id	sid	tid	token	lemma	pos
fcis-30624	1	1	frontiers	frontier	NOUN
fcis-30624	1	2	in	in	ADP
fcis-30624	1	3	computing	computing	NOUN
fcis-30624	1	4	and	and	CCONJ
fcis-30624	1	5	intelligent	intelligent	ADJ
fcis-30624	1	6	systems	system	NOUN
fcis-30624	1	7	issn	issn	VERB
fcis-30624	1	8	:	:	PUNCT
fcis-30624	1	9	2832	2832	NUM
fcis-30624	1	10	-	-	SYM
fcis-30624	1	11	6024	6024	NUM
fcis-30624	1	12	|	|	NOUN
fcis-30624	1	13	vol	vol	NOUN
fcis-30624	1	14	.	.	PROPN
fcis-30624	2	1	12	12	NUM
fcis-30624	2	2	,	,	PUNCT
fcis-30624	2	3	no	no	INTJ
fcis-30624	2	4	.	.	NOUN
fcis-30624	2	5	1	1	NUM
fcis-30624	2	6	,	,	PUNCT
fcis-30624	2	7	2025	2025	NUM
fcis-30624	2	8	144	144	NUM
fcis-30624	2	9	identification	identification	NOUN
fcis-30624	2	10	of	of	ADP
fcis-30624	2	11	robot	robot	NOUN
fcis-30624	2	12	dynamic	dynamic	ADJ
fcis-30624	2	13	parameters	parameter	NOUN
fcis-30624	2	14	based	base	VERB
fcis-30624	2	15	on	on	ADP
fcis-30624	2	16	bp	bp	PROPN
fcis-30624	2	17	neural	neural	ADJ
fcis-30624	2	18	network	network	PROPN
fcis-30624	2	19	yingjie	yingjie	PROPN
fcis-30624	2	20	zhong	zhong	PROPN
fcis-30624	2	21	school	school	PROPN
fcis-30624	2	22	of	of	ADP
fcis-30624	2	23	mechanical	mechanical	ADJ
fcis-30624	2	24	engineering	engineering	NOUN
fcis-30624	2	25	,	,	PUNCT
fcis-30624	2	26	taiyuan	taiyuan	PROPN
fcis-30624	2	27	university	university	PROPN
fcis-30624	2	28	of	of	ADP
fcis-30624	2	29	science	science	NOUN
fcis-30624	2	30	and	and	CCONJ
fcis-30624	2	31	technology	technology	NOUN
fcis-30624	2	32	,	,	PUNCT
fcis-30624	2	33	taiyuan	taiyuan	PROPN
fcis-30624	2	34	,	,	PUNCT
fcis-30624	2	35	shanxi	shanxi	PROPN
fcis-30624	2	36	,	,	PUNCT
fcis-30624	2	37	china	china	PROPN
fcis-30624	2	38	abstract	abstract	PROPN
fcis-30624	2	39	:	:	PUNCT
fcis-30624	2	40	this	this	DET
fcis-30624	2	41	paper	paper	NOUN
fcis-30624	2	42	proposes	propose	VERB
fcis-30624	2	43	a	a	DET
fcis-30624	2	44	dynamic	dynamic	ADJ
fcis-30624	2	45	parameter	parameter	NOUN
fcis-30624	2	46	identification	identification	NOUN
fcis-30624	2	47	method	method	NOUN
fcis-30624	2	48	based	base	VERB
fcis-30624	2	49	on	on	ADP
fcis-30624	2	50	the	the	DET
fcis-30624	2	51	bp	bp	PROPN
fcis-30624	2	52	neural	neural	ADJ
fcis-30624	2	53	network	network	NOUN
fcis-30624	2	54	to	to	PART
fcis-30624	2	55	improve	improve	VERB
fcis-30624	2	56	the	the	DET
fcis-30624	2	57	accuracy	accuracy	NOUN
fcis-30624	2	58	of	of	ADP
fcis-30624	2	59	dynamic	dynamic	ADJ
fcis-30624	2	60	modeling	modeling	NOUN
fcis-30624	2	61	and	and	CCONJ
fcis-30624	2	62	control	control	NOUN
fcis-30624	2	63	performance	performance	NOUN
fcis-30624	2	64	of	of	ADP
fcis-30624	2	65	industrial	industrial	ADJ
fcis-30624	2	66	robots	robot	NOUN
fcis-30624	2	67	.	.	PUNCT
fcis-30624	3	1	the	the	DET
fcis-30624	3	2	method	method	NOUN
fcis-30624	3	3	employs	employ	VERB
fcis-30624	3	4	fourier	fourier	ADJ
fcis-30624	3	5	polynomial	polynomial	ADJ
fcis-30624	3	6	trajectory	trajectory	NOUN
fcis-30624	3	7	planning	planning	NOUN
fcis-30624	3	8	and	and	CCONJ
fcis-30624	3	9	constructs	construct	VERB
fcis-30624	3	10	a	a	DET
fcis-30624	3	11	bp	bp	PROPN
fcis-30624	3	12	neural	neural	ADJ
fcis-30624	3	13	network	network	NOUN
fcis-30624	3	14	model	model	NOUN
fcis-30624	3	15	for	for	ADP
fcis-30624	3	16	parameter	parameter	NOUN
fcis-30624	3	17	identification	identification	NOUN
fcis-30624	3	18	.	.	PUNCT
fcis-30624	4	1	a	a	DET
fcis-30624	4	2	six	six	NUM
fcis-30624	4	3	-	-	PUNCT
fcis-30624	4	4	degree	degree	NOUN
fcis-30624	4	5	-	-	PUNCT
fcis-30624	4	6	of	of	ADP
fcis-30624	4	7	-	-	PUNCT
fcis-30624	4	8	freedom	freedom	NOUN
fcis-30624	4	9	(	(	PUNCT
fcis-30624	4	10	dof	dof	ADJ
fcis-30624	4	11	)	)	PUNCT
fcis-30624	4	12	robotic	robotic	ADJ
fcis-30624	4	13	arm	arm	NOUN
fcis-30624	4	14	is	be	AUX
fcis-30624	4	15	simulated	simulate	VERB
fcis-30624	4	16	using	use	VERB
fcis-30624	4	17	the	the	DET
fcis-30624	4	18	matlab	matlab	PROPN
fcis-30624	4	19	robotics	robotic	NOUN
fcis-30624	4	20	toolbox	toolbox	NOUN
fcis-30624	4	21	for	for	ADP
fcis-30624	4	22	validation	validation	NOUN
fcis-30624	4	23	.	.	PUNCT
fcis-30624	5	1	the	the	DET
fcis-30624	5	2	results	result	NOUN
fcis-30624	5	3	demonstrate	demonstrate	VERB
fcis-30624	5	4	that	that	SCONJ
fcis-30624	5	5	the	the	DET
fcis-30624	5	6	proposed	propose	VERB
fcis-30624	5	7	method	method	NOUN
fcis-30624	5	8	can	can	AUX
fcis-30624	5	9	achieve	achieve	VERB
fcis-30624	5	10	accurate	accurate	ADJ
fcis-30624	5	11	dynamic	dynamic	ADJ
fcis-30624	5	12	parameter	parameter	NOUN
fcis-30624	5	13	identification	identification	NOUN
fcis-30624	5	14	under	under	ADP
fcis-30624	5	15	complex	complex	ADJ
fcis-30624	5	16	conditions	condition	NOUN
fcis-30624	5	17	,	,	PUNCT
fcis-30624	5	18	exhibiting	exhibit	VERB
fcis-30624	5	19	robustness	robustness	NOUN
fcis-30624	5	20	against	against	ADP
fcis-30624	5	21	environmental	environmental	ADJ
fcis-30624	5	22	noise	noise	NOUN
fcis-30624	5	23	and	and	CCONJ
fcis-30624	5	24	friction	friction	NOUN
fcis-30624	5	25	disturbances	disturbance	NOUN
fcis-30624	5	26	.	.	PUNCT
fcis-30624	6	1	furthermore	furthermore	ADV
fcis-30624	6	2	,	,	PUNCT
fcis-30624	6	3	it	it	PRON
fcis-30624	6	4	enhances	enhance	VERB
fcis-30624	6	5	the	the	DET
fcis-30624	6	6	efficiency	efficiency	NOUN
fcis-30624	6	7	and	and	CCONJ
fcis-30624	6	8	accuracy	accuracy	NOUN
fcis-30624	6	9	of	of	ADP
fcis-30624	6	10	dynamic	dynamic	ADJ
fcis-30624	6	11	parameter	parameter	NOUN
fcis-30624	6	12	identification	identification	NOUN
fcis-30624	6	13	.	.	PUNCT
fcis-30624	7	1	keywords	keyword	NOUN
fcis-30624	7	2	:	:	PUNCT
fcis-30624	7	3	bp	bp	PROPN
fcis-30624	7	4	neural	neural	ADJ
fcis-30624	7	5	network	network	NOUN
fcis-30624	7	6	;	;	PUNCT
fcis-30624	7	7	robot	robot	NOUN
fcis-30624	7	8	dynamics	dynamic	NOUN
fcis-30624	7	9	;	;	PUNCT
fcis-30624	7	10	parameter	parameter	NOUN
fcis-30624	7	11	identification	identification	NOUN
fcis-30624	7	12	introduction	introduction	NOUN
fcis-30624	7	13	.	.	PUNCT
fcis-30624	8	1	1	1	X
fcis-30624	8	2	.	.	X
fcis-30624	8	3	introduction	introduction	NOUN
fcis-30624	8	4	new	new	ADJ
fcis-30624	8	5	-	-	PUNCT
fcis-30624	8	6	quality	quality	NOUN
fcis-30624	8	7	productive	productive	ADJ
fcis-30624	8	8	forces	force	NOUN
fcis-30624	8	9	have	have	AUX
fcis-30624	8	10	emerged	emerge	VERB
fcis-30624	8	11	in	in	ADP
fcis-30624	8	12	practice	practice	NOUN
fcis-30624	8	13	,	,	PUNCT
fcis-30624	8	14	demonstrating	demonstrate	VERB
fcis-30624	8	15	strong	strong	ADJ
fcis-30624	8	16	driving	driving	NOUN
fcis-30624	8	17	and	and	CCONJ
fcis-30624	8	18	supporting	support	VERB
fcis-30624	8	19	capabilities	capability	NOUN
fcis-30624	8	20	for	for	ADP
fcis-30624	8	21	high	high	ADJ
fcis-30624	8	22	-	-	PUNCT
fcis-30624	8	23	quality	quality	NOUN
fcis-30624	8	24	development	development	NOUN
fcis-30624	8	25	.	.	PUNCT
fcis-30624	9	1	industrial	industrial	ADJ
fcis-30624	9	2	robots	robot	NOUN
fcis-30624	9	3	,	,	PUNCT
fcis-30624	9	4	known	know	VERB
fcis-30624	9	5	for	for	ADP
fcis-30624	9	6	their	their	PRON
fcis-30624	9	7	high	high	ADJ
fcis-30624	9	8	precision	precision	NOUN
fcis-30624	9	9	,	,	PUNCT
fcis-30624	9	10	flexibility	flexibility	NOUN
fcis-30624	9	11	,	,	PUNCT
fcis-30624	9	12	and	and	CCONJ
fcis-30624	9	13	adaptability	adaptability	NOUN
fcis-30624	9	14	,	,	PUNCT
fcis-30624	9	15	have	have	AUX
fcis-30624	9	16	been	be	AUX
fcis-30624	9	17	widely	widely	ADV
fcis-30624	9	18	applied	apply	VERB
fcis-30624	9	19	in	in	ADP
fcis-30624	9	20	various	various	ADJ
fcis-30624	9	21	fields	field	NOUN
fcis-30624	9	22	,	,	PUNCT
fcis-30624	9	23	particularly	particularly	ADV
fcis-30624	9	24	in	in	ADP
fcis-30624	9	25	interactive	interactive	ADJ
fcis-30624	9	26	application	application	NOUN
fcis-30624	9	27	scenarios	scenario	NOUN
fcis-30624	9	28	involving	involve	VERB
fcis-30624	9	29	rigid	rigid	ADJ
fcis-30624	9	30	contact	contact	NOUN
fcis-30624	9	31	between	between	ADP
fcis-30624	9	32	the	the	DET
fcis-30624	9	33	robot	robot	NOUN
fcis-30624	9	34	and	and	CCONJ
fcis-30624	9	35	the	the	DET
fcis-30624	9	36	environment	environment	NOUN
fcis-30624	9	37	.	.	PUNCT
fcis-30624	10	1	such	such	ADJ
fcis-30624	10	2	scenarios	scenario	NOUN
fcis-30624	10	3	include	include	VERB
fcis-30624	10	4	processing	processing	NOUN
fcis-30624	10	5	robots	robot	NOUN
fcis-30624	10	6	engaged	engage	VERB
fcis-30624	10	7	in	in	ADP
fcis-30624	10	8	cutting	cutting	NOUN
fcis-30624	10	9	,	,	PUNCT
fcis-30624	10	10	grinding	grinding	NOUN
fcis-30624	10	11	,	,	PUNCT
fcis-30624	10	12	milling	milling	NOUN
fcis-30624	10	13	,	,	PUNCT
fcis-30624	10	14	and	and	CCONJ
fcis-30624	10	15	polishing	polish	VERB
fcis-30624	10	16	tasks	task	NOUN
fcis-30624	10	17	[	[	X
fcis-30624	10	18	1	1	NUM
fcis-30624	10	19	]	]	PUNCT
fcis-30624	10	20	.	.	PUNCT
fcis-30624	11	1	model	model	NOUN
fcis-30624	11	2	-	-	PUNCT
fcis-30624	11	3	based	base	VERB
fcis-30624	11	4	torque	torque	NOUN
fcis-30624	11	5	control	control	NOUN
fcis-30624	11	6	enables	enable	VERB
fcis-30624	11	7	real	real	ADJ
fcis-30624	11	8	-	-	PUNCT
fcis-30624	11	9	time	time	NOUN
fcis-30624	11	10	adjustments	adjustment	NOUN
fcis-30624	11	11	to	to	ADP
fcis-30624	11	12	the	the	DET
fcis-30624	11	13	robot	robot	NOUN
fcis-30624	11	14	's	's	PART
fcis-30624	11	15	motion	motion	NOUN
fcis-30624	11	16	,	,	PUNCT
fcis-30624	11	17	allowing	allow	VERB
fcis-30624	11	18	it	it	PRON
fcis-30624	11	19	to	to	PART
fcis-30624	11	20	respond	respond	VERB
fcis-30624	11	21	promptly	promptly	ADV
fcis-30624	11	22	to	to	ADP
fcis-30624	11	23	rigid	rigid	ADJ
fcis-30624	11	24	collisions	collision	NOUN
fcis-30624	11	25	and	and	CCONJ
fcis-30624	11	26	meet	meet	VERB
fcis-30624	11	27	production	production	NOUN
fcis-30624	11	28	requirements	requirement	NOUN
fcis-30624	11	29	,	,	PUNCT
fcis-30624	11	30	thereby	thereby	ADV
fcis-30624	11	31	necessitating	necessitate	VERB
fcis-30624	11	32	an	an	DET
fcis-30624	11	33	accurate	accurate	ADJ
fcis-30624	11	34	dynamic	dynamic	ADJ
fcis-30624	11	35	model	model	NOUN
fcis-30624	11	36	.	.	PUNCT
fcis-30624	12	1	neural	neural	ADJ
fcis-30624	12	2	networks	network	NOUN
fcis-30624	12	3	,	,	PUNCT
fcis-30624	12	4	with	with	ADP
fcis-30624	12	5	their	their	PRON
fcis-30624	12	6	ability	ability	NOUN
fcis-30624	12	7	to	to	PART
fcis-30624	12	8	learn	learn	VERB
fcis-30624	12	9	from	from	ADP
fcis-30624	12	10	large	large	ADJ
fcis-30624	12	11	volumes	volume	NOUN
fcis-30624	12	12	of	of	ADP
fcis-30624	12	13	input	input	NOUN
fcis-30624	12	14	-	-	PUNCT
fcis-30624	12	15	output	output	NOUN
fcis-30624	12	16	data	datum	NOUN
fcis-30624	12	17	,	,	PUNCT
fcis-30624	12	18	offer	offer	VERB
fcis-30624	12	19	superior	superior	ADJ
fcis-30624	12	20	identification	identification	NOUN
fcis-30624	12	21	and	and	CCONJ
fcis-30624	12	22	generalization	generalization	NOUN
fcis-30624	12	23	under	under	ADP
fcis-30624	12	24	complex	complex	ADJ
fcis-30624	12	25	conditions	condition	NOUN
fcis-30624	12	26	.	.	PUNCT
fcis-30624	13	1	this	this	DET
fcis-30624	13	2	paper	paper	NOUN
fcis-30624	13	3	aims	aim	VERB
fcis-30624	13	4	to	to	PART
fcis-30624	13	5	investigate	investigate	VERB
fcis-30624	13	6	the	the	DET
fcis-30624	13	7	problem	problem	NOUN
fcis-30624	13	8	of	of	ADP
fcis-30624	13	9	dynamic	dynamic	ADJ
fcis-30624	13	10	parameter	parameter	NOUN
fcis-30624	13	11	identification	identification	NOUN
fcis-30624	13	12	using	use	VERB
fcis-30624	13	13	neural	neural	ADJ
fcis-30624	13	14	networks	network	NOUN
fcis-30624	13	15	.	.	PUNCT
fcis-30624	14	1	researchers	researcher	NOUN
fcis-30624	14	2	worldwide	worldwide	ADV
fcis-30624	14	3	have	have	AUX
fcis-30624	14	4	conducted	conduct	VERB
fcis-30624	14	5	extensive	extensive	ADJ
fcis-30624	14	6	studies	study	NOUN
fcis-30624	14	7	on	on	ADP
fcis-30624	14	8	dynamic	dynamic	ADJ
fcis-30624	14	9	parameter	parameter	NOUN
fcis-30624	14	10	identification	identification	NOUN
fcis-30624	14	11	.	.	PUNCT
fcis-30624	15	1	early	early	ADJ
fcis-30624	15	2	approaches	approach	NOUN
fcis-30624	15	3	relied	rely	VERB
fcis-30624	15	4	on	on	ADP
fcis-30624	15	5	generating	generate	VERB
fcis-30624	15	6	dynamic	dynamic	ADJ
fcis-30624	15	7	parameters	parameter	NOUN
fcis-30624	15	8	directly	directly	ADV
fcis-30624	15	9	from	from	ADP
fcis-30624	15	10	cad	cad	PROPN
fcis-30624	15	11	models	model	NOUN
fcis-30624	15	12	,	,	PUNCT
fcis-30624	15	13	but	but	CCONJ
fcis-30624	15	14	these	these	DET
fcis-30624	15	15	methods	method	NOUN
fcis-30624	15	16	were	be	AUX
fcis-30624	15	17	significantly	significantly	ADV
fcis-30624	15	18	affected	affect	VERB
fcis-30624	15	19	by	by	ADP
fcis-30624	15	20	external	external	ADJ
fcis-30624	15	21	disturbances	disturbance	NOUN
fcis-30624	15	22	,	,	PUNCT
fcis-30624	15	23	making	make	VERB
fcis-30624	15	24	it	it	PRON
fcis-30624	15	25	difficult	difficult	ADJ
fcis-30624	15	26	to	to	PART
fcis-30624	15	27	obtain	obtain	VERB
fcis-30624	15	28	accurate	accurate	ADJ
fcis-30624	15	29	dynamic	dynamic	ADJ
fcis-30624	15	30	models	model	NOUN
fcis-30624	15	31	.	.	PUNCT
fcis-30624	16	1	gautier	gauti	ADJ
fcis-30624	16	2	et	et	PROPN
fcis-30624	16	3	al	al	PROPN
fcis-30624	16	4	.	.	PUNCT
fcis-30624	17	1	[	[	X
fcis-30624	17	2	2	2	NUM
fcis-30624	17	3	]	]	PUNCT
fcis-30624	17	4	improved	improved	ADJ
fcis-30624	17	5	parameter	parameter	NOUN
fcis-30624	17	6	identification	identification	NOUN
fcis-30624	17	7	accuracy	accuracy	NOUN
fcis-30624	17	8	by	by	ADP
fcis-30624	17	9	optimizing	optimize	VERB
fcis-30624	17	10	excitation	excitation	NOUN
fcis-30624	17	11	trajectories	trajectory	NOUN
fcis-30624	17	12	to	to	PART
fcis-30624	17	13	obtain	obtain	VERB
fcis-30624	17	14	smooth	smooth	ADJ
fcis-30624	17	15	and	and	CCONJ
fcis-30624	17	16	continuous	continuous	ADJ
fcis-30624	17	17	motion	motion	NOUN
fcis-30624	17	18	paths	path	NOUN
fcis-30624	17	19	.	.	PUNCT
fcis-30624	18	1	however	however	ADV
fcis-30624	18	2	,	,	PUNCT
fcis-30624	18	3	measurement	measurement	NOUN
fcis-30624	18	4	randomness	randomness	NOUN
fcis-30624	18	5	often	often	ADV
fcis-30624	18	6	led	lead	VERB
fcis-30624	18	7	to	to	ADP
fcis-30624	18	8	local	local	ADJ
fcis-30624	18	9	optimal	optimal	ADJ
fcis-30624	18	10	solutions	solution	NOUN
fcis-30624	18	11	.	.	PUNCT
fcis-30624	19	1	among	among	ADP
fcis-30624	19	2	existing	exist	VERB
fcis-30624	19	3	studies	study	NOUN
fcis-30624	19	4	,	,	PUNCT
fcis-30624	19	5	offline	offline	ADJ
fcis-30624	19	6	identification	identification	NOUN
fcis-30624	19	7	methods	method	NOUN
fcis-30624	19	8	are	be	AUX
fcis-30624	19	9	considered	consider	VERB
fcis-30624	19	10	more	more	ADV
fcis-30624	19	11	reliable	reliable	ADJ
fcis-30624	19	12	.	.	PUNCT
fcis-30624	20	1	the	the	DET
fcis-30624	20	2	general	general	ADJ
fcis-30624	20	3	process	process	NOUN
fcis-30624	20	4	of	of	ADP
fcis-30624	20	5	parameter	parameter	NOUN
fcis-30624	20	6	identification	identification	NOUN
fcis-30624	20	7	includes	include	VERB
fcis-30624	20	8	establishing	establish	VERB
fcis-30624	20	9	a	a	DET
fcis-30624	20	10	dynamic	dynamic	ADJ
fcis-30624	20	11	model	model	NOUN
fcis-30624	20	12	,	,	PUNCT
fcis-30624	20	13	obtaining	obtain	VERB
fcis-30624	20	14	a	a	DET
fcis-30624	20	15	minimal	minimal	ADJ
fcis-30624	20	16	dynamic	dynamic	ADJ
fcis-30624	20	17	parameter	parameter	NOUN
fcis-30624	20	18	set	set	VERB
fcis-30624	20	19	and	and	CCONJ
fcis-30624	20	20	linearizing	linearize	VERB
fcis-30624	20	21	the	the	DET
fcis-30624	20	22	system	system	NOUN
fcis-30624	20	23	,	,	PUNCT
fcis-30624	20	24	determining	determine	VERB
fcis-30624	20	25	and	and	CCONJ
fcis-30624	20	26	optimizing	optimize	VERB
fcis-30624	20	27	excitation	excitation	NOUN
fcis-30624	20	28	trajectories	trajectory	NOUN
fcis-30624	20	29	,	,	PUNCT
fcis-30624	20	30	collecting	collect	VERB
fcis-30624	20	31	motion	motion	NOUN
fcis-30624	20	32	and	and	CCONJ
fcis-30624	20	33	torque	torque	NOUN
fcis-30624	20	34	data	datum	NOUN
fcis-30624	20	35	,	,	PUNCT
fcis-30624	20	36	performing	perform	VERB
fcis-30624	20	37	data	datum	NOUN
fcis-30624	20	38	preprocessing	preprocessing	NOUN
fcis-30624	20	39	,	,	PUNCT
fcis-30624	20	40	and	and	CCONJ
fcis-30624	20	41	solving	solve	VERB
fcis-30624	20	42	the	the	DET
fcis-30624	20	43	dynamic	dynamic	ADJ
fcis-30624	20	44	equations	equation	NOUN
fcis-30624	20	45	to	to	PART
fcis-30624	20	46	compute	compute	VERB
fcis-30624	20	47	torques	torque	NOUN
fcis-30624	20	48	.	.	PUNCT
fcis-30624	21	1	the	the	DET
fcis-30624	21	2	collected	collect	VERB
fcis-30624	21	3	data	data	NOUN
fcis-30624	21	4	is	be	AUX
fcis-30624	21	5	then	then	ADV
fcis-30624	21	6	fed	feed	VERB
fcis-30624	21	7	into	into	ADP
fcis-30624	21	8	the	the	DET
fcis-30624	21	9	dynamic	dynamic	ADJ
fcis-30624	21	10	parameter	parameter	NOUN
fcis-30624	21	11	identification	identification	NOUN
fcis-30624	21	12	equations	equation	NOUN
fcis-30624	21	13	,	,	PUNCT
fcis-30624	21	14	followed	follow	VERB
fcis-30624	21	15	by	by	ADP
fcis-30624	21	16	model	model	NOUN
fcis-30624	21	17	validation	validation	NOUN
fcis-30624	21	18	.	.	PUNCT
fcis-30624	22	1	traditional	traditional	ADJ
fcis-30624	22	2	identification	identification	NOUN
fcis-30624	22	3	methods	method	NOUN
fcis-30624	22	4	,	,	PUNCT
fcis-30624	22	5	such	such	ADJ
fcis-30624	22	6	as	as	ADP
fcis-30624	22	7	the	the	DET
fcis-30624	22	8	least	least	ADJ
fcis-30624	22	9	squares	square	NOUN
fcis-30624	22	10	method	method	NOUN
fcis-30624	22	11	,	,	PUNCT
fcis-30624	22	12	are	be	AUX
fcis-30624	22	13	commonly	commonly	ADV
fcis-30624	22	14	used	use	VERB
fcis-30624	22	15	.	.	PUNCT
fcis-30624	23	1	for	for	ADP
fcis-30624	23	2	example	example	NOUN
fcis-30624	23	3	,	,	PUNCT
fcis-30624	23	4	zhou	zhou	PROPN
fcis-30624	23	5	jun	jun	PROPN
fcis-30624	23	6	et	et	PROPN
fcis-30624	23	7	al	al	PROPN
fcis-30624	23	8	.	.	PUNCT
fcis-30624	24	1	[	[	X
fcis-30624	24	2	3	3	NUM
fcis-30624	24	3	]	]	PUNCT
fcis-30624	24	4	applied	apply	VERB
fcis-30624	24	5	linear	linear	NOUN
fcis-30624	24	6	least	least	ADJ
fcis-30624	24	7	squares	square	NOUN
fcis-30624	24	8	for	for	ADP
fcis-30624	24	9	dynamic	dynamic	ADJ
fcis-30624	24	10	parameter	parameter	NOUN
fcis-30624	24	11	identification	identification	NOUN
fcis-30624	24	12	of	of	ADP
fcis-30624	24	13	flexible	flexible	ADJ
fcis-30624	24	14	joint	joint	ADJ
fcis-30624	24	15	modular	modular	ADJ
fcis-30624	24	16	robots	robot	NOUN
fcis-30624	24	17	.	.	PUNCT
fcis-30624	25	1	however	however	ADV
fcis-30624	25	2	,	,	PUNCT
fcis-30624	25	3	the	the	DET
fcis-30624	25	4	identified	identify	VERB
fcis-30624	25	5	parameters	parameter	NOUN
fcis-30624	25	6	were	be	AUX
fcis-30624	25	7	not	not	PART
fcis-30624	25	8	sufficiently	sufficiently	ADV
fcis-30624	25	9	accurate	accurate	ADJ
fcis-30624	25	10	and	and	CCONJ
fcis-30624	25	11	were	be	AUX
fcis-30624	25	12	highly	highly	ADV
fcis-30624	25	13	sensitive	sensitive	ADJ
fcis-30624	25	14	to	to	ADP
fcis-30624	25	15	noise	noise	NOUN
fcis-30624	25	16	.	.	PUNCT
fcis-30624	26	1	feng	feng	PROPN
fcis-30624	26	2	limin	limin	PROPN
fcis-30624	26	3	et	et	PROPN
fcis-30624	26	4	al	al	PROPN
fcis-30624	26	5	.	.	PUNCT
fcis-30624	27	1	[	[	X
fcis-30624	27	2	4	4	X
fcis-30624	27	3	]	]	PUNCT
fcis-30624	27	4	adopted	adopt	VERB
fcis-30624	27	5	a	a	DET
fcis-30624	27	6	weighted	weight	VERB
fcis-30624	27	7	least	least	ADJ
fcis-30624	27	8	squares	square	NOUN
fcis-30624	27	9	approach	approach	VERB
fcis-30624	27	10	to	to	PART
fcis-30624	27	11	mitigate	mitigate	VERB
fcis-30624	27	12	the	the	DET
fcis-30624	27	13	effects	effect	NOUN
fcis-30624	27	14	of	of	ADP
fcis-30624	27	15	noise	noise	NOUN
fcis-30624	27	16	interference	interference	NOUN
fcis-30624	27	17	to	to	ADP
fcis-30624	27	18	some	some	DET
fcis-30624	27	19	extent	extent	NOUN
fcis-30624	27	20	.	.	PUNCT
fcis-30624	28	1	zhu	zhu	NOUN
fcis-30624	28	2	zhenbiao	zhenbiao	PUNCT
fcis-30624	28	3	et	et	NOUN
fcis-30624	28	4	al	al	PROPN
fcis-30624	28	5	.	.	PUNCT
fcis-30624	29	1	[	[	X
fcis-30624	29	2	5	5	NUM
fcis-30624	29	3	]	]	PUNCT
fcis-30624	29	4	generated	generate	VERB
fcis-30624	29	5	excitation	excitation	NOUN
fcis-30624	29	6	trajectories	trajectory	NOUN
fcis-30624	29	7	using	use	VERB
fcis-30624	29	8	a	a	DET
fcis-30624	29	9	combination	combination	NOUN
fcis-30624	29	10	of	of	ADP
fcis-30624	29	11	fourier	fourier	ADJ
fcis-30624	29	12	series	series	NOUN
fcis-30624	29	13	and	and	CCONJ
fcis-30624	29	14	fifth	fifth	ADJ
fcis-30624	29	15	-	-	PUNCT
fcis-30624	29	16	order	order	NOUN
fcis-30624	29	17	polynomials	polynomial	NOUN
fcis-30624	29	18	,	,	PUNCT
fcis-30624	29	19	achieving	achieve	VERB
fcis-30624	29	20	precise	precise	ADJ
fcis-30624	29	21	torque	torque	NOUN
fcis-30624	29	22	tracking	tracking	NOUN
fcis-30624	29	23	based	base	VERB
fcis-30624	29	24	on	on	ADP
fcis-30624	29	25	joint	joint	ADJ
fcis-30624	29	26	angle	angle	NOUN
fcis-30624	29	27	and	and	CCONJ
fcis-30624	29	28	current	current	ADJ
fcis-30624	29	29	measurements	measurement	NOUN
fcis-30624	29	30	,	,	PUNCT
fcis-30624	29	31	though	though	SCONJ
fcis-30624	29	32	issues	issue	NOUN
fcis-30624	29	33	such	such	ADJ
fcis-30624	29	34	as	as	ADP
fcis-30624	29	35	trajectory	trajectory	NOUN
fcis-30624	29	36	discontinuities	discontinuity	NOUN
fcis-30624	29	37	and	and	CCONJ
fcis-30624	29	38	accuracy	accuracy	NOUN
fcis-30624	29	39	remained	remain	VERB
fcis-30624	29	40	.	.	PUNCT
fcis-30624	30	1	zhang	zhang	PROPN
fcis-30624	30	2	shiyuan	shiyuan	PROPN
fcis-30624	30	3	et	et	PROPN
fcis-30624	30	4	al	al	PROPN
fcis-30624	30	5	.	.	PUNCT
fcis-30624	31	1	[	[	X
fcis-30624	31	2	6	6	NUM
fcis-30624	31	3	]	]	PUNCT
fcis-30624	31	4	optimized	optimize	VERB
fcis-30624	31	5	excitation	excitation	NOUN
fcis-30624	31	6	trajectory	trajectory	NOUN
fcis-30624	31	7	signals	signal	NOUN
fcis-30624	31	8	using	use	VERB
fcis-30624	31	9	genetic	genetic	ADJ
fcis-30624	31	10	algorithms	algorithm	NOUN
fcis-30624	31	11	,	,	PUNCT
fcis-30624	31	12	effectively	effectively	ADV
fcis-30624	31	13	reducing	reduce	VERB
fcis-30624	31	14	errors	error	NOUN
fcis-30624	31	15	.	.	PUNCT
fcis-30624	32	1	chen	chen	PROPN
fcis-30624	32	2	zhihuan	zhihuan	PROPN
fcis-30624	32	3	et	et	PROPN
fcis-30624	32	4	al	al	PROPN
fcis-30624	32	5	.	.	PUNCT
fcis-30624	33	1	[	[	X
fcis-30624	33	2	7	7	X
fcis-30624	33	3	]	]	PUNCT
fcis-30624	33	4	proposed	propose	VERB
fcis-30624	33	5	an	an	DET
fcis-30624	33	6	improved	improved	ADJ
fcis-30624	33	7	version	version	NOUN
fcis-30624	33	8	of	of	ADP
fcis-30624	33	9	the	the	DET
fcis-30624	33	10	whale	whale	NOUN
fcis-30624	33	11	optimization	optimization	NOUN
fcis-30624	33	12	algorithm	algorithm	NOUN
fcis-30624	33	13	.	.	PUNCT
fcis-30624	34	1	liu	liu	PROPN
fcis-30624	34	2	yu	yu	PROPN
fcis-30624	34	3	et	et	PROPN
fcis-30624	34	4	al	al	PROPN
fcis-30624	34	5	.	.	PUNCT
fcis-30624	35	1	[	[	X
fcis-30624	35	2	8	8	NUM
fcis-30624	35	3	]	]	PUNCT
fcis-30624	35	4	enhanced	enhance	VERB
fcis-30624	35	5	the	the	DET
fcis-30624	35	6	genetic	genetic	ADJ
fcis-30624	35	7	algorithm	algorithm	NOUN
fcis-30624	35	8	to	to	PART
fcis-30624	35	9	mitigate	mitigate	VERB
fcis-30624	35	10	premature	premature	ADJ
fcis-30624	35	11	convergence	convergence	NOUN
fcis-30624	35	12	and	and	CCONJ
fcis-30624	35	13	local	local	ADJ
fcis-30624	35	14	optima	optima	NOUN
fcis-30624	35	15	,	,	PUNCT
fcis-30624	35	16	significantly	significantly	ADV
fcis-30624	35	17	improving	improve	VERB
fcis-30624	35	18	parameter	parameter	NOUN
fcis-30624	35	19	identification	identification	NOUN
fcis-30624	35	20	accuracy	accuracy	NOUN
fcis-30624	35	21	.	.	PUNCT
fcis-30624	36	1	zhang	zhang	PROPN
fcis-30624	36	2	luming	lume	VERB
fcis-30624	36	3	et	et	PROPN
fcis-30624	36	4	al	al	PROPN
fcis-30624	36	5	.	.	PUNCT
fcis-30624	37	1	[	[	X
fcis-30624	37	2	9	9	NUM
fcis-30624	37	3	]	]	PUNCT
fcis-30624	37	4	utilized	utilize	VERB
fcis-30624	37	5	a	a	DET
fcis-30624	37	6	neural	neural	ADJ
fcis-30624	37	7	network	network	NOUN
fcis-30624	37	8	-	-	PUNCT
fcis-30624	37	9	based	base	VERB
fcis-30624	37	10	torque	torque	NOUN
fcis-30624	37	11	compensation	compensation	NOUN
fcis-30624	37	12	approach	approach	NOUN
fcis-30624	37	13	for	for	ADP
fcis-30624	37	14	dynamic	dynamic	ADJ
fcis-30624	37	15	parameter	parameter	NOUN
fcis-30624	37	16	identification	identification	NOUN
fcis-30624	37	17	,	,	PUNCT
fcis-30624	37	18	reducing	reduce	VERB
fcis-30624	37	19	the	the	DET
fcis-30624	37	20	impact	impact	NOUN
fcis-30624	37	21	of	of	ADP
fcis-30624	37	22	nonlinear	nonlinear	ADJ
fcis-30624	37	23	factors	factor	NOUN
fcis-30624	37	24	.	.	PUNCT
fcis-30624	38	1	zhang	zhang	PROPN
fcis-30624	38	2	di	di	PROPN
fcis-30624	38	3	et	et	PROPN
fcis-30624	38	4	al	al	PROPN
fcis-30624	38	5	.	.	PUNCT
fcis-30624	39	1	[	[	X
fcis-30624	39	2	10	10	NUM
fcis-30624	39	3	]	]	PUNCT
fcis-30624	39	4	established	establish	VERB
fcis-30624	39	5	a	a	DET
fcis-30624	39	6	neural	neural	ADJ
fcis-30624	39	7	network	network	NOUN
fcis-30624	39	8	-	-	PUNCT
fcis-30624	39	9	based	base	VERB
fcis-30624	39	10	trajectory	trajectory	NOUN
fcis-30624	39	11	tracking	tracking	NOUN
fcis-30624	39	12	model	model	NOUN
fcis-30624	39	13	for	for	ADP
fcis-30624	39	14	robotic	robotic	ADJ
fcis-30624	39	15	arms	arm	NOUN
fcis-30624	39	16	,	,	PUNCT
fcis-30624	39	17	enabling	enable	VERB
fcis-30624	39	18	real	real	ADJ
fcis-30624	39	19	-	-	PUNCT
fcis-30624	39	20	time	time	NOUN
fcis-30624	39	21	trajectory	trajectory	NOUN
fcis-30624	39	22	adjustments	adjustment	NOUN
fcis-30624	39	23	,	,	PUNCT
fcis-30624	39	24	though	though	SCONJ
fcis-30624	39	25	their	their	PRON
fcis-30624	39	26	study	study	NOUN
fcis-30624	39	27	did	do	AUX
fcis-30624	39	28	not	not	PART
fcis-30624	39	29	delve	delve	VERB
fcis-30624	39	30	deeply	deeply	ADV
fcis-30624	39	31	into	into	ADP
fcis-30624	39	32	dynamic	dynamic	ADJ
fcis-30624	39	33	parameter	parameter	NOUN
fcis-30624	39	34	identification	identification	NOUN
fcis-30624	39	35	.	.	PUNCT
fcis-30624	40	1	among	among	ADP
fcis-30624	40	2	these	these	DET
fcis-30624	40	3	methods	method	NOUN
fcis-30624	40	4	,	,	PUNCT
fcis-30624	40	5	identification	identification	NOUN
fcis-30624	40	6	approaches	approach	NOUN
fcis-30624	40	7	derived	derive	VERB
fcis-30624	40	8	from	from	ADP
fcis-30624	40	9	inverse	inverse	ADJ
fcis-30624	40	10	dynamic	dynamic	ADJ
fcis-30624	40	11	models	model	NOUN
fcis-30624	40	12	,	,	PUNCT
fcis-30624	40	13	particularly	particularly	ADV
fcis-30624	40	14	the	the	DET
fcis-30624	40	15	traditional	traditional	ADJ
fcis-30624	40	16	least	least	ADJ
fcis-30624	40	17	squares	square	NOUN
fcis-30624	40	18	regression	regression	NOUN
fcis-30624	40	19	-	-	PUNCT
fcis-30624	40	20	based	base	VERB
fcis-30624	40	21	parameter	parameter	NOUN
fcis-30624	40	22	identification	identification	NOUN
fcis-30624	40	23	,	,	PUNCT
fcis-30624	40	24	are	be	AUX
fcis-30624	40	25	highly	highly	ADV
fcis-30624	40	26	susceptible	susceptible	ADJ
fcis-30624	40	27	to	to	ADP
fcis-30624	40	28	environmental	environmental	ADJ
fcis-30624	40	29	noise	noise	NOUN
fcis-30624	40	30	and	and	CCONJ
fcis-30624	40	31	friction	friction	NOUN
fcis-30624	40	32	disturbances	disturbance	NOUN
fcis-30624	40	33	,	,	PUNCT
fcis-30624	40	34	leading	lead	VERB
fcis-30624	40	35	to	to	ADP
fcis-30624	40	36	reduced	reduce	VERB
fcis-30624	40	37	identification	identification	NOUN
fcis-30624	40	38	efficiency	efficiency	NOUN
fcis-30624	40	39	.	.	PUNCT
fcis-30624	41	1	to	to	PART
fcis-30624	41	2	improve	improve	VERB
fcis-30624	41	3	parameter	parameter	NOUN
fcis-30624	41	4	identification	identification	NOUN
fcis-30624	41	5	accuracy	accuracy	NOUN
fcis-30624	41	6	,	,	PUNCT
fcis-30624	41	7	enhance	enhance	VERB
fcis-30624	41	8	efficiency	efficiency	NOUN
fcis-30624	41	9	,	,	PUNCT
fcis-30624	41	10	and	and	CCONJ
fcis-30624	41	11	mitigate	mitigate	VERB
fcis-30624	41	12	the	the	DET
fcis-30624	41	13	issue	issue	NOUN
fcis-30624	41	14	of	of	ADP
fcis-30624	41	15	local	local	ADJ
fcis-30624	41	16	optimal	optimal	ADJ
fcis-30624	41	17	solutions	solution	NOUN
fcis-30624	41	18	,	,	PUNCT
fcis-30624	41	19	this	this	DET
fcis-30624	41	20	paper	paper	NOUN
fcis-30624	41	21	proposes	propose	VERB
fcis-30624	41	22	a	a	DET
fcis-30624	41	23	dynamic	dynamic	ADJ
fcis-30624	41	24	parameter	parameter	NOUN
fcis-30624	41	25	identification	identification	NOUN
fcis-30624	41	26	method	method	NOUN
fcis-30624	41	27	based	base	VERB
fcis-30624	41	28	on	on	ADP
fcis-30624	41	29	the	the	DET
fcis-30624	41	30	bp	bp	PROPN
fcis-30624	41	31	neural	neural	ADJ
fcis-30624	41	32	network	network	NOUN
fcis-30624	41	33	.	.	PUNCT
fcis-30624	42	1	the	the	DET
fcis-30624	42	2	proposed	propose	VERB
fcis-30624	42	3	method	method	NOUN
fcis-30624	42	4	utilizes	utilize	VERB
fcis-30624	42	5	fourier	fourier	ADJ
fcis-30624	42	6	polynomial	polynomial	ADJ
fcis-30624	42	7	trajectory	trajectory	NOUN
fcis-30624	42	8	planning	planning	NOUN
fcis-30624	42	9	and	and	CCONJ
fcis-30624	42	10	constructs	construct	VERB
fcis-30624	42	11	a	a	DET
fcis-30624	42	12	neural	neural	ADJ
fcis-30624	42	13	network	network	NOUN
fcis-30624	42	14	model	model	NOUN
fcis-30624	42	15	.	.	PUNCT
fcis-30624	43	1	finally	finally	ADV
fcis-30624	43	2	,	,	PUNCT
fcis-30624	43	3	a	a	DET
fcis-30624	43	4	six	six	NUM
fcis-30624	43	5	-	-	PUNCT
fcis-30624	43	6	degree	degree	NOUN
fcis-30624	43	7	-	-	PUNCT
fcis-30624	43	8	offreedom	offreedom	ADJ
fcis-30624	43	9	robot	robot	NOUN
fcis-30624	43	10	is	be	AUX
fcis-30624	43	11	simulated	simulate	VERB
fcis-30624	43	12	using	use	VERB
fcis-30624	43	13	the	the	DET
fcis-30624	43	14	matlab	matlab	PROPN
fcis-30624	43	15	robotics	robotic	NOUN
fcis-30624	43	16	toolbox	toolbox	NOUN
fcis-30624	43	17	for	for	ADP
fcis-30624	43	18	parameter	parameter	NOUN
fcis-30624	43	19	validation	validation	NOUN
fcis-30624	43	20	,	,	PUNCT
fcis-30624	43	21	confirming	confirm	VERB
fcis-30624	43	22	the	the	DET
fcis-30624	43	23	accuracy	accuracy	NOUN
fcis-30624	43	24	of	of	ADP
fcis-30624	43	25	the	the	DET
fcis-30624	43	26	identified	identify	VERB
fcis-30624	43	27	model	model	NOUN
fcis-30624	43	28	.	.	PUNCT
fcis-30624	44	1	2	2	X
fcis-30624	44	2	.	.	X
fcis-30624	44	3	robotic	robotic	ADJ
fcis-30624	44	4	arm	arm	NOUN
fcis-30624	44	5	identification	identification	NOUN
fcis-30624	44	6	model	model	NOUN
fcis-30624	44	7	2.1	2.1	NUM
fcis-30624	44	8	.	.	PUNCT
fcis-30624	45	1	robot	robot	NOUN
fcis-30624	45	2	dynamics	dynamic	NOUN
fcis-30624	45	3	model	model	VERB
fcis-30624	45	4	the	the	DET
fcis-30624	45	5	newton	newton	PROPN
fcis-30624	45	6	-	-	PUNCT
fcis-30624	45	7	euler	euler	PROPN
fcis-30624	45	8	iterative	iterative	NOUN
fcis-30624	45	9	method	method	NOUN
fcis-30624	45	10	is	be	AUX
fcis-30624	45	11	used	use	VERB
fcis-30624	45	12	to	to	PART
fcis-30624	45	13	construct	construct	VERB
fcis-30624	45	14	the	the	DET
fcis-30624	45	15	dynamic	dynamic	ADJ
fcis-30624	45	16	equations	equation	NOUN
fcis-30624	45	17	,	,	PUNCT
fcis-30624	45	18	with	with	ADP
fcis-30624	45	19	outward	outward	ADJ
fcis-30624	45	20	iteration	iteration	NOUN
fcis-30624	45	21	for	for	ADP
fcis-30624	45	22	velocity	velocity	NOUN
fcis-30624	45	23	and	and	CCONJ
fcis-30624	45	24	acceleration	acceleration	NOUN
fcis-30624	45	25	,	,	PUNCT
fcis-30624	45	26	followed	follow	VERB
fcis-30624	45	27	by	by	ADP
fcis-30624	45	28	inward	inward	ADJ
fcis-30624	45	29	iteration	iteration	NOUN
fcis-30624	45	30	for	for	ADP
fcis-30624	45	31	force	force	NOUN
fcis-30624	45	32	and	and	CCONJ
fcis-30624	45	33	torque	torque	NOUN
fcis-30624	45	34	.	.	PUNCT
fcis-30624	46	1	145	145	NUM
fcis-30624	46	2	fig	fig	NOUN
fcis-30624	46	3	1	1	NUM
fcis-30624	46	4	.	.	PUNCT
fcis-30624	46	5	dynamic	dynamic	ADJ
fcis-30624	46	6	parameters	parameter	NOUN
fcis-30624	46	7	of	of	ADP
fcis-30624	46	8	the	the	DET
fcis-30624	46	9	connecting	connect	VERB
fcis-30624	46	10	rod	rod	NOUN
fcis-30624	46	11	the	the	DET
fcis-30624	46	12	outward	outward	ADJ
fcis-30624	46	13	iteration	iteration	NOUN
fcis-30624	46	14	is	be	AUX
fcis-30624	46	15	used	use	VERB
fcis-30624	46	16	to	to	PART
fcis-30624	46	17	calculate	calculate	VERB
fcis-30624	46	18	the	the	DET
fcis-30624	46	19	angular	angular	ADJ
fcis-30624	46	20	velocity	velocity	NOUN
fcis-30624	46	21	,	,	PUNCT
fcis-30624	46	22	linear	linear	ADJ
fcis-30624	46	23	acceleration	acceleration	NOUN
fcis-30624	46	24	,	,	PUNCT
fcis-30624	46	25	and	and	CCONJ
fcis-30624	46	26	angular	angular	ADJ
fcis-30624	46	27	acceleration	acceleration	NOUN
fcis-30624	46	28	of	of	ADP
fcis-30624	46	29	each	each	DET
fcis-30624	46	30	link	link	NOUN
fcis-30624	46	31	.	.	PUNCT
fcis-30624	47	1	the	the	DET
fcis-30624	47	2	calculation	calculation	NOUN
fcis-30624	47	3	of	of	ADP
fcis-30624	47	4	angular	angular	ADJ
fcis-30624	47	5	velocity	velocity	NOUN
fcis-30624	47	6	can	can	AUX
fcis-30624	47	7	start	start	VERB
fcis-30624	47	8	from	from	ADP
fcis-30624	47	9	link	link	NOUN
fcis-30624	47	10	1	1	NUM
fcis-30624	47	11	and	and	CCONJ
fcis-30624	47	12	proceed	proceed	VERB
fcis-30624	47	13	to	to	PART
fcis-30624	47	14	link	link	VERB
fcis-30624	47	15	n.	n.	NOUN
fcis-30624	47	16	given	give	VERB
fcis-30624	47	17	that	that	SCONJ
fcis-30624	47	18	the	the	DET
fcis-30624	47	19	angular	angular	ADJ
fcis-30624	47	20	velocity	velocity	NOUN
fcis-30624	47	21	of	of	ADP
fcis-30624	47	22	link	link	NOUN
fcis-30624	47	23	i+1i+1i+1	i+1i+1i+1	NOUN
fcis-30624	47	24	in	in	ADP
fcis-30624	47	25	the	the	DET
fcis-30624	47	26	iii	iii	NOUN
fcis-30624	47	27	-	-	PUNCT
fcis-30624	47	28	coordinate	coordinate	NOUN
fcis-30624	47	29	system	system	NOUN
fcis-30624	47	30	is	be	AUX
fcis-30624	47	31	:	:	PUNCT
fcis-30624	47	32			VERB
fcis-30624	47	33	1	1	NUM
fcis-30624	47	34	1	1	NUM
fcis-30624	47	35	1	1	NUM
fcis-30624	47	36	1	1	NUM
fcis-30624	47	37	1	1	NUM
fcis-30624	48	1	i	i	PRON
fcis-30624	48	2	i	i	PRON
fcis-30624	49	1	i	i	PRON
fcis-30624	49	2	i	i	PRON
fcis-30624	50	1	i	i	PRON
fcis-30624	50	2	i	i	PRON
fcis-30624	51	1	i	i	PRON
fcis-30624	52	1	i	i	PRON
fcis-30624	52	2	ir	ir	PROPN
fcis-30624	52	3	z	z	PROPN
fcis-30624	52	4			PROPN
fcis-30624	52	5			PROPN
fcis-30624	52	6			PROPN
fcis-30624	52	7			PROPN
fcis-30624	52	8			PROPN
fcis-30624	52	9			PROPN
fcis-30624	52	10			ADJ
fcis-30624	52	11			ADJ
fcis-30624	52	12			NOUN
fcis-30624	52	13			PUNCT
fcis-30624	52	14			PUNCT
fcis-30624	52	15	where	where	SCONJ
fcis-30624	52	16	:	:	PUNCT
fcis-30624	52	17	1i	1i	NUM
fcis-30624	52	18			ADJ
fcis-30624	52	19			NOUN
fcis-30624	52	20	is	be	AUX
fcis-30624	52	21	the	the	DET
fcis-30624	52	22	angular	angular	ADJ
fcis-30624	52	23	velocity	velocity	NOUN
fcis-30624	52	24	of	of	ADP
fcis-30624	52	25	joint	joint	ADJ
fcis-30624	52	26	i+1	i+1	ADV
fcis-30624	52	27	,	,	PUNCT
fcis-30624	52	28	and	and	CCONJ
fcis-30624	52	29	1	1	NUM
fcis-30624	52	30	i	i	PRON
fcis-30624	52	31	i	i	PRON
fcis-30624	52	32	r	r	VERB
fcis-30624	52	33	is	be	AUX
fcis-30624	52	34	the	the	DET
fcis-30624	52	35	rotation	rotation	NOUN
fcis-30624	52	36	matrix	matrix	NOUN
fcis-30624	52	37	from	from	ADP
fcis-30624	52	38	coordinate	coordinate	NOUN
fcis-30624	52	39	system	system	NOUN
fcis-30624	52	40	{	{	PUNCT
fcis-30624	52	41	i+1	i+1	VERB
fcis-30624	52	42	}	}	PUNCT
fcis-30624	52	43	to	to	ADP
fcis-30624	52	44	{	{	PUNCT
fcis-30624	52	45	i	i	NOUN
fcis-30624	52	46	}	}	PUNCT
fcis-30624	52	47	.	.	PUNCT
fcis-30624	53	1	by	by	ADP
fcis-30624	53	2	left	left	ADJ
fcis-30624	53	3	-	-	PUNCT
fcis-30624	53	4	multiplying	multiply	VERB
fcis-30624	53	5	equation	equation	NOUN
fcis-30624	53	6	(	(	PUNCT
fcis-30624	53	7	1	1	NUM
fcis-30624	53	8	)	)	PUNCT
fcis-30624	53	9	by	by	ADP
fcis-30624	53	10	the	the	DET
fcis-30624	53	11	rotation	rotation	NOUN
fcis-30624	53	12	matrix	matrix	NOUN
fcis-30624	53	13	1i	1i	NUM
fcis-30624	53	14	i	i	PRON
fcis-30624	53	15	r	r	VERB
fcis-30624	53	16			PUNCT
fcis-30624	53	17	,	,	PUNCT
fcis-30624	53	18	the	the	DET
fcis-30624	53	19	angular	angular	ADJ
fcis-30624	53	20	velocity	velocity	NOUN
fcis-30624	53	21	of	of	ADP
fcis-30624	53	22	link	link	NOUN
fcis-30624	53	23	i+1	i+1	NUM
fcis-30624	53	24	in	in	ADP
fcis-30624	53	25	the	the	DET
fcis-30624	53	26	{	{	PUNCT
fcis-30624	53	27	i+1	i+1	NOUN
fcis-30624	53	28	}	}	PUNCT
fcis-30624	53	29	coordinate	coordinate	NOUN
fcis-30624	53	30	system	system	NOUN
fcis-30624	53	31	is	be	AUX
fcis-30624	53	32	given	give	VERB
fcis-30624	53	33	by	by	ADP
fcis-30624	53	34	:	:	PUNCT
fcis-30624	53	35			NUM
fcis-30624	53	36	1	1	NUM
fcis-30624	53	37	1	1	NUM
fcis-30624	53	38	1	1	NUM
fcis-30624	53	39	1	1	NUM
fcis-30624	53	40	1	1	NUM
fcis-30624	53	41	1	1	NUM
fcis-30624	53	42	ˆi	ˆi	X
fcis-30624	54	1	i	i	PRON
fcis-30624	55	1	i	i	INTJ
fcis-30624	56	1	i	i	PRON
fcis-30624	57	1	i	i	PRON
fcis-30624	58	1	i	i	PRON
fcis-30624	59	1	i	i	PRON
fcis-30624	60	1	i	i	PRON
fcis-30624	60	2	ir	ir	PROPN
fcis-30624	60	3	z	z	PROPN
fcis-30624	61	1			PROPN
fcis-30624	61	2			PROPN
fcis-30624	61	3			ADV
fcis-30624	61	4			PROPN
fcis-30624	61	5			PROPN
fcis-30624	61	6			PROPN
fcis-30624	61	7			ADJ
fcis-30624	61	8			ADJ
fcis-30624	61	9			NOUN
fcis-30624	61	10			PUNCT
fcis-30624	61	11			VERB
fcis-30624	61	12	where	where	SCONJ
fcis-30624	61	13	:	:	PUNCT
fcis-30624	61	14	i	i	PRON
fcis-30624	61	15	i	i	VERB
fcis-30624	61	16	is	be	AUX
fcis-30624	61	17	the	the	DET
fcis-30624	61	18	angular	angular	ADJ
fcis-30624	61	19	velocity	velocity	NOUN
fcis-30624	61	20	of	of	ADP
fcis-30624	61	21	link	link	NOUN
fcis-30624	61	22	i	i	PRON
fcis-30624	61	23	in	in	ADP
fcis-30624	61	24	the	the	DET
fcis-30624	61	25	{	{	PUNCT
fcis-30624	61	26	i	i	NOUN
fcis-30624	61	27	}	}	PUNCT
fcis-30624	61	28	coordinate	coordinate	NOUN
fcis-30624	61	29	system	system	NOUN
fcis-30624	61	30	,	,	PUNCT
fcis-30624	61	31	and	and	CCONJ
fcis-30624	61	32	1i	1i	NOUN
fcis-30624	62	1	i	i	PRON
fcis-30624	62	2	r	r	NOUN
fcis-30624	62	3			ADV
fcis-30624	62	4	is	be	AUX
fcis-30624	62	5	the	the	DET
fcis-30624	62	6	rotation	rotation	NOUN
fcis-30624	62	7	matrix	matrix	NOUN
fcis-30624	62	8	from	from	ADP
fcis-30624	62	9	the	the	DET
fcis-30624	62	10	{	{	PUNCT
fcis-30624	62	11	i	i	NOUN
fcis-30624	62	12	}	}	PUNCT
fcis-30624	62	13	to	to	ADP
fcis-30624	62	14	the	the	DET
fcis-30624	62	15	{	{	PUNCT
fcis-30624	62	16	i+1	i+1	NOUN
fcis-30624	62	17	}	}	PUNCT
fcis-30624	62	18	coordinate	coordinate	NOUN
fcis-30624	62	19	system	system	NOUN
fcis-30624	62	20	.	.	PUNCT
fcis-30624	63	1	the	the	DET
fcis-30624	63	2	angular	angular	ADJ
fcis-30624	63	3	acceleration	acceleration	NOUN
fcis-30624	63	4	transformation	transformation	NOUN
fcis-30624	63	5	equation	equation	NOUN
fcis-30624	63	6	between	between	ADP
fcis-30624	63	7	the	the	DET
fcis-30624	63	8	links	link	NOUN
fcis-30624	63	9	can	can	AUX
fcis-30624	63	10	be	be	AUX
fcis-30624	63	11	obtained	obtain	VERB
fcis-30624	63	12	,	,	PUNCT
fcis-30624	63	13	which	which	PRON
fcis-30624	63	14	gives	give	VERB
fcis-30624	63	15	the	the	DET
fcis-30624	63	16	angular	angular	ADJ
fcis-30624	63	17	acceleration	acceleration	NOUN
fcis-30624	63	18	of	of	ADP
fcis-30624	63	19	link	link	NOUN
fcis-30624	63	20	i	i	PRON
fcis-30624	63	21	to	to	ADP
fcis-30624	63	22	i+1	i+1	PRON
fcis-30624	63	23	as	as	ADP
fcis-30624	63	24	:	:	PUNCT
fcis-30624	63	25			NUM
fcis-30624	63	26	1	1	NUM
fcis-30624	63	27	1	1	NUM
fcis-30624	63	28	1	1	NUM
fcis-30624	63	29	1	1	NUM
fcis-30624	63	30	1	1	NUM
fcis-30624	63	31	1	1	NUM
fcis-30624	63	32	1	1	NUM
fcis-30624	63	33	1	1	NUM
fcis-30624	63	34	1	1	NUM
fcis-30624	63	35	1	1	NUM
fcis-30624	63	36	ˆ	ˆ	NOUN
fcis-30624	64	1	ˆi	ˆi	X
fcis-30624	65	1	i	i	PRON
fcis-30624	66	1	i	i	INTJ
fcis-30624	67	1	i	i	PRON
fcis-30624	68	1	i	i	PRON
fcis-30624	69	1	i	i	PRON
fcis-30624	70	1	i	i	PRON
fcis-30624	71	1	i	i	PRON
fcis-30624	72	1	i	i	PRON
fcis-30624	73	1	i	i	PRON
fcis-30624	74	1	i	i	PRON
fcis-30624	75	1	i	i	PRON
fcis-30624	76	1	i	i	PRON
fcis-30624	77	1	i	i	PRON
fcis-30624	78	1	i	i	PRON
fcis-30624	78	2	ir	ir	VERB
fcis-30624	78	3	r	r	NOUN
fcis-30624	78	4	z	z	PROPN
fcis-30624	78	5	z	z	PROPN
fcis-30624	78	6			X
fcis-30624	79	1			X
fcis-30624	79	2			PROPN
fcis-30624	80	1			PROPN
fcis-30624	80	2			PROPN
fcis-30624	80	3			PROPN
fcis-30624	80	4			PROPN
fcis-30624	80	5			PROPN
fcis-30624	80	6			PROPN
fcis-30624	80	7			PROPN
fcis-30624	80	8			PROPN
fcis-30624	80	9			PROPN
fcis-30624	80	10			PROPN
fcis-30624	80	11			PUNCT
fcis-30624	80	12			INTJ
fcis-30624	80	13			VERB
fcis-30624	80	14			NUM
fcis-30624	80	15			NOUN
fcis-30624	80	16			PUNCT
fcis-30624	80	17			NOUN
fcis-30624	80	18	where	where	SCONJ
fcis-30624	80	19	1i	1i	NUM
fcis-30624	80	20			ADJ
fcis-30624	80	21			NOUN
fcis-30624	80	22	is	be	AUX
fcis-30624	80	23	the	the	DET
fcis-30624	80	24	angular	angular	ADJ
fcis-30624	80	25	velocity	velocity	NOUN
fcis-30624	80	26	of	of	ADP
fcis-30624	80	27	joint	joint	ADJ
fcis-30624	80	28	i+1	i+1	ADV
fcis-30624	80	29	,	,	PUNCT
fcis-30624	80	30	and	and	CCONJ
fcis-30624	80	31	1i	1i	NUM
fcis-30624	80	32			PUNCT
fcis-30624	80	33			NOUN
fcis-30624	80	34	is	be	AUX
fcis-30624	80	35	the	the	DET
fcis-30624	80	36	angular	angular	ADJ
fcis-30624	80	37	acceleration	acceleration	NOUN
fcis-30624	80	38	of	of	ADP
fcis-30624	80	39	joint	joint	ADJ
fcis-30624	80	40	i+1	i+1	NOUN
fcis-30624	80	41	.	.	PUNCT
fcis-30624	81	1	the	the	DET
fcis-30624	81	2	formula	formula	NOUN
fcis-30624	81	3	for	for	ADP
fcis-30624	81	4	calculating	calculate	VERB
fcis-30624	81	5	the	the	DET
fcis-30624	81	6	linear	linear	ADJ
fcis-30624	81	7	acceleration	acceleration	NOUN
fcis-30624	81	8	of	of	ADP
fcis-30624	81	9	the	the	DET
fcis-30624	81	10	link	link	NOUN
fcis-30624	81	11	in	in	ADP
fcis-30624	81	12	a	a	DET
fcis-30624	81	13	rotational	rotational	ADJ
fcis-30624	81	14	joint	joint	ADJ
fcis-30624	81	15	manipulator	manipulator	NOUN
fcis-30624	81	16	is	be	AUX
fcis-30624	81	17	given	give	VERB
fcis-30624	81	18	by	by	ADP
fcis-30624	81	19	:	:	PUNCT
fcis-30624	81	20	v	v	PROPN
fcis-30624	81	21			PROPN
fcis-30624	81	22			PROPN
fcis-30624	81	23	a	a	PROPN
fcis-30624	81	24	b	b	PROPN
fcis-30624	81	25	a	a	DET
fcis-30624	81	26	a	a	DET
fcis-30624	81	27	a	a	DET
fcis-30624	81	28	b	b	NOUN
fcis-30624	81	29	a	a	DET
fcis-30624	81	30	a	a	DET
fcis-30624	81	31	b	b	NOUN
fcis-30624	81	32	q	q	X
fcis-30624	81	33	borg	borg	PROPN
fcis-30624	81	34	b	b	PROPN
fcis-30624	81	35	b	b	PROPN
fcis-30624	81	36	b	b	PROPN
fcis-30624	81	37	b	b	PROPN
fcis-30624	81	38	bv	bv	PROPN
fcis-30624	81	39	v	v	ADP
fcis-30624	81	40	r	r	NOUN
fcis-30624	81	41	q	q	NOUN
fcis-30624	81	42	r	r	NOUN
fcis-30624	81	43	q	q	PROPN
fcis-30624	81	44			ADV
fcis-30624	81	45			PROPN
fcis-30624	81	46			PROPN
fcis-30624	81	47			PROPN
fcis-30624	81	48			PROPN
fcis-30624	81	49			PROPN
fcis-30624	81	50			PROPN
fcis-30624	81	51			ADJ
fcis-30624	81	52			NOUN
fcis-30624	81	53			NOUN
fcis-30624	81	54			PUNCT
fcis-30624	81	55			ADP
fcis-30624	81	56	the	the	DET
fcis-30624	81	57	linear	linear	ADJ
fcis-30624	81	58	acceleration	acceleration	NOUN
fcis-30624	81	59	at	at	ADP
fcis-30624	81	60	the	the	DET
fcis-30624	81	61	origin	origin	NOUN
fcis-30624	81	62	of	of	ADP
fcis-30624	81	63	each	each	DET
fcis-30624	81	64	link	link	NOUN
fcis-30624	81	65	's	's	PART
fcis-30624	81	66	coordinate	coordinate	NOUN
fcis-30624	81	67	system	system	NOUN
fcis-30624	81	68	is	be	AUX
fcis-30624	81	69	given	give	VERB
fcis-30624	81	70	by	by	ADP
fcis-30624	81	71	:	:	PUNCT
fcis-30624	81	72			PROPN
fcis-30624	81	73			NOUN
fcis-30624	81	74			NOUN
fcis-30624	81	75	1	1	VERB
fcis-30624	81	76	1	1	NUM
fcis-30624	81	77	1	1	NUM
fcis-30624	81	78	1	1	NUM
fcis-30624	81	79	1	1	NUM
fcis-30624	82	1	i	i	PRON
fcis-30624	82	2	i	i	PRON
fcis-30624	83	1	i	i	PRON
fcis-30624	83	2	i	i	PRON
fcis-30624	84	1	i	i	PRON
fcis-30624	84	2	i	i	PRON
fcis-30624	85	1	i	i	PRON
fcis-30624	85	2	i	i	PRON
fcis-30624	86	1	i	i	PRON
fcis-30624	86	2	i	i	PRON
fcis-30624	87	1	i	i	PRON
fcis-30624	87	2	i	i	PRON
fcis-30624	88	1	i	i	PRON
fcis-30624	88	2	i	i	PRON
fcis-30624	88	3	ir	ir	VERB
fcis-30624	89	1	p	p	X
fcis-30624	89	2	p	p	PROPN
fcis-30624	89	3			X
fcis-30624	89	4			X
fcis-30624	89	5			PROPN
fcis-30624	89	6			PROPN
fcis-30624	89	7			ADV
fcis-30624	89	8			PUNCT
fcis-30624	89	9			PROPN
fcis-30624	89	10			PROPN
fcis-30624	89	11			PROPN
fcis-30624	89	12			PROPN
fcis-30624	89	13			PROPN
fcis-30624	89	14			PROPN
fcis-30624	89	15			NOUN
fcis-30624	89	16			NOUN
fcis-30624	89	17			PUNCT
fcis-30624	89	18			PROPN
fcis-30624	89	19	similarly	similarly	ADV
fcis-30624	89	20	,	,	PUNCT
fcis-30624	89	21	the	the	DET
fcis-30624	89	22	linear	linear	ADJ
fcis-30624	89	23	acceleration	acceleration	NOUN
fcis-30624	89	24	of	of	ADP
fcis-30624	89	25	the	the	DET
fcis-30624	89	26	link	link	NOUN
fcis-30624	89	27	's	's	PART
fcis-30624	89	28	center	center	NOUN
fcis-30624	89	29	of	of	ADP
fcis-30624	89	30	mass	mass	NOUN
fcis-30624	89	31	is	be	AUX
fcis-30624	89	32	given	give	VERB
fcis-30624	89	33	by	by	ADP
fcis-30624	89	34	:	:	PUNCT
fcis-30624	89	35			PROPN
fcis-30624	89	36			NOUN
fcis-30624	89	37			PUNCT
fcis-30624	90	1	i	i	PRON
fcis-30624	90	2	i	i	PRON
fcis-30624	91	1	i	i	PRON
fcis-30624	91	2	i	i	PRON
fcis-30624	92	1	i	i	PRON
fcis-30624	92	2	i	i	PRON
fcis-30624	93	1	i	i	PRON
fcis-30624	93	2	i	i	PRON
fcis-30624	94	1	i	i	INTJ
fcis-30624	95	1	i	i	VERB
fcis-30624	95	2	c	c	VERB
fcis-30624	96	1	i	i	PRON
fcis-30624	96	2	c	c	VERB
fcis-30624	97	1	i	i	PRON
fcis-30624	98	1	i	i	PRON
fcis-30624	98	2	c	c	VERB
fcis-30624	98	3	ip	ip	NOUN
fcis-30624	98	4	p	p	PROPN
fcis-30624	98	5			X
fcis-30624	98	6			X
fcis-30624	98	7			PROPN
fcis-30624	98	8			PROPN
fcis-30624	98	9			PROPN
fcis-30624	98	10			PROPN
fcis-30624	98	11			PROPN
fcis-30624	98	12			ADJ
fcis-30624	98	13			VERB
fcis-30624	98	14			NOUN
fcis-30624	98	15			NOUN
fcis-30624	98	16			X
fcis-30624	98	17			NOUN
fcis-30624	98	18	where	where	SCONJ
fcis-30624	99	1	i	i	PRON
fcis-30624	99	2	i	i	PRON
fcis-30624	99	3	cp	cp	INTJ
fcis-30624	99	4	is	be	AUX
fcis-30624	99	5	the	the	DET
fcis-30624	99	6	vector	vector	NOUN
fcis-30624	99	7	of	of	ADP
fcis-30624	99	8	the	the	DET
fcis-30624	99	9	manipulator	manipulator	NOUN
fcis-30624	99	10	.	.	PUNCT
fcis-30624	100	1	the	the	DET
fcis-30624	100	2	inertial	inertial	ADJ
fcis-30624	100	3	force	force	NOUN
fcis-30624	100	4	and	and	CCONJ
fcis-30624	100	5	torque	torque	NOUN
fcis-30624	100	6	at	at	ADP
fcis-30624	100	7	the	the	DET
fcis-30624	100	8	center	center	NOUN
fcis-30624	100	9	of	of	ADP
fcis-30624	100	10	mass	mass	NOUN
fcis-30624	100	11	of	of	ADP
fcis-30624	100	12	each	each	DET
fcis-30624	100	13	link	link	NOUN
fcis-30624	100	14	can	can	AUX
fcis-30624	100	15	be	be	AUX
fcis-30624	100	16	determined	determine	VERB
fcis-30624	100	17	using	use	VERB
fcis-30624	100	18	the	the	DET
fcis-30624	100	19	newton	newton	PROPN
fcis-30624	100	20	-	-	PUNCT
fcis-30624	100	21	euler	euler	PROPN
fcis-30624	100	22	equations	equation	NOUN
fcis-30624	100	23	:	:	PUNCT
fcis-30624	100	24			PROPN
fcis-30624	100	25	ii	ii	PROPN
fcis-30624	100	26	cf	cf	NOUN
fcis-30624	100	27	m	m	NOUN
fcis-30624	100	28			NOUN
fcis-30624	100	29			PUNCT
fcis-30624	100	30			NOUN
fcis-30624	100	31			PUNCT
fcis-30624	100	32	i	i	PRON
fcis-30624	100	33	ic	ic	INTJ
fcis-30624	101	1	c	c	VERB
fcis-30624	102	1	i	i	PRON
fcis-30624	103	1	i	i	PRON
fcis-30624	104	1	i	i	PRON
fcis-30624	104	2	in	in	ADP
fcis-30624	104	3	i	i	PRON
fcis-30624	104	4	i	i	PROPN
fcis-30624	105	1			X
fcis-30624	105	2			PUNCT
fcis-30624	105	3			PROPN
fcis-30624	105	4			PUNCT
fcis-30624	105	5			PUNCT
fcis-30624	105	6			PUNCT
fcis-30624	105	7	after	after	ADP
fcis-30624	105	8	determining	determine	VERB
fcis-30624	105	9	the	the	DET
fcis-30624	105	10	forces	force	NOUN
fcis-30624	105	11	and	and	CCONJ
fcis-30624	105	12	torques	torque	NOUN
fcis-30624	105	13	on	on	ADP
fcis-30624	105	14	each	each	DET
fcis-30624	105	15	link	link	NOUN
fcis-30624	105	16	,	,	PUNCT
fcis-30624	105	17	the	the	DET
fcis-30624	105	18	torques	torque	NOUN
fcis-30624	105	19	at	at	ADP
fcis-30624	105	20	the	the	DET
fcis-30624	105	21	joints	joint	NOUN
fcis-30624	105	22	need	need	VERB
fcis-30624	105	23	to	to	PART
fcis-30624	105	24	be	be	AUX
fcis-30624	105	25	calculated	calculate	VERB
fcis-30624	105	26	,	,	PUNCT
fcis-30624	105	27	which	which	PRON
fcis-30624	105	28	correspond	correspond	VERB
fcis-30624	105	29	to	to	ADP
fcis-30624	105	30	the	the	DET
fcis-30624	105	31	forces	force	NOUN
fcis-30624	105	32	and	and	CCONJ
fcis-30624	105	33	torques	torque	NOUN
fcis-30624	105	34	applied	apply	VERB
fcis-30624	105	35	to	to	ADP
fcis-30624	105	36	the	the	DET
fcis-30624	105	37	links	link	NOUN
fcis-30624	105	38	by	by	ADP
fcis-30624	105	39	the	the	DET
fcis-30624	105	40	joint	joint	ADJ
fcis-30624	105	41	motors	motor	NOUN
fcis-30624	105	42	.	.	PUNCT
fcis-30624	106	1	by	by	ADP
fcis-30624	106	2	iterating	iterate	VERB
fcis-30624	106	3	inward	inward	ADV
fcis-30624	106	4	from	from	ADP
fcis-30624	106	5	link	link	PROPN
fcis-30624	106	6	nnn	nnn	NOUN
fcis-30624	106	7	to	to	ADP
fcis-30624	106	8	the	the	DET
fcis-30624	106	9	base	base	NOUN
fcis-30624	106	10	coordinate	coordinate	NOUN
fcis-30624	106	11	system	system	NOUN
fcis-30624	106	12	,	,	PUNCT
fcis-30624	106	13	the	the	DET
fcis-30624	106	14	inertial	inertial	ADJ
fcis-30624	106	15	forces	force	NOUN
fcis-30624	106	16	and	and	CCONJ
fcis-30624	106	17	torques	torque	NOUN
fcis-30624	106	18	acting	act	VERB
fcis-30624	106	19	on	on	ADP
fcis-30624	106	20	each	each	DET
fcis-30624	106	21	link	link	NOUN
fcis-30624	106	22	can	can	AUX
fcis-30624	106	23	be	be	AUX
fcis-30624	106	24	obtained	obtain	VERB
fcis-30624	106	25	:	:	PUNCT
fcis-30624	106	26			NUM
fcis-30624	106	27	1	1	NUM
fcis-30624	106	28	1	1	NUM
fcis-30624	106	29	1	1	NUM
fcis-30624	107	1	i	i	PRON
fcis-30624	108	1	i	i	PRON
fcis-30624	109	1	i	i	PRON
fcis-30624	110	1	i	i	PRON
fcis-30624	111	1	i	i	PRON
fcis-30624	112	1	i	i	PRON
fcis-30624	112	2	i	i	PRON
fcis-30624	113	1	if	if	SCONJ
fcis-30624	113	2	r	r	NOUN
fcis-30624	113	3	f	f	PROPN
fcis-30624	113	4	f	f	NOUN
fcis-30624	113	5			ADV
fcis-30624	113	6			ADV
fcis-30624	113	7			PUNCT
fcis-30624	113	8			PUNCT
fcis-30624	113	9			NOUN
fcis-30624	113	10			PUNCT
fcis-30624	113	11	1	1	NUM
fcis-30624	113	12	1	1	NUM
fcis-30624	113	13	1	1	NUM
fcis-30624	113	14	1	1	NUM
fcis-30624	113	15	1	1	NUM
fcis-30624	113	16	1	1	NUM
fcis-30624	113	17	1i	1i	NOUN
fcis-30624	114	1	i	i	PRON
fcis-30624	114	2	i	i	PRON
fcis-30624	115	1	i	i	PRON
fcis-30624	115	2	i	i	PRON
fcis-30624	116	1	i	i	PRON
fcis-30624	116	2	i	i	PRON
fcis-30624	117	1	i	i	PRON
fcis-30624	117	2	i	i	PRON
fcis-30624	118	1	i	i	PRON
fcis-30624	118	2	i	i	PRON
fcis-30624	119	1	i	i	PRON
fcis-30624	119	2	i	i	INTJ
fcis-30624	120	1	i	i	VERB
fcis-30624	120	2	c	c	VERB
fcis-30624	121	1	i	i	PRON
fcis-30624	121	2	i	i	PRON
fcis-30624	122	1	i	i	PRON
fcis-30624	122	2	in	in	ADP
fcis-30624	122	3	n	n	PRON
fcis-30624	122	4	r	r	NOUN
fcis-30624	123	1	n	n	NOUN
fcis-30624	123	2	p	p	NOUN
fcis-30624	123	3	f	f	X
fcis-30624	123	4	p	p	NOUN
fcis-30624	123	5	r	r	NOUN
fcis-30624	123	6	f	f	PROPN
fcis-30624	123	7			ADV
fcis-30624	123	8			PROPN
fcis-30624	123	9			PROPN
fcis-30624	123	10			PROPN
fcis-30624	123	11			PROPN
fcis-30624	123	12			PROPN
fcis-30624	123	13			ADV
fcis-30624	123	14			VERB
fcis-30624	123	15			PROPN
fcis-30624	123	16			PROPN
fcis-30624	123	17			PROPN
fcis-30624	123	18			PROPN
fcis-30624	123	19	the	the	DET
fcis-30624	123	20	joint	joint	ADJ
fcis-30624	123	21	torque	torque	NOUN
fcis-30624	123	22	can	can	AUX
fcis-30624	123	23	be	be	AUX
fcis-30624	123	24	obtained	obtain	VERB
fcis-30624	123	25	by	by	ADP
fcis-30624	123	26	calculating	calculate	VERB
fcis-30624	123	27	the	the	DET
fcis-30624	123	28	component	component	NOUN
fcis-30624	123	29	of	of	ADP
fcis-30624	123	30	the	the	DET
fcis-30624	123	31	torque	torque	NOUN
fcis-30624	123	32	applied	apply	VERB
fcis-30624	123	33	by	by	ADP
fcis-30624	123	34	one	one	NUM
fcis-30624	123	35	link	link	NOUN
fcis-30624	123	36	to	to	ADP
fcis-30624	123	37	the	the	DET
fcis-30624	123	38	adjacent	adjacent	ADJ
fcis-30624	123	39	link	link	NOUN
fcis-30624	123	40	along	along	ADP
fcis-30624	123	41	the	the	DET
fcis-30624	123	42	z	z	NOUN
fcis-30624	123	43	-	-	PUNCT
fcis-30624	123	44	axis	axis	NOUN
fcis-30624	123	45	:	:	PUNCT
fcis-30624	123	46			NUM
fcis-30624	123	47	ˆi	ˆi	X
fcis-30624	123	48	t	t	NOUN
fcis-30624	124	1	i	i	PRON
fcis-30624	124	2	i	i	PRON
fcis-30624	125	1	i	i	PRON
fcis-30624	125	2	in	in	ADP
fcis-30624	125	3	z	z	PROPN
fcis-30624	125	4			PROPN
fcis-30624	125	5			PROPN
fcis-30624	125	6			PROPN
fcis-30624	125	7	fig	fig	NOUN
fcis-30624	125	8	2	2	NUM
fcis-30624	125	9	.	.	PUNCT
fcis-30624	126	1	the	the	DET
fcis-30624	126	2	link	link	NOUN
fcis-30624	126	3	model	model	NOUN
fcis-30624	126	4	of	of	ADP
fcis-30624	126	5	a	a	DET
fcis-30624	126	6	robot	robot	NOUN
fcis-30624	126	7	with	with	ADP
fcis-30624	126	8	nnn	nnn	NOUN
fcis-30624	126	9	degrees	degree	NOUN
fcis-30624	126	10	of	of	ADP
fcis-30624	126	11	freedom	freedom	NOUN
fcis-30624	126	12	as	as	SCONJ
fcis-30624	126	13	shown	show	VERB
fcis-30624	126	14	in	in	ADP
fcis-30624	126	15	the	the	DET
fcis-30624	126	16	figure	figure	NOUN
fcis-30624	126	17	,	,	PUNCT
fcis-30624	126	18	the	the	DET
fcis-30624	126	19	robot	robot	NOUN
fcis-30624	126	20	joints	joint	NOUN
fcis-30624	126	21	are	be	AUX
fcis-30624	126	22	typically	typically	ADV
fcis-30624	126	23	connected	connect	VERB
fcis-30624	126	24	in	in	ADP
fcis-30624	126	25	a	a	DET
fcis-30624	126	26	series	series	NOUN
fcis-30624	126	27	configuration	configuration	NOUN
fcis-30624	126	28	.	.	PUNCT
fcis-30624	127	1	where	where	SCONJ
fcis-30624	127	2	joint	joint	ADJ
fcis-30624	127	3	i	i	PRON
fcis-30624	127	4	(	(	PUNCT
fcis-30624	127	5	i≠0	i≠0	CCONJ
fcis-30624	127	6	)	)	PUNCT
fcis-30624	127	7	is	be	AUX
fcis-30624	127	8	the	the	DET
fcis-30624	127	9	i	i	PROPN
fcis-30624	127	10	-	-	PUNCT
fcis-30624	127	11	th	th	X
fcis-30624	127	12	revolute	revolute	NOUN
fcis-30624	127	13	joint	joint	NOUN
fcis-30624	127	14	,	,	PUNCT
fcis-30624	127	15	and	and	CCONJ
fcis-30624	127	16	link	link	VERB
fcis-30624	127	17	i	i	PRON
fcis-30624	127	18	is	be	AUX
fcis-30624	127	19	the	the	DET
fcis-30624	127	20	i	i	PROPN
fcis-30624	127	21	-	-	PUNCT
fcis-30624	127	22	th	th	X
fcis-30624	127	23	link.units	link.unit	NOUN
fcis-30624	127	24	in	in	ADP
fcis-30624	127	25	the	the	DET
fcis-30624	127	26	absence	absence	NOUN
fcis-30624	127	27	of	of	ADP
fcis-30624	127	28	external	external	ADJ
fcis-30624	127	29	forces	force	NOUN
fcis-30624	127	30	,	,	PUNCT
fcis-30624	127	31	the	the	DET
fcis-30624	127	32	torques	torque	NOUN
fcis-30624	127	33	acting	act	VERB
fcis-30624	127	34	on	on	ADP
fcis-30624	127	35	the	the	DET
fcis-30624	127	36	center	center	NOUN
fcis-30624	127	37	of	of	ADP
fcis-30624	127	38	mass	mass	NOUN
fcis-30624	127	39	of	of	ADP
fcis-30624	127	40	the	the	DET
fcis-30624	127	41	link	link	NOUN
fcis-30624	127	42	are	be	AUX
fcis-30624	127	43	summed	sum	VERB
fcis-30624	127	44	,	,	PUNCT
fcis-30624	127	45	and	and	CCONJ
fcis-30624	127	46	their	their	PRON
fcis-30624	127	47	sum	sum	NOUN
fcis-30624	127	48	is	be	AUX
fcis-30624	127	49	set	set	VERB
fcis-30624	127	50	to	to	ADP
fcis-30624	127	51	zero	zero	NUM
fcis-30624	127	52	,	,	PUNCT
fcis-30624	127	53	thus	thus	ADV
fcis-30624	127	54	obtaining	obtain	VERB
fcis-30624	127	55	the	the	DET
fcis-30624	127	56	torque	torque	NOUN
fcis-30624	127	57	balance	balance	NOUN
fcis-30624	127	58	equation	equation	NOUN
fcis-30624	127	59	.	.	PUNCT
fcis-30624	128	1	the	the	DET
fcis-30624	128	2	dynamic	dynamic	ADJ
fcis-30624	128	3	equation	equation	NOUN
fcis-30624	128	4	is	be	AUX
fcis-30624	128	5	generally	generally	ADV
fcis-30624	128	6	expressed	express	VERB
fcis-30624	128	7	as	as	ADP
fcis-30624	128	8	[	[	X
fcis-30624	128	9	11	11	NUM
fcis-30624	128	10	]	]	NUM
fcis-30624	128	11	:	:	PUNCT
fcis-30624	128	12			NUM
fcis-30624	128	13			NOUN
fcis-30624	128	14			SYM
fcis-30624	128	15			NOUN
fcis-30624	128	16			SYM
fcis-30624	128	17			NOUN
fcis-30624	128	18	,m	,m	NOUN
fcis-30624	128	19	v	v	ADP
fcis-30624	128	20	g	g	X
fcis-30624	128	21			X
fcis-30624	128	22			X
fcis-30624	128	23			PROPN
fcis-30624	128	24			PROPN
fcis-30624	128	25			PROPN
fcis-30624	128	26			VERB
fcis-30624	128	27			NOUN
fcis-30624	128	28			NOUN
fcis-30624	128	29			X
fcis-30624	128	30			X
fcis-30624	128	31	here	here	ADV
fcis-30624	128	32	,	,	PUNCT
fcis-30624	128	33			ADJ
fcis-30624	128	34	1	1	NOUN
fcis-30624	128	35	2	2	NUM
fcis-30624	128	36	3	3	NUM
fcis-30624	128	37	,	,	PUNCT
fcis-30624	128	38	,	,	PUNCT
fcis-30624	128	39	,	,	PUNCT
fcis-30624	128	40	,	,	PUNCT
fcis-30624	128	41	t	t	PROPN
fcis-30624	128	42	n	n	NOUN
fcis-30624	128	43			NOUN
fcis-30624	128	44			NOUN
fcis-30624	128	45			NOUN
fcis-30624	128	46			VERB
fcis-30624	128	47			NOUN
fcis-30624	128	48	represents	represent	VERB
fcis-30624	128	49	the	the	DET
fcis-30624	128	50	joint	joint	ADJ
fcis-30624	128	51	torque	torque	NOUN
fcis-30624	128	52	,	,	PUNCT
fcis-30624	128	53			PROPN
fcis-30624	128	54	m	m	NOUN
fcis-30624	128	55			X
fcis-30624	128	56	∈	∈	PROPN
fcis-30624	128	57	n	n	ADP
fcis-30624	128	58	nr	nr	NOUN
fcis-30624	128	59			NOUN
fcis-30624	128	60	is	be	AUX
fcis-30624	128	61	the	the	DET
fcis-30624	128	62	inertia	inertia	NOUN
fcis-30624	128	63	matrix	matrix	NOUN
fcis-30624	128	64	,	,	PUNCT
fcis-30624	128	65	,	,	PUNCT
fcis-30624	128	66	,	,	PUNCT
fcis-30624	128	67			PROPN
fcis-30624	128	68			PROPN
fcis-30624	128	69			PART
fcis-30624	128	70			NOUN
fcis-30624	128	71	denote	denote	VERB
fcis-30624	128	72	the	the	DET
fcis-30624	128	73	joint	joint	ADJ
fcis-30624	128	74	position	position	NOUN
fcis-30624	128	75	,	,	PUNCT
fcis-30624	128	76	angular	angular	ADJ
fcis-30624	128	77	velocity	velocity	NOUN
fcis-30624	128	78	,	,	PUNCT
fcis-30624	128	79	and	and	CCONJ
fcis-30624	128	80	angular	angular	ADJ
fcis-30624	128	81	acceleration	acceleration	NOUN
fcis-30624	128	82	,	,	PUNCT
fcis-30624	128	83	respectively	respectively	ADV
fcis-30624	128	84	.	.	PUNCT
fcis-30624	129	1			NOUN
fcis-30624	129	2	v	v	PUNCT
fcis-30624	129	3			PROPN
fcis-30624	129	4	∈	∈	PROPN
fcis-30624	129	5	n	n	CCONJ
fcis-30624	129	6	nr	nr	PRON
fcis-30624	129	7			NOUN
fcis-30624	129	8	represents	represent	VERB
fcis-30624	129	9	the	the	DET
fcis-30624	129	10	coriolis	corioli	NOUN
fcis-30624	129	11	and	and	CCONJ
fcis-30624	129	12	centrifugal	centrifugal	ADJ
fcis-30624	129	13	force	force	NOUN
fcis-30624	129	14	matrix	matrix	NOUN
fcis-30624	129	15	,	,	PUNCT
fcis-30624	129	16	and	and	CCONJ
fcis-30624	129	17			NOUN
fcis-30624	129	18	g	g	PUNCT
fcis-30624	130	1			PROPN
fcis-30624	130	2	∈	∈	PROPN
fcis-30624	130	3	n	n	CCONJ
fcis-30624	130	4	nr	nr	PRON
fcis-30624	130	5			NOUN
fcis-30624	130	6	represents	represent	VERB
fcis-30624	130	7	the	the	DET
fcis-30624	130	8	gravitational	gravitational	ADJ
fcis-30624	130	9	torque	torque	NOUN
fcis-30624	130	10	.	.	PUNCT
fcis-30624	131	1	146	146	NUM
fcis-30624	131	2	2.2	2.2	NUM
fcis-30624	131	3	.	.	PUNCT
fcis-30624	132	1	linearization	linearization	NOUN
fcis-30624	132	2	of	of	ADP
fcis-30624	132	3	the	the	DET
fcis-30624	132	4	dynamic	dynamic	ADJ
fcis-30624	132	5	model	model	NOUN
fcis-30624	132	6	and	and	CCONJ
fcis-30624	132	7	solution	solution	NOUN
fcis-30624	132	8	of	of	ADP
fcis-30624	132	9	the	the	DET
fcis-30624	132	10	minimal	minimal	ADJ
fcis-30624	132	11	set	set	NOUN
fcis-30624	132	12	of	of	ADP
fcis-30624	132	13	dynamic	dynamic	ADJ
fcis-30624	132	14	parameters	parameter	NOUN
fcis-30624	132	15	in	in	ADP
fcis-30624	132	16	the	the	DET
fcis-30624	132	17	above	above	ADJ
fcis-30624	132	18	dynamic	dynamic	ADJ
fcis-30624	132	19	model	model	NOUN
fcis-30624	132	20	,	,	PUNCT
fcis-30624	132	21	the	the	DET
fcis-30624	132	22	dynamic	dynamic	ADJ
fcis-30624	132	23	parameters	parameter	NOUN
fcis-30624	132	24	are	be	AUX
fcis-30624	132	25	in	in	ADP
fcis-30624	132	26	a	a	DET
fcis-30624	132	27	nonlinear	nonlinear	ADJ
fcis-30624	132	28	form	form	NOUN
fcis-30624	132	29	,	,	PUNCT
fcis-30624	132	30	which	which	PRON
fcis-30624	132	31	makes	make	VERB
fcis-30624	132	32	parameter	parameter	NOUN
fcis-30624	132	33	identification	identification	NOUN
fcis-30624	132	34	difficult	difficult	ADJ
fcis-30624	132	35	.	.	PUNCT
fcis-30624	133	1	therefore	therefore	ADV
fcis-30624	133	2	,	,	PUNCT
fcis-30624	133	3	the	the	DET
fcis-30624	133	4	dynamic	dynamic	ADJ
fcis-30624	133	5	model	model	NOUN
fcis-30624	133	6	can	can	AUX
fcis-30624	133	7	be	be	AUX
fcis-30624	133	8	represented	represent	VERB
fcis-30624	133	9	as	as	SCONJ
fcis-30624	133	10	follows	follow	VERB
fcis-30624	133	11	:	:	PUNCT
fcis-30624	133	12			NUM
fcis-30624	133	13			PROPN
fcis-30624	133	14			PROPN
fcis-30624	133	15	,	,	PUNCT
fcis-30624	133	16	,	,	PUNCT
fcis-30624	133	17	fully	fully	ADV
fcis-30624	133	18	x	x	PROPN
fcis-30624	133	19			PROPN
fcis-30624	133	20			PROPN
fcis-30624	133	21			PROPN
fcis-30624	133	22			PROPN
fcis-30624	133	23			NOUN
fcis-30624	133	24			NOUN
fcis-30624	133	25			VERB
fcis-30624	133	26	where	where	SCONJ
fcis-30624	133	27	:	:	PUNCT
fcis-30624	133	28			PROPN
fcis-30624	133	29			PROPN
fcis-30624	133	30	,	,	PUNCT
fcis-30624	133	31	,	,	PUNCT
fcis-30624	133	32	y	y	PROPN
fcis-30624	133	33			PROPN
fcis-30624	133	34			PROPN
fcis-30624	133	35			PART
fcis-30624	133	36			NOUN
fcis-30624	133	37	∈	∈	PROPN
fcis-30624	133	38	n	n	AUX
fcis-30624	133	39	nr	nr	NOUN
fcis-30624	133	40			NOUN
fcis-30624	133	41	is	be	AUX
fcis-30624	133	42	the	the	DET
fcis-30624	133	43	function	function	NOUN
fcis-30624	133	44	matrix	matrix	NOUN
fcis-30624	133	45	of	of	ADP
fcis-30624	133	46	the	the	DET
fcis-30624	133	47	joint	joint	ADJ
fcis-30624	133	48	position	position	NOUN
fcis-30624	133	49	,	,	PUNCT
fcis-30624	133	50	angular	angular	ADJ
fcis-30624	133	51	velocity	velocity	NOUN
fcis-30624	133	52	,	,	PUNCT
fcis-30624	133	53	and	and	CCONJ
fcis-30624	133	54	angular	angular	ADJ
fcis-30624	133	55	acceleration	acceleration	NOUN
fcis-30624	133	56	of	of	ADP
fcis-30624	133	57	the	the	DET
fcis-30624	133	58	robotic	robotic	ADJ
fcis-30624	133	59	arm	arm	NOUN
fcis-30624	133	60	,	,	PUNCT
fcis-30624	133	61	and	and	CCONJ
fcis-30624	133	62	fullx	fullx	NOUN
fcis-30624	133	63	represents	represent	VERB
fcis-30624	133	64	all	all	DET
fcis-30624	133	65	dynamic	dynamic	ADJ
fcis-30624	133	66	parameters	parameter	NOUN
fcis-30624	133	67	.	.	PUNCT
fcis-30624	134	1	for	for	ADP
fcis-30624	134	2	a	a	DET
fcis-30624	134	3	robotic	robotic	ADJ
fcis-30624	134	4	arm	arm	NOUN
fcis-30624	134	5	with	with	ADP
fcis-30624	134	6	n	n	NOUN
fcis-30624	134	7	degrees	degree	NOUN
fcis-30624	134	8	of	of	ADP
fcis-30624	134	9	freedom	freedom	NOUN
fcis-30624	134	10	,	,	PUNCT
fcis-30624	134	11	the	the	DET
fcis-30624	134	12	dynamic	dynamic	ADJ
fcis-30624	134	13	inertia	inertia	NOUN
fcis-30624	134	14	parameters	parameter	NOUN
fcis-30624	134	15	of	of	ADP
fcis-30624	134	16	the	the	DET
fcis-30624	134	17	i	i	PROPN
fcis-30624	134	18	-	-	PUNCT
fcis-30624	134	19	th	th	X
fcis-30624	134	20	link	link	NOUN
fcis-30624	134	21	of	of	ADP
fcis-30624	134	22	the	the	DET
fcis-30624	134	23	joint	joint	NOUN
fcis-30624	134	24	can	can	AUX
fcis-30624	134	25	be	be	AUX
fcis-30624	134	26	expressed	express	VERB
fcis-30624	134	27	as	as	SCONJ
fcis-30624	134	28	follows	follow	VERB
fcis-30624	134	29	:	:	PUNCT
fcis-30624	134	30			NUM
fcis-30624	134	31	,	,	PUNCT
fcis-30624	134	32	,	,	PUNCT
fcis-30624	134	33	,	,	PUNCT
fcis-30624	134	34	,	,	PUNCT
fcis-30624	134	35	,	,	PUNCT
fcis-30624	134	36	,	,	PUNCT
fcis-30624	134	37	,	,	PUNCT
fcis-30624	134	38	,	,	PUNCT
fcis-30624	134	39	,	,	PUNCT
fcis-30624	134	40	fulli	fulli	PROPN
fcis-30624	135	1	xx	xx	NUM
fcis-30624	136	1	yy	yy	INTJ
fcis-30624	137	1	zz	zz	INTJ
fcis-30624	137	2	xy	xy	PROPN
fcis-30624	138	1	xz	xz	PROPN
fcis-30624	138	2	yzx	yzx	PROPN
fcis-30624	138	3	m	m	PROPN
fcis-30624	138	4	mx	mx	PROPN
fcis-30624	139	1	my	my	PRON
fcis-30624	139	2	mz	mz	INTJ
fcis-30624	139	3	i	i	PRON
fcis-30624	140	1	i	i	PRON
fcis-30624	140	2	i	i	PRON
fcis-30624	141	1	i	i	PRON
fcis-30624	141	2	i	i	PRON
fcis-30624	141	3	i	i	VERB
fcis-30624	141	4			PROPN
fcis-30624	141	5			PROPN
fcis-30624	141	6			PROPN
fcis-30624	141	7			PUNCT
fcis-30624	141	8			PROPN
fcis-30624	141	9	where	where	SCONJ
fcis-30624	141	10	:	:	PUNCT
fcis-30624	141	11	fullix	fullix	NOUN
fcis-30624	141	12	represents	represent	VERB
fcis-30624	141	13	the	the	DET
fcis-30624	141	14	dynamic	dynamic	ADJ
fcis-30624	141	15	parameter	parameter	NOUN
fcis-30624	141	16	of	of	ADP
fcis-30624	141	17	the	the	DET
fcis-30624	141	18	ith	ith	PROPN
fcis-30624	141	19	joint	joint	NOUN
fcis-30624	141	20	,	,	PUNCT
fcis-30624	141	21	,	,	PUNCT
fcis-30624	141	22	,	,	PUNCT
fcis-30624	141	23	xx	xx	NUM
fcis-30624	142	1	yy	yy	INTJ
fcis-30624	142	2	zzi	zzi	NOUN
fcis-30624	143	1	i	i	PRON
fcis-30624	143	2	i	i	PRON
fcis-30624	143	3	represents	represent	VERB
fcis-30624	143	4	the	the	DET
fcis-30624	143	5	moment	moment	NOUN
fcis-30624	143	6	of	of	ADP
fcis-30624	143	7	inertia	inertia	NOUN
fcis-30624	143	8	of	of	ADP
fcis-30624	143	9	the	the	DET
fcis-30624	143	10	joint	joint	NOUN
fcis-30624	143	11	,	,	PUNCT
fcis-30624	143	12	and	and	CCONJ
fcis-30624	143	13	x	x	X
fcis-30624	143	14	,	,	PUNCT
fcis-30624	143	15	y	y	PROPN
fcis-30624	143	16	,	,	PUNCT
fcis-30624	143	17	z	z	PROPN
fcis-30624	143	18	represent	represent	VERB
fcis-30624	143	19	the	the	DET
fcis-30624	143	20	position	position	NOUN
fcis-30624	143	21	of	of	ADP
fcis-30624	143	22	the	the	DET
fcis-30624	143	23	joint	joint	NOUN
fcis-30624	143	24	's	's	PART
fcis-30624	143	25	center	center	NOUN
fcis-30624	143	26	of	of	ADP
fcis-30624	143	27	mass	mass	PROPN
fcis-30624	143	28	,	,	PUNCT
fcis-30624	143	29	,	,	PUNCT
fcis-30624	143	30	,	,	PUNCT
fcis-30624	143	31	xy	xy	PROPN
fcis-30624	144	1	xz	xz	PROPN
fcis-30624	144	2	yzi	yzi	INTJ
fcis-30624	145	1	i	i	PRON
fcis-30624	145	2	i	i	PRON
fcis-30624	145	3	represents	represent	VERB
fcis-30624	145	4	the	the	DET
fcis-30624	145	5	inertia	inertia	NOUN
fcis-30624	145	6	product	product	NOUN
fcis-30624	145	7	of	of	ADP
fcis-30624	145	8	the	the	DET
fcis-30624	145	9	joint	joint	NOUN
fcis-30624	145	10	.	.	PUNCT
fcis-30624	146	1	the	the	DET
fcis-30624	146	2	dynamic	dynamic	ADJ
fcis-30624	146	3	parameters	parameter	NOUN
fcis-30624	146	4	can	can	AUX
fcis-30624	146	5	be	be	AUX
fcis-30624	146	6	expressed	express	VERB
fcis-30624	146	7	as	as	ADP
fcis-30624	146	8	:	:	PUNCT
fcis-30624	146	9			ADJ
fcis-30624	146	10	1	1	NOUN
fcis-30624	146	11	2	2	NUM
fcis-30624	146	12	3	3	NUM
fcis-30624	146	13	,	,	PUNCT
fcis-30624	146	14	,	,	PUNCT
fcis-30624	146	15	,	,	PUNCT
fcis-30624	146	16	,	,	PUNCT
fcis-30624	146	17	nx	nx	X
fcis-30624	146	18	x	x	X
fcis-30624	146	19	x	x	PUNCT
fcis-30624	146	20	x	x	X
fcis-30624	146	21	x	x	PUNCT
fcis-30624	146	22			NOUN
fcis-30624	146	23	the	the	DET
fcis-30624	146	24	dynamical	dynamical	ADJ
fcis-30624	146	25	model	model	NOUN
fcis-30624	146	26	can	can	AUX
fcis-30624	146	27	be	be	AUX
fcis-30624	146	28	expressed	express	VERB
fcis-30624	146	29	as	as	ADP
fcis-30624	146	30	:	:	PUNCT
fcis-30624	146	31			NUM
fcis-30624	146	32	11	11	NUM
fcis-30624	147	1	12	12	NUM
fcis-30624	147	2	1	1	NUM
fcis-30624	147	3	1	1	NUM
fcis-30624	147	4	1	1	NUM
fcis-30624	147	5	21	21	NUM
fcis-30624	147	6	22	22	NUM
fcis-30624	147	7	2	2	NUM
fcis-30624	147	8	2	2	NUM
fcis-30624	147	9	1	1	NUM
fcis-30624	147	10	2	2	NUM
fcis-30624	147	11	n	n	CCONJ
fcis-30624	147	12	n	n	CCONJ
fcis-30624	147	13	n	n	CCONJ
fcis-30624	147	14	n	n	CCONJ
fcis-30624	147	15	n	n	CCONJ
fcis-30624	147	16	nn	nn	PROPN
fcis-30624	147	17	n	n	CCONJ
fcis-30624	147	18	y	y	PROPN
fcis-30624	147	19	y	y	PROPN
fcis-30624	147	20	y	y	PROPN
fcis-30624	147	21	x	x	PUNCT
fcis-30624	148	1	y	y	VERB
fcis-30624	148	2	y	y	PROPN
fcis-30624	148	3	y	y	PROPN
fcis-30624	148	4	x	x	PROPN
fcis-30624	148	5	yx	yx	ADP
fcis-30624	148	6	y	y	PROPN
fcis-30624	148	7	y	y	PROPN
fcis-30624	148	8	y	y	PROPN
fcis-30624	148	9	x	x	X
fcis-30624	149	1			NOUN
fcis-30624	149	2			NOUN
fcis-30624	149	3			NOUN
fcis-30624	149	4			NOUN
fcis-30624	149	5			PROPN
fcis-30624	149	6			PROPN
fcis-30624	149	7			INTJ
fcis-30624	149	8			PROPN
fcis-30624	149	9			NOUN
fcis-30624	149	10			PROPN
fcis-30624	149	11			PROPN
fcis-30624	149	12			NOUN
fcis-30624	149	13			PROPN
fcis-30624	149	14			NOUN
fcis-30624	149	15			NOUN
fcis-30624	149	16			PROPN
fcis-30624	149	17			PROPN
fcis-30624	149	18			NOUN
fcis-30624	150	1			NOUN
fcis-30624	150	2			NUM
fcis-30624	151	1			ADJ
fcis-30624	151	2			PROPN
fcis-30624	152	1			PROPN
fcis-30624	152	2			PROPN
fcis-30624	152	3			NOUN
fcis-30624	153	1			PROPN
fcis-30624	153	2			NOUN
fcis-30624	153	3			NOUN
fcis-30624	153	4			PROPN
fcis-30624	153	5			PROPN
fcis-30624	153	6			PROPN
fcis-30624	153	7			PROPN
fcis-30624	153	8			PROPN
fcis-30624	153	9			PROPN
fcis-30624	153	10			PROPN
fcis-30624	153	11			VERB
fcis-30624	153	12			PROPN
fcis-30624	153	13			NOUN
fcis-30624	153	14			NOUN
fcis-30624	153	15			NUM
fcis-30624	153	16			VERB
fcis-30624	153	17			PROPN
fcis-30624	153	18			PROPN
fcis-30624	153	19			VERB
fcis-30624	153	20			ADJ
fcis-30624	153	21			NOUN
fcis-30624	153	22			NOUN
fcis-30624	154	1			INTJ
fcis-30624	154	2	however	however	ADV
fcis-30624	154	3	,	,	PUNCT
fcis-30624	154	4	the	the	DET
fcis-30624	154	5	observation	observation	NOUN
fcis-30624	154	6	matrix	matrix	NOUN
fcis-30624	154	7	of	of	ADP
fcis-30624	154	8	the	the	DET
fcis-30624	154	9	robotic	robotic	ADJ
fcis-30624	154	10	arm	arm	NOUN
fcis-30624	155	1	y	y	PROPN
fcis-30624	155	2			ADJ
fcis-30624	155	3			PROPN
fcis-30624	155	4			PROPN
fcis-30624	155	5	,	,	PUNCT
fcis-30624	155	6	,	,	PUNCT
fcis-30624	155	7	y	y	PROPN
fcis-30624	155	8			PROPN
fcis-30624	155	9			PROPN
fcis-30624	155	10			PART
fcis-30624	155	11			NOUN
fcis-30624	155	12	is	be	AUX
fcis-30624	155	13	rank	rank	NOUN
fcis-30624	155	14	-	-	PUNCT
fcis-30624	155	15	deficient	deficient	ADJ
fcis-30624	155	16	,	,	PUNCT
fcis-30624	155	17	with	with	ADP
fcis-30624	155	18	some	some	DET
fcis-30624	155	19	rows	row	NOUN
fcis-30624	155	20	and	and	CCONJ
fcis-30624	155	21	columns	column	NOUN
fcis-30624	155	22	being	be	AUX
fcis-30624	155	23	constantly	constantly	ADV
fcis-30624	155	24	zero	zero	NUM
fcis-30624	155	25	,	,	PUNCT
fcis-30624	155	26	while	while	SCONJ
fcis-30624	155	27	others	other	NOUN
fcis-30624	155	28	are	be	AUX
fcis-30624	155	29	linear	linear	ADJ
fcis-30624	155	30	combinations	combination	NOUN
fcis-30624	155	31	of	of	ADP
fcis-30624	155	32	certain	certain	ADJ
fcis-30624	155	33	other	other	ADJ
fcis-30624	155	34	rows	row	NOUN
fcis-30624	155	35	and	and	CCONJ
fcis-30624	155	36	columns	column	NOUN
fcis-30624	155	37	.	.	PUNCT
fcis-30624	156	1	it	it	PRON
fcis-30624	156	2	is	be	AUX
fcis-30624	156	3	necessary	necessary	ADJ
fcis-30624	156	4	to	to	PART
fcis-30624	156	5	reorganize	reorganize	VERB
fcis-30624	156	6	and	and	CCONJ
fcis-30624	156	7	identify	identify	VERB
fcis-30624	156	8	the	the	DET
fcis-30624	156	9	set	set	NOUN
fcis-30624	156	10	of	of	ADP
fcis-30624	156	11	dynamic	dynamic	ADJ
fcis-30624	156	12	parameters	parameter	NOUN
fcis-30624	156	13	to	to	PART
fcis-30624	156	14	obtain	obtain	VERB
fcis-30624	156	15	the	the	DET
fcis-30624	156	16	minimal	minimal	ADJ
fcis-30624	156	17	dynamic	dynamic	ADJ
fcis-30624	156	18	parameter	parameter	NOUN
fcis-30624	156	19	set	set	NOUN
fcis-30624	156	20	,	,	PUNCT
fcis-30624	156	21	which	which	PRON
fcis-30624	156	22	is	be	AUX
fcis-30624	156	23	required	require	VERB
fcis-30624	156	24	for	for	ADP
fcis-30624	156	25	the	the	DET
fcis-30624	156	26	identification	identification	NOUN
fcis-30624	156	27	of	of	ADP
fcis-30624	156	28	dynamic	dynamic	ADJ
fcis-30624	156	29	parameters	parameter	NOUN
fcis-30624	156	30	.	.	PUNCT
fcis-30624	157	1	in	in	ADP
fcis-30624	157	2	this	this	DET
fcis-30624	157	3	way	way	NOUN
fcis-30624	157	4	,	,	PUNCT
fcis-30624	157	5	the	the	DET
fcis-30624	157	6	relationship	relationship	NOUN
fcis-30624	157	7	between	between	ADP
fcis-30624	157	8	the	the	DET
fcis-30624	157	9	joint	joint	ADJ
fcis-30624	157	10	torque	torque	NOUN
fcis-30624	157	11	and	and	CCONJ
fcis-30624	157	12	the	the	DET
fcis-30624	157	13	minimal	minimal	ADJ
fcis-30624	157	14	dynamic	dynamic	ADJ
fcis-30624	157	15	parameter	parameter	NOUN
fcis-30624	157	16	set	set	NOUN
fcis-30624	157	17	is	be	AUX
fcis-30624	157	18	:	:	PUNCT
fcis-30624	157	19			PROPN
fcis-30624	157	20	min	min	NOUN
fcis-30624	157	21	(	(	PUNCT
fcis-30624	157	22	,	,	PUNCT
fcis-30624	157	23	,	,	PUNCT
fcis-30624	157	24	)	)	PUNCT
fcis-30624	157	25	y	y	PROPN
fcis-30624	157	26	x	x	PROPN
fcis-30624	157	27			PROPN
fcis-30624	157	28			PROPN
fcis-30624	157	29			PROPN
fcis-30624	157	30			PROPN
fcis-30624	157	31			NOUN
fcis-30624	157	32			X
fcis-30624	157	33			PUNCT
fcis-30624	157	34	by	by	ADP
fcis-30624	157	35	linearizing	linearize	VERB
fcis-30624	157	36	the	the	DET
fcis-30624	157	37	dynamical	dynamical	ADJ
fcis-30624	157	38	model	model	NOUN
fcis-30624	157	39	,	,	PUNCT
fcis-30624	157	40	the	the	DET
fcis-30624	157	41	identification	identification	NOUN
fcis-30624	157	42	of	of	ADP
fcis-30624	157	43	nonlinear	nonlinear	ADJ
fcis-30624	157	44	dynamic	dynamic	ADJ
fcis-30624	157	45	parameters	parameter	NOUN
fcis-30624	157	46	is	be	AUX
fcis-30624	157	47	transformed	transform	VERB
fcis-30624	157	48	into	into	ADP
fcis-30624	157	49	the	the	DET
fcis-30624	157	50	identification	identification	NOUN
fcis-30624	157	51	of	of	ADP
fcis-30624	157	52	linear	linear	ADJ
fcis-30624	157	53	dynamic	dynamic	ADJ
fcis-30624	157	54	parameters	parameter	NOUN
fcis-30624	157	55	.	.	PUNCT
fcis-30624	158	1	2.3	2.3	NUM
fcis-30624	158	2	.	.	PUNCT
fcis-30624	158	3	excitation	excitation	NOUN
fcis-30624	158	4	trajectory	trajectory	NOUN
fcis-30624	158	5	design	design	NOUN
fcis-30624	158	6	and	and	CCONJ
fcis-30624	158	7	data	datum	NOUN
fcis-30624	158	8	collection	collection	NOUN
fcis-30624	158	9	to	to	PART
fcis-30624	158	10	activate	activate	VERB
fcis-30624	158	11	all	all	DET
fcis-30624	158	12	parameters	parameter	NOUN
fcis-30624	158	13	in	in	ADP
fcis-30624	158	14	the	the	DET
fcis-30624	158	15	robotic	robotic	ADJ
fcis-30624	158	16	dynamics	dynamic	NOUN
fcis-30624	158	17	model	model	NOUN
fcis-30624	158	18	and	and	CCONJ
fcis-30624	158	19	ensure	ensure	VERB
fcis-30624	158	20	that	that	SCONJ
fcis-30624	158	21	all	all	DET
fcis-30624	158	22	parameters	parameter	NOUN
fcis-30624	158	23	are	be	AUX
fcis-30624	158	24	sufficiently	sufficiently	ADV
fcis-30624	158	25	"	"	PUNCT
fcis-30624	158	26	activated	activate	VERB
fcis-30624	158	27	"	"	PUNCT
fcis-30624	158	28	during	during	ADP
fcis-30624	158	29	the	the	DET
fcis-30624	158	30	identification	identification	NOUN
fcis-30624	158	31	process	process	NOUN
fcis-30624	158	32	,	,	PUNCT
fcis-30624	158	33	thereby	thereby	ADV
fcis-30624	158	34	allowing	allow	VERB
fcis-30624	158	35	for	for	ADP
fcis-30624	158	36	precise	precise	ADJ
fcis-30624	158	37	collection	collection	NOUN
fcis-30624	158	38	of	of	ADP
fcis-30624	158	39	motion	motion	NOUN
fcis-30624	158	40	,	,	PUNCT
fcis-30624	158	41	torque	torque	NOUN
fcis-30624	158	42	,	,	PUNCT
fcis-30624	158	43	and	and	CCONJ
fcis-30624	158	44	other	other	ADJ
fcis-30624	158	45	related	related	ADJ
fcis-30624	158	46	datasets	dataset	NOUN
fcis-30624	158	47	,	,	PUNCT
fcis-30624	158	48	it	it	PRON
fcis-30624	158	49	is	be	AUX
fcis-30624	158	50	necessary	necessary	ADJ
fcis-30624	158	51	to	to	PART
fcis-30624	158	52	design	design	VERB
fcis-30624	158	53	appropriate	appropriate	ADJ
fcis-30624	158	54	excitation	excitation	NOUN
fcis-30624	158	55	trajectories	trajectory	NOUN
fcis-30624	158	56	for	for	ADP
fcis-30624	158	57	the	the	DET
fcis-30624	158	58	robot	robot	NOUN
fcis-30624	158	59	.	.	PUNCT
fcis-30624	159	1	fourier	fourier	PROPN
fcis-30624	159	2	series	series	NOUN
fcis-30624	159	3	-	-	PUNCT
fcis-30624	159	4	based	base	VERB
fcis-30624	159	5	trajectories	trajectory	NOUN
fcis-30624	159	6	[	[	X
fcis-30624	159	7	12	12	NUM
fcis-30624	159	8	]	]	PUNCT
fcis-30624	159	9	can	can	AUX
fcis-30624	159	10	ensure	ensure	VERB
fcis-30624	159	11	periodic	periodic	ADJ
fcis-30624	159	12	input	input	NOUN
fcis-30624	159	13	,	,	PUNCT
fcis-30624	159	14	with	with	ADP
fcis-30624	159	15	data	datum	NOUN
fcis-30624	159	16	collected	collect	VERB
fcis-30624	159	17	from	from	ADP
fcis-30624	159	18	different	different	ADJ
fcis-30624	159	19	cycles	cycle	NOUN
fcis-30624	159	20	being	be	AUX
fcis-30624	159	21	consistent	consistent	ADJ
fcis-30624	159	22	.	.	PUNCT
fcis-30624	160	1	this	this	PRON
fcis-30624	160	2	makes	make	VERB
fcis-30624	160	3	data	datum	NOUN
fcis-30624	160	4	collection	collection	NOUN
fcis-30624	160	5	convenient	convenient	ADJ
fcis-30624	160	6	and	and	CCONJ
fcis-30624	160	7	highly	highly	ADV
fcis-30624	160	8	feasible	feasible	ADJ
fcis-30624	160	9	.	.	PUNCT
fcis-30624	161	1	therefore	therefore	ADV
fcis-30624	161	2	,	,	PUNCT
fcis-30624	161	3	fourier	fourier	PROPN
fcis-30624	161	4	series	series	NOUN
fcis-30624	161	5	can	can	AUX
fcis-30624	161	6	be	be	AUX
fcis-30624	161	7	used	use	VERB
fcis-30624	161	8	to	to	PART
fcis-30624	161	9	construct	construct	VERB
fcis-30624	161	10	excitation	excitation	NOUN
fcis-30624	161	11	trajectories	trajectory	NOUN
fcis-30624	161	12	for	for	ADP
fcis-30624	161	13	collecting	collect	VERB
fcis-30624	161	14	joint	joint	ADJ
fcis-30624	161	15	positions	position	NOUN
fcis-30624	161	16	,	,	PUNCT
fcis-30624	161	17	angular	angular	ADJ
fcis-30624	161	18	velocities	velocity	NOUN
fcis-30624	161	19	,	,	PUNCT
fcis-30624	161	20	and	and	CCONJ
fcis-30624	161	21	angular	angular	ADJ
fcis-30624	161	22	accelerations	acceleration	NOUN
fcis-30624	161	23	of	of	ADP
fcis-30624	161	24	the	the	DET
fcis-30624	161	25	robotic	robotic	ADJ
fcis-30624	161	26	arm	arm	NOUN
fcis-30624	161	27	.	.	PUNCT
fcis-30624	162	1	in	in	ADP
fcis-30624	162	2	the	the	DET
fcis-30624	162	3	fourier	fourier	NOUN
fcis-30624	162	4	series	series	NOUN
fcis-30624	162	5	,	,	PUNCT
fcis-30624	162	6	the	the	DET
fcis-30624	162	7	angular	angular	ADJ
fcis-30624	162	8	displacement	displacement	NOUN
fcis-30624	162	9	,	,	PUNCT
fcis-30624	162	10	angular	angular	ADJ
fcis-30624	162	11	velocity	velocity	NOUN
fcis-30624	162	12	,	,	PUNCT
fcis-30624	162	13	and	and	CCONJ
fcis-30624	162	14	angular	angular	ADJ
fcis-30624	162	15	acceleration	acceleration	NOUN
fcis-30624	162	16	of	of	ADP
fcis-30624	162	17	the	the	DET
fcis-30624	162	18	i	i	PROPN
fcis-30624	162	19	-	-	PUNCT
fcis-30624	162	20	th	th	X
fcis-30624	162	21	rotational	rotational	ADJ
fcis-30624	162	22	joint	joint	NOUN
fcis-30624	162	23	of	of	ADP
fcis-30624	162	24	the	the	DET
fcis-30624	162	25	robotic	robotic	ADJ
fcis-30624	162	26	arm	arm	NOUN
fcis-30624	162	27	are	be	AUX
fcis-30624	162	28	given	give	VERB
fcis-30624	162	29	by	by	ADP
fcis-30624	162	30	:	:	PUNCT
fcis-30624	162	31			PROPN
fcis-30624	162	32			NOUN
fcis-30624	162	33			PUNCT
fcis-30624	162	34			NOUN
fcis-30624	162	35			SYM
fcis-30624	162	36			NOUN
fcis-30624	162	37			SYM
fcis-30624	162	38			NOUN
fcis-30624	162	39			SYM
fcis-30624	162	40			NOUN
fcis-30624	162	41			SYM
fcis-30624	162	42			NOUN
fcis-30624	162	43			SYM
fcis-30624	162	44			NOUN
fcis-30624	162	45			SYM
fcis-30624	162	46			NOUN
fcis-30624	162	47			SYM
fcis-30624	162	48			NOUN
fcis-30624	162	49			PUNCT
fcis-30624	162	50	0	0	NUM
fcis-30624	162	51	1	1	NUM
fcis-30624	162	52	1	1	NUM
fcis-30624	162	53	1	1	NUM
fcis-30624	162	54	sin	sin	NOUN
fcis-30624	162	55	cos	cos	PROPN
fcis-30624	162	56	cos	cos	PROPN
fcis-30624	162	57	sin	sin	PROPN
fcis-30624	162	58	sin	sin	PROPN
fcis-30624	162	59	cos	cos	PROPN
fcis-30624	162	60	n	n	PROPN
fcis-30624	162	61	il	il	PROPN
fcis-30624	162	62	il	il	PROPN
fcis-30624	163	1	i	i	PRON
fcis-30624	163	2	f	f	PROPN
fcis-30624	164	1	f	f	NOUN
fcis-30624	165	1	i	i	PRON
fcis-30624	165	2	l	l	NOUN
fcis-30624	166	1	f	f	NOUN
fcis-30624	166	2	f	f	PROPN
fcis-30624	167	1	n	n	INTJ
fcis-30624	168	1	i	i	PRON
fcis-30624	168	2	il	il	PROPN
fcis-30624	168	3	f	f	PROPN
fcis-30624	168	4	il	il	PROPN
fcis-30624	168	5	f	f	PROPN
fcis-30624	169	1	l	l	PROPN
fcis-30624	170	1	n	n	CCONJ
fcis-30624	171	1	i	i	PRON
fcis-30624	171	2	f	f	PROPN
fcis-30624	171	3	il	il	PROPN
fcis-30624	171	4	f	f	PROPN
fcis-30624	171	5	il	il	PROPN
fcis-30624	171	6	f	f	PROPN
fcis-30624	171	7	l	l	PROPN
fcis-30624	172	1	a	a	DET
fcis-30624	172	2	b	b	X
fcis-30624	172	3	q	q	X
fcis-30624	172	4	t	t	PROPN
fcis-30624	172	5	w	w	PROPN
fcis-30624	172	6	lt	lt	PROPN
fcis-30624	172	7	w	w	PROPN
fcis-30624	172	8	lt	lt	PRON
fcis-30624	172	9	q	q	PROPN
fcis-30624	172	10	w	w	PROPN
fcis-30624	172	11	l	l	PROPN
fcis-30624	172	12	w	w	PROPN
fcis-30624	172	13	l	l	PROPN
fcis-30624	172	14	q	q	PROPN
fcis-30624	172	15	t	t	PROPN
fcis-30624	172	16	a	a	PRON
fcis-30624	172	17	w	w	NOUN
fcis-30624	172	18	lt	lt	PRON
fcis-30624	172	19	b	b	PROPN
fcis-30624	172	20	w	w	PROPN
fcis-30624	172	21	lt	lt	PRON
fcis-30624	172	22	q	q	PROPN
fcis-30624	172	23	t	t	PROPN
fcis-30624	172	24	w	w	PROPN
fcis-30624	172	25	a	a	PROPN
fcis-30624	172	26	l	l	NOUN
fcis-30624	172	27	w	w	NOUN
fcis-30624	172	28	lt	lt	DET
fcis-30624	172	29	b	b	PROPN
fcis-30624	172	30	l	l	NOUN
fcis-30624	172	31	w	w	NOUN
fcis-30624	172	32	lt	lt	PRON
fcis-30624	172	33			PROPN
fcis-30624	172	34			NUM
fcis-30624	173	1			NUM
fcis-30624	173	2			PROPN
fcis-30624	173	3			ADJ
fcis-30624	173	4			PROPN
fcis-30624	173	5			NOUN
fcis-30624	173	6			PROPN
fcis-30624	173	7			PROPN
fcis-30624	173	8			NOUN
fcis-30624	173	9			PROPN
fcis-30624	173	10			PROPN
fcis-30624	173	11			PROPN
fcis-30624	173	12			PROPN
fcis-30624	173	13			NOUN
fcis-30624	173	14			PROPN
fcis-30624	173	15			PROPN
fcis-30624	173	16			PROPN
fcis-30624	173	17			PROPN
fcis-30624	173	18			PROPN
fcis-30624	173	19			PROPN
fcis-30624	173	20			X
fcis-30624	173	21			X
fcis-30624	173	22			X
fcis-30624	173	23			PROPN
fcis-30624	173	24			NOUN
fcis-30624	173	25			PUNCT
fcis-30624	173	26			PROPN
fcis-30624	173	27	where	where	SCONJ
fcis-30624	173	28	:	:	PUNCT
fcis-30624	173	29	ila	ila	PROPN
fcis-30624	173	30	,	,	PUNCT
fcis-30624	173	31	ilb	ilb	PROPN
fcis-30624	173	32	represents	represent	VERB
fcis-30624	173	33	the	the	DET
fcis-30624	173	34	amplitude	amplitude	NOUN
fcis-30624	173	35	of	of	ADP
fcis-30624	173	36	the	the	DET
fcis-30624	173	37	cosine	cosine	NOUN
fcis-30624	173	38	and	and	CCONJ
fcis-30624	173	39	sine	sine	ADJ
fcis-30624	173	40	components	component	NOUN
fcis-30624	173	41	for	for	ADP
fcis-30624	173	42	the	the	DET
fcis-30624	173	43	i	i	NOUN
fcis-30624	173	44	-th	-th	NOUN
fcis-30624	173	45	joint	joint	NOUN
fcis-30624	173	46	at	at	ADP
fcis-30624	173	47	different	different	ADJ
fcis-30624	173	48	frequencies	frequency	NOUN
fcis-30624	173	49	,	,	PUNCT
fcis-30624	173	50	0iq	0iq	PROPN
fcis-30624	173	51	denotes	denote	VERB
fcis-30624	173	52	the	the	DET
fcis-30624	173	53	positional	positional	ADJ
fcis-30624	173	54	deviation	deviation	NOUN
fcis-30624	173	55	of	of	ADP
fcis-30624	173	56	the	the	DET
fcis-30624	173	57	i	i	NOUN
fcis-30624	173	58	-th	-th	NOUN
fcis-30624	173	59	joint	joint	ADJ
fcis-30624	173	60	,	,	PUNCT
fcis-30624	173	61	n	n	X
fcis-30624	173	62	is	be	AUX
fcis-30624	173	63	the	the	DET
fcis-30624	173	64	number	number	NOUN
fcis-30624	173	65	of	of	ADP
fcis-30624	173	66	harmonic	harmonic	ADJ
fcis-30624	173	67	terms	term	NOUN
fcis-30624	173	68	contained	contain	VERB
fcis-30624	173	69	in	in	ADP
fcis-30624	173	70	the	the	DET
fcis-30624	173	71	fourier	fourier	NOUN
fcis-30624	173	72	series	series	NOUN
fcis-30624	173	73	,	,	PUNCT
fcis-30624	173	74	and	and	CCONJ
fcis-30624	173	75	fw	fw	PROPN
fcis-30624	173	76	is	be	AUX
fcis-30624	173	77	the	the	DET
fcis-30624	173	78	fundamental	fundamental	ADJ
fcis-30624	173	79	angular	angular	ADJ
fcis-30624	173	80	frequency	frequency	NOUN
fcis-30624	173	81	of	of	ADP
fcis-30624	173	82	the	the	DET
fcis-30624	173	83	excitation	excitation	NOUN
fcis-30624	173	84	frequency	frequency	NOUN
fcis-30624	173	85	.	.	PUNCT
fcis-30624	174	1	for	for	ADP
fcis-30624	174	2	the	the	DET
fcis-30624	174	3	ur5	ur5	ADJ
fcis-30624	174	4	robotic	robotic	ADJ
fcis-30624	174	5	arm	arm	NOUN
fcis-30624	174	6	studied	study	VERB
fcis-30624	174	7	in	in	ADP
fcis-30624	174	8	this	this	DET
fcis-30624	174	9	paper	paper	NOUN
fcis-30624	174	10	,	,	PUNCT
fcis-30624	174	11	a	a	DET
fcis-30624	174	12	5th	5th	ADJ
fcis-30624	174	13	-	-	PUNCT
fcis-30624	174	14	order	order	NOUN
fcis-30624	174	15	fourier	fourier	NOUN
fcis-30624	174	16	series	series	NOUN
fcis-30624	174	17	can	can	AUX
fcis-30624	174	18	be	be	AUX
fcis-30624	174	19	employed	employ	VERB
fcis-30624	174	20	,	,	PUNCT
fcis-30624	174	21	specifically	specifically	ADV
fcis-30624	174	22	n	n	NOUN
fcis-30624	174	23	=	=	SYM
fcis-30624	174	24	5	5	NUM
fcis-30624	174	25	,	,	PUNCT
fcis-30624	174	26	where	where	SCONJ
fcis-30624	174	27	ila	ila	PROPN
fcis-30624	174	28	,	,	PUNCT
fcis-30624	174	29	ilb	ilb	PROPN
fcis-30624	174	30	,	,	PUNCT
fcis-30624	174	31	0iq	0iq	PROPN
fcis-30624	174	32	are	be	AUX
fcis-30624	174	33	the	the	DET
fcis-30624	174	34	parameters	parameter	NOUN
fcis-30624	174	35	to	to	PART
fcis-30624	174	36	be	be	AUX
fcis-30624	174	37	optimized	optimize	VERB
fcis-30624	174	38	.	.	PUNCT
fcis-30624	175	1	each	each	DET
fcis-30624	175	2	joint	joint	NOUN
fcis-30624	175	3	has	have	VERB
fcis-30624	175	4	2	2	NUM
fcis-30624	175	5	1n	1n	NUM
fcis-30624	175	6			PART
fcis-30624	175	7	parameters	parameter	NOUN
fcis-30624	175	8	that	that	PRON
fcis-30624	175	9	require	require	VERB
fcis-30624	175	10	optimization	optimization	NOUN
fcis-30624	175	11	for	for	ADP
fcis-30624	175	12	the	the	DET
fcis-30624	175	13	excitation	excitation	NOUN
fcis-30624	175	14	trajectory	trajectory	NOUN
fcis-30624	175	15	.	.	PUNCT
fcis-30624	176	1	the	the	DET
fcis-30624	176	2	5th	5th	ADJ
fcis-30624	176	3	-	-	PUNCT
fcis-30624	176	4	order	order	NOUN
fcis-30624	176	5	fourier	fourier	NOUN
fcis-30624	176	6	excitation	excitation	NOUN
fcis-30624	176	7	trajectory	trajectory	NOUN
fcis-30624	176	8	parameters	parameter	NOUN
fcis-30624	176	9	were	be	AUX
fcis-30624	176	10	obtained	obtain	VERB
fcis-30624	176	11	using	use	VERB
fcis-30624	176	12	the	the	DET
fcis-30624	176	13	fmincon	fmincon	NOUN
fcis-30624	176	14	optimization	optimization	NOUN
fcis-30624	176	15	toolbox	toolbox	NOUN
fcis-30624	176	16	in	in	ADP
fcis-30624	176	17	matlab	matlab	PROPN
fcis-30624	176	18	.	.	PUNCT
fcis-30624	176	19	fig	fig	PROPN
fcis-30624	177	1	3	3	NUM
fcis-30624	177	2	.	.	PUNCT
fcis-30624	177	3	fourier	fourier	PROPN
fcis-30624	177	4	series	series	PROPN
fcis-30624	177	5	excitation	excitation	NOUN
fcis-30624	177	6	trajectories	trajectorie	VERB
fcis-30624	177	7	147	147	NUM
fcis-30624	177	8	during	during	ADP
fcis-30624	177	9	the	the	DET
fcis-30624	177	10	real	real	ADJ
fcis-30624	177	11	-	-	PUNCT
fcis-30624	177	12	time	time	NOUN
fcis-30624	177	13	operation	operation	NOUN
fcis-30624	177	14	of	of	ADP
fcis-30624	177	15	the	the	DET
fcis-30624	177	16	robotic	robotic	ADJ
fcis-30624	177	17	arm	arm	NOUN
fcis-30624	177	18	along	along	ADP
fcis-30624	177	19	the	the	DET
fcis-30624	177	20	excitation	excitation	NOUN
fcis-30624	177	21	trajectory	trajectory	NOUN
fcis-30624	177	22	,	,	PUNCT
fcis-30624	177	23	the	the	DET
fcis-30624	177	24	joint	joint	ADJ
fcis-30624	177	25	angles	angle	NOUN
fcis-30624	177	26	and	and	CCONJ
fcis-30624	177	27	joint	joint	ADJ
fcis-30624	177	28	angular	angular	ADJ
fcis-30624	177	29	velocities	velocity	NOUN
fcis-30624	177	30	can	can	AUX
fcis-30624	177	31	be	be	AUX
fcis-30624	177	32	collected	collect	VERB
fcis-30624	177	33	.	.	PUNCT
fcis-30624	178	1	by	by	ADP
fcis-30624	178	2	differentiating	differentiate	VERB
fcis-30624	178	3	the	the	DET
fcis-30624	178	4	fourier	fourier	NOUN
fcis-30624	178	5	series	series	NOUN
fcis-30624	178	6	representation	representation	NOUN
fcis-30624	178	7	,	,	PUNCT
fcis-30624	178	8	the	the	DET
fcis-30624	178	9	joint	joint	ADJ
fcis-30624	178	10	angular	angular	ADJ
fcis-30624	178	11	acceleration	acceleration	NOUN
fcis-30624	178	12	can	can	AUX
fcis-30624	178	13	be	be	AUX
fcis-30624	178	14	obtained	obtain	VERB
fcis-30624	178	15	.	.	PUNCT
fcis-30624	179	1	additionally	additionally	ADV
fcis-30624	179	2	,	,	PUNCT
fcis-30624	179	3	the	the	DET
fcis-30624	179	4	motor	motor	NOUN
fcis-30624	179	5	current	current	NOUN
fcis-30624	179	6	can	can	AUX
fcis-30624	179	7	be	be	AUX
fcis-30624	179	8	used	use	VERB
fcis-30624	179	9	to	to	PART
fcis-30624	179	10	infer	infer	VERB
fcis-30624	179	11	the	the	DET
fcis-30624	179	12	motor	motor	NOUN
fcis-30624	179	13	output	output	NOUN
fcis-30624	179	14	torque	torque	NOUN
fcis-30624	179	15	,	,	PUNCT
fcis-30624	179	16	leading	lead	VERB
fcis-30624	179	17	to	to	ADP
fcis-30624	179	18	the	the	DET
fcis-30624	179	19	calculation	calculation	NOUN
fcis-30624	179	20	of	of	ADP
fcis-30624	179	21	the	the	DET
fcis-30624	179	22	joint	joint	ADJ
fcis-30624	179	23	torque	torque	NOUN
fcis-30624	179	24	.	.	PUNCT
fcis-30624	180	1	fig	fig	NOUN
fcis-30624	180	2	4	4	NUM
fcis-30624	180	3	.	.	PUNCT
fcis-30624	181	1	the	the	DET
fcis-30624	181	2	dynamic	dynamic	ADJ
fcis-30624	181	3	parameter	parameter	NOUN
fcis-30624	181	4	identification	identification	NOUN
fcis-30624	181	5	process	process	NOUN
fcis-30624	181	6	3	3	NUM
fcis-30624	181	7	.	.	PUNCT
fcis-30624	181	8	neural	neural	ADJ
fcis-30624	181	9	network	network	NOUN
fcis-30624	181	10	modeling	model	VERB
fcis-30624	181	11	3.1	3.1	NUM
fcis-30624	181	12	.	.	PUNCT
fcis-30624	181	13	bp	bp	PROPN
fcis-30624	181	14	neural	neural	PROPN
fcis-30624	181	15	network	network	PROPN
fcis-30624	181	16	model	model	NOUN
fcis-30624	181	17	a	a	DET
fcis-30624	181	18	back	back	ADJ
fcis-30624	181	19	-	-	PUNCT
fcis-30624	181	20	propagation	propagation	NOUN
fcis-30624	181	21	neural	neural	ADJ
fcis-30624	181	22	network	network	NOUN
fcis-30624	181	23	(	(	PUNCT
fcis-30624	181	24	bpnn	bpnn	NOUN
fcis-30624	181	25	)	)	PUNCT
fcis-30624	181	26	,	,	PUNCT
fcis-30624	181	27	or	or	CCONJ
fcis-30624	181	28	backpropagation	backpropagation	NOUN
fcis-30624	181	29	neural	neural	ADJ
fcis-30624	181	30	network	network	NOUN
fcis-30624	181	31	,	,	PUNCT
fcis-30624	181	32	constitutes	constitute	VERB
fcis-30624	181	33	a	a	DET
fcis-30624	181	34	multi	multi	ADJ
fcis-30624	181	35	-	-	ADJ
fcis-30624	181	36	layer	layer	ADJ
fcis-30624	181	37	feedforward	feedforward	NOUN
fcis-30624	181	38	neural	neural	ADJ
fcis-30624	181	39	network	network	NOUN
fcis-30624	181	40	with	with	ADP
fcis-30624	181	41	the	the	DET
fcis-30624	181	42	capacity	capacity	NOUN
fcis-30624	181	43	to	to	PART
fcis-30624	181	44	accommodate	accommodate	VERB
fcis-30624	181	45	intricate	intricate	ADJ
fcis-30624	181	46	non	non	ADJ
fcis-30624	181	47	-	-	ADJ
fcis-30624	181	48	linear	linear	ADJ
fcis-30624	181	49	correlations	correlation	NOUN
fcis-30624	181	50	through	through	ADP
fcis-30624	181	51	the	the	DET
fcis-30624	181	52	implementation	implementation	NOUN
fcis-30624	181	53	of	of	ADP
fcis-30624	181	54	a	a	DET
fcis-30624	181	55	back	back	ADJ
fcis-30624	181	56	-	-	PUNCT
fcis-30624	181	57	propagation	propagation	NOUN
fcis-30624	181	58	algorithm	algorithm	NOUN
fcis-30624	181	59	for	for	ADP
fcis-30624	181	60	the	the	DET
fcis-30624	181	61	purposes	purpose	NOUN
fcis-30624	181	62	of	of	ADP
fcis-30624	181	63	network	network	NOUN
fcis-30624	181	64	training	training	NOUN
fcis-30624	181	65	.	.	PUNCT
fcis-30624	182	1	a	a	DET
fcis-30624	182	2	bp	bp	PROPN
fcis-30624	182	3	neural	neural	ADJ
fcis-30624	182	4	network	network	NOUN
fcis-30624	182	5	typically	typically	ADV
fcis-30624	182	6	comprises	comprise	VERB
fcis-30624	182	7	three	three	NUM
fcis-30624	182	8	layers	layer	NOUN
fcis-30624	182	9	:	:	PUNCT
fcis-30624	182	10	an	an	DET
fcis-30624	182	11	input	input	NOUN
fcis-30624	182	12	layer	layer	NOUN
fcis-30624	182	13	,	,	PUNCT
fcis-30624	182	14	a	a	DET
fcis-30624	182	15	hidden	hidden	ADJ
fcis-30624	182	16	layer	layer	NOUN
fcis-30624	182	17	and	and	CCONJ
fcis-30624	182	18	an	an	DET
fcis-30624	182	19	output	output	NOUN
fcis-30624	182	20	layer	layer	NOUN
fcis-30624	182	21	.	.	PUNCT
fcis-30624	183	1	each	each	DET
fcis-30624	183	2	layer	layer	NOUN
fcis-30624	183	3	is	be	AUX
fcis-30624	183	4	comprised	comprise	VERB
fcis-30624	183	5	of	of	ADP
fcis-30624	183	6	multiple	multiple	ADJ
fcis-30624	183	7	neurons	neuron	NOUN
fcis-30624	183	8	,	,	PUNCT
fcis-30624	183	9	which	which	PRON
fcis-30624	183	10	are	be	AUX
fcis-30624	183	11	connected	connect	VERB
fcis-30624	183	12	to	to	ADP
fcis-30624	183	13	one	one	NUM
fcis-30624	183	14	another	another	DET
fcis-30624	183	15	by	by	ADP
fcis-30624	183	16	means	mean	NOUN
fcis-30624	183	17	of	of	ADP
fcis-30624	183	18	weights	weight	NOUN
fcis-30624	183	19	.	.	PUNCT
fcis-30624	184	1	each	each	DET
fcis-30624	184	2	neuron	neuron	NOUN
fcis-30624	184	3	performs	perform	VERB
fcis-30624	184	4	a	a	DET
fcis-30624	184	5	weighted	weighted	ADJ
fcis-30624	184	6	sum	sum	NOUN
fcis-30624	184	7	of	of	ADP
fcis-30624	184	8	the	the	DET
fcis-30624	184	9	received	receive	VERB
fcis-30624	184	10	signals	signal	NOUN
fcis-30624	184	11	and	and	CCONJ
fcis-30624	184	12	then	then	ADV
fcis-30624	184	13	performs	perform	VERB
fcis-30624	184	14	a	a	DET
fcis-30624	184	15	non	non	ADJ
fcis-30624	184	16	-	-	ADJ
fcis-30624	184	17	linear	linear	ADJ
fcis-30624	184	18	transformation	transformation	NOUN
fcis-30624	184	19	through	through	ADP
fcis-30624	184	20	an	an	DET
fcis-30624	184	21	activation	activation	NOUN
fcis-30624	184	22	function	function	NOUN
fcis-30624	184	23	to	to	PART
fcis-30624	184	24	produce	produce	VERB
fcis-30624	184	25	an	an	DET
fcis-30624	184	26	output	output	NOUN
fcis-30624	184	27	.	.	PUNCT
fcis-30624	185	1	the	the	DET
fcis-30624	185	2	input	input	NOUN
fcis-30624	185	3	signals	signal	NOUN
fcis-30624	185	4	of	of	ADP
fcis-30624	185	5	a	a	DET
fcis-30624	185	6	bp	bp	PROPN
fcis-30624	185	7	neural	neural	ADJ
fcis-30624	185	8	network	network	NOUN
fcis-30624	185	9	originate	originate	VERB
fcis-30624	185	10	in	in	ADP
fcis-30624	185	11	the	the	DET
fcis-30624	185	12	input	input	NOUN
fcis-30624	185	13	layer	layer	NOUN
fcis-30624	185	14	and	and	CCONJ
fcis-30624	185	15	are	be	AUX
fcis-30624	185	16	conveyed	convey	VERB
fcis-30624	185	17	to	to	ADP
fcis-30624	185	18	the	the	DET
fcis-30624	185	19	output	output	NOUN
fcis-30624	185	20	layer	layer	NOUN
fcis-30624	185	21	in	in	ADP
fcis-30624	185	22	a	a	DET
fcis-30624	185	23	successive	successive	ADJ
fcis-30624	185	24	manner	manner	NOUN
fcis-30624	185	25	.	.	PUNCT
fcis-30624	186	1	subsequently	subsequently	ADV
fcis-30624	186	2	,	,	PUNCT
fcis-30624	186	3	the	the	DET
fcis-30624	186	4	output	output	NOUN
fcis-30624	186	5	of	of	ADP
fcis-30624	186	6	the	the	DET
fcis-30624	186	7	network	network	NOUN
fcis-30624	186	8	is	be	AUX
fcis-30624	186	9	compared	compare	VERB
fcis-30624	186	10	with	with	ADP
fcis-30624	186	11	the	the	DET
fcis-30624	186	12	true	true	ADJ
fcis-30624	186	13	value	value	NOUN
fcis-30624	186	14	,	,	PUNCT
fcis-30624	186	15	and	and	CCONJ
fcis-30624	186	16	the	the	DET
fcis-30624	186	17	loss	loss	NOUN
fcis-30624	186	18	function	function	NOUN
fcis-30624	186	19	is	be	AUX
fcis-30624	186	20	calculated	calculate	VERB
fcis-30624	186	21	.	.	PUNCT
fcis-30624	187	1	the	the	DET
fcis-30624	187	2	weights	weight	NOUN
fcis-30624	187	3	of	of	ADP
fcis-30624	187	4	the	the	DET
fcis-30624	187	5	network	network	NOUN
fcis-30624	187	6	are	be	AUX
fcis-30624	187	7	then	then	ADV
fcis-30624	187	8	adjusted	adjust	VERB
fcis-30624	187	9	according	accord	VERB
fcis-30624	187	10	to	to	ADP
fcis-30624	187	11	the	the	DET
fcis-30624	187	12	loss	loss	NOUN
fcis-30624	187	13	function	function	NOUN
fcis-30624	187	14	with	with	ADP
fcis-30624	187	15	the	the	DET
fcis-30624	187	16	objective	objective	NOUN
fcis-30624	187	17	of	of	ADP
fcis-30624	187	18	reducing	reduce	VERB
fcis-30624	187	19	the	the	DET
fcis-30624	187	20	error	error	NOUN
fcis-30624	187	21	and	and	CCONJ
fcis-30624	187	22	updating	update	VERB
fcis-30624	187	23	the	the	DET
fcis-30624	187	24	weights	weight	NOUN
fcis-30624	187	25	.	.	PUNCT
fcis-30624	188	1	finally	finally	ADV
fcis-30624	188	2	,	,	PUNCT
fcis-30624	188	3	the	the	DET
fcis-30624	188	4	iterations	iteration	NOUN
fcis-30624	188	5	are	be	AUX
fcis-30624	188	6	repeated	repeat	VERB
fcis-30624	188	7	in	in	ADP
fcis-30624	188	8	order	order	NOUN
fcis-30624	188	9	to	to	PART
fcis-30624	188	10	achieve	achieve	VERB
fcis-30624	188	11	the	the	DET
fcis-30624	188	12	predetermined	predetermined	ADJ
fcis-30624	188	13	accuracy	accuracy	NOUN
fcis-30624	188	14	.	.	PUNCT
fcis-30624	189	1	from	from	ADP
fcis-30624	189	2	the	the	DET
fcis-30624	189	3	relationship	relationship	NOUN
fcis-30624	189	4	in	in	ADP
fcis-30624	189	5	equation	equation	NOUN
fcis-30624	189	6	(	(	PUNCT
fcis-30624	189	7	16	16	NUM
fcis-30624	189	8	)	)	PUNCT
fcis-30624	189	9	between	between	ADP
fcis-30624	189	10	the	the	DET
fcis-30624	189	11	joint	joint	ADJ
fcis-30624	189	12	torque	torque	NOUN
fcis-30624	189	13	and	and	CCONJ
fcis-30624	189	14	the	the	DET
fcis-30624	189	15	minimal	minimal	ADJ
fcis-30624	189	16	set	set	NOUN
fcis-30624	189	17	of	of	ADP
fcis-30624	189	18	dynamic	dynamic	ADJ
fcis-30624	189	19	parameters	parameter	NOUN
fcis-30624	189	20	,	,	PUNCT
fcis-30624	189	21	it	it	PRON
fcis-30624	189	22	can	can	AUX
fcis-30624	189	23	be	be	AUX
fcis-30624	189	24	inferred	infer	VERB
fcis-30624	189	25	that	that	SCONJ
fcis-30624	189	26	by	by	ADP
fcis-30624	189	27	assigning	assign	VERB
fcis-30624	189	28	physical	physical	ADJ
fcis-30624	189	29	meaning	meaning	NOUN
fcis-30624	189	30	to	to	ADP
fcis-30624	189	31	each	each	DET
fcis-30624	189	32	weight	weight	NOUN
fcis-30624	189	33	,	,	PUNCT
fcis-30624	189	34	the	the	DET
fcis-30624	189	35	trained	train	VERB
fcis-30624	189	36	weights	weight	NOUN
fcis-30624	189	37	correspond	correspond	VERB
fcis-30624	189	38	to	to	ADP
fcis-30624	189	39	the	the	DET
fcis-30624	189	40	dynamic	dynamic	ADJ
fcis-30624	189	41	parameters	parameter	NOUN
fcis-30624	189	42	of	of	ADP
fcis-30624	189	43	the	the	DET
fcis-30624	189	44	robotic	robotic	ADJ
fcis-30624	189	45	arm	arm	NOUN
fcis-30624	189	46	.	.	PUNCT
fcis-30624	190	1	in	in	ADP
fcis-30624	190	2	bp	bp	PROPN
fcis-30624	190	3	neural	neural	PROPN
fcis-30624	190	4	networks	network	NOUN
fcis-30624	190	5	,	,	PUNCT
fcis-30624	190	6	a	a	DET
fcis-30624	190	7	multitude	multitude	NOUN
fcis-30624	190	8	of	of	ADP
fcis-30624	190	9	neurons	neuron	NOUN
fcis-30624	190	10	are	be	AUX
fcis-30624	190	11	interconnected	interconnect	VERB
fcis-30624	190	12	in	in	ADP
fcis-30624	190	13	this	this	DET
fcis-30624	190	14	manner	manner	NOUN
fcis-30624	190	15	to	to	PART
fcis-30624	190	16	form	form	VERB
fcis-30624	190	17	a	a	DET
fcis-30624	190	18	sophisticated	sophisticated	ADJ
fcis-30624	190	19	network	network	NOUN
fcis-30624	190	20	structure	structure	NOUN
fcis-30624	190	21	,	,	PUNCT
fcis-30624	190	22	enabling	enable	VERB
fcis-30624	190	23	the	the	DET
fcis-30624	190	24	network	network	NOUN
fcis-30624	190	25	to	to	PART
fcis-30624	190	26	discern	discern	VERB
fcis-30624	190	27	intricate	intricate	ADJ
fcis-30624	190	28	patterns	pattern	NOUN
fcis-30624	190	29	and	and	CCONJ
fcis-30624	190	30	characteristics	characteristic	NOUN
fcis-30624	190	31	within	within	ADP
fcis-30624	190	32	the	the	DET
fcis-30624	190	33	data	datum	NOUN
fcis-30624	190	34	.	.	PUNCT
fcis-30624	191	1	neural	neural	ADJ
fcis-30624	191	2	networks	network	NOUN
fcis-30624	191	3	construct	construct	VERB
fcis-30624	191	4	more	more	ADJ
fcis-30624	191	5	complex	complex	ADJ
fcis-30624	191	6	models	model	NOUN
fcis-30624	191	7	by	by	ADP
fcis-30624	191	8	introducing	introduce	VERB
fcis-30624	191	9	hidden	hidden	ADJ
fcis-30624	191	10	layers	layer	NOUN
fcis-30624	191	11	,	,	PUNCT
fcis-30624	191	12	which	which	PRON
fcis-30624	191	13	have	have	VERB
fcis-30624	191	14	their	their	PRON
fcis-30624	191	15	own	own	ADJ
fcis-30624	191	16	internal	internal	ADJ
fcis-30624	191	17	weights	weight	NOUN
fcis-30624	191	18	and	and	CCONJ
fcis-30624	191	19	biases	bias	NOUN
fcis-30624	191	20	.	.	PUNCT
fcis-30624	192	1	these	these	DET
fcis-30624	192	2	hidden	hide	VERB
fcis-30624	192	3	layers	layer	NOUN
fcis-30624	192	4	enable	enable	VERB
fcis-30624	192	5	the	the	DET
fcis-30624	192	6	network	network	NOUN
fcis-30624	192	7	to	to	PART
fcis-30624	192	8	learn	learn	VERB
fcis-30624	192	9	nonlinear	nonlinear	ADJ
fcis-30624	192	10	relationships	relationship	NOUN
fcis-30624	192	11	and	and	CCONJ
fcis-30624	192	12	deeper	deep	ADJ
fcis-30624	192	13	features	feature	NOUN
fcis-30624	192	14	within	within	ADP
fcis-30624	192	15	the	the	DET
fcis-30624	192	16	data	datum	NOUN
fcis-30624	192	17	.	.	PUNCT
fcis-30624	193	1	the	the	DET
fcis-30624	193	2	hidden	hidden	ADJ
fcis-30624	193	3	layers	layer	NOUN
fcis-30624	193	4	are	be	AUX
fcis-30624	193	5	one	one	NUM
fcis-30624	193	6	or	or	CCONJ
fcis-30624	193	7	more	more	ADV
fcis-30624	193	8	intermediate	intermediate	ADJ
fcis-30624	193	9	layers	layer	NOUN
fcis-30624	193	10	that	that	PRON
fcis-30624	193	11	are	be	AUX
fcis-30624	193	12	not	not	PART
fcis-30624	193	13	directly	directly	ADV
fcis-30624	193	14	connected	connect	VERB
fcis-30624	193	15	to	to	ADP
fcis-30624	193	16	the	the	DET
fcis-30624	193	17	input	input	NOUN
fcis-30624	193	18	or	or	CCONJ
fcis-30624	193	19	output	output	NOUN
fcis-30624	193	20	.	.	PUNCT
fcis-30624	194	1	neurons	neuron	NOUN
fcis-30624	194	2	in	in	ADP
fcis-30624	194	3	the	the	DET
fcis-30624	194	4	hidden	hidden	ADJ
fcis-30624	194	5	layers	layer	NOUN
fcis-30624	194	6	receive	receive	VERB
fcis-30624	194	7	signals	signal	NOUN
fcis-30624	194	8	from	from	ADP
fcis-30624	194	9	the	the	DET
fcis-30624	194	10	input	input	NOUN
fcis-30624	194	11	layer	layer	NOUN
fcis-30624	194	12	,	,	PUNCT
fcis-30624	194	13	and	and	CCONJ
fcis-30624	194	14	after	after	ADP
fcis-30624	194	15	processing	process	VERB
fcis-30624	194	16	with	with	ADP
fcis-30624	194	17	weights	weight	NOUN
fcis-30624	194	18	and	and	CCONJ
fcis-30624	194	19	biases	bias	NOUN
fcis-30624	194	20	,	,	PUNCT
fcis-30624	194	21	the	the	DET
fcis-30624	194	22	activation	activation	NOUN
fcis-30624	194	23	function	function	NOUN
fcis-30624	194	24	transforms	transform	VERB
fcis-30624	194	25	these	these	DET
fcis-30624	194	26	signals	signal	NOUN
fcis-30624	194	27	into	into	ADP
fcis-30624	194	28	new	new	ADJ
fcis-30624	194	29	representations	representation	NOUN
fcis-30624	194	30	.	.	PUNCT
fcis-30624	195	1	the	the	DET
fcis-30624	195	2	inclusion	inclusion	NOUN
fcis-30624	195	3	of	of	ADP
fcis-30624	195	4	hidden	hide	VERB
fcis-30624	195	5	layers	layer	NOUN
fcis-30624	195	6	increases	increase	VERB
fcis-30624	195	7	the	the	DET
fcis-30624	195	8	network	network	NOUN
fcis-30624	195	9	's	's	PART
fcis-30624	195	10	parameters	parameter	NOUN
fcis-30624	195	11	,	,	PUNCT
fcis-30624	195	12	weights	weight	NOUN
fcis-30624	195	13	,	,	PUNCT
fcis-30624	195	14	and	and	CCONJ
fcis-30624	195	15	biases	bias	NOUN
fcis-30624	195	16	,	,	PUNCT
fcis-30624	195	17	enhancing	enhance	VERB
fcis-30624	195	18	its	its	PRON
fcis-30624	195	19	parameter	parameter	NOUN
fcis-30624	195	20	capacity	capacity	NOUN
fcis-30624	195	21	and	and	CCONJ
fcis-30624	195	22	allowing	allow	VERB
fcis-30624	195	23	it	it	PRON
fcis-30624	195	24	to	to	PART
fcis-30624	195	25	fit	fit	VERB
fcis-30624	195	26	more	more	ADJ
fcis-30624	195	27	complex	complex	ADJ
fcis-30624	195	28	functions	function	NOUN
fcis-30624	195	29	.	.	PUNCT
fcis-30624	196	1	each	each	DET
fcis-30624	196	2	layer	layer	NOUN
fcis-30624	196	3	further	further	ADJ
fcis-30624	196	4	abstracts	abstract	NOUN
fcis-30624	196	5	and	and	CCONJ
fcis-30624	196	6	generalizes	generalize	VERB
fcis-30624	196	7	from	from	ADP
fcis-30624	196	8	the	the	DET
fcis-30624	196	9	previous	previous	ADJ
fcis-30624	196	10	layer	layer	NOUN
fcis-30624	196	11	,	,	PUNCT
fcis-30624	196	12	which	which	PRON
fcis-30624	196	13	helps	help	VERB
fcis-30624	196	14	the	the	DET
fcis-30624	196	15	neural	neural	ADJ
fcis-30624	196	16	network	network	NOUN
fcis-30624	196	17	better	well	ADV
fcis-30624	196	18	understand	understand	VERB
fcis-30624	196	19	and	and	CCONJ
fcis-30624	196	20	process	process	VERB
fcis-30624	196	21	the	the	DET
fcis-30624	196	22	data	datum	NOUN
fcis-30624	196	23	.	.	PUNCT
fcis-30624	197	1	3.2	3.2	NUM
fcis-30624	197	2	.	.	PUNCT
fcis-30624	197	3	neural	neural	ADJ
fcis-30624	197	4	network	network	NOUN
fcis-30624	197	5	construction	construction	PROPN
fcis-30624	197	6	fig	fig	NOUN
fcis-30624	197	7	5	5	NUM
fcis-30624	197	8	.	.	PUNCT
fcis-30624	197	9	bp	bp	PROPN
fcis-30624	197	10	neural	neural	ADJ
fcis-30624	197	11	network	network	NOUN
fcis-30624	197	12	construction	construction	NOUN
fcis-30624	197	13	3.3	3.3	NUM
fcis-30624	197	14	.	.	PUNCT
fcis-30624	198	1	the	the	DET
fcis-30624	198	2	selection	selection	NOUN
fcis-30624	198	3	of	of	ADP
fcis-30624	198	4	the	the	DET
fcis-30624	198	5	activation	activation	NOUN
fcis-30624	198	6	function	function	NOUN
fcis-30624	198	7	in	in	ADP
fcis-30624	198	8	neural	neural	ADJ
fcis-30624	198	9	network	network	NOUN
fcis-30624	198	10	models	model	NOUN
fcis-30624	198	11	,	,	PUNCT
fcis-30624	198	12	the	the	DET
fcis-30624	198	13	choice	choice	NOUN
fcis-30624	198	14	of	of	ADP
fcis-30624	198	15	activation	activation	NOUN
fcis-30624	198	16	function	function	NOUN
fcis-30624	198	17	has	have	VERB
fcis-30624	198	18	a	a	DET
fcis-30624	198	19	crucial	crucial	ADJ
fcis-30624	198	20	impact	impact	NOUN
fcis-30624	198	21	on	on	ADP
fcis-30624	198	22	the	the	DET
fcis-30624	198	23	model	model	NOUN
fcis-30624	198	24	's	's	PART
fcis-30624	198	25	learning	learn	VERB
fcis-30624	198	26	performance	performance	NOUN
fcis-30624	198	27	and	and	CCONJ
fcis-30624	198	28	nonlinear	nonlinear	ADJ
fcis-30624	198	29	fitting	fitting	ADJ
fcis-30624	198	30	ability	ability	NOUN
fcis-30624	198	31	.	.	PUNCT
fcis-30624	199	1	the	the	DET
fcis-30624	199	2	sigmoid	sigmoid	NOUN
fcis-30624	199	3	function	function	NOUN
fcis-30624	199	4	is	be	AUX
fcis-30624	199	5	the	the	DET
fcis-30624	199	6	most	most	ADV
fcis-30624	199	7	traditional	traditional	ADJ
fcis-30624	199	8	and	and	CCONJ
fcis-30624	199	9	commonly	commonly	ADV
fcis-30624	199	10	used	use	VERB
fcis-30624	199	11	nonlinear	nonlinear	ADJ
fcis-30624	199	12	activation	activation	NOUN
fcis-30624	199	13	function	function	NOUN
fcis-30624	199	14	,	,	PUNCT
fcis-30624	199	15	and	and	CCONJ
fcis-30624	199	16	its	its	PRON
fcis-30624	199	17	mathematical	mathematical	ADJ
fcis-30624	199	18	expression	expression	NOUN
fcis-30624	199	19	is	be	AUX
fcis-30624	199	20	:	:	PUNCT
fcis-30624	199	21			X
fcis-30624	199	22			NOUN
fcis-30624	199	23			PROPN
fcis-30624	199	24	1	1	NUM
fcis-30624	199	25	1	1	NUM
fcis-30624	199	26	x	x	SYM
fcis-30624	199	27	x	x	X
fcis-30624	199	28	e	e	NOUN
fcis-30624	199	29			PROPN
fcis-30624	199	30			PROPN
fcis-30624	199	31			PUNCT
fcis-30624	199	32			PUNCT
fcis-30624	199	33			X
fcis-30624	199	34	the	the	DET
fcis-30624	199	35	sigmoid	sigmoid	NOUN
fcis-30624	199	36	function	function	NOUN
fcis-30624	199	37	works	work	VERB
fcis-30624	199	38	well	well	ADV
fcis-30624	199	39	for	for	ADP
fcis-30624	199	40	logistic	logistic	ADJ
fcis-30624	199	41	regression	regression	NOUN
fcis-30624	199	42	and	and	CCONJ
fcis-30624	199	43	binary	binary	ADJ
fcis-30624	199	44	classification	classification	NOUN
fcis-30624	199	45	problems	problem	NOUN
fcis-30624	199	46	,	,	PUNCT
fcis-30624	199	47	but	but	CCONJ
fcis-30624	199	48	it	it	PRON
fcis-30624	199	49	suffers	suffer	VERB
fcis-30624	199	50	from	from	ADP
fcis-30624	199	51	the	the	DET
fcis-30624	199	52	vanishing	vanish	VERB
fcis-30624	199	53	gradient	gradient	NOUN
fcis-30624	199	54	problem	problem	NOUN
fcis-30624	199	55	when	when	SCONJ
fcis-30624	199	56	the	the	DET
fcis-30624	199	57	input	input	NOUN
fcis-30624	199	58	values	value	VERB
fcis-30624	199	59	approach	approach	NOUN
fcis-30624	199	60	infinity	infinity	NOUN
fcis-30624	199	61	or	or	CCONJ
fcis-30624	199	62	negative	negative	ADJ
fcis-30624	199	63	infinity	infinity	NOUN
fcis-30624	199	64	.	.	PUNCT
fcis-30624	200	1	therefore	therefore	ADV
fcis-30624	200	2	,	,	PUNCT
fcis-30624	200	3	this	this	DET
fcis-30624	200	4	paper	paper	NOUN
fcis-30624	200	5	uses	use	VERB
fcis-30624	200	6	the	the	DET
fcis-30624	200	7	relu	relu	NOUN
fcis-30624	200	8	function	function	NOUN
fcis-30624	200	9	,	,	PUNCT
fcis-30624	200	10	which	which	PRON
fcis-30624	200	11	is	be	AUX
fcis-30624	200	12	commonly	commonly	ADV
fcis-30624	200	13	used	use	VERB
fcis-30624	200	14	in	in	ADP
fcis-30624	200	15	modern	modern	ADJ
fcis-30624	200	16	deep	deep	ADJ
fcis-30624	200	17	learning	learning	NOUN
fcis-30624	200	18	:	:	PUNCT
fcis-30624	200	19			VERB
fcis-30624	200	20			X
fcis-30624	200	21			PROPN
fcis-30624	200	22	max(0	max(0	NOUN
fcis-30624	200	23	,	,	PUNCT
fcis-30624	200	24	)	)	PUNCT
fcis-30624	200	25	x	x	X
fcis-30624	200	26	x	x	PROPN
fcis-30624	200	27			PROPN
fcis-30624	200	28			PROPN
fcis-30624	200	29			NOUN
fcis-30624	200	30	the	the	DET
fcis-30624	200	31	relu	relu	NOUN
fcis-30624	200	32	function	function	NOUN
fcis-30624	200	33	has	have	VERB
fcis-30624	200	34	a	a	DET
fcis-30624	200	35	simple	simple	ADJ
fcis-30624	200	36	expression	expression	NOUN
fcis-30624	200	37	,	,	PUNCT
fcis-30624	200	38	involving	involve	VERB
fcis-30624	200	39	only	only	ADV
fcis-30624	200	40	a	a	DET
fcis-30624	200	41	basic	basic	ADJ
fcis-30624	200	42	threshold	threshold	NOUN
fcis-30624	200	43	operation	operation	NOUN
fcis-30624	200	44	.	.	PUNCT
fcis-30624	201	1	it	it	PRON
fcis-30624	201	2	requires	require	VERB
fcis-30624	201	3	less	less	ADJ
fcis-30624	201	4	computation	computation	NOUN
fcis-30624	201	5	148	148	NUM
fcis-30624	201	6	during	during	ADP
fcis-30624	201	7	optimization	optimization	NOUN
fcis-30624	201	8	,	,	PUNCT
fcis-30624	201	9	is	be	AUX
fcis-30624	201	10	more	more	ADV
fcis-30624	201	11	efficient	efficient	ADJ
fcis-30624	201	12	,	,	PUNCT
fcis-30624	201	13	and	and	CCONJ
fcis-30624	201	14	offers	offer	VERB
fcis-30624	201	15	strong	strong	ADJ
fcis-30624	201	16	flexibility	flexibility	NOUN
fcis-30624	201	17	and	and	CCONJ
fcis-30624	201	18	generalizability	generalizability	NOUN
fcis-30624	201	19	.	.	PUNCT
fcis-30624	202	1	3.4	3.4	NUM
fcis-30624	202	2	.	.	PUNCT
fcis-30624	203	1	the	the	DET
fcis-30624	203	2	selection	selection	NOUN
fcis-30624	203	3	of	of	ADP
fcis-30624	203	4	training	training	NOUN
fcis-30624	203	5	and	and	CCONJ
fcis-30624	203	6	optimization	optimization	NOUN
fcis-30624	203	7	methods	method	NOUN
fcis-30624	203	8	for	for	ADP
fcis-30624	203	9	neural	neural	ADJ
fcis-30624	203	10	network	network	NOUN
fcis-30624	203	11	models	model	NOUN
fcis-30624	203	12	to	to	PART
fcis-30624	203	13	measure	measure	VERB
fcis-30624	203	14	the	the	DET
fcis-30624	203	15	difference	difference	NOUN
fcis-30624	203	16	between	between	ADP
fcis-30624	203	17	the	the	DET
fcis-30624	203	18	predicted	predict	VERB
fcis-30624	203	19	values	value	NOUN
fcis-30624	203	20	and	and	CCONJ
fcis-30624	203	21	the	the	DET
fcis-30624	203	22	actual	actual	ADJ
fcis-30624	203	23	values	value	NOUN
fcis-30624	203	24	of	of	ADP
fcis-30624	203	25	the	the	DET
fcis-30624	203	26	neural	neural	ADJ
fcis-30624	203	27	network	network	NOUN
fcis-30624	203	28	model	model	NOUN
fcis-30624	203	29	,	,	PUNCT
fcis-30624	203	30	and	and	CCONJ
fcis-30624	203	31	to	to	PART
fcis-30624	203	32	accurately	accurately	ADV
fcis-30624	203	33	predict	predict	VERB
fcis-30624	203	34	or	or	CCONJ
fcis-30624	203	35	classify	classify	VERB
fcis-30624	203	36	new	new	ADJ
fcis-30624	203	37	data	datum	NOUN
fcis-30624	203	38	,	,	PUNCT
fcis-30624	203	39	the	the	DET
fcis-30624	203	40	loss	loss	NOUN
fcis-30624	203	41	function	function	NOUN
fcis-30624	203	42	j	j	PROPN
fcis-30624	203	43	is	be	AUX
fcis-30624	203	44	defined	define	VERB
fcis-30624	203	45	using	use	VERB
fcis-30624	203	46	the	the	DET
fcis-30624	203	47	root	root	NOUN
fcis-30624	203	48	mean	mean	ADJ
fcis-30624	203	49	square	square	ADJ
fcis-30624	203	50	error	error	NOUN
fcis-30624	203	51	rmse	rmse	NOUN
fcis-30624	203	52	of	of	ADP
fcis-30624	203	53	the	the	DET
fcis-30624	203	54	joint	joint	ADJ
fcis-30624	203	55	torque	torque	NOUN
fcis-30624	204	1	[	[	X
fcis-30624	204	2	13	13	NUM
fcis-30624	204	3	]	]	X
fcis-30624	204	4	:	:	PUNCT
fcis-30624	204	5			NUM
fcis-30624	204	6			NOUN
fcis-30624	204	7	2	2	ADJ
fcis-30624	204	8	1	1	NUM
fcis-30624	204	9	1	1	NUM
fcis-30624	204	10	ˆ	ˆ	NOUN
fcis-30624	204	11	n	n	NOUN
fcis-30624	205	1	i	i	PRON
fcis-30624	205	2	i	i	PRON
fcis-30624	206	1	i	i	PRON
fcis-30624	206	2	rmse	rmse	VERB
fcis-30624	206	3	n	n	PRON
fcis-30624	206	4			NOUN
fcis-30624	206	5			NOUN
fcis-30624	206	6			NOUN
fcis-30624	206	7			PRON
fcis-30624	207	1			NOUN
fcis-30624	207	2			VERB
fcis-30624	207	3			NOUN
fcis-30624	207	4	where	where	SCONJ
fcis-30624	207	5	n	n	X
fcis-30624	207	6	is	be	AUX
fcis-30624	207	7	the	the	DET
fcis-30624	207	8	total	total	ADJ
fcis-30624	207	9	number	number	NOUN
fcis-30624	207	10	of	of	ADP
fcis-30624	207	11	sample	sample	NOUN
fcis-30624	207	12	data	datum	NOUN
fcis-30624	207	13	,	,	PUNCT
fcis-30624	207	14	i	i	PROPN
fcis-30624	207	15	is	be	AUX
fcis-30624	207	16	the	the	DET
fcis-30624	207	17	actual	actual	ADJ
fcis-30624	207	18	value	value	NOUN
fcis-30624	207	19	of	of	ADP
fcis-30624	207	20	data	datum	NOUN
fcis-30624	207	21	point	point	NOUN
fcis-30624	207	22	i	i	PRON
fcis-30624	207	23	,	,	PUNCT
fcis-30624	207	24	and	and	CCONJ
fcis-30624	207	25	î	î	PROPN
fcis-30624	207	26	is	be	AUX
fcis-30624	207	27	the	the	DET
fcis-30624	207	28	predicted	predict	VERB
fcis-30624	207	29	value	value	NOUN
fcis-30624	207	30	of	of	ADP
fcis-30624	207	31	data	datum	NOUN
fcis-30624	207	32	point	point	NOUN
fcis-30624	207	33	i.	i.	PROPN
fcis-30624	207	34	typically	typically	ADV
fcis-30624	207	35	,	,	PUNCT
fcis-30624	207	36	gradient	gradient	ADJ
fcis-30624	207	37	descent	descent	NOUN
fcis-30624	207	38	is	be	AUX
fcis-30624	207	39	chosen	choose	VERB
fcis-30624	207	40	as	as	ADP
fcis-30624	207	41	the	the	DET
fcis-30624	207	42	optimization	optimization	NOUN
fcis-30624	207	43	algorithm	algorithm	NOUN
fcis-30624	207	44	to	to	PART
fcis-30624	207	45	minimize	minimize	VERB
fcis-30624	207	46	the	the	DET
fcis-30624	207	47	loss	loss	NOUN
fcis-30624	207	48	function	function	NOUN
fcis-30624	207	49	.	.	PUNCT
fcis-30624	208	1	by	by	ADP
fcis-30624	208	2	randomly	randomly	ADV
fcis-30624	208	3	initializing	initialize	VERB
fcis-30624	208	4	the	the	DET
fcis-30624	208	5	model	model	NOUN
fcis-30624	208	6	's	's	PART
fcis-30624	208	7	weights	weight	NOUN
fcis-30624	208	8	and	and	CCONJ
fcis-30624	208	9	biases	bias	NOUN
fcis-30624	208	10	,	,	PUNCT
fcis-30624	208	11	the	the	DET
fcis-30624	208	12	derivative	derivative	NOUN
fcis-30624	208	13	of	of	ADP
fcis-30624	208	14	the	the	DET
fcis-30624	208	15	loss	loss	NOUN
fcis-30624	208	16	function	function	NOUN
fcis-30624	208	17	with	with	ADP
fcis-30624	208	18	respect	respect	NOUN
fcis-30624	208	19	to	to	ADP
fcis-30624	208	20	each	each	DET
fcis-30624	208	21	parameter	parameter	NOUN
fcis-30624	208	22	is	be	AUX
fcis-30624	208	23	computed	compute	VERB
fcis-30624	208	24	to	to	PART
fcis-30624	208	25	obtain	obtain	VERB
fcis-30624	208	26	the	the	DET
fcis-30624	208	27	gradient	gradient	NOUN
fcis-30624	208	28	of	of	ADP
fcis-30624	208	29	the	the	DET
fcis-30624	208	30	loss	loss	NOUN
fcis-30624	208	31	function	function	NOUN
fcis-30624	208	32	.	.	PUNCT
fcis-30624	209	1	the	the	DET
fcis-30624	209	2	parameters	parameter	NOUN
fcis-30624	209	3	are	be	AUX
fcis-30624	209	4	then	then	ADV
fcis-30624	209	5	updated	update	VERB
fcis-30624	209	6	based	base	VERB
fcis-30624	209	7	on	on	ADP
fcis-30624	209	8	the	the	DET
fcis-30624	209	9	gradient	gradient	NOUN
fcis-30624	209	10	and	and	CCONJ
fcis-30624	209	11	a	a	DET
fcis-30624	209	12	predefined	predefine	VERB
fcis-30624	209	13	step	step	NOUN
fcis-30624	209	14	size	size	NOUN
fcis-30624	209	15	:	:	PUNCT
fcis-30624	210	1			PUNCT
fcis-30624	210	2			PROPN
fcis-30624	210	3	j	j	NOUN
fcis-30624	210	4			X
fcis-30624	210	5			X
fcis-30624	210	6			PROPN
fcis-30624	210	7			PROPN
fcis-30624	210	8			PROPN
fcis-30624	210	9			PUNCT
fcis-30624	210	10			PROPN
fcis-30624	210	11	where	where	SCONJ
fcis-30624	210	12	θ	θ	PROPN
fcis-30624	210	13	represents	represent	VERB
fcis-30624	210	14	the	the	DET
fcis-30624	210	15	parameters	parameter	NOUN
fcis-30624	210	16	,	,	PUNCT
fcis-30624	210	17	∝	∝	PROPN
fcis-30624	210	18	is	be	AUX
fcis-30624	210	19	the	the	DET
fcis-30624	210	20	learning	learning	NOUN
fcis-30624	210	21	rate	rate	NOUN
fcis-30624	210	22	,	,	PUNCT
fcis-30624	210	23	and	and	CCONJ
fcis-30624	210	24			PROPN
fcis-30624	210	25	j	j	NOUN
fcis-30624	210	26			NOUN
fcis-30624	210	27	is	be	AUX
fcis-30624	210	28	the	the	DET
fcis-30624	210	29	gradient	gradient	NOUN
fcis-30624	210	30	of	of	ADP
fcis-30624	210	31	the	the	DET
fcis-30624	210	32	loss	loss	NOUN
fcis-30624	210	33	function	function	NOUN
fcis-30624	210	34	j	j	PROPN
fcis-30624	210	35	with	with	ADP
fcis-30624	210	36	respect	respect	NOUN
fcis-30624	210	37	to	to	ADP
fcis-30624	210	38	the	the	DET
fcis-30624	210	39	parameter	parameter	NOUN
fcis-30624	210	40	θ	θ	PROPN
fcis-30624	210	41	by	by	ADP
fcis-30624	210	42	continuously	continuously	ADV
fcis-30624	210	43	calculating	calculate	VERB
fcis-30624	210	44	and	and	CCONJ
fcis-30624	210	45	updating	update	VERB
fcis-30624	210	46	the	the	DET
fcis-30624	210	47	gradient	gradient	NOUN
fcis-30624	210	48	until	until	SCONJ
fcis-30624	210	49	the	the	DET
fcis-30624	210	50	minimum	minimum	ADJ
fcis-30624	210	51	value	value	NOUN
fcis-30624	210	52	of	of	ADP
fcis-30624	210	53	the	the	DET
fcis-30624	210	54	loss	loss	NOUN
fcis-30624	210	55	function	function	NOUN
fcis-30624	210	56	is	be	AUX
fcis-30624	210	57	found	find	VERB
fcis-30624	210	58	,	,	PUNCT
fcis-30624	210	59	and	and	CCONJ
fcis-30624	210	60	the	the	DET
fcis-30624	210	61	termination	termination	NOUN
fcis-30624	210	62	criteria	criterion	NOUN
fcis-30624	210	63	are	be	AUX
fcis-30624	210	64	met	meet	VERB
fcis-30624	210	65	,	,	PUNCT
fcis-30624	210	66	the	the	DET
fcis-30624	210	67	training	training	NOUN
fcis-30624	210	68	of	of	ADP
fcis-30624	210	69	the	the	DET
fcis-30624	210	70	bp	bp	PROPN
fcis-30624	210	71	neural	neural	PROPN
fcis-30624	210	72	network	network	NOUN
fcis-30624	210	73	model	model	NOUN
fcis-30624	210	74	is	be	AUX
fcis-30624	210	75	completed	complete	VERB
fcis-30624	210	76	.	.	PUNCT
fcis-30624	211	1	4	4	X
fcis-30624	211	2	.	.	X
fcis-30624	211	3	validation	validation	NOUN
fcis-30624	211	4	of	of	ADP
fcis-30624	211	5	the	the	DET
fcis-30624	211	6	bp	bp	PROPN
fcis-30624	211	7	neural	neural	PROPN
fcis-30624	211	8	network	network	NOUN
fcis-30624	211	9	-	-	PUNCT
fcis-30624	211	10	based	base	VERB
fcis-30624	211	11	parameter	parameter	NOUN
fcis-30624	211	12	identification	identification	NOUN
fcis-30624	211	13	model	model	NOUN
fcis-30624	211	14	4.1	4.1	NUM
fcis-30624	211	15	.	.	PUNCT
fcis-30624	212	1	experimental	experimental	ADJ
fcis-30624	212	2	design	design	NOUN
fcis-30624	212	3	this	this	DET
fcis-30624	212	4	study	study	NOUN
fcis-30624	212	5	validates	validate	VERB
fcis-30624	212	6	the	the	DET
fcis-30624	212	7	accuracy	accuracy	NOUN
fcis-30624	212	8	of	of	ADP
fcis-30624	212	9	the	the	DET
fcis-30624	212	10	identification	identification	NOUN
fcis-30624	212	11	model	model	NOUN
fcis-30624	212	12	through	through	ADP
fcis-30624	212	13	simulation	simulation	NOUN
fcis-30624	212	14	.	.	PUNCT
fcis-30624	213	1	a	a	DET
fcis-30624	213	2	six	six	NUM
fcis-30624	213	3	-	-	PUNCT
fcis-30624	213	4	degree	degree	NOUN
fcis-30624	213	5	-	-	PUNCT
fcis-30624	213	6	of	of	ADP
fcis-30624	213	7	-	-	PUNCT
fcis-30624	213	8	freedom	freedom	NOUN
fcis-30624	213	9	serial	serial	ADJ
fcis-30624	213	10	robotic	robotic	ADJ
fcis-30624	213	11	arm	arm	NOUN
fcis-30624	213	12	is	be	AUX
fcis-30624	213	13	constructed	construct	VERB
fcis-30624	213	14	using	use	VERB
fcis-30624	213	15	the	the	DET
fcis-30624	213	16	matlab	matlab	PROPN
fcis-30624	213	17	r2024a	r2024a	PROPN
fcis-30624	213	18	robotics	robotic	NOUN
fcis-30624	213	19	toolbox	toolbox	NOUN
fcis-30624	213	20	as	as	ADP
fcis-30624	213	21	the	the	DET
fcis-30624	213	22	parameter	parameter	NOUN
fcis-30624	213	23	identification	identification	NOUN
fcis-30624	213	24	object	object	NOUN
fcis-30624	213	25	,	,	PUNCT
fcis-30624	213	26	with	with	SCONJ
fcis-30624	213	27	theoretical	theoretical	ADJ
fcis-30624	213	28	dynamic	dynamic	ADJ
fcis-30624	213	29	parameters	parameter	NOUN
fcis-30624	213	30	defined	define	VERB
fcis-30624	213	31	.	.	PUNCT
fcis-30624	214	1	input	input	NOUN
fcis-30624	214	2	data	datum	NOUN
fcis-30624	214	3	for	for	ADP
fcis-30624	214	4	the	the	DET
fcis-30624	214	5	identification	identification	NOUN
fcis-30624	214	6	model	model	NOUN
fcis-30624	214	7	is	be	AUX
fcis-30624	214	8	generated	generate	VERB
fcis-30624	214	9	through	through	ADP
fcis-30624	214	10	data	datum	NOUN
fcis-30624	214	11	construction	construction	NOUN
fcis-30624	214	12	.	.	PUNCT
fcis-30624	215	1	the	the	DET
fcis-30624	215	2	process	process	NOUN
fcis-30624	215	3	is	be	AUX
fcis-30624	215	4	as	as	SCONJ
fcis-30624	215	5	follows	follow	VERB
fcis-30624	215	6	:	:	PUNCT
fcis-30624	215	7	(	(	PUNCT
fcis-30624	215	8	1	1	X
fcis-30624	215	9	)	)	PUNCT
fcis-30624	215	10	define	define	VERB
fcis-30624	215	11	the	the	DET
fcis-30624	215	12	excitation	excitation	NOUN
fcis-30624	215	13	trajectory	trajectory	NOUN
fcis-30624	215	14	and	and	CCONJ
fcis-30624	215	15	obtain	obtain	VERB
fcis-30624	215	16	the	the	DET
fcis-30624	215	17	corresponding	corresponding	ADJ
fcis-30624	215	18	joint	joint	ADJ
fcis-30624	215	19	sequence	sequence	NOUN
fcis-30624	215	20	for	for	ADP
fcis-30624	215	21	executing	execute	VERB
fcis-30624	215	22	the	the	DET
fcis-30624	215	23	trajectory	trajectory	NOUN
fcis-30624	215	24	through	through	ADP
fcis-30624	215	25	inverse	inverse	NOUN
fcis-30624	215	26	kinematics	kinematic	NOUN
fcis-30624	215	27	of	of	ADP
fcis-30624	215	28	the	the	DET
fcis-30624	215	29	robotic	robotic	ADJ
fcis-30624	215	30	arm	arm	NOUN
fcis-30624	215	31	,	,	PUNCT
fcis-30624	215	32	then	then	ADV
fcis-30624	215	33	save	save	VERB
fcis-30624	215	34	the	the	DET
fcis-30624	215	35	data	datum	NOUN
fcis-30624	215	36	.	.	PUNCT
fcis-30624	216	1	(	(	PUNCT
fcis-30624	216	2	2	2	X
fcis-30624	216	3	)	)	PUNCT
fcis-30624	216	4	input	input	NOUN
fcis-30624	216	5	the	the	DET
fcis-30624	216	6	dynamic	dynamic	ADJ
fcis-30624	216	7	parameters	parameter	NOUN
fcis-30624	216	8	and	and	CCONJ
fcis-30624	216	9	joint	joint	ADJ
fcis-30624	216	10	sequence	sequence	NOUN
fcis-30624	216	11	into	into	ADP
fcis-30624	216	12	the	the	DET
fcis-30624	216	13	dynamic	dynamic	ADJ
fcis-30624	216	14	model	model	NOUN
fcis-30624	216	15	to	to	PART
fcis-30624	216	16	compute	compute	VERB
fcis-30624	216	17	the	the	DET
fcis-30624	216	18	joint	joint	ADJ
fcis-30624	216	19	output	output	NOUN
fcis-30624	216	20	torques	torque	NOUN
fcis-30624	216	21	,	,	PUNCT
fcis-30624	216	22	and	and	CCONJ
fcis-30624	216	23	save	save	VERB
fcis-30624	216	24	the	the	DET
fcis-30624	216	25	results	result	NOUN
fcis-30624	216	26	.	.	PUNCT
fcis-30624	217	1	(	(	PUNCT
fcis-30624	217	2	3	3	X
fcis-30624	217	3	)	)	PUNCT
fcis-30624	217	4	feed	feed	VERB
fcis-30624	217	5	the	the	DET
fcis-30624	217	6	joint	joint	ADJ
fcis-30624	217	7	angle	angle	NOUN
fcis-30624	217	8	and	and	CCONJ
fcis-30624	217	9	torque	torque	NOUN
fcis-30624	217	10	data	datum	NOUN
fcis-30624	217	11	into	into	ADP
fcis-30624	217	12	the	the	DET
fcis-30624	217	13	proposed	propose	VERB
fcis-30624	217	14	identification	identification	NOUN
fcis-30624	217	15	network	network	NOUN
fcis-30624	217	16	.	.	PUNCT
fcis-30624	218	1	use	use	VERB
fcis-30624	218	2	the	the	DET
fcis-30624	218	3	trained	train	VERB
fcis-30624	218	4	neural	neural	ADJ
fcis-30624	218	5	network	network	NOUN
fcis-30624	218	6	to	to	PART
fcis-30624	218	7	predict	predict	VERB
fcis-30624	218	8	the	the	DET
fcis-30624	218	9	identification	identification	NOUN
fcis-30624	218	10	results	result	NOUN
fcis-30624	218	11	,	,	PUNCT
fcis-30624	218	12	compare	compare	VERB
fcis-30624	218	13	them	they	PRON
fcis-30624	218	14	with	with	ADP
fcis-30624	218	15	the	the	DET
fcis-30624	218	16	ground	ground	NOUN
fcis-30624	218	17	truth	truth	NOUN
fcis-30624	218	18	,	,	PUNCT
fcis-30624	218	19	and	and	CCONJ
fcis-30624	218	20	output	output	VERB
fcis-30624	218	21	the	the	DET
fcis-30624	218	22	identification	identification	NOUN
fcis-30624	218	23	error	error	NOUN
fcis-30624	218	24	.	.	PUNCT
fcis-30624	219	1	(	(	PUNCT
fcis-30624	219	2	4	4	X
fcis-30624	219	3	)	)	PUNCT
fcis-30624	219	4	provide	provide	VERB
fcis-30624	219	5	an	an	DET
fcis-30624	219	6	arbitrary	arbitrary	ADJ
fcis-30624	219	7	validation	validation	NOUN
fcis-30624	219	8	motion	motion	NOUN
fcis-30624	219	9	trajectory	trajectory	NOUN
fcis-30624	219	10	and	and	CCONJ
fcis-30624	219	11	compare	compare	VERB
fcis-30624	219	12	the	the	DET
fcis-30624	219	13	actual	actual	ADJ
fcis-30624	219	14	joint	joint	ADJ
fcis-30624	219	15	output	output	NOUN
fcis-30624	219	16	torque	torque	NOUN
fcis-30624	219	17	with	with	ADP
fcis-30624	219	18	the	the	DET
fcis-30624	219	19	theoretical	theoretical	ADJ
fcis-30624	219	20	torque	torque	NOUN
fcis-30624	219	21	based	base	VERB
fcis-30624	219	22	on	on	ADP
fcis-30624	219	23	the	the	DET
fcis-30624	219	24	identification	identification	NOUN
fcis-30624	219	25	results	result	NOUN
fcis-30624	219	26	.	.	PUNCT
fcis-30624	220	1	in	in	ADP
fcis-30624	220	2	the	the	DET
fcis-30624	220	3	neural	neural	ADJ
fcis-30624	220	4	network	network	NOUN
fcis-30624	220	5	model	model	NOUN
fcis-30624	220	6	identification	identification	NOUN
fcis-30624	220	7	experiment	experiment	NOUN
fcis-30624	220	8	,	,	PUNCT
fcis-30624	220	9	the	the	DET
fcis-30624	220	10	more	more	ADJ
fcis-30624	220	11	trajectory	trajectory	NOUN
fcis-30624	220	12	data	datum	NOUN
fcis-30624	220	13	available	available	ADJ
fcis-30624	220	14	,	,	PUNCT
fcis-30624	220	15	the	the	PRON
fcis-30624	220	16	more	more	ADV
fcis-30624	220	17	accurate	accurate	ADJ
fcis-30624	220	18	the	the	DET
fcis-30624	220	19	identification	identification	NOUN
fcis-30624	220	20	model	model	NOUN
fcis-30624	220	21	becomes	become	VERB
fcis-30624	220	22	.	.	PUNCT
fcis-30624	221	1	multiple	multiple	ADJ
fcis-30624	221	2	sets	set	NOUN
fcis-30624	221	3	of	of	ADP
fcis-30624	221	4	trajectory	trajectory	NOUN
fcis-30624	221	5	data	datum	NOUN
fcis-30624	221	6	were	be	AUX
fcis-30624	221	7	collected	collect	VERB
fcis-30624	221	8	for	for	ADP
fcis-30624	221	9	the	the	DET
fcis-30624	221	10	experiment	experiment	NOUN
fcis-30624	221	11	,	,	PUNCT
fcis-30624	221	12	with	with	ADP
fcis-30624	221	13	each	each	DET
fcis-30624	221	14	set	set	NOUN
fcis-30624	221	15	containing	contain	VERB
fcis-30624	221	16	a	a	DET
fcis-30624	221	17	large	large	ADJ
fcis-30624	221	18	number	number	NOUN
fcis-30624	221	19	of	of	ADP
fcis-30624	221	20	joint	joint	ADJ
fcis-30624	221	21	data	data	NOUN
fcis-30624	221	22	points	point	NOUN
fcis-30624	221	23	.	.	PUNCT
fcis-30624	222	1	these	these	DET
fcis-30624	222	2	data	datum	NOUN
fcis-30624	222	3	sets	set	NOUN
fcis-30624	222	4	were	be	AUX
fcis-30624	222	5	divided	divide	VERB
fcis-30624	222	6	into	into	ADP
fcis-30624	222	7	a	a	DET
fcis-30624	222	8	training	training	NOUN
fcis-30624	222	9	set	set	NOUN
fcis-30624	222	10	(	(	PUNCT
fcis-30624	222	11	80	80	NUM
fcis-30624	222	12	%	%	NOUN
fcis-30624	222	13	)	)	PUNCT
fcis-30624	222	14	and	and	CCONJ
fcis-30624	222	15	a	a	DET
fcis-30624	222	16	validation	validation	NOUN
fcis-30624	222	17	set	set	NOUN
fcis-30624	222	18	(	(	PUNCT
fcis-30624	222	19	20	20	NUM
fcis-30624	222	20	%	%	NOUN
fcis-30624	222	21	)	)	PUNCT
fcis-30624	222	22	,	,	PUNCT
fcis-30624	222	23	where	where	SCONJ
fcis-30624	222	24	the	the	DET
fcis-30624	222	25	training	training	NOUN
fcis-30624	222	26	set	set	NOUN
fcis-30624	222	27	is	be	AUX
fcis-30624	222	28	used	use	VERB
fcis-30624	222	29	for	for	ADP
fcis-30624	222	30	training	train	VERB
fcis-30624	222	31	the	the	DET
fcis-30624	222	32	neural	neural	ADJ
fcis-30624	222	33	network	network	NOUN
fcis-30624	222	34	,	,	PUNCT
fcis-30624	222	35	and	and	CCONJ
fcis-30624	222	36	the	the	DET
fcis-30624	222	37	validation	validation	NOUN
fcis-30624	222	38	set	set	NOUN
fcis-30624	222	39	is	be	AUX
fcis-30624	222	40	used	use	VERB
fcis-30624	222	41	to	to	PART
fcis-30624	222	42	assess	assess	VERB
fcis-30624	222	43	the	the	DET
fcis-30624	222	44	model	model	NOUN
fcis-30624	222	45	's	's	PART
fcis-30624	222	46	prediction	prediction	NOUN
fcis-30624	222	47	performance	performance	NOUN
fcis-30624	222	48	.	.	PUNCT
fcis-30624	223	1	during	during	ADP
fcis-30624	223	2	the	the	DET
fcis-30624	223	3	training	training	NOUN
fcis-30624	223	4	process	process	NOUN
fcis-30624	223	5	,	,	PUNCT
fcis-30624	223	6	the	the	DET
fcis-30624	223	7	size	size	NOUN
fcis-30624	223	8	of	of	ADP
fcis-30624	223	9	the	the	DET
fcis-30624	223	10	loss	loss	NOUN
fcis-30624	223	11	function	function	NOUN
fcis-30624	223	12	and	and	CCONJ
fcis-30624	223	13	training	training	NOUN
fcis-30624	223	14	accuracy	accuracy	NOUN
fcis-30624	223	15	are	be	AUX
fcis-30624	223	16	monitored	monitor	VERB
fcis-30624	223	17	in	in	ADP
fcis-30624	223	18	real	real	ADJ
fcis-30624	223	19	time	time	NOUN
fcis-30624	223	20	.	.	PUNCT
fcis-30624	224	1	as	as	SCONJ
fcis-30624	224	2	the	the	DET
fcis-30624	224	3	model	model	NOUN
fcis-30624	224	4	iterates	iterate	VERB
fcis-30624	224	5	,	,	PUNCT
fcis-30624	224	6	its	its	PRON
fcis-30624	224	7	accuracy	accuracy	NOUN
fcis-30624	224	8	continuously	continuously	ADV
fcis-30624	224	9	improves	improve	VERB
fcis-30624	224	10	,	,	PUNCT
fcis-30624	224	11	reaching	reach	VERB
fcis-30624	224	12	a	a	DET
fcis-30624	224	13	maximum	maximum	ADJ
fcis-30624	224	14	value	value	NOUN
fcis-30624	224	15	,	,	PUNCT
fcis-30624	224	16	while	while	SCONJ
fcis-30624	224	17	the	the	DET
fcis-30624	224	18	loss	loss	NOUN
fcis-30624	224	19	function	function	NOUN
fcis-30624	224	20	steadily	steadily	ADV
fcis-30624	224	21	decreases	decrease	VERB
fcis-30624	224	22	and	and	CCONJ
fcis-30624	224	23	approaches	approach	NOUN
fcis-30624	224	24	zero	zero	NUM
fcis-30624	224	25	.	.	PUNCT
fcis-30624	225	1	4.2	4.2	NUM
fcis-30624	225	2	.	.	PUNCT
fcis-30624	225	3	identification	identification	NOUN
fcis-30624	225	4	results	result	NOUN
fcis-30624	225	5	fig	fig	NOUN
fcis-30624	225	6	6	6	NUM
fcis-30624	225	7	.	.	PUNCT
fcis-30624	226	1	predicted	predict	VERB
fcis-30624	226	2	moments	moment	NOUN
fcis-30624	226	3	for	for	ADP
fcis-30624	226	4	each	each	DET
fcis-30624	226	5	joint	joint	NOUN
fcis-30624	226	6	at	at	ADP
fcis-30624	226	7	the	the	DET
fcis-30624	226	8	validation	validation	NOUN
fcis-30624	226	9	trajectory	trajectory	NOUN
fcis-30624	226	10	149	149	NUM
fcis-30624	226	11	the	the	DET
fcis-30624	226	12	model	model	NOUN
fcis-30624	226	13	output	output	NOUN
fcis-30624	226	14	torques	torque	NOUN
fcis-30624	226	15	and	and	CCONJ
fcis-30624	226	16	desired	desire	VERB
fcis-30624	226	17	output	output	NOUN
fcis-30624	226	18	torques	torque	NOUN
fcis-30624	226	19	are	be	AUX
fcis-30624	226	20	visualized	visualize	VERB
fcis-30624	226	21	as	as	SCONJ
fcis-30624	226	22	shown	show	VERB
fcis-30624	226	23	in	in	ADP
fcis-30624	226	24	the	the	DET
fcis-30624	226	25	figure	figure	NOUN
fcis-30624	226	26	.	.	PUNCT
fcis-30624	227	1	the	the	DET
fcis-30624	227	2	results	result	NOUN
fcis-30624	227	3	show	show	VERB
fcis-30624	227	4	that	that	SCONJ
fcis-30624	227	5	,	,	PUNCT
fcis-30624	227	6	on	on	ADP
fcis-30624	227	7	the	the	DET
fcis-30624	227	8	validation	validation	NOUN
fcis-30624	227	9	trajectory	trajectory	NOUN
fcis-30624	227	10	,	,	PUNCT
fcis-30624	227	11	the	the	DET
fcis-30624	227	12	torques	torque	NOUN
fcis-30624	227	13	predicted	predict	VERB
fcis-30624	227	14	by	by	ADP
fcis-30624	227	15	the	the	DET
fcis-30624	227	16	bp	bp	PROPN
fcis-30624	227	17	neural	neural	PROPN
fcis-30624	227	18	network	network	NOUN
fcis-30624	227	19	are	be	AUX
fcis-30624	227	20	highly	highly	ADV
fcis-30624	227	21	consistent	consistent	ADJ
fcis-30624	227	22	with	with	ADP
fcis-30624	227	23	the	the	DET
fcis-30624	227	24	theoretical	theoretical	ADJ
fcis-30624	227	25	values	value	NOUN
fcis-30624	227	26	.	.	PUNCT
fcis-30624	228	1	the	the	DET
fcis-30624	228	2	prediction	prediction	NOUN
fcis-30624	228	3	performance	performance	NOUN
fcis-30624	228	4	on	on	ADP
fcis-30624	228	5	complex	complex	ADJ
fcis-30624	228	6	motion	motion	NOUN
fcis-30624	228	7	trajectories	trajectory	NOUN
fcis-30624	228	8	is	be	AUX
fcis-30624	228	9	excellent	excellent	ADJ
fcis-30624	228	10	.	.	PUNCT
fcis-30624	229	1	this	this	PRON
fcis-30624	229	2	can	can	AUX
fcis-30624	229	3	be	be	AUX
fcis-30624	229	4	attributed	attribute	VERB
fcis-30624	229	5	to	to	ADP
fcis-30624	229	6	the	the	DET
fcis-30624	229	7	fact	fact	NOUN
fcis-30624	229	8	that	that	SCONJ
fcis-30624	229	9	the	the	DET
fcis-30624	229	10	neural	neural	ADJ
fcis-30624	229	11	network	network	NOUN
fcis-30624	229	12	does	do	AUX
fcis-30624	229	13	not	not	PART
fcis-30624	229	14	require	require	VERB
fcis-30624	229	15	explicit	explicit	ADJ
fcis-30624	229	16	modeling	modeling	NOUN
fcis-30624	229	17	of	of	ADP
fcis-30624	229	18	nonlinear	nonlinear	ADJ
fcis-30624	229	19	factors	factor	NOUN
fcis-30624	229	20	and	and	CCONJ
fcis-30624	229	21	is	be	AUX
fcis-30624	229	22	capable	capable	ADJ
fcis-30624	229	23	of	of	ADP
fcis-30624	229	24	handling	handle	VERB
fcis-30624	229	25	nonlinear	nonlinear	ADJ
fcis-30624	229	26	relationships	relationship	NOUN
fcis-30624	229	27	.	.	PUNCT
fcis-30624	230	1	additionally	additionally	ADV
fcis-30624	230	2	,	,	PUNCT
fcis-30624	230	3	the	the	DET
fcis-30624	230	4	network	network	NOUN
fcis-30624	230	5	demonstrates	demonstrate	VERB
fcis-30624	230	6	stronger	strong	ADJ
fcis-30624	230	7	robustness	robustness	NOUN
fcis-30624	230	8	to	to	ADP
fcis-30624	230	9	noise	noise	NOUN
fcis-30624	230	10	,	,	PUNCT
fcis-30624	230	11	leading	lead	VERB
fcis-30624	230	12	to	to	ADP
fcis-30624	230	13	better	well	ADJ
fcis-30624	230	14	control	control	NOUN
fcis-30624	230	15	performance	performance	NOUN
fcis-30624	230	16	and	and	CCONJ
fcis-30624	230	17	higher	high	ADJ
fcis-30624	230	18	accuracy	accuracy	NOUN
fcis-30624	230	19	.	.	PUNCT
fcis-30624	231	1	in	in	ADP
fcis-30624	231	2	addition	addition	NOUN
fcis-30624	231	3	,	,	PUNCT
fcis-30624	231	4	the	the	DET
fcis-30624	231	5	torque	torque	NOUN
fcis-30624	231	6	curve	curve	NOUN
fcis-30624	231	7	obtained	obtain	VERB
fcis-30624	231	8	from	from	ADP
fcis-30624	231	9	the	the	DET
fcis-30624	231	10	model	model	NOUN
fcis-30624	231	11	is	be	AUX
fcis-30624	231	12	smooth	smooth	ADJ
fcis-30624	231	13	,	,	PUNCT
fcis-30624	231	14	with	with	ADP
fcis-30624	231	15	small	small	ADJ
fcis-30624	231	16	torque	torque	NOUN
fcis-30624	231	17	errors	error	NOUN
fcis-30624	231	18	and	and	CCONJ
fcis-30624	231	19	peak	peak	NOUN
fcis-30624	231	20	errors	error	NOUN
fcis-30624	231	21	.	.	PUNCT
fcis-30624	232	1	compared	compare	VERB
fcis-30624	232	2	to	to	ADP
fcis-30624	232	3	traditional	traditional	ADJ
fcis-30624	232	4	methods	method	NOUN
fcis-30624	232	5	,	,	PUNCT
fcis-30624	232	6	the	the	DET
fcis-30624	232	7	bp	bp	PROPN
fcis-30624	232	8	neural	neural	PROPN
fcis-30624	232	9	network	network	NOUN
fcis-30624	232	10	-	-	PUNCT
fcis-30624	232	11	based	base	VERB
fcis-30624	232	12	dynamic	dynamic	ADJ
fcis-30624	232	13	parameter	parameter	NOUN
fcis-30624	232	14	identification	identification	NOUN
fcis-30624	232	15	method	method	NOUN
fcis-30624	232	16	demonstrates	demonstrate	VERB
fcis-30624	232	17	stronger	strong	ADJ
fcis-30624	232	18	robustness	robustness	NOUN
fcis-30624	232	19	and	and	CCONJ
fcis-30624	232	20	generalization	generalization	NOUN
fcis-30624	232	21	capabilities	capability	NOUN
fcis-30624	232	22	,	,	PUNCT
fcis-30624	232	23	making	make	VERB
fcis-30624	232	24	it	it	PRON
fcis-30624	232	25	more	more	ADV
fcis-30624	232	26	suitable	suitable	ADJ
fcis-30624	232	27	for	for	ADP
fcis-30624	232	28	high	high	ADJ
fcis-30624	232	29	-	-	PUNCT
fcis-30624	232	30	precision	precision	NOUN
fcis-30624	232	31	control	control	NOUN
fcis-30624	232	32	scenarios	scenario	NOUN
fcis-30624	232	33	in	in	ADP
fcis-30624	232	34	industrial	industrial	ADJ
fcis-30624	232	35	robots	robot	NOUN
fcis-30624	232	36	.	.	PUNCT
fcis-30624	233	1	future	future	ADJ
fcis-30624	233	2	work	work	NOUN
fcis-30624	233	3	could	could	AUX
fcis-30624	233	4	focus	focus	VERB
fcis-30624	233	5	on	on	ADP
fcis-30624	233	6	further	far	ADV
fcis-30624	233	7	optimizing	optimize	VERB
fcis-30624	233	8	the	the	DET
fcis-30624	233	9	network	network	NOUN
fcis-30624	233	10	structure	structure	NOUN
fcis-30624	233	11	and	and	CCONJ
fcis-30624	233	12	training	training	NOUN
fcis-30624	233	13	algorithms	algorithm	NOUN
fcis-30624	233	14	to	to	PART
fcis-30624	233	15	enhance	enhance	VERB
fcis-30624	233	16	efficiency	efficiency	NOUN
fcis-30624	233	17	and	and	CCONJ
fcis-30624	233	18	adapt	adapt	VERB
fcis-30624	233	19	to	to	ADP
fcis-30624	233	20	more	more	ADV
fcis-30624	233	21	complex	complex	ADJ
fcis-30624	233	22	task	task	NOUN
fcis-30624	233	23	requirements	requirement	NOUN
fcis-30624	233	24	.	.	PUNCT
fcis-30624	234	1	5	5	X
fcis-30624	234	2	.	.	X
fcis-30624	234	3	conclusion	conclusion	NOUN
fcis-30624	234	4	this	this	DET
fcis-30624	234	5	paper	paper	NOUN
fcis-30624	234	6	proposes	propose	VERB
fcis-30624	234	7	a	a	DET
fcis-30624	234	8	bp	bp	PROPN
fcis-30624	234	9	neural	neural	ADJ
fcis-30624	234	10	network	network	NOUN
fcis-30624	234	11	-	-	PUNCT
fcis-30624	234	12	based	base	VERB
fcis-30624	234	13	dynamic	dynamic	ADJ
fcis-30624	234	14	parameter	parameter	NOUN
fcis-30624	234	15	identification	identification	NOUN
fcis-30624	234	16	method	method	NOUN
fcis-30624	234	17	aimed	aim	VERB
fcis-30624	234	18	at	at	ADP
fcis-30624	234	19	improving	improve	VERB
fcis-30624	234	20	the	the	DET
fcis-30624	234	21	accuracy	accuracy	NOUN
fcis-30624	234	22	of	of	ADP
fcis-30624	234	23	robot	robot	NOUN
fcis-30624	234	24	dynamic	dynamic	ADJ
fcis-30624	234	25	parameter	parameter	NOUN
fcis-30624	234	26	identification	identification	NOUN
fcis-30624	234	27	,	,	PUNCT
fcis-30624	234	28	thereby	thereby	ADV
fcis-30624	234	29	achieving	achieve	VERB
fcis-30624	234	30	high	high	ADJ
fcis-30624	234	31	-	-	PUNCT
fcis-30624	234	32	precision	precision	NOUN
fcis-30624	234	33	torque	torque	NOUN
fcis-30624	234	34	control	control	NOUN
fcis-30624	234	35	.	.	PUNCT
fcis-30624	235	1	by	by	ADP
fcis-30624	235	2	utilizing	utilize	VERB
fcis-30624	235	3	fourier	fourier	ADJ
fcis-30624	235	4	polynomial	polynomial	ADJ
fcis-30624	235	5	trajectory	trajectory	NOUN
fcis-30624	235	6	planning	planning	NOUN
fcis-30624	235	7	and	and	CCONJ
fcis-30624	235	8	constructing	construct	VERB
fcis-30624	235	9	the	the	DET
fcis-30624	235	10	bp	bp	PROPN
fcis-30624	235	11	neural	neural	PROPN
fcis-30624	235	12	network	network	NOUN
fcis-30624	235	13	,	,	PUNCT
fcis-30624	235	14	the	the	DET
fcis-30624	235	15	identification	identification	NOUN
fcis-30624	235	16	accuracy	accuracy	NOUN
fcis-30624	235	17	is	be	AUX
fcis-30624	235	18	effectively	effectively	ADV
fcis-30624	235	19	enhanced	enhance	VERB
fcis-30624	235	20	.	.	PUNCT
fcis-30624	236	1	finally	finally	ADV
fcis-30624	236	2	,	,	PUNCT
fcis-30624	236	3	the	the	DET
fcis-30624	236	4	dynamic	dynamic	ADJ
fcis-30624	236	5	parameter	parameter	NOUN
fcis-30624	236	6	identification	identification	NOUN
fcis-30624	236	7	simulation	simulation	NOUN
fcis-30624	236	8	is	be	AUX
fcis-30624	236	9	conducted	conduct	VERB
fcis-30624	236	10	using	use	VERB
fcis-30624	236	11	a	a	DET
fcis-30624	236	12	six	six	NUM
fcis-30624	236	13	-	-	PUNCT
fcis-30624	236	14	degree	degree	NOUN
fcis-30624	236	15	-	-	PUNCT
fcis-30624	236	16	of	of	ADP
fcis-30624	236	17	-	-	PUNCT
fcis-30624	236	18	freedom	freedom	NOUN
fcis-30624	236	19	robotic	robotic	ADJ
fcis-30624	236	20	arm	arm	NOUN
fcis-30624	236	21	model	model	NOUN
fcis-30624	236	22	constructed	construct	VERB
fcis-30624	236	23	in	in	ADP
fcis-30624	236	24	the	the	DET
fcis-30624	236	25	matlab	matlab	PROPN
fcis-30624	236	26	robotics	robotic	NOUN
fcis-30624	236	27	toolbox	toolbox	NOUN
fcis-30624	236	28	,	,	PUNCT
fcis-30624	236	29	validating	validate	VERB
fcis-30624	236	30	the	the	DET
fcis-30624	236	31	accuracy	accuracy	NOUN
fcis-30624	236	32	and	and	CCONJ
fcis-30624	236	33	effectiveness	effectiveness	NOUN
fcis-30624	236	34	of	of	ADP
fcis-30624	236	35	the	the	DET
fcis-30624	236	36	model	model	NOUN
fcis-30624	236	37	.	.	PUNCT
fcis-30624	237	1	references	reference	NOUN
fcis-30624	237	2	[	[	X
fcis-30624	237	3	1	1	NUM
fcis-30624	237	4	]	]	PUNCT
fcis-30624	237	5	robot	robot	NOUN
fcis-30624	237	6	industry	industry	NOUN
fcis-30624	237	7	,	,	PUNCT
fcis-30624	237	8	2022	2022	NUM
fcis-30624	237	9	,	,	PUNCT
fcis-30624	237	10	(	(	PUNCT
fcis-30624	237	11	04):83	04):83	NUM
fcis-30624	237	12	-	-	SYM
fcis-30624	237	13	95	95	NUM
fcis-30624	237	14	.	.	PUNCT
fcis-30624	238	1	doi:10.19609	doi:10.19609	NOUN
fcis-30624	238	2	/	/	SYM
fcis-30624	238	3	j.cnki.cn101324/	j.cnki.cn101324/	PROPN
fcis-30624	238	4	tp	tp	PROPN
fcis-30624	238	5	.	.	PUNCT
fcis-30624	238	6	2022.04.004	2022.04.004	PROPN
fcis-30624	238	7	.	.	PUNCT
fcis-30624	239	1	[	[	X
fcis-30624	239	2	2	2	NUM
fcis-30624	239	3	]	]	PUNCT
fcis-30624	239	4	m.	m.	NOUN
fcis-30624	239	5	gautier	gautier	NOUN
fcis-30624	239	6	,	,	PUNCT
fcis-30624	239	7	w.	w.	PROPN
fcis-30624	239	8	khalil	khalil	PROPN
fcis-30624	239	9	.	.	PUNCT
fcis-30624	240	1	exciting	exciting	ADJ
fcis-30624	240	2	trajectories	trajectory	NOUN
fcis-30624	240	3	for	for	ADP
fcis-30624	240	4	the	the	DET
fcis-30624	240	5	identification	identification	NOUN
fcis-30624	240	6	of	of	ADP
fcis-30624	240	7	base	base	NOUN
fcis-30624	240	8	initial	initial	ADJ
fcis-30624	240	9	parameters	parameter	NOUN
fcis-30624	240	10	ofrobots	ofrobot	NOUN
fcis-30624	241	1	[	[	X
fcis-30624	241	2	j	j	X
fcis-30624	241	3	]	]	X
fcis-30624	241	4	.	.	PUNCT
fcis-30624	242	1	international	international	ADJ
fcis-30624	242	2	journal	journal	NOUN
fcis-30624	242	3	or	or	CCONJ
fcis-30624	242	4	robotic	robotic	ADJ
fcis-30624	242	5	research	research	NOUN
fcis-30624	242	6	,	,	PUNCT
fcis-30624	242	7	1992	1992	NUM
fcis-30624	242	8	,	,	PUNCT
fcis-30624	242	9	11	11	NUM
fcis-30624	242	10	(	(	PUNCT
fcis-30624	242	11	4	4	NUM
fcis-30624	242	12	):	):	PUNCT
fcis-30624	242	13	362	362	NUM
fcis-30624	242	14	-	-	SYM
fcis-30624	242	15	375	375	NUM
fcis-30624	242	16	.	.	PUNCT
fcis-30624	243	1	[	[	X
fcis-30624	243	2	3	3	NUM
fcis-30624	243	3	]	]	X
fcis-30624	243	4	identification	identification	NOUN
fcis-30624	243	5	of	of	ADP
fcis-30624	243	6	dynamic	dynamic	ADJ
fcis-30624	243	7	parameters	parameter	NOUN
fcis-30624	243	8	of	of	ADP
fcis-30624	243	9	modular	modular	ADJ
fcis-30624	243	10	robot	robot	NOUN
fcis-30624	243	11	considering	consider	VERB
fcis-30624	243	12	joint	joint	ADJ
fcis-30624	243	13	flexibility	flexibility	NOUN
fcis-30624	243	14	by	by	ADP
fcis-30624	243	15	zhou	zhou	PROPN
fcis-30624	243	16	jun	jun	PROPN
fcis-30624	243	17	and	and	CCONJ
fcis-30624	243	18	yu	yu	PROPN
fcis-30624	243	19	yueqing[j	yueqing[j	PROPN
fcis-30624	243	20	]	]	PUNCT
fcis-30624	243	21	.	.	PUNCT
fcis-30624	244	1	robot	robot	NOUN
fcis-30624	244	2	,	,	PUNCT
fcis-30624	244	3	2011,33(04):440	2011,33(04):440	PROPN
fcis-30624	244	4	-	-	SYM
fcis-30624	244	5	448	448	NUM
fcis-30624	244	6	.	.	PUNCT
fcis-30624	245	1	[	[	X
fcis-30624	245	2	4	4	X
fcis-30624	245	3	]	]	X
fcis-30624	245	4	feng	feng	PROPN
fcis-30624	245	5	limin	limin	PROPN
fcis-30624	245	6	,	,	PUNCT
fcis-30624	245	7	yu	yu	PROPN
fcis-30624	245	8	jinghu	jinghu	PROPN
fcis-30624	245	9	,	,	PUNCT
fcis-30624	245	10	wang	wang	PROPN
fcis-30624	245	11	yanyu	yanyu	PROPN
fcis-30624	245	12	,	,	PUNCT
fcis-30624	245	13	et	et	PROPN
fcis-30624	245	14	al	al	PROPN
fcis-30624	245	15	identification	identification	NOUN
fcis-30624	245	16	of	of	ADP
fcis-30624	245	17	robot	robot	NOUN
fcis-30624	245	18	dynamic	dynamic	ADJ
fcis-30624	245	19	parameters	parameter	NOUN
fcis-30624	245	20	based	base	VERB
fcis-30624	245	21	on	on	ADP
fcis-30624	245	22	irls	irl	NOUN
fcis-30624	245	23	algorithm	algorithm	NOUN
fcis-30624	246	1	[	[	X
fcis-30624	246	2	j	j	X
fcis-30624	246	3	]	]	X
fcis-30624	246	4	.	.	PUNCT
fcis-30624	247	1	modern	modern	ADJ
fcis-30624	247	2	manufacturing	manufacturing	NOUN
fcis-30624	247	3	engineering	engineering	NOUN
fcis-30624	247	4	,	,	PUNCT
fcis-30624	247	5	2022(4):37	2022(4):37	NUM
fcis-30624	247	6	-	-	PUNCT
fcis-30624	247	7	44	44	NUM
fcis-30624	247	8	.	.	PUNCT
fcis-30624	248	1	[	[	X
fcis-30624	248	2	5	5	X
fcis-30624	248	3	]	]	PUNCT
fcis-30624	248	4	modeling	modeling	NOUN
fcis-30624	248	5	and	and	CCONJ
fcis-30624	248	6	parameter	parameter	NOUN
fcis-30624	248	7	identification	identification	NOUN
fcis-30624	248	8	of	of	ADP
fcis-30624	248	9	leg	leg	NOUN
fcis-30624	248	10	dynamics	dynamic	NOUN
fcis-30624	248	11	of	of	ADP
fcis-30624	248	12	equirope	equirope	NOUN
fcis-30624	248	13	-	-	PUNCT
fcis-30624	248	14	driven	drive	VERB
fcis-30624	248	15	bipedal	bipedal	ADJ
fcis-30624	248	16	robot	robot	NOUN
fcis-30624	248	17	by	by	ADP
fcis-30624	248	18	zhu	zhu	PROPN
fcis-30624	248	19	zhenbiao	zhenbiao	PROPN
fcis-30624	248	20	,	,	PUNCT
fcis-30624	248	21	tang	tang	PROPN
fcis-30624	248	22	jun	jun	PROPN
fcis-30624	248	23	,	,	PUNCT
fcis-30624	248	24	liang	liang	PROPN
fcis-30624	248	25	zhiyuan[j].mechanical	zhiyuan[j].mechanical	PROPN
fcis-30624	248	26	transmission,2024,48(08):1825.doi:10.16578	transmission,2024,48(08):1825.doi:10.16578	PROPN
fcis-30624	248	27	/	/	SYM
fcis-30624	248	28	j.issn.1004.2539.2024.08.003	j.issn.1004.2539.2024.08.003	PROPN
fcis-30624	248	29	.	.	PUNCT
fcis-30624	249	1	[	[	X
fcis-30624	249	2	6	6	NUM
fcis-30624	249	3	]	]	SYM
fcis-30624	249	4	identification	identification	NOUN
fcis-30624	249	5	of	of	ADP
fcis-30624	249	6	dynamic	dynamic	ADJ
fcis-30624	249	7	parameters	parameter	NOUN
fcis-30624	249	8	of	of	ADP
fcis-30624	249	9	zhang	zhang	PROPN
fcis-30624	249	10	shiyuan	shiyuan	PROPN
fcis-30624	249	11	,	,	PUNCT
fcis-30624	249	12	dai	dai	PROPN
fcis-30624	249	13	jun	jun	PROPN
fcis-30624	249	14	,	,	PUNCT
fcis-30624	249	15	and	and	CCONJ
fcis-30624	249	16	deng	deng	PROPN
fcis-30624	249	17	hua	hua	PROPN
fcis-30624	249	18	six	six	NUM
fcis-30624	249	19	-	-	PUNCT
fcis-30624	249	20	degree	degree	NOUN
fcis-30624	249	21	-	-	PUNCT
fcis-30624	249	22	of	of	ADP
fcis-30624	249	23	-	-	PUNCT
fcis-30624	249	24	freedom	freedom	NOUN
fcis-30624	249	25	manipulator	manipulator	NOUN
fcis-30624	250	1	[	[	X
fcis-30624	250	2	j	j	X
fcis-30624	250	3	]	]	X
fcis-30624	250	4	.	.	PUNCT
fcis-30624	251	1	manufacturing	manufacturing	NOUN
fcis-30624	251	2	automation,2021,43(03):35	automation,2021,43(03):35	NOUN
fcis-30624	251	3	-	-	PUNCT
fcis-30624	251	4	39	39	NUM
fcis-30624	251	5	.	.	PUNCT
fcis-30624	252	1	[	[	X
fcis-30624	252	2	7	7	X
fcis-30624	252	3	]	]	X
fcis-30624	252	4	chen	chen	PROPN
fcis-30624	252	5	zhihuan	zhihuan	PROPN
fcis-30624	252	6	,	,	PUNCT
fcis-30624	252	7	liang	liang	PROPN
fcis-30624	252	8	chenglong	chenglong	PROPN
fcis-30624	252	9	,	,	PUNCT
fcis-30624	252	10	dong	dong	PROPN
fcis-30624	252	11	jiashun	jiashun	PROPN
fcis-30624	252	12	,	,	PUNCT
fcis-30624	252	13	chaotic	chaotic	ADJ
fcis-30624	252	14	quantum	quantum	ADJ
fcis-30624	252	15	whale	whale	NOUN
fcis-30624	252	16	optimization	optimization	NOUN
fcis-30624	252	17	algorithm	algorithm	NOUN
fcis-30624	252	18	and	and	CCONJ
fcis-30624	252	19	its	its	PRON
fcis-30624	252	20	application	application	NOUN
fcis-30624	252	21	[	[	X
fcis-30624	252	22	j	j	X
fcis-30624	252	23	]	]	X
fcis-30624	252	24	.	.	PUNCT
fcis-30624	253	1	computer	computer	NOUN
fcis-30624	253	2	simulation,2024,41(08):439	simulation,2024,41(08):439	NOUN
fcis-30624	253	3	-	-	PUNCT
fcis-30624	253	4	446	446	NUM
fcis-30624	253	5	+	+	NOUN
fcis-30624	253	6	465	465	NUM
fcis-30624	253	7	.	.	PUNCT
fcis-30624	254	1	[	[	X
fcis-30624	254	2	8	8	NUM
fcis-30624	254	3	]	]	X
fcis-30624	254	4	liu	liu	PROPN
fcis-30624	254	5	yu	yu	PROPN
fcis-30624	254	6	,	,	PUNCT
fcis-30624	254	7	li	li	PROPN
fcis-30624	254	8	guixian	guixian	PROPN
fcis-30624	254	9	,	,	PUNCT
fcis-30624	254	10	xia	xia	PROPN
fcis-30624	254	11	dan	dan	PROPN
fcis-30624	254	12	,	,	PUNCT
fcis-30624	254	13	et	et	PROPN
fcis-30624	254	14	al	al	PROPN
fcis-30624	254	15	.	.	PUNCT
fcis-30624	254	16	identification	identification	NOUN
fcis-30624	254	17	of	of	ADP
fcis-30624	254	18	dynamic	dynamic	ADJ
fcis-30624	254	19	parameters	parameter	NOUN
fcis-30624	254	20	of	of	ADP
fcis-30624	254	21	space	space	NOUN
fcis-30624	254	22	robots	robot	NOUN
fcis-30624	254	23	based	base	VERB
fcis-30624	254	24	on	on	ADP
fcis-30624	254	25	improved	improve	VERB
fcis-30624	254	26	genetic	genetic	ADJ
fcis-30624	254	27	algorithm	algorithm	NOUN
fcis-30624	254	28	[	[	X
fcis-30624	254	29	j].journal	j].journal	NOUN
fcis-30624	254	30	of	of	ADP
fcis-30624	254	31	harbin	harbin	PROPN
fcis-30624	254	32	institute	institute	PROPN
fcis-30624	254	33	of	of	ADP
fcis-30624	254	34	technology	technology	PROPN
fcis-30624	254	35	,	,	PUNCT
fcis-30624	254	36	2010	2010	NUM
fcis-30624	254	37	,	,	PUNCT
fcis-30624	254	38	42(11):1734	42(11):1734	NUM
fcis-30624	254	39	-	-	SYM
fcis-30624	254	40	1739	1739	NUM
fcis-30624	254	41	.	.	PUNCT
fcis-30624	255	1	[	[	X
fcis-30624	255	2	9	9	NUM
fcis-30624	255	3	]	]	X
fcis-30624	255	4	minglu	minglu	PROPN
fcis-30624	255	5	zhang	zhang	PROPN
fcis-30624	255	6	,	,	PUNCT
fcis-30624	255	7	qing	qing	PROPN
fcis-30624	255	8	wang	wang	PROPN
fcis-30624	255	9	,	,	PUNCT
fcis-30624	255	10	xuan	xuan	PROPN
fcis-30624	255	11	liu	liu	PROPN
fcis-30624	255	12	,	,	PUNCT
fcis-30624	255	13	et	et	PROPN
fcis-30624	255	14	al	al	PROPN
fcis-30624	255	15	.	.	PUNCT
fcis-30624	255	16	identification	identification	NOUN
fcis-30624	255	17	of	of	ADP
fcis-30624	255	18	dynamic	dynamic	ADJ
fcis-30624	255	19	parameters	parameter	NOUN
fcis-30624	255	20	of	of	ADP
fcis-30624	255	21	torque	torque	NOUN
fcis-30624	255	22	compensation	compensation	NOUN
fcis-30624	255	23	based	base	VERB
fcis-30624	255	24	on	on	ADP
fcis-30624	255	25	neural	neural	ADJ
fcis-30624	255	26	network[j].journal	network[j].journal	PROPN
fcis-30624	255	27	of	of	ADP
fcis-30624	255	28	tianjin	tianjin	PROPN
fcis-30624	255	29	university	university	PROPN
fcis-30624	255	30	(	(	PUNCT
fcis-30624	255	31	natural	natural	ADJ
fcis-30624	255	32	science	science	NOUN
fcis-30624	255	33	and	and	CCONJ
fcis-30624	255	34	engineering	engineering	NOUN
fcis-30624	255	35	technology	technology	NOUN
fcis-30624	255	36	)	)	PUNCT
fcis-30624	255	37	,	,	PUNCT
fcis-30624	255	38	2024	2024	NUM
fcis-30624	255	39	,	,	PUNCT
fcis-30624	255	40	57(07	57(07	NUM
fcis-30624	255	41	):	):	PUNCT
fcis-30624	255	42	759	759	NUM
fcis-30624	255	43	-	-	NUM
fcis-30624	255	44	767	767	NUM
fcis-30624	255	45	.	.	PUNCT
fcis-30624	256	1	[	[	X
fcis-30624	256	2	10	10	NUM
fcis-30624	256	3	]	]	X
fcis-30624	256	4	zhang	zhang	PROPN
fcis-30624	256	5	di	di	PROPN
fcis-30624	256	6	's	's	PART
fcis-30624	256	7	trajectory	trajectory	NOUN
fcis-30624	256	8	tracking	tracking	NOUN
fcis-30624	256	9	control	control	NOUN
fcis-30624	256	10	of	of	ADP
fcis-30624	256	11	robot	robot	NOUN
fcis-30624	256	12	arm	arm	NOUN
fcis-30624	256	13	based	base	VERB
fcis-30624	256	14	on	on	ADP
fcis-30624	256	15	recurrent	recurrent	ADJ
fcis-30624	256	16	neural	neural	ADJ
fcis-30624	256	17	network[j].mechanical	network[j].mechanical	ADJ
fcis-30624	256	18	engineering	engineering	NOUN
fcis-30624	256	19	and	and	CCONJ
fcis-30624	256	20	automation	automation	NOUN
fcis-30624	256	21	,	,	PUNCT
fcis-30624	256	22	2024,(04):19	2024,(04):19	NUM
fcis-30624	256	23	-	-	SYM
fcis-30624	256	24	21	21	NUM
fcis-30624	256	25	.	.	PUNCT
fcis-30624	257	1	[	[	X
fcis-30624	257	2	11	11	NUM
fcis-30624	257	3	]	]	X
fcis-30624	257	4	craig	craig	PROPN
fcis-30624	257	5	,	,	PUNCT
fcis-30624	257	6	j.jauthors	j.jauthor	NOUN
fcis-30624	257	7	;	;	PUNCT
fcis-30624	257	8	translated	translate	VERB
fcis-30624	257	9	by	by	ADP
fcis-30624	257	10	yi	yi	PROPN
fcis-30624	257	11	chao	chao	PROPN
fcis-30624	257	12	et	et	PROPN
fcis-30624	257	13	al	al	PROPN
fcis-30624	257	14	.	.	PROPN
fcis-30624	257	15	.	.	PUNCT
fcis-30624	258	1	introduction	introduction	NOUN
fcis-30624	258	2	to	to	ADP
fcis-30624	258	3	robotics	robotic	NOUN
fcis-30624	258	4	:	:	PUNCT
fcis-30624	258	5	mechanics	mechanic	NOUN
fcis-30624	258	6	and	and	CCONJ
fcis-30624	258	7	control[m	control[m	NOUN
fcis-30624	258	8	]	]	PUNCT
fcis-30624	258	9	.	.	PUNCT
fcis-30624	259	1	beijing	beijing	PROPN
fcis-30624	259	2	:	:	PUNCT
fcis-30624	260	1	china	china	PROPN
fcis-30624	260	2	machine	machine	PROPN
fcis-30624	260	3	press	press	PROPN
fcis-30624	260	4	,	,	PUNCT
fcis-30624	260	5	2006	2006	NUM
fcis-30624	260	6	.	.	PUNCT
fcis-30624	261	1	[	[	X
fcis-30624	261	2	12	12	NUM
fcis-30624	261	3	]	]	X
fcis-30624	261	4	zhu	zhu	PROPN
fcis-30624	261	5	miao	miao	PROPN
fcis-30624	261	6	's	's	PART
fcis-30624	261	7	research	research	NOUN
fcis-30624	261	8	on	on	ADP
fcis-30624	261	9	the	the	DET
fcis-30624	261	10	identification	identification	NOUN
fcis-30624	261	11	of	of	ADP
fcis-30624	261	12	dynamic	dynamic	ADJ
fcis-30624	261	13	parameters	parameter	NOUN
fcis-30624	261	14	of	of	ADP
fcis-30624	261	15	scara	scara	NOUN
fcis-30624	261	16	robot	robot	NOUN
fcis-30624	261	17	considering	consider	VERB
fcis-30624	261	18	joint	joint	ADJ
fcis-30624	261	19	flexibility[d	flexibility[d	NOUN
fcis-30624	261	20	]	]	PUNCT
fcis-30624	261	21	.	.	PUNCT
fcis-30624	262	1	guangdong	guangdong	PROPN
fcis-30624	262	2	university	university	PROPN
fcis-30624	262	3	of	of	ADP
fcis-30624	262	4	technology,2022	technology,2022	PROPN
fcis-30624	262	5	.	.	PUNCT
fcis-30624	263	1	doi:10	doi:10	PROPN
fcis-30624	263	2	.	.	PUNCT
fcis-30624	264	1	27029	27029	NUM
fcis-30624	264	2	/	/	SYM
fcis-30624	264	3	d.	d.	PROPN
fcis-30624	264	4	cnki	cnki	PROPN
fcis-30624	264	5	.	.	PUNCT
fcis-30624	265	1	ggdgu.2022.000121	ggdgu.2022.000121	PROPN
fcis-30624	265	2	.	.	PUNCT
fcis-30624	266	1	[	[	X
fcis-30624	266	2	13	13	NUM
fcis-30624	266	3	]	]	PUNCT
fcis-30624	266	4	qi	qi	PROPN
fcis-30624	266	5	changgui	changgui	NOUN
fcis-30624	266	6	's	's	PART
fcis-30624	266	7	contour	contour	NOUN
fcis-30624	266	8	error	error	NOUN
fcis-30624	266	9	prediction	prediction	NOUN
fcis-30624	266	10	and	and	CCONJ
fcis-30624	266	11	compensation	compensation	NOUN
fcis-30624	266	12	of	of	ADP
fcis-30624	266	13	numerical	numerical	PROPN
fcis-30624	266	14	control	control	PROPN
fcis-30624	266	15	system	system	NOUN
fcis-30624	266	16	based	base	VERB
fcis-30624	266	17	on	on	ADP
fcis-30624	266	18	lstm	lstm	PROPN
fcis-30624	266	19	neural	neural	ADJ
fcis-30624	266	20	network	network	NOUN
fcis-30624	267	1	[	[	X
fcis-30624	267	2	d	d	X
fcis-30624	267	3	]	]	X
fcis-30624	267	4	.	.	PUNCT
fcis-30624	268	1	harbin	harbin	PROPN
fcis-30624	268	2	institute	institute	PROPN
fcis-30624	268	3	of	of	ADP
fcis-30624	268	4	technology,2021	technology,2021	PROPN
fcis-30624	268	5	.	.	PUNCT
fcis-30624	269	1	doi	doi	NOUN
fcis-30624	269	2	:	:	PUNCT
fcis-30624	269	3	10.27061/	10.27061/	NUM
fcis-30624	269	4	d.cnki	d.cnki	NOUN
fcis-30624	269	5	.	.	PUNCT
fcis-30624	270	1	ghgdu	ghgdu	ADJ
fcis-30624	270	2	.	.	PUNCT
fcis-30624	271	1	2021.001067	2021.001067	X
fcis-30624	271	2	.	.	PUNCT