11254	144	21	)	)	PUNCT
fcis-11254	144	22	where	where	SCONJ
fcis-11254	144	23	(	(	PUNCT
fcis-11254	144	24	)	)	PUNCT
fcis-11254	144	25	u	u	NOUN
fcis-11254	144	26	q	q	NOUN
fcis-11254	144	27	represents	represent	VERB
fcis-11254	144	28	the	the	DET
fcis-11254	144	29	potential	potential	ADJ
fcis-11254	144	30	energy	energy	NOUN
fcis-11254	144	31	function	function	NOUN
fcis-11254	144	32	of	of	ADP
fcis-11254	144	33	the	the	DET
fcis-11254	144	34	mechanical	mechanical	ADJ
fcis-11254	144	35	arm	arm	NOUN
fcis-11254	144	36	system	system	NOUN
fcis-11254	144	37	.	.	PUNCT
fcis-11254	145	1			PRON
fcis-11254	145	2			PROPN
fcis-11254	145	3	(	(	PUNCT
fcis-11254	145	4	)	)	PUNCT
fcis-11254	145	5	minu	minu	PROPN
fcis-11254	146	1	q	q	PROPN
fcis-11254	146	2	k	k	X
fcis-11254	146	3	u	u	X
fcis-11254	146	4	q	q	PROPN
fcis-11254	146	5	(	(	PUNCT
fcis-11254	146	6	18	18	NUM
fcis-11254	146	7	)	)	PUNCT
fcis-11254	146	8	assuming	assume	VERB
fcis-11254	146	9	the	the	DET
fcis-11254	146	10	robot	robot	NOUN
fcis-11254	146	11	manipulator	manipulator	NOUN
fcis-11254	146	12	joints	joint	NOUN
fcis-11254	146	13	to	to	PART
fcis-11254	146	14	be	be	AUX
fcis-11254	146	15	all	all	PRON
fcis-11254	146	16	rotary	rotary	ADJ
fcis-11254	146	17	,	,	PUNCT
fcis-11254	146	18	then	then	ADV
fcis-11254	146	19	(	(	PUNCT
fcis-11254	146	20	)	)	PUNCT
fcis-11254	146	21	0uu	0uu	ADJ
fcis-11254	146	22	q	q	PUNCT
fcis-11254	146	23	k	k	PROPN
fcis-11254	146	24			NUM
fcis-11254	146	25	(	(	PUNCT
fcis-11254	146	26	19	19	NUM
fcis-11254	146	27	)	)	PUNCT
fcis-11254	146	28	it	it	PRON
fcis-11254	146	29	can	can	AUX
fcis-11254	146	30	be	be	AUX
fcis-11254	146	31	proved	prove	VERB
fcis-11254	146	32	that	that	SCONJ
fcis-11254	146	33	the	the	DET
fcis-11254	146	34	lyapunov	lyapunov	ADJ
fcis-11254	146	35	function	function	NOUN
fcis-11254	146	36	is	be	AUX
fcis-11254	146	37	non	non	ADJ
fcis-11254	146	38	-	-	ADJ
fcis-11254	146	39	negative	negative	ADJ
fcis-11254	146	40	definite	definite	ADJ
fcis-11254	146	41	.	.	PUNCT
fcis-11254	147	1	take	take	VERB
fcis-11254	147	2	the	the	DET
fcis-11254	147	3	derivative	derivative	NOUN
fcis-11254	147	4	of	of	ADP
fcis-11254	147	5	this	this	DET
fcis-11254	147	6	function	function	NOUN
fcis-11254	147	7	with	with	ADP
fcis-11254	147	8	respect	respect	NOUN
fcis-11254	147	9	to	to	ADP
fcis-11254	147	10	time	time	NOUN
fcis-11254	147	11	:	:	PUNCT
fcis-11254	147	12	t	t	PROPN
fcis-11254	147	13	t	t	PROPN
fcis-11254	147	14	t	t	PROPN
fcis-11254	147	15	t	t	PROPN
fcis-11254	147	16	t1	t1	PROPN
fcis-11254	147	17	(	(	PUNCT
fcis-11254	147	18	,	,	PUNCT
fcis-11254	147	19	)	)	PUNCT
fcis-11254	147	20	(	(	PUNCT
fcis-11254	147	21	)	)	PUNCT
fcis-11254	147	22	(	(	PUNCT
fcis-11254	147	23	)	)	PUNCT
fcis-11254	147	24	(	(	PUNCT
fcis-11254	147	25	)	)	PUNCT
fcis-11254	147	26	(	(	PUNCT
fcis-11254	147	27	)	)	PUNCT
fcis-11254	147	28	2	2	NUM
fcis-11254	147	29	p	p	NOUN
fcis-11254	147	30	dv	dv	PROPN
fcis-11254	147	31	e	e	PROPN
fcis-11254	147	32	q	q	NOUN
fcis-11254	147	33	q	q	X
fcis-11254	147	34	q	q	X
fcis-11254	147	35	q	q	X
fcis-11254	147	36	q	q	PROPN
fcis-11254	147	37			ADV
fcis-11254	147	38			VERB
fcis-11254	147	39			PUNCT
fcis-11254	147	40	q	q	PROPN
fcis-11254	147	41	m	m	PROPN
fcis-11254	147	42	q	q	NOUN
fcis-11254	147	43	q	q	X
fcis-11254	147	44	m	m	VERB
fcis-11254	147	45	q	q	NOUN
fcis-11254	147	46	q	q	NOUN
fcis-11254	147	47	g	g	NOUN
fcis-11254	147	48	e	e	X
fcis-11254	147	49	k	k	PROPN
fcis-11254	147	50	e	e	PROPN
fcis-11254	147	51	e	e	X
fcis-11254	147	52	g	g	PROPN
fcis-11254	147	53			NOUN
fcis-11254	147	54			NOUN
fcis-11254	147	55			NOUN
fcis-11254	147	56			NOUN
fcis-11254	147	57			NOUN
fcis-11254	147	58			NOUN
fcis-11254	147	59			NOUN
fcis-11254	147	60	(	(	PUNCT
fcis-11254	147	61	20	20	NUM
fcis-11254	147	62	)	)	PUNCT
fcis-11254	147	63	according	accord	VERB
fcis-11254	147	64	to	to	ADP
fcis-11254	147	65	the	the	DET
fcis-11254	147	66	definition	definition	NOUN
fcis-11254	147	67	of	of	ADP
fcis-11254	147	68	the	the	DET
fcis-11254	147	69	gravity	gravity	NOUN
fcis-11254	147	70	matrix	matrix	NOUN
fcis-11254	147	71	,	,	PUNCT
fcis-11254	147	72	(	(	PUNCT
fcis-11254	147	73	)	)	PUNCT
fcis-11254	147	74	(	(	PUNCT
fcis-11254	147	75	)	)	PUNCT
fcis-11254	147	76	q	q	NOUN
fcis-11254	147	77	q	q	X
fcis-11254	148	1	q	q	PROPN
fcis-11254	148	2			ADJ
fcis-11254	148	3			PROPN
fcis-11254	148	4			PROPN
fcis-11254	148	5	g	g	PROPN
fcis-11254	148	6	u	u	PROPN
fcis-11254	148	7	(	(	PUNCT
fcis-11254	148	8	21	21	NUM
fcis-11254	148	9	)	)	PUNCT
fcis-11254	148	10	using	use	VERB
fcis-11254	148	11	eq	eq	X
fcis-11254	148	12	.	.	PUNCT
fcis-11254	149	1	(	(	PUNCT
fcis-11254	149	2	15	15	NUM
fcis-11254	149	3	)	)	PUNCT
fcis-11254	149	4	,	,	PUNCT
fcis-11254	149	5	we	we	PRON
fcis-11254	149	6	can	can	AUX
fcis-11254	149	7	derive	derive	VERB
fcis-11254	149	8	t	t	PROPN
fcis-11254	149	9	t	t	PROPN
fcis-11254	149	10	t	t	PROPN
fcis-11254	149	11	t	t	PROPN
fcis-11254	149	12	t	t	PROPN
fcis-11254	149	13	(	(	PUNCT
fcis-11254	149	14	,	,	PUNCT
fcis-11254	149	15	)	)	PUNCT
fcis-11254	149	16	(	(	PUNCT
fcis-11254	149	17	)	)	PUNCT
fcis-11254	149	18	(	(	PUNCT
fcis-11254	149	19	)	)	PUNCT
fcis-11254	150	1	p	p	NOUN
fcis-11254	150	2	v	v	NOUN
fcis-11254	151	1	d	d	X
fcis-11254	151	2	p	p	X
fcis-11254	151	3	dv	dv	PROPN
fcis-11254	151	4	e	e	PROPN
fcis-11254	151	5	q	q	PROPN
fcis-11254	151	6	q	q	PROPN
fcis-11254	151	7	q	q	PROPN
fcis-11254	151	8			NOUN
fcis-11254	151	9			VERB
fcis-11254	151	10			PUNCT
fcis-11254	152	1	q	q	PROPN
fcis-11254	152	2	k	k	X
fcis-11254	152	3	e	e	PROPN
fcis-11254	152	4	q	q	PROPN
fcis-11254	152	5	k	k	X
fcis-11254	152	6	q	q	X
fcis-11254	152	7	q	q	X
fcis-11254	152	8	g	g	PROPN
fcis-11254	152	9	e	e	X
fcis-11254	152	10	k	k	PROPN
fcis-11254	152	11	e	e	PROPN
fcis-11254	152	12	e	e	X
fcis-11254	152	13	g	g	NOUN
fcis-11254	152	14			NOUN
fcis-11254	152	15			NOUN
fcis-11254	152	16			NOUN
fcis-11254	152	17			NOUN
fcis-11254	152	18			NOUN
fcis-11254	152	19			NOUN
fcis-11254	152	20	(	(	PUNCT
fcis-11254	152	21	22	22	NUM
fcis-11254	152	22	)	)	PUNCT
fcis-11254	152	23	using	use	VERB
fcis-11254	152	24	the	the	DET
fcis-11254	152	25	properties	property	NOUN
fcis-11254	152	26	of	of	ADP
fcis-11254	152	27	the	the	DET
fcis-11254	152	28	mechanical	mechanical	ADJ
fcis-11254	152	29	arm	arm	NOUN
fcis-11254	152	30	kinetic	kinetic	ADJ
fcis-11254	152	31	equation	equation	NOUN
fcis-11254	152	32	[	[	X
fcis-11254	152	33	16	16	NUM
fcis-11254	152	34	]	]	PUNCT
fcis-11254	152	35	,	,	PUNCT
fcis-11254	152	36	we	we	PRON
fcis-11254	152	37	obtain	obtain	VERB
fcis-11254	152	38	t	t	PROPN
fcis-11254	152	39	1	1	NUM
fcis-11254	152	40	(	(	PUNCT
fcis-11254	152	41	)	)	PUNCT
fcis-11254	152	42	(	(	PUNCT
fcis-11254	152	43	)	)	PUNCT
fcis-11254	152	44	0	0	NUM
fcis-11254	152	45	2	2	NUM
fcis-11254	152	46	q	q	NOUN
fcis-11254	152	47	q	q	NOUN
fcis-11254	152	48	,	,	PUNCT
fcis-11254	152	49	q	q	NOUN
fcis-11254	153	1			PROPN
fcis-11254	154	1			ADJ
fcis-11254	154	2			PROPN
fcis-11254	154	3			PROPN
fcis-11254	154	4	q	q	X
fcis-11254	154	5	m	m	PROPN
fcis-11254	154	6	c	c	PROPN
fcis-11254	154	7	q	q	PROPN
fcis-11254	154	8			PROPN
fcis-11254	154	9	(	(	PUNCT
fcis-11254	154	10	23	23	NUM
fcis-11254	154	11	)	)	PUNCT
fcis-11254	154	12	according	accord	VERB
fcis-11254	154	13	to	to	ADP
fcis-11254	154	14	formula	formula	NOUN
fcis-11254	154	15	(	(	PUNCT
fcis-11254	154	16	11	11	NUM
fcis-11254	154	17	)	)	PUNCT
fcis-11254	154	18	,	,	PUNCT
fcis-11254	154	19	we	we	PRON
fcis-11254	154	20	can	can	AUX
fcis-11254	154	21	derive	derive	VERB
fcis-11254	154	22	e	e	NOUN
fcis-11254	154	23	=	=	PUNCT
fcis-11254	154	24	q	q	PROPN
fcis-11254	154	25			NOUN
fcis-11254	154	26	(	(	PUNCT
fcis-11254	154	27	24	24	NUM
fcis-11254	154	28	)	)	PUNCT
fcis-11254	154	29	making	make	VERB
fcis-11254	154	30	eqs	eqs	PROPN
fcis-11254	154	31	.	.	PUNCT
fcis-11254	155	1	(	(	PUNCT
fcis-11254	155	2	22	22	NUM
fcis-11254	155	3	)	)	PUNCT
fcis-11254	155	4	,	,	PUNCT
fcis-11254	155	5	(	(	PUNCT
fcis-11254	155	6	23	23	NUM
fcis-11254	155	7	)	)	PUNCT
fcis-11254	155	8	and	and	CCONJ
fcis-11254	155	9	(	(	PUNCT
fcis-11254	155	10	24	24	NUM
fcis-11254	155	11	)	)	PUNCT
fcis-11254	155	12	simultaneously	simultaneously	ADV
fcis-11254	155	13	,	,	PUNCT
fcis-11254	155	14	we	we	PRON
fcis-11254	155	15	can	can	AUX
fcis-11254	155	16	derive	derive	VERB
fcis-11254	155	17	t	t	PROPN
fcis-11254	155	18	(	(	PUNCT
fcis-11254	155	19	,	,	PUNCT
fcis-11254	155	20	)	)	PUNCT
fcis-11254	155	21	0vv	0vv	NOUN
fcis-11254	155	22	e	e	PRON
fcis-11254	155	23	q	q	X
fcis-11254	155	24			NOUN
fcis-11254	155	25			PROPN
fcis-11254	155	26			NOUN
fcis-11254	155	27			NOUN
fcis-11254	155	28	q	q	PROPN
fcis-11254	155	29	k	k	X
fcis-11254	155	30	q	q	X
fcis-11254	155	31	(	(	PUNCT
fcis-11254	155	32	25	25	NUM
fcis-11254	155	33	)	)	PUNCT
fcis-11254	155	34	we	we	PRON
fcis-11254	155	35	know	know	VERB
fcis-11254	155	36	from	from	ADP
fcis-11254	155	37	eq	eq	PROPN
fcis-11254	155	38	.	.	PUNCT
fcis-11254	156	1	(	(	PUNCT
fcis-11254	156	2	25	25	NUM
fcis-11254	156	3	)	)	PUNCT
fcis-11254	156	4	that	that	SCONJ
fcis-11254	156	5	when	when	SCONJ
fcis-11254	156	6	vk	vk	NOUN
fcis-11254	156	7	is	be	AUX
fcis-11254	156	8	positive	positive	ADJ
fcis-11254	156	9	definite	definite	ADJ
fcis-11254	156	10	，	，	PUNCT
fcis-11254	156	11	(	(	PUNCT
fcis-11254	156	12	,	,	PUNCT
fcis-11254	156	13	)	)	PUNCT
fcis-11254	156	14	v	v	NOUN
fcis-11254	156	15	e	e	PROPN
fcis-11254	156	16	q	q	NOUN
fcis-11254	156	17			NOUN
fcis-11254	156	18	is	be	AUX
fcis-11254	156	19	negative	negative	ADJ
fcis-11254	156	20	semi	semi	ADJ
fcis-11254	156	21	-	-	ADJ
fcis-11254	156	22	definite	definite	ADJ
fcis-11254	156	23	.	.	PUNCT
fcis-11254	157	1	according	accord	VERB
fcis-11254	157	2	to	to	ADP
fcis-11254	157	3	the	the	DET
fcis-11254	157	4	lyapunov	lyapunov	ADJ
fcis-11254	157	5	stability	stability	NOUN
fcis-11254	157	6	criterion	criterion	NOUN
fcis-11254	157	7	,	,	PUNCT
fcis-11254	157	8	the	the	DET
fcis-11254	157	9	position	position	NOUN
fcis-11254	157	10	error	error	NOUN
fcis-11254	157	11	e	e	NOUN
fcis-11254	157	12	and	and	CCONJ
fcis-11254	157	13	velocity	velocity	NOUN
fcis-11254	157	14	(	(	PUNCT
fcis-11254	157	15	)	)	PUNCT
fcis-11254	157	16	q	q	PROPN
fcis-11254	157	17	t	t	ADJ
fcis-11254	157	18	are	be	AUX
fcis-11254	157	19	bounded	bound	VERB
fcis-11254	157	20	under	under	ADP
fcis-11254	157	21	any	any	DET
fcis-11254	157	22	initial	initial	ADJ
fcis-11254	157	23	condition	condition	NOUN
fcis-11254	157	24	.	.	PUNCT
fcis-11254	158	1	according	accord	VERB
fcis-11254	158	2	to	to	ADP
fcis-11254	158	3	la	la	X
fcis-11254	158	4	salle	salle	PROPN
fcis-11254	158	5	’s	’s	PART
fcis-11254	158	6	theorem	theorem	NOUN
fcis-11254	158	7	[	[	X
fcis-11254	158	8	15	15	NUM
fcis-11254	158	9	]	]	PUNCT
fcis-11254	158	10	,	,	PUNCT
fcis-11254	158	11	[	[	PUNCT
fcis-11254	158	12	,	,	PUNCT
fcis-11254	158	13	]	]	PUNCT
fcis-11254	159	1	[	[	X
fcis-11254	159	2	0,0]e	0,0]e	X
fcis-11254	159	3	q	q	ADJ
fcis-11254	159	4			NOUN
fcis-11254	159	5	is	be	AUX
fcis-11254	159	6	the	the	DET
fcis-11254	159	7	global	global	ADJ
fcis-11254	159	8	asymptotically	asymptotically	ADV
fcis-11254	159	9	stable	stable	ADJ
fcis-11254	159	10	equilibrium	equilibrium	NOUN
fcis-11254	159	11	point	point	NOUN
fcis-11254	159	12	of	of	ADP
fcis-11254	159	13	the	the	DET
fcis-11254	159	14	system	system	NOUN
fcis-11254	159	15	,	,	PUNCT
fcis-11254	159	16	which	which	PRON
fcis-11254	159	17	proves	prove	VERB
fcis-11254	159	18	the	the	DET
fcis-11254	159	19	stability	stability	NOUN
fcis-11254	159	20	of	of	ADP
fcis-11254	159	21	the	the	DET
fcis-11254	159	22	system	system	NOUN
fcis-11254	159	23	and	and	CCONJ
fcis-11254	159	24	meets	meet	VERB
fcis-11254	159	25	the	the	DET
fcis-11254	159	26	basic	basic	ADJ
fcis-11254	159	27	requirements	requirement	NOUN
fcis-11254	159	28	of	of	ADP
fcis-11254	159	29	the	the	DET
fcis-11254	159	30	control	control	NOUN
fcis-11254	159	31	system	system	NOUN
fcis-11254	159	32	.	.	PUNCT
fcis-11254	160	1	4	4	X
fcis-11254	160	2	.	.	X
fcis-11254	160	3	simulation	simulation	NOUN
fcis-11254	160	4	and	and	CCONJ
fcis-11254	160	5	research	research	NOUN
fcis-11254	160	6	of	of	ADP
fcis-11254	160	7	mechanical	mechanical	ADJ
fcis-11254	160	8	arm	arm	NOUN
fcis-11254	160	9	gravity	gravity	NOUN
fcis-11254	160	10	compensation	compensation	NOUN
fcis-11254	160	11	4.1	4.1	NUM
fcis-11254	160	12	.	.	PUNCT
fcis-11254	161	1	dual	dual	ADJ
fcis-11254	161	2	-	-	PUNCT
fcis-11254	161	3	joint	joint	ADJ
fcis-11254	161	4	mechanical	mechanical	ADJ
fcis-11254	161	5	arm	arm	NOUN
fcis-11254	161	6	simulation	simulation	NOUN
fcis-11254	161	7	to	to	PART
fcis-11254	161	8	verify	verify	VERB
fcis-11254	161	9	the	the	DET
fcis-11254	161	10	effectiveness	effectiveness	NOUN
fcis-11254	161	11	of	of	ADP
fcis-11254	161	12	the	the	DET
fcis-11254	161	13	gravity	gravity	NOUN
fcis-11254	161	14	compensation	compensation	NOUN
fcis-11254	161	15	control	control	NOUN
fcis-11254	161	16	method	method	NOUN
fcis-11254	161	17	,	,	PUNCT
fcis-11254	161	18	an	an	DET
fcis-11254	161	19	experimental	experimental	ADJ
fcis-11254	161	20	simulation	simulation	NOUN
fcis-11254	161	21	test	test	NOUN
fcis-11254	161	22	was	be	AUX
fcis-11254	161	23	conducted	conduct	VERB
fcis-11254	161	24	on	on	ADP
fcis-11254	161	25	a	a	DET
fcis-11254	161	26	dual	dual	ADJ
fcis-11254	161	27	-	-	PUNCT
fcis-11254	161	28	joint	joint	ADJ
fcis-11254	161	29	parallel	parallel	ADJ
fcis-11254	161	30	shaft	shaft	NOUN
fcis-11254	161	31	mechanical	mechanical	ADJ
fcis-11254	161	32	arm	arm	NOUN
fcis-11254	161	33	,	,	PUNCT
fcis-11254	161	34	shown	show	VERB
fcis-11254	161	35	in	in	ADP
fcis-11254	161	36	fig	fig	NOUN
fcis-11254	161	37	.	.	PUNCT
fcis-11254	162	1	3	3	X
fcis-11254	162	2	.	.	X
fcis-11254	162	3	the	the	DET
fcis-11254	162	4	end	end	NOUN
fcis-11254	162	5	motion	motion	NOUN
fcis-11254	162	6	track	track	NOUN
fcis-11254	162	7	of	of	ADP
fcis-11254	162	8	the	the	DET
fcis-11254	162	9	mechanical	mechanical	ADJ
fcis-11254	162	10	arm	arm	NOUN
fcis-11254	162	11	is	be	AUX
fcis-11254	162	12	designed	design	VERB
fcis-11254	162	13	as	as	ADP
fcis-11254	162	14	a	a	DET
fcis-11254	162	15	circle	circle	NOUN
fcis-11254	162	16	,	,	PUNCT
fcis-11254	162	17	shown	show	VERB
fcis-11254	162	18	in	in	ADP
fcis-11254	162	19	fig	fig	NOUN
fcis-11254	162	20	.	.	PUNCT
fcis-11254	163	1	4	4	X
fcis-11254	163	2	.	.	X
fcis-11254	164	1	m1	m1	PROPN
fcis-11254	164	2	m2	m2	PROPN
fcis-11254	164	3	g	g	PROPN
fcis-11254	164	4	x0	x0	PROPN
fcis-11254	164	5	y0	y0	PROPN
fcis-11254	164	6	r	r	NOUN
fcis-11254	164	7	 	 	SPACE
fcis-11254	164	8	50	50	NUM
fcis-11254	164	9	mm	mm	NOUN
fcis-11254	165	1	x1	x1	NOUN
fcis-11254	165	2	y1	y1	NOUN
fcis-11254	165	3	x2	x2	PROPN
fcis-11254	165	4	y2	y2	PROPN
fcis-11254	165	5	l1	l1	PROPN
fcis-11254	165	6	l2	l2	PROPN
fcis-11254	165	7	q1	q1	PROPN
fcis-11254	165	8	q2	q2	PROPN
fcis-11254	165	9	fig	fig	PROPN
fcis-11254	165	10	4	4	NUM
fcis-11254	165	11	.	.	PUNCT
fcis-11254	166	1	configuration	configuration	NOUN
fcis-11254	166	2	and	and	CCONJ
fcis-11254	166	3	motion	motion	NOUN
fcis-11254	166	4	track	track	NOUN
fcis-11254	166	5	of	of	ADP
fcis-11254	166	6	the	the	DET
fcis-11254	166	7	dual	dual	ADJ
fcis-11254	166	8	-	-	PUNCT
fcis-11254	166	9	joint	joint	ADJ
fcis-11254	166	10	mechanical	mechanical	ADJ
fcis-11254	166	11	arm	arm	NOUN
fcis-11254	166	12	129	129	NUM
fcis-11254	166	13	the	the	DET
fcis-11254	166	14	adams	adams	PROPN
fcis-11254	166	15	software	software	PROPN
fcis-11254	166	16	was	be	AUX
fcis-11254	166	17	used	use	VERB
fcis-11254	166	18	to	to	PART
fcis-11254	166	19	model	model	VERB
fcis-11254	166	20	the	the	DET
fcis-11254	166	21	dual	dual	ADJ
fcis-11254	166	22	-	-	PUNCT
fcis-11254	166	23	joint	joint	ADJ
fcis-11254	166	24	mechanical	mechanical	ADJ
fcis-11254	166	25	arm	arm	NOUN
fcis-11254	166	26	,	,	PUNCT
fcis-11254	166	27	and	and	CCONJ
fcis-11254	166	28	matlab	matlab	PROPN
fcis-11254	166	29	simulink	simulink	PROPN
fcis-11254	166	30	is	be	AUX
fcis-11254	166	31	used	use	VERB
fcis-11254	166	32	to	to	PART
fcis-11254	166	33	design	design	VERB
fcis-11254	166	34	the	the	DET
fcis-11254	166	35	pd	pd	PROPN
fcis-11254	166	36	gravity	gravity	NOUN
fcis-11254	166	37	compensation	compensation	NOUN
fcis-11254	166	38	controller	controller	NOUN
fcis-11254	166	39	.	.	PUNCT
fcis-11254	167	1	the	the	DET
fcis-11254	167	2	simulation	simulation	NOUN
fcis-11254	167	3	test	test	NOUN
fcis-11254	167	4	scheme	scheme	NOUN
fcis-11254	167	5	is	be	AUX
fcis-11254	167	6	as	as	SCONJ
fcis-11254	167	7	follows	follow	VERB
fcis-11254	167	8	.	.	PUNCT
fcis-11254	168	1	1	1	X
fcis-11254	168	2	)	)	PUNCT
fcis-11254	168	3	setting	set	VERB
fcis-11254	168	4	up	up	ADP
fcis-11254	168	5	the	the	DET
fcis-11254	168	6	dual	dual	ADJ
fcis-11254	168	7	-	-	PUNCT
fcis-11254	168	8	joint	joint	ADJ
fcis-11254	168	9	parallel	parallel	ADJ
fcis-11254	168	10	shaft	shaft	NOUN
fcis-11254	168	11	mechanical	mechanical	ADJ
fcis-11254	168	12	arm	arm	NOUN
fcis-11254	168	13	model	model	NOUN
fcis-11254	168	14	as	as	SCONJ
fcis-11254	168	15	shown	show	VERB
fcis-11254	168	16	in	in	ADP
fcis-11254	168	17	fig	fig	NOUN
fcis-11254	168	18	.	.	PUNCT
fcis-11254	169	1	4	4	NUM
fcis-11254	169	2	,	,	PUNCT
fcis-11254	169	3	the	the	DET
fcis-11254	169	4	parameters	parameter	NOUN
fcis-11254	169	5	are	be	AUX
fcis-11254	169	6	shown	show	VERB
fcis-11254	169	7	as	as	ADP
fcis-11254	169	8	table	table	NOUN
fcis-11254	169	9	1	1	NUM
fcis-11254	169	10	.	.	PUNCT
fcis-11254	169	11	table	table	NOUN
fcis-11254	169	12	1	1	NUM
fcis-11254	169	13	.	.	PUNCT
fcis-11254	170	1	parameters	parameter	NOUN
fcis-11254	170	2	of	of	ADP
fcis-11254	170	3	the	the	DET
fcis-11254	170	4	dual	dual	ADJ
fcis-11254	170	5	-	-	PUNCT
fcis-11254	170	6	joint	joint	ADJ
fcis-11254	170	7	mechanical	mechanical	ADJ
fcis-11254	170	8	arm	arm	NOUN
fcis-11254	170	9	parameter/	parameter/	PROPN
fcis-11254	170	10	(	(	PUNCT
fcis-11254	170	11	unit	unit	NOUN
fcis-11254	170	12	)	)	PUNCT
fcis-11254	170	13	1	1	NUM
fcis-11254	170	14	2	2	NUM
fcis-11254	170	15	,	,	PUNCT
fcis-11254	170	16	/(mm)l	/(mm)l	PUNCT
fcis-11254	170	17	l	l	NOUN
fcis-11254	170	18	1	1	NUM
fcis-11254	170	19	1	1	NUM
fcis-11254	170	20	,	,	PUNCT
fcis-11254	170	21	/(mm)c	/(mm)c	X
fcis-11254	170	22	cl	cl	NOUN
fcis-11254	170	23	l	l	NOUN
fcis-11254	170	24	1	1	NUM
fcis-11254	170	25	2	2	NUM
fcis-11254	170	26	,	,	PUNCT
fcis-11254	170	27	/(kg)m	/(kg)m	PUNCT
fcis-11254	170	28	m	m	NOUN
fcis-11254	170	29	value	value	VERB
fcis-11254	170	30	250	250	NUM
fcis-11254	170	31	125	125	NUM
fcis-11254	170	32	0.88	0.88	NUM
fcis-11254	170	33	2	2	NUM
fcis-11254	170	34	)	)	PUNCT
fcis-11254	170	35	to	to	PART
fcis-11254	170	36	make	make	VERB
fcis-11254	170	37	the	the	DET
fcis-11254	170	38	end	end	NOUN
fcis-11254	170	39	motion	motion	NOUN
fcis-11254	170	40	track	track	NOUN
fcis-11254	170	41	of	of	ADP
fcis-11254	170	42	the	the	DET
fcis-11254	170	43	mechanical	mechanical	ADJ
fcis-11254	170	44	arm	arm	NOUN
fcis-11254	170	45	follow	follow	VERB
fcis-11254	170	46	the	the	DET
fcis-11254	170	47	specified	specify	VERB
fcis-11254	170	48	trajectory	trajectory	NOUN
fcis-11254	170	49	,	,	PUNCT
fcis-11254	170	50	it	it	PRON
fcis-11254	170	51	is	be	AUX
fcis-11254	170	52	necessary	necessary	ADJ
fcis-11254	170	53	to	to	PART
fcis-11254	170	54	calculate	calculate	VERB
fcis-11254	170	55	the	the	DET
fcis-11254	170	56	joint	joint	ADJ
fcis-11254	170	57	variables	variable	NOUN
fcis-11254	170	58	of	of	ADP
fcis-11254	170	59	the	the	DET
fcis-11254	170	60	two	two	NUM
fcis-11254	170	61	joints	joint	NOUN
fcis-11254	170	62	through	through	ADP
fcis-11254	170	63	the	the	DET
fcis-11254	170	64	trajectory	trajectory	NOUN
fcis-11254	170	65	equation	equation	NOUN
fcis-11254	170	66	and	and	CCONJ
fcis-11254	170	67	then	then	ADV
fcis-11254	170	68	use	use	VERB
fcis-11254	170	69	these	these	DET
fcis-11254	170	70	two	two	NUM
fcis-11254	170	71	-	-	PUNCT
fcis-11254	170	72	joint	joint	NOUN
fcis-11254	170	73	variables	variable	NOUN
fcis-11254	170	74	as	as	ADP
fcis-11254	170	75	the	the	DET
fcis-11254	170	76	input	input	NOUN
fcis-11254	170	77	of	of	ADP
fcis-11254	170	78	the	the	DET
fcis-11254	170	79	control	control	NOUN
fcis-11254	170	80	system	system	NOUN
fcis-11254	170	81	model	model	NOUN
fcis-11254	170	82	.	.	PUNCT
fcis-11254	171	1	take	take	VERB
fcis-11254	171	2	1q	1q	NUM
fcis-11254	171	3	and	and	CCONJ
fcis-11254	171	4	2q	2q	NUM
fcis-11254	171	5	as	as	ADP
fcis-11254	171	6	the	the	DET
fcis-11254	171	7	angular	angular	ADJ
fcis-11254	171	8	displacement	displacement	NOUN
fcis-11254	171	9	of	of	ADP
fcis-11254	171	10	joint	joint	ADJ
fcis-11254	171	11	1	1	NUM
fcis-11254	171	12	and	and	CCONJ
fcis-11254	171	13	joint	joint	ADJ
fcis-11254	171	14	2	2	NUM
fcis-11254	171	15	,	,	PUNCT
fcis-11254	171	16	respectively	respectively	ADV
fcis-11254	171	17	,	,	PUNCT
fcis-11254	171	18	with	with	ADP
fcis-11254	171	19	1l	1l	NUM
fcis-11254	171	20	and	and	CCONJ
fcis-11254	171	21	2l	2l	NOUN
fcis-11254	171	22	being	be	AUX
fcis-11254	171	23	the	the	DET
fcis-11254	171	24	respective	respective	ADJ
fcis-11254	171	25	lengths	length	NOUN
fcis-11254	171	26	of	of	ADP
fcis-11254	171	27	the	the	DET
fcis-11254	171	28	two	two	NUM
fcis-11254	171	29	joints	joint	NOUN
fcis-11254	171	30	.	.	PUNCT
fcis-11254	172	1	the	the	DET
fcis-11254	172	2	nonlinear	nonlinear	ADJ
fcis-11254	172	3	equations	equation	NOUN
fcis-11254	172	4	are	be	AUX
fcis-11254	172	5	1	1	NUM
fcis-11254	172	6	1	1	NUM
fcis-11254	172	7	2	2	NUM
fcis-11254	172	8	2	2	NUM
fcis-11254	172	9	1	1	NUM
fcis-11254	172	10	1	1	NUM
fcis-11254	172	11	2	2	NUM
fcis-11254	172	12	2	2	NUM
fcis-11254	172	13	*	*	PUNCT
fcis-11254	172	14	cos	cos	PROPN
fcis-11254	172	15	(	(	PUNCT
fcis-11254	172	16	)	)	PUNCT
fcis-11254	172	17	*	*	PUNCT
fcis-11254	172	18	cos	cos	PROPN
fcis-11254	172	19	(	(	PUNCT
fcis-11254	172	20	)	)	PUNCT
fcis-11254	172	21	*	*	PUNCT
fcis-11254	172	22	sin	sin	NOUN
fcis-11254	172	23	(	(	PUNCT
fcis-11254	172	24	)	)	PUNCT
fcis-11254	172	25	*	*	PUNCT
fcis-11254	172	26	sin	sin	NOUN
fcis-11254	172	27	(	(	PUNCT
fcis-11254	172	28	)	)	PUNCT
fcis-11254	172	29	x	x	X
fcis-11254	172	30	l	l	NOUN
fcis-11254	172	31	q	q	PUNCT
fcis-11254	172	32	l	l	NOUN
fcis-11254	172	33	q	q	X
fcis-11254	172	34	y	y	NOUN
fcis-11254	172	35	l	l	NOUN
fcis-11254	172	36	q	q	X
fcis-11254	172	37	l	l	NOUN
fcis-11254	172	38	q	q	NOUN
fcis-11254	173	1			NOUN
fcis-11254	174	1			NUM
fcis-11254	174	2			NUM
fcis-11254	174	3			PROPN
fcis-11254	174	4			NOUN
fcis-11254	174	5	(	(	PUNCT
fcis-11254	174	6	26	26	NUM
fcis-11254	174	7	)	)	PUNCT
fcis-11254	174	8	the	the	DET
fcis-11254	174	9	time	time	NOUN
fcis-11254	174	10	interval	interval	NOUN
fcis-11254	174	11	t	t	PROPN
fcis-11254	174	12	is	be	AUX
fcis-11254	174	13	set	set	VERB
fcis-11254	174	14	as	as	ADP
fcis-11254	174	15	0–6.28	0–6.28	PROPN
fcis-11254	174	16	 	 	SPACE
fcis-11254	174	17	s	s	PROPN
fcis-11254	174	18	with	with	ADP
fcis-11254	174	19	400	400	NUM
fcis-11254	174	20	points	point	NOUN
fcis-11254	174	21	in	in	ADP
fcis-11254	174	22	the	the	DET
fcis-11254	174	23	middle	middle	NOUN
fcis-11254	174	24	,	,	PUNCT
fcis-11254	174	25	and	and	CCONJ
fcis-11254	174	26	the	the	DET
fcis-11254	174	27	joint	joint	ADJ
fcis-11254	174	28	angles	angle	NOUN
fcis-11254	174	29	at	at	ADP
fcis-11254	174	30	each	each	DET
fcis-11254	174	31	time	time	NOUN
fcis-11254	174	32	point	point	NOUN
fcis-11254	174	33	are	be	AUX
fcis-11254	174	34	solved	solve	VERB
fcis-11254	174	35	to	to	PART
fcis-11254	174	36	obtain	obtain	VERB
fcis-11254	174	37	the	the	DET
fcis-11254	174	38	joint	joint	ADJ
fcis-11254	174	39	space	space	NOUN
fcis-11254	174	40	trajectory	trajectory	NOUN
fcis-11254	174	41	over	over	ADP
fcis-11254	174	42	the	the	DET
fcis-11254	174	43	entire	entire	ADJ
fcis-11254	174	44	time	time	NOUN
fcis-11254	174	45	interval	interval	NOUN
fcis-11254	174	46	.	.	PUNCT
fcis-11254	175	1	3	3	X
fcis-11254	175	2	)	)	PUNCT
fcis-11254	175	3	using	use	VERB
fcis-11254	175	4	the	the	DET
fcis-11254	175	5	algorithm	algorithm	NOUN
fcis-11254	175	6	shown	show	VERB
fcis-11254	175	7	in	in	ADP
fcis-11254	175	8	eq	eq	ADP
fcis-11254	175	9	.	.	PUNCT
fcis-11254	176	1	(	(	PUNCT
fcis-11254	176	2	9	9	NUM
fcis-11254	176	3	)	)	PUNCT
fcis-11254	176	4	and	and	CCONJ
fcis-11254	176	5	the	the	DET
fcis-11254	176	6	control	control	NOUN
fcis-11254	176	7	process	process	NOUN
fcis-11254	176	8	shown	show	VERB
fcis-11254	176	9	in	in	ADP
fcis-11254	176	10	fig	fig	NOUN
fcis-11254	176	11	.	.	PUNCT
fcis-11254	177	1	2	2	NUM
fcis-11254	177	2	,	,	PUNCT
fcis-11254	177	3	gravity	gravity	NOUN
fcis-11254	177	4	compensation	compensation	NOUN
fcis-11254	177	5	is	be	AUX
fcis-11254	177	6	carried	carry	VERB
fcis-11254	177	7	out	out	ADP
fcis-11254	177	8	using	use	VERB
fcis-11254	177	9	the	the	DET
fcis-11254	177	10	joint	joint	ADJ
fcis-11254	177	11	angle	angle	NOUN
fcis-11254	177	12	from	from	ADP
fcis-11254	177	13	the	the	DET
fcis-11254	177	14	feedback	feedback	NOUN
fcis-11254	177	15	,	,	PUNCT
fcis-11254	177	16	and	and	CCONJ
fcis-11254	177	17	the	the	DET
fcis-11254	177	18	gravity	gravity	NOUN
fcis-11254	177	19	compensation	compensation	NOUN
fcis-11254	177	20	algorithm	algorithm	NOUN
fcis-11254	177	21	of	of	ADP
fcis-11254	177	22	the	the	DET
fcis-11254	177	23	dual	dual	ADJ
fcis-11254	177	24	-	-	PUNCT
fcis-11254	177	25	joint	joint	ADJ
fcis-11254	177	26	parallel	parallel	ADJ
fcis-11254	177	27	shaft	shaft	NOUN
fcis-11254	177	28	mechanical	mechanical	ADJ
fcis-11254	177	29	arm	arm	NOUN
fcis-11254	177	30	is	be	AUX
fcis-11254	177	31	obtained	obtain	VERB
fcis-11254	177	32	as	as	SCONJ
fcis-11254	177	33	follows	follow	VERB
fcis-11254	177	34	:	:	PUNCT
fcis-11254	177	35	1	1	NUM
fcis-11254	177	36	1	1	NUM
fcis-11254	177	37	1	1	NUM
fcis-11254	177	38	2	2	NUM
fcis-11254	177	39	1	1	NUM
fcis-11254	177	40	2	2	NUM
fcis-11254	177	41	2	2	NUM
fcis-11254	177	42	1	1	NUM
fcis-11254	177	43	2	2	NUM
fcis-11254	177	44	2	2	NUM
fcis-11254	177	45	2	2	NUM
fcis-11254	177	46	1	1	NUM
fcis-11254	177	47	2	2	NUM
fcis-11254	177	48	=[	=[	NOUN
fcis-11254	177	49	(	(	PUNCT
fcis-11254	177	50	)	)	PUNCT
fcis-11254	177	51	]	]	X
fcis-11254	177	52	cos	cos	X
fcis-11254	177	53	(	(	PUNCT
fcis-11254	177	54	)	)	PUNCT
fcis-11254	177	55	=	=	SYM
fcis-11254	177	56	cos	cos	PROPN
fcis-11254	177	57	(	(	PUNCT
fcis-11254	177	58	+	+	NUM
fcis-11254	177	59	)	)	PUNCT
fcis-11254	177	60	c	c	NOUN
fcis-11254	178	1	c	c	NOUN
fcis-11254	178	2	c	c	NOUN
fcis-11254	178	3	g	g	PROPN
fcis-11254	178	4	q	q	PROPN
fcis-11254	178	5	m	m	PROPN
fcis-11254	178	6	l	l	NOUN
fcis-11254	178	7	m	m	VERB
fcis-11254	178	8	l	l	NOUN
fcis-11254	178	9	g	g	NOUN
fcis-11254	178	10	m	m	PROPN
fcis-11254	178	11	l	l	NOUN
fcis-11254	178	12	g	g	NOUN
fcis-11254	178	13	q	q	X
fcis-11254	178	14	g	g	PROPN
fcis-11254	178	15	q	q	NOUN
fcis-11254	178	16	m	m	NOUN
fcis-11254	178	17	l	l	NOUN
fcis-11254	178	18	g	g	NOUN
fcis-11254	178	19	q	q	X
fcis-11254	178	20	q	q	X
fcis-11254	178	21			NOUN
fcis-11254	178	22			PUNCT
fcis-11254	178	23			PUNCT
fcis-11254	178	24			NUM
fcis-11254	178	25			NOUN
fcis-11254	178	26	（	（	PUNCT
fcis-11254	178	27	）	）	PUNCT
fcis-11254	179	1	（	（	PUNCT
fcis-11254	180	1	）	）	PUNCT
fcis-11254	181	1	(	(	PUNCT
fcis-11254	181	2	27	27	NUM
fcis-11254	181	3	)	)	PUNCT
fcis-11254	181	4	fig	fig	NOUN
fcis-11254	181	5	5	5	NUM
fcis-11254	181	6	.	.	PUNCT
fcis-11254	181	7	trajectory	trajectory	NOUN
fcis-11254	181	8	tracking	tracking	NOUN
fcis-11254	181	9	curve	curve	NOUN
fcis-11254	181	10	without	without	ADP
fcis-11254	181	11	weight	weight	NOUN
fcis-11254	181	12	compensation	compensation	NOUN
fcis-11254	181	13	the	the	DET
fcis-11254	181	14	parameters	parameter	NOUN
fcis-11254	181	15	of	of	ADP
fcis-11254	181	16	the	the	DET
fcis-11254	181	17	pd	pd	PROPN
fcis-11254	181	18	controller	controller	NOUN
fcis-11254	181	19	are	be	AUX
fcis-11254	181	20	selected	select	VERB
fcis-11254	181	21	as	as	ADP
fcis-11254	181	22	v	v	ADP
fcis-11254	181	23	40	40	NUM
fcis-11254	181	24	0	0	NUM
fcis-11254	181	25	=	=	SYM
fcis-11254	181	26	0	0	NUM
fcis-11254	181	27	20p	20p	NUM
fcis-11254	181	28			PROPN
fcis-11254	181	29			NOUN
fcis-11254	181	30			PROPN
fcis-11254	181	31			NOUN
fcis-11254	181	32			NOUN
fcis-11254	181	33			VERB
fcis-11254	181	34			PROPN
fcis-11254	181	35	k	k	PROPN
fcis-11254	181	36	k	k	PROPN
fcis-11254	181	37	.	.	PUNCT
fcis-11254	182	1	first	first	ADV
fcis-11254	182	2	,	,	PUNCT
fcis-11254	182	3	we	we	PRON
fcis-11254	182	4	look	look	VERB
fcis-11254	182	5	at	at	ADP
fcis-11254	182	6	the	the	DET
fcis-11254	182	7	simulation	simulation	NOUN
fcis-11254	182	8	results	result	NOUN
fcis-11254	182	9	without	without	ADP
fcis-11254	182	10	gravity	gravity	NOUN
fcis-11254	182	11	compensation	compensation	NOUN
fcis-11254	182	12	.	.	PUNCT
fcis-11254	183	1	as	as	SCONJ
fcis-11254	183	2	can	can	AUX
fcis-11254	183	3	be	be	AUX
fcis-11254	183	4	seen	see	VERB
fcis-11254	183	5	from	from	ADP
fcis-11254	183	6	fig	fig	NOUN
fcis-11254	183	7	.	.	PUNCT
fcis-11254	184	1	5	5	NUM
fcis-11254	184	2	,	,	PUNCT
fcis-11254	184	3	the	the	DET
fcis-11254	184	4	pd	pd	PROPN
fcis-11254	184	5	controller	controller	NOUN
fcis-11254	184	6	only	only	ADV
fcis-11254	184	7	uses	use	VERB
fcis-11254	184	8	deviations	deviation	NOUN
fcis-11254	184	9	to	to	PART
fcis-11254	184	10	carry	carry	VERB
fcis-11254	184	11	out	out	ADP
fcis-11254	184	12	the	the	DET
fcis-11254	184	13	test	test	NOUN
fcis-11254	184	14	.	.	PUNCT
fcis-11254	185	1	if	if	SCONJ
fcis-11254	185	2	the	the	DET
fcis-11254	185	3	control	control	NOUN
fcis-11254	185	4	does	do	AUX
fcis-11254	185	5	not	not	PART
fcis-11254	185	6	conduct	conduct	VERB
fcis-11254	185	7	gravity	gravity	NOUN
fcis-11254	185	8	compensation	compensation	NOUN
fcis-11254	185	9	,	,	PUNCT
fcis-11254	185	10	the	the	DET
fcis-11254	185	11	disturbance	disturbance	NOUN
fcis-11254	185	12	of	of	ADP
fcis-11254	185	13	gravity	gravity	NOUN
fcis-11254	185	14	will	will	AUX
fcis-11254	185	15	not	not	PART
fcis-11254	185	16	be	be	AUX
fcis-11254	185	17	able	able	ADJ
fcis-11254	185	18	to	to	PART
fcis-11254	185	19	be	be	AUX
fcis-11254	185	20	eliminated	eliminate	VERB
fcis-11254	185	21	,	,	PUNCT
fcis-11254	185	22	so	so	CCONJ
fcis-11254	185	23	the	the	DET
fcis-11254	185	24	error	error	NOUN
fcis-11254	185	25	will	will	AUX
fcis-11254	185	26	be	be	AUX
fcis-11254	185	27	relatively	relatively	ADV
fcis-11254	185	28	large	large	ADJ
fcis-11254	185	29	and	and	CCONJ
fcis-11254	185	30	it	it	PRON
fcis-11254	185	31	will	will	AUX
fcis-11254	185	32	be	be	AUX
fcis-11254	185	33	difficult	difficult	ADJ
fcis-11254	185	34	to	to	PART
fcis-11254	185	35	conduct	conduct	VERB
fcis-11254	185	36	trajectory	trajectory	NOUN
fcis-11254	185	37	tracking	tracking	NOUN
fcis-11254	185	38	control	control	NOUN
fcis-11254	185	39	.	.	PUNCT
fcis-11254	186	1	to	to	PART
fcis-11254	186	2	verify	verify	VERB
fcis-11254	186	3	the	the	DET
fcis-11254	186	4	performance	performance	NOUN
fcis-11254	186	5	of	of	ADP
fcis-11254	186	6	the	the	DET
fcis-11254	186	7	gravity	gravity	NOUN
fcis-11254	186	8	compensation	compensation	NOUN
fcis-11254	186	9	algorithm	algorithm	NOUN
fcis-11254	186	10	in	in	ADP
fcis-11254	186	11	this	this	DET
fcis-11254	186	12	paper	paper	NOUN
fcis-11254	186	13	,	,	PUNCT
fcis-11254	186	14	the	the	DET
fcis-11254	186	15	fixed	fix	VERB
fcis-11254	186	16	gravity	gravity	NOUN
fcis-11254	186	17	compensation	compensation	NOUN
fcis-11254	186	18	algorithm	algorithm	NOUN
fcis-11254	186	19	proposed	propose	VERB
fcis-11254	186	20	in	in	ADP
fcis-11254	186	21	[	[	X
fcis-11254	186	22	6	6	NUM
fcis-11254	186	23	,	,	PUNCT
fcis-11254	186	24	7	7	NUM
fcis-11254	186	25	]	]	PUNCT
fcis-11254	186	26	was	be	AUX
fcis-11254	186	27	adopted	adopt	VERB
fcis-11254	186	28	for	for	ADP
fcis-11254	186	29	comparison	comparison	NOUN
fcis-11254	186	30	.	.	PUNCT
fcis-11254	187	1	fig	fig	NOUN
fcis-11254	187	2	6	6	NUM
fcis-11254	187	3	.	.	PUNCT
fcis-11254	188	1	trajectory	trajectory	NOUN
fcis-11254	188	2	tracking	tracking	NOUN
fcis-11254	188	3	curve	curve	NOUN
fcis-11254	188	4	with	with	ADP
fcis-11254	188	5	weight	weight	NOUN
fcis-11254	188	6	compensation	compensation	NOUN
fcis-11254	188	7	.	.	PUNCT
fcis-11254	189	1	fig	fig	NOUN
fcis-11254	189	2	7	7	NUM
fcis-11254	189	3	.	.	PUNCT
fcis-11254	190	1	tracking	track	VERB
fcis-11254	190	2	error	error	NOUN
fcis-11254	190	3	curve	curve	NOUN
fcis-11254	190	4	of	of	ADP
fcis-11254	190	5	the	the	DET
fcis-11254	190	6	compensation	compensation	NOUN
fcis-11254	190	7	algorithm	algorithm	NOUN
fcis-11254	190	8	in	in	ADP
fcis-11254	190	9	this	this	DET
fcis-11254	190	10	paper	paper	NOUN
fcis-11254	190	11	t	t	NOUN
fcis-11254	190	12	h	h	NOUN
fcis-11254	190	13	e	e	PROPN
fcis-11254	190	14	a	a	PRON
fcis-11254	190	15	n	n	NOUN
fcis-11254	190	16	g	g	NOUN
fcis-11254	190	17	u	u	NOUN
fcis-11254	190	18	la	la	PROPN
fcis-11254	190	19	r	r	NOUN
fcis-11254	190	20	d	d	NOUN
fcis-11254	190	21	is	be	AUX
fcis-11254	190	22	p	p	X
fcis-11254	190	23	la	la	X
fcis-11254	190	24	ce	ce	PROPN
fcis-11254	190	25	m	m	PROPN
fcis-11254	190	26	e	e	PROPN
fcis-11254	190	27	n	n	ADP
fcis-11254	190	28	t	t	X
fcis-11254	191	1	o	o	X
fcis-11254	191	2	f	f	X
fcis-11254	192	1	j	j	PROPN
fcis-11254	192	2	o	o	PROPN
fcis-11254	192	3	in	in	ADP
fcis-11254	192	4	t	t	PROPN
fcis-11254	192	5	o	o	NOUN
fcis-11254	192	6	n	n	X
fcis-11254	192	7	e	e	X
fcis-11254	192	8	(	(	PUNCT
fcis-11254	192	9	d	d	PROPN
fcis-11254	192	10	e	e	X
fcis-11254	192	11	g	g	NOUN
fcis-11254	192	12	re	re	X
fcis-11254	192	13	e	e	NOUN
fcis-11254	193	1	)	)	PUNCT
fcis-11254	193	2	t	t	PROPN
fcis-11254	193	3	h	h	NOUN
fcis-11254	194	1	e	e	PROPN
fcis-11254	195	1	a	a	PROPN
fcis-11254	195	2	n	n	X
fcis-11254	195	3	gu	gu	NOUN
fcis-11254	195	4	la	la	NOUN
fcis-11254	195	5	r	r	PROPN
fcis-11254	195	6	d	d	NOUN
fcis-11254	195	7	is	be	AUX
fcis-11254	195	8	p	p	X
fcis-11254	195	9	la	la	X
fcis-11254	195	10	ce	ce	PROPN
fcis-11254	195	11	m	m	PROPN
fcis-11254	195	12	e	e	PROPN
fcis-11254	195	13	n	n	ADP
fcis-11254	195	14	t	t	X
fcis-11254	195	15	o	o	X
fcis-11254	196	1	f	f	X
fcis-11254	196	2	j	j	PROPN
fcis-11254	196	3	o	o	PROPN
fcis-11254	196	4	in	in	ADP
fcis-11254	196	5	t	t	PROPN
fcis-11254	196	6	t	t	PROPN
fcis-11254	196	7	w	w	PROPN
fcis-11254	196	8	o	o	X
fcis-11254	197	1	(	(	PUNCT
fcis-11254	197	2	d	d	X
fcis-11254	197	3	e	e	X
fcis-11254	197	4	gr	gr	X
fcis-11254	197	5	e	e	X
fcis-11254	197	6	e	e	X
fcis-11254	197	7	)	)	PUNCT
fcis-11254	197	8	t	t	PROPN
fcis-11254	197	9	he	he	PRON
fcis-11254	197	10	a	a	DET
fcis-11254	197	11	ng	ng	PROPN
fcis-11254	197	12	ul	ul	INTJ
fcis-11254	197	13	ar	ar	PROPN
fcis-11254	197	14	d	d	PROPN
fcis-11254	197	15	is	be	AUX
fcis-11254	197	16	pl	pl	INTJ
fcis-11254	197	17	ac	ac	ADV
fcis-11254	197	18	em	em	PRON
fcis-11254	197	19	en	en	PROPN
fcis-11254	197	20	t	t	PROPN
fcis-11254	197	21	of	of	ADP
fcis-11254	197	22	jo	jo	PROPN
fcis-11254	197	23	in	in	ADP
fcis-11254	197	24	t	t	PROPN
fcis-11254	197	25	o	o	X
fcis-11254	197	26	ne	ne	X
fcis-11254	198	1	(	(	PUNCT
fcis-11254	198	2	d	d	X
fcis-11254	198	3	eg	eg	X
fcis-11254	198	4	re	re	NOUN
fcis-11254	198	5	e	e	PROPN
fcis-11254	198	6	)	)	PUNCT
fcis-11254	198	7	t	t	PROPN
fcis-11254	198	8	he	he	PRON
fcis-11254	198	9	a	a	DET
fcis-11254	198	10	ng	ng	PROPN
fcis-11254	198	11	ul	ul	INTJ
fcis-11254	198	12	ar	ar	PROPN
fcis-11254	198	13	d	d	PROPN
fcis-11254	198	14	is	be	AUX
fcis-11254	198	15	pl	pl	INTJ
fcis-11254	198	16	ac	ac	ADV
fcis-11254	198	17	em	em	PRON
fcis-11254	198	18	en	en	PROPN
fcis-11254	198	19	t	t	PROPN
fcis-11254	198	20	of	of	ADP
fcis-11254	198	21	jo	jo	PROPN
fcis-11254	198	22	in	in	ADP
fcis-11254	198	23	t	t	PROPN
fcis-11254	198	24	t	t	PROPN
fcis-11254	198	25	w	w	PROPN
fcis-11254	198	26	o	o	PROPN
fcis-11254	198	27	(	(	PUNCT
fcis-11254	198	28	de	de	X
fcis-11254	198	29	gr	gr	X
fcis-11254	198	30	ee	ee	PROPN
fcis-11254	198	31	)	)	PUNCT
fcis-11254	199	1	er	er	INTJ
fcis-11254	199	2	ro	ro	X
fcis-11254	199	3	r	r	NOUN
fcis-11254	199	4	(	(	PUNCT
fcis-11254	199	5	de	de	X
fcis-11254	199	6	gr	gr	X
fcis-11254	199	7	ee	ee	PROPN
fcis-11254	199	8	)	)	PUNCT
fcis-11254	199	9	130	130	NUM
fcis-11254	199	10	fig	fig	NOUN
fcis-11254	199	11	8	8	NUM
fcis-11254	199	12	.	.	PUNCT
fcis-11254	200	1	tracking	track	VERB
fcis-11254	200	2	error	error	NOUN
fcis-11254	200	3	curve	curve	NOUN
fcis-11254	200	4	of	of	ADP
fcis-11254	200	5	a	a	DET
fcis-11254	200	6	fixed	fix	VERB
fcis-11254	200	7	compensation	compensation	NOUN
fcis-11254	200	8	algorithm	algorithm	NOUN
fcis-11254	200	9	it	it	PRON
fcis-11254	200	10	can	can	AUX
fcis-11254	200	11	be	be	AUX
fcis-11254	200	12	seen	see	VERB
fcis-11254	200	13	from	from	ADP
fcis-11254	200	14	fig	fig	NOUN
fcis-11254	200	15	.	.	PUNCT
fcis-11254	201	1	6	6	NUM
fcis-11254	201	2	that	that	SCONJ
fcis-11254	201	3	the	the	DET
fcis-11254	201	4	trajectory	trajectory	NOUN
fcis-11254	201	5	tracking	tracking	NOUN
fcis-11254	201	6	control	control	NOUN
fcis-11254	201	7	can	can	AUX
fcis-11254	201	8	be	be	AUX
fcis-11254	201	9	well	well	ADV
fcis-11254	201	10	realized	realize	VERB
fcis-11254	201	11	after	after	ADP
fcis-11254	201	12	the	the	DET
fcis-11254	201	13	adoption	adoption	NOUN
fcis-11254	201	14	of	of	ADP
fcis-11254	201	15	gravity	gravity	NOUN
fcis-11254	201	16	compensation	compensation	NOUN
fcis-11254	201	17	.	.	PUNCT
fcis-11254	202	1	according	accord	VERB
fcis-11254	202	2	to	to	ADP
fcis-11254	202	3	fig	fig	NOUN
fcis-11254	202	4	.	.	PUNCT
fcis-11254	203	1	7	7	NUM
fcis-11254	203	2	,	,	PUNCT
fcis-11254	203	3	the	the	DET
fcis-11254	203	4	gravity	gravity	NOUN
fcis-11254	203	5	compensation	compensation	NOUN
fcis-11254	203	6	algorithm	algorithm	NOUN
fcis-11254	203	7	adopted	adopt	VERB
fcis-11254	203	8	in	in	ADP
fcis-11254	203	9	this	this	DET
fcis-11254	203	10	paper	paper	NOUN
fcis-11254	203	11	can	can	AUX
fcis-11254	203	12	cause	cause	VERB
fcis-11254	203	13	the	the	DET
fcis-11254	203	14	tracking	tracking	NOUN
fcis-11254	203	15	error	error	NOUN
fcis-11254	203	16	1.5oe	1.5oe	NUM
fcis-11254	203	17			PROPN
fcis-11254	203	18	and	and	CCONJ
fcis-11254	203	19	steady	steady	ADJ
fcis-11254	203	20	-	-	PUNCT
fcis-11254	203	21	state	state	NOUN
fcis-11254	203	22	precision	precision	NOUN
fcis-11254	203	23	to	to	PART
fcis-11254	203	24	be	be	AUX
fcis-11254	203	25	high	high	ADJ
fcis-11254	203	26	.	.	PUNCT
fcis-11254	204	1	in	in	ADP
fcis-11254	204	2	fig	fig	NOUN
fcis-11254	204	3	.	.	PUNCT
fcis-11254	205	1	8	8	NUM
fcis-11254	205	2	,	,	PUNCT
fcis-11254	205	3	the	the	DET
fcis-11254	205	4	tracking	tracking	NOUN
fcis-11254	205	5	error	error	NOUN
fcis-11254	205	6	of	of	ADP
fcis-11254	205	7	the	the	DET
fcis-11254	205	8	fixed	fix	VERB
fcis-11254	205	9	compensation	compensation	NOUN
fcis-11254	205	10	algorithm	algorithm	NOUN
fcis-11254	205	11	exceeds	exceed	VERB
fcis-11254	205	12	3o	3o	NUM
fcis-11254	205	13	.	.	PUNCT
fcis-11254	206	1	therefore	therefore	ADV
fcis-11254	206	2	,	,	PUNCT
fcis-11254	206	3	the	the	DET
fcis-11254	206	4	gravity	gravity	NOUN
fcis-11254	206	5	compensation	compensation	NOUN
fcis-11254	206	6	algorithm	algorithm	NOUN
fcis-11254	206	7	in	in	ADP
fcis-11254	206	8	this	this	DET
fcis-11254	206	9	paper	paper	NOUN
fcis-11254	206	10	is	be	AUX
fcis-11254	206	11	better	well	ADJ
fcis-11254	206	12	in	in	ADP
fcis-11254	206	13	terms	term	NOUN
fcis-11254	206	14	of	of	ADP
fcis-11254	206	15	error	error	NOUN
fcis-11254	206	16	control	control	NOUN
fcis-11254	206	17	.	.	PUNCT
fcis-11254	207	1	next	next	ADV
fcis-11254	207	2	,	,	PUNCT
fcis-11254	207	3	an	an	DET
fcis-11254	207	4	input	input	NOUN
fcis-11254	207	5	sinusoidal	sinusoidal	NOUN
fcis-11254	207	6	signal	signal	NOUN
fcis-11254	207	7	is	be	AUX
fcis-11254	207	8	used	use	VERB
fcis-11254	207	9	to	to	PART
fcis-11254	207	10	test	test	VERB
fcis-11254	207	11	the	the	DET
fcis-11254	207	12	dynamic	dynamic	ADJ
fcis-11254	207	13	tracking	tracking	NOUN
fcis-11254	207	14	performance	performance	NOUN
fcis-11254	207	15	of	of	ADP
fcis-11254	207	16	the	the	DET
fcis-11254	207	17	system	system	NOUN
fcis-11254	207	18	.	.	PUNCT
fcis-11254	208	1	it	it	PRON
fcis-11254	208	2	is	be	AUX
fcis-11254	208	3	assumed	assume	VERB
fcis-11254	208	4	that	that	SCONJ
fcis-11254	208	5	the	the	DET
fcis-11254	208	6	input	input	NOUN
fcis-11254	208	7	signal	signal	NOUN
fcis-11254	208	8	of	of	ADP
fcis-11254	208	9	joints	joint	NOUN
fcis-11254	208	10	1	1	NUM
fcis-11254	208	11	and	and	CCONJ
fcis-11254	208	12	2	2	NUM
fcis-11254	208	13	is	be	AUX
fcis-11254	208	14	1	1	NUM
fcis-11254	208	15	2	2	NUM
fcis-11254	208	16	70sin	70sin	NOUN
fcis-11254	208	17	(	(	PUNCT
fcis-11254	208	18	)	)	PUNCT
fcis-11254	208	19	70sin	70sin	NOUN
fcis-11254	208	20	(	(	PUNCT
fcis-11254	208	21	)	)	PUNCT
fcis-11254	208	22	t	t	NOUN
fcis-11254	208	23	t	t	NOUN
fcis-11254	208	24			PROPN
fcis-11254	208	25			PROPN
fcis-11254	208	26			NOUN
fcis-11254	208	27			PROPN
fcis-11254	208	28			PROPN
fcis-11254	208	29	(	(	PUNCT
fcis-11254	208	30	28	28	NUM
fcis-11254	208	31	)	)	PUNCT
fcis-11254	208	32	the	the	DET
fcis-11254	208	33	tracking	tracking	NOUN
fcis-11254	208	34	effect	effect	NOUN
fcis-11254	208	35	of	of	ADP
fcis-11254	208	36	the	the	DET
fcis-11254	208	37	dual	dual	ADJ
fcis-11254	208	38	-	-	PUNCT
fcis-11254	208	39	joint	joint	ADJ
fcis-11254	208	40	mechanical	mechanical	ADJ
fcis-11254	208	41	arm	arm	NOUN
fcis-11254	208	42	under	under	ADP
fcis-11254	208	43	different	different	ADJ
fcis-11254	208	44	sinusoidal	sinusoidal	NOUN
fcis-11254	208	45	signals	signal	NOUN
fcis-11254	208	46	is	be	AUX
fcis-11254	208	47	as	as	SCONJ
fcis-11254	208	48	follows	follow	VERB
fcis-11254	208	49	.	.	PUNCT
fcis-11254	209	1	fig	fig	NOUN
fcis-11254	209	2	9	9	NUM
fcis-11254	209	3	.	.	PUNCT
fcis-11254	209	4	trajectory	trajectory	NOUN
fcis-11254	209	5	tracking	tracking	NOUN
fcis-11254	209	6	curve	curve	NOUN
fcis-11254	209	7	under	under	ADP
fcis-11254	209	8	a	a	DET
fcis-11254	209	9	sinusoidal	sinusoidal	NOUN
fcis-11254	209	10	signal	signal	NOUN
fcis-11254	209	11	it	it	PRON
fcis-11254	209	12	can	can	AUX
fcis-11254	209	13	be	be	AUX
fcis-11254	209	14	seen	see	VERB
fcis-11254	209	15	from	from	ADP
fcis-11254	209	16	fig	fig	NOUN
fcis-11254	209	17	.	.	PUNCT
fcis-11254	210	1	9	9	NUM
fcis-11254	210	2	that	that	SCONJ
fcis-11254	210	3	the	the	DET
fcis-11254	210	4	gravity	gravity	NOUN
fcis-11254	210	5	compensation	compensation	NOUN
fcis-11254	210	6	algorithm	algorithm	NOUN
fcis-11254	210	7	has	have	VERB
fcis-11254	210	8	a	a	DET
fcis-11254	210	9	better	well	ADJ
fcis-11254	210	10	tracking	tracking	NOUN
fcis-11254	210	11	performance	performance	NOUN
fcis-11254	210	12	for	for	ADP
fcis-11254	210	13	general	general	ADJ
fcis-11254	210	14	sinusoidal	sinusoidal	ADJ
fcis-11254	210	15	waves	wave	NOUN
fcis-11254	210	16	and	and	CCONJ
fcis-11254	210	17	the	the	DET
fcis-11254	210	18	tracking	tracking	NOUN
fcis-11254	210	19	error	error	NOUN
fcis-11254	210	20	is	be	AUX
fcis-11254	210	21	2oe	2oe	ADJ
fcis-11254	210	22			PROPN
fcis-11254	210	23	,	,	PUNCT
fcis-11254	210	24	thus	thus	ADV
fcis-11254	210	25	achieving	achieve	VERB
fcis-11254	210	26	better	well	ADJ
fcis-11254	210	27	trajectory	trajectory	NOUN
fcis-11254	210	28	tracking	tracking	NOUN
fcis-11254	210	29	control	control	NOUN
fcis-11254	210	30	.	.	PUNCT
fcis-11254	211	1	4.2	4.2	NUM
fcis-11254	211	2	.	.	PUNCT
fcis-11254	211	3	three	three	NUM
fcis-11254	211	4	-	-	PUNCT
fcis-11254	211	5	joint	joint	ADJ
fcis-11254	211	6	mechanical	mechanical	ADJ
fcis-11254	211	7	arm	arm	NOUN
fcis-11254	211	8	simulation	simulation	NOUN
fcis-11254	211	9	to	to	PART
fcis-11254	211	10	further	far	ADV
fcis-11254	211	11	verify	verify	VERB
fcis-11254	211	12	the	the	DET
fcis-11254	211	13	effectiveness	effectiveness	NOUN
fcis-11254	211	14	of	of	ADP
fcis-11254	211	15	the	the	DET
fcis-11254	211	16	gravity	gravity	NOUN
fcis-11254	211	17	compensation	compensation	NOUN
fcis-11254	211	18	control	control	NOUN
fcis-11254	211	19	algorithm	algorithm	PROPN
fcis-11254	211	20	,	,	PUNCT
fcis-11254	211	21	a	a	DET
fcis-11254	211	22	gravity	gravity	NOUN
fcis-11254	211	23	compensation	compensation	NOUN
fcis-11254	211	24	simulation	simulation	NOUN
fcis-11254	211	25	was	be	AUX
fcis-11254	211	26	performed	perform	VERB
fcis-11254	211	27	on	on	ADP
fcis-11254	211	28	the	the	DET
fcis-11254	211	29	three	three	NUM
fcis-11254	211	30	-	-	PUNCT
fcis-11254	211	31	joint	joint	ADJ
fcis-11254	211	32	mechanical	mechanical	ADJ
fcis-11254	211	33	arm	arm	NOUN
fcis-11254	211	34	shown	show	VERB
fcis-11254	211	35	in	in	ADP
fcis-11254	211	36	fig	fig	NOUN
fcis-11254	211	37	.	.	PUNCT
fcis-11254	212	1	10	10	NUM
fcis-11254	212	2	.	.	PUNCT
fcis-11254	213	1	the	the	DET
fcis-11254	213	2	gravity	gravity	NOUN
fcis-11254	213	3	parameters	parameter	NOUN
fcis-11254	213	4	are	be	AUX
fcis-11254	213	5	shown	show	VERB
fcis-11254	213	6	in	in	ADP
fcis-11254	213	7	table	table	NOUN
fcis-11254	213	8	2	2	NUM
fcis-11254	213	9	.	.	PUNCT
fcis-11254	213	10	fig	fig	NOUN
fcis-11254	213	11	10	10	NUM
fcis-11254	213	12	.	.	PUNCT
fcis-11254	214	1	structure	structure	NOUN
fcis-11254	214	2	and	and	CCONJ
fcis-11254	214	3	model	model	NOUN
fcis-11254	214	4	of	of	ADP
fcis-11254	214	5	the	the	DET
fcis-11254	214	6	three	three	NUM
fcis-11254	214	7	-	-	PUNCT
fcis-11254	214	8	joint	joint	ADJ
fcis-11254	214	9	mechanical	mechanical	ADJ
fcis-11254	214	10	arm	arm	NOUN
fcis-11254	214	11	table	table	NOUN
fcis-11254	214	12	2	2	NUM
fcis-11254	214	13	.	.	PUNCT
fcis-11254	214	14	parameters	parameter	NOUN
fcis-11254	214	15	of	of	ADP
fcis-11254	214	16	the	the	DET
fcis-11254	214	17	three	three	NUM
fcis-11254	214	18	-	-	PUNCT
fcis-11254	214	19	joint	joint	ADJ
fcis-11254	214	20	mechanical	mechanical	ADJ
fcis-11254	214	21	arm	arm	NOUN
fcis-11254	214	22	parameter	parameter	NOUN
fcis-11254	214	23	rod	rod	NOUN
fcis-11254	214	24	length/(mm	length/(mm	NOUN
fcis-11254	214	25	)	)	PUNCT
fcis-11254	214	26	mass/(kg	mass/(kg	PROPN
fcis-11254	214	27	)	)	PUNCT
fcis-11254	214	28	l1	l1	PROPN
fcis-11254	214	29	l2	l2	PROPN
fcis-11254	214	30	l3	l3	PROPN
fcis-11254	214	31	m1	m1	PROPN
fcis-11254	214	32	m1	m1	PROPN
fcis-11254	214	33	m3	m3	PROPN
fcis-11254	214	34	value	value	NOUN
fcis-11254	214	35	100	100	NUM
fcis-11254	214	36	125	125	NUM
fcis-11254	214	37	125	125	NUM
fcis-11254	214	38	1	1	NUM
fcis-11254	214	39	0.88	0.88	NUM
fcis-11254	214	40	0.88	0.88	NUM
fcis-11254	214	41	since	since	SCONJ
fcis-11254	214	42	the	the	DET
fcis-11254	214	43	terminal	terminal	ADJ
fcis-11254	214	44	attitude	attitude	NOUN
fcis-11254	214	45	is	be	AUX
fcis-11254	214	46	not	not	PART
fcis-11254	214	47	considered	consider	VERB
fcis-11254	214	48	,	,	PUNCT
fcis-11254	214	49	only	only	ADV
fcis-11254	214	50	the	the	DET
fcis-11254	214	51	first	first	ADJ
fcis-11254	214	52	three	three	NUM
fcis-11254	214	53	joints	joint	NOUN
fcis-11254	214	54	controlling	control	VERB
fcis-11254	214	55	the	the	DET
fcis-11254	214	56	terminal	terminal	ADJ
fcis-11254	214	57	position	position	NOUN
fcis-11254	214	58	are	be	AUX
fcis-11254	214	59	used	use	VERB
fcis-11254	214	60	for	for	ADP
fcis-11254	214	61	the	the	DET
fcis-11254	214	62	trajectory	trajectory	NOUN
fcis-11254	214	63	tracking	track	VERB
fcis-11254	214	64	control	control	NOUN
fcis-11254	214	65	experiment	experiment	NOUN
fcis-11254	214	66	.	.	PUNCT
fcis-11254	215	1	the	the	DET
fcis-11254	215	2	trajectory	trajectory	NOUN
fcis-11254	215	3	motion	motion	NOUN
fcis-11254	215	4	curves	curve	NOUN
fcis-11254	215	5	of	of	ADP
fcis-11254	215	6	the	the	DET
fcis-11254	215	7	three	three	NUM
fcis-11254	215	8	-	-	PUNCT
fcis-11254	215	9	joint	joint	ADJ
fcis-11254	215	10	angles	angle	NOUN
fcis-11254	215	11	are	be	AUX
fcis-11254	215	12	shown	show	VERB
fcis-11254	215	13	in	in	ADP
fcis-11254	215	14	the	the	DET
fcis-11254	215	15	following	following	NOUN
fcis-11254	215	16	:	:	PUNCT
fcis-11254	215	17	1	1	NUM
fcis-11254	215	18	2	2	NUM
fcis-11254	215	19	3	3	NUM
fcis-11254	215	20	/3sin(0.5	/3sin(0.5	PUNCT
fcis-11254	215	21	)	)	PUNCT
fcis-11254	215	22	/3sin(0.5	/3sin(0.5	PUNCT
fcis-11254	215	23	)	)	PUNCT
fcis-11254	215	24	/3sin(0.5	/3sin(0.5	PUNCT
fcis-11254	215	25	)	)	PUNCT
fcis-11254	215	26	0.3556	0.3556	NUM
fcis-11254	215	27	t	t	NOUN
fcis-11254	215	28	t	t	NOUN
fcis-11254	215	29	t	t	PROPN
fcis-11254	215	30			PROPN
fcis-11254	215	31			PROPN
fcis-11254	215	32			ADJ
fcis-11254	215	33			PROPN
fcis-11254	215	34			ADJ
fcis-11254	215	35			PROPN
fcis-11254	215	36			PROPN
fcis-11254	215	37			NOUN
fcis-11254	215	38			PROPN
fcis-11254	215	39			NUM
fcis-11254	215	40			NUM
fcis-11254	216	1			PROPN
fcis-11254	216	2			NUM
fcis-11254	216	3			NOUN
fcis-11254	216	4			CCONJ
fcis-11254	216	5	(	(	PUNCT
fcis-11254	216	6	29	29	NUM
fcis-11254	216	7	)	)	PUNCT
fcis-11254	216	8	in	in	ADP
fcis-11254	216	9	addition	addition	NOUN
fcis-11254	216	10	,	,	PUNCT
fcis-11254	216	11	the	the	DET
fcis-11254	216	12	gravity	gravity	NOUN
fcis-11254	216	13	compensation	compensation	NOUN
fcis-11254	216	14	algorithm	algorithm	NOUN
fcis-11254	216	15	based	base	VERB
fcis-11254	216	16	on	on	ADP
fcis-11254	216	17	the	the	DET
fcis-11254	216	18	trigonometric	trigonometric	ADJ
fcis-11254	216	19	function	function	NOUN
fcis-11254	216	20	shown	show	VERB
fcis-11254	216	21	in	in	ADP
fcis-11254	216	22	eq	eq	ADP
fcis-11254	216	23	.	.	PUNCT
fcis-11254	217	1	(	(	PUNCT
fcis-11254	217	2	12	12	NUM
fcis-11254	217	3	)	)	PUNCT
fcis-11254	217	4	is	be	AUX
fcis-11254	217	5	utilised	utilise	VERB
fcis-11254	217	6	,	,	PUNCT
fcis-11254	217	7	and	and	CCONJ
fcis-11254	217	8	the	the	DET
fcis-11254	217	9	parameters	parameter	NOUN
fcis-11254	217	10	are	be	AUX
fcis-11254	217	11	set	set	VERB
fcis-11254	217	12	as	as	SCONJ
fcis-11254	217	13	follows	follow	VERB
fcis-11254	217	14	:	:	PUNCT
fcis-11254	217	15	1000	1000	NUM
fcis-11254	217	16	500	500	NUM
fcis-11254	217	17	500	500	NUM
fcis-11254	217	18	p	p	DET
fcis-11254	217	19			PROPN
fcis-11254	217	20			NOUN
fcis-11254	217	21			NOUN
fcis-11254	218	1			X
fcis-11254	218	2			NOUN
fcis-11254	218	3			PROPN
fcis-11254	218	4			NOUN
fcis-11254	218	5			PROPN
fcis-11254	218	6			PROPN
fcis-11254	218	7	k	k	PROPN
fcis-11254	218	8	10	10	NUM
fcis-11254	218	9	100	100	NUM
fcis-11254	218	10	100	100	NUM
fcis-11254	218	11	v	v	NUM
fcis-11254	218	12			PROPN
fcis-11254	218	13			NOUN
fcis-11254	218	14			NOUN
fcis-11254	218	15			X
fcis-11254	218	16			NOUN
fcis-11254	218	17			PROPN
fcis-11254	218	18			NOUN
fcis-11254	218	19			PROPN
fcis-11254	218	20			PROPN
fcis-11254	218	21	k	k	PROPN
fcis-11254	218	22	2	2	NUM
fcis-11254	218	23	2	2	NUM
fcis-11254	218	24	3	3	NUM
fcis-11254	218	25	0	0	NUM
fcis-11254	218	26	94cos	94co	NOUN
fcis-11254	218	27	(	(	PUNCT
fcis-11254	218	28	)	)	PUNCT
fcis-11254	218	29	18cos	18co	NOUN
fcis-11254	218	30	(	(	PUNCT
fcis-11254	218	31	)	)	PUNCT
fcis-11254	218	32	g	g	PROPN
fcis-11254	218	33	q	q	PROPN
fcis-11254	218	34	q	q	X
fcis-11254	218	35	q	q	X
fcis-11254	218	36			PROPN
fcis-11254	218	37			NOUN
fcis-11254	218	38			NOUN
fcis-11254	218	39			X
fcis-11254	218	40			NOUN
fcis-11254	218	41			NOUN
fcis-11254	218	42			NOUN
fcis-11254	218	43			DET
fcis-11254	218	44			PROPN
fcis-11254	218	45	according	accord	VERB
fcis-11254	218	46	to	to	ADP
fcis-11254	218	47	eq	eq	PROPN
fcis-11254	218	48	.	.	PUNCT
fcis-11254	219	1	(	(	PUNCT
fcis-11254	219	2	10	10	NUM
fcis-11254	219	3	)	)	PUNCT
fcis-11254	219	4	,	,	PUNCT
fcis-11254	219	5	since	since	SCONJ
fcis-11254	219	6	the	the	DET
fcis-11254	219	7	rotation	rotation	NOUN
fcis-11254	219	8	axis	axis	NOUN
fcis-11254	219	9	of	of	ADP
fcis-11254	219	10	the	the	DET
fcis-11254	219	11	first	first	ADJ
fcis-11254	219	12	joint	joint	NOUN
fcis-11254	219	13	is	be	AUX
fcis-11254	219	14	parallel	parallel	ADJ
fcis-11254	219	15	to	to	ADP
fcis-11254	219	16	the	the	DET
fcis-11254	219	17	direction	direction	NOUN
fcis-11254	219	18	of	of	ADP
fcis-11254	219	19	gravity	gravity	NOUN
fcis-11254	219	20	,	,	PUNCT
fcis-11254	219	21	its	its	PRON
fcis-11254	219	22	gravity	gravity	NOUN
fcis-11254	219	23	compensation	compensation	NOUN
fcis-11254	219	24	coefficients	coefficient	NOUN
fcis-11254	219	25	are	be	AUX
fcis-11254	219	26	set	set	VERB
fcis-11254	219	27	as	as	ADP
fcis-11254	219	28	1	1	NUM
fcis-11254	219	29	1=0	1=0	NUM
fcis-11254	219	30	=	=	SYM
fcis-11254	219	31	0g	0g	PROPN
fcis-11254	219	32			NOUN
fcis-11254	219	33	;	;	PUNCT
fcis-11254	219	34	thus	thus	ADV
fcis-11254	219	35	,	,	PUNCT
fcis-11254	219	36	no	no	DET
fcis-11254	219	37	gravity	gravity	NOUN
fcis-11254	219	38	compensation	compensation	NOUN
fcis-11254	219	39	is	be	AUX
fcis-11254	219	40	required	require	VERB
fcis-11254	219	41	.	.	PUNCT
fcis-11254	220	1	the	the	DET
fcis-11254	220	2	experimental	experimental	ADJ
fcis-11254	220	3	results	result	NOUN
fcis-11254	220	4	are	be	AUX
fcis-11254	220	5	shown	show	VERB
fcis-11254	220	6	as	as	SCONJ
fcis-11254	220	7	follows	follow	VERB
fcis-11254	220	8	.	.	PUNCT
fcis-11254	221	1	figures	figure	NOUN
fcis-11254	221	2	11	11	NUM
fcis-11254	221	3	and	and	CCONJ
fcis-11254	221	4	12	12	NUM
fcis-11254	221	5	represent	represent	VERB
fcis-11254	221	6	the	the	DET
fcis-11254	221	7	angular	angular	ADJ
fcis-11254	221	8	displacement	displacement	NOUN
fcis-11254	221	9	and	and	CCONJ
fcis-11254	221	10	tracking	tracking	NOUN
fcis-11254	221	11	error	error	NOUN
fcis-11254	221	12	curves	curve	NOUN
fcis-11254	221	13	of	of	ADP
fcis-11254	221	14	each	each	DET
fcis-11254	221	15	joint	joint	NOUN
fcis-11254	221	16	,	,	PUNCT
fcis-11254	221	17	er	er	INTJ
fcis-11254	221	18	ro	ro	X
fcis-11254	221	19	r	r	NOUN
fcis-11254	221	20	(	(	PUNCT
fcis-11254	221	21	de	de	X
fcis-11254	221	22	gr	gr	X
fcis-11254	221	23	ee	ee	PROPN
fcis-11254	221	24	)	)	PUNCT
fcis-11254	221	25	t	t	PROPN
fcis-11254	221	26	h	h	NOUN
fcis-11254	222	1	e	e	PROPN
fcis-11254	222	2	a	a	PROPN
fcis-11254	222	3	n	n	X
fcis-11254	222	4	gu	gu	NOUN
fcis-11254	222	5	la	la	NOUN
fcis-11254	222	6	r	r	PROPN
fcis-11254	222	7	d	d	NOUN
fcis-11254	222	8	is	be	AUX
fcis-11254	222	9	p	p	X
fcis-11254	222	10	la	la	X
fcis-11254	222	11	ce	ce	PROPN
fcis-11254	222	12	m	m	PROPN
fcis-11254	222	13	e	e	PROPN
fcis-11254	222	14	n	n	ADP
fcis-11254	222	15	t	t	X
fcis-11254	222	16	o	o	X
fcis-11254	222	17	f	f	X
fcis-11254	223	1	j	j	PROPN
fcis-11254	223	2	o	o	PROPN
fcis-11254	223	3	in	in	ADP
fcis-11254	223	4	t	t	PROPN
fcis-11254	223	5	o	o	NOUN
fcis-11254	223	6	n	n	X
fcis-11254	224	1	e	e	X
fcis-11254	224	2	(	(	PUNCT
fcis-11254	224	3	d	d	X
fcis-11254	224	4	e	e	X
fcis-11254	224	5	gr	gr	X
fcis-11254	224	6	e	e	X
fcis-11254	224	7	e	e	X
fcis-11254	224	8	)	)	PUNCT
fcis-11254	224	9	t	t	PROPN
fcis-11254	224	10	h	h	NOUN
fcis-11254	225	1	e	e	PROPN
fcis-11254	226	1	a	a	PROPN
fcis-11254	226	2	n	n	X
fcis-11254	226	3	gu	gu	NOUN
fcis-11254	226	4	la	la	NOUN
fcis-11254	226	5	r	r	PROPN
fcis-11254	226	6	d	d	NOUN
fcis-11254	226	7	is	be	AUX
fcis-11254	226	8	p	p	X
fcis-11254	226	9	la	la	X
fcis-11254	226	10	ce	ce	PROPN
fcis-11254	226	11	m	m	PROPN
fcis-11254	226	12	e	e	PROPN
fcis-11254	226	13	n	n	ADP
fcis-11254	226	14	t	t	X
fcis-11254	226	15	o	o	X
fcis-11254	227	1	f	f	X
fcis-11254	227	2	j	j	PROPN
fcis-11254	227	3	o	o	PROPN
fcis-11254	227	4	in	in	ADP
fcis-11254	227	5	t	t	PROPN
fcis-11254	227	6	t	t	PROPN
fcis-11254	227	7	w	w	PROPN
fcis-11254	227	8	o	o	X
fcis-11254	228	1	(	(	PUNCT
fcis-11254	228	2	d	d	X
fcis-11254	228	3	e	e	X
fcis-11254	228	4	gr	gr	X
fcis-11254	228	5	e	e	X
fcis-11254	228	6	e	e	X
fcis-11254	228	7	)	)	PUNCT
fcis-11254	228	8	131	131	NUM
fcis-11254	228	9	respectively	respectively	ADV
fcis-11254	228	10	.	.	PUNCT
fcis-11254	229	1	fig	fig	PROPN
fcis-11254	229	2	11	11	NUM
fcis-11254	229	3	.	.	PUNCT
fcis-11254	230	1	trajectory	trajectory	NOUN
fcis-11254	230	2	tracking	tracking	NOUN
fcis-11254	230	3	curve	curve	NOUN
fcis-11254	230	4	of	of	ADP
fcis-11254	230	5	the	the	DET
fcis-11254	230	6	three	three	NUM
fcis-11254	230	7	-	-	PUNCT
fcis-11254	230	8	joint	joint	ADJ
fcis-11254	230	9	mechanical	mechanical	ADJ
fcis-11254	230	10	arm	arm	NOUN
fcis-11254	230	11	as	as	SCONJ
fcis-11254	230	12	can	can	AUX
fcis-11254	230	13	be	be	AUX
fcis-11254	230	14	seen	see	VERB
fcis-11254	230	15	from	from	ADP
fcis-11254	230	16	figs	fig	NOUN
fcis-11254	230	17	.	.	PUNCT
fcis-11254	231	1	11	11	NUM
fcis-11254	231	2	and	and	CCONJ
fcis-11254	231	3	12	12	NUM
fcis-11254	231	4	,	,	PUNCT
fcis-11254	231	5	the	the	DET
fcis-11254	231	6	error	error	NOUN
fcis-11254	231	7	of	of	ADP
fcis-11254	231	8	the	the	DET
fcis-11254	231	9	gravity	gravity	NOUN
fcis-11254	231	10	compensation	compensation	NOUN
fcis-11254	231	11	algorithm	algorithm	NOUN
fcis-11254	231	12	in	in	ADP
fcis-11254	231	13	this	this	DET
fcis-11254	231	14	paper	paper	NOUN
fcis-11254	231	15	is	be	AUX
fcis-11254	231	16	no	no	DET
fcis-11254	231	17	more	more	ADJ
fcis-11254	231	18	than	than	ADP
fcis-11254	231	19	0.045	0.045	NUM
fcis-11254	231	20	 	 	SPACE
fcis-11254	231	21	rad	rad	NOUN
fcis-11254	231	22	,	,	PUNCT
fcis-11254	231	23	whereas	whereas	SCONJ
fcis-11254	231	24	the	the	DET
fcis-11254	231	25	error	error	NOUN
fcis-11254	231	26	of	of	ADP
fcis-11254	231	27	the	the	DET
fcis-11254	231	28	fixed	fix	VERB
fcis-11254	231	29	compensation	compensation	NOUN
fcis-11254	231	30	algorithm	algorithm	NOUN
fcis-11254	231	31	is	be	AUX
fcis-11254	231	32	more	more	ADJ
fcis-11254	231	33	than	than	ADP
fcis-11254	231	34	0.05	0.05	NUM
fcis-11254	231	35	 	 	SPACE
fcis-11254	231	36	rad	rad	NOUN
fcis-11254	231	37	.	.	PUNCT
fcis-11254	232	1	therefore	therefore	ADV
fcis-11254	232	2	,	,	PUNCT
fcis-11254	232	3	the	the	DET
fcis-11254	232	4	compensation	compensation	NOUN
fcis-11254	232	5	algorithm	algorithm	NOUN
fcis-11254	232	6	in	in	ADP
fcis-11254	232	7	this	this	DET
fcis-11254	232	8	paper	paper	NOUN
fcis-11254	232	9	has	have	VERB
fcis-11254	232	10	a	a	DET
fcis-11254	232	11	better	well	ADJ
fcis-11254	232	12	compensation	compensation	NOUN
fcis-11254	232	13	effect	effect	NOUN
fcis-11254	232	14	and	and	CCONJ
fcis-11254	232	15	can	can	AUX
fcis-11254	232	16	realise	realise	VERB
fcis-11254	232	17	better	well	ADJ
fcis-11254	232	18	trajectory	trajectory	NOUN
fcis-11254	232	19	tracking	tracking	NOUN
fcis-11254	232	20	control	control	NOUN
fcis-11254	232	21	.	.	PUNCT
fcis-11254	233	1	5	5	X
fcis-11254	233	2	.	.	X
fcis-11254	233	3	conclusion	conclusion	NOUN
fcis-11254	233	4	in	in	ADP
fcis-11254	233	5	this	this	DET
fcis-11254	233	6	paper	paper	NOUN
fcis-11254	233	7	,	,	PUNCT
fcis-11254	233	8	a	a	DET
fcis-11254	233	9	gravity	gravity	NOUN
fcis-11254	233	10	compensation	compensation	NOUN
fcis-11254	233	11	method	method	NOUN
fcis-11254	233	12	with	with	ADP
fcis-11254	233	13	an	an	DET
fcis-11254	233	14	easy	easy	ADJ
fcis-11254	233	15	algorithm	algorithm	NOUN
fcis-11254	233	16	and	and	CCONJ
fcis-11254	233	17	implementation	implementation	NOUN
fcis-11254	233	18	was	be	AUX
fcis-11254	233	19	proposed	propose	VERB
fcis-11254	233	20	.	.	PUNCT
fcis-11254	234	1	furthermore	furthermore	ADV
fcis-11254	234	2	,	,	PUNCT
fcis-11254	234	3	the	the	DET
fcis-11254	234	4	concept	concept	NOUN
fcis-11254	234	5	of	of	ADP
fcis-11254	234	6	a	a	DET
fcis-11254	234	7	‘	'	PUNCT
fcis-11254	234	8	compensation	compensation	NOUN
fcis-11254	234	9	coefficient	coefficient	NOUN
fcis-11254	234	10	’	'	PUNCT
fcis-11254	234	11	was	be	AUX
fcis-11254	234	12	introduced	introduce	VERB
fcis-11254	234	13	and	and	CCONJ
fcis-11254	234	14	applied	apply	VERB
fcis-11254	234	15	to	to	ADP
fcis-11254	234	16	gravity	gravity	NOUN
fcis-11254	234	17	compensation	compensation	NOUN
fcis-11254	234	18	based	base	VERB
fcis-11254	234	19	on	on	ADP
fcis-11254	234	20	the	the	DET
fcis-11254	234	21	space	space	NOUN
fcis-11254	234	22	geometry	geometry	NOUN
fcis-11254	234	23	characteristics	characteristic	NOUN
fcis-11254	234	24	of	of	ADP
fcis-11254	234	25	a	a	DET
fcis-11254	234	26	mechanical	mechanical	ADJ
fcis-11254	234	27	arm	arm	NOUN
fcis-11254	234	28	and	and	CCONJ
fcis-11254	234	29	the	the	DET
fcis-11254	234	30	principle	principle	NOUN
fcis-11254	234	31	of	of	ADP
fcis-11254	234	32	torque	torque	NOUN
fcis-11254	234	33	balance	balance	NOUN
fcis-11254	234	34	.	.	PUNCT
fcis-11254	235	1	(	(	PUNCT
fcis-11254	235	2	a	a	X
fcis-11254	235	3	)	)	PUNCT
fcis-11254	235	4	the	the	DET
fcis-11254	235	5	algorithm	algorithm	NOUN
fcis-11254	235	6	in	in	ADP
fcis-11254	235	7	this	this	DET
fcis-11254	235	8	paper	paper	NOUN
fcis-11254	235	9	(	(	PUNCT
fcis-11254	235	10	b	b	NOUN
fcis-11254	235	11	)	)	PUNCT
fcis-11254	235	12	fixed	fix	VERB
fcis-11254	235	13	compensation	compensation	NOUN
fcis-11254	235	14	algorithm	algorithm	PROPN
fcis-11254	235	15	fig	fig	NOUN
fcis-11254	235	16	12	12	NUM
fcis-11254	235	17	.	.	PUNCT
fcis-11254	236	1	tracking	track	VERB
fcis-11254	236	2	error	error	NOUN
fcis-11254	236	3	curve	curve	NOUN
fcis-11254	236	4	of	of	ADP
fcis-11254	236	5	the	the	DET
fcis-11254	236	6	three	three	NUM
fcis-11254	236	7	-	-	PUNCT
fcis-11254	236	8	joint	joint	ADJ
fcis-11254	236	9	mechanical	mechanical	ADJ
fcis-11254	236	10	arm	arm	NOUN
fcis-11254	236	11	.	.	PUNCT
fcis-11254	237	1	this	this	DET
fcis-11254	237	2	algorithm	algorithm	NOUN
fcis-11254	237	3	does	do	AUX
fcis-11254	237	4	not	not	PART
fcis-11254	237	5	require	require	VERB
fcis-11254	237	6	calculating	calculate	VERB
fcis-11254	237	7	the	the	DET
fcis-11254	237	8	gravity	gravity	NOUN
fcis-11254	237	9	compensation	compensation	NOUN
fcis-11254	237	10	through	through	ADP
fcis-11254	237	11	complex	complex	ADJ
fcis-11254	237	12	matrix	matrix	NOUN
fcis-11254	237	13	space	space	NOUN
fcis-11254	237	14	transformation	transformation	NOUN
fcis-11254	237	15	;	;	PUNCT
fcis-11254	237	16	it	it	PRON
fcis-11254	237	17	only	only	ADV
fcis-11254	237	18	requires	require	VERB
fcis-11254	237	19	knowing	know	VERB
fcis-11254	237	20	the	the	DET
fcis-11254	237	21	mass	mass	NOUN
fcis-11254	237	22	parameters	parameter	NOUN
fcis-11254	237	23	and	and	CCONJ
fcis-11254	237	24	it	it	PRON
fcis-11254	237	25	can	can	AUX
fcis-11254	237	26	compensate	compensate	VERB
fcis-11254	237	27	the	the	DET
fcis-11254	237	28	gravity	gravity	NOUN
fcis-11254	237	29	online	online	ADV
fcis-11254	237	30	through	through	ADP
fcis-11254	237	31	simple	simple	ADJ
fcis-11254	237	32	trigonometric	trigonometric	ADJ
fcis-11254	237	33	function	function	NOUN
fcis-11254	237	34	transformation	transformation	NOUN
fcis-11254	237	35	,	,	PUNCT
fcis-11254	237	36	which	which	PRON
fcis-11254	237	37	can	can	AUX
fcis-11254	237	38	be	be	AUX
fcis-11254	237	39	extended	extend	VERB
fcis-11254	237	40	and	and	CCONJ
fcis-11254	237	41	applied	apply	VERB
fcis-11254	237	42	to	to	ADP
fcis-11254	237	43	multi	multi	ADJ
fcis-11254	237	44	-	-	ADJ
fcis-11254	237	45	joint	joint	ADJ
fcis-11254	237	46	non	non	ADJ
fcis-11254	237	47	-	-	ADJ
fcis-11254	237	48	parallel	parallel	ADJ
fcis-11254	237	49	shaft	shaft	NOUN
fcis-11254	237	50	mechanical	mechanical	ADJ
fcis-11254	237	51	arms	arm	NOUN
fcis-11254	237	52	.	.	PUNCT
fcis-11254	238	1	through	through	ADP
fcis-11254	238	2	simulation	simulation	NOUN
fcis-11254	238	3	,	,	PUNCT
fcis-11254	238	4	experimental	experimental	ADJ
fcis-11254	238	5	research	research	NOUN
fcis-11254	238	6	and	and	CCONJ
fcis-11254	238	7	analysis	analysis	NOUN
fcis-11254	238	8	,	,	PUNCT
fcis-11254	238	9	this	this	DET
fcis-11254	238	10	compensation	compensation	NOUN
fcis-11254	238	11	algorithm	algorithm	NOUN
fcis-11254	238	12	is	be	AUX
fcis-11254	238	13	simple	simple	ADJ
fcis-11254	238	14	to	to	PART
fcis-11254	238	15	apply	apply	VERB
fcis-11254	238	16	and	and	CCONJ
fcis-11254	238	17	can	can	AUX
fcis-11254	238	18	compensate	compensate	VERB
fcis-11254	238	19	the	the	DET
fcis-11254	238	20	gravity	gravity	NOUN
fcis-11254	238	21	well	well	ADV
fcis-11254	238	22	in	in	ADP
fcis-11254	238	23	the	the	DET
fcis-11254	238	24	trajectory	trajectory	NOUN
fcis-11254	238	25	tracking	tracking	NOUN
fcis-11254	238	26	control	control	NOUN
fcis-11254	238	27	of	of	ADP
fcis-11254	238	28	a	a	DET
fcis-11254	238	29	robotic	robotic	ADJ
fcis-11254	238	30	manipulator	manipulator	NOUN
fcis-11254	238	31	.	.	PUNCT
fcis-11254	239	1	acknowledgments	acknowledgment	NOUN
fcis-11254	239	2	sponsored	sponsor	VERB
fcis-11254	239	3	by	by	ADP
fcis-11254	239	4	the	the	DET
fcis-11254	239	5	"	"	PUNCT
fcis-11254	239	6	2022	2022	NUM
fcis-11254	239	7	doctoral	doctoral	ADJ
fcis-11254	239	8	research	research	NOUN
fcis-11254	239	9	start	start	NOUN
fcis-11254	239	10	-	-	PUNCT
fcis-11254	239	11	up	up	ADP
fcis-11254	239	12	funding	funding	NOUN
fcis-11254	239	13	project	project	NOUN
fcis-11254	239	14	of	of	ADP
fcis-11254	239	15	guizhou	guizhou	PROPN
fcis-11254	239	16	polytechnic	polytechnic	PROPN
fcis-11254	239	17	of	of	ADP
fcis-11254	239	18	light	light	ADJ
fcis-11254	239	19	industry	industry	NOUN
fcis-11254	239	20	"	"	PUNCT
fcis-11254	239	21	(	(	PUNCT
fcis-11254	239	22	no	no	INTJ
fcis-11254	239	23	.	.	PUNCT
fcis-11254	240	1	22qybs10	22qybs10	NUM
fcis-11254	240	2	)	)	PUNCT
fcis-11254	240	3	.	.	PUNCT
fcis-11254	241	1	references	reference	NOUN
fcis-11254	241	2	[	[	X
fcis-11254	241	3	1	1	NUM
fcis-11254	241	4	]	]	X
fcis-11254	241	5	f.a	f.a	PROPN
fcis-11254	241	6	.	.	PROPN
fcis-11254	241	7	machorro	machorro	PROPN
fcis-11254	241	8	-	-	PUNCT
fcis-11254	241	9	fernandez	fernandez	PROPN
fcis-11254	241	10	,	,	PUNCT
fcis-11254	241	11	v.	v.	PROPN
fcis-11254	241	12	parra	parra	PROPN
fcis-11254	241	13	-	-	PUNCT
fcis-11254	241	14	vega	vega	PROPN
fcis-11254	241	15	,	,	PUNCT
fcis-11254	241	16	e.	e.	PROPN
fcis-11254	241	17	olguin	olguin	PROPN
fcis-11254	241	18	-	-	PUNCT
fcis-11254	241	19	diaz	diaz	PROPN
fcis-11254	241	20	.	.	PUNCT
fcis-11254	242	1	active	active	ADJ
fcis-11254	242	2	mechanical	mechanical	ADJ
fcis-11254	242	3	compensation	compensation	NOUN
fcis-11254	242	4	to	to	PART
fcis-11254	242	5	obtain	obtain	VERB
fcis-11254	242	6	gravity	gravity	NOUN
fcis-11254	242	7	-	-	PUNCT
fcis-11254	242	8	free	free	ADJ
fcis-11254	242	9	robots	robot	NOUN
fcis-11254	242	10	:	:	PUNCT
fcis-11254	242	11	modeling	modeling	NOUN
fcis-11254	242	12	,	,	PUNCT
fcis-11254	242	13	control	control	NOUN
fcis-11254	242	14	,	,	PUNCT
fcis-11254	242	15	design	design	NOUN
fcis-11254	242	16	and	and	CCONJ
fcis-11254	242	17	preliminary	preliminary	ADJ
fcis-11254	242	18	experimental	experimental	ADJ
fcis-11254	242	19	results[j	results[j	PROPN
fcis-11254	242	20	]	]	PUNCT
fcis-11254	242	21	.	.	PUNCT
fcis-11254	243	1	ieee	ieee	PROPN
fcis-11254	243	2	int	int	PROPN
fcis-11254	243	3	conf	conf	NOUN
fcis-11254	243	4	robot	robot	NOUN
fcis-11254	243	5	,	,	PUNCT
fcis-11254	243	6	2009	2009	NUM
fcis-11254	243	7	:	:	PUNCT
fcis-11254	243	8	4346	4346	NUM
fcis-11254	243	9	-	-	SYM
fcis-11254	243	10	4351	4351	NUM
fcis-11254	243	11	.	.	PUNCT
fcis-11254	244	1	[	[	X
fcis-11254	244	2	2	2	NUM
fcis-11254	244	3	]	]	PUNCT
fcis-11254	244	4	c.	c.	PROPN
fcis-11254	244	5	cho	cho	PROPN
fcis-11254	244	6	,	,	PUNCT
fcis-11254	244	7	s.	s.	PROPN
fcis-11254	244	8	kang	kang	PROPN
fcis-11254	244	9	.	.	PUNCT
fcis-11254	245	1	design	design	NOUN
fcis-11254	245	2	of	of	ADP
fcis-11254	245	3	a	a	DET
fcis-11254	245	4	static	static	ADJ
fcis-11254	245	5	balancing	balancing	NOUN
fcis-11254	245	6	mechanism	mechanism	NOUN
fcis-11254	245	7	with	with	ADP
fcis-11254	245	8	unit	unit	NOUN
fcis-11254	245	9	gravity	gravity	NOUN
fcis-11254	245	10	compensators[j	compensators[j	PROPN
fcis-11254	245	11	]	]	PUNCT
fcis-11254	245	12	.	.	PUNCT
fcis-11254	246	1	ieee	ieee	PROPN
fcis-11254	246	2	int	int	PROPN
fcis-11254	246	3	c	c	PROPN
fcis-11254	246	4	int	int	NOUN
fcis-11254	246	5	robot	robot	NOUN
fcis-11254	246	6	,	,	PUNCT
fcis-11254	246	7	2011	2011	NUM
fcis-11254	246	8	.	.	PUNCT
fcis-11254	247	1	[	[	X
fcis-11254	247	2	3	3	NUM
fcis-11254	247	3	]	]	PUNCT
fcis-11254	247	4	a.	a.	NOUN
fcis-11254	247	5	mashayekhi	mashayekhi	PROPN
fcis-11254	247	6	,	,	PUNCT
fcis-11254	247	7	a.	a.	PROPN
fcis-11254	247	8	nahvi	nahvi	PROPN
fcis-11254	247	9	,	,	PUNCT
fcis-11254	247	10	m.	m.	NOUN
fcis-11254	247	11	yazdani	yazdani	PROPN
fcis-11254	247	12	,	,	PUNCT
fcis-11254	247	13	m.	m.	NOUN
fcis-11254	247	14	mohammadi	mohammadi	PROPN
fcis-11254	247	15	moghadam	moghadam	PROPN
fcis-11254	247	16	,	,	PUNCT
fcis-11254	247	17	m.	m.	NOUN
fcis-11254	247	18	arbabtafti	arbabtafti	PROPN
fcis-11254	247	19	,	,	PUNCT
fcis-11254	247	20	m.	m.	PROPN
fcis-11254	247	21	norouzi	norouzi	PROPN
fcis-11254	247	22	.	.	PUNCT
fcis-11254	248	1	virsense	virsense	NOUN
fcis-11254	248	2	:	:	PUNCT
fcis-11254	248	3	a	a	DET
fcis-11254	248	4	novel	novel	ADJ
fcis-11254	248	5	haptic	haptic	ADJ
fcis-11254	248	6	device	device	NOUN
fcis-11254	248	7	with	with	ADP
fcis-11254	248	8	fixed	fix	VERB
fcis-11254	248	9	-	-	PUNCT
fcis-11254	248	10	base	base	NOUN
fcis-11254	248	11	motors	motor	NOUN
fcis-11254	248	12	and	and	CCONJ
fcis-11254	248	13	a	a	DET
fcis-11254	248	14	gravity	gravity	NOUN
fcis-11254	248	15	compensation	compensation	NOUN
fcis-11254	248	16	system[j	system[j	NOUN
fcis-11254	248	17	]	]	PUNCT
fcis-11254	248	18	.	.	PUNCT
fcis-11254	249	1	industrial	industrial	ADJ
fcis-11254	249	2	robot	robot	NOUN
fcis-11254	249	3	:	:	PUNCT
fcis-11254	249	4	an	an	DET
fcis-11254	249	5	international	international	ADJ
fcis-11254	249	6	journal	journal	NOUN
fcis-11254	249	7	,	,	PUNCT
fcis-11254	249	8	2014	2014	NUM
fcis-11254	249	9	,	,	PUNCT
fcis-11254	249	10	41(1	41(1	NUM
fcis-11254	249	11	):	):	PUNCT
fcis-11254	249	12	37	37	NUM
fcis-11254	249	13	-	-	SYM
fcis-11254	249	14	49	49	NUM
fcis-11254	249	15	.	.	PUNCT
fcis-11254	250	1	er	er	INTJ
fcis-11254	250	2	ro	ro	X
fcis-11254	250	3	r	r	NOUN
fcis-11254	250	4	(	(	PUNCT
fcis-11254	250	5	ra	ra	PROPN
fcis-11254	250	6	d	d	NOUN
fcis-11254	250	7	)	)	PUNCT
fcis-11254	250	8	er	er	INTJ
fcis-11254	250	9	ro	ro	X
fcis-11254	250	10	r	r	NOUN
fcis-11254	250	11	(	(	PUNCT
fcis-11254	250	12	ra	ra	PROPN
fcis-11254	250	13	d	d	NOUN
fcis-11254	250	14	)	)	PUNCT
fcis-11254	250	15	132	132	NUM
fcis-11254	251	1	[	[	X
fcis-11254	251	2	4	4	NUM
fcis-11254	251	3	]	]	PUNCT
fcis-11254	251	4	s.-h	s.-h	NOUN
fcis-11254	251	5	.	.	PUNCT
fcis-11254	252	1	kim	kim	PROPN
fcis-11254	252	2	,	,	PUNCT
fcis-11254	252	3	c.-h	c.-h	PROPN
fcis-11254	252	4	.	.	PUNCT
fcis-11254	253	1	cho	cho	PROPN
fcis-11254	253	2	.	.	PUNCT
fcis-11254	254	1	incomplete	incomplete	ADJ
fcis-11254	254	2	gravity	gravity	NOUN
fcis-11254	254	3	compensator	compensator	NOUN
fcis-11254	254	4	f	f	PROPN
fcis-11254	254	5	or	or	CCONJ
fcis-11254	254	6	a	a	DET
fcis-11254	254	7	4	4	NUM
fcis-11254	254	8	-	-	PUNCT
fcis-11254	254	9	dof	dof	ADJ
fcis-11254	254	10	manipulator[j	manipulator[j	NOUN
fcis-11254	254	11	]	]	PUNCT
fcis-11254	254	12	.	.	PUNCT
fcis-11254	255	1	journal	journal	PROPN
fcis-11254	255	2	of	of	ADP
fcis-11254	255	3	mechanical	mechanical	ADJ
fcis-11254	255	4	science	science	NOUN
fcis-11254	255	5	and	and	CCONJ
fcis-11254	255	6	technology	technology	NOUN
fcis-11254	255	7	,	,	PUNCT
fcis-11254	255	8	2015	2015	NUM
fcis-11254	255	9	,	,	PUNCT
fcis-11254	255	10	29(10	29(10	NUM
fcis-11254	255	11	):	):	PUNCT
fcis-11254	255	12	4417	4417	NUM
fcis-11254	255	13	-	-	SYM
fcis-11254	255	14	4426	4426	NUM
fcis-11254	255	15	.	.	PUNCT
fcis-11254	256	1	[	[	X
fcis-11254	256	2	5	5	NUM
fcis-11254	256	3	]	]	PUNCT
fcis-11254	256	4	c.	c.	PROPN
fcis-11254	256	5	cho	cho	PROPN
fcis-11254	256	6	,	,	PUNCT
fcis-11254	256	7	s.	s.	PROPN
fcis-11254	256	8	kang	kang	PROPN
fcis-11254	256	9	.	.	PUNCT
fcis-11254	257	1	design	design	NOUN
fcis-11254	257	2	of	of	ADP
fcis-11254	257	3	a	a	DET
fcis-11254	257	4	static	static	ADJ
fcis-11254	257	5	balancing	balancing	NOUN
fcis-11254	257	6	mechanism	mechanism	NOUN
fcis-11254	257	7	for	for	ADP
fcis-11254	257	8	a	a	DET
fcis-11254	257	9	serial	serial	ADJ
fcis-11254	257	10	manipulator	manipulator	NOUN
fcis-11254	257	11	with	with	ADP
fcis-11254	257	12	an	an	DET
fcis-11254	257	13	unconstrained	unconstrained	ADJ
fcis-11254	257	14	joint	joint	ADJ
fcis-11254	257	15	space	space	NOUN
fcis-11254	257	16	using	use	VERB
fcis-11254	257	17	one	one	NUM
fcis-11254	257	18	-	-	PUNCT
fcis-11254	257	19	dof	dof	NOUN
fcis-11254	257	20	gravity	gravity	NOUN
fcis-11254	257	21	compensators[j	compensators[j	PROPN
fcis-11254	257	22	]	]	PUNCT
fcis-11254	257	23	.	.	PUNCT
fcis-11254	258	1	ieee	ieee	PROPN
fcis-11254	258	2	t	t	PROPN
fcis-11254	258	3	robot	robot	NOUN
fcis-11254	258	4	,	,	PUNCT
fcis-11254	258	5	2014	2014	NUM
fcis-11254	258	6	,	,	PUNCT
fcis-11254	258	7	30(2	30(2	NUM
fcis-11254	258	8	):	):	PUNCT
fcis-11254	258	9	421	421	NUM
fcis-11254	258	10	-	-	SYM
fcis-11254	258	11	431	431	NUM
fcis-11254	258	12	.	.	PUNCT
fcis-11254	259	1	[	[	X
fcis-11254	259	2	6	6	NUM
fcis-11254	259	3	]	]	PUNCT
fcis-11254	259	4	yang	yang	PROPN
fcis-11254	259	5	y	y	PROPN
fcis-11254	259	6	g	g	PROPN
fcis-11254	259	7	,	,	PUNCT
fcis-11254	259	8	peng	peng	PROPN
fcis-11254	259	9	z	z	PROPN
fcis-11254	259	10	,	,	PUNCT
fcis-11254	259	11	wang	wang	PROPN
fcis-11254	259	12	t	t	PROPN
fcis-11254	259	13	,	,	PUNCT
fcis-11254	259	14	wang	wang	PROPN
fcis-11254	259	15	y	y	PROPN
fcis-11254	259	16	f.	f.	PROPN
fcis-11254	259	17	application	application	PROPN
fcis-11254	259	18	of	of	ADP
fcis-11254	259	19	fuzzy	fuzzy	ADJ
fcis-11254	259	20	immune	immune	ADJ
fcis-11254	259	21	pd	pd	PROPN
fcis-11254	259	22	controller	controller	NOUN
fcis-11254	259	23	with	with	ADP
fcis-11254	259	24	fixed	fix	VERB
fcis-11254	259	25	gravity	gravity	NOUN
fcis-11254	259	26	compensation	compensation	NOUN
fcis-11254	259	27	to	to	ADP
fcis-11254	259	28	displacement	displacement	ADJ
fcis-11254	259	29	control	control	NOUN
fcis-11254	259	30	for	for	ADP
fcis-11254	259	31	manipulator	manipulator	NOUN
fcis-11254	259	32	actuated	actuate	VERB
fcis-11254	259	33	by	by	ADP
fcis-11254	259	34	pneumatic	pneumatic	ADJ
fcis-11254	259	35	muscle	muscle	NOUN
fcis-11254	259	36	actuator[j	actuator[j	NOUN
fcis-11254	259	37	]	]	PUNCT
fcis-11254	259	38	.	.	PUNCT
fcis-11254	260	1	robot	robot	NOUN
fcis-11254	260	2	,	,	PUNCT
fcis-11254	260	3	2008	2008	NUM
fcis-11254	260	4	,	,	PUNCT
fcis-11254	260	5	(	(	PUNCT
fcis-11254	260	6	03	03	NUM
fcis-11254	260	7	):	):	PUNCT
fcis-11254	260	8	259	259	NUM
fcis-11254	260	9	-	-	SYM
fcis-11254	260	10	263	263	NUM
fcis-11254	260	11	.	.	PUNCT
fcis-11254	261	1	[	[	X
fcis-11254	261	2	7	7	X
fcis-11254	261	3	]	]	X
fcis-11254	261	4	wang	wang	PROPN
fcis-11254	261	5	z	z	PROPN
fcis-11254	261	6	z	z	PROPN
fcis-11254	261	7	,	,	PUNCT
fcis-11254	261	8	wang	wang	PROPN
fcis-11254	261	9	w	w	PROPN
fcis-11254	261	10	l	l	PROPN
fcis-11254	261	11	,	,	PUNCT
fcis-11254	261	12	jin	jin	PROPN
fcis-11254	261	13	c	c	PROPN
fcis-11254	261	14	s	s	PROPN
fcis-11254	261	15	,	,	PUNCT
fcis-11254	261	16	sun	sun	PROPN
fcis-11254	261	17	s	s	PROPN
fcis-11254	261	18	h.	h.	PROPN
fcis-11254	261	19	research	research	PROPN
fcis-11254	261	20	of	of	ADP
fcis-11254	261	21	robot	robot	NOUN
fcis-11254	261	22	controlling	control	VERB
fcis-11254	261	23	with	with	ADP
fcis-11254	261	24	fixed	fix	VERB
fcis-11254	261	25	gravity	gravity	NOUN
fcis-11254	261	26	compensation[j	compensation[j	NOUN
fcis-11254	261	27	]	]	PUNCT
fcis-11254	261	28	.	.	PUNCT
fcis-11254	262	1	machinery	machinery	NOUN
fcis-11254	262	2	design	design	NOUN
fcis-11254	262	3	and	and	CCONJ
fcis-11254	262	4	manufacture	manufacture	NOUN
fcis-11254	262	5	,	,	PUNCT
fcis-11254	262	6	2015	2015	NUM
fcis-11254	262	7	,	,	PUNCT
fcis-11254	262	8	(	(	PUNCT
fcis-11254	262	9	03	03	NUM
fcis-11254	262	10	):	):	PUNCT
fcis-11254	262	11	166	166	NUM
fcis-11254	262	12	-	-	SYM
fcis-11254	262	13	169	169	NUM
fcis-11254	262	14	.	.	PUNCT
fcis-11254	263	1	[	[	X
fcis-11254	263	2	8	8	NUM
fcis-11254	263	3	]	]	PUNCT
fcis-11254	263	4	xie	xie	PROPN
fcis-11254	263	5	g	g	PROPN
fcis-11254	263	6	h	h	PROPN
fcis-11254	263	7	,	,	PUNCT
fcis-11254	263	8	zhang	zhang	PROPN
fcis-11254	263	9	j	j	PROPN
fcis-11254	263	10	c.	c.	PROPN
fcis-11254	263	11	experimental	experimental	PROPN
fcis-11254	263	12	research	research	NOUN
fcis-11254	263	13	on	on	ADP
fcis-11254	263	14	gravity	gravity	NOUN
fcis-11254	263	15	compensation	compensation	NOUN
fcis-11254	263	16	for	for	ADP
fcis-11254	263	17	humanoid	humanoid	NOUN
fcis-11254	263	18	robot	robot	NOUN
fcis-11254	263	19	arm[j	arm[j	ADJ
fcis-11254	263	20	]	]	PUNCT
fcis-11254	263	21	.	.	PUNCT
fcis-11254	264	1	journal	journal	PROPN
fcis-11254	264	2	of	of	ADP
fcis-11254	264	3	mechanical	mechanical	ADJ
fcis-11254	264	4	transmission	transmission	NOUN
fcis-11254	264	5	,	,	PUNCT
fcis-11254	264	6	2010	2010	NUM
fcis-11254	264	7	,	,	PUNCT
fcis-11254	264	8	(	(	PUNCT
fcis-11254	264	9	07	07	NUM
fcis-11254	264	10	):	):	PUNCT
fcis-11254	264	11	26	26	NUM
fcis-11254	264	12	-	-	SYM
fcis-11254	264	13	28	28	NUM
fcis-11254	264	14	.	.	PUNCT
fcis-11254	265	1	[	[	X
fcis-11254	265	2	9	9	NUM
fcis-11254	265	3	]	]	PUNCT
fcis-11254	265	4	xie	xie	PROPN
fcis-11254	265	5	g	g	PROPN
fcis-11254	265	6	h	h	PROPN
fcis-11254	265	7	,	,	PUNCT
fcis-11254	265	8	jin	jin	PROPN
fcis-11254	265	9	m	m	PROPN
fcis-11254	265	10	n	n	CCONJ
fcis-11254	265	11	,	,	PUNCT
fcis-11254	265	12	zhang	zhang	PROPN
fcis-11254	265	13	j	j	PROPN
fcis-11254	265	14	c	c	PROPN
fcis-11254	265	15	,	,	PUNCT
fcis-11254	265	16	wu	wu	PROPN
fcis-11254	265	17	d	d	PROPN
fcis-11254	265	18	m.	m.	NOUN
fcis-11254	265	19	research	research	NOUN
fcis-11254	265	20	on	on	ADP
fcis-11254	265	21	gravity	gravity	NOUN
fcis-11254	265	22	compensation	compensation	NOUN
fcis-11254	265	23	using	use	VERB
fcis-11254	265	24	bpnn	bpnn	NOUN
fcis-11254	265	25	algorithm	algorithm	NOUN
fcis-11254	265	26	for	for	ADP
fcis-11254	265	27	robot	robot	NOUN
fcis-11254	265	28	arm[j	arm[j	ADJ
fcis-11254	265	29	]	]	PUNCT
fcis-11254	265	30	.	.	PUNCT
fcis-11254	265	31	process	process	NOUN
fcis-11254	265	32	automation	automation	NOUN
fcis-11254	265	33	instrumentation	instrumentation	NOUN
fcis-11254	265	34	,	,	PUNCT
fcis-11254	265	35	2012	2012	NUM
fcis-11254	265	36	,	,	PUNCT
fcis-11254	265	37	(	(	PUNCT
fcis-11254	265	38	02	02	NUM
fcis-11254	265	39	):	):	PUNCT
fcis-11254	265	40	2224	2224	NUM
fcis-11254	265	41	.	.	PUNCT
fcis-11254	266	1	[	[	X
fcis-11254	266	2	10	10	NUM
fcis-11254	266	3	]	]	X
fcis-11254	266	4	zhao	zhao	PROPN
fcis-11254	266	5	j	j	PROPN
fcis-11254	266	6	,	,	PUNCT
fcis-11254	266	7	ren	ren	PROPN
fcis-11254	266	8	s	s	PROPN
fcis-11254	266	9	j	j	PROPN
fcis-11254	266	10	,	,	PUNCT
fcis-11254	266	11	yu	yu	PROPN
fcis-11254	266	12	z	z	PROPN
fcis-11254	266	13	y.	y.	PROPN
fcis-11254	266	14	study	study	PROPN
fcis-11254	266	15	of	of	ADP
fcis-11254	266	16	manipulator	manipulator	NOUN
fcis-11254	266	17	pd	pd	PROPN
fcis-11254	266	18	control	control	PROPN
fcis-11254	266	19	system	system	NOUN
fcis-11254	266	20	based	base	VERB
fcis-11254	266	21	on	on	ADP
fcis-11254	266	22	gravity	gravity	NOUN
fcis-11254	266	23	compensation[j	compensation[j	NOUN
fcis-11254	266	24	]	]	PUNCT
fcis-11254	266	25	.	.	PUNCT
fcis-11254	267	1	modern	modern	ADJ
fcis-11254	267	2	scientific	scientific	ADJ
fcis-11254	267	3	instruments	instrument	NOUN
fcis-11254	267	4	,	,	PUNCT
fcis-11254	267	5	2012	2012	NUM
fcis-11254	267	6	,	,	PUNCT
fcis-11254	267	7	(	(	PUNCT
fcis-11254	267	8	05	05	NUM
fcis-11254	267	9	):	):	PUNCT
fcis-11254	267	10	58	58	NUM
fcis-11254	267	11	-	-	SYM
fcis-11254	267	12	59	59	NUM
fcis-11254	267	13	.	.	PUNCT
fcis-11254	268	1	[	[	X
fcis-11254	268	2	11	11	NUM
fcis-11254	268	3	]	]	X
fcis-11254	268	4	y.c	y.c	PROPN
fcis-11254	268	5	.	.	PROPN
fcis-11254	268	6	liu	liu	PROPN
fcis-11254	268	7	,	,	PUNCT
fcis-11254	268	8	n.	n.	PROPN
fcis-11254	268	9	chopra	chopra	PROPN
fcis-11254	268	10	.	.	PUNCT
fcis-11254	269	1	gravity	gravity	NOUN
fcis-11254	269	2	-	-	PUNCT
fcis-11254	269	3	compensation	compensation	NOUN
fcis-11254	269	4	-	-	PUNCT
fcis-11254	269	5	driven	drive	VERB
fcis-11254	269	6	position	position	NOUN
fcis-11254	269	7	regulation	regulation	NOUN
fcis-11254	269	8	for	for	ADP
fcis-11254	269	9	robotic	robotic	ADJ
fcis-11254	269	10	systems	system	NOUN
fcis-11254	269	11	under	under	ADP
fcis-11254	269	12	input	input	NOUN
fcis-11254	269	13	/	/	SYM
fcis-11254	269	14	output	output	NOUN
fcis-11254	269	15	delays	delay	NOUN
fcis-11254	270	1	[	[	X
fcis-11254	270	2	j	j	X
fcis-11254	270	3	]	]	X
fcis-11254	270	4	.	.	PUNCT
fcis-11254	271	1	ieee	ieee	NOUN
fcis-11254	271	2	transactions	transaction	NOUN
fcis-11254	271	3	on	on	ADP
fcis-11254	271	4	control	control	NOUN
fcis-11254	271	5	systems	system	NOUN
fcis-11254	271	6	technology	technology	NOUN
fcis-11254	271	7	,	,	PUNCT
fcis-11254	271	8	2014	2014	NUM
fcis-11254	271	9	,	,	PUNCT
fcis-11254	271	10	22(3	22(3	NUM
fcis-11254	271	11	):	):	PUNCT
fcis-11254	271	12	995	995	NUM
fcis-11254	271	13	-	-	SYM
fcis-11254	271	14	1005	1005	NUM
fcis-11254	271	15	.	.	PUNCT
fcis-11254	272	1	[	[	X
fcis-11254	272	2	12	12	NUM
fcis-11254	272	3	]	]	X
fcis-11254	272	4	wang	wang	PROPN
fcis-11254	272	5	h	h	PROPN
fcis-11254	272	6	m	m	PROPN
fcis-11254	272	7	,	,	PUNCT
fcis-11254	272	8	du	du	PROPN
fcis-11254	272	9	z	z	PROPN
fcis-11254	272	10	j	j	PROPN
fcis-11254	272	11	,	,	PUNCT
fcis-11254	272	12	yan	yan	PROPN
fcis-11254	272	13	z	z	PROPN
fcis-11254	272	14	y	y	PROPN
fcis-11254	272	15	,	,	PUNCT
fcis-11254	272	16	liu	liu	PROPN
fcis-11254	272	17	r	r	PROPN
fcis-11254	272	18	q.	q.	NOUN
fcis-11254	272	19	gravity	gravity	NOUN
fcis-11254	272	20	compensation	compensation	NOUN
fcis-11254	272	21	algorithm	algorithm	NOUN
fcis-11254	272	22	for	for	ADP
fcis-11254	272	23	hybrid	hybrid	ADJ
fcis-11254	272	24	master	master	NOUN
fcis-11254	272	25	manipulator[j	manipulator[j	PROPN
fcis-11254	272	26	]	]	PUNCT
fcis-11254	272	27	.	.	PUNCT
fcis-11254	273	1	robot	robot	NOUN
fcis-11254	273	2	,	,	PUNCT
fcis-11254	273	3	2014	2014	NUM
fcis-11254	273	4	,	,	PUNCT
fcis-11254	273	5	(	(	PUNCT
fcis-11254	273	6	01	01	NUM
fcis-11254	273	7	):	):	PUNCT
fcis-11254	273	8	111	111	NUM
fcis-11254	273	9	-	-	SYM
fcis-11254	273	10	116	116	NUM
fcis-11254	273	11	+	+	NOUN
fcis-11254	273	12	128	128	NUM
fcis-11254	273	13	.	.	PUNCT
fcis-11254	274	1	[	[	X
fcis-11254	274	2	13	13	NUM
fcis-11254	274	3	]	]	PUNCT
fcis-11254	274	4	e.-j	e.-j	PROPN
fcis-11254	274	5	.	.	PUNCT
fcis-11254	274	6	kim	kim	PROPN
fcis-11254	274	7	,	,	PUNCT
fcis-11254	274	8	k.	k.	PROPN
fcis-11254	274	9	seki	seki	PROPN
fcis-11254	274	10	,	,	PUNCT
fcis-11254	274	11	m.	m.	NOUN
fcis-11254	274	12	iwasaki	iwasaki	PROPN
fcis-11254	274	13	.	.	PUNCT
fcis-11254	274	14	motion	motion	NOUN
fcis-11254	274	15	control	control	NOUN
fcis-11254	274	16	of	of	ADP
fcis-11254	274	17	industrial	industrial	ADJ
fcis-11254	274	18	robots	robot	NOUN
fcis-11254	274	19	by	by	ADP
fcis-11254	274	20	considering	consider	VERB
fcis-11254	274	21	serial	serial	ADJ
fcis-11254	274	22	two	two	NUM
fcis-11254	274	23	-	-	PUNCT
fcis-11254	274	24	link	link	NOUN
fcis-11254	274	25	robot	robot	NOUN
fcis-11254	274	26	arm	arm	NOUN
fcis-11254	274	27	model	model	NOUN
fcis-11254	274	28	with	with	ADP
fcis-11254	274	29	joint	joint	ADJ
fcis-11254	274	30	nonlinearities[j	nonlinearities[j	PROPN
fcis-11254	274	31	]	]	PUNCT
fcis-11254	274	32	.	.	PUNCT
fcis-11254	275	1	journal	journal	PROPN
fcis-11254	275	2	of	of	ADP
fcis-11254	275	3	mechanical	mechanical	ADJ
fcis-11254	275	4	science	science	NOUN
fcis-11254	275	5	and	and	CCONJ
fcis-11254	275	6	technology	technology	NOUN
fcis-11254	275	7	,	,	PUNCT
fcis-11254	275	8	2014	2014	NUM
fcis-11254	275	9	,	,	PUNCT
fcis-11254	275	10	28(4	28(4	NUM
fcis-11254	275	11	):	):	PUNCT
fcis-11254	275	12	1519	1519	NUM
fcis-11254	275	13	-	-	SYM
fcis-11254	275	14	1527	1527	NUM
fcis-11254	275	15	.	.	PUNCT
fcis-11254	276	1	[	[	X
fcis-11254	276	2	14	14	NUM
fcis-11254	276	3	]	]	X
fcis-11254	276	4	chen	chen	PROPN
fcis-11254	276	5	y	y	PROPN
fcis-11254	276	6	j	j	PROPN
fcis-11254	276	7	,	,	PUNCT
fcis-11254	276	8	wang	wang	PROPN
fcis-11254	276	9	y	y	PROPN
fcis-11254	276	10	n.	n.	PROPN
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fcis-11254	276	12	control	control	NOUN
fcis-11254	276	13	of	of	ADP
fcis-11254	276	14	deicing	deicing	NOUN
fcis-11254	276	15	robot	robot	NOUN
fcis-11254	276	16	on	on	ADP
fcis-11254	276	17	voltage	voltage	NOUN
fcis-11254	276	18	transmission	transmission	NOUN
fcis-11254	276	19	lines	line	NOUN
fcis-11254	276	20	based	base	VERB
fcis-11254	276	21	on	on	ADP
fcis-11254	276	22	online	online	ADJ
fcis-11254	276	23	gravity	gravity	NOUN
fcis-11254	276	24	compensation[j	compensation[j	NOUN
fcis-11254	276	25	]	]	PUNCT
fcis-11254	276	26	.	.	PUNCT
fcis-11254	277	1	information	information	NOUN
fcis-11254	277	2	and	and	CCONJ
fcis-11254	277	3	control	control	NOUN
fcis-11254	277	4	,	,	PUNCT
fcis-11254	277	5	2013	2013	NUM
fcis-11254	277	6	,	,	PUNCT
fcis-11254	277	7	(	(	PUNCT
fcis-11254	277	8	04	04	NUM
fcis-11254	277	9	):	):	PUNCT
fcis-11254	277	10	401406	401406	NUM
fcis-11254	277	11	.	.	PUNCT
fcis-11254	278	1	[	[	X
fcis-11254	278	2	15	15	NUM
fcis-11254	278	3	]	]	X
fcis-11254	278	4	emmerich	emmerich	PROPN
fcis-11254	278	5	c	c	PROPN
fcis-11254	278	6	,	,	PUNCT
fcis-11254	278	7	nordmann	nordmann	NOUN
fcis-11254	278	8	a	a	NOUN
fcis-11254	278	9	,	,	PUNCT
fcis-11254	278	10	swadzba	swadzba	NOUN
fcis-11254	278	11	a	a	PRON
fcis-11254	278	12	,	,	PUNCT
fcis-11254	278	13	et	et	PROPN
fcis-11254	278	14	al	al	PROPN
fcis-11254	278	15	.	.	PROPN
fcis-11254	278	16	assisted	assist	VERB
fcis-11254	278	17	gravity	gravity	NOUN
fcis-11254	278	18	compensation	compensation	NOUN
fcis-11254	278	19	to	to	PART
fcis-11254	278	20	cope	cope	VERB
fcis-11254	278	21	with	with	ADP
fcis-11254	278	22	the	the	DET
fcis-11254	278	23	complexity	complexity	NOUN
fcis-11254	278	24	of	of	ADP
fcis-11254	278	25	kinesthetic	kinesthetic	ADJ
fcis-11254	278	26	teaching	teaching	NOUN
fcis-11254	278	27	on	on	ADP
fcis-11254	278	28	redundant	redundant	ADJ
fcis-11254	278	29	robots[c]//	robots[c]//	PROPN
fcis-11254	278	30	ieee	ieee	NOUN
fcis-11254	278	31	international	international	ADJ
fcis-11254	278	32	conference	conference	NOUN
fcis-11254	278	33	on	on	ADP
fcis-11254	278	34	robotics	robotic	NOUN
fcis-11254	278	35	and	and	CCONJ
fcis-11254	278	36	automation	automation	NOUN
fcis-11254	278	37	.	.	PUNCT
fcis-11254	279	1	ieee	ieee	NOUN
fcis-11254	279	2	,	,	PUNCT
fcis-11254	279	3	2013:43224328	2013:43224328	NUM
fcis-11254	279	4	.	.	PUNCT
fcis-11254	280	1	[	[	X
fcis-11254	280	2	16	16	NUM
fcis-11254	280	3	]	]	X
fcis-11254	280	4	r.	r.	PROPN
fcis-11254	280	5	kelly	kelly	PROPN
fcis-11254	280	6	,	,	PUNCT
fcis-11254	280	7	v.	v.	ADP
fcis-11254	280	8	santibáñez	santibáñez	PROPN
fcis-11254	280	9	,	,	PUNCT
fcis-11254	280	10	a.	a.	NOUN
fcis-11254	280	11	loría	loría	PROPN
fcis-11254	280	12	.	.	PUNCT
fcis-11254	281	1	control	control	NOUN
fcis-11254	281	2	of	of	ADP
fcis-11254	281	3	robot	robot	NOUN
fcis-11254	281	4	manipulators	manipulator	NOUN
fcis-11254	281	5	in	in	ADP
fcis-11254	281	6	joint	joint	ADJ
fcis-11254	281	7	space[m	space[m	PROPN
fcis-11254	281	8	]	]	PUNCT
fcis-11254	281	9	.	.	PUNCT
fcis-11254	282	1	london	london	PROPN
fcis-11254	282	2	:	:	PUNCT
fcis-11254	282	3	springer	springer	NOUN
fcis-11254	282	4	,	,	PUNCT
fcis-11254	282	5	2005	2005	NUM
fcis-11254	282	6	.	.	PUNCT