id	sid	tid	token	lemma	pos
futech-109	1	1	nc	nc	PROPN
futech-109	1	2	.	.	PROPN
futech-109	1	3	princewill	princewill	PROPN
futech-109	1	4	et	et	PROPN
futech-109	1	5	al	al	PROPN
futech-109	1	6	.	.	PROPN
futech-109	1	7	/future	/future	PUNCT
futech-109	1	8	technology	technology	PROPN
futech-109	1	9	february	february	PROPN
futech-109	1	10	2024|	2024|	PROPN
futech-109	1	11	volume	volume	NOUN
futech-109	1	12	03	03	NUM
futech-109	2	1	|	|	ADV
futech-109	2	2	issue	issue	NOUN
futech-109	2	3	01	01	NUM
futech-109	3	1	|	|	ADV
futech-109	3	2	pages	page	NOUN
futech-109	3	3	25	25	NUM
futech-109	3	4	-	-	SYM
futech-109	3	5	31	31	NUM
futech-109	3	6	25	25	NUM
futech-109	3	7	article	article	NOUN
futech-109	3	8	development	development	NOUN
futech-109	3	9	and	and	CCONJ
futech-109	3	10	implementation	implementation	NOUN
futech-109	3	11	of	of	ADP
futech-109	3	12	a	a	DET
futech-109	3	13	wirelesscontrolled	wirelesscontrolle	VERB
futech-109	3	14	robotic	robotic	ADJ
futech-109	3	15	arm	arm	NOUN
futech-109	3	16	for	for	ADP
futech-109	3	17	lifting	lift	VERB
futech-109	3	18	applications	application	NOUN
futech-109	3	19	with	with	ADP
futech-109	3	20	6	6	NUM
futech-109	3	21	dof	dof	NOUN
futech-109	3	22	nwadinobi	nwadinobi	NOUN
futech-109	3	23	chibundo	chibundo	NOUN
futech-109	3	24	princewill1	princewill1	PROPN
futech-109	3	25	*	*	PROPN
futech-109	3	26	,	,	PUNCT
futech-109	3	27	takim	takim	NOUN
futech-109	3	28	steve2	steve2	PROPN
futech-109	3	29	,	,	PUNCT
futech-109	3	30	omajuwa	omajuwa	PROPN
futech-109	3	31	edesemi	edesemi	PROPN
futech-109	3	32	omawumi3	omawumi3	PROPN
futech-109	3	33	1department	1department	NUM
futech-109	3	34	of	of	ADP
futech-109	3	35	mechanical	mechanical	ADJ
futech-109	3	36	engineering	engineering	NOUN
futech-109	3	37	,	,	PUNCT
futech-109	3	38	abia	abia	PROPN
futech-109	3	39	state	state	PROPN
futech-109	3	40	university	university	PROPN
futech-109	3	41	,	,	PUNCT
futech-109	3	42	uturu	uturu	PROPN
futech-109	3	43	,	,	PUNCT
futech-109	3	44	abia	abia	PROPN
futech-109	3	45	state	state	PROPN
futech-109	3	46	,	,	PUNCT
futech-109	3	47	nigeria	nigeria	PROPN
futech-109	4	1	2department	2department	NUM
futech-109	4	2	of	of	ADP
futech-109	4	3	mechanical	mechanical	ADJ
futech-109	4	4	engineering	engineering	NOUN
futech-109	4	5	,	,	PUNCT
futech-109	4	6	cross	cross	PROPN
futech-109	4	7	river	river	PROPN
futech-109	4	8	university	university	PROPN
futech-109	4	9	of	of	ADP
futech-109	4	10	technology	technology	NOUN
futech-109	4	11	,	,	PUNCT
futech-109	4	12	calabar	calabar	PROPN
futech-109	4	13	,	,	PUNCT
futech-109	4	14	cross	cross	NOUN
futech-109	4	15	river	river	PROPN
futech-109	4	16	state	state	PROPN
futech-109	4	17	,	,	PUNCT
futech-109	4	18	nigeria	nigeria	PROPN
futech-109	5	1	3department	3department	NUM
futech-109	5	2	of	of	ADP
futech-109	5	3	mechanical	mechanical	ADJ
futech-109	5	4	engineering	engineering	NOUN
futech-109	5	5	,	,	PUNCT
futech-109	5	6	gregory	gregory	PROPN
futech-109	5	7	university	university	PROPN
futech-109	5	8	uturu	uturu	PROPN
futech-109	5	9	,	,	PUNCT
futech-109	5	10	abia	abia	PROPN
futech-109	5	11	state	state	PROPN
futech-109	5	12	,	,	PUNCT
futech-109	5	13	nigeria	nigeria	PROPN
futech-109	5	14	a	a	DET
futech-109	5	15	r	r	NOUN
futech-109	5	16	t	t	NOUN
futech-109	6	1	i	i	PRON
futech-109	6	2	c	c	NOUN
futech-109	6	3	l	l	NOUN
futech-109	6	4	e	e	NOUN
futech-109	7	1	i	i	PRON
futech-109	7	2	n	n	VERB
futech-109	7	3	f	f	NOUN
futech-109	7	4	o	o	NOUN
futech-109	7	5	article	article	NOUN
futech-109	7	6	history	history	NOUN
futech-109	7	7	:	:	PUNCT
futech-109	7	8	received	receive	VERB
futech-109	7	9	28	28	NUM
futech-109	7	10	march	march	NOUN
futech-109	7	11	2023	2023	NUM
futech-109	7	12	received	receive	VERB
futech-109	7	13	in	in	ADP
futech-109	7	14	revised	revise	VERB
futech-109	7	15	form	form	NOUN
futech-109	7	16	29	29	NUM
futech-109	7	17	april	april	PROPN
futech-109	7	18	2023	2023	NUM
futech-109	7	19	accepted	accept	VERB
futech-109	7	20	08	08	NUM
futech-109	7	21	may	may	PROPN
futech-109	7	22	2023	2023	NUM
futech-109	7	23	keywords	keyword	NOUN
futech-109	7	24	:	:	PUNCT
futech-109	7	25	bluetooth	bluetooth	PROPN
futech-109	7	26	-	-	PUNCT
futech-109	7	27	controlled	control	VERB
futech-109	7	28	,	,	PUNCT
futech-109	7	29	robotic	robotic	ADJ
futech-109	7	30	arms	arm	NOUN
futech-109	7	31	,	,	PUNCT
futech-109	7	32	cad	cad	PROPN
futech-109	7	33	modeling	modeling	NOUN
futech-109	7	34	,	,	PUNCT
futech-109	7	35	android	android	PROPN
futech-109	7	36	application	application	NOUN
futech-109	7	37	device	device	NOUN
futech-109	7	38	*	*	PUNCT
futech-109	7	39	corresponding	correspond	VERB
futech-109	7	40	author	author	NOUN
futech-109	7	41	email	email	NOUN
futech-109	7	42	address	address	NOUN
futech-109	7	43	:	:	PUNCT
futech-109	8	1	chibundop@gmail.com	chibundop@gmail.com	X
futech-109	8	2	doi	doi	NOUN
futech-109	8	3	:	:	PUNCT
futech-109	8	4	10.55670	10.55670	NUM
futech-109	8	5	/	/	SYM
futech-109	8	6	fpll.futech.3.1.3	fpll.futech.3.1.3	NOUN
futech-109	8	7	a	a	DET
futech-109	8	8	b	b	PROPN
futech-109	8	9	s	s	ADP
futech-109	8	10	t	t	PROPN
futech-109	8	11	r	r	NOUN
futech-109	8	12	a	a	DET
futech-109	8	13	c	c	NOUN
futech-109	8	14	t	t	NOUN
futech-109	8	15	this	this	DET
futech-109	8	16	paper	paper	NOUN
futech-109	8	17	is	be	AUX
futech-109	8	18	centered	center	VERB
futech-109	8	19	on	on	ADP
futech-109	8	20	the	the	DET
futech-109	8	21	design	design	NOUN
futech-109	8	22	and	and	CCONJ
futech-109	8	23	construction	construction	NOUN
futech-109	8	24	of	of	ADP
futech-109	8	25	a	a	DET
futech-109	8	26	bluetooth	bluetooth	NOUN
futech-109	8	27	-	-	PUNCT
futech-109	8	28	controlled	control	VERB
futech-109	8	29	robotic	robotic	ADJ
futech-109	8	30	arm	arm	NOUN
futech-109	8	31	with	with	ADP
futech-109	8	32	6	6	NUM
futech-109	8	33	degrees	degree	NOUN
futech-109	8	34	of	of	ADP
futech-109	8	35	freedom	freedom	NOUN
futech-109	8	36	.	.	PUNCT
futech-109	9	1	it	it	PRON
futech-109	9	2	is	be	AUX
futech-109	9	3	capable	capable	ADJ
futech-109	9	4	of	of	ADP
futech-109	9	5	manipulating	manipulate	VERB
futech-109	9	6	given	give	VERB
futech-109	9	7	objects	object	NOUN
futech-109	9	8	as	as	ADV
futech-109	9	9	well	well	ADV
futech-109	9	10	as	as	ADP
futech-109	9	11	lifting	lift	VERB
futech-109	9	12	and	and	CCONJ
futech-109	9	13	conveying	convey	VERB
futech-109	9	14	a	a	DET
futech-109	9	15	payload	payload	NOUN
futech-109	9	16	from	from	ADP
futech-109	9	17	one	one	NUM
futech-109	9	18	point	point	NOUN
futech-109	9	19	to	to	ADP
futech-109	9	20	another	another	PRON
futech-109	9	21	.	.	PUNCT
futech-109	10	1	any	any	DET
futech-109	10	2	smartphone	smartphone	NOUN
futech-109	10	3	that	that	PRON
futech-109	10	4	possesses	possess	VERB
futech-109	10	5	an	an	DET
futech-109	10	6	android	android	PROPN
futech-109	10	7	operating	operating	NOUN
futech-109	10	8	system	system	NOUN
futech-109	10	9	can	can	AUX
futech-109	10	10	be	be	AUX
futech-109	10	11	used	use	VERB
futech-109	10	12	for	for	ADP
futech-109	10	13	remote	remote	ADJ
futech-109	10	14	operations	operation	NOUN
futech-109	10	15	.	.	PUNCT
futech-109	11	1	this	this	PRON
futech-109	11	2	offers	offer	VERB
futech-109	11	3	a	a	DET
futech-109	11	4	background	background	NOUN
futech-109	11	5	look	look	NOUN
futech-109	11	6	at	at	ADP
futech-109	11	7	robotic	robotic	ADJ
futech-109	11	8	arms	arm	NOUN
futech-109	11	9	,	,	PUNCT
futech-109	11	10	from	from	ADP
futech-109	11	11	invention	invention	NOUN
futech-109	11	12	to	to	ADP
futech-109	11	13	current	current	ADJ
futech-109	11	14	trend	trend	NOUN
futech-109	11	15	as	as	ADV
futech-109	11	16	well	well	ADV
futech-109	11	17	as	as	ADP
futech-109	11	18	simplification	simplification	NOUN
futech-109	11	19	of	of	ADP
futech-109	11	20	design	design	NOUN
futech-109	11	21	to	to	PART
futech-109	11	22	make	make	VERB
futech-109	11	23	it	it	PRON
futech-109	11	24	more	more	ADV
futech-109	11	25	accessible	accessible	ADJ
futech-109	11	26	to	to	ADP
futech-109	11	27	robotics	robotic	NOUN
futech-109	11	28	enthusiasts	enthusiast	NOUN
futech-109	11	29	.	.	PUNCT
futech-109	12	1	the	the	DET
futech-109	12	2	design	design	NOUN
futech-109	12	3	process	process	NOUN
futech-109	12	4	for	for	ADP
futech-109	12	5	the	the	DET
futech-109	12	6	robotic	robotic	ADJ
futech-109	12	7	arm	arm	NOUN
futech-109	12	8	is	be	AUX
futech-109	12	9	chronicled	chronicle	VERB
futech-109	12	10	in	in	ADP
futech-109	12	11	this	this	DET
futech-109	12	12	paper	paper	NOUN
futech-109	12	13	,	,	PUNCT
futech-109	12	14	from	from	ADP
futech-109	12	15	the	the	DET
futech-109	12	16	working	work	VERB
futech-109	12	17	principle	principle	NOUN
futech-109	12	18	to	to	ADP
futech-109	12	19	the	the	DET
futech-109	12	20	development	development	NOUN
futech-109	12	21	of	of	ADP
futech-109	12	22	the	the	DET
futech-109	12	23	kinematic	kinematic	ADJ
futech-109	12	24	equations	equation	NOUN
futech-109	12	25	,	,	PUNCT
futech-109	12	26	as	as	ADV
futech-109	12	27	well	well	ADV
futech-109	12	28	as	as	ADP
futech-109	12	29	cad	cad	PROPN
futech-109	12	30	modeling	modeling	NOUN
futech-109	12	31	and	and	CCONJ
futech-109	12	32	component	component	NOUN
futech-109	12	33	selection	selection	NOUN
futech-109	12	34	.	.	PUNCT
futech-109	13	1	tests	test	NOUN
futech-109	13	2	are	be	AUX
futech-109	13	3	also	also	ADV
futech-109	13	4	conducted	conduct	VERB
futech-109	13	5	to	to	PART
futech-109	13	6	ascertain	ascertain	VERB
futech-109	13	7	the	the	DET
futech-109	13	8	robot	robot	NOUN
futech-109	13	9	’s	’s	PART
futech-109	13	10	strength	strength	NOUN
futech-109	13	11	and	and	CCONJ
futech-109	13	12	range	range	NOUN
futech-109	13	13	of	of	ADP
futech-109	13	14	capabilities	capability	NOUN
futech-109	13	15	.	.	PUNCT
futech-109	14	1	the	the	DET
futech-109	14	2	availability	availability	NOUN
futech-109	14	3	of	of	ADP
futech-109	14	4	this	this	DET
futech-109	14	5	robotic	robotic	ADJ
futech-109	14	6	arm	arm	NOUN
futech-109	14	7	would	would	AUX
futech-109	14	8	serve	serve	VERB
futech-109	14	9	as	as	ADP
futech-109	14	10	an	an	DET
futech-109	14	11	indispensable	indispensable	ADJ
futech-109	14	12	learning	learning	NOUN
futech-109	14	13	tool	tool	NOUN
futech-109	14	14	for	for	ADP
futech-109	14	15	experimenting	experiment	VERB
futech-109	14	16	with	with	ADP
futech-109	14	17	robotics	robotic	NOUN
futech-109	14	18	in	in	ADP
futech-109	14	19	training	training	NOUN
futech-109	14	20	institutions	institution	NOUN
futech-109	14	21	.	.	PUNCT
futech-109	15	1	1	1	X
futech-109	15	2	.	.	X
futech-109	15	3	introduction	introduction	NOUN
futech-109	15	4	the	the	DET
futech-109	15	5	term	term	NOUN
futech-109	15	6	robot	robot	NOUN
futech-109	15	7	is	be	AUX
futech-109	15	8	defined	define	VERB
futech-109	15	9	as	as	ADP
futech-109	15	10	a	a	DET
futech-109	15	11	reprogrammable	reprogrammable	ADJ
futech-109	15	12	multifunctional	multifunctional	ADJ
futech-109	15	13	operational	operational	ADJ
futech-109	15	14	device	device	NOUN
futech-109	15	15	designed	design	VERB
futech-109	15	16	to	to	PART
futech-109	15	17	manipulate	manipulate	VERB
futech-109	15	18	certain	certain	ADJ
futech-109	15	19	materials	material	NOUN
futech-109	15	20	,	,	PUNCT
futech-109	15	21	parts	part	NOUN
futech-109	15	22	,	,	PUNCT
futech-109	15	23	tools	tool	NOUN
futech-109	15	24	,	,	PUNCT
futech-109	15	25	or	or	CCONJ
futech-109	15	26	devices	device	NOUN
futech-109	15	27	through	through	ADP
futech-109	15	28	various	various	ADJ
futech-109	15	29	programmed	program	VERB
futech-109	15	30	movements	movement	NOUN
futech-109	15	31	to	to	PART
futech-109	15	32	perform	perform	VERB
futech-109	15	33	various	various	ADJ
futech-109	15	34	tasks	task	NOUN
futech-109	15	35	[	[	X
futech-109	15	36	1	1	NUM
futech-109	15	37	-	-	SYM
futech-109	15	38	3	3	NUM
futech-109	15	39	]	]	PUNCT
futech-109	15	40	.	.	PUNCT
futech-109	16	1	the	the	DET
futech-109	16	2	aforementioned	aforementioned	ADJ
futech-109	16	3	technological	technological	ADJ
futech-109	16	4	advancements	advancement	NOUN
futech-109	16	5	have	have	AUX
futech-109	16	6	led	lead	VERB
futech-109	16	7	to	to	ADP
futech-109	16	8	a	a	DET
futech-109	16	9	resultant	resultant	NOUN
futech-109	16	10	proliferation	proliferation	NOUN
futech-109	16	11	of	of	ADP
futech-109	16	12	robots	robot	NOUN
futech-109	16	13	that	that	PRON
futech-109	16	14	play	play	VERB
futech-109	16	15	various	various	ADJ
futech-109	16	16	roles	role	NOUN
futech-109	16	17	in	in	ADP
futech-109	16	18	our	our	PRON
futech-109	16	19	everyday	everyday	ADJ
futech-109	16	20	lives	life	NOUN
futech-109	16	21	,	,	PUNCT
futech-109	16	22	from	from	ADP
futech-109	16	23	entertainment	entertainment	NOUN
futech-109	16	24	to	to	ADP
futech-109	16	25	industrial	industrial	ADJ
futech-109	16	26	,	,	PUNCT
futech-109	16	27	medical	medical	ADJ
futech-109	16	28	to	to	ADP
futech-109	16	29	military	military	NOUN
futech-109	16	30	;	;	PUNCT
futech-109	16	31	the	the	DET
futech-109	16	32	robots	robot	NOUN
futech-109	16	33	vary	vary	VERB
futech-109	16	34	in	in	ADP
futech-109	16	35	form	form	NOUN
futech-109	16	36	and	and	CCONJ
futech-109	16	37	purpose	purpose	NOUN
futech-109	16	38	with	with	ADP
futech-109	16	39	necessary	necessary	ADJ
futech-109	16	40	classifications	classification	NOUN
futech-109	16	41	[	[	X
futech-109	16	42	4	4	NUM
futech-109	16	43	,	,	PUNCT
futech-109	16	44	5	5	NUM
futech-109	16	45	]	]	PUNCT
futech-109	16	46	.	.	PUNCT
futech-109	17	1	service	service	NOUN
futech-109	17	2	robots	robot	NOUN
futech-109	17	3	are	be	AUX
futech-109	17	4	robots	robot	NOUN
futech-109	17	5	that	that	PRON
futech-109	17	6	exist	exist	VERB
futech-109	17	7	to	to	PART
futech-109	17	8	serve	serve	VERB
futech-109	17	9	the	the	DET
futech-109	17	10	everyday	everyday	ADJ
futech-109	17	11	well	well	ADV
futech-109	17	12	-	-	PUNCT
futech-109	17	13	being	being	NOUN
futech-109	17	14	of	of	ADP
futech-109	17	15	humans	human	NOUN
futech-109	17	16	,	,	PUNCT
futech-109	17	17	with	with	ADP
futech-109	17	18	the	the	DET
futech-109	17	19	exception	exception	NOUN
futech-109	17	20	of	of	ADP
futech-109	17	21	manufacturing	manufacturing	NOUN
futech-109	17	22	operations	operation	NOUN
futech-109	17	23	.	.	PUNCT
futech-109	18	1	these	these	DET
futech-109	18	2	services	service	NOUN
futech-109	18	3	can	can	AUX
futech-109	18	4	include	include	VERB
futech-109	18	5	vacuum	vacuum	NOUN
futech-109	18	6	cleaning	cleaning	NOUN
futech-109	18	7	and	and	CCONJ
futech-109	18	8	lawn	lawn	NOUN
futech-109	18	9	mowing	mowing	NOUN
futech-109	18	10	,	,	PUNCT
futech-109	18	11	as	as	ADV
futech-109	18	12	well	well	ADV
futech-109	18	13	as	as	ADP
futech-109	18	14	courier	courier	NOUN
futech-109	18	15	services	service	NOUN
futech-109	18	16	and	and	CCONJ
futech-109	18	17	general	general	ADJ
futech-109	18	18	logistics	logistic	NOUN
futech-109	18	19	.	.	PUNCT
futech-109	19	1	the	the	DET
futech-109	19	2	robots	robot	NOUN
futech-109	19	3	operate	operate	VERB
futech-109	19	4	autonomously	autonomously	ADV
futech-109	19	5	or	or	CCONJ
futech-109	19	6	semi	semi	ADV
futech-109	19	7	-	-	ADJ
futech-109	19	8	autonomously	autonomously	ADV
futech-109	19	9	[	[	X
futech-109	19	10	6	6	NUM
futech-109	19	11	]	]	PUNCT
futech-109	19	12	.	.	PUNCT
futech-109	20	1	secondly	secondly	ADV
futech-109	20	2	is	be	AUX
futech-109	20	3	the	the	DET
futech-109	20	4	space	space	NOUN
futech-109	20	5	robots	robot	NOUN
futech-109	20	6	,	,	PUNCT
futech-109	20	7	which	which	PRON
futech-109	20	8	are	be	AUX
futech-109	20	9	robots	robot	NOUN
futech-109	20	10	employed	employ	VERB
futech-109	20	11	in	in	ADP
futech-109	20	12	space	space	NOUN
futech-109	20	13	operations	operation	NOUN
futech-109	20	14	,	,	PUNCT
futech-109	20	15	usually	usually	ADV
futech-109	20	16	for	for	ADP
futech-109	20	17	surveillance	surveillance	NOUN
futech-109	20	18	and	and	CCONJ
futech-109	20	19	planetary	planetary	ADJ
futech-109	20	20	explorations	exploration	NOUN
futech-109	20	21	.	.	PUNCT
futech-109	21	1	these	these	DET
futech-109	21	2	robots	robot	NOUN
futech-109	21	3	are	be	AUX
futech-109	21	4	known	know	VERB
futech-109	21	5	to	to	PART
futech-109	21	6	come	come	VERB
futech-109	21	7	with	with	ADP
futech-109	21	8	various	various	ADJ
futech-109	21	9	radio	radio	NOUN
futech-109	21	10	communication	communication	NOUN
futech-109	21	11	features	feature	VERB
futech-109	21	12	as	as	ADV
futech-109	21	13	well	well	ADV
futech-109	21	14	as	as	ADP
futech-109	21	15	highly	highly	ADV
futech-109	21	16	resilient	resilient	ADJ
futech-109	21	17	mobile	mobile	ADJ
futech-109	21	18	capabilities	capability	NOUN
futech-109	22	1	[	[	X
futech-109	22	2	7	7	NUM
futech-109	22	3	]	]	PUNCT
futech-109	22	4	.	.	PUNCT
futech-109	23	1	this	this	PRON
futech-109	23	2	is	be	AUX
futech-109	23	3	followed	follow	VERB
futech-109	23	4	by	by	ADP
futech-109	23	5	the	the	DET
futech-109	23	6	military	military	ADJ
futech-109	23	7	robots	robot	NOUN
futech-109	23	8	,	,	PUNCT
futech-109	23	9	which	which	PRON
futech-109	23	10	often	often	ADV
futech-109	23	11	come	come	VERB
futech-109	23	12	equipped	equip	VERB
futech-109	23	13	with	with	ADP
futech-109	23	14	radio	radio	NOUN
futech-109	23	15	devices	device	NOUN
futech-109	23	16	;	;	PUNCT
futech-109	23	17	however	however	ADV
futech-109	23	18	,	,	PUNCT
futech-109	23	19	they	they	PRON
futech-109	23	20	can	can	AUX
futech-109	23	21	also	also	ADV
futech-109	23	22	feature	feature	VERB
futech-109	23	23	bomb	bomb	NOUN
futech-109	23	24	-	-	PUNCT
futech-109	23	25	defusing	defuse	VERB
futech-109	23	26	and	and	CCONJ
futech-109	23	27	projectile	projectile	NOUN
futech-109	23	28	-	-	PUNCT
futech-109	23	29	launching	launch	VERB
futech-109	23	30	capabilities	capability	NOUN
futech-109	23	31	.	.	PUNCT
futech-109	24	1	finally	finally	ADV
futech-109	24	2	,	,	PUNCT
futech-109	24	3	industrial	industrial	ADJ
futech-109	24	4	robots	robot	NOUN
futech-109	24	5	,	,	PUNCT
futech-109	24	6	robotic	robotic	ADJ
futech-109	24	7	arms	arm	NOUN
futech-109	24	8	that	that	PRON
futech-109	24	9	move	move	VERB
futech-109	24	10	in	in	ADP
futech-109	24	11	multiple	multiple	ADJ
futech-109	24	12	directions	direction	NOUN
futech-109	24	13	and	and	CCONJ
futech-109	24	14	can	can	AUX
futech-109	24	15	be	be	AUX
futech-109	24	16	programmed	program	VERB
futech-109	24	17	to	to	PART
futech-109	24	18	perform	perform	VERB
futech-109	24	19	many	many	ADJ
futech-109	24	20	types	type	NOUN
futech-109	24	21	of	of	ADP
futech-109	24	22	repetitive	repetitive	ADJ
futech-109	24	23	tasks	task	NOUN
futech-109	24	24	in	in	ADP
futech-109	24	25	different	different	ADJ
futech-109	24	26	environments	environment	NOUN
futech-109	24	27	,	,	PUNCT
futech-109	24	28	such	such	ADJ
futech-109	24	29	as	as	ADP
futech-109	24	30	high	high	ADJ
futech-109	24	31	pressure	pressure	NOUN
futech-109	24	32	and	and	CCONJ
futech-109	24	33	vacuum	vacuum	NOUN
futech-109	24	34	chambers	chamber	NOUN
futech-109	24	35	,	,	PUNCT
futech-109	24	36	terribly	terribly	ADV
futech-109	24	37	toxic	toxic	ADJ
futech-109	24	38	areas	area	NOUN
futech-109	24	39	,	,	PUNCT
futech-109	24	40	as	as	ADV
futech-109	24	41	well	well	ADV
futech-109	24	42	as	as	ADP
futech-109	24	43	hazardous	hazardous	ADJ
futech-109	24	44	environments	environment	NOUN
futech-109	24	45	where	where	SCONJ
futech-109	24	46	the	the	DET
futech-109	24	47	explosion	explosion	NOUN
futech-109	24	48	,	,	PUNCT
futech-109	24	49	infection	infection	NOUN
futech-109	24	50	,	,	PUNCT
futech-109	24	51	radiation	radiation	NOUN
futech-109	24	52	or	or	CCONJ
futech-109	24	53	other	other	ADJ
futech-109	24	54	similar	similar	ADJ
futech-109	24	55	extreme	extreme	ADJ
futech-109	24	56	hazards	hazard	NOUN
futech-109	24	57	endangering	endanger	VERB
futech-109	24	58	human	human	ADJ
futech-109	24	59	life	life	NOUN
futech-109	24	60	.	.	PUNCT
futech-109	25	1	of	of	ADP
futech-109	25	2	all	all	DET
futech-109	25	3	robotic	robotic	ADJ
futech-109	25	4	systems	system	NOUN
futech-109	25	5	,	,	PUNCT
futech-109	25	6	the	the	DET
futech-109	25	7	robotic	robotic	ADJ
futech-109	25	8	arm	arm	NOUN
futech-109	25	9	has	have	AUX
futech-109	25	10	always	always	ADV
futech-109	25	11	received	receive	VERB
futech-109	25	12	the	the	DET
futech-109	25	13	most	most	ADJ
futech-109	25	14	attention	attention	NOUN
futech-109	25	15	because	because	SCONJ
futech-109	25	16	its	its	PRON
futech-109	25	17	architecture	architecture	NOUN
futech-109	25	18	is	be	AUX
futech-109	25	19	the	the	DET
futech-109	25	20	simplest	simple	ADJ
futech-109	25	21	of	of	ADP
futech-109	25	22	all	all	DET
futech-109	25	23	robotic	robotic	ADJ
futech-109	25	24	architectures	architecture	NOUN
futech-109	25	25	and	and	CCONJ
futech-109	25	26	therefore	therefore	ADV
futech-109	25	27	appears	appear	VERB
futech-109	25	28	as	as	ADP
futech-109	25	29	part	part	NOUN
futech-109	25	30	of	of	ADP
futech-109	25	31	other	other	ADJ
futech-109	25	32	more	more	ADV
futech-109	25	33	complex	complex	ADJ
futech-109	25	34	mechanical	mechanical	ADJ
futech-109	25	35	robotic	robotic	ADJ
futech-109	25	36	systems	system	NOUN
futech-109	25	37	[	[	X
futech-109	25	38	8	8	NUM
futech-109	25	39	-	-	SYM
futech-109	25	40	10	10	NUM
futech-109	25	41	]	]	PUNCT
futech-109	25	42	.	.	PUNCT
futech-109	26	1	a	a	DET
futech-109	26	2	robotic	robotic	ADJ
futech-109	26	3	arm	arm	NOUN
futech-109	26	4	is	be	AUX
futech-109	26	5	a	a	DET
futech-109	26	6	type	type	NOUN
futech-109	26	7	of	of	ADP
futech-109	26	8	mechanical	mechanical	ADJ
futech-109	26	9	arm	arm	NOUN
futech-109	26	10	,	,	PUNCT
futech-109	26	11	normally	normally	ADV
futech-109	26	12	programmable	programmable	ADJ
futech-109	26	13	,	,	PUNCT
futech-109	26	14	that	that	PRON
futech-109	26	15	works	work	VERB
futech-109	26	16	the	the	DET
futech-109	26	17	same	same	ADJ
futech-109	26	18	way	way	NOUN
futech-109	26	19	as	as	ADP
futech-109	26	20	a	a	DET
futech-109	26	21	human	human	ADJ
futech-109	26	22	arm	arm	NOUN
futech-109	26	23	.	.	PUNCT
futech-109	27	1	this	this	DET
futech-109	27	2	arm	arm	NOUN
futech-109	27	3	can	can	AUX
futech-109	27	4	be	be	AUX
futech-109	27	5	the	the	DET
futech-109	27	6	summation	summation	NOUN
futech-109	27	7	of	of	ADP
futech-109	27	8	the	the	DET
futech-109	27	9	general	general	ADJ
futech-109	27	10	mechanism	mechanism	NOUN
futech-109	27	11	or	or	CCONJ
futech-109	27	12	part	part	NOUN
futech-109	27	13	of	of	ADP
futech-109	27	14	a	a	DET
futech-109	27	15	more	more	ADV
futech-109	27	16	complex	complex	ADJ
futech-109	27	17	robot	robot	NOUN
futech-109	27	18	[	[	X
futech-109	27	19	11	11	NUM
futech-109	27	20	,	,	PUNCT
futech-109	27	21	12	12	NUM
futech-109	27	22	]	]	PUNCT
futech-109	27	23	.	.	PUNCT
futech-109	28	1	there	there	PRON
futech-109	28	2	are	be	VERB
futech-109	28	3	limbs	limb	NOUN
futech-109	28	4	of	of	ADP
futech-109	28	5	such	such	DET
futech-109	28	6	a	a	DET
futech-109	28	7	manipulator	manipulator	NOUN
futech-109	28	8	connected	connect	VERB
futech-109	28	9	by	by	ADP
futech-109	28	10	joints	joint	NOUN
futech-109	28	11	that	that	PRON
futech-109	28	12	allow	allow	VERB
futech-109	28	13	rotational	rotational	ADJ
futech-109	28	14	or	or	CCONJ
futech-109	28	15	translational	translational	ADJ
futech-109	28	16	movement	movement	NOUN
futech-109	28	17	.	.	PUNCT
futech-109	29	1	the	the	DET
futech-109	29	2	links	link	NOUN
futech-109	29	3	of	of	ADP
futech-109	29	4	the	the	DET
futech-109	29	5	manipulator	manipulator	NOUN
futech-109	29	6	can	can	AUX
futech-109	29	7	be	be	AUX
futech-109	29	8	viewed	view	VERB
futech-109	29	9	as	as	ADP
futech-109	29	10	a	a	DET
futech-109	29	11	kinematic	kinematic	ADJ
futech-109	29	12	chain	chain	NOUN
futech-109	29	13	.	.	PUNCT
futech-109	30	1	the	the	DET
futech-109	30	2	end	end	NOUN
futech-109	30	3	of	of	ADP
futech-109	30	4	the	the	DET
futech-109	30	5	manipulator	manipulator	NOUN
futech-109	30	6	's	's	PART
futech-109	30	7	kinematic	kinematic	ADJ
futech-109	30	8	chain	chain	NOUN
futech-109	30	9	is	be	AUX
futech-109	30	10	called	call	VERB
futech-109	30	11	the	the	DET
futech-109	30	12	end	end	NOUN
futech-109	30	13	effector	effector	NOUN
futech-109	30	14	and	and	CCONJ
futech-109	30	15	corresponds	correspond	VERB
futech-109	30	16	to	to	ADP
futech-109	30	17	the	the	DET
futech-109	30	18	human	human	ADJ
futech-109	30	19	hand	hand	NOUN
futech-109	30	20	.	.	PUNCT
futech-109	31	1	depending	depend	VERB
futech-109	31	2	on	on	ADP
futech-109	31	3	the	the	DET
futech-109	31	4	application	application	NOUN
futech-109	31	5	,	,	PUNCT
futech-109	31	6	the	the	DET
futech-109	31	7	end	end	NOUN
futech-109	31	8	effector	effector	NOUN
futech-109	31	9	or	or	CCONJ
futech-109	31	10	the	the	DET
futech-109	31	11	robot	robot	NOUN
futech-109	31	12	hand	hand	NOUN
futech-109	31	13	can	can	AUX
futech-109	31	14	be	be	AUX
futech-109	31	15	designed	design	VERB
futech-109	31	16	for	for	ADP
futech-109	31	17	any	any	DET
futech-109	31	18	task	task	NOUN
futech-109	31	19	,	,	PUNCT
futech-109	31	20	such	such	ADJ
futech-109	31	21	as	as	ADP
futech-109	31	22	carrying	carry	VERB
futech-109	31	23	,	,	PUNCT
futech-109	31	24	gripping	gripping	ADJ
futech-109	31	25	,	,	PUNCT
futech-109	31	26	turning	turn	VERB
futech-109	31	27	.	.	PUNCT
futech-109	32	1	robotic	robotic	ADJ
futech-109	32	2	arms	arm	NOUN
futech-109	32	3	function	function	NOUN
futech-109	32	4	similarly	similarly	ADV
futech-109	32	5	to	to	ADP
futech-109	32	6	human	human	ADJ
futech-109	32	7	arms	arm	NOUN
futech-109	32	8	yet	yet	ADV
futech-109	32	9	have	have	VERB
futech-109	32	10	a	a	DET
futech-109	32	11	much	much	ADV
futech-109	32	12	greater	great	ADJ
futech-109	32	13	range	range	NOUN
futech-109	32	14	of	of	ADP
futech-109	32	15	motion	motion	NOUN
futech-109	32	16	,	,	PUNCT
futech-109	32	17	as	as	SCONJ
futech-109	32	18	their	their	PRON
futech-109	32	19	design	design	NOUN
futech-109	32	20	can	can	AUX
futech-109	32	21	only	only	ADV
futech-109	32	22	future	future	ADJ
futech-109	32	23	technology	technology	NOUN
futech-109	32	24	open	open	ADJ
futech-109	32	25	access	access	NOUN
futech-109	32	26	journal	journal	PROPN
futech-109	33	1	https://doi.org/10.55670/fpll.futech.3.1.3	https://doi.org/10.55670/fpll.futech.3.1.3	PROPN
futech-109	33	2	february	february	PROPN
futech-109	33	3	2024|	2024|	PROPN
futech-109	33	4	volume	volume	NOUN
futech-109	33	5	03	03	NUM
futech-109	34	1	|	|	ADV
futech-109	34	2	issue	issue	NOUN
futech-109	34	3	01	01	NUM
futech-109	35	1	|	|	ADV
futech-109	35	2	pages	page	NOUN
futech-109	35	3	25	25	NUM
futech-109	35	4	-	-	SYM
futech-109	35	5	31	31	NUM
futech-109	35	6	journal	journal	NOUN
futech-109	35	7	homepage	homepage	NOUN
futech-109	35	8	:	:	PUNCT
futech-109	35	9	https://fupubco.com/futech	https://fupubco.com/futech	PROPN
futech-109	35	10	issn	issn	VERB
futech-109	35	11	2832	2832	NUM
futech-109	35	12	-	-	SYM
futech-109	35	13	0379	0379	NUM
futech-109	35	14	mailto:chibundop@gmail.com	mailto:chibundop@gmail.com	PROPN
futech-109	35	15	https://doi.org/10.55670/fpll.futech.3.1.3	https://doi.org/10.55670/fpll.futech.3.1.3	ADJ
futech-109	35	16	https://fupubco.com/futech	https://fupubco.com/futech	PROPN
futech-109	35	17	https://fupubco.com/	https://fupubco.com/	PROPN
futech-109	35	18	nc	nc	PROPN
futech-109	35	19	.	.	PROPN
futech-109	35	20	princewill	princewill	PROPN
futech-109	35	21	et	et	PROPN
futech-109	35	22	al	al	PROPN
futech-109	35	23	.	.	PROPN
futech-109	35	24	/future	/future	PUNCT
futech-109	35	25	technology	technology	PROPN
futech-109	35	26	february	february	PROPN
futech-109	35	27	2024|	2024|	PROPN
futech-109	36	1	volume	volume	NOUN
futech-109	36	2	03	03	NUM
futech-109	37	1	|	|	ADV
futech-109	37	2	issue	issue	NOUN
futech-109	37	3	01	01	NUM
futech-109	38	1	|	|	ADV
futech-109	38	2	pages	page	NOUN
futech-109	38	3	25	25	NUM
futech-109	38	4	-	-	SYM
futech-109	38	5	31	31	NUM
futech-109	38	6	26	26	NUM
futech-109	38	7	depend	depend	VERB
futech-109	38	8	on	on	ADP
futech-109	38	9	the	the	DET
futech-109	38	10	creator	creator	NOUN
futech-109	38	11	's	's	PART
futech-109	38	12	imagination	imagination	NOUN
futech-109	38	13	.	.	PUNCT
futech-109	39	1	the	the	DET
futech-109	39	2	joint	joint	NOUN
futech-109	39	3	that	that	PRON
futech-109	39	4	connects	connect	VERB
futech-109	39	5	the	the	DET
futech-109	39	6	robotic	robotic	ADJ
futech-109	39	7	arm	arm	NOUN
futech-109	39	8	segments	segment	NOUN
futech-109	39	9	can	can	AUX
futech-109	39	10	rotate	rotate	VERB
futech-109	39	11	and	and	CCONJ
futech-109	39	12	move	move	VERB
futech-109	39	13	like	like	ADP
futech-109	39	14	a	a	DET
futech-109	39	15	hinge	hinge	NOUN
futech-109	39	16	,	,	PUNCT
futech-109	39	17	and	and	CCONJ
futech-109	39	18	the	the	DET
futech-109	39	19	end	end	NOUN
futech-109	39	20	effector	effector	NOUN
futech-109	39	21	can	can	AUX
futech-109	39	22	be	be	AUX
futech-109	39	23	designed	design	VERB
futech-109	39	24	for	for	ADP
futech-109	39	25	any	any	DET
futech-109	39	26	task	task	NOUN
futech-109	39	27	.	.	PUNCT
futech-109	40	1	today	today	NOUN
futech-109	40	2	,	,	PUNCT
futech-109	40	3	these	these	DET
futech-109	40	4	robotic	robotic	ADJ
futech-109	40	5	arms	arm	NOUN
futech-109	40	6	are	be	AUX
futech-109	40	7	used	use	VERB
futech-109	40	8	for	for	ADP
futech-109	40	9	tedious	tedious	ADJ
futech-109	40	10	and	and	CCONJ
futech-109	40	11	complex	complex	ADJ
futech-109	40	12	tasks	task	NOUN
futech-109	40	13	that	that	PRON
futech-109	40	14	can	can	AUX
futech-109	40	15	be	be	AUX
futech-109	40	16	completed	complete	VERB
futech-109	40	17	faster	fast	ADV
futech-109	40	18	than	than	ADP
futech-109	40	19	any	any	DET
futech-109	40	20	human	human	NOUN
futech-109	40	21	[	[	X
futech-109	40	22	9	9	NUM
futech-109	40	23	,	,	PUNCT
futech-109	40	24	13	13	NUM
futech-109	40	25	,	,	PUNCT
futech-109	40	26	14	14	NUM
futech-109	40	27	]	]	PUNCT
futech-109	40	28	.	.	PUNCT
futech-109	41	1	in	in	ADP
futech-109	41	2	spite	spite	NOUN
futech-109	41	3	of	of	ADP
futech-109	41	4	the	the	DET
futech-109	41	5	fact	fact	NOUN
futech-109	41	6	that	that	SCONJ
futech-109	41	7	the	the	DET
futech-109	41	8	field	field	NOUN
futech-109	41	9	of	of	ADP
futech-109	41	10	robotics	robotic	NOUN
futech-109	41	11	has	have	AUX
futech-109	41	12	existed	exist	VERB
futech-109	41	13	since	since	SCONJ
futech-109	41	14	the	the	DET
futech-109	41	15	early	early	ADJ
futech-109	41	16	1930s	1930s	NUM
futech-109	41	17	,	,	PUNCT
futech-109	41	18	two	two	NUM
futech-109	41	19	major	major	ADJ
futech-109	41	20	factors	factor	NOUN
futech-109	41	21	that	that	PRON
futech-109	41	22	make	make	VERB
futech-109	41	23	it	it	PRON
futech-109	41	24	appear	appear	VERB
futech-109	41	25	inaccessible	inaccessible	ADJ
futech-109	41	26	to	to	ADP
futech-109	41	27	many	many	ADJ
futech-109	41	28	aspiring	aspiring	ADJ
futech-109	41	29	engineers	engineer	NOUN
futech-109	41	30	in	in	ADP
futech-109	41	31	the	the	DET
futech-109	41	32	third	third	ADJ
futech-109	41	33	world	world	NOUN
futech-109	41	34	are	be	AUX
futech-109	41	35	the	the	DET
futech-109	41	36	cost	cost	NOUN
futech-109	41	37	and	and	CCONJ
futech-109	41	38	the	the	DET
futech-109	41	39	mathematical	mathematical	ADJ
futech-109	41	40	complexity	complexity	NOUN
futech-109	41	41	.	.	PUNCT
futech-109	42	1	in	in	ADP
futech-109	42	2	the	the	DET
futech-109	42	3	first	first	ADJ
futech-109	42	4	instance	instance	NOUN
futech-109	42	5	,	,	PUNCT
futech-109	42	6	the	the	DET
futech-109	42	7	cost	cost	NOUN
futech-109	42	8	of	of	ADP
futech-109	42	9	acquiring	acquire	VERB
futech-109	42	10	hardware	hardware	NOUN
futech-109	42	11	for	for	ADP
futech-109	42	12	training	training	NOUN
futech-109	42	13	purposes	purpose	NOUN
futech-109	42	14	to	to	ADP
futech-109	42	15	many	many	ADJ
futech-109	42	16	learning	learn	VERB
futech-109	42	17	institutions	institution	NOUN
futech-109	42	18	can	can	AUX
futech-109	42	19	prove	prove	VERB
futech-109	42	20	quite	quite	ADV
futech-109	42	21	prohibitive	prohibitive	ADJ
futech-109	42	22	and	and	CCONJ
futech-109	42	23	as	as	ADP
futech-109	42	24	a	a	DET
futech-109	42	25	result	result	NOUN
futech-109	42	26	,	,	PUNCT
futech-109	42	27	discouraging	discourage	VERB
futech-109	42	28	.	.	PUNCT
futech-109	43	1	thus	thus	ADV
futech-109	43	2	,	,	PUNCT
futech-109	43	3	keeping	keep	VERB
futech-109	43	4	them	they	PRON
futech-109	43	5	out	out	ADP
futech-109	43	6	of	of	ADP
futech-109	43	7	the	the	DET
futech-109	43	8	reach	reach	NOUN
futech-109	43	9	of	of	ADP
futech-109	43	10	entrylevel	entrylevel	ADJ
futech-109	43	11	enthusiasts	enthusiast	NOUN
futech-109	43	12	willing	willing	ADJ
futech-109	43	13	to	to	PART
futech-109	43	14	learn	learn	VERB
futech-109	43	15	and	and	CCONJ
futech-109	43	16	practice	practice	VERB
futech-109	43	17	on	on	ADP
futech-109	43	18	a	a	DET
futech-109	43	19	conservative	conservative	ADJ
futech-109	43	20	budget	budget	NOUN
futech-109	43	21	.	.	PUNCT
futech-109	44	1	the	the	DET
futech-109	44	2	second	second	ADJ
futech-109	44	3	instance	instance	NOUN
futech-109	44	4	,	,	PUNCT
futech-109	44	5	the	the	DET
futech-109	44	6	mathematical	mathematical	ADJ
futech-109	44	7	complexity	complexity	NOUN
futech-109	44	8	,	,	PUNCT
futech-109	44	9	is	be	AUX
futech-109	44	10	also	also	ADV
futech-109	44	11	a	a	DET
futech-109	44	12	major	major	ADJ
futech-109	44	13	challenge	challenge	NOUN
futech-109	44	14	.	.	PUNCT
futech-109	45	1	the	the	DET
futech-109	45	2	aim	aim	NOUN
futech-109	45	3	of	of	ADP
futech-109	45	4	this	this	DET
futech-109	45	5	work	work	NOUN
futech-109	45	6	is	be	AUX
futech-109	45	7	to	to	PART
futech-109	45	8	design	design	VERB
futech-109	45	9	and	and	CCONJ
futech-109	45	10	construct	construct	VERB
futech-109	45	11	a	a	DET
futech-109	45	12	wireless	wireless	ADJ
futech-109	45	13	industrial	industrial	ADJ
futech-109	45	14	robotic	robotic	ADJ
futech-109	45	15	arm	arm	NOUN
futech-109	45	16	capable	capable	ADJ
futech-109	45	17	of	of	ADP
futech-109	45	18	being	be	AUX
futech-109	45	19	controlled	control	VERB
futech-109	45	20	by	by	ADP
futech-109	45	21	an	an	DET
futech-109	45	22	android	android	PROPN
futech-109	45	23	application	application	NOUN
futech-109	45	24	via	via	ADP
futech-109	45	25	bluetooth	bluetooth	PROPN
futech-109	45	26	,	,	PUNCT
futech-109	45	27	helping	help	VERB
futech-109	45	28	to	to	PART
futech-109	45	29	serve	serve	VERB
futech-109	45	30	as	as	ADP
futech-109	45	31	a	a	DET
futech-109	45	32	training	training	NOUN
futech-109	45	33	model	model	NOUN
futech-109	45	34	for	for	ADP
futech-109	45	35	demonstrative	demonstrative	ADJ
futech-109	45	36	and	and	CCONJ
futech-109	45	37	educational	educational	ADJ
futech-109	45	38	purposes	purpose	NOUN
futech-109	45	39	.	.	PUNCT
futech-109	46	1	this	this	DET
futech-109	46	2	work	work	NOUN
futech-109	46	3	covers	cover	VERB
futech-109	46	4	the	the	DET
futech-109	46	5	selection	selection	NOUN
futech-109	46	6	of	of	ADP
futech-109	46	7	components	component	NOUN
futech-109	46	8	,	,	PUNCT
futech-109	46	9	design	design	NOUN
futech-109	46	10	,	,	PUNCT
futech-109	46	11	simulation	simulation	NOUN
futech-109	46	12	,	,	PUNCT
futech-109	46	13	fabrication	fabrication	NOUN
futech-109	46	14	,	,	PUNCT
futech-109	46	15	and	and	CCONJ
futech-109	46	16	programming	programming	NOUN
futech-109	46	17	of	of	ADP
futech-109	46	18	the	the	DET
futech-109	46	19	industrial	industrial	ADJ
futech-109	46	20	robotic	robotic	ADJ
futech-109	46	21	arm	arm	NOUN
futech-109	46	22	.	.	PUNCT
futech-109	47	1	it	it	PRON
futech-109	47	2	goes	go	VERB
futech-109	47	3	further	far	ADV
futech-109	47	4	to	to	PART
futech-109	47	5	discuss	discuss	VERB
futech-109	47	6	the	the	DET
futech-109	47	7	implementation	implementation	NOUN
futech-109	47	8	of	of	ADP
futech-109	47	9	the	the	DET
futech-109	47	10	inverse	inverse	NOUN
futech-109	47	11	kinematics	kinematic	NOUN
futech-109	47	12	of	of	ADP
futech-109	47	13	the	the	DET
futech-109	47	14	arm	arm	NOUN
futech-109	47	15	.	.	PUNCT
futech-109	48	1	2	2	X
futech-109	48	2	.	.	X
futech-109	48	3	materials	material	NOUN
futech-109	48	4	and	and	CCONJ
futech-109	48	5	methods	method	NOUN
futech-109	48	6	this	this	DET
futech-109	48	7	section	section	NOUN
futech-109	48	8	comprehensively	comprehensively	ADV
futech-109	48	9	describes	describe	VERB
futech-109	48	10	the	the	DET
futech-109	48	11	design	design	NOUN
futech-109	48	12	and	and	CCONJ
futech-109	48	13	construction	construction	NOUN
futech-109	48	14	methods	method	NOUN
futech-109	48	15	employed	employ	VERB
futech-109	48	16	for	for	ADP
futech-109	48	17	the	the	DET
futech-109	48	18	robotic	robotic	ADJ
futech-109	48	19	arm	arm	NOUN
futech-109	48	20	and	and	CCONJ
futech-109	48	21	its	its	PRON
futech-109	48	22	controller	controller	NOUN
futech-109	48	23	.	.	PUNCT
futech-109	49	1	being	be	AUX
futech-109	49	2	a	a	DET
futech-109	49	3	mechatronic	mechatronic	ADJ
futech-109	49	4	system	system	NOUN
futech-109	49	5	,	,	PUNCT
futech-109	49	6	the	the	DET
futech-109	49	7	robot	robot	NOUN
futech-109	49	8	comprises	comprise	VERB
futech-109	49	9	of	of	ADP
futech-109	49	10	a	a	DET
futech-109	49	11	mechanical	mechanical	ADJ
futech-109	49	12	interface	interface	NOUN
futech-109	49	13	,	,	PUNCT
futech-109	49	14	an	an	DET
futech-109	49	15	electrical	electrical	ADJ
futech-109	49	16	/	/	SYM
futech-109	49	17	electronic	electronic	ADJ
futech-109	49	18	interface	interface	NOUN
futech-109	49	19	,	,	PUNCT
futech-109	49	20	and	and	CCONJ
futech-109	49	21	a	a	DET
futech-109	49	22	software	software	NOUN
futech-109	49	23	interface	interface	NOUN
futech-109	49	24	.	.	PUNCT
futech-109	50	1	hence	hence	ADV
futech-109	50	2	,	,	PUNCT
futech-109	50	3	the	the	DET
futech-109	50	4	choice	choice	NOUN
futech-109	50	5	of	of	ADP
futech-109	50	6	material	material	NOUN
futech-109	50	7	for	for	ADP
futech-109	50	8	its	its	PRON
futech-109	50	9	exoskeleton	exoskeleton	NOUN
futech-109	50	10	,	,	PUNCT
futech-109	50	11	motor	motor	NOUN
futech-109	50	12	requirements	requirement	NOUN
futech-109	50	13	,	,	PUNCT
futech-109	50	14	microcontroller	microcontroller	NOUN
futech-109	50	15	capabilities	capability	NOUN
futech-109	50	16	,	,	PUNCT
futech-109	50	17	and	and	CCONJ
futech-109	50	18	the	the	DET
futech-109	50	19	kinematic	kinematic	ADJ
futech-109	50	20	code	code	NOUN
futech-109	50	21	are	be	AUX
futech-109	50	22	addressed	address	VERB
futech-109	50	23	.	.	PUNCT
futech-109	51	1	2.1	2.1	NUM
futech-109	51	2	choice	choice	NOUN
futech-109	51	3	of	of	ADP
futech-109	51	4	exoskeleton	exoskeleton	ADJ
futech-109	51	5	material	material	NOUN
futech-109	51	6	in	in	ADP
futech-109	51	7	order	order	NOUN
futech-109	51	8	to	to	PART
futech-109	51	9	develop	develop	VERB
futech-109	51	10	a	a	DET
futech-109	51	11	reliable	reliable	ADJ
futech-109	51	12	exoskeleton	exoskeleton	NOUN
futech-109	51	13	for	for	ADP
futech-109	51	14	the	the	DET
futech-109	51	15	robotic	robotic	ADJ
futech-109	51	16	arm	arm	NOUN
futech-109	51	17	,	,	PUNCT
futech-109	51	18	capable	capable	ADJ
futech-109	51	19	of	of	ADP
futech-109	51	20	withstanding	withstand	VERB
futech-109	51	21	physical	physical	ADJ
futech-109	51	22	stress	stress	NOUN
futech-109	51	23	and	and	CCONJ
futech-109	51	24	lifting	lift	VERB
futech-109	51	25	a	a	DET
futech-109	51	26	payload	payload	NOUN
futech-109	51	27	,	,	PUNCT
futech-109	51	28	it	it	PRON
futech-109	51	29	was	be	AUX
futech-109	51	30	important	important	ADJ
futech-109	51	31	to	to	PART
futech-109	51	32	make	make	VERB
futech-109	51	33	certain	certain	ADJ
futech-109	51	34	that	that	SCONJ
futech-109	51	35	the	the	DET
futech-109	51	36	3dprinting	3dprinting	NUM
futech-109	51	37	filament	filament	NOUN
futech-109	51	38	material	material	NOUN
futech-109	51	39	utilized	utilize	VERB
futech-109	51	40	was	be	AUX
futech-109	51	41	going	go	VERB
futech-109	51	42	to	to	PART
futech-109	51	43	be	be	AUX
futech-109	51	44	strong	strong	ADJ
futech-109	51	45	enough	enough	ADV
futech-109	51	46	to	to	PART
futech-109	51	47	resist	resist	VERB
futech-109	51	48	shearing	shearing	NOUN
futech-109	51	49	but	but	CCONJ
futech-109	51	50	also	also	ADV
futech-109	51	51	light	light	VERB
futech-109	51	52	enough	enough	ADV
futech-109	51	53	to	to	PART
futech-109	51	54	not	not	PART
futech-109	51	55	pose	pose	VERB
futech-109	51	56	a	a	DET
futech-109	51	57	significant	significant	ADJ
futech-109	51	58	weight	weight	NOUN
futech-109	51	59	burden	burden	NOUN
futech-109	51	60	to	to	ADP
futech-109	51	61	the	the	DET
futech-109	51	62	servo	servo	NOUN
futech-109	51	63	motors	motor	NOUN
futech-109	51	64	.	.	PUNCT
futech-109	52	1	choosing	choose	VERB
futech-109	52	2	higher	high	ADJ
futech-109	52	3	-	-	PUNCT
futech-109	52	4	torque	torque	NOUN
futech-109	52	5	servos	servo	NOUN
futech-109	52	6	could	could	AUX
futech-109	52	7	pragmatically	pragmatically	ADV
futech-109	52	8	make	make	VERB
futech-109	52	9	the	the	DET
futech-109	52	10	relative	relative	ADJ
futech-109	52	11	weight	weight	NOUN
futech-109	52	12	a	a	DET
futech-109	52	13	non	non	NOUN
futech-109	52	14	-	-	NOUN
futech-109	52	15	issue	issue	NOUN
futech-109	52	16	.	.	PUNCT
futech-109	53	1	the	the	DET
futech-109	53	2	key	key	ADJ
futech-109	53	3	material	material	NOUN
futech-109	53	4	properties	property	NOUN
futech-109	53	5	that	that	PRON
futech-109	53	6	were	be	AUX
futech-109	53	7	put	put	VERB
futech-109	53	8	into	into	ADP
futech-109	53	9	consideration	consideration	NOUN
futech-109	53	10	were	be	AUX
futech-109	53	11	:	:	PUNCT
futech-109	53	12	strength	strength	NOUN
futech-109	53	13	and	and	CCONJ
futech-109	53	14	resilience	resilience	NOUN
futech-109	53	15	,	,	PUNCT
futech-109	53	16	temperature	temperature	NOUN
futech-109	53	17	resistance	resistance	NOUN
futech-109	53	18	,	,	PUNCT
futech-109	53	19	relative	relative	ADJ
futech-109	53	20	lightness	lightness	NOUN
futech-109	53	21	,	,	PUNCT
futech-109	53	22	and	and	CCONJ
futech-109	53	23	availability	availability	NOUN
futech-109	53	24	.	.	PUNCT
futech-109	54	1	from	from	ADP
futech-109	54	2	the	the	DET
futech-109	54	3	factors	factor	NOUN
futech-109	54	4	listed	list	VERB
futech-109	54	5	,	,	PUNCT
futech-109	54	6	pla	pla	NOUN
futech-109	54	7	(	(	PUNCT
futech-109	54	8	polylactic	polylactic	ADJ
futech-109	54	9	acid	acid	NOUN
futech-109	54	10	)	)	PUNCT
futech-109	54	11	tends	tend	VERB
futech-109	54	12	to	to	PART
futech-109	54	13	satisfy	satisfy	VERB
futech-109	54	14	the	the	DET
futech-109	54	15	requirements	requirement	NOUN
futech-109	54	16	.	.	PUNCT
futech-109	55	1	not	not	PART
futech-109	55	2	only	only	ADV
futech-109	55	3	is	be	AUX
futech-109	55	4	it	it	PRON
futech-109	55	5	biodegradable	biodegradable	ADJ
futech-109	55	6	thermoplastic	thermoplastic	NOUN
futech-109	55	7	,	,	PUNCT
futech-109	55	8	it	it	PRON
futech-109	55	9	can	can	AUX
futech-109	55	10	be	be	AUX
futech-109	55	11	readily	readily	ADV
futech-109	55	12	acquired	acquire	VERB
futech-109	55	13	and	and	CCONJ
futech-109	55	14	melted	melt	VERB
futech-109	55	15	for	for	ADP
futech-109	55	16	use	use	NOUN
futech-109	55	17	by	by	ADP
futech-109	55	18	the	the	DET
futech-109	55	19	3d	3d	PROPN
futech-109	55	20	printer	printer	NOUN
futech-109	55	21	as	as	ADP
futech-109	55	22	a	a	DET
futech-109	55	23	result	result	NOUN
futech-109	55	24	of	of	ADP
futech-109	55	25	the	the	DET
futech-109	55	26	fact	fact	NOUN
futech-109	55	27	that	that	SCONJ
futech-109	55	28	it	it	PRON
futech-109	55	29	can	can	AUX
futech-109	55	30	be	be	AUX
futech-109	55	31	economically	economically	ADV
futech-109	55	32	produced	produce	VERB
futech-109	55	33	from	from	ADP
futech-109	55	34	renewable	renewable	ADJ
futech-109	55	35	resources	resource	NOUN
futech-109	55	36	.	.	PUNCT
futech-109	56	1	in	in	ADP
futech-109	56	2	addition	addition	NOUN
futech-109	56	3	,	,	PUNCT
futech-109	56	4	it	it	PRON
futech-109	56	5	offers	offer	VERB
futech-109	56	6	the	the	DET
futech-109	56	7	muchneeded	muchneede	VERB
futech-109	56	8	strength	strength	NOUN
futech-109	56	9	features	feature	NOUN
futech-109	56	10	for	for	ADP
futech-109	56	11	the	the	DET
futech-109	56	12	robotic	robotic	ADJ
futech-109	56	13	arm	arm	NOUN
futech-109	56	14	.	.	PUNCT
futech-109	57	1	these	these	DET
futech-109	57	2	key	key	ADJ
futech-109	57	3	physical	physical	ADJ
futech-109	57	4	properties	property	NOUN
futech-109	57	5	are	be	AUX
futech-109	57	6	tabulated	tabulate	VERB
futech-109	57	7	in	in	ADP
futech-109	57	8	table	table	NOUN
futech-109	57	9	1	1	NUM
futech-109	57	10	.	.	PUNCT
futech-109	57	11	table	table	NOUN
futech-109	57	12	1	1	NUM
futech-109	57	13	.	.	PUNCT
futech-109	58	1	physical	physical	ADJ
futech-109	58	2	properties	property	NOUN
futech-109	58	3	of	of	ADP
futech-109	58	4	polylactic	polylactic	ADJ
futech-109	58	5	acid	acid	NOUN
futech-109	58	6	(	(	PUNCT
futech-109	58	7	pla	pla	NOUN
futech-109	58	8	)	)	PUNCT
futech-109	58	9	2.2	2.2	NUM
futech-109	58	10	robotic	robotic	ADJ
futech-109	58	11	structural	structural	ADJ
futech-109	58	12	design	design	NOUN
futech-109	58	13	the	the	DET
futech-109	58	14	robotic	robotic	ADJ
futech-109	58	15	arm	arm	NOUN
futech-109	58	16	has	have	VERB
futech-109	58	17	six	six	NUM
futech-109	58	18	degrees	degree	NOUN
futech-109	58	19	of	of	ADP
futech-109	58	20	freedom	freedom	NOUN
futech-109	58	21	,	,	PUNCT
futech-109	58	22	including	include	VERB
futech-109	58	23	the	the	DET
futech-109	58	24	gripper	gripper	NOUN
futech-109	58	25	.	.	PUNCT
futech-109	59	1	the	the	DET
futech-109	59	2	implication	implication	NOUN
futech-109	59	3	is	be	AUX
futech-109	59	4	that	that	SCONJ
futech-109	59	5	it	it	PRON
futech-109	59	6	physically	physically	ADV
futech-109	59	7	comprises	comprise	VERB
futech-109	59	8	six	six	NUM
futech-109	59	9	servo	servo	NOUN
futech-109	59	10	motors	motor	NOUN
futech-109	59	11	interlinked	interlink	VERB
futech-109	59	12	in	in	ADP
futech-109	59	13	series	series	NOUN
futech-109	59	14	by	by	ADP
futech-109	59	15	thermoplastic	thermoplastic	ADJ
futech-109	59	16	structures	structure	NOUN
futech-109	59	17	forged	forge	VERB
futech-109	59	18	using	use	VERB
futech-109	59	19	a	a	DET
futech-109	59	20	3d	3d	NUM
futech-109	59	21	printer	printer	NOUN
futech-109	59	22	.	.	PUNCT
futech-109	60	1	the	the	DET
futech-109	60	2	initial	initial	ADJ
futech-109	60	3	cad	cad	NOUN
futech-109	60	4	(	(	PUNCT
futech-109	60	5	computer	computer	NOUN
futech-109	60	6	-	-	PUNCT
futech-109	60	7	aided	aid	VERB
futech-109	60	8	design	design	NOUN
futech-109	60	9	)	)	PUNCT
futech-109	60	10	concept	concept	NOUN
futech-109	60	11	model	model	NOUN
futech-109	60	12	of	of	ADP
futech-109	60	13	the	the	DET
futech-109	60	14	robot	robot	NOUN
futech-109	60	15	was	be	AUX
futech-109	60	16	designed	design	VERB
futech-109	60	17	using	use	VERB
futech-109	60	18	autodesk	autodesk	PROPN
futech-109	60	19	maya	maya	PROPN
futech-109	60	20	(	(	PUNCT
futech-109	60	21	figure	figure	NOUN
futech-109	60	22	1	1	NUM
futech-109	60	23	)	)	PUNCT
futech-109	60	24	.	.	PUNCT
futech-109	61	1	upon	upon	SCONJ
futech-109	61	2	satisfaction	satisfaction	NOUN
futech-109	61	3	with	with	ADP
futech-109	61	4	the	the	DET
futech-109	61	5	overall	overall	ADJ
futech-109	61	6	artistic	artistic	ADJ
futech-109	61	7	look	look	NOUN
futech-109	61	8	and	and	CCONJ
futech-109	61	9	feel	feel	VERB
futech-109	61	10	of	of	ADP
futech-109	61	11	the	the	DET
futech-109	61	12	robot	robot	NOUN
futech-109	61	13	,	,	PUNCT
futech-109	61	14	a	a	DET
futech-109	61	15	more	more	ADV
futech-109	61	16	detailed	detailed	ADJ
futech-109	61	17	cad	cad	NOUN
futech-109	61	18	model	model	NOUN
futech-109	61	19	was	be	AUX
futech-109	61	20	designed	design	VERB
futech-109	61	21	on	on	ADP
futech-109	61	22	dassault	dassault	NOUN
futech-109	61	23	systemes	systeme	NOUN
futech-109	61	24	’	'	PUNCT
futech-109	61	25	solidworks	solidworks	PROPN
futech-109	61	26	software	software	NOUN
futech-109	61	27	–	–	PUNCT
futech-109	61	28	this	this	DET
futech-109	61	29	time	time	NOUN
futech-109	61	30	with	with	ADP
futech-109	61	31	a	a	DET
futech-109	61	32	greater	great	ADJ
futech-109	61	33	degree	degree	NOUN
futech-109	61	34	of	of	ADP
futech-109	61	35	control	control	NOUN
futech-109	61	36	and	and	CCONJ
futech-109	61	37	accuracy	accuracy	NOUN
futech-109	61	38	regarding	regard	VERB
futech-109	61	39	spatial	spatial	ADJ
futech-109	61	40	dimensions	dimension	NOUN
futech-109	61	41	and	and	CCONJ
futech-109	61	42	precise	precise	ADJ
futech-109	61	43	weight	weight	NOUN
futech-109	61	44	calculations	calculation	NOUN
futech-109	61	45	(	(	PUNCT
futech-109	61	46	figure	figure	NOUN
futech-109	61	47	2	2	NUM
futech-109	61	48	)	)	PUNCT
futech-109	61	49	.	.	PUNCT
futech-109	62	1	upon	upon	SCONJ
futech-109	62	2	performing	perform	VERB
futech-109	62	3	mass	mass	NOUN
futech-109	62	4	calculations	calculation	NOUN
futech-109	62	5	on	on	ADP
futech-109	62	6	the	the	DET
futech-109	62	7	model	model	NOUN
futech-109	62	8	,	,	PUNCT
futech-109	62	9	the	the	DET
futech-109	62	10	following	follow	VERB
futech-109	62	11	parameters	parameter	NOUN
futech-109	62	12	were	be	AUX
futech-109	62	13	obtained	obtain	VERB
futech-109	62	14	(	(	PUNCT
futech-109	62	15	table	table	NOUN
futech-109	62	16	2	2	NUM
futech-109	62	17	)	)	PUNCT
futech-109	62	18	.	.	PUNCT
futech-109	63	1	the	the	DET
futech-109	63	2	articulated	articulated	ADJ
futech-109	63	3	robotic	robotic	ADJ
futech-109	63	4	arm	arm	NOUN
futech-109	63	5	with	with	ADP
futech-109	63	6	arrows	arrow	NOUN
futech-109	63	7	showing	show	VERB
futech-109	63	8	its	its	PRON
futech-109	63	9	6	6	NUM
futech-109	63	10	axes	axis	NOUN
futech-109	63	11	of	of	ADP
futech-109	63	12	rotation	rotation	NOUN
futech-109	63	13	is	be	AUX
futech-109	63	14	presented	present	VERB
futech-109	63	15	in	in	ADP
futech-109	63	16	figure	figure	NOUN
futech-109	63	17	3	3	NUM
futech-109	63	18	.	.	PUNCT
futech-109	64	1	density	density	NOUN
futech-109	64	2	1.180	1.180	NUM
futech-109	64	3	g.cm-3	g.cm-3	NOUN
futech-109	64	4	tensile	tensile	PROPN
futech-109	64	5	modulus	modulus	ADJ
futech-109	64	6	3600	3600	NUM
futech-109	64	7	mpa	mpa	NOUN
futech-109	64	8	yield	yield	NOUN
futech-109	64	9	strength	strength	NOUN
futech-109	64	10	60	60	NUM
futech-109	64	11	mpa	mpa	PROPN
futech-109	64	12	flexural	flexural	ADJ
futech-109	64	13	modulus	modulus	PROPN
futech-109	64	14	3800	3800	NUM
futech-109	64	15	mpa	mpa	PROPN
futech-109	64	16	flexural	flexural	ADJ
futech-109	64	17	strength	strength	NOUN
futech-109	64	18	83	83	NUM
futech-109	64	19	mpa	mpa	NOUN
futech-109	64	20	elongation	elongation	NOUN
futech-109	64	21	at	at	ADP
futech-109	64	22	break	break	NOUN
futech-109	64	23	6	6	NUM
futech-109	64	24	%	%	NOUN
futech-109	64	25	melting	melting	NOUN
futech-109	64	26	point	point	NOUN
futech-109	64	27	150	150	NUM
futech-109	64	28	-	-	SYM
futech-109	64	29	170	170	NUM
futech-109	64	30	̊	̊	NOUN
futech-109	64	31	c	c	PROPN
futech-109	64	32	figure	figure	NOUN
futech-109	64	33	1	1	NUM
futech-109	64	34	.	.	X
futech-109	64	35	screenshot	screenshot	NOUN
futech-109	64	36	of	of	ADP
futech-109	64	37	the	the	DET
futech-109	64	38	initial	initial	ADJ
futech-109	64	39	design	design	NOUN
futech-109	64	40	process	process	NOUN
futech-109	64	41	on	on	ADP
futech-109	64	42	autodesk	autodesk	PROPN
futech-109	64	43	maya	maya	PROPN
futech-109	64	44	nc	nc	PROPN
futech-109	64	45	.	.	PROPN
futech-109	64	46	princewill	princewill	PROPN
futech-109	64	47	et	et	PROPN
futech-109	64	48	al	al	PROPN
futech-109	64	49	.	.	PROPN
futech-109	64	50	/future	/future	PUNCT
futech-109	64	51	technology	technology	PROPN
futech-109	64	52	february	february	PROPN
futech-109	64	53	2024|	2024|	PROPN
futech-109	65	1	volume	volume	NOUN
futech-109	65	2	03	03	NUM
futech-109	66	1	|	|	ADV
futech-109	66	2	issue	issue	NOUN
futech-109	66	3	01	01	NUM
futech-109	67	1	|	|	ADV
futech-109	67	2	pages	page	NOUN
futech-109	67	3	25	25	NUM
futech-109	67	4	-	-	SYM
futech-109	67	5	31	31	NUM
futech-109	67	6	27	27	NUM
futech-109	67	7	table	table	NOUN
futech-109	67	8	2	2	NUM
futech-109	67	9	.	.	PUNCT
futech-109	67	10	principal	principal	ADJ
futech-109	67	11	mass	mass	PROPN
futech-109	67	12	parameters	parameter	NOUN
futech-109	67	13	figure	figure	VERB
futech-109	67	14	3	3	NUM
futech-109	67	15	.	.	PUNCT
futech-109	68	1	the	the	DET
futech-109	68	2	articulated	articulated	ADJ
futech-109	68	3	robotic	robotic	ADJ
futech-109	68	4	arm	arm	NOUN
futech-109	68	5	with	with	ADP
futech-109	68	6	arrows	arrow	NOUN
futech-109	68	7	showing	show	VERB
futech-109	68	8	its	its	PRON
futech-109	68	9	6	6	NUM
futech-109	68	10	axes	axis	NOUN
futech-109	68	11	of	of	ADP
futech-109	68	12	rotation	rotation	NOUN
futech-109	68	13	with	with	ADP
futech-109	68	14	the	the	DET
futech-109	68	15	robot	robot	NOUN
futech-109	68	16	’s	’s	PART
futech-109	68	17	six	six	NUM
futech-109	68	18	degrees	degree	NOUN
futech-109	68	19	of	of	ADP
futech-109	68	20	freedom	freedom	NOUN
futech-109	68	21	,	,	PUNCT
futech-109	68	22	the	the	DET
futech-109	68	23	movements	movement	NOUN
futech-109	68	24	of	of	ADP
futech-109	68	25	the	the	DET
futech-109	68	26	joints	joint	NOUN
futech-109	68	27	are	be	AUX
futech-109	68	28	shown	show	VERB
futech-109	68	29	in	in	ADP
futech-109	68	30	table	table	NOUN
futech-109	68	31	3	3	NUM
futech-109	68	32	.	.	NOUN
futech-109	68	33	2.3	2.3	NUM
futech-109	68	34	torque	torque	NOUN
futech-109	68	35	calculations	calculation	NOUN
futech-109	68	36	and	and	CCONJ
futech-109	68	37	motor	motor	NOUN
futech-109	68	38	selection	selection	NOUN
futech-109	68	39	a	a	DET
futech-109	68	40	servomotor	servomotor	NOUN
futech-109	68	41	is	be	AUX
futech-109	68	42	attached	attach	VERB
futech-109	68	43	to	to	ADP
futech-109	68	44	each	each	DET
futech-109	68	45	arm	arm	NOUN
futech-109	68	46	joint	joint	NOUN
futech-109	68	47	to	to	ADP
futech-109	68	48	trigger	trigger	NOUN
futech-109	68	49	movements	movement	NOUN
futech-109	68	50	on	on	ADP
futech-109	68	51	the	the	DET
futech-109	68	52	robot	robot	NOUN
futech-109	68	53	's	's	PART
futech-109	68	54	linkages	linkage	NOUN
futech-109	68	55	.	.	PUNCT
futech-109	69	1	this	this	DET
futech-109	69	2	servo	servo	NOUN
futech-109	69	3	motor	motor	NOUN
futech-109	69	4	applies	apply	VERB
futech-109	69	5	the	the	DET
futech-109	69	6	required	require	VERB
futech-109	69	7	torque	torque	NOUN
futech-109	69	8	to	to	ADP
futech-109	69	9	the	the	DET
futech-109	69	10	gimbal	gimbal	ADJ
futech-109	69	11	to	to	PART
futech-109	69	12	overcome	overcome	VERB
futech-109	69	13	the	the	DET
futech-109	69	14	initial	initial	ADJ
futech-109	69	15	resistance	resistance	NOUN
futech-109	69	16	against	against	ADP
futech-109	69	17	the	the	DET
futech-109	69	18	movement	movement	NOUN
futech-109	69	19	linkage	linkage	NOUN
futech-109	69	20	.	.	PUNCT
futech-109	70	1	this	this	DET
futech-109	70	2	initial	initial	ADJ
futech-109	70	3	resistance	resistance	NOUN
futech-109	70	4	to	to	ADP
futech-109	70	5	motion	motion	NOUN
futech-109	70	6	comes	come	VERB
futech-109	70	7	from	from	ADP
futech-109	70	8	gravitational	gravitational	ADJ
futech-109	70	9	and	and	CCONJ
futech-109	70	10	inertial	inertial	ADJ
futech-109	70	11	effects	effect	NOUN
futech-109	70	12	.	.	PUNCT
futech-109	71	1	the	the	DET
futech-109	71	2	gravitational	gravitational	ADJ
futech-109	71	3	force	force	NOUN
futech-109	71	4	acting	act	VERB
futech-109	71	5	on	on	ADP
futech-109	71	6	each	each	DET
futech-109	71	7	ring	ring	NOUN
futech-109	71	8	attracts	attract	VERB
futech-109	71	9	it	it	PRON
futech-109	71	10	and	and	CCONJ
futech-109	71	11	,	,	PUNCT
futech-109	71	12	under	under	ADP
futech-109	71	13	the	the	DET
futech-109	71	14	influence	influence	NOUN
futech-109	71	15	of	of	ADP
futech-109	71	16	its	its	PRON
futech-109	71	17	own	own	ADJ
futech-109	71	18	weight	weight	NOUN
futech-109	71	19	,	,	PUNCT
futech-109	71	20	accelerates	accelerate	VERB
futech-109	71	21	it	it	PRON
futech-109	71	22	toward	toward	ADP
futech-109	71	23	the	the	DET
futech-109	71	24	center	center	NOUN
futech-109	71	25	of	of	ADP
futech-109	71	26	the	the	DET
futech-109	71	27	earth	earth	NOUN
futech-109	71	28	,	,	PUNCT
futech-109	71	29	exerting	exert	VERB
futech-109	71	30	a	a	DET
futech-109	71	31	drag	drag	NOUN
futech-109	71	32	on	on	ADP
futech-109	71	33	it	it	PRON
futech-109	71	34	.	.	PUNCT
futech-109	72	1	because	because	SCONJ
futech-109	72	2	of	of	ADP
futech-109	72	3	this	this	PRON
futech-109	72	4	,	,	PUNCT
futech-109	72	5	the	the	DET
futech-109	72	6	optimum	optimum	ADJ
futech-109	72	7	torque	torque	NOUN
futech-109	72	8	produced	produce	VERB
futech-109	72	9	by	by	ADP
futech-109	72	10	the	the	DET
futech-109	72	11	servo	servo	NOUN
futech-109	72	12	motor	motor	NOUN
futech-109	72	13	is	be	AUX
futech-109	72	14	required	require	VERB
futech-109	72	15	to	to	PART
futech-109	72	16	overcome	overcome	VERB
futech-109	72	17	the	the	DET
futech-109	72	18	drag	drag	NOUN
futech-109	72	19	torque	torque	NOUN
futech-109	72	20	(	(	PUNCT
futech-109	72	21	due	due	ADP
futech-109	72	22	to	to	ADP
futech-109	72	23	gravity	gravity	NOUN
futech-109	72	24	)	)	PUNCT
futech-109	72	25	.	.	PUNCT
futech-109	73	1	it	it	PRON
futech-109	73	2	was	be	AUX
futech-109	73	3	therefore	therefore	ADV
futech-109	73	4	necessary	necessary	ADJ
futech-109	73	5	to	to	PART
futech-109	73	6	calculate	calculate	VERB
futech-109	73	7	the	the	DET
futech-109	73	8	value	value	NOUN
futech-109	73	9	of	of	ADP
futech-109	73	10	the	the	DET
futech-109	73	11	resisting	resist	VERB
futech-109	73	12	torque	torque	NOUN
futech-109	73	13	acting	act	VERB
futech-109	73	14	on	on	ADP
futech-109	73	15	each	each	DET
futech-109	73	16	rod	rod	NOUN
futech-109	73	17	under	under	ADP
futech-109	73	18	the	the	DET
futech-109	73	19	action	action	NOUN
futech-109	73	20	of	of	ADP
futech-109	73	21	gravity	gravity	NOUN
futech-109	73	22	to	to	PART
futech-109	73	23	ensure	ensure	VERB
futech-109	73	24	that	that	SCONJ
futech-109	73	25	a	a	DET
futech-109	73	26	servomotor	servomotor	NOUN
futech-109	73	27	with	with	ADP
futech-109	73	28	sufficient	sufficient	ADJ
futech-109	73	29	torque	torque	NOUN
futech-109	73	30	was	be	AUX
futech-109	73	31	selected	select	VERB
futech-109	73	32	for	for	ADP
futech-109	73	33	each	each	DET
futech-109	73	34	joint	joint	NOUN
futech-109	73	35	.	.	PUNCT
futech-109	74	1	the	the	DET
futech-109	74	2	section	section	NOUN
futech-109	74	3	modulus	modulus	NOUN
futech-109	74	4	that	that	SCONJ
futech-109	74	5	gravity	gravity	NOUN
futech-109	74	6	exerts	exert	VERB
futech-109	74	7	on	on	ADP
futech-109	74	8	the	the	DET
futech-109	74	9	joint	joint	NOUN
futech-109	74	10	is	be	AUX
futech-109	74	11	highly	highly	ADV
futech-109	74	12	dependent	dependent	ADJ
futech-109	74	13	on	on	ADP
futech-109	74	14	the	the	DET
futech-109	74	15	position	position	NOUN
futech-109	74	16	of	of	ADP
futech-109	74	17	the	the	DET
futech-109	74	18	robot	robot	NOUN
futech-109	74	19	.	.	PUNCT
futech-109	75	1	intuitively	intuitively	ADV
futech-109	75	2	,	,	PUNCT
futech-109	75	3	of	of	ADP
futech-109	75	4	course	course	NOUN
futech-109	75	5	,	,	PUNCT
futech-109	75	6	the	the	DET
futech-109	75	7	torsion	torsion	NOUN
futech-109	75	8	of	of	ADP
futech-109	75	9	the	the	DET
futech-109	75	10	shoulder	shoulder	NOUN
futech-109	75	11	joint	joint	NOUN
futech-109	75	12	is	be	AUX
futech-109	75	13	much	much	ADV
futech-109	75	14	greater	great	ADJ
futech-109	75	15	when	when	SCONJ
futech-109	75	16	the	the	DET
futech-109	75	17	arm	arm	NOUN
futech-109	75	18	is	be	AUX
futech-109	75	19	stretched	stretch	VERB
futech-109	75	20	horizontally	horizontally	ADV
futech-109	75	21	[	[	X
futech-109	75	22	2	2	NUM
futech-109	75	23	]	]	PUNCT
futech-109	75	24	.	.	PUNCT
futech-109	76	1	table	table	NOUN
futech-109	76	2	3	3	NUM
futech-109	76	3	.	.	X
futech-109	76	4	moi	moi	PROPN
futech-109	76	5	-	-	PUNCT
futech-109	76	6	output	output	NOUN
futech-109	76	7	coordinate	coordinate	NOUN
futech-109	76	8	system	system	NOUN
futech-109	76	9	values	value	NOUN
futech-109	76	10	axis	axis	VERB
futech-109	76	11	no	no	DET
futech-109	76	12	.	.	PUNCT
futech-109	76	13	name	name	NOUN
futech-109	76	14	of	of	ADP
futech-109	76	15	the	the	DET
futech-109	76	16	joint	joint	ADJ
futech-109	76	17	motion	motion	NOUN
futech-109	76	18	motor	motor	NOUN
futech-109	76	19	no	no	NOUN
futech-109	76	20	.	.	NOUN
futech-109	76	21	1	1	NUM
futech-109	76	22	base	base	NOUN
futech-109	76	23	rotates	rotate	VERB
futech-109	76	24	the	the	DET
futech-109	76	25	whole	whole	ADJ
futech-109	76	26	assembly	assembly	NOUN
futech-109	76	27	1	1	NUM
futech-109	76	28	2	2	NUM
futech-109	76	29	shoulder	shoulder	NOUN
futech-109	76	30	rotates	rotate	VERB
futech-109	76	31	upper	upper	ADJ
futech-109	76	32	arm	arm	NOUN
futech-109	76	33	2	2	NUM
futech-109	76	34	3	3	NUM
futech-109	76	35	elbow	elbow	NOUN
futech-109	76	36	rotates	rotate	NOUN
futech-109	76	37	forearm	forearm	NOUN
futech-109	76	38	3	3	NUM
futech-109	76	39	4	4	NUM
futech-109	76	40	wrist	wrist	NOUN
futech-109	76	41	pitch	pitch	NOUN
futech-109	76	42	rotates	rotate	NOUN
futech-109	76	43	gripper	gripper	NOUN
futech-109	76	44	along	along	ADP
futech-109	76	45	the	the	DET
futech-109	76	46	x	x	NOUN
futech-109	76	47	-	-	NOUN
futech-109	76	48	axis	axis	ADJ
futech-109	76	49	4	4	NUM
futech-109	76	50	5	5	NUM
futech-109	76	51	wrist	wrist	NOUN
futech-109	76	52	roll	roll	NOUN
futech-109	76	53	rotates	rotate	NOUN
futech-109	76	54	gripper	gripper	NOUN
futech-109	76	55	along	along	ADP
futech-109	76	56	the	the	DET
futech-109	76	57	y	y	NOUN
futech-109	76	58	-	-	PUNCT
futech-109	76	59	axis	axis	ADJ
futech-109	76	60	5	5	NUM
futech-109	76	61	6	6	NUM
futech-109	76	62	gripper	gripper	NOUN
futech-109	76	63	hinge	hinge	NOUN
futech-109	76	64	opens	open	VERB
futech-109	76	65	and	and	CCONJ
futech-109	76	66	closes	close	VERB
futech-109	76	67	the	the	DET
futech-109	76	68	gripper	gripper	NOUN
futech-109	76	69	6	6	NUM
futech-109	76	70	thus	thus	ADV
futech-109	76	71	,	,	PUNCT
futech-109	76	72	to	to	PART
futech-109	76	73	calculate	calculate	VERB
futech-109	76	74	the	the	DET
futech-109	76	75	torque	torque	NOUN
futech-109	76	76	required	require	VERB
futech-109	76	77	for	for	ADP
futech-109	76	78	each	each	DET
futech-109	76	79	joint	joint	NOUN
futech-109	76	80	,	,	PUNCT
futech-109	76	81	the	the	DET
futech-109	76	82	ceiling	ceiling	NOUN
futech-109	76	83	value	value	NOUN
futech-109	76	84	was	be	AUX
futech-109	76	85	chosen	choose	VERB
futech-109	76	86	.	.	PUNCT
futech-109	77	1	from	from	ADP
futech-109	77	2	figure	figure	NOUN
futech-109	77	3	4	4	NUM
futech-109	77	4	,	,	PUNCT
futech-109	77	5	let	let	VERB
futech-109	77	6	the	the	DET
futech-109	77	7	motors	motor	NOUN
futech-109	77	8	be	be	AUX
futech-109	77	9	denoted	denote	VERB
futech-109	77	10	by	by	ADP
futech-109	77	11	mn	mn	PROPN
futech-109	77	12	,	,	PUNCT
futech-109	77	13	the	the	DET
futech-109	77	14	respective	respective	ADJ
futech-109	77	15	links	link	NOUN
futech-109	77	16	denoted	denote	VERB
futech-109	77	17	by	by	ADP
futech-109	77	18	ln	ln	ADJ
futech-109	77	19	,	,	PUNCT
futech-109	77	20	and	and	CCONJ
futech-109	77	21	the	the	DET
futech-109	77	22	respective	respective	ADJ
futech-109	77	23	weights	weight	NOUN
futech-109	77	24	of	of	ADP
futech-109	77	25	the	the	DET
futech-109	77	26	links	link	NOUN
futech-109	77	27	be	be	AUX
futech-109	77	28	denoted	denote	VERB
futech-109	77	29	by	by	ADP
futech-109	77	30	wmn	wmn	PROPN
futech-109	77	31	,	,	PUNCT
futech-109	77	32	the	the	DET
futech-109	77	33	notations	notation	NOUN
futech-109	77	34	become	become	VERB
futech-109	77	35	:	:	PUNCT
futech-109	77	36	•	•	NUM
futech-109	77	37	m1	m1	NOUN
futech-109	77	38	=	=	SYM
futech-109	77	39	waist	waist	NOUN
futech-109	77	40	or	or	CCONJ
futech-109	77	41	base	base	NOUN
futech-109	77	42	joint	joint	ADJ
futech-109	77	43	•	•	NUM
futech-109	77	44	m2	m2	PROPN
futech-109	77	45	=	=	PUNCT
futech-109	77	46	shoulder	shoulder	NOUN
futech-109	77	47	joint	joint	ADJ
futech-109	77	48	•	•	NUM
futech-109	77	49	m3	m3	PROPN
futech-109	77	50	=	=	PUNCT
futech-109	77	51	elbow	elbow	VERB
futech-109	77	52	joint	joint	ADJ
futech-109	77	53	•	•	NUM
futech-109	77	54	m4	m4	PROPN
futech-109	77	55	=	=	SYM
futech-109	77	56	wrist	wrist	NOUN
futech-109	77	57	joint	joint	NOUN
futech-109	77	58	•	•	NUM
futech-109	77	59	wl2	wl2	PROPN
futech-109	77	60	=	=	SYM
futech-109	77	61	weight	weight	NOUN
futech-109	77	62	of	of	ADP
futech-109	77	63	l2	l2	NOUN
futech-109	77	64	•	•	NUM
futech-109	77	65	wl3	wl3	NOUN
futech-109	77	66	=	=	SYM
futech-109	77	67	weight	weight	NOUN
futech-109	77	68	of	of	ADP
futech-109	77	69	l3	l3	PROPN
futech-109	77	70	•	•	PROPN
futech-109	77	71	wl4	wl4	PROPN
futech-109	77	72	=	=	PUNCT
futech-109	77	73	weight	weight	NOUN
futech-109	77	74	of	of	ADP
futech-109	77	75	l4	l4	PROPN
futech-109	77	76	•	•	ADV
futech-109	77	77	wee	wee	ADJ
futech-109	77	78	=	=	NOUN
futech-109	77	79	weight	weight	NOUN
futech-109	77	80	of	of	ADP
futech-109	77	81	end	end	NOUN
futech-109	77	82	effector	effector	NOUN
futech-109	77	83	(	(	PUNCT
futech-109	77	84	gripper	gripper	NOUN
futech-109	77	85	)	)	PUNCT
futech-109	77	86	•	•	ADP
futech-109	77	87	wpayload=	wpayload=	NUM
futech-109	77	88	weight	weight	NOUN
futech-109	77	89	of	of	ADP
futech-109	77	90	payload	payload	ADJ
futech-109	77	91	•	•	NOUN
futech-109	77	92	wm2	wm2	NOUN
futech-109	77	93	=	=	PUNCT
futech-109	77	94	weight	weight	NOUN
futech-109	77	95	of	of	ADP
futech-109	77	96	m2	m2	PROPN
futech-109	77	97	•	•	PROPN
futech-109	77	98	wm3	wm3	PROPN
futech-109	77	99	=	=	SYM
futech-109	77	100	weight	weight	NOUN
futech-109	77	101	of	of	ADP
futech-109	77	102	m3	m3	PROPN
futech-109	77	103	mass	mass	PROPN
futech-109	77	104	453.17	453.17	NUM
futech-109	77	105	g	g	NOUN
futech-109	77	106	volume	volume	NOUN
futech-109	77	107	453166.56	453166.56	NUM
futech-109	77	108	mm3	mm3	ADJ
futech-109	77	109	surface	surface	NOUN
futech-109	77	110	area	area	NOUN
futech-109	77	111	178518.55	178518.55	NUM
futech-109	77	112	mm2	mm2	NOUN
futech-109	77	113	centre	centre	NOUN
futech-109	77	114	of	of	ADP
futech-109	77	115	mass	mass	PROPN
futech-109	77	116	(	(	PUNCT
futech-109	77	117	mm	mm	NOUN
futech-109	77	118	)	)	PUNCT
futech-109	77	119	x	x	PUNCT
futech-109	78	1	64.02	64.02	NUM
futech-109	78	2	y	y	PROPN
futech-109	78	3	-82.20	-82.20	PROPN
futech-109	78	4	z	z	PROPN
futech-109	78	5	152.87	152.87	NUM
futech-109	78	6	figure	figure	NOUN
futech-109	78	7	2	2	NUM
futech-109	78	8	.	.	X
futech-109	78	9	screenshot	screenshot	NOUN
futech-109	78	10	of	of	ADP
futech-109	78	11	the	the	DET
futech-109	78	12	modeling	modeling	NOUN
futech-109	78	13	process	process	NOUN
futech-109	78	14	on	on	ADP
futech-109	78	15	solidworks	solidworks	PROPN
futech-109	78	16	with	with	ADP
futech-109	78	17	greater	great	ADJ
futech-109	78	18	detail	detail	NOUN
futech-109	78	19	nc	nc	PROPN
futech-109	78	20	.	.	PROPN
futech-109	78	21	princewill	princewill	PROPN
futech-109	78	22	et	et	PROPN
futech-109	78	23	al	al	PROPN
futech-109	78	24	.	.	PROPN
futech-109	78	25	/future	/future	PUNCT
futech-109	78	26	technology	technology	PROPN
futech-109	78	27	february	february	PROPN
futech-109	78	28	2024|	2024|	PROPN
futech-109	79	1	volume	volume	NOUN
futech-109	79	2	03	03	NUM
futech-109	80	1	|	|	ADV
futech-109	80	2	issue	issue	NOUN
futech-109	80	3	01	01	NUM
futech-109	81	1	|	|	ADV
futech-109	81	2	pages	page	NOUN
futech-109	81	3	25	25	NUM
futech-109	81	4	-	-	SYM
futech-109	81	5	31	31	NUM
futech-109	81	6	28	28	NUM
futech-109	81	7	•	•	NOUN
futech-109	81	8	wm4	wm4	NOUN
futech-109	81	9	=	=	SYM
futech-109	81	10	weight	weight	NOUN
futech-109	81	11	of	of	ADP
futech-109	81	12	m4	m4	PROPN
futech-109	81	13	•	•	NOUN
futech-109	81	14	wm5	wm5	PROPN
futech-109	81	15	=	=	PUNCT
futech-109	82	1	weight	weight	NOUN
futech-109	82	2	of	of	ADP
futech-109	82	3	m5	m5	PROPN
futech-109	82	4	(	(	PUNCT
futech-109	82	5	end	end	NOUN
futech-109	82	6	effector	effector	NOUN
futech-109	82	7	)	)	PUNCT
futech-109	82	8	figure	figure	NOUN
futech-109	82	9	4	4	NUM
futech-109	82	10	.	.	PUNCT
futech-109	83	1	free	free	ADJ
futech-109	83	2	-	-	PUNCT
futech-109	83	3	body	body	NOUN
futech-109	83	4	link	link	NOUN
futech-109	83	5	diagram	diagram	NOUN
futech-109	83	6	of	of	ADP
futech-109	83	7	the	the	DET
futech-109	83	8	robotic	robotic	ADJ
futech-109	83	9	arm	arm	NOUN
futech-109	83	10	in	in	ADP
futech-109	83	11	a	a	DET
futech-109	83	12	stretched	stretch	VERB
futech-109	83	13	-	-	PUNCT
futech-109	83	14	out	out	NOUN
futech-109	83	15	pose	pose	VERB
futech-109	83	16	the	the	DET
futech-109	83	17	calculation	calculation	NOUN
futech-109	83	18	of	of	ADP
futech-109	83	19	the	the	DET
futech-109	83	20	resistive	resistive	ADJ
futech-109	83	21	torque	torque	NOUN
futech-109	83	22	which	which	PRON
futech-109	83	23	is	be	AUX
futech-109	83	24	exerted	exert	VERB
futech-109	83	25	on	on	ADP
futech-109	83	26	each	each	DET
futech-109	83	27	joint	joint	NOUN
futech-109	83	28	due	due	ADJ
futech-109	83	29	to	to	ADP
futech-109	83	30	gravity	gravity	NOUN
futech-109	83	31	is	be	AUX
futech-109	83	32	as	as	SCONJ
futech-109	83	33	follows	follow	VERB
futech-109	83	34	:	:	PUNCT
futech-109	83	35	•	•	NUM
futech-109	83	36	resistive	resistive	ADJ
futech-109	83	37	torque	torque	NOUN
futech-109	83	38	at	at	ADP
futech-109	83	39	m1	m1	PROPN
futech-109	83	40	due	due	ADP
futech-109	83	41	to	to	ADP
futech-109	83	42	gravity	gravity	NOUN
futech-109	83	43	is	be	AUX
futech-109	83	44	at	at	ADP
futech-109	83	45	0	0	NUM
futech-109	83	46	(	(	PUNCT
futech-109	83	47	since	since	SCONJ
futech-109	83	48	there	there	PRON
futech-109	83	49	is	be	VERB
futech-109	83	50	no	no	DET
futech-109	83	51	vertical	vertical	ADJ
futech-109	83	52	rotation	rotation	NOUN
futech-109	83	53	)	)	PUNCT
futech-109	83	54	and	and	CCONJ
futech-109	83	55	is	be	AUX
futech-109	83	56	disregarded	disregarded	ADJ
futech-109	83	57	.	.	PUNCT
futech-109	84	1	•	•	NUM
futech-109	84	2	let	let	VERB
futech-109	84	3	resistive	resistive	ADJ
futech-109	84	4	torque	torque	NOUN
futech-109	84	5	at	at	ADP
futech-109	84	6	m2	m2	PROPN
futech-109	84	7	due	due	ADP
futech-109	84	8	to	to	ADP
futech-109	84	9	gravity	gravity	NOUN
futech-109	84	10	=	=	SYM
futech-109	84	11	t2	t2	NOUN
futech-109	84	12	g	g	NOUN
futech-109	84	13	•	•	NUM
futech-109	84	14	let	let	VERB
futech-109	84	15	resistive	resistive	ADJ
futech-109	84	16	torque	torque	NOUN
futech-109	84	17	at	at	ADP
futech-109	84	18	m3	m3	PROPN
futech-109	84	19	due	due	ADP
futech-109	84	20	to	to	ADP
futech-109	84	21	gravity	gravity	NOUN
futech-109	84	22	=	=	SYM
futech-109	84	23	t3	t3	PROPN
futech-109	84	24	g	g	PROPN
futech-109	84	25	•	•	NUM
futech-109	84	26	let	let	VERB
futech-109	84	27	resistive	resistive	ADJ
futech-109	84	28	torque	torque	NOUN
futech-109	84	29	at	at	ADP
futech-109	84	30	m4	m4	PROPN
futech-109	84	31	due	due	ADP
futech-109	84	32	to	to	ADP
futech-109	84	33	gravity	gravity	NOUN
futech-109	84	34	=	=	SYM
futech-109	84	35	t4	t4	PROPN
futech-109	84	36	g	g	PROPN
futech-109	84	37	t2	t2	PROPN
futech-109	84	38	g	g	PROPN
futech-109	84	39	=	=	SYM
futech-109	84	40	wl2	wl2	PROPN
futech-109	84	41	(	(	PUNCT
futech-109	84	42	𝐿2	𝐿2	PROPN
futech-109	84	43	2	2	NUM
futech-109	84	44	)	)	PUNCT
futech-109	85	1	+	+	CCONJ
futech-109	85	2	wm3l2	wm3l2	PROPN
futech-109	85	3	+	+	NUM
futech-109	85	4	wl2	wl2	PROPN
futech-109	85	5	(	(	PUNCT
futech-109	85	6	l2	l2	NOUN
futech-109	85	7	+	+	CCONJ
futech-109	85	8	𝐿3	𝐿3	NOUN
futech-109	85	9	2	2	NUM
futech-109	85	10	)	)	PUNCT
futech-109	85	11	+	+	CCONJ
futech-109	85	12	(	(	PUNCT
futech-109	85	13	wm4	wm4	NOUN
futech-109	85	14	+	+	CCONJ
futech-109	85	15	wl4	wl4	ADJ
futech-109	86	1	+	+	CCONJ
futech-109	86	2	wm5	wm5	NOUN
futech-109	87	1	+	+	CCONJ
futech-109	87	2	wee	wee	ADJ
futech-109	87	3	+	+	CCONJ
futech-109	87	4	wpayload)(l2	wpayload)(l2	PROPN
futech-109	87	5	+	+	CCONJ
futech-109	87	6	l3	l3	NOUN
futech-109	87	7	)	)	PUNCT
futech-109	87	8	(	(	PUNCT
futech-109	87	9	1	1	X
futech-109	87	10	)	)	PUNCT
futech-109	87	11	t3	t3	NOUN
futech-109	87	12	g	g	NOUN
futech-109	87	13	=	=	SYM
futech-109	87	14	wl3	wl3	PROPN
futech-109	87	15	(	(	PUNCT
futech-109	87	16	𝐿3	𝐿3	NOUN
futech-109	87	17	2	2	NUM
futech-109	87	18	)	)	PUNCT
futech-109	87	19	+	+	CCONJ
futech-109	87	20	(	(	PUNCT
futech-109	87	21	wm4	wm4	NOUN
futech-109	87	22	+	+	CCONJ
futech-109	87	23	wl4	wl4	ADJ
futech-109	88	1	+	+	CCONJ
futech-109	88	2	wm5	wm5	NOUN
futech-109	89	1	+	+	CCONJ
futech-109	89	2	wee	wee	ADJ
futech-109	89	3	+	+	CCONJ
futech-109	89	4	wpayload)(l3	wpayload)(l3	PROPN
futech-109	89	5	)	)	PUNCT
futech-109	89	6	(	(	PUNCT
futech-109	89	7	2	2	X
futech-109	89	8	)	)	PUNCT
futech-109	89	9	t4	t4	PROPN
futech-109	89	10	g	g	PROPN
futech-109	89	11	=	=	SYM
futech-109	89	12	0	0	NUM
futech-109	89	13	n	n	CCONJ
futech-109	89	14	-	-	PUNCT
futech-109	89	15	m	m	NOUN
futech-109	89	16	since	since	SCONJ
futech-109	89	17	the	the	DET
futech-109	89	18	wrist	wrist	NOUN
futech-109	89	19	rotation	rotation	NOUN
futech-109	89	20	does	do	AUX
futech-109	89	21	not	not	PART
futech-109	89	22	result	result	VERB
futech-109	89	23	in	in	ADP
futech-109	89	24	vertical	vertical	ADJ
futech-109	89	25	motion	motion	NOUN
futech-109	89	26	against	against	ADP
futech-109	89	27	gravity	gravity	NOUN
futech-109	89	28	(	(	PUNCT
futech-109	89	29	3	3	NUM
futech-109	89	30	)	)	PUNCT
futech-109	89	31	in	in	ADP
futech-109	89	32	order	order	NOUN
futech-109	89	33	to	to	PART
futech-109	89	34	model	model	VERB
futech-109	89	35	it	it	PRON
futech-109	89	36	efficiently	efficiently	ADV
futech-109	89	37	,	,	PUNCT
futech-109	89	38	the	the	DET
futech-109	89	39	expected	expect	VERB
futech-109	89	40	weights	weight	NOUN
futech-109	89	41	of	of	ADP
futech-109	89	42	the	the	DET
futech-109	89	43	servo	servo	NOUN
futech-109	89	44	motors	motor	NOUN
futech-109	89	45	also	also	ADV
futech-109	89	46	had	have	VERB
futech-109	89	47	to	to	PART
futech-109	89	48	be	be	AUX
futech-109	89	49	factored	factor	VERB
futech-109	89	50	into	into	ADP
futech-109	89	51	the	the	DET
futech-109	89	52	torque	torque	NOUN
futech-109	89	53	calculations	calculation	NOUN
futech-109	89	54	even	even	ADV
futech-109	89	55	prior	prior	ADV
futech-109	89	56	to	to	ADP
futech-109	89	57	the	the	DET
futech-109	89	58	motor	motor	NOUN
futech-109	89	59	selection	selection	NOUN
futech-109	89	60	itself	itself	PRON
futech-109	89	61	.	.	PUNCT
futech-109	90	1	the	the	DET
futech-109	90	2	most	most	ADV
futech-109	90	3	convenient	convenient	ADJ
futech-109	90	4	option	option	NOUN
futech-109	90	5	was	be	AUX
futech-109	90	6	using	use	VERB
futech-109	90	7	the	the	DET
futech-109	90	8	average	average	ADJ
futech-109	90	9	servo	servo	NOUN
futech-109	90	10	motor	motor	NOUN
futech-109	90	11	weight	weight	NOUN
futech-109	90	12	(	(	PUNCT
futech-109	90	13	which	which	PRON
futech-109	90	14	can	can	AUX
futech-109	90	15	vary	vary	VERB
futech-109	90	16	from	from	ADP
futech-109	90	17	40	40	NUM
futech-109	90	18	-	-	SYM
futech-109	90	19	56	56	NUM
futech-109	90	20	grams	gram	NOUN
futech-109	90	21	)	)	PUNCT
futech-109	90	22	for	for	ADP
futech-109	90	23	a	a	DET
futech-109	90	24	mechatronic	mechatronic	ADJ
futech-109	90	25	system	system	NOUN
futech-109	90	26	of	of	ADP
futech-109	90	27	this	this	DET
futech-109	90	28	weight	weight	NOUN
futech-109	90	29	class	class	NOUN
futech-109	90	30	.	.	PUNCT
futech-109	91	1	from	from	ADP
futech-109	91	2	theoretical	theoretical	ADJ
futech-109	91	3	data	datum	NOUN
futech-109	91	4	:	:	PUNCT
futech-109	91	5	•	•	NUM
futech-109	91	6	weight	weight	NOUN
futech-109	91	7	of	of	ADP
futech-109	91	8	servo	servo	NOUN
futech-109	91	9	motors	motor	NOUN
futech-109	91	10	=	=	SYM
futech-109	91	11	56	56	NUM
futech-109	91	12	g	g	NOUN
futech-109	91	13	•	•	NOUN
futech-109	91	14	density	density	NOUN
futech-109	91	15	of	of	ADP
futech-109	91	16	the	the	DET
futech-109	91	17	filament	filament	NOUN
futech-109	91	18	material	material	NOUN
futech-109	91	19	=	=	SYM
futech-109	92	1	1.18gcm-3	1.18gcm-3	NUM
futech-109	92	2	•	•	NUM
futech-109	92	3	length	length	NOUN
futech-109	92	4	of	of	ADP
futech-109	92	5	link	link	NOUN
futech-109	92	6	2	2	NUM
futech-109	92	7	=	=	SYM
futech-109	92	8	10.6	10.6	NUM
futech-109	92	9	cm	cm	NOUN
futech-109	92	10	•	•	NOUN
futech-109	92	11	length	length	NOUN
futech-109	92	12	of	of	ADP
futech-109	92	13	link	link	NOUN
futech-109	92	14	3	3	NUM
futech-109	92	15	=	=	SYM
futech-109	92	16	11.7	11.7	NUM
futech-109	92	17	cm	cm	NOUN
futech-109	92	18	•	•	NOUN
futech-109	92	19	length	length	NOUN
futech-109	92	20	of	of	ADP
futech-109	92	21	link	link	NOUN
futech-109	92	22	4	4	NUM
futech-109	92	23	=	=	SYM
futech-109	92	24	10	10	NUM
futech-109	92	25	cm	cm	NOUN
futech-109	92	26	•	•	NOUN
futech-109	92	27	weight	weight	NOUN
futech-109	92	28	of	of	ADP
futech-109	92	29	m4	m4	PROPN
futech-109	92	30	nut	nut	NOUN
futech-109	92	31	and	and	CCONJ
futech-109	92	32	bolt	bolt	NOUN
futech-109	92	33	=	=	NOUN
futech-109	92	34	2.5	2.5	NUM
futech-109	92	35	g	g	NOUN
futech-109	92	36	•	•	NOUN
futech-109	92	37	weight	weight	NOUN
futech-109	92	38	of	of	ADP
futech-109	92	39	m2	m2	PROPN
futech-109	92	40	nut	nut	NOUN
futech-109	92	41	and	and	CCONJ
futech-109	92	42	bolt	bolt	NOUN
futech-109	92	43	=	=	NOUN
futech-109	92	44	1.5	1.5	NUM
futech-109	92	45	g	g	NOUN
futech-109	92	46	using	use	VERB
futech-109	92	47	the	the	DET
futech-109	92	48	derived	derive	VERB
futech-109	92	49	equations	equation	NOUN
futech-109	92	50	to	to	PART
futech-109	92	51	calculate	calculate	VERB
futech-109	92	52	the	the	DET
futech-109	92	53	given	give	VERB
futech-109	92	54	estimates	estimate	NOUN
futech-109	92	55	,	,	PUNCT
futech-109	92	56	the	the	DET
futech-109	92	57	torques	torque	NOUN
futech-109	92	58	acting	act	VERB
futech-109	92	59	on	on	ADP
futech-109	92	60	m2	m2	PROPN
futech-109	92	61	,	,	PUNCT
futech-109	92	62	m3	m3	PROPN
futech-109	92	63	,	,	PUNCT
futech-109	92	64	and	and	CCONJ
futech-109	92	65	m4	m4	PROPN
futech-109	92	66	were	be	AUX
futech-109	92	67	found	find	VERB
futech-109	92	68	to	to	PART
futech-109	92	69	be	be	AUX
futech-109	92	70	10.37kg	10.37kg	NUM
futech-109	92	71	-	-	PUNCT
futech-109	92	72	cm	cm	NOUN
futech-109	92	73	,	,	PUNCT
futech-109	92	74	9.36kg	9.36kg	NUM
futech-109	92	75	-	-	PUNCT
futech-109	92	76	cm	cm	NOUN
futech-109	92	77	,	,	PUNCT
futech-109	92	78	and	and	CCONJ
futech-109	92	79	6.26kg	6.26kg	NUM
futech-109	92	80	-	-	PUNCT
futech-109	92	81	cm	cm	NOUN
futech-109	92	82	,	,	PUNCT
futech-109	92	83	respectively	respectively	ADV
futech-109	92	84	.	.	PUNCT
futech-109	93	1	so	so	ADV
futech-109	93	2	,	,	PUNCT
futech-109	93	3	from	from	ADP
futech-109	93	4	those	those	DET
futech-109	93	5	values	value	NOUN
futech-109	93	6	,	,	PUNCT
futech-109	93	7	the	the	DET
futech-109	93	8	11kg	11kg	ADJ
futech-109	93	9	-	-	PUNCT
futech-109	93	10	cm	cm	ADJ
futech-109	93	11	torque	torque	NOUN
futech-109	93	12	towerpro	towerpro	PROPN
futech-109	93	13	mg996r	mg996r	PROPN
futech-109	93	14	servo	servo	NOUN
futech-109	93	15	motor	motor	NOUN
futech-109	93	16	was	be	AUX
futech-109	93	17	selected	select	VERB
futech-109	93	18	(	(	PUNCT
futech-109	93	19	figure	figure	NOUN
futech-109	93	20	5	5	NUM
futech-109	93	21	)	)	PUNCT
futech-109	93	22	for	for	ADP
futech-109	93	23	the	the	DET
futech-109	93	24	three	three	NUM
futech-109	93	25	joints	joint	NOUN
futech-109	93	26	(	(	PUNCT
futech-109	93	27	base	base	NOUN
futech-109	93	28	/	/	SYM
futech-109	93	29	waist	waist	NOUN
futech-109	93	30	,	,	PUNCT
futech-109	93	31	shoulder	shoulder	NOUN
futech-109	93	32	,	,	PUNCT
futech-109	93	33	and	and	CCONJ
futech-109	93	34	elbow	elbow	VERB
futech-109	93	35	)	)	PUNCT
futech-109	93	36	,	,	PUNCT
futech-109	93	37	while	while	SCONJ
futech-109	93	38	the	the	DET
futech-109	93	39	1.5kg	1.5kg	NUM
futech-109	93	40	-	-	PUNCT
futech-109	93	41	cm	cm	NOUN
futech-109	93	42	torque	torque	NOUN
futech-109	93	43	towerpro	towerpro	PROPN
futech-109	93	44	sg-90	sg-90	VERB
futech-109	93	45	servo	servo	NOUN
futech-109	93	46	motor	motor	NOUN
futech-109	93	47	was	be	AUX
futech-109	93	48	selected	select	VERB
futech-109	93	49	(	(	PUNCT
futech-109	93	50	figure	figure	NOUN
futech-109	93	51	6	6	NUM
futech-109	93	52	)	)	PUNCT
futech-109	93	53	for	for	ADP
futech-109	93	54	the	the	DET
futech-109	93	55	two	two	NUM
futech-109	93	56	wrist	wrist	NOUN
futech-109	93	57	joints	joint	NOUN
futech-109	93	58	and	and	CCONJ
futech-109	93	59	the	the	DET
futech-109	93	60	gripper	gripper	NOUN
futech-109	93	61	end	end	NOUN
futech-109	93	62	effector	effector	NOUN
futech-109	93	63	.	.	PUNCT
futech-109	94	1	2.4	2.4	NUM
futech-109	94	2	limb	limb	NOUN
futech-109	94	3	kinematics	kinematic	NOUN
futech-109	94	4	since	since	SCONJ
futech-109	94	5	the	the	DET
futech-109	94	6	robot	robot	NOUN
futech-109	94	7	is	be	AUX
futech-109	94	8	designed	design	VERB
futech-109	94	9	to	to	PART
futech-109	94	10	perform	perform	VERB
futech-109	94	11	in	in	ADP
futech-109	94	12	3d	3d	PROPN
futech-109	94	13	space	space	NOUN
futech-109	94	14	,	,	PUNCT
futech-109	94	15	the	the	DET
futech-109	94	16	end	end	NOUN
futech-109	94	17	effector	effector	NOUN
futech-109	94	18	is	be	AUX
futech-109	94	19	required	require	VERB
futech-109	94	20	to	to	PART
futech-109	94	21	follow	follow	VERB
futech-109	94	22	a	a	DET
futech-109	94	23	planned	plan	VERB
futech-109	94	24	trajectory	trajectory	NOUN
futech-109	94	25	in	in	ADP
futech-109	94	26	order	order	NOUN
futech-109	94	27	to	to	PART
futech-109	94	28	manipulate	manipulate	VERB
futech-109	94	29	objects	object	NOUN
futech-109	94	30	or	or	CCONJ
futech-109	94	31	carry	carry	VERB
futech-109	94	32	out	out	ADP
futech-109	94	33	the	the	DET
futech-109	94	34	task	task	NOUN
futech-109	94	35	in	in	ADP
futech-109	94	36	the	the	DET
futech-109	94	37	workspace	workspace	NOUN
futech-109	94	38	.	.	PUNCT
futech-109	95	1	this	this	PRON
futech-109	95	2	requires	require	VERB
futech-109	95	3	the	the	DET
futech-109	95	4	control	control	NOUN
futech-109	95	5	of	of	ADP
futech-109	95	6	the	the	DET
futech-109	95	7	position	position	NOUN
futech-109	95	8	of	of	ADP
futech-109	95	9	each	each	DET
futech-109	95	10	link	link	NOUN
futech-109	95	11	and	and	CCONJ
futech-109	95	12	joint	joint	NOUN
futech-109	95	13	of	of	ADP
futech-109	95	14	the	the	DET
futech-109	95	15	manipulator	manipulator	NOUN
futech-109	95	16	to	to	PART
futech-109	95	17	control	control	VERB
futech-109	95	18	both	both	CCONJ
futech-109	95	19	the	the	DET
futech-109	95	20	position	position	NOUN
futech-109	95	21	and	and	CCONJ
futech-109	95	22	orientation	orientation	NOUN
futech-109	95	23	of	of	ADP
futech-109	95	24	the	the	DET
futech-109	95	25	tool	tool	NOUN
futech-109	95	26	.	.	PUNCT
futech-109	96	1	to	to	PART
futech-109	96	2	program	program	VERB
futech-109	96	3	the	the	DET
futech-109	96	4	tool	tool	NOUN
futech-109	96	5	motion	motion	NOUN
futech-109	96	6	and	and	CCONJ
futech-109	96	7	jointlink	jointlink	PROPN
futech-109	96	8	motions	motion	NOUN
futech-109	96	9	,	,	PUNCT
futech-109	96	10	a	a	DET
futech-109	96	11	mathematical	mathematical	ADJ
futech-109	96	12	model	model	NOUN
futech-109	96	13	of	of	ADP
futech-109	96	14	the	the	DET
futech-109	96	15	manipulator	manipulator	NOUN
futech-109	96	16	is	be	AUX
futech-109	96	17	required	require	VERB
futech-109	96	18	to	to	PART
futech-109	96	19	refer	refer	VERB
futech-109	96	20	to	to	ADP
futech-109	96	21	all	all	DET
futech-109	96	22	geometrical	geometrical	ADJ
futech-109	96	23	and	and	CCONJ
futech-109	96	24	time	time	NOUN
futech-109	96	25	-	-	PUNCT
futech-109	96	26	based	base	VERB
futech-109	96	27	properties	property	NOUN
futech-109	96	28	of	of	ADP
futech-109	96	29	the	the	DET
futech-109	96	30	motion	motion	NOUN
futech-109	96	31	.	.	PUNCT
futech-109	97	1	the	the	DET
futech-109	97	2	kinematic	kinematic	ADJ
futech-109	97	3	model	model	NOUN
futech-109	97	4	describes	describe	VERB
futech-109	97	5	the	the	DET
futech-109	97	6	spatial	spatial	ADJ
futech-109	97	7	position	position	NOUN
futech-109	97	8	of	of	ADP
futech-109	97	9	joints	joint	NOUN
futech-109	97	10	and	and	CCONJ
futech-109	97	11	links	link	NOUN
futech-109	97	12	and	and	CCONJ
futech-109	97	13	the	the	DET
futech-109	97	14	position	position	NOUN
futech-109	97	15	and	and	CCONJ
futech-109	97	16	orientation	orientation	NOUN
futech-109	97	17	of	of	ADP
futech-109	97	18	the	the	DET
futech-109	97	19	end	end	NOUN
futech-109	97	20	effector	effector	NOUN
futech-109	97	21	.	.	PUNCT
futech-109	98	1	the	the	DET
futech-109	98	2	derivatives	derivative	NOUN
futech-109	98	3	of	of	ADP
futech-109	98	4	kinematics	kinematic	NOUN
futech-109	98	5	deal	deal	VERB
futech-109	98	6	with	with	ADP
futech-109	98	7	the	the	DET
futech-109	98	8	mechanics	mechanic	NOUN
futech-109	98	9	of	of	ADP
futech-109	98	10	motion	motion	NOUN
futech-109	98	11	without	without	ADP
futech-109	98	12	considering	consider	VERB
futech-109	98	13	the	the	DET
futech-109	98	14	forces	force	NOUN
futech-109	98	15	that	that	PRON
futech-109	98	16	cause	cause	VERB
futech-109	98	17	it	it	PRON
futech-109	98	18	.	.	PUNCT
futech-109	99	1	the	the	DET
futech-109	99	2	relationship	relationship	NOUN
futech-109	99	3	between	between	ADP
futech-109	99	4	movements	movement	NOUN
futech-109	99	5	and	and	CCONJ
futech-109	99	6	forces	force	NOUN
futech-109	99	7	and	and	CCONJ
futech-109	99	8	the	the	DET
futech-109	99	9	moments	moment	NOUN
futech-109	99	10	that	that	PRON
futech-109	99	11	cause	cause	VERB
futech-109	99	12	them	they	PRON
futech-109	99	13	is	be	AUX
futech-109	99	14	a	a	DET
futech-109	99	15	dynamic	dynamic	ADJ
futech-109	99	16	problem	problem	NOUN
futech-109	99	17	.	.	PUNCT
futech-109	100	1	kinematics	kinematic	NOUN
futech-109	100	2	and	and	CCONJ
futech-109	100	3	dynamics	dynamic	NOUN
futech-109	100	4	are	be	AUX
futech-109	100	5	important	important	ADJ
futech-109	100	6	when	when	SCONJ
futech-109	100	7	designing	design	VERB
futech-109	100	8	a	a	DET
futech-109	100	9	robotic	robotic	ADJ
futech-109	100	10	arm	arm	NOUN
futech-109	100	11	.	.	PUNCT
futech-109	101	1	previously	previously	ADV
futech-109	101	2	developed	develop	VERB
futech-109	101	3	mathematical	mathematical	ADJ
futech-109	101	4	spatial	spatial	ADJ
futech-109	101	5	description	description	NOUN
futech-109	101	6	tools	tool	NOUN
futech-109	101	7	are	be	AUX
futech-109	101	8	used	use	VERB
futech-109	101	9	to	to	PART
futech-109	101	10	model	model	VERB
futech-109	101	11	robotic	robotic	ADJ
futech-109	101	12	manipulators	manipulator	NOUN
futech-109	101	13	.	.	PUNCT
futech-109	102	1	the	the	DET
futech-109	102	2	kinematic	kinematic	ADJ
futech-109	102	3	model	model	NOUN
futech-109	102	4	shows	show	VERB
futech-109	102	5	the	the	DET
futech-109	102	6	relationship	relationship	NOUN
futech-109	102	7	between	between	ADP
futech-109	102	8	the	the	DET
futech-109	102	9	position	position	NOUN
futech-109	102	10	and	and	CCONJ
futech-109	102	11	orientation	orientation	NOUN
futech-109	102	12	of	of	ADP
futech-109	102	13	the	the	DET
futech-109	102	14	end	end	NOUN
futech-109	102	15	effector	effector	NOUN
futech-109	102	16	and	and	CCONJ
futech-109	102	17	the	the	DET
futech-109	102	18	spatial	spatial	ADJ
futech-109	102	19	positions	position	NOUN
futech-109	102	20	of	of	ADP
futech-109	102	21	the	the	DET
futech-109	102	22	joints	joint	NOUN
futech-109	102	23	.	.	PUNCT
futech-109	103	1	the	the	DET
futech-109	103	2	differential	differential	ADJ
futech-109	103	3	kinematics	kinematic	NOUN
futech-109	103	4	of	of	ADP
futech-109	103	5	manipulators	manipulator	NOUN
futech-109	103	6	refers	refer	VERB
futech-109	103	7	to	to	ADP
futech-109	103	8	differential	differential	ADJ
futech-109	103	9	motion	motion	NOUN
futech-109	103	10	.	.	PUNCT
futech-109	104	1	figure	figure	NOUN
futech-109	104	2	5	5	NUM
futech-109	104	3	.	.	PUNCT
futech-109	105	1	the	the	DET
futech-109	105	2	mg-996r	mg-996r	NUM
futech-109	105	3	metal	metal	NOUN
futech-109	105	4	gear	gear	NOUN
futech-109	105	5	servo	servo	NOUN
futech-109	105	6	motor	motor	NOUN
futech-109	105	7	and	and	CCONJ
futech-109	105	8	it	it	PRON
futech-109	105	9	’s	’	VERB
futech-109	105	10	dimensions	dimension	NOUN
futech-109	105	11	figure	figure	VERB
futech-109	105	12	6	6	NUM
futech-109	105	13	.	.	PUNCT
futech-109	106	1	the	the	DET
futech-109	106	2	sg-90	sg-90	NOUN
futech-109	106	3	servo	servo	VERB
futech-109	106	4	motor	motor	NOUN
futech-109	106	5	and	and	CCONJ
futech-109	106	6	it	it	PRON
futech-109	106	7	’s	’	VERB
futech-109	106	8	dimensions	dimension	NOUN
futech-109	106	9	2.5	2.5	NUM
futech-109	106	10	kinematic	kinematic	ADJ
futech-109	106	11	analysis	analysis	NOUN
futech-109	106	12	using	use	VERB
futech-109	106	13	the	the	DET
futech-109	106	14	denavit	denavit	PROPN
futech-109	106	15	-	-	PUNCT
futech-109	106	16	hartenberg	hartenberg	PROPN
futech-109	106	17	convention	convention	PROPN
futech-109	106	18	the	the	DET
futech-109	106	19	denavit	denavit	PROPN
futech-109	106	20	-	-	PUNCT
futech-109	106	21	hartenberg	hartenberg	PROPN
futech-109	106	22	(	(	PUNCT
futech-109	106	23	d	d	NOUN
futech-109	106	24	-	-	PUNCT
futech-109	106	25	h	h	NOUN
futech-109	106	26	)	)	PUNCT
futech-109	106	27	notation	notation	NOUN
futech-109	106	28	was	be	AUX
futech-109	106	29	used	use	VERB
futech-109	106	30	in	in	ADP
futech-109	106	31	computing	compute	VERB
futech-109	106	32	the	the	DET
futech-109	106	33	kinematics	kinematic	NOUN
futech-109	106	34	of	of	ADP
futech-109	106	35	the	the	DET
futech-109	106	36	robotic	robotic	ADJ
futech-109	106	37	arm	arm	NOUN
futech-109	106	38	.	.	PUNCT
futech-109	107	1	it	it	PRON
futech-109	107	2	is	be	AUX
futech-109	107	3	also	also	ADV
futech-109	107	4	illustrated	illustrate	VERB
futech-109	107	5	in	in	ADP
futech-109	107	6	figure	figure	NOUN
futech-109	107	7	7	7	NUM
futech-109	107	8	.	.	PUNCT
futech-109	107	9	figure	figure	NOUN
futech-109	107	10	7	7	NUM
futech-109	107	11	.	.	PUNCT
futech-109	108	1	the	the	DET
futech-109	108	2	denavit	denavit	PROPN
futech-109	108	3	-	-	PUNCT
futech-109	108	4	hartenberg	hartenberg	PROPN
futech-109	108	5	parameters	parameters	PROPN
futech-109	108	6	nc	nc	PROPN
futech-109	108	7	.	.	PROPN
futech-109	108	8	princewill	princewill	PROPN
futech-109	108	9	et	et	PROPN
futech-109	108	10	al	al	PROPN
futech-109	108	11	.	.	PROPN
futech-109	108	12	/future	/future	PUNCT
futech-109	108	13	technology	technology	PROPN
futech-109	108	14	february	february	PROPN
futech-109	108	15	2024|	2024|	PROPN
futech-109	108	16	volume	volume	NOUN
futech-109	108	17	03	03	NUM
futech-109	108	18	|	|	ADV
futech-109	108	19	issue	issue	NOUN
futech-109	108	20	01	01	NUM
futech-109	109	1	|	|	ADV
futech-109	109	2	pages	page	NOUN
futech-109	109	3	25	25	NUM
futech-109	109	4	-	-	SYM
futech-109	109	5	31	31	NUM
futech-109	109	6	29	29	NUM
futech-109	109	7	the	the	DET
futech-109	109	8	illustration	illustration	NOUN
futech-109	109	9	shows	show	VERB
futech-109	109	10	that	that	SCONJ
futech-109	109	11	the	the	DET
futech-109	109	12	frame(s	frame(s	NOUN
futech-109	109	13	)	)	PUNCT
futech-109	109	14	is	be	AUX
futech-109	109	15	rigidly	rigidly	ADV
futech-109	109	16	attached	attach	VERB
futech-109	109	17	to	to	ADP
futech-109	109	18	the	the	DET
futech-109	109	19	distal	distal	ADJ
futech-109	109	20	end	end	NOUN
futech-109	109	21	of	of	ADP
futech-109	109	22	the	the	DET
futech-109	109	23	coupler(s	coupler(s	NOUN
futech-109	109	24	)	)	PUNCT
futech-109	109	25	and	and	CCONJ
futech-109	109	26	moves	move	NOUN
futech-109	109	27	with	with	ADP
futech-109	109	28	the	the	DET
futech-109	109	29	coupler(s	coupler(s	NOUN
futech-109	109	30	)	)	PUNCT
futech-109	109	31	.	.	PUNCT
futech-109	110	1	the	the	DET
futech-109	110	2	n	n	CCONJ
futech-109	110	3	-	-	PUNCT
futech-109	110	4	dof	dof	NOUN
futech-109	110	5	manipulator	manipulator	NOUN
futech-109	110	6	will	will	AUX
futech-109	110	7	have	have	VERB
futech-109	110	8	(	(	PUNCT
futech-109	110	9	n+1	n+1	NOUN
futech-109	110	10	)	)	PUNCT
futech-109	110	11	frames	frame	NOUN
futech-109	110	12	,	,	PUNCT
futech-109	110	13	with	with	ADP
futech-109	110	14	frame	frame	NOUN
futech-109	110	15	(	(	PUNCT
futech-109	110	16	o	o	NOUN
futech-109	110	17	)	)	PUNCT
futech-109	110	18	or	or	CCONJ
futech-109	110	19	base	base	NOUN
futech-109	110	20	frame	frame	NOUN
futech-109	110	21	serving	serve	VERB
futech-109	110	22	as	as	ADP
futech-109	110	23	the	the	DET
futech-109	110	24	reference	reference	NOUN
futech-109	110	25	inertial	inertial	ADJ
futech-109	110	26	frame	frame	NOUN
futech-109	110	27	and	and	CCONJ
futech-109	110	28	frame	frame	NOUN
futech-109	110	29	(	(	PUNCT
futech-109	110	30	n	n	CCONJ
futech-109	110	31	)	)	PUNCT
futech-109	110	32	as	as	ADP
futech-109	110	33	the	the	DET
futech-109	110	34	instrument	instrument	NOUN
futech-109	110	35	frame	frame	NOUN
futech-109	110	36	.	.	PUNCT
futech-109	111	1	figure	figure	NOUN
futech-109	111	2	8	8	NUM
futech-109	111	3	shows	show	VERB
futech-109	111	4	a	a	DET
futech-109	111	5	pair	pair	NOUN
futech-109	111	6	of	of	ADP
futech-109	111	7	adjacent	adjacent	ADJ
futech-109	111	8	limbs	limb	NOUN
futech-109	111	9	,	,	PUNCT
futech-109	111	10	limb(i-1	limb(i-1	PROPN
futech-109	111	11	)	)	PUNCT
futech-109	111	12	and	and	CCONJ
futech-109	111	13	limb(s	limb(	NOUN
futech-109	111	14	)	)	PUNCT
futech-109	111	15	,	,	PUNCT
futech-109	111	16	their	their	PRON
futech-109	111	17	associated	associated	ADJ
futech-109	111	18	joints	joint	NOUN
futech-109	111	19	,	,	PUNCT
futech-109	111	20	joint(i-1	joint(i-1	NOUN
futech-109	111	21	)	)	PUNCT
futech-109	111	22	,	,	PUNCT
futech-109	111	23	joint(i	joint(i	NOUN
futech-109	111	24	)	)	PUNCT
futech-109	111	25	and	and	CCONJ
futech-109	111	26	joint(i+1	joint(i+1	NOUN
futech-109	111	27	)	)	PUNCT
futech-109	111	28	,	,	PUNCT
futech-109	111	29	and	and	CCONJ
futech-109	111	30	the	the	DET
futech-109	111	31	axes	axis	NOUN
futech-109	111	32	(	(	PUNCT
futech-109	111	33	z	z	NOUN
futech-109	111	34	2	2	NUM
futech-109	111	35	)	)	PUNCT
futech-109	111	36	,	,	PUNCT
futech-109	111	37	(	(	PUNCT
futech-109	111	38	i-1	i-1	NUM
futech-109	111	39	)	)	PUNCT
futech-109	111	40	and	and	CCONJ
futech-109	111	41	(	(	PUNCT
futech-109	111	42	i).the	i).the	NOUN
futech-109	111	43	frame	frame	NOUN
futech-109	111	44	(	(	PUNCT
futech-109	111	45	i	i	NOUN
futech-109	111	46	)	)	PUNCT
futech-109	111	47	is	be	AUX
futech-109	111	48	assigned	assign	VERB
futech-109	111	49	to	to	ADP
futech-109	111	50	the	the	DET
futech-109	111	51	link	link	NOUN
futech-109	111	52	(	(	PUNCT
futech-109	111	53	i	i	NOUN
futech-109	111	54	)	)	PUNCT
futech-109	111	55	as	as	SCONJ
futech-109	111	56	follows	follow	VERB
futech-109	111	57	:	:	PUNCT
futech-109	111	58	•	•	ADP
futech-109	111	59	the	the	DET
futech-109	111	60	z	z	NOUN
futech-109	111	61	-	-	PUNCT
futech-109	111	62	axis	axis	NOUN
futech-109	111	63	coincides	coincide	VERB
futech-109	111	64	with	with	ADP
futech-109	111	65	the	the	DET
futech-109	111	66	(	(	PUNCT
futech-109	111	67	i)-axis	i)-axis	PUNCT
futech-109	111	68	and	and	CCONJ
futech-109	111	69	its	its	PRON
futech-109	111	70	direction	direction	NOUN
futech-109	111	71	is	be	AUX
futech-109	111	72	arbitrary	arbitrary	ADJ
futech-109	111	73	.	.	PUNCT
futech-109	112	1	the	the	DET
futech-109	112	2	choice	choice	NOUN
futech-109	112	3	of	of	ADP
futech-109	112	4	direction	direction	NOUN
futech-109	112	5	determines	determine	VERB
futech-109	112	6	the	the	DET
futech-109	112	7	positive	positive	ADJ
futech-109	112	8	direction	direction	NOUN
futech-109	112	9	of	of	ADP
futech-109	112	10	the	the	DET
futech-109	112	11	common	common	ADJ
futech-109	112	12	variable	variable	NOUN
futech-109	112	13	ɵ	ɵ	ADP
futech-109	112	14	•	•	NOUN
futech-109	112	15	the	the	DET
futech-109	112	16	x	x	NOUN
futech-109	112	17	-	-	ADJ
futech-109	112	18	axis	axis	NOUN
futech-109	112	19	is	be	AUX
futech-109	112	20	perpendicular	perpendicular	ADJ
futech-109	112	21	to	to	ADP
futech-109	112	22	the	the	DET
futech-109	112	23	zi-1	zi-1	PUNCT
futech-109	112	24	axis	axis	NOUN
futech-109	112	25	,	,	PUNCT
futech-109	112	26	and	and	CCONJ
futech-109	112	27	the	the	DET
futech-109	112	28	zi	zi	NOUN
futech-109	112	29	points	point	NOUN
futech-109	112	30	are	be	AUX
futech-109	112	31	offset	offset	VERB
futech-109	112	32	from	from	ADP
futech-109	112	33	the	the	DET
futech-109	112	34	zi-1	zi-1	PUNCT
futech-109	112	35	axis	axis	NOUN
futech-109	112	36	,	,	PUNCT
futech-109	112	37	which	which	PRON
futech-109	112	38	means	mean	VERB
futech-109	112	39	that	that	SCONJ
futech-109	112	40	the	the	DET
futech-109	112	41	xi	xi	NOUN
futech-109	112	42	-	-	PUNCT
futech-109	112	43	axis	axis	NOUN
futech-109	112	44	is	be	AUX
futech-109	112	45	directed	direct	VERB
futech-109	112	46	along	along	ADP
futech-109	112	47	the	the	DET
futech-109	112	48	common	common	ADJ
futech-109	112	49	normal	normal	ADJ
futech-109	112	50	•	•	NOUN
futech-109	112	51	the	the	DET
futech-109	112	52	origin	origin	NOUN
futech-109	112	53	of	of	ADP
futech-109	112	54	the	the	DET
futech-109	112	55	coordinate	coordinate	NOUN
futech-109	112	56	system	system	NOUN
futech-109	112	57	(	(	PUNCT
futech-109	112	58	i	i	NOUN
futech-109	112	59	)	)	PUNCT
futech-109	112	60	lies	lie	VERB
futech-109	112	61	at	at	ADP
futech-109	112	62	the	the	DET
futech-109	112	63	intersection	intersection	NOUN
futech-109	112	64	of	of	ADP
futech-109	112	65	the	the	DET
futech-109	112	66	joint	joint	ADJ
futech-109	112	67	axes	axis	NOUN
futech-109	112	68	(	(	PUNCT
futech-109	112	69	i+1	i+1	NUM
futech-109	112	70	)	)	PUNCT
futech-109	112	71	•	•	PRON
futech-109	112	72	y	y	NOUN
futech-109	112	73	-	-	PUNCT
futech-109	112	74	axis	axis	NOUN
futech-109	112	75	completes	complete	VERB
futech-109	112	76	the	the	DET
futech-109	112	77	right	right	ADJ
futech-109	112	78	-	-	PUNCT
futech-109	112	79	hand	hand	NOUN
futech-109	112	80	orthonormal	orthonormal	ADJ
futech-109	112	81	coordinate	coordinate	NOUN
futech-109	112	82	frame	frame	NOUN
futech-109	112	83	.	.	PUNCT
futech-109	113	1	figure	figure	NOUN
futech-109	113	2	8	8	NUM
futech-109	113	3	.	.	PUNCT
futech-109	114	1	partition	partition	NOUN
futech-109	114	2	diagram	diagram	NOUN
futech-109	114	3	of	of	ADP
futech-109	114	4	the	the	DET
futech-109	114	5	manipulator	manipulator	NOUN
futech-109	114	6	2.6	2.6	NUM
futech-109	114	7	the	the	DET
futech-109	114	8	articulated	articulated	ADJ
futech-109	114	9	arm	arm	NOUN
futech-109	114	10	kinematic	kinematic	NOUN
futech-109	114	11	model	model	NOUN
futech-109	114	12	the	the	DET
futech-109	114	13	arm	arm	NOUN
futech-109	114	14	matrix	matrix	NOUN
futech-109	114	15	is	be	AUX
futech-109	114	16	divided	divide	VERB
futech-109	114	17	into	into	ADP
futech-109	114	18	three	three	NUM
futech-109	114	19	parts	part	NOUN
futech-109	114	20	:	:	PUNCT
futech-109	114	21	•	•	ADP
futech-109	114	22	the	the	DET
futech-109	114	23	first	first	ADJ
futech-109	114	24	partitioned	partition	VERB
futech-109	114	25	matrix	matrix	NOUN
futech-109	114	26	•	•	ADP
futech-109	114	27	the	the	DET
futech-109	114	28	second	second	ADJ
futech-109	114	29	partitioned	partition	VERB
futech-109	114	30	matrix	matrix	NOUN
futech-109	114	31	•	•	ADP
futech-109	114	32	final	final	ADJ
futech-109	114	33	arm	arm	NOUN
futech-109	114	34	matrix	matrix	NOUN
futech-109	114	35	to	to	PART
futech-109	114	36	determine	determine	VERB
futech-109	114	37	the	the	DET
futech-109	114	38	arms	arm	NOUN
futech-109	114	39	point	point	NOUN
futech-109	114	40	transformation	transformation	NOUN
futech-109	114	41	matrix	matrix	NOUN
futech-109	114	42	,	,	PUNCT
futech-109	114	43	frames	frame	NOUN
futech-109	114	44	are	be	AUX
futech-109	114	45	first	first	ADV
futech-109	114	46	matched	match	VERB
futech-109	114	47	,	,	PUNCT
futech-109	114	48	and	and	CCONJ
futech-109	114	49	the	the	DET
futech-109	114	50	resulting	result	VERB
futech-109	114	51	joint	joint	NOUN
futech-109	114	52	-	-	PUNCT
futech-109	114	53	to	to	ADP
futech-109	114	54	-	-	PUNCT
futech-109	114	55	joint	joint	ADJ
futech-109	114	56	parameters	parameter	NOUN
futech-109	114	57	are	be	AUX
futech-109	114	58	tabulated	tabulate	VERB
futech-109	114	59	.	.	PUNCT
futech-109	115	1	the	the	DET
futech-109	115	2	joint	joint	ADJ
futech-109	115	3	offsets	offset	NOUN
futech-109	115	4	are	be	AUX
futech-109	115	5	assumed	assume	VERB
futech-109	115	6	to	to	PART
futech-109	115	7	be	be	AUX
futech-109	115	8	zero	zero	NUM
futech-109	115	9	for	for	ADP
futech-109	115	10	all	all	DET
futech-109	115	11	three	three	NUM
futech-109	115	12	joints	joint	NOUN
futech-109	115	13	.	.	PUNCT
futech-109	116	1	the	the	DET
futech-109	116	2	joint	joint	ADJ
futech-109	116	3	link	link	NOUN
futech-109	116	4	parameter	parameter	NOUN
futech-109	116	5	for	for	ADP
futech-109	116	6	the	the	DET
futech-109	116	7	arm	arm	NOUN
futech-109	116	8	is	be	AUX
futech-109	116	9	presented	present	VERB
futech-109	116	10	in	in	ADP
futech-109	116	11	table	table	NOUN
futech-109	116	12	4	4	NUM
futech-109	116	13	.	.	PUNCT
futech-109	117	1	so	so	ADV
futech-109	117	2	,	,	PUNCT
futech-109	117	3	if	if	SCONJ
futech-109	117	4	we	we	PRON
futech-109	117	5	give	give	VERB
futech-109	117	6	the	the	DET
futech-109	117	7	values	value	NOUN
futech-109	117	8	of	of	ADP
futech-109	117	9	the	the	DET
futech-109	117	10	length	length	NOUN
futech-109	117	11	of	of	ADP
futech-109	117	12	the	the	DET
futech-109	117	13	limbs	limb	NOUN
futech-109	117	14	and	and	CCONJ
futech-109	117	15	the	the	DET
futech-109	117	16	angles	angle	NOUN
futech-109	117	17	of	of	ADP
futech-109	117	18	the	the	DET
futech-109	117	19	joints	joint	NOUN
futech-109	117	20	,	,	PUNCT
futech-109	117	21	we	we	PRON
futech-109	117	22	get	get	VERB
futech-109	117	23	the	the	DET
futech-109	117	24	position	position	NOUN
futech-109	117	25	of	of	ADP
futech-109	117	26	the	the	DET
futech-109	117	27	wrist	wrist	NOUN
futech-109	117	28	as	as	SCONJ
futech-109	117	29	follows	follow	VERB
futech-109	117	30	:	:	PUNCT
futech-109	117	31	x	x	SYM
futech-109	117	32	=	=	PUNCT
futech-109	117	33	8.73	8.73	NUM
futech-109	117	34	cm	cm	NOUN
futech-109	117	35	;	;	PUNCT
futech-109	118	1	y	y	PROPN
futech-109	118	2	=	=	PROPN
futech-109	118	3	8.66	8.66	NUM
futech-109	118	4	cm	cm	NOUN
futech-109	118	5	;	;	PUNCT
futech-109	118	6	z	z	NOUN
futech-109	118	7	=	=	NOUN
futech-109	118	8	9.87	9.87	NUM
futech-109	118	9	cm	cm	NOUN
futech-109	118	10	these	these	PRON
futech-109	118	11	would	would	AUX
futech-109	118	12	effectively	effectively	ADV
futech-109	118	13	form	form	VERB
futech-109	118	14	the	the	DET
futech-109	118	15	basis	basis	NOUN
futech-109	118	16	for	for	ADP
futech-109	118	17	the	the	DET
futech-109	118	18	positional	positional	ADJ
futech-109	118	19	code	code	NOUN
futech-109	118	20	written	write	VERB
futech-109	118	21	into	into	ADP
futech-109	118	22	the	the	DET
futech-109	118	23	arduino	arduino	NOUN
futech-109	118	24	uno	uno	PROPN
futech-109	118	25	microcontroller	microcontroller	NOUN
futech-109	118	26	.	.	PUNCT
futech-109	119	1	table	table	NOUN
futech-109	119	2	4	4	NUM
futech-109	119	3	.	.	PUNCT
futech-109	120	1	link	link	NOUN
futech-109	120	2	parameters	parameter	NOUN
futech-109	120	3	of	of	ADP
futech-109	120	4	the	the	DET
futech-109	120	5	robotic	robotic	ADJ
futech-109	120	6	arm	arm	NOUN
futech-109	120	7	link	link	NOUN
futech-109	120	8	i	i	PRON
futech-109	120	9	ai	ai	VERB
futech-109	120	10	αi	αi	ADP
futech-109	120	11	di	di	PROPN
futech-109	120	12	θi	θi	ADP
futech-109	120	13	1	1	NUM
futech-109	120	14	0	0	NUM
futech-109	120	15	90	90	NUM
futech-109	120	16	0	0	NUM
futech-109	120	17	45	45	NUM
futech-109	120	18	2	2	NUM
futech-109	120	19	10	10	NUM
futech-109	120	20	0	0	NUM
futech-109	120	21	0	0	NUM
futech-109	120	22	85	85	NUM
futech-109	120	23	3	3	NUM
futech-109	120	24	10	10	NUM
futech-109	120	25	0	0	NUM
futech-109	120	26	0	0	NUM
futech-109	120	27	110	110	NUM
futech-109	120	28	2.7	2.7	NUM
futech-109	120	29	the	the	DET
futech-109	120	30	servo	servo	NOUN
futech-109	120	31	controller	controller	NOUN
futech-109	120	32	selection	selection	NOUN
futech-109	120	33	the	the	DET
futech-109	120	34	robot	robot	NOUN
futech-109	120	35	controls	control	VERB
futech-109	120	36	its	its	PRON
futech-109	120	37	servo	servo	NOUN
futech-109	120	38	motor	motor	NOUN
futech-109	120	39	by	by	ADP
futech-109	120	40	sending	send	VERB
futech-109	120	41	digital	digital	ADJ
futech-109	120	42	pulses	pulse	NOUN
futech-109	120	43	to	to	ADP
futech-109	120	44	the	the	DET
futech-109	120	45	onboard	onboard	ADJ
futech-109	120	46	circuitry	circuitry	NOUN
futech-109	120	47	.	.	PUNCT
futech-109	121	1	this	this	DET
futech-109	121	2	type	type	NOUN
futech-109	121	3	of	of	ADP
futech-109	121	4	signal	signal	NOUN
futech-109	121	5	is	be	AUX
futech-109	121	6	known	know	VERB
futech-109	121	7	as	as	ADP
futech-109	121	8	a	a	DET
futech-109	121	9	pulse	pulse	NOUN
futech-109	121	10	width	width	NOUN
futech-109	121	11	modulated	modulate	VERB
futech-109	121	12	(	(	PUNCT
futech-109	121	13	pwm	pwm	NOUN
futech-109	121	14	)	)	PUNCT
futech-109	121	15	signal	signal	NOUN
futech-109	121	16	.	.	PUNCT
futech-109	122	1	digital	digital	ADJ
futech-109	122	2	pulses	pulse	NOUN
futech-109	122	3	are	be	AUX
futech-109	122	4	sent	send	VERB
futech-109	122	5	to	to	ADP
futech-109	122	6	the	the	DET
futech-109	122	7	servo	servo	NOUN
futech-109	122	8	at	at	ADP
futech-109	122	9	20	20	NUM
futech-109	122	10	-	-	PUNCT
futech-109	122	11	millisecond	millisecond	NOUN
futech-109	122	12	intervals	interval	NOUN
futech-109	122	13	,	,	PUNCT
futech-109	122	14	and	and	CCONJ
futech-109	122	15	depending	depend	VERB
futech-109	122	16	on	on	ADP
futech-109	122	17	the	the	DET
futech-109	122	18	duration	duration	NOUN
futech-109	122	19	of	of	ADP
futech-109	122	20	the	the	DET
futech-109	122	21	pulse	pulse	NOUN
futech-109	122	22	,	,	PUNCT
futech-109	122	23	the	the	DET
futech-109	122	24	servo	servo	NOUN
futech-109	122	25	horn	horn	NOUN
futech-109	122	26	moves	move	NOUN
futech-109	122	27	through	through	ADP
futech-109	122	28	an	an	DET
futech-109	122	29	angle	angle	NOUN
futech-109	122	30	of	of	ADP
futech-109	122	31	180	180	NUM
futech-109	122	32	degrees	degree	NOUN
futech-109	122	33	.	.	PUNCT
futech-109	123	1	the	the	DET
futech-109	123	2	servo	servo	NOUN
futech-109	123	3	operates	operate	VERB
futech-109	123	4	as	as	ADP
futech-109	123	5	a	a	DET
futech-109	123	6	complete	complete	ADJ
futech-109	123	7	circuit	circuit	NOUN
futech-109	123	8	that	that	PRON
futech-109	123	9	generates	generate	VERB
futech-109	123	10	the	the	DET
futech-109	123	11	pwm	pwm	NOUN
futech-109	123	12	signals	signal	NOUN
futech-109	123	13	to	to	PART
futech-109	123	14	control	control	VERB
futech-109	123	15	the	the	DET
futech-109	123	16	servo	servo	NOUN
futech-109	123	17	based	base	VERB
futech-109	123	18	on	on	ADP
futech-109	123	19	code	code	NOUN
futech-109	123	20	compiled	compile	VERB
futech-109	123	21	in	in	ADP
futech-109	123	22	machine	machine	NOUN
futech-109	123	23	language	language	NOUN
futech-109	123	24	by	by	ADP
futech-109	123	25	the	the	DET
futech-109	123	26	computer	computer	NOUN
futech-109	123	27	to	to	ADP
futech-109	123	28	the	the	DET
futech-109	123	29	microcontroller	microcontroller	NOUN
futech-109	123	30	.	.	PUNCT
futech-109	124	1	the	the	DET
futech-109	124	2	arduino	arduino	NOUN
futech-109	124	3	uno	uno	PROPN
futech-109	124	4	(	(	PUNCT
futech-109	124	5	figure	figure	NOUN
futech-109	124	6	9	9	NUM
futech-109	124	7	)	)	PUNCT
futech-109	124	8	was	be	AUX
futech-109	124	9	the	the	DET
futech-109	124	10	most	most	ADV
futech-109	124	11	suitable	suitable	ADJ
futech-109	124	12	microcontroller	microcontroller	NOUN
futech-109	124	13	/	/	SYM
futech-109	124	14	servo	servo	NOUN
futech-109	124	15	-	-	PUNCT
futech-109	124	16	controller	controller	NOUN
futech-109	124	17	for	for	ADP
futech-109	124	18	the	the	DET
futech-109	124	19	work	work	NOUN
futech-109	124	20	as	as	ADP
futech-109	124	21	a	a	DET
futech-109	124	22	result	result	NOUN
futech-109	124	23	of	of	ADP
futech-109	124	24	its	its	PRON
futech-109	124	25	vast	vast	ADJ
futech-109	124	26	supply	supply	NOUN
futech-109	124	27	of	of	ADP
futech-109	124	28	support	support	NOUN
futech-109	124	29	libraries	library	NOUN
futech-109	124	30	and	and	CCONJ
futech-109	124	31	tools	tool	NOUN
futech-109	124	32	for	for	ADP
futech-109	124	33	easy	easy	ADJ
futech-109	124	34	implementation	implementation	NOUN
futech-109	124	35	,	,	PUNCT
futech-109	124	36	owing	owe	VERB
futech-109	124	37	to	to	ADP
futech-109	124	38	its	its	PRON
futech-109	124	39	open	open	ADJ
futech-109	124	40	-	-	PUNCT
futech-109	124	41	source	source	NOUN
futech-109	124	42	background	background	NOUN
futech-109	124	43	.	.	PUNCT
futech-109	125	1	it	it	PRON
futech-109	125	2	is	be	AUX
futech-109	125	3	a	a	DET
futech-109	125	4	low	low	ADJ
futech-109	125	5	-	-	PUNCT
futech-109	125	6	cost	cost	NOUN
futech-109	125	7	,	,	PUNCT
futech-109	125	8	extremely	extremely	ADV
futech-109	125	9	flexible	flexible	ADJ
futech-109	125	10	,	,	PUNCT
futech-109	125	11	and	and	CCONJ
futech-109	125	12	easy	easy	ADJ
futech-109	125	13	-	-	PUNCT
futech-109	125	14	to	to	PART
futech-109	125	15	-	-	PUNCT
futech-109	125	16	use	use	VERB
futech-109	125	17	programmable	programmable	ADJ
futech-109	125	18	microcontroller	microcontroller	NOUN
futech-109	125	19	that	that	PRON
futech-109	125	20	can	can	AUX
futech-109	125	21	be	be	AUX
futech-109	125	22	integrated	integrate	VERB
futech-109	125	23	into	into	ADP
futech-109	125	24	a	a	DET
futech-109	125	25	wide	wide	ADJ
futech-109	125	26	variety	variety	NOUN
futech-109	125	27	of	of	ADP
futech-109	125	28	robotic	robotic	ADJ
futech-109	125	29	and	and	CCONJ
futech-109	125	30	iot	iot	NOUN
futech-109	125	31	applications	application	NOUN
futech-109	125	32	alike	alike	ADV
futech-109	125	33	.	.	PUNCT
futech-109	126	1	the	the	DET
futech-109	126	2	presence	presence	NOUN
futech-109	126	3	of	of	ADP
futech-109	126	4	14	14	NUM
futech-109	126	5	digital	digital	ADJ
futech-109	126	6	pins	pin	NOUN
futech-109	126	7	meant	mean	VERB
futech-109	126	8	that	that	SCONJ
futech-109	126	9	a	a	DET
futech-109	126	10	surplus	surplus	ADJ
futech-109	126	11	number	number	NOUN
futech-109	126	12	of	of	ADP
futech-109	126	13	slots	slot	NOUN
futech-109	126	14	were	be	AUX
futech-109	126	15	available	available	ADJ
futech-109	126	16	for	for	ADP
futech-109	126	17	the	the	DET
futech-109	126	18	6	6	NUM
futech-109	126	19	servo	servo	NOUN
futech-109	126	20	motors	motor	NOUN
futech-109	126	21	,	,	PUNCT
futech-109	126	22	and	and	CCONJ
futech-109	126	23	the	the	DET
futech-109	126	24	presence	presence	NOUN
futech-109	126	25	of	of	ADP
futech-109	126	26	a	a	DET
futech-109	126	27	usb	usb	NOUN
futech-109	126	28	jack	jack	NOUN
futech-109	126	29	meant	mean	VERB
futech-109	126	30	it	it	PRON
futech-109	126	31	could	could	AUX
futech-109	126	32	easily	easily	ADV
futech-109	126	33	interface	interface	VERB
futech-109	126	34	with	with	ADP
futech-109	126	35	the	the	DET
futech-109	126	36	computer	computer	NOUN
futech-109	126	37	after	after	ADP
futech-109	126	38	writing	write	VERB
futech-109	126	39	code	code	NOUN
futech-109	126	40	for	for	ADP
futech-109	126	41	the	the	DET
futech-109	126	42	robot	robot	NOUN
futech-109	126	43	for	for	ADP
futech-109	126	44	easy	easy	ADJ
futech-109	126	45	data	datum	NOUN
futech-109	126	46	transfer	transfer	NOUN
futech-109	126	47	.	.	PUNCT
futech-109	127	1	figure	figure	NOUN
futech-109	127	2	9	9	NUM
futech-109	127	3	.	.	PUNCT
futech-109	128	1	the	the	DET
futech-109	128	2	arduino	arduino	NOUN
futech-109	128	3	uno	uno	PROPN
futech-109	128	4	and	and	CCONJ
futech-109	128	5	its	its	PRON
futech-109	128	6	pin	pin	PROPN
futech-109	128	7	configuration	configuration	NOUN
futech-109	128	8	the	the	DET
futech-109	128	9	control	control	NOUN
futech-109	128	10	code	code	PROPN
futech-109	128	11	for	for	ADP
futech-109	128	12	the	the	DET
futech-109	128	13	robot	robot	NOUN
futech-109	128	14	was	be	AUX
futech-109	128	15	written	write	VERB
futech-109	128	16	using	use	VERB
futech-109	128	17	the	the	DET
futech-109	128	18	c++	c++	NOUN
futech-109	128	19	language	language	NOUN
futech-109	128	20	in	in	ADP
futech-109	128	21	the	the	DET
futech-109	128	22	arduino	arduino	NOUN
futech-109	128	23	ide	ide	NOUN
futech-109	128	24	application	application	NOUN
futech-109	128	25	on	on	ADP
futech-109	128	26	my	my	PRON
futech-109	128	27	computer	computer	NOUN
futech-109	128	28	,	,	PUNCT
futech-109	128	29	compiled	compile	VERB
futech-109	128	30	,	,	PUNCT
futech-109	128	31	and	and	CCONJ
futech-109	128	32	uploaded	upload	VERB
futech-109	128	33	onto	onto	ADP
futech-109	128	34	the	the	DET
futech-109	128	35	microcontroller	microcontroller	NOUN
futech-109	128	36	board	board	NOUN
futech-109	128	37	.	.	PUNCT
futech-109	129	1	2.8	2.8	NUM
futech-109	129	2	the	the	DET
futech-109	129	3	telecommunication	telecommunication	NOUN
futech-109	129	4	module	module	NOUN
futech-109	129	5	the	the	DET
futech-109	129	6	robot	robot	NOUN
futech-109	129	7	was	be	AUX
futech-109	129	8	designed	design	VERB
futech-109	129	9	to	to	PART
futech-109	129	10	be	be	AUX
futech-109	129	11	controlled	control	VERB
futech-109	129	12	wirelessly	wirelessly	ADV
futech-109	129	13	with	with	ADP
futech-109	129	14	a	a	DET
futech-109	129	15	mobile	mobile	ADJ
futech-109	129	16	phone	phone	NOUN
futech-109	129	17	assuming	assume	VERB
futech-109	129	18	the	the	DET
futech-109	129	19	role	role	NOUN
futech-109	129	20	of	of	ADP
futech-109	129	21	a	a	DET
futech-109	129	22	remote	remote	ADJ
futech-109	129	23	controller	controller	NOUN
futech-109	129	24	.	.	PUNCT
futech-109	130	1	on	on	ADP
futech-109	130	2	the	the	DET
futech-109	130	3	end	end	NOUN
futech-109	130	4	of	of	ADP
futech-109	130	5	the	the	DET
futech-109	130	6	phone	phone	NOUN
futech-109	130	7	was	be	AUX
futech-109	130	8	an	an	DET
futech-109	130	9	android	android	PROPN
futech-109	130	10	application	application	NOUN
futech-109	130	11	with	with	ADP
futech-109	130	12	sliders	slider	NOUN
futech-109	130	13	meant	mean	VERB
futech-109	130	14	to	to	PART
futech-109	130	15	control	control	VERB
futech-109	130	16	the	the	DET
futech-109	130	17	respective	respective	ADJ
futech-109	130	18	angles	angle	NOUN
futech-109	130	19	of	of	ADP
futech-109	130	20	each	each	DET
futech-109	130	21	servo	servo	NOUN
futech-109	130	22	motor	motor	NOUN
futech-109	130	23	on	on	ADP
futech-109	130	24	the	the	DET
futech-109	130	25	robot	robot	NOUN
futech-109	130	26	,	,	PUNCT
futech-109	130	27	and	and	CCONJ
futech-109	130	28	on	on	ADP
futech-109	130	29	the	the	DET
futech-109	130	30	receiving	receiving	NOUN
futech-109	130	31	end	end	NOUN
futech-109	130	32	was	be	AUX
futech-109	130	33	the	the	DET
futech-109	130	34	robot	robot	NOUN
futech-109	130	35	itself	itself	PRON
futech-109	130	36	,	,	PUNCT
futech-109	130	37	meant	mean	VERB
futech-109	130	38	to	to	PART
futech-109	130	39	read	read	VERB
futech-109	130	40	the	the	DET
futech-109	130	41	instructions	instruction	NOUN
futech-109	130	42	from	from	ADP
futech-109	130	43	the	the	DET
futech-109	130	44	phone	phone	NOUN
futech-109	130	45	and	and	CCONJ
futech-109	130	46	send	send	VERB
futech-109	130	47	the	the	DET
futech-109	130	48	respective	respective	ADJ
futech-109	130	49	pwm	pwm	NOUN
futech-109	130	50	signals	signal	NOUN
futech-109	130	51	.	.	PUNCT
futech-109	131	1	since	since	SCONJ
futech-109	131	2	the	the	DET
futech-109	131	3	phone	phone	NOUN
futech-109	131	4	already	already	ADV
futech-109	131	5	comes	come	VERB
futech-109	131	6	with	with	ADP
futech-109	131	7	its	its	PRON
futech-109	131	8	own	own	ADJ
futech-109	131	9	antenna	antenna	NOUN
futech-109	131	10	,	,	PUNCT
futech-109	131	11	a	a	DET
futech-109	131	12	telecommunication	telecommunication	NOUN
futech-109	131	13	module	module	NOUN
futech-109	131	14	was	be	AUX
futech-109	131	15	added	add	VERB
futech-109	131	16	to	to	ADP
futech-109	131	17	the	the	DET
futech-109	131	18	arduino	arduino	NOUN
futech-109	131	19	uno	uno	PROPN
futech-109	131	20	board	board	PROPN
futech-109	131	21	,	,	PUNCT
futech-109	131	22	which	which	PRON
futech-109	131	23	would	would	AUX
futech-109	131	24	help	help	VERB
futech-109	131	25	the	the	DET
futech-109	131	26	robot	robot	NOUN
futech-109	131	27	receive	receive	VERB
futech-109	131	28	the	the	DET
futech-109	131	29	byte	byte	NOUN
futech-109	131	30	data	datum	NOUN
futech-109	131	31	from	from	ADP
futech-109	131	32	the	the	DET
futech-109	131	33	remote	remote	ADJ
futech-109	131	34	controller	controller	NOUN
futech-109	131	35	.	.	PUNCT
futech-109	132	1	bluetooth	bluetooth	PROPN
futech-109	132	2	(	(	PUNCT
futech-109	132	3	ieee	ieee	NOUN
futech-109	132	4	802.15	802.15	NUM
futech-109	132	5	)	)	PUNCT
futech-109	132	6	was	be	AUX
futech-109	132	7	chosen	choose	VERB
futech-109	132	8	as	as	ADP
futech-109	132	9	the	the	DET
futech-109	132	10	communication	communication	NOUN
futech-109	132	11	medium	medium	NOUN
futech-109	132	12	of	of	ADP
futech-109	132	13	choice	choice	NOUN
futech-109	132	14	between	between	ADP
futech-109	132	15	the	the	DET
futech-109	132	16	two	two	NUM
futech-109	132	17	terminals	terminal	NOUN
futech-109	132	18	because	because	SCONJ
futech-109	132	19	of	of	ADP
futech-109	132	20	its	its	PRON
futech-109	132	21	affordability	affordability	NOUN
futech-109	132	22	and	and	CCONJ
futech-109	132	23	noise	noise	NOUN
futech-109	132	24	resistance	resistance	NOUN
futech-109	132	25	.	.	PUNCT
futech-109	133	1	the	the	DET
futech-109	133	2	hc-05	hc-05	NOUN
futech-109	133	3	in	in	ADP
futech-109	133	4	figure	figure	NOUN
futech-109	133	5	10	10	NUM
futech-109	133	6	is	be	AUX
futech-109	133	7	a	a	DET
futech-109	133	8	5v	5v	NOUN
futech-109	133	9	-	-	PUNCT
futech-109	133	10	powered	power	VERB
futech-109	133	11	module	module	NOUN
futech-109	133	12	that	that	PRON
futech-109	133	13	allows	allow	VERB
futech-109	133	14	seamless	seamless	ADJ
futech-109	133	15	data	data	NOUN
futech-109	133	16	transmission	transmission	NOUN
futech-109	133	17	between	between	ADP
futech-109	133	18	the	the	DET
futech-109	133	19	robot	robot	NOUN
futech-109	133	20	and	and	CCONJ
futech-109	133	21	the	the	DET
futech-109	133	22	mobile	mobile	ADJ
futech-109	133	23	phone	phone	NOUN
futech-109	133	24	.	.	PUNCT
futech-109	134	1	figure	figure	NOUN
futech-109	134	2	10	10	NUM
futech-109	134	3	.	.	PUNCT
futech-109	135	1	pin	pin	NOUN
futech-109	135	2	-	-	PUNCT
futech-109	135	3	out	out	ADP
futech-109	135	4	configuration	configuration	NOUN
futech-109	135	5	of	of	ADP
futech-109	135	6	the	the	DET
futech-109	135	7	hc-05	hc-05	PUNCT
futech-109	135	8	bluetooth	bluetooth	PROPN
futech-109	135	9	module	module	NOUN
futech-109	135	10	2.9	2.9	NUM
futech-109	135	11	the	the	DET
futech-109	135	12	remote	remote	ADJ
futech-109	135	13	controller	controller	NOUN
futech-109	135	14	application	application	NOUN
futech-109	135	15	in	in	ADP
futech-109	135	16	order	order	NOUN
futech-109	135	17	to	to	PART
futech-109	135	18	effectively	effectively	ADV
futech-109	135	19	generate	generate	VERB
futech-109	135	20	commands	command	NOUN
futech-109	135	21	for	for	ADP
futech-109	135	22	the	the	DET
futech-109	135	23	hc-05	hc-05	NOUN
futech-109	135	24	,	,	PUNCT
futech-109	135	25	the	the	DET
futech-109	135	26	android	android	PROPN
futech-109	135	27	remote	remote	ADJ
futech-109	135	28	controller	controller	NOUN
futech-109	135	29	application	application	NOUN
futech-109	135	30	was	be	AUX
futech-109	135	31	designed	design	VERB
futech-109	135	32	for	for	ADP
futech-109	135	33	the	the	DET
futech-109	135	34	mobile	mobile	ADJ
futech-109	135	35	phone	phone	NOUN
futech-109	135	36	.	.	PUNCT
futech-109	136	1	this	this	PRON
futech-109	136	2	was	be	AUX
futech-109	136	3	achieved	achieve	VERB
futech-109	136	4	using	use	VERB
futech-109	136	5	the	the	DET
futech-109	136	6	javascript	javascript	NOUN
futech-109	136	7	nc	nc	PROPN
futech-109	136	8	.	.	PROPN
futech-109	136	9	princewill	princewill	PROPN
futech-109	136	10	et	et	PROPN
futech-109	136	11	al	al	PROPN
futech-109	137	1	.	.	PROPN
futech-109	137	2	/future	/future	PUNCT
futech-109	137	3	technology	technology	PROPN
futech-109	137	4	february	february	PROPN
futech-109	137	5	2024|	2024|	PROPN
futech-109	137	6	volume	volume	NOUN
futech-109	137	7	03	03	NUM
futech-109	138	1	|	|	ADV
futech-109	138	2	issue	issue	NOUN
futech-109	138	3	01	01	NUM
futech-109	139	1	|	|	ADV
futech-109	139	2	pages	page	NOUN
futech-109	139	3	25	25	NUM
futech-109	139	4	-	-	SYM
futech-109	139	5	31	31	NUM
futech-109	139	6	30	30	NUM
futech-109	139	7	programming	programming	NOUN
futech-109	139	8	language	language	NOUN
futech-109	139	9	on	on	ADP
futech-109	139	10	the	the	DET
futech-109	139	11	node	node	NOUN
futech-109	139	12	-	-	PUNCT
futech-109	139	13	based	base	VERB
futech-109	139	14	app	app	NOUN
futech-109	139	15	inventor	inventor	NOUN
futech-109	139	16	platform	platform	NOUN
futech-109	139	17	developed	develop	VERB
futech-109	139	18	by	by	ADP
futech-109	139	19	the	the	DET
futech-109	139	20	massachusetts	massachusetts	PROPN
futech-109	139	21	institute	institute	PROPN
futech-109	139	22	of	of	ADP
futech-109	139	23	technology	technology	PROPN
futech-109	139	24	.	.	PUNCT
futech-109	140	1	unlike	unlike	ADP
futech-109	140	2	the	the	DET
futech-109	140	3	arduino	arduino	NOUN
futech-109	140	4	ide	ide	NOUN
futech-109	140	5	,	,	PUNCT
futech-109	140	6	instructions	instruction	NOUN
futech-109	140	7	are	be	AUX
futech-109	140	8	developed	develop	VERB
futech-109	140	9	by	by	ADP
futech-109	140	10	manually	manually	ADV
futech-109	140	11	plugging	plug	VERB
futech-109	140	12	the	the	DET
futech-109	140	13	required	require	VERB
futech-109	140	14	code	code	NOUN
futech-109	140	15	blocks	block	NOUN
futech-109	140	16	to	to	PART
futech-109	140	17	form	form	VERB
futech-109	140	18	a	a	DET
futech-109	140	19	larger	large	ADJ
futech-109	140	20	function	function	NOUN
futech-109	140	21	on	on	ADP
futech-109	140	22	a	a	DET
futech-109	140	23	specialized	specialized	ADJ
futech-109	140	24	graphical	graphical	ADJ
futech-109	140	25	user	user	NOUN
futech-109	140	26	interface	interface	NOUN
futech-109	140	27	as	as	SCONJ
futech-109	140	28	opposed	oppose	VERB
futech-109	140	29	to	to	ADP
futech-109	140	30	scripting	script	VERB
futech-109	140	31	the	the	DET
futech-109	140	32	instructions	instruction	NOUN
futech-109	140	33	on	on	ADP
futech-109	140	34	a	a	DET
futech-109	140	35	text	text	NOUN
futech-109	140	36	editor	editor	NOUN
futech-109	140	37	.	.	PUNCT
futech-109	141	1	the	the	DET
futech-109	141	2	program	program	NOUN
futech-109	141	3	was	be	AUX
futech-109	141	4	developed	develop	VERB
futech-109	141	5	and	and	CCONJ
futech-109	141	6	exported	export	VERB
futech-109	141	7	as	as	ADP
futech-109	141	8	an	an	DET
futech-109	141	9	android	android	PROPN
futech-109	141	10	application	application	NOUN
futech-109	141	11	package	package	NOUN
futech-109	141	12	file	file	NOUN
futech-109	141	13	(	(	PUNCT
futech-109	141	14	apk	apk	NOUN
futech-109	141	15	)	)	PUNCT
futech-109	141	16	for	for	ADP
futech-109	141	17	download	download	NOUN
futech-109	141	18	and	and	CCONJ
futech-109	141	19	installation	installation	NOUN
futech-109	141	20	on	on	ADP
futech-109	141	21	an	an	DET
futech-109	141	22	android	android	PROPN
futech-109	141	23	smartphone	smartphone	NOUN
futech-109	141	24	.	.	PUNCT
futech-109	142	1	in	in	ADP
futech-109	142	2	order	order	NOUN
futech-109	142	3	to	to	PART
futech-109	142	4	make	make	VERB
futech-109	142	5	the	the	DET
futech-109	142	6	program	program	NOUN
futech-109	142	7	easily	easily	ADV
futech-109	142	8	installable	installable	ADJ
futech-109	142	9	,	,	PUNCT
futech-109	142	10	it	it	PRON
futech-109	142	11	was	be	AUX
futech-109	142	12	uploaded	upload	VERB
futech-109	142	13	to	to	ADP
futech-109	142	14	a	a	DET
futech-109	142	15	google	google	PROPN
futech-109	142	16	drive	drive	NOUN
futech-109	142	17	folder	folder	NOUN
futech-109	142	18	,	,	PUNCT
futech-109	142	19	and	and	CCONJ
futech-109	142	20	the	the	DET
futech-109	142	21	link	link	NOUN
futech-109	142	22	was	be	AUX
futech-109	142	23	embedded	embed	VERB
futech-109	142	24	onto	onto	ADP
futech-109	142	25	a	a	DET
futech-109	142	26	qr	qr	PROPN
futech-109	142	27	code	code	NOUN
futech-109	142	28	chip	chip	NOUN
futech-109	142	29	to	to	PART
futech-109	142	30	be	be	AUX
futech-109	142	31	attached	attach	VERB
futech-109	142	32	as	as	ADP
futech-109	142	33	a	a	DET
futech-109	142	34	sticker	sticker	NOUN
futech-109	142	35	on	on	ADP
futech-109	142	36	the	the	DET
futech-109	142	37	body	body	NOUN
futech-109	142	38	of	of	ADP
futech-109	142	39	the	the	DET
futech-109	142	40	robot	robot	NOUN
futech-109	142	41	.	.	PUNCT
futech-109	143	1	2.10	2.10	NUM
futech-109	143	2	the	the	DET
futech-109	143	3	final	final	ADJ
futech-109	143	4	robotic	robotic	ADJ
futech-109	143	5	arm	arm	NOUN
futech-109	143	6	model	model	NOUN
futech-109	143	7	the	the	DET
futech-109	143	8	final	final	ADJ
futech-109	143	9	model	model	NOUN
futech-109	143	10	of	of	ADP
futech-109	143	11	the	the	DET
futech-109	143	12	robotic	robotic	ADJ
futech-109	143	13	arm	arm	NOUN
futech-109	143	14	with	with	ADP
futech-109	143	15	its	its	PRON
futech-109	143	16	circuit	circuit	NOUN
futech-109	143	17	board	board	NOUN
futech-109	143	18	,	,	PUNCT
futech-109	143	19	servos	servo	NOUN
futech-109	143	20	,	,	PUNCT
futech-109	143	21	and	and	CCONJ
futech-109	143	22	bluetooth	bluetooth	NOUN
futech-109	143	23	module	module	NOUN
futech-109	143	24	–	–	PUNCT
futech-109	143	25	is	be	AUX
futech-109	143	26	shown	show	VERB
futech-109	143	27	in	in	ADP
futech-109	143	28	figure	figure	NOUN
futech-109	143	29	11	11	NUM
futech-109	143	30	.	.	PUNCT
futech-109	144	1	the	the	DET
futech-109	144	2	model	model	NOUN
futech-109	144	3	was	be	AUX
futech-109	144	4	designed	design	VERB
futech-109	144	5	using	use	VERB
futech-109	144	6	dassault	dassault	NOUN
futech-109	144	7	systeme	systeme	PROPN
futech-109	144	8	’s	’s	PART
futech-109	144	9	solidworks	solidworks	PROPN
futech-109	144	10	2015	2015	NUM
futech-109	144	11	.	.	PUNCT
futech-109	145	1	figure	figure	VERB
futech-109	145	2	11	11	NUM
futech-109	145	3	.	.	PUNCT
futech-109	146	1	the	the	DET
futech-109	146	2	fully	fully	ADV
futech-109	146	3	assembled	assemble	VERB
futech-109	146	4	structure	structure	NOUN
futech-109	146	5	of	of	ADP
futech-109	146	6	the	the	DET
futech-109	146	7	robotic	robotic	ADJ
futech-109	146	8	arm	arm	NOUN
futech-109	146	9	3	3	X
futech-109	146	10	.	.	NOUN
futech-109	146	11	results	result	NOUN
futech-109	146	12	and	and	CCONJ
futech-109	146	13	discussion	discussion	NOUN
futech-109	146	14	the	the	DET
futech-109	146	15	robotic	robotic	ADJ
futech-109	146	16	arm	arm	NOUN
futech-109	146	17	was	be	AUX
futech-109	146	18	developed	develop	VERB
futech-109	146	19	with	with	ADP
futech-109	146	20	the	the	DET
futech-109	146	21	structural	structural	ADJ
futech-109	146	22	frame	frame	NOUN
futech-109	146	23	designed	design	VERB
futech-109	146	24	with	with	ADP
futech-109	146	25	a	a	DET
futech-109	146	26	computer	computer	NOUN
futech-109	146	27	using	use	VERB
futech-109	146	28	solidworks	solidworks	PROPN
futech-109	146	29	.	.	PUNCT
futech-109	147	1	subsequently	subsequently	ADV
futech-109	147	2	sculpted	sculpt	VERB
futech-109	147	3	with	with	ADP
futech-109	147	4	a	a	DET
futech-109	147	5	3d	3d	ADJ
futech-109	147	6	-	-	PUNCT
futech-109	147	7	printing	print	VERB
futech-109	147	8	machine	machine	NOUN
futech-109	147	9	using	use	VERB
futech-109	147	10	polylactic	polylactic	ADJ
futech-109	147	11	acid	acid	NOUN
futech-109	147	12	as	as	ADP
futech-109	147	13	the	the	DET
futech-109	147	14	polymer	polymer	NOUN
futech-109	147	15	filament	filament	NOUN
futech-109	147	16	of	of	ADP
futech-109	147	17	choice	choice	NOUN
futech-109	147	18	,	,	PUNCT
futech-109	147	19	as	as	SCONJ
futech-109	147	20	shown	show	VERB
futech-109	147	21	in	in	ADP
futech-109	147	22	figure	figure	NOUN
futech-109	147	23	12	12	NUM
futech-109	147	24	.	.	PUNCT
futech-109	148	1	the	the	DET
futech-109	148	2	robot	robot	NOUN
futech-109	148	3	’s	’s	PART
futech-109	148	4	arduino	arduino	PROPN
futech-109	148	5	uno	uno	PROPN
futech-109	148	6	board	board	PROPN
futech-109	148	7	was	be	AUX
futech-109	148	8	connected	connect	VERB
futech-109	148	9	to	to	ADP
futech-109	148	10	the	the	DET
futech-109	148	11	computer	computer	NOUN
futech-109	148	12	via	via	ADP
futech-109	148	13	usb	usb	PRON
futech-109	148	14	,	,	PUNCT
futech-109	148	15	and	and	CCONJ
futech-109	148	16	the	the	DET
futech-109	148	17	codes	code	NOUN
futech-109	148	18	were	be	AUX
futech-109	148	19	uploaded	upload	VERB
futech-109	148	20	.	.	PUNCT
futech-109	149	1	there	there	PRON
futech-109	149	2	were	be	VERB
futech-109	149	3	three	three	NUM
futech-109	149	4	programs	program	NOUN
futech-109	149	5	that	that	PRON
futech-109	149	6	were	be	AUX
futech-109	149	7	written	write	VERB
futech-109	149	8	and	and	CCONJ
futech-109	149	9	uploaded	upload	VERB
futech-109	149	10	into	into	ADP
futech-109	149	11	the	the	DET
futech-109	149	12	arduino	arduino	NOUN
futech-109	149	13	board	board	NOUN
futech-109	149	14	:	:	PUNCT
futech-109	149	15	•	•	ADP
futech-109	149	16	the	the	DET
futech-109	149	17	first	first	ADJ
futech-109	149	18	was	be	AUX
futech-109	149	19	the	the	DET
futech-109	149	20	motion	motion	NOUN
futech-109	149	21	control	control	NOUN
futech-109	149	22	program	program	NOUN
futech-109	149	23	which	which	PRON
futech-109	149	24	granted	grant	VERB
futech-109	149	25	the	the	DET
futech-109	149	26	robot	robot	NOUN
futech-109	149	27	the	the	DET
futech-109	149	28	ability	ability	NOUN
futech-109	149	29	to	to	PART
futech-109	149	30	move	move	VERB
futech-109	149	31	its	its	PRON
futech-109	149	32	arm	arm	NOUN
futech-109	149	33	using	use	VERB
futech-109	149	34	the	the	DET
futech-109	149	35	developed	develop	VERB
futech-109	149	36	kinematic	kinematic	ADJ
futech-109	149	37	equations	equation	NOUN
futech-109	149	38	that	that	PRON
futech-109	149	39	were	be	AUX
futech-109	149	40	obtained	obtain	VERB
futech-109	149	41	for	for	ADP
futech-109	149	42	it	it	PRON
futech-109	149	43	.	.	PUNCT
futech-109	150	1	•	•	NOUN
futech-109	150	2	the	the	DET
futech-109	150	3	second	second	ADJ
futech-109	150	4	was	be	AUX
futech-109	150	5	the	the	DET
futech-109	150	6	individual	individual	ADJ
futech-109	150	7	servo	servo	NOUN
futech-109	150	8	control	control	NOUN
futech-109	150	9	program	program	NOUN
futech-109	150	10	which	which	PRON
futech-109	150	11	allowed	allow	VERB
futech-109	150	12	the	the	DET
futech-109	150	13	user	user	NOUN
futech-109	150	14	to	to	PART
futech-109	150	15	angle	angle	VERB
futech-109	150	16	the	the	DET
futech-109	150	17	servos	servo	NOUN
futech-109	150	18	independently	independently	ADV
futech-109	150	19	of	of	ADP
futech-109	150	20	each	each	DET
futech-109	150	21	other	other	ADJ
futech-109	150	22	.	.	PUNCT
futech-109	151	1	•	•	NUM
futech-109	151	2	the	the	DET
futech-109	151	3	third	third	ADJ
futech-109	151	4	was	be	AUX
futech-109	151	5	the	the	DET
futech-109	151	6	firmware	firmware	NOUN
futech-109	151	7	layer	layer	NOUN
futech-109	151	8	program	program	NOUN
futech-109	151	9	which	which	PRON
futech-109	151	10	included	include	VERB
futech-109	151	11	the	the	DET
futech-109	151	12	necessary	necessary	ADJ
futech-109	151	13	libraries	library	NOUN
futech-109	151	14	to	to	PART
futech-109	151	15	enable	enable	VERB
futech-109	151	16	the	the	DET
futech-109	151	17	robot	robot	NOUN
futech-109	151	18	to	to	PART
futech-109	151	19	recognize	recognize	VERB
futech-109	151	20	the	the	DET
futech-109	151	21	interfaced	interface	VERB
futech-109	151	22	components	component	NOUN
futech-109	151	23	without	without	ADP
futech-109	151	24	needing	need	VERB
futech-109	151	25	to	to	PART
futech-109	151	26	write	write	VERB
futech-109	151	27	new	new	ADJ
futech-109	151	28	code	code	NOUN
futech-109	151	29	whenever	whenever	SCONJ
futech-109	151	30	a	a	DET
futech-109	151	31	component	component	NOUN
futech-109	151	32	gets	get	AUX
futech-109	151	33	replaced	replace	VERB
futech-109	151	34	.	.	PUNCT
futech-109	152	1	the	the	DET
futech-109	152	2	remote	remote	ADJ
futech-109	152	3	controller	controller	NOUN
futech-109	152	4	was	be	AUX
futech-109	152	5	initially	initially	ADV
futech-109	152	6	designed	design	VERB
futech-109	152	7	to	to	PART
futech-109	152	8	be	be	AUX
futech-109	152	9	able	able	ADJ
futech-109	152	10	to	to	PART
futech-109	152	11	save	save	VERB
futech-109	152	12	the	the	DET
futech-109	152	13	steps	step	NOUN
futech-109	152	14	and	and	CCONJ
futech-109	152	15	actions	action	NOUN
futech-109	152	16	of	of	ADP
futech-109	152	17	the	the	DET
futech-109	152	18	robot	robot	NOUN
futech-109	152	19	and	and	CCONJ
futech-109	152	20	play	play	VERB
futech-109	152	21	them	they	PRON
futech-109	152	22	continuously	continuously	ADV
futech-109	152	23	upon	upon	SCONJ
futech-109	152	24	command	command	NOUN
futech-109	152	25	,	,	PUNCT
futech-109	152	26	as	as	SCONJ
futech-109	152	27	is	be	AUX
futech-109	152	28	the	the	DET
futech-109	152	29	case	case	NOUN
futech-109	152	30	in	in	ADP
futech-109	152	31	an	an	DET
futech-109	152	32	industrial	industrial	ADJ
futech-109	152	33	setup	setup	NOUN
futech-109	152	34	,	,	PUNCT
futech-109	152	35	but	but	CCONJ
futech-109	152	36	to	to	PART
futech-109	152	37	ensure	ensure	VERB
futech-109	152	38	compatibility	compatibility	NOUN
futech-109	152	39	with	with	ADP
futech-109	152	40	even	even	ADV
futech-109	152	41	the	the	DET
futech-109	152	42	lowest	low	ADJ
futech-109	152	43	tier	tier	NOUN
futech-109	152	44	android	android	PROPN
futech-109	152	45	phone	phone	NOUN
futech-109	152	46	,	,	PUNCT
futech-109	152	47	a	a	DET
futech-109	152	48	separate	separate	ADJ
futech-109	152	49	application	application	NOUN
futech-109	152	50	had	have	VERB
futech-109	152	51	to	to	PART
futech-109	152	52	be	be	AUX
futech-109	152	53	written	write	VERB
futech-109	152	54	and	and	CCONJ
futech-109	152	55	simplified	simplified	ADJ
futech-109	152	56	.	.	PUNCT
futech-109	153	1	this	this	DET
futech-109	153	2	second	second	ADJ
futech-109	153	3	application	application	NOUN
futech-109	153	4	simply	simply	ADV
futech-109	153	5	controlled	control	VERB
futech-109	153	6	the	the	DET
futech-109	153	7	robot	robot	NOUN
futech-109	153	8	with	with	ADP
futech-109	153	9	the	the	DET
futech-109	153	10	use	use	NOUN
futech-109	153	11	of	of	ADP
futech-109	153	12	sliders	slider	NOUN
futech-109	153	13	for	for	ADP
futech-109	153	14	the	the	DET
futech-109	153	15	servo	servo	NOUN
futech-109	153	16	motors	motor	NOUN
futech-109	153	17	.	.	PUNCT
futech-109	154	1	for	for	ADP
futech-109	154	2	the	the	DET
futech-109	154	3	arduino	arduino	NOUN
futech-109	154	4	,	,	PUNCT
futech-109	154	5	the	the	DET
futech-109	154	6	board	board	NOUN
futech-109	154	7	had	have	VERB
futech-109	154	8	to	to	PART
futech-109	154	9	be	be	AUX
futech-109	154	10	powered	power	VERB
futech-109	154	11	with	with	ADP
futech-109	154	12	a	a	DET
futech-109	154	13	9v	9v	NOUN
futech-109	154	14	battery	battery	NOUN
futech-109	154	15	through	through	ADP
futech-109	154	16	its	its	PRON
futech-109	154	17	12v	12v	NUM
futech-109	154	18	dc	dc	PROPN
futech-109	154	19	power	power	NOUN
futech-109	154	20	jack	jack	PROPN
futech-109	154	21	.	.	PUNCT
futech-109	155	1	in	in	ADP
futech-109	155	2	order	order	NOUN
futech-109	155	3	to	to	PART
futech-109	155	4	ascertain	ascertain	VERB
futech-109	155	5	the	the	DET
futech-109	155	6	load	load	NOUN
futech-109	155	7	-	-	PUNCT
futech-109	155	8	carrying	carry	VERB
futech-109	155	9	capacity	capacity	NOUN
futech-109	155	10	of	of	ADP
futech-109	155	11	the	the	DET
futech-109	155	12	robot	robot	NOUN
futech-109	155	13	,	,	PUNCT
futech-109	155	14	various	various	ADJ
futech-109	155	15	workloads	workload	NOUN
futech-109	155	16	were	be	AUX
futech-109	155	17	weighed	weigh	VERB
futech-109	155	18	and	and	CCONJ
futech-109	155	19	lifted	lift	VERB
futech-109	155	20	by	by	ADP
futech-109	155	21	the	the	DET
futech-109	155	22	machine	machine	NOUN
futech-109	155	23	until	until	SCONJ
futech-109	155	24	the	the	DET
futech-109	155	25	servos	servo	NOUN
futech-109	155	26	stopped	stop	VERB
futech-109	155	27	angling	angle	VERB
futech-109	155	28	upwards	upwards	ADV
futech-109	155	29	on	on	ADP
futech-109	155	30	command	command	NOUN
futech-109	155	31	,	,	PUNCT
futech-109	155	32	as	as	SCONJ
futech-109	155	33	shown	show	VERB
futech-109	155	34	in	in	ADP
futech-109	155	35	figure	figure	NOUN
futech-109	155	36	13	13	NUM
futech-109	155	37	.	.	PUNCT
futech-109	156	1	the	the	DET
futech-109	156	2	maximum	maximum	ADJ
futech-109	156	3	load	load	NOUN
futech-109	156	4	mass	mass	NOUN
futech-109	156	5	was	be	AUX
futech-109	156	6	discovered	discover	VERB
futech-109	156	7	to	to	PART
futech-109	156	8	be	be	AUX
futech-109	156	9	0.646	0.646	NUM
futech-109	156	10	kg	kg	NOUN
futech-109	156	11	or	or	CCONJ
futech-109	156	12	646	646	NUM
futech-109	156	13	grams	gram	NOUN
futech-109	156	14	.	.	PUNCT
futech-109	157	1	figure	figure	NOUN
futech-109	157	2	12	12	NUM
futech-109	157	3	.	.	PUNCT
futech-109	158	1	the	the	DET
futech-109	158	2	sculpting	sculpt	VERB
futech-109	158	3	process	process	NOUN
futech-109	158	4	of	of	ADP
futech-109	158	5	the	the	DET
futech-109	158	6	robot	robot	NOUN
futech-109	158	7	’s	’s	PART
futech-109	158	8	structural	structural	ADJ
futech-109	158	9	framework	framework	NOUN
futech-109	158	10	nc	nc	PROPN
futech-109	158	11	.	.	PROPN
futech-109	158	12	princewill	princewill	PROPN
futech-109	158	13	et	et	PROPN
futech-109	158	14	al	al	PROPN
futech-109	158	15	.	.	PROPN
futech-109	158	16	/future	/future	PUNCT
futech-109	158	17	technology	technology	PROPN
futech-109	158	18	february	february	PROPN
futech-109	158	19	2024|	2024|	PROPN
futech-109	158	20	volume	volume	NOUN
futech-109	158	21	03	03	NUM
futech-109	158	22	|	|	ADV
futech-109	158	23	issue	issue	NOUN
futech-109	158	24	01	01	NUM
futech-109	159	1	|	|	ADV
futech-109	159	2	pages	page	NOUN
futech-109	159	3	25	25	NUM
futech-109	159	4	-	-	SYM
futech-109	159	5	31	31	NUM
futech-109	159	6	31	31	NUM
futech-109	159	7	figure	figure	NOUN
futech-109	159	8	13	13	NUM
futech-109	159	9	.	.	PUNCT
futech-109	160	1	testing	test	VERB
futech-109	160	2	the	the	DET
futech-109	160	3	load	load	NOUN
futech-109	160	4	-	-	PUNCT
futech-109	160	5	carrying	carry	VERB
futech-109	160	6	capacity	capacity	NOUN
futech-109	160	7	of	of	ADP
futech-109	160	8	the	the	DET
futech-109	160	9	robotic	robotic	ADJ
futech-109	160	10	arm	arm	NOUN
futech-109	160	11	4	4	NUM
futech-109	160	12	.	.	PUNCT
futech-109	160	13	conclusion	conclusion	NOUN
futech-109	160	14	the	the	DET
futech-109	160	15	study	study	NOUN
futech-109	160	16	aims	aim	VERB
futech-109	160	17	to	to	PART
futech-109	160	18	develop	develop	VERB
futech-109	160	19	a	a	DET
futech-109	160	20	wireless	wireless	NOUN
futech-109	160	21	-	-	PUNCT
futech-109	160	22	controlled	control	VERB
futech-109	160	23	robotic	robotic	ADJ
futech-109	160	24	arm	arm	NOUN
futech-109	160	25	with	with	ADP
futech-109	160	26	6	6	NUM
futech-109	160	27	degrees	degree	NOUN
futech-109	160	28	of	of	ADP
futech-109	160	29	freedom	freedom	NOUN
futech-109	160	30	and	and	CCONJ
futech-109	160	31	a	a	DET
futech-109	160	32	two	two	NUM
futech-109	160	33	-	-	PUNCT
futech-109	160	34	finger	finger	NOUN
futech-109	160	35	grip	grip	NOUN
futech-109	160	36	.	.	PUNCT
futech-109	161	1	it	it	PRON
futech-109	161	2	has	have	AUX
futech-109	161	3	also	also	ADV
futech-109	161	4	been	be	AUX
futech-109	161	5	shown	show	VERB
futech-109	161	6	that	that	SCONJ
futech-109	161	7	the	the	DET
futech-109	161	8	robotic	robotic	ADJ
futech-109	161	9	arm	arm	NOUN
futech-109	161	10	can	can	AUX
futech-109	161	11	be	be	AUX
futech-109	161	12	deployed	deploy	VERB
futech-109	161	13	at	at	ADP
futech-109	161	14	any	any	DET
futech-109	161	15	scale	scale	NOUN
futech-109	161	16	to	to	PART
futech-109	161	17	suit	suit	VERB
futech-109	161	18	a	a	DET
futech-109	161	19	variety	variety	NOUN
futech-109	161	20	of	of	ADP
futech-109	161	21	interests	interest	NOUN
futech-109	161	22	depending	depend	VERB
futech-109	161	23	on	on	ADP
futech-109	161	24	programming	programming	NOUN
futech-109	161	25	.	.	PUNCT
futech-109	162	1	this	this	DET
futech-109	162	2	work	work	NOUN
futech-109	162	3	covered	cover	VERB
futech-109	162	4	all	all	DET
futech-109	162	5	aspects	aspect	NOUN
futech-109	162	6	of	of	ADP
futech-109	162	7	structural	structural	ADJ
futech-109	162	8	design	design	NOUN
futech-109	162	9	and	and	CCONJ
futech-109	162	10	analysis	analysis	NOUN
futech-109	162	11	.	.	PUNCT
futech-109	163	1	projects	project	NOUN
futech-109	163	2	like	like	ADP
futech-109	163	3	this	this	PRON
futech-109	163	4	can	can	AUX
futech-109	163	5	be	be	AUX
futech-109	163	6	done	do	VERB
futech-109	163	7	to	to	PART
futech-109	163	8	encourage	encourage	VERB
futech-109	163	9	students	student	NOUN
futech-109	163	10	who	who	PRON
futech-109	163	11	want	want	VERB
futech-109	163	12	to	to	PART
futech-109	163	13	venture	venture	VERB
futech-109	163	14	into	into	ADP
futech-109	163	15	this	this	DET
futech-109	163	16	field	field	NOUN
futech-109	163	17	,	,	PUNCT
futech-109	163	18	especially	especially	ADV
futech-109	163	19	in	in	ADP
futech-109	163	20	a	a	DET
futech-109	163	21	developing	develop	VERB
futech-109	163	22	country	country	NOUN
futech-109	163	23	like	like	ADP
futech-109	163	24	nigeria	nigeria	PROPN
futech-109	163	25	,	,	PUNCT
futech-109	163	26	with	with	ADP
futech-109	163	27	a	a	DET
futech-109	163	28	robotics	robotic	NOUN
futech-109	163	29	/	/	SYM
futech-109	163	30	mechatronics	mechatronic	NOUN
futech-109	163	31	industry	industry	NOUN
futech-109	163	32	in	in	ADP
futech-109	163	33	its	its	PRON
futech-109	163	34	infancy	infancy	NOUN
futech-109	163	35	.	.	PUNCT
futech-109	164	1	ethical	ethical	ADJ
futech-109	164	2	issue	issue	NOUN
futech-109	164	3	the	the	DET
futech-109	164	4	authors	author	NOUN
futech-109	164	5	are	be	AUX
futech-109	164	6	aware	aware	ADJ
futech-109	164	7	of	of	ADP
futech-109	164	8	and	and	CCONJ
futech-109	164	9	comply	comply	ADJ
futech-109	164	10	with	with	ADP
futech-109	164	11	best	good	ADJ
futech-109	164	12	practices	practice	NOUN
futech-109	164	13	in	in	ADP
futech-109	164	14	publication	publication	NOUN
futech-109	164	15	ethics	ethic	NOUN
futech-109	164	16	,	,	PUNCT
futech-109	164	17	specifically	specifically	ADV
futech-109	164	18	with	with	ADP
futech-109	164	19	regard	regard	NOUN
futech-109	164	20	to	to	ADP
futech-109	164	21	authorship	authorship	NOUN
futech-109	164	22	(	(	PUNCT
futech-109	164	23	avoidance	avoidance	NOUN
futech-109	164	24	of	of	ADP
futech-109	164	25	guest	guest	NOUN
futech-109	164	26	authorship	authorship	NOUN
futech-109	164	27	)	)	PUNCT
futech-109	164	28	,	,	PUNCT
futech-109	164	29	dual	dual	ADJ
futech-109	164	30	submission	submission	NOUN
futech-109	164	31	,	,	PUNCT
futech-109	164	32	manipulation	manipulation	NOUN
futech-109	164	33	of	of	ADP
futech-109	164	34	figures	figure	NOUN
futech-109	164	35	,	,	PUNCT
futech-109	164	36	competing	compete	VERB
futech-109	164	37	interests	interest	NOUN
futech-109	164	38	,	,	PUNCT
futech-109	164	39	and	and	CCONJ
futech-109	164	40	compliance	compliance	NOUN
futech-109	164	41	with	with	ADP
futech-109	164	42	policies	policy	NOUN
futech-109	164	43	on	on	ADP
futech-109	164	44	research	research	NOUN
futech-109	164	45	ethics	ethic	NOUN
futech-109	164	46	.	.	PUNCT
futech-109	165	1	the	the	DET
futech-109	165	2	author	author	NOUN
futech-109	165	3	adheres	adhere	VERB
futech-109	165	4	to	to	ADP
futech-109	165	5	publication	publication	NOUN
futech-109	165	6	requirements	requirement	NOUN
futech-109	165	7	that	that	SCONJ
futech-109	165	8	the	the	DET
futech-109	165	9	submitted	submit	VERB
futech-109	165	10	work	work	NOUN
futech-109	165	11	is	be	AUX
futech-109	165	12	original	original	ADJ
futech-109	165	13	and	and	CCONJ
futech-109	165	14	has	have	AUX
futech-109	165	15	not	not	PART
futech-109	165	16	been	be	AUX
futech-109	165	17	published	publish	VERB
futech-109	165	18	elsewhere	elsewhere	ADV
futech-109	165	19	.	.	PUNCT
futech-109	166	1	data	datum	NOUN
futech-109	166	2	availability	availability	NOUN
futech-109	166	3	statement	statement	NOUN
futech-109	166	4	datasets	dataset	NOUN
futech-109	166	5	analyzed	analyze	VERB
futech-109	166	6	during	during	ADP
futech-109	166	7	the	the	DET
futech-109	166	8	current	current	ADJ
futech-109	166	9	study	study	NOUN
futech-109	166	10	are	be	AUX
futech-109	166	11	available	available	ADJ
futech-109	166	12	and	and	CCONJ
futech-109	166	13	can	can	AUX
futech-109	166	14	be	be	AUX
futech-109	166	15	given	give	VERB
futech-109	166	16	following	follow	VERB
futech-109	166	17	a	a	DET
futech-109	166	18	reasonable	reasonable	ADJ
futech-109	166	19	request	request	NOUN
futech-109	166	20	from	from	ADP
futech-109	166	21	the	the	DET
futech-109	166	22	corresponding	corresponding	ADJ
futech-109	166	23	author	author	NOUN
futech-109	166	24	.	.	PUNCT
futech-109	167	1	conflict	conflict	NOUN
futech-109	167	2	of	of	ADP
futech-109	167	3	interest	interest	NOUN
futech-109	167	4	the	the	DET
futech-109	167	5	authors	author	NOUN
futech-109	167	6	declare	declare	VERB
futech-109	167	7	no	no	DET
futech-109	167	8	potential	potential	ADJ
futech-109	167	9	conflict	conflict	NOUN
futech-109	167	10	of	of	ADP
futech-109	167	11	interest	interest	NOUN
futech-109	167	12	.	.	PUNCT
futech-109	168	1	references	reference	NOUN
futech-109	168	2	[	[	X
futech-109	168	3	1	1	NUM
futech-109	168	4	]	]	PUNCT
futech-109	168	5	diegel	diegel	NOUN
futech-109	168	6	,	,	PUNCT
futech-109	168	7	o.	o.	PROPN
futech-109	168	8	(	(	PUNCT
futech-109	168	9	2005	2005	NUM
futech-109	168	10	)	)	PUNCT
futech-109	168	11	intelligent	intelligent	ADJ
futech-109	168	12	automated	automate	VERB
futech-109	168	13	health	health	NOUN
futech-109	168	14	systems	system	NOUN
futech-109	168	15	for	for	ADP
futech-109	168	16	compliance	compliance	NOUN
futech-109	168	17	monitoring	monitoring	NOUN
futech-109	168	18	’	'	PUNCT
futech-109	168	19	,	,	PUNCT
futech-109	168	20	proceedings	proceeding	NOUN
futech-109	168	21	of	of	ADP
futech-109	168	22	the	the	DET
futech-109	168	23	ieee	ieee	NOUN
futech-109	168	24	region	region	PROPN
futech-109	168	25	10	10	NUM
futech-109	168	26	tencon	tencon	NOUN
futech-109	168	27	,	,	PUNCT
futech-109	168	28	november	november	PROPN
futech-109	168	29	,	,	PUNCT
futech-109	168	30	2005	2005	NUM
futech-109	168	31	,	,	PUNCT
futech-109	168	32	pp	pp	ADJ
futech-109	168	33	.	.	PUNCT
futech-109	169	1	1	1	NUM
futech-109	169	2	-	-	SYM
futech-109	169	3	6	6	NUM
futech-109	169	4	.	.	PUNCT
futech-109	170	1	[	[	X
futech-109	170	2	2	2	NUM
futech-109	170	3	]	]	PUNCT
futech-109	170	4	corke	corke	NOUN
futech-109	170	5	,	,	PUNCT
futech-109	170	6	p.	p.	NOUN
futech-109	170	7	(	(	PUNCT
futech-109	170	8	2011	2011	NUM
futech-109	170	9	)	)	PUNCT
futech-109	170	10	robotics	robotic	NOUN
futech-109	170	11	,	,	PUNCT
futech-109	170	12	vision	vision	NOUN
futech-109	170	13	and	and	CCONJ
futech-109	170	14	control	control	VERB
futech-109	170	15	fundamental	fundamental	ADJ
futech-109	170	16	algorithms	algorithm	NOUN
futech-109	170	17	in	in	ADP
futech-109	170	18	matlab	matlab	PROPN
futech-109	170	19	.	.	PUNCT
futech-109	171	1	(	(	PUNCT
futech-109	171	2	b.	b.	PROPN
futech-109	171	3	siciliano	siciliano	PROPN
futech-109	171	4	,	,	PUNCT
futech-109	171	5	o.	o.	PROPN
futech-109	171	6	khatib	khatib	PROPN
futech-109	171	7	,	,	PUNCT
futech-109	171	8	&	&	CCONJ
futech-109	171	9	f.	f.	PROPN
futech-109	171	10	groen	groen	PROPN
futech-109	171	11	,	,	PUNCT
futech-109	171	12	eds	eds	PROPN
futech-109	171	13	.	.	PUNCT
futech-109	171	14	)	)	PUNCT
futech-109	172	1	berlin	berlin	PROPN
futech-109	172	2	:	:	PUNCT
futech-109	172	3	springer	springer	NOUN
futech-109	172	4	-	-	PUNCT
futech-109	172	5	verlag	verlag	PROPN
futech-109	172	6	.	.	PUNCT
futech-109	173	1	10.1007/978	10.1007/978	NUM
futech-109	173	2	-	-	SYM
futech-109	173	3	3	3	NUM
futech-109	173	4	-	-	PUNCT
futech-109	173	5	642	642	NUM
futech-109	173	6	-	-	PUNCT
futech-109	173	7	20144	20144	NUM
futech-109	173	8	-	-	SYM
futech-109	173	9	8	8	NUM
futech-109	173	10	.	.	PUNCT
futech-109	174	1	[	[	X
futech-109	174	2	3	3	X
futech-109	174	3	]	]	X
futech-109	174	4	naseem	naseem	PROPN
futech-109	174	5	rao	rao	PROPN
futech-109	174	6	(	(	PUNCT
futech-109	174	7	2019	2019	NUM
futech-109	174	8	)	)	PUNCT
futech-109	174	9	development	development	NOUN
futech-109	174	10	and	and	CCONJ
futech-109	174	11	analysis	analysis	NOUN
futech-109	174	12	of	of	ADP
futech-109	174	13	wirelessly	wirelessly	ADV
futech-109	174	14	controlled	control	VERB
futech-109	174	15	robotic	robotic	ADJ
futech-109	174	16	arm	arm	NOUN
futech-109	174	17	,	,	PUNCT
futech-109	174	18	international	international	ADJ
futech-109	174	19	journal	journal	NOUN
futech-109	174	20	of	of	ADP
futech-109	174	21	advanced	advanced	ADJ
futech-109	174	22	research	research	NOUN
futech-109	174	23	in	in	ADP
futech-109	174	24	computer	computer	NOUN
futech-109	174	25	and	and	CCONJ
futech-109	174	26	communication	communication	NOUN
futech-109	174	27	engineering	engineering	NOUN
futech-109	174	28	,	,	PUNCT
futech-109	174	29	vol	vol	NOUN
futech-109	174	30	.	.	NOUN
futech-109	174	31	8	8	NUM
futech-109	174	32	,	,	PUNCT
futech-109	174	33	issue	issue	NOUN
futech-109	174	34	3	3	NUM
futech-109	174	35	,	,	PUNCT
futech-109	174	36	pp	pp	ADP
futech-109	174	37	158160	158160	NUM
futech-109	174	38	.	.	PUNCT
futech-109	175	1	[	[	X
futech-109	175	2	4	4	NUM
futech-109	175	3	]	]	SYM
futech-109	175	4	yagna	yagna	NUM
futech-109	175	5	jadeja	jadeja	PROPN
futech-109	175	6	,	,	PUNCT
futech-109	175	7	bhavesh	bhavesh	PROPN
futech-109	175	8	pandyai	pandyai	PROPN
futech-109	175	9	(	(	PUNCT
futech-109	175	10	2019	2019	NUM
futech-109	175	11	)	)	PUNCT
futech-109	175	12	design	design	NOUN
futech-109	175	13	and	and	CCONJ
futech-109	175	14	development	development	NOUN
futech-109	175	15	of	of	ADP
futech-109	175	16	5	5	NUM
futech-109	175	17	-	-	PUNCT
futech-109	175	18	dof	dof	ADJ
futech-109	175	19	robotic	robotic	ADJ
futech-109	175	20	arm	arm	NOUN
futech-109	175	21	manipulators	manipulator	NOUN
futech-109	175	22	”	"	PUNCT
futech-109	175	23	international	international	ADJ
futech-109	175	24	journal	journal	NOUN
futech-109	175	25	of	of	ADP
futech-109	175	26	scientific	scientific	PROPN
futech-109	175	27	&	&	CCONJ
futech-109	175	28	technology	technology	PROPN
futech-109	175	29	research	research	NOUN
futech-109	175	30	,	,	PUNCT
futech-109	175	31	volume	volume	NOUN
futech-109	175	32	8	8	NUM
futech-109	175	33	,	,	PUNCT
futech-109	175	34	issue	issue	NOUN
futech-109	175	35	11	11	NUM
futech-109	175	36	,	,	PUNCT
futech-109	175	37	pp	pp	ADV
futech-109	175	38	1	1	NUM
futech-109	175	39	-	-	SYM
futech-109	175	40	5	5	NUM
futech-109	175	41	.	.	PUNCT
futech-109	176	1	[	[	X
futech-109	176	2	5	5	NUM
futech-109	176	3	]	]	PUNCT
futech-109	176	4	vijay	vijay	NOUN
futech-109	176	5	palled	pal	VERB
futech-109	176	6	and	and	CCONJ
futech-109	176	7	hebbal	hebbal	PROPN
futech-109	176	8	m.s	m.s	PROPN
futech-109	176	9	.	.	PROPN
futech-109	177	1	(	(	PUNCT
futech-109	177	2	2020	2020	NUM
futech-109	177	3	)	)	PUNCT
futech-109	177	4	design	design	NOUN
futech-109	177	5	,	,	PUNCT
futech-109	177	6	analysis	analysis	NOUN
futech-109	177	7	and	and	CCONJ
futech-109	177	8	implementation	implementation	NOUN
futech-109	177	9	of	of	ADP
futech-109	177	10	robot	robot	NOUN
futech-109	177	11	arm	arm	NOUN
futech-109	177	12	,	,	PUNCT
futech-109	177	13	international	international	ADJ
futech-109	177	14	journal	journal	NOUN
futech-109	177	15	of	of	ADP
futech-109	177	16	advanced	advanced	ADJ
futech-109	177	17	research	research	NOUN
futech-109	177	18	in	in	ADP
futech-109	177	19	science	science	PROPN
futech-109	177	20	&	&	CCONJ
futech-109	177	21	technology	technology	PROPN
futech-109	177	22	(	(	PUNCT
futech-109	177	23	ijarst	ijarst	ADV
futech-109	177	24	)	)	PUNCT
futech-109	177	25	,	,	PUNCT
futech-109	177	26	volume	volume	NOUN
futech-109	177	27	8	8	NUM
futech-109	177	28	,	,	PUNCT
futech-109	177	29	issue	issue	NOUN
futech-109	177	30	1	1	NUM
futech-109	177	31	,	,	PUNCT
futech-109	177	32	pp	pp	ADV
futech-109	177	33	1	1	NUM
futech-109	177	34	-	-	SYM
futech-109	177	35	9	9	NUM
futech-109	177	36	.	.	PUNCT
futech-109	178	1	[	[	X
futech-109	178	2	6	6	NUM
futech-109	178	3	]	]	PUNCT
futech-109	178	4	aniket	aniket	PROPN
futech-109	178	5	lakhpat	lakhpat	PROPN
futech-109	178	6	agarwal	agarwal	PROPN
futech-109	178	7	,	,	PUNCT
futech-109	178	8	ajay	ajay	PROPN
futech-109	178	9	thaneshwar	thaneshwar	PROPN
futech-109	178	10	sharma	sharma	PROPN
futech-109	178	11	,	,	PUNCT
futech-109	178	12	rutuja	rutuja	PROPN
futech-109	178	13	devanand	devanand	NOUN
futech-109	178	14	shinde	shinde	PROPN
futech-109	178	15	,	,	PUNCT
futech-109	178	16	ritesh	ritesh	PROPN
futech-109	178	17	mahajan	mahajan	PROPN
futech-109	178	18	(	(	PUNCT
futech-109	178	19	2021	2021	NUM
futech-109	178	20	)	)	PUNCT
futech-109	178	21	design	design	NOUN
futech-109	178	22	&	&	CCONJ
futech-109	178	23	manufacturing	manufacturing	NOUN
futech-109	178	24	of	of	ADP
futech-109	178	25	robotic	robotic	ADJ
futech-109	178	26	arm	arm	NOUN
futech-109	178	27	for	for	ADP
futech-109	178	28	spraypainting	spraypainte	VERB
futech-109	178	29	application	application	NOUN
futech-109	178	30	with	with	ADP
futech-109	178	31	5	5	NUM
futech-109	178	32	dof	dof	NOUN
futech-109	178	33	,	,	PUNCT
futech-109	178	34	international	international	ADJ
futech-109	178	35	journal	journal	NOUN
futech-109	178	36	of	of	ADP
futech-109	178	37	engineering	engineering	NOUN
futech-109	178	38	research	research	NOUN
futech-109	178	39	in	in	ADP
futech-109	178	40	mechanical	mechanical	ADJ
futech-109	178	41	and	and	CCONJ
futech-109	178	42	civil	civil	ADJ
futech-109	178	43	engineering	engineering	NOUN
futech-109	178	44	(	(	PUNCT
futech-109	178	45	ijermce	ijermce	PROPN
futech-109	178	46	)	)	PUNCT
futech-109	178	47	,	,	PUNCT
futech-109	178	48	vol	vol	NOUN
futech-109	178	49	6	6	NUM
futech-109	178	50	,	,	PUNCT
futech-109	178	51	issue	issue	NOUN
futech-109	178	52	8	8	NUM
futech-109	178	53	,	,	PUNCT
futech-109	178	54	pp	pp	ADV
futech-109	178	55	34	34	NUM
futech-109	178	56	-	-	SYM
futech-109	178	57	38	38	NUM
futech-109	178	58	.	.	PUNCT
futech-109	179	1	[	[	X
futech-109	179	2	7	7	X
futech-109	179	3	]	]	PUNCT
futech-109	179	4	puran	puran	NOUN
futech-109	179	5	singh	singh	PROPN
futech-109	179	6	,	,	PUNCT
futech-109	179	7	anil	anil	PROPN
futech-109	179	8	kumar	kumar	PROPN
futech-109	179	9	,	,	PUNCT
futech-109	179	10	mahesh	mahesh	PROPN
futech-109	179	11	vashisth	vashisth	PROPN
futech-109	179	12	(	(	PUNCT
futech-109	179	13	2013	2013	NUM
futech-109	179	14	)	)	PUNCT
futech-109	179	15	design	design	NOUN
futech-109	179	16	of	of	ADP
futech-109	179	17	a	a	DET
futech-109	179	18	robotic	robotic	ADJ
futech-109	179	19	arm	arm	NOUN
futech-109	179	20	with	with	ADP
futech-109	179	21	gripper	gripper	NOUN
futech-109	179	22	&	&	CCONJ
futech-109	179	23	end	end	VERB
futech-109	179	24	effector	effector	NOUN
futech-109	179	25	for	for	ADP
futech-109	179	26	spot	spot	NOUN
futech-109	179	27	welding	welding	NOUN
futech-109	179	28	”	"	PUNCT
futech-109	179	29	universal	universal	ADJ
futech-109	179	30	journal	journal	NOUN
futech-109	179	31	of	of	ADP
futech-109	179	32	mechanical	mechanical	ADJ
futech-109	179	33	engineering	engineering	NOUN
futech-109	179	34	,	,	PUNCT
futech-109	179	35	volume	volume	NOUN
futech-109	179	36	1(3	1(3	NUM
futech-109	179	37	)	)	PUNCT
futech-109	179	38	,	,	PUNCT
futech-109	179	39	pp	pp	ADP
futech-109	179	40	92	92	NUM
futech-109	179	41	-	-	SYM
futech-109	179	42	97	97	NUM
futech-109	179	43	,	,	PUNCT
futech-109	179	44	2013	2013	NUM
futech-109	179	45	.	.	PUNCT
futech-109	180	1	[	[	X
futech-109	180	2	8	8	NUM
futech-109	180	3	]	]	PUNCT
futech-109	180	4	ashraf	ashraf	PROPN
futech-109	180	5	elfasakhany	elfasakhany	PROPN
futech-109	180	6	,	,	PUNCT
futech-109	180	7	eduardo	eduardo	PROPN
futech-109	180	8	yanez	yanez	PROPN
futech-109	180	9	,	,	PUNCT
futech-109	180	10	karen	karen	PROPN
futech-109	180	11	baylon	baylon	PROPN
futech-109	180	12	,	,	PUNCT
futech-109	180	13	ricardo	ricardo	PROPN
futech-109	180	14	salgado	salgado	PROPN
futech-109	180	15	(	(	PUNCT
futech-109	180	16	2011	2011	NUM
futech-109	180	17	)	)	PUNCT
futech-109	180	18	design	design	NOUN
futech-109	180	19	and	and	CCONJ
futech-109	180	20	development	development	NOUN
futech-109	180	21	of	of	ADP
futech-109	180	22	a	a	DET
futech-109	180	23	competitive	competitive	ADJ
futech-109	180	24	low	low	ADJ
futech-109	180	25	-	-	PUNCT
futech-109	180	26	cost	cost	NOUN
futech-109	180	27	robot	robot	NOUN
futech-109	180	28	arm	arm	NOUN
futech-109	180	29	with	with	ADP
futech-109	180	30	four	four	NUM
futech-109	180	31	degrees	degree	NOUN
futech-109	180	32	of	of	ADP
futech-109	180	33	freedom	freedom	NOUN
futech-109	180	34	”	"	PUNCT
futech-109	180	35	international	international	ADJ
futech-109	180	36	journal	journal	NOUN
futech-109	180	37	of	of	ADP
futech-109	180	38	scientific	scientific	ADJ
futech-109	180	39	research	research	NOUN
futech-109	180	40	,	,	PUNCT
futech-109	180	41	volume1,pp.47	volume1,pp.47	NOUN
futech-109	180	42	-	-	X
futech-109	180	43	55	55	NUM
futech-109	180	44	.	.	PUNCT
futech-109	181	1	[	[	X
futech-109	181	2	9	9	NUM
futech-109	181	3	]	]	SYM
futech-109	181	4	angelo	angelo	PROPN
futech-109	181	5	,	,	PUNCT
futech-109	181	6	j.a	j.a	PROPN
futech-109	181	7	.	.	PROPN
futech-109	181	8	(	(	PUNCT
futech-109	181	9	2012	2012	NUM
futech-109	181	10	)	)	PUNCT
futech-109	181	11	.	.	PUNCT
futech-109	182	1	robotics	robotic	NOUN
futech-109	182	2	:	:	PUNCT
futech-109	182	3	a	a	DET
futech-109	182	4	reference	reference	NOUN
futech-109	182	5	guide	guide	NOUN
futech-109	182	6	to	to	ADP
futech-109	182	7	the	the	DET
futech-109	182	8	new	new	ADJ
futech-109	182	9	technology	technology	NOUN
futech-109	182	10	.	.	PUNCT
futech-109	183	1	westport	westport	PROPN
futech-109	183	2	:	:	PUNCT
futech-109	183	3	greenwood	greenwood	PROPN
futech-109	183	4	press	press	PROPN
futech-109	183	5	.	.	PUNCT
futech-109	184	1	isbn	isbn	ADJ
futech-109	184	2	1	1	NUM
futech-109	184	3	–	–	PUNCT
futech-109	184	4	57356–337–4	57356–337–4	NUM
futech-109	184	5	[	[	X
futech-109	184	6	10	10	NUM
futech-109	184	7	]	]	SYM
futech-109	184	8	meenaakumari.m	meenaakumari.m	NOUN
futech-109	184	9	,	,	PUNCT
futech-109	184	10	m.muthulakshmi	m.muthulakshmi	ADJ
futech-109	184	11	(	(	PUNCT
futech-109	184	12	2013	2013	NUM
futech-109	184	13	)	)	PUNCT
futech-109	184	14	mems	mem	NOUN
futech-109	184	15	accelerometer	accelerometer	NOUN
futech-109	184	16	based	base	VERB
futech-109	184	17	hand	hand	NOUN
futech-109	184	18	gesture	gesture	NOUN
futech-109	184	19	recognition	recognition	PROPN
futech-109	184	20	”	"	PUNCT
futech-109	184	21	international	international	ADJ
futech-109	184	22	journal	journal	NOUN
futech-109	184	23	of	of	ADP
futech-109	184	24	advanced	advanced	ADJ
futech-109	184	25	research	research	NOUN
futech-109	184	26	in	in	ADP
futech-109	184	27	computer	computer	NOUN
futech-109	184	28	engineering	engineering	NOUN
futech-109	184	29	&	&	CCONJ
futech-109	184	30	technology	technology	PROPN
futech-109	184	31	(	(	PUNCT
futech-109	184	32	ijarcet	ijarcet	NOUN
futech-109	184	33	)	)	PUNCT
futech-109	184	34	,	,	PUNCT
futech-109	184	35	volume	volume	NOUN
futech-109	184	36	2	2	NUM
futech-109	184	37	,	,	PUNCT
futech-109	184	38	no	no	DET
futech-109	184	39	5	5	NUM
futech-109	184	40	.	.	PUNCT
futech-109	185	1	[	[	X
futech-109	185	2	11	11	NUM
futech-109	185	3	]	]	X
futech-109	185	4	patil	patil	PROPN
futech-109	185	5	,	,	PUNCT
futech-109	185	6	c.	c.	PROPN
futech-109	185	7	,	,	PUNCT
futech-109	185	8	sachan	sachan	NOUN
futech-109	185	9	,	,	PUNCT
futech-109	185	10	s.	s.	PROPN
futech-109	185	11	,	,	PUNCT
futech-109	185	12	singh	singh	PROPN
futech-109	185	13	,	,	PUNCT
futech-109	185	14	r.k	r.k	PROPN
futech-109	185	15	.	.	PROPN
futech-109	185	16	,	,	PUNCT
futech-109	185	17	ranjan	ranjan	PROPN
futech-109	185	18	,	,	PUNCT
futech-109	185	19	k.	k.	PROPN
futech-109	185	20	,	,	PUNCT
futech-109	185	21	&	&	CCONJ
futech-109	185	22	kumar	kumar	PROPN
futech-109	185	23	,	,	PUNCT
futech-109	185	24	v.	v.	PROPN
futech-109	185	25	(	(	PUNCT
futech-109	185	26	2009	2009	NUM
futech-109	185	27	)	)	PUNCT
futech-109	185	28	.	.	PUNCT
futech-109	186	1	self	self	NOUN
futech-109	186	2	and	and	CCONJ
futech-109	186	3	mutual	mutual	ADJ
futech-109	186	4	learning	learning	NOUN
futech-109	186	5	in	in	ADP
futech-109	186	6	robotic	robotic	ADJ
futech-109	186	7	arms	arm	NOUN
futech-109	186	8	,	,	PUNCT
futech-109	186	9	based	base	VERB
futech-109	186	10	on	on	ADP
futech-109	186	11	cognitive	cognitive	ADJ
futech-109	186	12	systems	system	NOUN
futech-109	186	13	.	.	PUNCT
futech-109	187	1	west	west	PROPN
futech-109	187	2	bengal	bengal	PROPN
futech-109	187	3	:	:	PUNCT
futech-109	187	4	indian	indian	PROPN
futech-109	187	5	institute	institute	PROPN
futech-109	187	6	of	of	ADP
futech-109	187	7	technology	technology	PROPN
futech-109	187	8	kharagpur	kharagpur	PROPN
futech-109	187	9	.	.	PUNCT
futech-109	188	1	https://www.researchgate.net/publication/44260718	https://www.researchgate.net/publication/44260718	PROPN
futech-109	188	2	_	_	PUNCT
futech-109	188	3	self_and_mutual_learning_in_robotic_arm_based_on	self_and_mutual_learning_in_robotic_arm_based_on	PUNCT
futech-109	188	4	_	_	PRON
futech-109	188	5	cognitive_systems	cognitive_system	NOUN
futech-109	189	1	[	[	X
futech-109	189	2	12	12	NUM
futech-109	189	3	]	]	X
futech-109	189	4	mohd	mohd	PROPN
futech-109	189	5	ashiq	ashiq	PROPN
futech-109	189	6	kamaril	kamaril	PROPN
futech-109	189	7	yusoff	yusoff	NOUN
futech-109	189	8	,	,	PUNCT
futech-109	189	9	reza	reza	PROPN
futech-109	189	10	ezuan	ezuan	PROPN
futech-109	189	11	samin	samin	PROPN
futech-109	189	12	,	,	PUNCT
futech-109	189	13	babul	babul	PROPN
futech-109	189	14	salam	salam	PROPN
futech-109	189	15	kader	kader	PROPN
futech-109	189	16	ibrahim	ibrahim	PROPN
futech-109	189	17	(	(	PUNCT
futech-109	189	18	2012	2012	NUM
futech-109	189	19	)	)	PUNCT
futech-109	189	20	wireless	wireless	ADJ
futech-109	189	21	mobile	mobile	ADJ
futech-109	189	22	robotic	robotic	ADJ
futech-109	189	23	arm	arm	NOUN
futech-109	189	24	,	,	PUNCT
futech-109	189	25	procedia	procedia	NOUN
futech-109	189	26	engineering	engineering	NOUN
futech-109	189	27	,	,	PUNCT
futech-109	189	28	international	international	ADJ
futech-109	189	29	symposium	symposium	NOUN
futech-109	189	30	on	on	ADP
futech-109	189	31	robotics	robotic	NOUN
futech-109	189	32	and	and	CCONJ
futech-109	189	33	intelligent	intelligent	ADJ
futech-109	189	34	sensors	sensor	NOUN
futech-109	189	35	2012	2012	NUM
futech-109	189	36	(	(	PUNCT
futech-109	189	37	iris	iris	NOUN
futech-109	189	38	2012	2012	NUM
futech-109	189	39	)	)	PUNCT
futech-109	189	40	,	,	PUNCT
futech-109	189	41	41	41	NUM
futech-109	189	42	,	,	PUNCT
futech-109	189	43	1072	1072	NUM
futech-109	189	44	–	–	PUNCT
futech-109	189	45	1078	1078	NUM
futech-109	189	46	.	.	PUNCT
futech-109	190	1	[	[	X
futech-109	190	2	13	13	NUM
futech-109	190	3	]	]	X
futech-109	190	4	omijeh	omijeh	PROPN
futech-109	190	5	b.o	b.o	PROPN
futech-109	190	6	.	.	PROPN
futech-109	190	7	,	,	PUNCT
futech-109	190	8	uhunmwangho	uhunmwangho	PROPN
futech-109	190	9	r.	r.	PROPN
futech-109	190	10	,	,	PUNCT
futech-109	190	11	ehikhamenle	ehikhamenle	PROPN
futech-109	190	12	m.	m.	NOUN
futech-109	190	13	(	(	PUNCT
futech-109	190	14	2014	2014	NUM
futech-109	190	15	)	)	PUNCT
futech-109	190	16	design	design	NOUN
futech-109	190	17	analysis	analysis	NOUN
futech-109	190	18	of	of	ADP
futech-109	190	19	a	a	DET
futech-109	190	20	remote	remote	ADJ
futech-109	190	21	controlled	control	VERB
futech-109	190	22	“	"	PUNCT
futech-109	190	23	pick	pick	NOUN
futech-109	190	24	and	and	CCONJ
futech-109	190	25	place	place	NOUN
futech-109	190	26	”	"	PUNCT
futech-109	190	27	robotic	robotic	ADJ
futech-109	190	28	vehicle	vehicle	NOUN
futech-109	190	29	”	"	PUNCT
futech-109	190	30	international	international	ADJ
futech-109	190	31	journal	journal	NOUN
futech-109	190	32	of	of	ADP
futech-109	190	33	engineering	engineering	NOUN
futech-109	190	34	research	research	NOUN
futech-109	190	35	and	and	CCONJ
futech-109	190	36	development	development	NOUN
futech-109	190	37	,	,	PUNCT
futech-109	190	38	volume	volume	NOUN
futech-109	190	39	10	10	NUM
futech-109	190	40	,	,	PUNCT
futech-109	190	41	issue	issue	NOUN
futech-109	190	42	5	5	NUM
futech-109	190	43	,	,	PUNCT
futech-109	190	44	pp	pp	ADV
futech-109	190	45	57	57	NUM
futech-109	190	46	-	-	SYM
futech-109	190	47	68	68	NUM
futech-109	190	48	.	.	PUNCT
futech-109	191	1	[	[	X
futech-109	191	2	14	14	NUM
futech-109	191	3	]	]	X
futech-109	191	4	barrett	barrett	PROPN
futech-109	191	5	,	,	PUNCT
futech-109	191	6	g.	g.	PROPN
futech-109	191	7	,	,	PUNCT
futech-109	191	8	kurley	kurley	PROPN
futech-109	191	9	,	,	PUNCT
futech-109	191	10	k.	k.	PROPN
futech-109	191	11	,	,	PUNCT
futech-109	191	12	brauchie	brauchie	NOUN
futech-109	191	13	,	,	PUNCT
futech-109	191	14	c.	c.	PROPN
futech-109	191	15	,	,	PUNCT
futech-109	191	16	morton	morton	PROPN
futech-109	191	17	,	,	PUNCT
futech-109	191	18	s.	s.	PROPN
futech-109	191	19	,	,	PUNCT
futech-109	191	20	&	&	CCONJ
futech-109	191	21	barrett	barrett	PROPN
futech-109	191	22	,	,	PUNCT
futech-109	191	23	s.	s.	PROPN
futech-109	191	24	(	(	PUNCT
futech-109	191	25	2015	2015	NUM
futech-109	191	26	)	)	PUNCT
futech-109	191	27	wheelchair	wheelchair	NOUN
futech-109	191	28	-	-	PUNCT
futech-109	191	29	mounted	mount	VERB
futech-109	191	30	robotic	robotic	ADJ
futech-109	191	31	arm	arm	NOUN
futech-109	191	32	to	to	PART
futech-109	191	33	hold	hold	VERB
futech-109	191	34	and	and	CCONJ
futech-109	191	35	move	move	VERB
futech-109	191	36	a	a	DET
futech-109	191	37	communication	communication	NOUN
futech-109	191	38	device	device	NOUN
futech-109	191	39	-	-	PUNCT
futech-109	191	40	final	final	ADJ
futech-109	191	41	design	design	NOUN
futech-109	191	42	.	.	PUNCT
futech-109	192	1	biomedical	biomedical	ADJ
futech-109	192	2	sciences	sciences	PROPN
futech-109	192	3	instrumentation	instrumentation	NOUN
futech-109	192	4	,	,	PUNCT
futech-109	192	5	51	51	NUM
futech-109	192	6	,	,	PUNCT
futech-109	192	7	1	1	NUM
futech-109	192	8	-	-	SYM
futech-109	192	9	8	8	NUM
futech-109	192	10	.	.	PUNCT
futech-109	193	1	this	this	DET
futech-109	193	2	article	article	NOUN
futech-109	193	3	is	be	AUX
futech-109	193	4	an	an	DET
futech-109	193	5	open	open	ADJ
futech-109	193	6	-	-	PUNCT
futech-109	193	7	access	access	NOUN
futech-109	193	8	article	article	NOUN
futech-109	193	9	distributed	distribute	VERB
futech-109	193	10	under	under	ADP
futech-109	193	11	the	the	DET
futech-109	193	12	terms	term	NOUN
futech-109	193	13	and	and	CCONJ
futech-109	193	14	conditions	condition	NOUN
futech-109	193	15	of	of	ADP
futech-109	193	16	the	the	DET
futech-109	193	17	creative	creative	ADJ
futech-109	193	18	commons	common	NOUN
futech-109	193	19	attribution	attribution	NOUN
futech-109	193	20	(	(	PUNCT
futech-109	193	21	cc	cc	NOUN
futech-109	193	22	by	by	ADP
futech-109	193	23	)	)	PUNCT
futech-109	193	24	license	license	NOUN
futech-109	193	25	(	(	PUNCT
futech-109	193	26	https://creativecommons.org/licenses/by/4.0/	https://creativecommons.org/licenses/by/4.0/	PROPN
futech-109	193	27	)	)	PUNCT
futech-109	193	28	.	.	PUNCT