id	sid	eid	entity	type
ap-6099	1	1	acta polytechnica doi:10.14311	PERSON
ap-6099	1	2	60(2):151–157	CARDINAL
ap-6099	1	3	2020	DATE
ap-6099	1	4	czech technical university	ORG
ap-6099	1	5	prague	GPE
ap-6099	1	6	2020	DATE
ap-6099	1	7	https://ojs.cvut.cz/ojs/index.php/ap	ORG
ap-6099	1	8	two	CARDINAL
ap-6099	1	9	michal vocetka∗	PERSON
ap-6099	1	10	jiří suder	PERSON
ap-6099	1	11	daniel huczala vsb	PERSON
ap-6099	1	12	ostrava	ORG
ap-6099	1	13	17	CARDINAL
ap-6099	2	1	2172/15	CARDINAL
ap-6099	2	2	708	CARDINAL
ap-6099	2	3	ostrava	ORG
ap-6099	2	4	poruba	GPE
ap-6099	2	5	czech republic ∗	ORG
ap-6099	3	1	two	CARDINAL
ap-6099	6	1	czech	NORP
ap-6099	7	1	two	CARDINAL
ap-6099	7	2	abb	ORG
ap-6099	7	3	120	CARDINAL
ap-6099	11	1	yumi	PERSON
ap-6099	12	1	2008	DATE
ap-6099	12	2	danish	NORP
ap-6099	12	3	first	ORDINAL
ap-6099	12	4	1	CARDINAL
ap-6099	13	1	2	CARDINAL
ap-6099	16	1	3:11 kg	QUANTITY
ap-6099	17	1	an hour	TIME
ap-6099	19	1	taiwan	GPE
ap-6099	19	2	fifth	ORDINAL
ap-6099	19	3	3	CARDINAL
ap-6099	21	1	fanuc	ORG
ap-6099	22	1	35 kg	QUANTITY
ap-6099	23	1	4	CARDINAL
ap-6099	26	1	abb	ORG
ap-6099	27	1	cobot yumi	PERSON
ap-6099	27	2	one	CARDINAL
ap-6099	28	1	cobot	PERSON
ap-6099	28	2	two	CARDINAL
ap-6099	28	3	seven	CARDINAL
ap-6099	28	4	six	CARDINAL
ap-6099	31	1	up to 20n	DATE
ap-6099	31	2	one	CARDINAL
ap-6099	31	3	two	CARDINAL
ap-6099	32	1	5	CARDINAL
ap-6099	34	1	6	CARDINAL
ap-6099	37	1	m. vocetka	PERSON
ap-6099	37	2	j. suder	PERSON
ap-6099	37	3	d. huczala acta polytechnica	PERSON
ap-6099	37	4	1	CARDINAL
ap-6099	37	5	ur3	PRODUCT
ap-6099	37	6	yumi	PERSON
ap-6099	44	1	european	NORP
ap-6099	44	2	7	CARDINAL
ap-6099	44	3	8	CARDINAL
ap-6099	45	1	9–13	CARDINAL
ap-6099	46	1	2	CARDINAL
ap-6099	46	2	yumi cobot	PERSON
ap-6099	54	1	12	CARDINAL
ap-6099	54	2	2	CARDINAL
ap-6099	54	3	bosch technological	ORG
ap-6099	56	1	yumi cobot	PERSON
ap-6099	57	1	yumi	PERSON
ap-6099	57	2	seven	CARDINAL
ap-6099	57	3	abb	ORG
ap-6099	58	1	14	CARDINAL
ap-6099	58	2	15	CARDINAL
ap-6099	60	1	2	CARDINAL
ap-6099	62	1	20mm	QUANTITY
ap-6099	65	1	180 degrees	QUANTITY
ap-6099	67	1	80mm	QUANTITY
ap-6099	68	1	fig.	DATE
ap-6099	69	1	3	CARDINAL
ap-6099	76	1	152	CARDINAL
ap-6099	76	2	60	CARDINAL
ap-6099	77	1	2/2020	CARDINAL
ap-6099	77	2	two	CARDINAL
ap-6099	79	1	3	CARDINAL
ap-6099	80	1	4	CARDINAL
ap-6099	84	1	3	CARDINAL
ap-6099	85	1	500	CARDINAL
ap-6099	86	1	6	CARDINAL
ap-6099	87	1	one	CARDINAL
ap-6099	87	2	12	CARDINAL
ap-6099	88	1	duralumin	GPE
ap-6099	89	1	5	CARDINAL
ap-6099	89	2	abb	ORG
ap-6099	94	1	153	CARDINAL
ap-6099	94	2	m. vocetka	PERSON
ap-6099	94	3	j. suder	PERSON
ap-6099	94	4	d. huczala acta polytechnica	PERSON
ap-6099	94	5	6	CARDINAL
ap-6099	95	1	yumi load	PERSON
ap-6099	97	1	11.5	CARDINAL
ap-6099	97	2	20al6061 23.9	QUANTITY
ap-6099	97	3	1	CARDINAL
ap-6099	99	1	3d	CARDINAL
ap-6099	99	2	3d	CARDINAL
ap-6099	100	1	1	CARDINAL
ap-6099	103	1	half	CARDINAL
ap-6099	106	1	4	CARDINAL
ap-6099	106	2	six	CARDINAL
ap-6099	106	3	two seconds	TIME
ap-6099	108	1	5.6 25	CARDINAL
ap-6099	108	2	40al6061 12	CARDINAL
ap-6099	108	3	2	CARDINAL
ap-6099	108	4	topologically	ORG
ap-6099	109	1	yumi 2×	PERSON
ap-6099	110	1	60 000 € 66 500 €	MONEY
ap-6099	110	2	10.5	CARDINAL
ap-6099	110	3	12.8	CARDINAL
ap-6099	113	1	3	CARDINAL
ap-6099	114	1	topologically	ORG
ap-6099	115	1	abb	ORG
ap-6099	116	1	six	CARDINAL
ap-6099	116	2	6.2m/s	QUANTITY
ap-6099	116	3	28m	CARDINAL
ap-6099	116	4	3 kg	QUANTITY
ap-6099	117	1	16	CARDINAL
ap-6099	118	1	one	CARDINAL
ap-6099	119	1	abb robotstudio	ORG
ap-6099	120	1	abb	ORG
ap-6099	121	1	an estimated € 6,500	MONEY
ap-6099	123	1	5	CARDINAL
ap-6099	123	2	about 60,000€.	CARDINAL
ap-6099	123	3	two	CARDINAL
ap-6099	123	4	about three years	DATE
ap-6099	124	1	three seconds	TIME
ap-6099	126	1	3	CARDINAL
ap-6099	129	1	154	CARDINAL
ap-6099	130	1	60	CARDINAL
ap-6099	131	1	2/2020	CARDINAL
ap-6099	131	2	two	CARDINAL
ap-6099	133	1	7	CARDINAL
ap-6099	134	1	8	CARDINAL
ap-6099	136	1	9	CARDINAL
ap-6099	138	1	155	CARDINAL
ap-6099	138	2	m. vocetka	PERSON
ap-6099	138	3	j. suder	PERSON
ap-6099	138	4	d. huczala acta polytechnica yumi	PERSON
ap-6099	139	1	6.	CARDINAL
ap-6099	155	1	17	CARDINAL
ap-6099	156	1	the european regional development fund	ORG
ap-6099	156	2	vega 1/0355/18	PERSON
ap-6099	157	1	the ministry of education	ORG
ap-6099	157	2	the czech republic	GPE
ap-6099	158	1	1	CARDINAL
ap-6099	159	1	2019	DATE
ap-6099	160	1	19 march 2019	DATE
ap-6099	161	1	2	CARDINAL
ap-6099	162	1	https://www.universal-robots.com/cs/	PERSON
ap-6099	162	2	2019	DATE
ap-6099	163	1	19 march 2019	DATE
ap-6099	164	1	3	CARDINAL
ap-6099	165	1	2019	DATE
ap-6099	166	1	19 march 2019	DATE
ap-6099	167	1	4	CARDINAL
ap-6099	167	2	https	PERSON
ap-6099	167	3	2019	DATE
ap-6099	168	1	19 march 2019	DATE
ap-6099	169	1	5	CARDINAL
ap-6099	169	2	abb yumi irb14000	ORG
ap-6099	170	1	google&utm	ORG
ap-6099	170	2	2019	DATE
ap-6099	171	1	19 march 2019	DATE
ap-6099	172	1	6	CARDINAL
ap-6099	172	2	14000	CARDINAL
ap-6099	172	3	3hac054949	CARDINAL
ap-6099	173	1	https://abb.sluzba.cz/pages/	ORG
ap-6099	173	2	2018	DATE
ap-6099	174	1	12 february 2020	DATE
ap-6099	175	1	7	CARDINAL
ap-6099	175	2	iso 10218	ORG
ap-6099	175	3	1	CARDINAL
ap-6099	176	1	geneva	GPE
ap-6099	176	2	switzerland	GPE
ap-6099	176	3	2006	DATE
ap-6099	178	1	8	CARDINAL
ap-6099	178	2	15066	DATE
ap-6099	179	1	geneva	GPE
ap-6099	179	2	switzerland	GPE
ap-6099	179	3	2016	DATE
ap-6099	180	1	9	CARDINAL
ap-6099	180	2	f. pini	PERSON
ap-6099	180	3	f. leali	PERSON
ap-6099	180	4	c. secchi	PERSON
ap-6099	181	1	55:248	CARDINAL
ap-6099	181	2	266	CARDINAL
ap-6099	181	3	2018	DATE
ap-6099	182	1	doi:10.1016	GPE
ap-6099	183	1	10	CARDINAL
ap-6099	183	2	f. pini	PERSON
ap-6099	183	3	f. leali	PERSON
ap-6099	184	1	ifac-papersonline	ORG
ap-6099	184	2	51(11):66	CARDINAL
ap-6099	184	3	71	DATE
ap-6099	184	4	2018	DATE
ap-6099	185	1	16th	ORDINAL
ap-6099	185	2	2018	DATE
ap-6099	185	3	doi:10.1016	GPE
ap-6099	186	1	11	CARDINAL
ap-6099	186	2	g. michalos	PERSON
ap-6099	186	3	s. makris	PERSON
ap-6099	187	1	37:248	CARDINAL
ap-6099	187	2	253	CARDINAL
ap-6099	187	3	2015	DATE
ap-6099	188	1	cirpe 2015	ORG
ap-6099	188	2	doi:10.1016/j.procir.2015.08.014	ORG
ap-6099	189	1	12	CARDINAL
ap-6099	189	2	j. fryman	PERSON
ap-6099	189	3	b. matthias	PERSON
ap-6099	190	1	german	NORP
ap-6099	191	1	1 –	CARDINAL
ap-6099	191	2	5	CARDINAL
ap-6099	192	1	munich	GPE
ap-6099	192	2	germany	GPE
ap-6099	192	3	2012	DATE
ap-6099	193	1	156	CARDINAL
ap-6099	193	2	http://dx.doi.org/10.1016/j.procir.2015.08.014 vol	PERSON
ap-6099	194	1	60	CARDINAL
ap-6099	195	1	2/2020	CARDINAL
ap-6099	195	2	two	CARDINAL
ap-6099	196	1	13	CARDINAL
ap-6099	196	2	i. maurtua	PERSON
ap-6099	196	3	a. ibarguren	PERSON
ap-6099	196	4	j. kildal	PERSON
ap-6099	198	1	14(4	CARDINAL
ap-6099	198	2	2017	DATE
ap-6099	199	1	doi:10.1177/1729881417716010	PERSON
ap-6099	200	1	14	CARDINAL
ap-6099	200	2	a. m. zanchettin	PERSON
ap-6099	200	3	n. m. ceriani	PERSON
ap-6099	200	4	p. rocco	PERSON
ap-6099	201	1	893	CARDINAL
ap-6099	201	2	2016	DATE
ap-6099	202	1	doi:10.1109	NORP
ap-6099	203	1	15	CARDINAL
ap-6099	203	2	j. heyn	PERSON
ap-6099	203	3	b. matthias	PERSON
ap-6099	203	4	h. staab	PERSON
ap-6099	206	1	2013	DATE
ap-6099	207	1	16	CARDINAL
ap-6099	207	2	120	CARDINAL
ap-6099	208	1	7139d7f4f2cb4d0da9b7fac6541e91d1/3hac035960%	PERCENT
ap-6099	208	2	20ps%20irb%20120-en.pdf	DATE
ap-6099	209	1	11 february 2020	DATE
ap-6099	210	1	17	CARDINAL
ap-6099	212	1	pdf/en/dhas_en.pdf,	ORG
ap-6099	212	2	2017	DATE
ap-6099	213	1	27 february 2020	DATE
ap-6099	214	1	157	CARDINAL
ap-6099	214	2	60(2):151–157	CARDINAL
ap-6099	214	3	1	CARDINAL
ap-6099	214	4	2	CARDINAL
ap-6099	214	5	3	CARDINAL
ap-6099	214	6	4	CARDINAL
ap-6099	214	7	5	CARDINAL
ap-6099	214	8	6	CARDINAL