id	sid	tid	token	lemma	pos
ap-2055	1	1	acta	acta	PROPN
ap-2055	1	2	polytechnica	polytechnica	PROPN
ap-2055	1	3	doi:10.14311	doi:10.14311	PROPN
ap-2055	1	4	/	/	SYM
ap-2055	1	5	ap.2014.54.0059	ap.2014.54.0059	PROPN
ap-2055	1	6	acta	acta	PROPN
ap-2055	1	7	polytechnica	polytechnica	PROPN
ap-2055	1	8	54(1):59–62	54(1):59–62	NUM
ap-2055	1	9	,	,	PUNCT
ap-2055	1	10	2014	2014	NUM
ap-2055	1	11	©	©	PROPN
ap-2055	1	12	czech	czech	PROPN
ap-2055	1	13	technical	technical	PROPN
ap-2055	1	14	university	university	PROPN
ap-2055	1	15	in	in	ADP
ap-2055	1	16	prague	prague	PROPN
ap-2055	1	17	,	,	PUNCT
ap-2055	1	18	2014	2014	NUM
ap-2055	1	19	available	available	ADJ
ap-2055	1	20	online	online	ADV
ap-2055	1	21	at	at	ADP
ap-2055	1	22	http://ojs.cvut.cz/ojs/index.php/ap	http://ojs.cvut.cz/ojs/index.php/ap	PROPN
ap-2055	1	23	experimental	experimental	ADJ
ap-2055	1	24	verification	verification	NOUN
ap-2055	1	25	of	of	ADP
ap-2055	1	26	the	the	DET
ap-2055	1	27	structural	structural	ADJ
ap-2055	1	28	and	and	CCONJ
ap-2055	1	29	technological	technological	ADJ
ap-2055	1	30	parameters	parameter	NOUN
ap-2055	1	31	of	of	ADP
ap-2055	1	32	the	the	DET
ap-2055	1	33	pks	pks	NOUN
ap-2055	1	34	iveta	iveta	PROPN
ap-2055	1	35	onderová∗	onderová∗	PROPN
ap-2055	1	36	,	,	PUNCT
ap-2055	1	37	ľudovít	ľudovít	NOUN
ap-2055	1	38	kolláth	kolláth	PROPN
ap-2055	1	39	,	,	PUNCT
ap-2055	1	40	lucia	lucia	PROPN
ap-2055	1	41	ploskuňáková	ploskuňáková	PROPN
ap-2055	1	42	slovak	slovak	PROPN
ap-2055	1	43	university	university	PROPN
ap-2055	1	44	of	of	ADP
ap-2055	1	45	technology	technology	NOUN
ap-2055	1	46	in	in	ADP
ap-2055	1	47	bratislava	bratislava	PROPN
ap-2055	1	48	,	,	PUNCT
ap-2055	1	49	faculty	faculty	NOUN
ap-2055	1	50	of	of	ADP
ap-2055	1	51	mechanical	mechanical	ADJ
ap-2055	1	52	engineering	engineering	NOUN
ap-2055	1	53	,	,	PUNCT
ap-2055	1	54	institute	institute	NOUN
ap-2055	1	55	of	of	ADP
ap-2055	1	56	manufacturing	manufacturing	NOUN
ap-2055	1	57	systems	system	NOUN
ap-2055	1	58	,	,	PUNCT
ap-2055	1	59	environmental	environmental	ADJ
ap-2055	1	60	technology	technology	NOUN
ap-2055	1	61	and	and	CCONJ
ap-2055	1	62	quality	quality	NOUN
ap-2055	1	63	management	management	NOUN
ap-2055	1	64	∗	∗	NOUN
ap-2055	1	65	corresponding	correspond	VERB
ap-2055	1	66	author	author	NOUN
ap-2055	1	67	:	:	PUNCT
ap-2055	1	68	iveta.onderova@stuba.sk	iveta.onderova@stuba.sk	PROPN
ap-2055	1	69	abstract	abstract	NOUN
ap-2055	1	70	.	.	PUNCT
ap-2055	2	1	this	this	DET
ap-2055	2	2	paper	paper	NOUN
ap-2055	2	3	presents	present	VERB
ap-2055	2	4	the	the	DET
ap-2055	2	5	theoretical	theoretical	ADJ
ap-2055	2	6	design	design	NOUN
ap-2055	2	7	for	for	ADP
ap-2055	2	8	experimental	experimental	ADJ
ap-2055	2	9	verification	verification	NOUN
ap-2055	2	10	of	of	ADP
ap-2055	2	11	the	the	DET
ap-2055	2	12	structural	structural	ADJ
ap-2055	2	13	and	and	CCONJ
ap-2055	2	14	technological	technological	ADJ
ap-2055	2	15	parameters	parameter	NOUN
ap-2055	2	16	of	of	ADP
ap-2055	2	17	the	the	DET
ap-2055	2	18	parallel	parallel	ADJ
ap-2055	2	19	kinematic	kinematic	ADJ
ap-2055	2	20	structure	structure	NOUN
ap-2055	2	21	.	.	PUNCT
ap-2055	3	1	the	the	DET
ap-2055	3	2	experimental	experimental	ADJ
ap-2055	3	3	equipment	equipment	NOUN
ap-2055	3	4	was	be	AUX
ap-2055	3	5	developed	develop	VERB
ap-2055	3	6	at	at	ADP
ap-2055	3	7	the	the	DET
ap-2055	3	8	faculty	faculty	NOUN
ap-2055	3	9	of	of	ADP
ap-2055	3	10	mechanical	mechanical	ADJ
ap-2055	3	11	engineering	engineering	NOUN
ap-2055	3	12	,	,	PUNCT
ap-2055	3	13	stu	stu	PROPN
ap-2055	3	14	in	in	ADP
ap-2055	3	15	bratislava	bratislava	PROPN
ap-2055	3	16	.	.	PUNCT
ap-2055	4	1	it	it	PRON
ap-2055	4	2	is	be	AUX
ap-2055	4	3	called	call	VERB
ap-2055	4	4	tricept	tricept	NOUN
ap-2055	4	5	,	,	PUNCT
ap-2055	4	6	and	and	CCONJ
ap-2055	4	7	due	due	ADP
ap-2055	4	8	to	to	ADP
ap-2055	4	9	its	its	PRON
ap-2055	4	10	kinematics	kinematic	NOUN
ap-2055	4	11	it	it	PRON
ap-2055	4	12	is	be	AUX
ap-2055	4	13	classified	classify	VERB
ap-2055	4	14	as	as	ADP
ap-2055	4	15	a	a	DET
ap-2055	4	16	parallel	parallel	ADJ
ap-2055	4	17	structure	structure	NOUN
ap-2055	4	18	.	.	PUNCT
ap-2055	5	1	the	the	DET
ap-2055	5	2	previous	previous	ADJ
ap-2055	5	3	phase	phase	NOUN
ap-2055	5	4	of	of	ADP
ap-2055	5	5	the	the	DET
ap-2055	5	6	project	project	NOUN
ap-2055	5	7	dealt	deal	VERB
ap-2055	5	8	with	with	ADP
ap-2055	5	9	developing	develop	VERB
ap-2055	5	10	a	a	DET
ap-2055	5	11	mathematical	mathematical	ADJ
ap-2055	5	12	model	model	NOUN
ap-2055	5	13	of	of	ADP
ap-2055	5	14	the	the	DET
ap-2055	5	15	tool	tool	NOUN
ap-2055	5	16	path	path	NOUN
ap-2055	5	17	.	.	PUNCT
ap-2055	6	1	we	we	PRON
ap-2055	6	2	have	have	AUX
ap-2055	6	3	worked	work	VERB
ap-2055	6	4	with	with	ADP
ap-2055	6	5	two	two	NUM
ap-2055	6	6	methods	method	NOUN
ap-2055	6	7	,	,	PUNCT
ap-2055	6	8	a	a	DET
ap-2055	6	9	monte	monte	PROPN
ap-2055	6	10	carlo	carlo	NOUN
ap-2055	6	11	method	method	NOUN
ap-2055	6	12	and	and	CCONJ
ap-2055	6	13	the	the	DET
ap-2055	6	14	use	use	NOUN
ap-2055	6	15	of	of	ADP
ap-2055	6	16	a	a	DET
ap-2055	6	17	mathematical	mathematical	ADJ
ap-2055	6	18	analytical	analytical	ADJ
ap-2055	6	19	geometry	geometry	NOUN
ap-2055	6	20	structure	structure	NOUN
ap-2055	6	21	.	.	PUNCT
ap-2055	7	1	the	the	DET
ap-2055	7	2	calculated	calculated	ADJ
ap-2055	7	3	values	value	NOUN
ap-2055	7	4	were	be	AUX
ap-2055	7	5	verified	verify	VERB
ap-2055	7	6	by	by	ADP
ap-2055	7	7	comparing	compare	VERB
ap-2055	7	8	the	the	DET
ap-2055	7	9	results	result	NOUN
ap-2055	7	10	of	of	ADP
ap-2055	7	11	the	the	DET
ap-2055	7	12	two	two	NUM
ap-2055	7	13	methods	method	NOUN
ap-2055	7	14	.	.	PUNCT
ap-2055	8	1	based	base	VERB
ap-2055	8	2	on	on	ADP
ap-2055	8	3	the	the	DET
ap-2055	8	4	equations	equation	NOUN
ap-2055	8	5	that	that	PRON
ap-2055	8	6	were	be	AUX
ap-2055	8	7	obtained	obtain	VERB
ap-2055	8	8	,	,	PUNCT
ap-2055	8	9	we	we	PRON
ap-2055	8	10	can	can	AUX
ap-2055	8	11	design	design	VERB
ap-2055	8	12	the	the	DET
ap-2055	8	13	control	control	NOUN
ap-2055	8	14	of	of	ADP
ap-2055	8	15	the	the	DET
ap-2055	8	16	tool	tool	NOUN
ap-2055	8	17	path	path	NOUN
ap-2055	8	18	during	during	ADP
ap-2055	8	19	cutting	cut	VERB
ap-2055	8	20	.	.	PUNCT
ap-2055	9	1	the	the	DET
ap-2055	9	2	next	next	ADJ
ap-2055	9	3	stage	stage	NOUN
ap-2055	9	4	focuses	focus	VERB
ap-2055	9	5	on	on	ADP
ap-2055	9	6	the	the	DET
ap-2055	9	7	test	test	NOUN
ap-2055	9	8	methods	method	NOUN
ap-2055	9	9	and	and	CCONJ
ap-2055	9	10	on	on	ADP
ap-2055	9	11	verifying	verify	VERB
ap-2055	9	12	the	the	DET
ap-2055	9	13	structural	structural	ADJ
ap-2055	9	14	and	and	CCONJ
ap-2055	9	15	technological	technological	ADJ
ap-2055	9	16	parameters	parameter	NOUN
ap-2055	9	17	of	of	ADP
ap-2055	9	18	tricept	tricept	NOUN
ap-2055	9	19	.	.	PUNCT
ap-2055	10	1	the	the	DET
ap-2055	10	2	experiment	experiment	NOUN
ap-2055	10	3	is	be	AUX
ap-2055	10	4	designed	design	VERB
ap-2055	10	5	on	on	ADP
ap-2055	10	6	the	the	DET
ap-2055	10	7	basis	basis	NOUN
ap-2055	10	8	of	of	ADP
ap-2055	10	9	the	the	DET
ap-2055	10	10	en	en	X
ap-2055	10	11	iso	iso	PROPN
ap-2055	10	12	9283	9283	NUM
ap-2055	10	13	standard	standard	NOUN
ap-2055	10	14	,	,	PUNCT
ap-2055	10	15	and	and	CCONJ
ap-2055	10	16	involves	involve	VERB
ap-2055	10	17	testing	test	VERB
ap-2055	10	18	the	the	DET
ap-2055	10	19	technological	technological	ADJ
ap-2055	10	20	parameters	parameter	NOUN
ap-2055	10	21	:	:	PUNCT
ap-2055	10	22	one	one	NUM
ap-2055	10	23	-	-	PUNCT
ap-2055	10	24	way	way	NOUN
ap-2055	10	25	positioning	positioning	NOUN
ap-2055	10	26	accuracy	accuracy	NOUN
ap-2055	10	27	and	and	CCONJ
ap-2055	10	28	repeatability	repeatability	NOUN
ap-2055	10	29	of	of	ADP
ap-2055	10	30	the	the	DET
ap-2055	10	31	position	position	NOUN
ap-2055	10	32	,	,	PUNCT
ap-2055	10	33	changes	change	NOUN
ap-2055	10	34	of	of	ADP
ap-2055	10	35	multidirectional	multidirectional	ADJ
ap-2055	10	36	positioning	positioning	NOUN
ap-2055	10	37	accuracy	accuracy	NOUN
ap-2055	10	38	,	,	PUNCT
ap-2055	10	39	repeatability	repeatability	NOUN
ap-2055	10	40	and	and	CCONJ
ap-2055	10	41	accuracy	accuracy	NOUN
ap-2055	10	42	of	of	ADP
ap-2055	10	43	the	the	DET
ap-2055	10	44	distance	distance	NOUN
ap-2055	10	45	,	,	PUNCT
ap-2055	10	46	position	position	NOUN
ap-2055	10	47	overshoot	overshoot	NOUN
ap-2055	10	48	,	,	PUNCT
ap-2055	10	49	drift	drift	NOUN
ap-2055	10	50	of	of	ADP
ap-2055	10	51	the	the	DET
ap-2055	10	52	position	position	NOUN
ap-2055	10	53	parameters	parameter	NOUN
ap-2055	10	54	,	,	PUNCT
ap-2055	10	55	path	path	NOUN
ap-2055	10	56	accuracy	accuracy	NOUN
ap-2055	10	57	,	,	PUNCT
ap-2055	10	58	and	and	CCONJ
ap-2055	10	59	repeatability	repeatability	NOUN
ap-2055	10	60	of	of	ADP
ap-2055	10	61	the	the	DET
ap-2055	10	62	path	path	NOUN
ap-2055	10	63	.	.	PUNCT
ap-2055	11	1	this	this	DET
ap-2055	11	2	paper	paper	NOUN
ap-2055	11	3	classifies	classify	VERB
ap-2055	11	4	the	the	DET
ap-2055	11	5	measurement	measurement	NOUN
ap-2055	11	6	methods	method	NOUN
ap-2055	11	7	and	and	CCONJ
ap-2055	11	8	presents	present	VERB
ap-2055	11	9	the	the	DET
ap-2055	11	10	measurement	measurement	NOUN
ap-2055	11	11	processes	process	NOUN
ap-2055	11	12	and	and	CCONJ
ap-2055	11	13	the	the	DET
ap-2055	11	14	equipment	equipment	NOUN
ap-2055	11	15	for	for	ADP
ap-2055	11	16	the	the	DET
ap-2055	11	17	experiment	experiment	NOUN
ap-2055	11	18	.	.	PUNCT
ap-2055	12	1	keywords	keyword	NOUN
ap-2055	12	2	:	:	PUNCT
ap-2055	12	3	parallel	parallel	ADJ
ap-2055	12	4	kinematic	kinematic	ADJ
ap-2055	12	5	structure	structure	NOUN
ap-2055	12	6	,	,	PUNCT
ap-2055	12	7	quality	quality	NOUN
ap-2055	12	8	,	,	PUNCT
ap-2055	12	9	positioning	positioning	NOUN
ap-2055	12	10	accuracy	accuracy	NOUN
ap-2055	12	11	,	,	PUNCT
ap-2055	12	12	repeatable	repeatable	ADJ
ap-2055	12	13	positioning	positioning	NOUN
ap-2055	12	14	accuracy	accuracy	NOUN
ap-2055	12	15	,	,	PUNCT
ap-2055	12	16	design	design	NOUN
ap-2055	12	17	of	of	ADP
ap-2055	12	18	the	the	DET
ap-2055	12	19	experiment	experiment	NOUN
ap-2055	12	20	.	.	PUNCT
ap-2055	13	1	1	1	X
ap-2055	13	2	.	.	X
ap-2055	13	3	introduction	introduction	NOUN
ap-2055	13	4	the	the	DET
ap-2055	13	5	current	current	ADJ
ap-2055	13	6	trend	trend	NOUN
ap-2055	13	7	is	be	AUX
ap-2055	13	8	toward	toward	ADP
ap-2055	13	9	high	high	ADJ
ap-2055	13	10	-	-	PUNCT
ap-2055	13	11	speed	speed	NOUN
ap-2055	13	12	machining	machining	NOUN
ap-2055	13	13	,	,	PUNCT
ap-2055	13	14	which	which	PRON
ap-2055	13	15	encourages	encourage	VERB
ap-2055	13	16	the	the	DET
ap-2055	13	17	development	development	NOUN
ap-2055	13	18	of	of	ADP
ap-2055	13	19	machine	machine	NOUN
ap-2055	13	20	tools	tool	NOUN
ap-2055	13	21	with	with	ADP
ap-2055	13	22	high	high	ADJ
ap-2055	13	23	dynamics	dynamic	NOUN
ap-2055	13	24	,	,	PUNCT
ap-2055	13	25	improved	improve	VERB
ap-2055	13	26	rigidity	rigidity	NOUN
ap-2055	13	27	and	and	CCONJ
ap-2055	13	28	reduced	reduce	VERB
ap-2055	13	29	moving	move	VERB
ap-2055	13	30	masses	masse	NOUN
ap-2055	13	31	.	.	PUNCT
ap-2055	14	1	in	in	ADP
ap-2055	14	2	general	general	ADJ
ap-2055	14	3	,	,	PUNCT
ap-2055	14	4	parallel	parallel	ADJ
ap-2055	14	5	robots	robot	NOUN
ap-2055	14	6	—	—	PUNCT
ap-2055	14	7	the	the	DET
ap-2055	14	8	basic	basic	ADJ
ap-2055	14	9	mechanical	mechanical	ADJ
ap-2055	14	10	tool	tool	NOUN
ap-2055	14	11	—	—	PUNCT
ap-2055	14	12	are	be	AUX
ap-2055	14	13	referred	refer	VERB
ap-2055	14	14	to	to	ADP
ap-2055	14	15	as	as	ADP
ap-2055	14	16	parallel	parallel	ADJ
ap-2055	14	17	kinematic	kinematic	ADJ
ap-2055	14	18	machines	machine	NOUN
ap-2055	14	19	.	.	PUNCT
ap-2055	15	1	parallel	parallel	ADJ
ap-2055	15	2	kinematic	kinematic	ADJ
ap-2055	15	3	mechanisms	mechanism	NOUN
ap-2055	15	4	offer	offer	VERB
ap-2055	15	5	higher	high	ADJ
ap-2055	15	6	stiffness	stiffness	NOUN
ap-2055	15	7	,	,	PUNCT
ap-2055	15	8	lower	lower	ADV
ap-2055	15	9	moving	move	VERB
ap-2055	15	10	mass	mass	ADJ
ap-2055	15	11	,	,	PUNCT
ap-2055	15	12	greater	great	ADJ
ap-2055	15	13	acceleration	acceleration	NOUN
ap-2055	15	14	,	,	PUNCT
ap-2055	15	15	potentially	potentially	ADV
ap-2055	15	16	higher	high	ADJ
ap-2055	15	17	precision	precision	NOUN
ap-2055	15	18	,	,	PUNCT
ap-2055	15	19	lower	low	ADJ
ap-2055	15	20	installation	installation	NOUN
ap-2055	15	21	requirements	requirement	NOUN
ap-2055	15	22	,	,	PUNCT
ap-2055	15	23	and	and	CCONJ
ap-2055	15	24	greater	great	ADJ
ap-2055	15	25	mechanical	mechanical	ADJ
ap-2055	15	26	simplicity	simplicity	NOUN
ap-2055	15	27	than	than	ADP
ap-2055	15	28	existing	exist	VERB
ap-2055	15	29	conventional	conventional	ADJ
ap-2055	15	30	machine	machine	NOUN
ap-2055	15	31	tools	tool	NOUN
ap-2055	15	32	.	.	PUNCT
ap-2055	16	1	on	on	ADP
ap-2055	16	2	the	the	DET
ap-2055	16	3	basis	basis	NOUN
ap-2055	16	4	of	of	ADP
ap-2055	16	5	these	these	DET
ap-2055	16	6	attributes	attribute	NOUN
ap-2055	16	7	,	,	PUNCT
ap-2055	16	8	parallel	parallel	ADJ
ap-2055	16	9	kinematic	kinematic	ADJ
ap-2055	16	10	mechanisms	mechanism	NOUN
ap-2055	16	11	offer	offer	VERB
ap-2055	16	12	the	the	DET
ap-2055	16	13	potential	potential	NOUN
ap-2055	16	14	to	to	PART
ap-2055	16	15	change	change	VERB
ap-2055	16	16	current	current	ADJ
ap-2055	16	17	production	production	NOUN
ap-2055	16	18	forms	form	NOUN
ap-2055	16	19	.	.	PUNCT
ap-2055	17	1	they	they	PRON
ap-2055	17	2	have	have	VERB
ap-2055	17	3	the	the	DET
ap-2055	17	4	potential	potential	NOUN
ap-2055	17	5	to	to	PART
ap-2055	17	6	be	be	AUX
ap-2055	17	7	highly	highly	ADV
ap-2055	17	8	modular	modular	ADJ
ap-2055	17	9	,	,	PUNCT
ap-2055	17	10	highly	highly	ADV
ap-2055	17	11	configurable	configurable	ADJ
ap-2055	17	12	,	,	PUNCT
ap-2055	17	13	high	high	ADJ
ap-2055	17	14	-	-	PUNCT
ap-2055	17	15	precision	precision	NOUN
ap-2055	17	16	machine	machine	NOUN
ap-2055	17	17	tools	tool	NOUN
ap-2055	17	18	.	.	PUNCT
ap-2055	18	1	other	other	ADJ
ap-2055	18	2	potential	potential	ADJ
ap-2055	18	3	benefits	benefit	NOUN
ap-2055	18	4	are	be	AUX
ap-2055	18	5	high	high	ADJ
ap-2055	18	6	dexterity	dexterity	NOUN
ap-2055	18	7	,	,	PUNCT
ap-2055	18	8	simpler	simple	ADJ
ap-2055	18	9	and	and	CCONJ
ap-2055	18	10	smaller	small	ADJ
ap-2055	18	11	tools	tool	NOUN
ap-2055	18	12	,	,	PUNCT
ap-2055	18	13	a	a	DET
ap-2055	18	14	multiple	multiple	ADJ
ap-2055	18	15	mode	mode	NOUN
ap-2055	18	16	of	of	ADP
ap-2055	18	17	production	production	NOUN
ap-2055	18	18	capacity	capacity	NOUN
ap-2055	18	19	,	,	PUNCT
ap-2055	18	20	and	and	CCONJ
ap-2055	18	21	a	a	DET
ap-2055	18	22	small	small	ADJ
ap-2055	18	23	footprint	footprint	NOUN
ap-2055	18	24	.	.	PUNCT
ap-2055	19	1	conventional	conventional	ADJ
ap-2055	19	2	machine	machine	NOUN
ap-2055	19	3	tools	tool	NOUN
ap-2055	19	4	are	be	AUX
ap-2055	19	5	usually	usually	ADV
ap-2055	19	6	based	base	VERB
ap-2055	19	7	on	on	ADP
ap-2055	19	8	a	a	DET
ap-2055	19	9	serial	serial	ADJ
ap-2055	19	10	structure	structure	NOUN
ap-2055	19	11	.	.	PUNCT
ap-2055	20	1	there	there	PRON
ap-2055	20	2	are	be	VERB
ap-2055	20	3	as	as	ADV
ap-2055	20	4	many	many	ADJ
ap-2055	20	5	degrees	degree	NOUN
ap-2055	20	6	of	of	ADP
ap-2055	20	7	freedom	freedom	NOUN
ap-2055	20	8	as	as	ADP
ap-2055	20	9	necessary	necessary	ADJ
ap-2055	20	10	,	,	PUNCT
ap-2055	20	11	and	and	CCONJ
ap-2055	20	12	the	the	DET
ap-2055	20	13	axes	axis	NOUN
ap-2055	20	14	are	be	AUX
ap-2055	20	15	arranged	arrange	VERB
ap-2055	20	16	in	in	ADP
ap-2055	20	17	series	series	NOUN
ap-2055	20	18	.	.	PUNCT
ap-2055	21	1	this	this	DET
ap-2055	21	2	results	result	VERB
ap-2055	21	3	in	in	ADP
ap-2055	21	4	a	a	DET
ap-2055	21	5	single	single	ADJ
ap-2055	21	6	kinematic	kinematic	ADJ
ap-2055	21	7	chain	chain	NOUN
ap-2055	21	8	.	.	PUNCT
ap-2055	22	1	the	the	DET
ap-2055	22	2	axes	axis	NOUN
ap-2055	22	3	are	be	AUX
ap-2055	22	4	generally	generally	ADV
ap-2055	22	5	arranged	arrange	VERB
ap-2055	22	6	by	by	ADP
ap-2055	22	7	cartesian	cartesian	ADJ
ap-2055	22	8	axes	axis	NOUN
ap-2055	22	9	,	,	PUNCT
ap-2055	22	10	which	which	PRON
ap-2055	22	11	means	mean	VERB
ap-2055	22	12	that	that	SCONJ
ap-2055	22	13	there	there	PRON
ap-2055	22	14	is	be	VERB
ap-2055	22	15	an	an	DET
ap-2055	22	16	x	x	NOUN
ap-2055	22	17	-	-	NOUN
ap-2055	22	18	axis	axis	ADJ
ap-2055	22	19	,	,	PUNCT
ap-2055	22	20	a	a	DET
ap-2055	22	21	y	y	NOUN
ap-2055	22	22	-	-	PUNCT
ap-2055	22	23	axis	axis	NOUN
ap-2055	22	24	and	and	CCONJ
ap-2055	22	25	a	a	DET
ap-2055	22	26	z	z	NOUN
ap-2055	22	27	-	-	PUNCT
ap-2055	22	28	axis	axis	ADJ
ap-2055	22	29	,	,	PUNCT
ap-2055	22	30	and	and	CCONJ
ap-2055	22	31	rotation	rotation	NOUN
ap-2055	22	32	axes	axis	NOUN
ap-2055	22	33	if	if	SCONJ
ap-2055	22	34	necessary	necessary	ADJ
ap-2055	22	35	.	.	PUNCT
ap-2055	23	1	these	these	DET
ap-2055	23	2	machines	machine	NOUN
ap-2055	23	3	are	be	AUX
ap-2055	23	4	easy	easy	ADJ
ap-2055	23	5	to	to	PART
ap-2055	23	6	handle	handle	VERB
ap-2055	23	7	,	,	PUNCT
ap-2055	23	8	because	because	SCONJ
ap-2055	23	9	each	each	DET
ap-2055	23	10	axis	axis	NOUN
ap-2055	23	11	directly	directly	ADV
ap-2055	23	12	controls	control	VERB
ap-2055	23	13	one	one	NUM
ap-2055	23	14	cartesian	cartesian	ADJ
ap-2055	23	15	degree	degree	NOUN
ap-2055	23	16	of	of	ADP
ap-2055	23	17	freedom	freedom	NOUN
ap-2055	23	18	,	,	PUNCT
ap-2055	23	19	and	and	CCONJ
ap-2055	23	20	there	there	PRON
ap-2055	23	21	is	be	VERB
ap-2055	23	22	no	no	DET
ap-2055	23	23	connection	connection	NOUN
ap-2055	23	24	between	between	ADP
ap-2055	23	25	the	the	DET
ap-2055	23	26	axes	axis	NOUN
ap-2055	23	27	.	.	PUNCT
ap-2055	24	1	parallel	parallel	ADJ
ap-2055	24	2	kinematic	kinematic	ADJ
ap-2055	24	3	machines	machine	NOUN
ap-2055	24	4	are	be	AUX
ap-2055	24	5	machines	machine	NOUN
ap-2055	24	6	in	in	ADP
ap-2055	24	7	which	which	PRON
ap-2055	24	8	the	the	DET
ap-2055	24	9	movement	movement	NOUN
ap-2055	24	10	of	of	ADP
ap-2055	24	11	the	the	DET
ap-2055	24	12	tool	tool	NOUN
ap-2055	24	13	is	be	AUX
ap-2055	24	14	based	base	VERB
ap-2055	24	15	on	on	ADP
ap-2055	24	16	the	the	DET
ap-2055	24	17	principle	principle	NOUN
ap-2055	24	18	of	of	ADP
ap-2055	24	19	parallel	parallel	ADJ
ap-2055	24	20	mechanisms	mechanism	NOUN
ap-2055	24	21	.	.	PUNCT
ap-2055	25	1	a	a	DET
ap-2055	25	2	parallel	parallel	ADJ
ap-2055	25	3	mechanism	mechanism	NOUN
ap-2055	25	4	is	be	AUX
ap-2055	25	5	a	a	DET
ap-2055	25	6	closed	closed	ADJ
ap-2055	25	7	mechanism	mechanism	NOUN
ap-2055	25	8	,	,	PUNCT
ap-2055	25	9	in	in	ADP
ap-2055	25	10	which	which	PRON
ap-2055	25	11	the	the	DET
ap-2055	25	12	end	end	NOUN
ap-2055	25	13	-	-	PUNCT
ap-2055	25	14	effector	effector	NOUN
ap-2055	25	15	(	(	PUNCT
ap-2055	25	16	the	the	DET
ap-2055	25	17	mobile	mobile	ADJ
ap-2055	25	18	platform	platform	NOUN
ap-2055	25	19	)	)	PUNCT
ap-2055	25	20	is	be	AUX
ap-2055	25	21	connected	connect	VERB
ap-2055	25	22	to	to	ADP
ap-2055	25	23	the	the	DET
ap-2055	25	24	base	base	NOUN
ap-2055	25	25	by	by	ADP
ap-2055	25	26	at	at	ADV
ap-2055	25	27	least	least	ADV
ap-2055	25	28	two	two	NUM
ap-2055	25	29	independent	independent	ADJ
ap-2055	25	30	kinematic	kinematic	ADJ
ap-2055	25	31	chains	chain	NOUN
ap-2055	25	32	.	.	PUNCT
ap-2055	26	1	2	2	X
ap-2055	26	2	.	.	NOUN
ap-2055	26	3	tricept	tricept	PROPN
ap-2055	26	4	research	research	NOUN
ap-2055	26	5	being	be	AUX
ap-2055	26	6	carried	carry	VERB
ap-2055	26	7	out	out	ADP
ap-2055	26	8	at	at	ADP
ap-2055	26	9	the	the	DET
ap-2055	26	10	institute	institute	NOUN
ap-2055	26	11	of	of	ADP
ap-2055	26	12	manufacturing	manufacturing	NOUN
ap-2055	26	13	systems	system	NOUN
ap-2055	26	14	,	,	PUNCT
ap-2055	26	15	environmental	environmental	ADJ
ap-2055	26	16	technology	technology	NOUN
ap-2055	26	17	and	and	CCONJ
ap-2055	26	18	quality	quality	NOUN
ap-2055	26	19	management	management	NOUN
ap-2055	26	20	is	be	AUX
ap-2055	26	21	developing	develop	VERB
ap-2055	26	22	a	a	DET
ap-2055	26	23	parallel	parallel	ADJ
ap-2055	26	24	kinematic	kinematic	ADJ
ap-2055	26	25	structure	structure	NOUN
ap-2055	26	26	of	of	ADP
ap-2055	26	27	the	the	DET
ap-2055	26	28	tricept	tricept	NOUN
ap-2055	26	29	type	type	NOUN
ap-2055	26	30	.	.	PUNCT
ap-2055	27	1	a	a	DET
ap-2055	27	2	fixed	fix	VERB
ap-2055	27	3	platform	platform	NOUN
ap-2055	27	4	is	be	AUX
ap-2055	27	5	connected	connect	VERB
ap-2055	27	6	with	with	ADP
ap-2055	27	7	a	a	DET
ap-2055	27	8	moving	move	VERB
ap-2055	27	9	platform	platform	NOUN
ap-2055	27	10	with	with	ADP
ap-2055	27	11	three	three	NUM
ap-2055	27	12	telescopic	telescopic	ADJ
ap-2055	27	13	rods	rod	NOUN
ap-2055	27	14	with	with	ADP
ap-2055	27	15	drives	drive	NOUN
ap-2055	27	16	and	and	CCONJ
ap-2055	27	17	one	one	NUM
ap-2055	27	18	central	central	ADJ
ap-2055	27	19	rod	rod	NOUN
ap-2055	27	20	without	without	ADP
ap-2055	27	21	any	any	DET
ap-2055	27	22	drive	drive	NOUN
ap-2055	27	23	.	.	PUNCT
ap-2055	28	1	between	between	ADP
ap-2055	28	2	the	the	DET
ap-2055	28	3	moving	move	VERB
ap-2055	28	4	platform	platform	NOUN
ap-2055	28	5	and	and	CCONJ
ap-2055	28	6	the	the	DET
ap-2055	28	7	central	central	ADJ
ap-2055	28	8	rod	rod	NOUN
ap-2055	28	9	there	there	PRON
ap-2055	28	10	is	be	VERB
ap-2055	28	11	a	a	DET
ap-2055	28	12	fixed	fix	VERB
ap-2055	28	13	connection	connection	NOUN
ap-2055	28	14	.	.	PUNCT
ap-2055	29	1	the	the	DET
ap-2055	29	2	central	central	ADJ
ap-2055	29	3	rod	rod	NOUN
ap-2055	29	4	placed	place	VERB
ap-2055	29	5	on	on	ADP
ap-2055	29	6	the	the	DET
ap-2055	29	7	fixed	fix	VERB
ap-2055	29	8	platform	platform	NOUN
ap-2055	29	9	allows	allow	VERB
ap-2055	29	10	translational	translational	ADJ
ap-2055	29	11	motion	motion	NOUN
ap-2055	29	12	without	without	ADP
ap-2055	29	13	any	any	DET
ap-2055	29	14	turning.this	turning.this	DET
ap-2055	29	15	type	type	NOUN
ap-2055	29	16	of	of	ADP
ap-2055	29	17	mechanism	mechanism	NOUN
ap-2055	29	18	is	be	AUX
ap-2055	29	19	created	create	VERB
ap-2055	29	20	from	from	ADP
ap-2055	29	21	kinematic	kinematic	ADJ
ap-2055	29	22	pairs	pair	NOUN
ap-2055	29	23	of	of	ADP
ap-2055	29	24	hps	hps	NOUN
ap-2055	29	25	type	type	NOUN
ap-2055	29	26	(	(	PUNCT
ap-2055	29	27	universal	universal	ADJ
ap-2055	29	28	,	,	PUNCT
ap-2055	29	29	sliding	sliding	ADJ
ap-2055	29	30	and	and	CCONJ
ap-2055	29	31	spherical	spherical	ADJ
ap-2055	29	32	joints	joint	NOUN
ap-2055	29	33	)	)	PUNCT
ap-2055	29	34	.	.	PUNCT
ap-2055	30	1	the	the	DET
ap-2055	30	2	universal	universal	ADJ
ap-2055	30	3	joint	joint	NOUN
ap-2055	30	4	is	be	AUX
ap-2055	30	5	formed	form	VERB
ap-2055	30	6	by	by	ADP
ap-2055	30	7	two	two	NUM
ap-2055	30	8	swivel	swivel	NOUN
ap-2055	30	9	joints	joint	NOUN
ap-2055	30	10	.	.	PUNCT
ap-2055	31	1	its	its	PRON
ap-2055	31	2	role	role	NOUN
ap-2055	31	3	is	be	AUX
ap-2055	31	4	to	to	PART
ap-2055	31	5	transmit	transmit	VERB
ap-2055	31	6	the	the	DET
ap-2055	31	7	rotary	rotary	ADJ
ap-2055	31	8	motion	motion	NOUN
ap-2055	31	9	of	of	ADP
ap-2055	31	10	the	the	DET
ap-2055	31	11	telescopic	telescopic	ADJ
ap-2055	31	12	rod	rod	NOUN
ap-2055	31	13	,	,	PUNCT
ap-2055	31	14	with	with	ADP
ap-2055	31	15	sufficient	sufficient	ADJ
ap-2055	31	16	accuracy	accuracy	NOUN
ap-2055	31	17	,	,	PUNCT
ap-2055	31	18	stiffness	stiffness	NOUN
ap-2055	31	19	and	and	CCONJ
ap-2055	31	20	low	low	ADJ
ap-2055	31	21	friction	friction	NOUN
ap-2055	31	22	in	in	ADP
ap-2055	31	23	the	the	DET
ap-2055	31	24	joint	joint	NOUN
ap-2055	31	25	.	.	PUNCT
ap-2055	32	1	the	the	DET
ap-2055	32	2	location	location	NOUN
ap-2055	32	3	of	of	ADP
ap-2055	32	4	the	the	DET
ap-2055	32	5	primary	primary	ADJ
ap-2055	32	6	points	point	NOUN
ap-2055	32	7	is	be	AUX
ap-2055	32	8	important	important	ADJ
ap-2055	32	9	in	in	ADP
ap-2055	32	10	creating	create	VERB
ap-2055	32	11	the	the	DET
ap-2055	32	12	program	program	NOUN
ap-2055	32	13	that	that	PRON
ap-2055	32	14	will	will	AUX
ap-2055	32	15	be	be	AUX
ap-2055	32	16	used	use	VERB
ap-2055	32	17	to	to	PART
ap-2055	32	18	manage	manage	VERB
ap-2055	32	19	the	the	DET
ap-2055	32	20	ejection	ejection	NOUN
ap-2055	32	21	of	of	ADP
ap-2055	32	22	the	the	DET
ap-2055	32	23	telescopic	telescopic	ADJ
ap-2055	32	24	rods	rod	NOUN
ap-2055	32	25	.	.	PUNCT
ap-2055	33	1	the	the	DET
ap-2055	33	2	movement	movement	NOUN
ap-2055	33	3	of	of	ADP
ap-2055	33	4	these	these	DET
ap-2055	33	5	swivel	swivel	NOUN
ap-2055	33	6	joints	joint	NOUN
ap-2055	33	7	is	be	AUX
ap-2055	33	8	ensured	ensure	VERB
ap-2055	33	9	by	by	ADP
ap-2055	33	10	a	a	DET
ap-2055	33	11	pair	pair	NOUN
ap-2055	33	12	of	of	ADP
ap-2055	33	13	bearings	bearing	NOUN
ap-2055	33	14	,	,	PUNCT
ap-2055	33	15	which	which	PRON
ap-2055	33	16	are	be	AUX
ap-2055	33	17	located	locate	VERB
ap-2055	33	18	in	in	ADP
ap-2055	33	19	an	an	DET
ap-2055	33	20	axis	axis	ADJ
ap-2055	33	21	perpendicular	perpendicular	NOUN
ap-2055	33	22	to	to	ADP
ap-2055	33	23	another	another	DET
ap-2055	33	24	pair	pair	NOUN
ap-2055	33	25	of	of	ADP
ap-2055	33	26	bearings	bearing	NOUN
ap-2055	33	27	.	.	PUNCT
ap-2055	34	1	the	the	DET
ap-2055	34	2	bearings	bearing	NOUN
ap-2055	34	3	59	59	NUM
ap-2055	34	4	http://dx.doi.org/10.14311/ap.2014.54.0059	http://dx.doi.org/10.14311/ap.2014.54.0059	VERB
ap-2055	34	5	http://ojs.cvut.cz/ojs/index.php/ap	http://ojs.cvut.cz/ojs/index.php/ap	PROPN
ap-2055	34	6	i.	i.	NOUN
ap-2055	34	7	onderová	onderová	PROPN
ap-2055	34	8	,	,	PUNCT
ap-2055	34	9	ľ	ľ	NUM
ap-2055	34	10	.	.	PUNCT
ap-2055	34	11	kolláth	kolláth	ADV
ap-2055	34	12	,	,	PUNCT
ap-2055	34	13	l.	l.	PROPN
ap-2055	34	14	ploskuňáková	ploskuňáková	PROPN
ap-2055	34	15	acta	acta	PROPN
ap-2055	34	16	polytechnica	polytechnica	PROPN
ap-2055	34	17	figure	figure	NOUN
ap-2055	34	18	1	1	NUM
ap-2055	34	19	.	.	PUNCT
ap-2055	34	20	a	a	DET
ap-2055	34	21	computer	computer	NOUN
ap-2055	34	22	model	model	NOUN
ap-2055	34	23	and	and	CCONJ
ap-2055	34	24	a	a	DET
ap-2055	34	25	real	real	ADJ
ap-2055	34	26	model	model	NOUN
ap-2055	34	27	of	of	ADP
ap-2055	34	28	tricept	tricept	NOUN
ap-2055	34	29	:	:	PUNCT
ap-2055	34	30	1	1	NUM
ap-2055	34	31	–	–	PUNCT
ap-2055	34	32	solid	solid	ADJ
ap-2055	34	33	platform	platform	NOUN
ap-2055	34	34	,	,	PUNCT
ap-2055	34	35	2	2	NUM
ap-2055	34	36	–	–	PUNCT
ap-2055	34	37	central	central	ADJ
ap-2055	34	38	pole	pole	NOUN
ap-2055	34	39	,	,	PUNCT
ap-2055	34	40	3	3	NUM
ap-2055	34	41	–	–	PUNCT
ap-2055	34	42	universal	universal	ADJ
ap-2055	34	43	(	(	PUNCT
ap-2055	34	44	primary	primary	ADJ
ap-2055	34	45	)	)	PUNCT
ap-2055	34	46	joint	joint	NOUN
ap-2055	34	47	,	,	PUNCT
ap-2055	34	48	4	4	NUM
ap-2055	34	49	–	–	PUNCT
ap-2055	34	50	telescopic	telescopic	ADJ
ap-2055	34	51	pole	pole	NOUN
ap-2055	34	52	,	,	PUNCT
ap-2055	34	53	5	5	NUM
ap-2055	34	54	–	–	PUNCT
ap-2055	34	55	spherical	spherical	ADJ
ap-2055	34	56	(	(	PUNCT
ap-2055	34	57	secondary	secondary	ADJ
ap-2055	34	58	)	)	PUNCT
ap-2055	34	59	joint	joint	NOUN
ap-2055	34	60	,	,	PUNCT
ap-2055	34	61	6	6	NUM
ap-2055	34	62	–	–	PUNCT
ap-2055	34	63	movable	movable	ADJ
ap-2055	34	64	platform	platform	NOUN
ap-2055	34	65	.	.	PUNCT
ap-2055	35	1	figure	figure	NOUN
ap-2055	35	2	2	2	NUM
ap-2055	35	3	.	.	PUNCT
ap-2055	35	4	primary	primary	ADJ
ap-2055	35	5	joint	joint	NOUN
ap-2055	35	6	.	.	PUNCT
ap-2055	36	1	allow	allow	VERB
ap-2055	36	2	smooth	smooth	ADJ
ap-2055	36	3	and	and	CCONJ
ap-2055	36	4	accurate	accurate	ADJ
ap-2055	36	5	turning	turning	NOUN
ap-2055	36	6	of	of	ADP
ap-2055	36	7	the	the	DET
ap-2055	36	8	telescopic	telescopic	ADJ
ap-2055	36	9	rods	rod	NOUN
ap-2055	36	10	,	,	PUNCT
ap-2055	36	11	which	which	PRON
ap-2055	36	12	are	be	AUX
ap-2055	36	13	connected	connect	VERB
ap-2055	36	14	by	by	ADP
ap-2055	36	15	universal	universal	ADJ
ap-2055	36	16	joints	joint	NOUN
ap-2055	36	17	to	to	ADP
ap-2055	36	18	the	the	DET
ap-2055	36	19	fixed	fix	VERB
ap-2055	36	20	platform	platform	NOUN
ap-2055	36	21	of	of	ADP
ap-2055	36	22	the	the	DET
ap-2055	36	23	mechanism	mechanism	NOUN
ap-2055	36	24	.	.	PUNCT
ap-2055	37	1	the	the	DET
ap-2055	37	2	sliding	slide	VERB
ap-2055	37	3	joint	joint	NOUN
ap-2055	37	4	is	be	AUX
ap-2055	37	5	formed	form	VERB
ap-2055	37	6	by	by	ADP
ap-2055	37	7	a	a	DET
ap-2055	37	8	telescopic	telescopic	ADJ
ap-2055	37	9	rod	rod	NOUN
ap-2055	37	10	that	that	PRON
ap-2055	37	11	transmits	transmit	VERB
ap-2055	37	12	the	the	DET
ap-2055	37	13	rotary	rotary	ADJ
ap-2055	37	14	motion	motion	NOUN
ap-2055	37	15	of	of	ADP
ap-2055	37	16	the	the	DET
ap-2055	37	17	motor	motor	NOUN
ap-2055	37	18	to	to	ADP
ap-2055	37	19	the	the	DET
ap-2055	37	20	moving	move	VERB
ap-2055	37	21	platform	platform	NOUN
ap-2055	37	22	.	.	PUNCT
ap-2055	38	1	the	the	DET
ap-2055	38	2	telescopic	telescopic	NOUN
ap-2055	38	3	rods	rod	NOUN
ap-2055	38	4	are	be	AUX
ap-2055	38	5	the	the	DET
ap-2055	38	6	most	most	ADV
ap-2055	38	7	important	important	ADJ
ap-2055	38	8	and	and	CCONJ
ap-2055	38	9	the	the	DET
ap-2055	38	10	most	most	ADV
ap-2055	38	11	exposed	expose	VERB
ap-2055	38	12	parts	part	NOUN
ap-2055	38	13	of	of	ADP
ap-2055	38	14	tricept	tricept	NOUN
ap-2055	38	15	.	.	PUNCT
ap-2055	39	1	they	they	PRON
ap-2055	39	2	convert	convert	VERB
ap-2055	39	3	the	the	DET
ap-2055	39	4	rotary	rotary	ADJ
ap-2055	39	5	motion	motion	NOUN
ap-2055	39	6	of	of	ADP
ap-2055	39	7	the	the	DET
ap-2055	39	8	actuator	actuator	NOUN
ap-2055	39	9	into	into	ADP
ap-2055	39	10	linear	linear	PROPN
ap-2055	39	11	motion	motion	NOUN
ap-2055	39	12	.	.	PUNCT
ap-2055	40	1	ejection	ejection	NOUN
ap-2055	40	2	is	be	AUX
ap-2055	40	3	performed	perform	VERB
ap-2055	40	4	by	by	ADP
ap-2055	40	5	the	the	DET
ap-2055	40	6	inner	inner	ADJ
ap-2055	40	7	cylinder	cylinder	NOUN
ap-2055	40	8	,	,	PUNCT
ap-2055	40	9	which	which	PRON
ap-2055	40	10	ejects	eject	VERB
ap-2055	40	11	from	from	ADP
ap-2055	40	12	the	the	DET
ap-2055	40	13	outer	outer	ADJ
ap-2055	40	14	cylinder	cylinder	NOUN
ap-2055	40	15	.	.	PUNCT
ap-2055	41	1	the	the	DET
ap-2055	41	2	inner	inner	ADJ
ap-2055	41	3	cylinder	cylinder	NOUN
ap-2055	41	4	is	be	AUX
ap-2055	41	5	fixed	fix	VERB
ap-2055	41	6	with	with	ADP
ap-2055	41	7	one	one	NUM
ap-2055	41	8	part	part	NOUN
ap-2055	41	9	fixed	fix	VERB
ap-2055	41	10	on	on	ADP
ap-2055	41	11	the	the	DET
ap-2055	41	12	platform	platform	NOUN
ap-2055	41	13	secondary	secondary	ADJ
ap-2055	41	14	joint	joint	NOUN
ap-2055	41	15	onto	onto	ADP
ap-2055	41	16	the	the	DET
ap-2055	41	17	carrier	carrier	NOUN
ap-2055	41	18	.	.	PUNCT
ap-2055	42	1	the	the	DET
ap-2055	42	2	outer	outer	ADJ
ap-2055	42	3	cylinder	cylinder	NOUN
ap-2055	42	4	is	be	AUX
ap-2055	42	5	fixed	fix	VERB
ap-2055	42	6	by	by	ADP
ap-2055	42	7	the	the	DET
ap-2055	42	8	primary	primary	ADJ
ap-2055	42	9	joint	joint	NOUN
ap-2055	42	10	onto	onto	ADP
ap-2055	42	11	the	the	DET
ap-2055	42	12	fixed	fix	VERB
ap-2055	42	13	platform	platform	NOUN
ap-2055	42	14	.	.	PUNCT
ap-2055	43	1	the	the	DET
ap-2055	43	2	inner	inner	ADJ
ap-2055	43	3	cylinder	cylinder	NOUN
ap-2055	43	4	is	be	AUX
ap-2055	43	5	slidably	slidably	ADV
ap-2055	43	6	placed	place	VERB
ap-2055	43	7	in	in	ADP
ap-2055	43	8	the	the	DET
ap-2055	43	9	outer	outer	ADJ
ap-2055	43	10	cylinder	cylinder	NOUN
ap-2055	43	11	.	.	PUNCT
ap-2055	44	1	as	as	SCONJ
ap-2055	44	2	both	both	DET
ap-2055	44	3	rods	rod	NOUN
ap-2055	44	4	are	be	AUX
ap-2055	44	5	slim	slim	ADJ
ap-2055	44	6	,	,	PUNCT
ap-2055	44	7	the	the	DET
ap-2055	44	8	telescopic	telescopic	NOUN
ap-2055	44	9	rods	rod	NOUN
ap-2055	44	10	are	be	AUX
ap-2055	44	11	the	the	DET
ap-2055	44	12	most	most	ADV
ap-2055	44	13	stressed	stressed	ADJ
ap-2055	44	14	parts	part	NOUN
ap-2055	44	15	.	.	PUNCT
ap-2055	45	1	the	the	DET
ap-2055	45	2	accuracy	accuracy	NOUN
ap-2055	45	3	of	of	ADP
ap-2055	45	4	the	the	DET
ap-2055	45	5	bars	bar	NOUN
ap-2055	45	6	has	have	VERB
ap-2055	45	7	the	the	DET
ap-2055	45	8	greatest	great	ADJ
ap-2055	45	9	effect	effect	NOUN
ap-2055	45	10	on	on	ADP
ap-2055	45	11	the	the	DET
ap-2055	45	12	final	final	ADJ
ap-2055	45	13	position	position	NOUN
ap-2055	45	14	of	of	ADP
ap-2055	45	15	the	the	DET
ap-2055	45	16	tool	tool	NOUN
ap-2055	45	17	.	.	PUNCT
ap-2055	46	1	the	the	DET
ap-2055	46	2	telescopic	telescopic	NOUN
ap-2055	46	3	bars	bar	NOUN
ap-2055	46	4	are	be	AUX
ap-2055	46	5	stressed	stress	VERB
ap-2055	46	6	in	in	ADP
ap-2055	46	7	terms	term	NOUN
ap-2055	46	8	of	of	ADP
ap-2055	46	9	force	force	NOUN
ap-2055	46	10	transmission	transmission	NOUN
ap-2055	46	11	,	,	PUNCT
ap-2055	46	12	and	and	CCONJ
ap-2055	46	13	they	they	PRON
ap-2055	46	14	are	be	AUX
ap-2055	46	15	also	also	ADV
ap-2055	46	16	sensitive	sensitive	ADJ
ap-2055	46	17	to	to	ADP
ap-2055	46	18	phenomena	phenomena	NOUN
ap-2055	46	19	arising	arise	VERB
ap-2055	46	20	from	from	ADP
ap-2055	46	21	long	long	ADJ
ap-2055	46	22	and	and	CCONJ
ap-2055	46	23	slim	slim	ADJ
ap-2055	46	24	rods	rod	NOUN
ap-2055	46	25	.	.	PUNCT
ap-2055	47	1	they	they	PRON
ap-2055	47	2	are	be	AUX
ap-2055	47	3	also	also	ADV
ap-2055	47	4	stressed	stress	VERB
ap-2055	47	5	to	to	ADP
ap-2055	47	6	buckling	buckle	VERB
ap-2055	47	7	and	and	CCONJ
ap-2055	47	8	,	,	PUNCT
ap-2055	47	9	in	in	ADP
ap-2055	47	10	a	a	DET
ap-2055	47	11	wide	wide	ADJ
ap-2055	47	12	temperature	temperature	NOUN
ap-2055	47	13	range	range	NOUN
ap-2055	47	14	,	,	PUNCT
ap-2055	47	15	also	also	ADV
ap-2055	47	16	to	to	ADP
ap-2055	47	17	shortening	shorten	VERB
ap-2055	47	18	and	and	CCONJ
ap-2055	47	19	lengthening	lengthen	VERB
ap-2055	47	20	as	as	ADP
ap-2055	47	21	a	a	DET
ap-2055	47	22	result	result	NOUN
ap-2055	47	23	of	of	ADP
ap-2055	47	24	thermal	thermal	ADJ
ap-2055	47	25	expansion	expansion	NOUN
ap-2055	47	26	.	.	PUNCT
ap-2055	48	1	the	the	DET
ap-2055	48	2	telescopic	telescopic	ADJ
ap-2055	48	3	rod	rod	NOUN
ap-2055	48	4	is	be	AUX
ap-2055	48	5	created	create	VERB
ap-2055	48	6	by	by	ADP
ap-2055	48	7	a	a	DET
ap-2055	48	8	moving	move	VERB
ap-2055	48	9	screw	screw	NOUN
ap-2055	48	10	.	.	PUNCT
ap-2055	49	1	it	it	PRON
ap-2055	49	2	can	can	AUX
ap-2055	49	3	be	be	AUX
ap-2055	49	4	ejected	eject	VERB
ap-2055	49	5	a	a	DET
ap-2055	49	6	distance	distance	NOUN
ap-2055	49	7	of	of	ADP
ap-2055	49	8	300	300	NUM
ap-2055	49	9	mm	mm	NOUN
ap-2055	49	10	.	.	PUNCT
ap-2055	50	1	the	the	DET
ap-2055	50	2	ball	ball	NOUN
ap-2055	50	3	joint	joint	NOUN
ap-2055	50	4	transmits	transmit	VERB
ap-2055	50	5	the	the	DET
ap-2055	50	6	movement	movement	NOUN
ap-2055	50	7	of	of	ADP
ap-2055	50	8	the	the	DET
ap-2055	50	9	telescopic	telescopic	NOUN
ap-2055	50	10	rods	rod	NOUN
ap-2055	50	11	to	to	ADP
ap-2055	50	12	the	the	DET
ap-2055	50	13	carrier	carrier	NOUN
ap-2055	50	14	.	.	PUNCT
ap-2055	51	1	it	it	PRON
ap-2055	51	2	must	must	AUX
ap-2055	51	3	allow	allow	VERB
ap-2055	51	4	spherical	spherical	ADJ
ap-2055	51	5	motion	motion	NOUN
ap-2055	51	6	of	of	ADP
ap-2055	51	7	the	the	DET
ap-2055	51	8	telescopic	telescopic	ADJ
ap-2055	51	9	rod	rod	NOUN
ap-2055	51	10	against	against	ADP
ap-2055	51	11	the	the	DET
ap-2055	51	12	carrier	carrier	NOUN
ap-2055	51	13	.	.	PUNCT
ap-2055	52	1	not	not	PART
ap-2055	52	2	only	only	ADV
ap-2055	52	3	the	the	DET
ap-2055	52	4	functions	function	NOUN
ap-2055	52	5	of	of	ADP
ap-2055	52	6	the	the	DET
ap-2055	52	7	joint	joint	NOUN
ap-2055	52	8	are	be	AUX
ap-2055	52	9	important	important	ADJ
ap-2055	52	10	,	,	PUNCT
ap-2055	52	11	but	but	CCONJ
ap-2055	52	12	also	also	ADV
ap-2055	52	13	its	its	PRON
ap-2055	52	14	location	location	NOUN
ap-2055	52	15	on	on	ADP
ap-2055	52	16	the	the	DET
ap-2055	52	17	carrier	carrier	NOUN
ap-2055	52	18	.	.	PUNCT
ap-2055	53	1	the	the	DET
ap-2055	53	2	location	location	NOUN
ap-2055	53	3	must	must	AUX
ap-2055	53	4	be	be	AUX
ap-2055	53	5	as	as	ADV
ap-2055	53	6	close	close	ADJ
ap-2055	53	7	to	to	ADP
ap-2055	53	8	the	the	DET
ap-2055	53	9	center	center	NOUN
ap-2055	53	10	of	of	ADP
ap-2055	53	11	the	the	DET
ap-2055	53	12	carrier	carrier	NOUN
ap-2055	53	13	as	as	ADP
ap-2055	53	14	possible	possible	ADJ
ap-2055	53	15	.	.	PUNCT
ap-2055	54	1	figure	figure	VERB
ap-2055	54	2	3	3	NUM
ap-2055	54	3	.	.	PUNCT
ap-2055	54	4	pull	pull	NOUN
ap-2055	54	5	-	-	PUNCT
ap-2055	54	6	rod	rod	NOUN
ap-2055	54	7	of	of	ADP
ap-2055	54	8	the	the	DET
ap-2055	54	9	tricept	tricept	NOUN
ap-2055	54	10	.	.	PUNCT
ap-2055	55	1	figure	figure	VERB
ap-2055	55	2	4	4	NUM
ap-2055	55	3	.	.	PUNCT
ap-2055	56	1	the	the	DET
ap-2055	56	2	relationship	relationship	NOUN
ap-2055	56	3	between	between	ADP
ap-2055	56	4	the	the	DET
ap-2055	56	5	specified	specified	ADJ
ap-2055	56	6	position	position	NOUN
ap-2055	56	7	and	and	CCONJ
ap-2055	56	8	the	the	DET
ap-2055	56	9	reached	reach	VERB
ap-2055	56	10	position	position	NOUN
ap-2055	56	11	.	.	PUNCT
ap-2055	57	1	we	we	PRON
ap-2055	57	2	therefore	therefore	ADV
ap-2055	57	3	we	we	PRON
ap-2055	57	4	reduce	reduce	VERB
ap-2055	57	5	the	the	DET
ap-2055	57	6	dimensions	dimension	NOUN
ap-2055	57	7	of	of	ADP
ap-2055	57	8	the	the	DET
ap-2055	57	9	carrier	carrier	NOUN
ap-2055	57	10	,	,	PUNCT
ap-2055	57	11	and	and	CCONJ
ap-2055	57	12	this	this	PRON
ap-2055	57	13	minimizes	minimize	VERB
ap-2055	57	14	the	the	DET
ap-2055	57	15	secondary	secondary	ADJ
ap-2055	57	16	circle	circle	NOUN
ap-2055	57	17	.	.	PUNCT
ap-2055	58	1	previous	previous	ADJ
ap-2055	58	2	analyses	analysis	NOUN
ap-2055	58	3	have	have	AUX
ap-2055	58	4	shown	show	VERB
ap-2055	58	5	that	that	SCONJ
ap-2055	58	6	the	the	DET
ap-2055	58	7	location	location	NOUN
ap-2055	58	8	of	of	ADP
ap-2055	58	9	the	the	DET
ap-2055	58	10	joint	joint	NOUN
ap-2055	58	11	is	be	AUX
ap-2055	58	12	also	also	ADV
ap-2055	58	13	important	important	ADJ
ap-2055	58	14	in	in	ADP
ap-2055	58	15	terms	term	NOUN
ap-2055	58	16	of	of	ADP
ap-2055	58	17	the	the	DET
ap-2055	58	18	tensions	tension	NOUN
ap-2055	58	19	that	that	PRON
ap-2055	58	20	arise	arise	VERB
ap-2055	58	21	.	.	PUNCT
ap-2055	59	1	the	the	DET
ap-2055	59	2	incline	incline	NOUN
ap-2055	59	3	of	of	ADP
ap-2055	59	4	the	the	DET
ap-2055	59	5	telescopic	telescopic	ADJ
ap-2055	59	6	rods	rod	NOUN
ap-2055	59	7	to	to	ADP
ap-2055	59	8	the	the	DET
ap-2055	59	9	central	central	ADJ
ap-2055	59	10	rod	rod	NOUN
ap-2055	59	11	is	be	AUX
ap-2055	59	12	important	important	ADJ
ap-2055	59	13	for	for	ADP
ap-2055	59	14	the	the	DET
ap-2055	59	15	tensions	tension	NOUN
ap-2055	59	16	.	.	PUNCT
ap-2055	60	1	the	the	PRON
ap-2055	60	2	smaller	small	ADJ
ap-2055	60	3	the	the	DET
ap-2055	60	4	incline	incline	NOUN
ap-2055	60	5	is	be	AUX
ap-2055	60	6	,	,	PUNCT
ap-2055	60	7	the	the	DET
ap-2055	60	8	greater	great	ADJ
ap-2055	60	9	tensions	tension	NOUN
ap-2055	60	10	are	be	AUX
ap-2055	60	11	generated	generate	VERB
ap-2055	60	12	in	in	ADP
ap-2055	60	13	the	the	DET
ap-2055	60	14	telescopic	telescopic	NOUN
ap-2055	60	15	rods	rod	NOUN
ap-2055	60	16	with	with	ADP
ap-2055	60	17	the	the	DET
ap-2055	60	18	same	same	ADJ
ap-2055	60	19	force	force	NOUN
ap-2055	60	20	applied	apply	VERB
ap-2055	60	21	.	.	PUNCT
ap-2055	61	1	a	a	DET
ap-2055	61	2	dynamic	dynamic	ADJ
ap-2055	61	3	analysis	analysis	NOUN
ap-2055	61	4	shows	show	VERB
ap-2055	61	5	a	a	DET
ap-2055	61	6	minimum	minimum	ADJ
ap-2055	61	7	incline	incline	NOUN
ap-2055	61	8	of	of	ADP
ap-2055	61	9	the	the	DET
ap-2055	61	10	telescopic	telescopic	ADJ
ap-2055	61	11	rod	rod	NOUN
ap-2055	61	12	to	to	ADP
ap-2055	61	13	the	the	DET
ap-2055	61	14	central	central	ADJ
ap-2055	61	15	rod	rod	NOUN
ap-2055	61	16	,	,	PUNCT
ap-2055	61	17	which	which	PRON
ap-2055	61	18	must	must	AUX
ap-2055	61	19	be	be	AUX
ap-2055	61	20	maintained	maintain	VERB
ap-2055	61	21	even	even	ADV
ap-2055	61	22	in	in	ADP
ap-2055	61	23	the	the	DET
ap-2055	61	24	most	most	ADV
ap-2055	61	25	unfavorable	unfavorable	ADJ
ap-2055	61	26	position	position	NOUN
ap-2055	61	27	.	.	PUNCT
ap-2055	62	1	if	if	SCONJ
ap-2055	62	2	the	the	DET
ap-2055	62	3	inclination	inclination	NOUN
ap-2055	62	4	is	be	AUX
ap-2055	62	5	lower	low	ADJ
ap-2055	62	6	,	,	PUNCT
ap-2055	62	7	the	the	DET
ap-2055	62	8	tension	tension	NOUN
ap-2055	62	9	in	in	ADP
ap-2055	62	10	the	the	DET
ap-2055	62	11	rods	rod	NOUN
ap-2055	62	12	will	will	AUX
ap-2055	62	13	increase	increase	VERB
ap-2055	62	14	significantly	significantly	ADV
ap-2055	62	15	.	.	PUNCT
ap-2055	63	1	the	the	DET
ap-2055	63	2	ball	ball	NOUN
ap-2055	63	3	joint	joint	NOUN
ap-2055	63	4	itself	itself	PRON
ap-2055	63	5	is	be	AUX
ap-2055	63	6	formed	form	VERB
ap-2055	63	7	by	by	ADP
ap-2055	63	8	a	a	DET
ap-2055	63	9	spherical	spherical	ADJ
ap-2055	63	10	pin	pin	NOUN
ap-2055	63	11	fastened	fasten	VERB
ap-2055	63	12	in	in	ADP
ap-2055	63	13	a	a	DET
ap-2055	63	14	bed	bed	NOUN
ap-2055	63	15	with	with	ADP
ap-2055	63	16	the	the	DET
ap-2055	63	17	inverse	inverse	NOUN
ap-2055	63	18	shape	shape	NOUN
ap-2055	63	19	of	of	ADP
ap-2055	63	20	the	the	DET
ap-2055	63	21	pin	pin	NOUN
ap-2055	63	22	.	.	PUNCT
ap-2055	64	1	to	to	PART
ap-2055	64	2	make	make	VERB
ap-2055	64	3	it	it	PRON
ap-2055	64	4	simple	simple	ADJ
ap-2055	64	5	,	,	PUNCT
ap-2055	64	6	it	it	PRON
ap-2055	64	7	contains	contain	VERB
ap-2055	64	8	no	no	DET
ap-2055	64	9	rolling	rolling	ADJ
ap-2055	64	10	elements	element	NOUN
ap-2055	64	11	but	but	CCONJ
ap-2055	64	12	is	be	AUX
ap-2055	64	13	secured	secure	VERB
ap-2055	64	14	slidably	slidably	ADV
ap-2055	64	15	.	.	PUNCT
ap-2055	65	1	3	3	X
ap-2055	65	2	.	.	X
ap-2055	65	3	the	the	DET
ap-2055	65	4	basic	basic	ADJ
ap-2055	65	5	concepts	concept	NOUN
ap-2055	65	6	desired	desire	VERB
ap-2055	65	7	(	(	PUNCT
ap-2055	65	8	programmed	programmed	ADJ
ap-2055	65	9	)	)	PUNCT
ap-2055	65	10	position	position	NOUN
ap-2055	65	11	—	—	PUNCT
ap-2055	65	12	a	a	DET
ap-2055	65	13	position	position	NOUN
ap-2055	65	14	determined	determine	VERB
ap-2055	65	15	by	by	ADP
ap-2055	65	16	programming	program	VERB
ap-2055	65	17	with	with	ADP
ap-2055	65	18	learning	learning	NOUN
ap-2055	65	19	,	,	PUNCT
ap-2055	65	20	manual	manual	ADJ
ap-2055	65	21	data	datum	NOUN
ap-2055	65	22	entry	entry	NOUN
ap-2055	65	23	or	or	CCONJ
ap-2055	65	24	explicit	explicit	ADJ
ap-2055	65	25	programming	programming	NOUN
ap-2055	65	26	.	.	PUNCT
ap-2055	66	1	the	the	DET
ap-2055	66	2	programmed	program	VERB
ap-2055	66	3	(	(	PUNCT
ap-2055	66	4	desired	desire	VERB
ap-2055	66	5	)	)	PUNCT
ap-2055	66	6	positions	position	NOUN
ap-2055	66	7	for	for	ADP
ap-2055	66	8	robots	robot	NOUN
ap-2055	66	9	specified	specify	VERB
ap-2055	66	10	using	use	VERB
ap-2055	66	11	programming	programming	NOUN
ap-2055	66	12	with	with	ADP
ap-2055	66	13	learning	learning	NOUN
ap-2055	66	14	must	must	AUX
ap-2055	66	15	be	be	AUX
ap-2055	66	16	defined	define	VERB
ap-2055	66	17	as	as	ADP
ap-2055	66	18	a	a	DET
ap-2055	66	19	measuring	measuring	NOUN
ap-2055	66	20	point	point	NOUN
ap-2055	66	21	on	on	ADP
ap-2055	66	22	the	the	DET
ap-2055	66	23	robot	robot	NOUN
ap-2055	66	24	.	.	PUNCT
ap-2055	67	1	this	this	DET
ap-2055	67	2	point	point	NOUN
ap-2055	67	3	is	be	AUX
ap-2055	67	4	obtained	obtain	VERB
ap-2055	67	5	when	when	SCONJ
ap-2055	67	6	programming	program	VERB
ap-2055	67	7	a	a	DET
ap-2055	67	8	robot	robot	NOUN
ap-2055	67	9	that	that	PRON
ap-2055	67	10	approximates	approximate	VERB
ap-2055	67	11	the	the	DET
ap-2055	67	12	points	point	NOUN
ap-2055	67	13	in	in	ADP
ap-2055	67	14	a	a	DET
ap-2055	67	15	cube	cube	NOUN
ap-2055	67	16	(	(	PUNCT
ap-2055	67	17	p1	p1	NOUN
ap-2055	67	18	,	,	PUNCT
ap-2055	67	19	p2	p2	NOUN
ap-2055	67	20	,	,	PUNCT
ap-2055	67	21	etc	etc	X
ap-2055	67	22	.	.	X
ap-2055	67	23	)	)	PUNCT
ap-2055	67	24	.	.	PUNCT
ap-2055	68	1	when	when	SCONJ
ap-2055	68	2	the	the	DET
ap-2055	68	3	accuracy	accuracy	NOUN
ap-2055	68	4	calculation	calculation	NOUN
ap-2055	68	5	is	be	AUX
ap-2055	68	6	based	base	VERB
ap-2055	68	7	on	on	ADP
ap-2055	68	8	the	the	DET
ap-2055	68	9	successive	successive	ADJ
ap-2055	68	10	positions	position	NOUN
ap-2055	68	11	that	that	PRON
ap-2055	68	12	are	be	AUX
ap-2055	68	13	reached	reach	VERB
ap-2055	68	14	,	,	PUNCT
ap-2055	68	15	the	the	DET
ap-2055	68	16	coordinates	coordinate	NOUN
ap-2055	68	17	expressed	express	VERB
ap-2055	68	18	by	by	ADP
ap-2055	68	19	the	the	DET
ap-2055	68	20	measuring	measure	VERB
ap-2055	68	21	system	system	NOUN
ap-2055	68	22	are	be	AUX
ap-2055	68	23	used	use	VERB
ap-2055	68	24	as	as	ADP
ap-2055	68	25	the	the	DET
ap-2055	68	26	programmed	program	VERB
ap-2055	68	27	positions	position	NOUN
ap-2055	68	28	.	.	PUNCT
ap-2055	69	1	reached	reach	VERB
ap-2055	69	2	position	position	NOUN
ap-2055	69	3	—	—	PUNCT
ap-2055	69	4	the	the	DET
ap-2055	69	5	position	position	NOUN
ap-2055	69	6	reached	reach	VERB
ap-2055	69	7	by	by	ADP
ap-2055	69	8	the	the	DET
ap-2055	69	9	robot	robot	NOUN
ap-2055	69	10	in	in	ADP
ap-2055	69	11	automatic	automatic	ADJ
ap-2055	69	12	mode	mode	NOUN
ap-2055	69	13	in	in	ADP
ap-2055	69	14	response	response	NOUN
ap-2055	69	15	to	to	ADP
ap-2055	69	16	the	the	DET
ap-2055	69	17	programmed	program	VERB
ap-2055	69	18	position	position	NOUN
ap-2055	69	19	(	(	PUNCT
ap-2055	69	20	see	see	VERB
ap-2055	69	21	figure	figure	NOUN
ap-2055	69	22	4	4	NUM
ap-2055	69	23	)	)	PUNCT
ap-2055	69	24	.	.	PUNCT
ap-2055	70	1	the	the	DET
ap-2055	70	2	parameters	parameter	NOUN
ap-2055	70	3	of	of	ADP
ap-2055	70	4	accuracy	accuracy	NOUN
ap-2055	70	5	and	and	CCONJ
ap-2055	70	6	position	position	NOUN
ap-2055	70	7	repeata60	repeata60	PROPN
ap-2055	70	8	vol	vol	NOUN
ap-2055	70	9	.	.	PUNCT
ap-2055	71	1	54	54	NUM
ap-2055	71	2	no	no	NOUN
ap-2055	71	3	.	.	NOUN
ap-2055	72	1	1/2014	1/2014	NUM
ap-2055	72	2	experimental	experimental	ADJ
ap-2055	72	3	verification	verification	NOUN
ap-2055	72	4	figure	figure	NOUN
ap-2055	72	5	5	5	NUM
ap-2055	72	6	.	.	PUNCT
ap-2055	72	7	unidirectional	unidirectional	ADJ
ap-2055	72	8	positioning	positioning	NOUN
ap-2055	72	9	accuracy	accuracy	NOUN
ap-2055	72	10	.	.	PUNCT
ap-2055	73	1	bility	bility	NOUN
ap-2055	73	2	express	express	VERB
ap-2055	73	3	deviations	deviation	NOUN
ap-2055	73	4	that	that	PRON
ap-2055	73	5	occur	occur	VERB
ap-2055	73	6	between	between	ADP
ap-2055	73	7	the	the	DET
ap-2055	73	8	desired	desire	VERB
ap-2055	73	9	position	position	NOUN
ap-2055	73	10	and	and	CCONJ
ap-2055	73	11	the	the	DET
ap-2055	73	12	reached	reach	VERB
ap-2055	73	13	positions	position	NOUN
ap-2055	73	14	,	,	PUNCT
ap-2055	73	15	as	as	ADV
ap-2055	73	16	well	well	ADV
ap-2055	73	17	as	as	ADP
ap-2055	73	18	variations	variation	NOUN
ap-2055	73	19	in	in	ADP
ap-2055	73	20	the	the	DET
ap-2055	73	21	reached	reach	VERB
ap-2055	73	22	position	position	NOUN
ap-2055	73	23	in	in	ADP
ap-2055	73	24	a	a	DET
ap-2055	73	25	series	series	NOUN
ap-2055	73	26	of	of	ADP
ap-2055	73	27	runs	run	NOUN
ap-2055	73	28	to	to	ADP
ap-2055	73	29	the	the	DET
ap-2055	73	30	programmed	program	VERB
ap-2055	73	31	position	position	NOUN
ap-2055	73	32	.	.	PUNCT
ap-2055	74	1	these	these	DET
ap-2055	74	2	errors	error	NOUN
ap-2055	74	3	may	may	AUX
ap-2055	74	4	be	be	AUX
ap-2055	74	5	due	due	ADJ
ap-2055	74	6	to	to	ADP
ap-2055	74	7	the	the	DET
ap-2055	74	8	properties	property	NOUN
ap-2055	74	9	of	of	ADP
ap-2055	74	10	internal	internal	ADJ
ap-2055	74	11	control	control	NOUN
ap-2055	74	12	functions	function	NOUN
ap-2055	74	13	,	,	PUNCT
ap-2055	74	14	coordinate	coordinate	VERB
ap-2055	74	15	transformation	transformation	NOUN
ap-2055	74	16	errors	error	NOUN
ap-2055	74	17	,	,	PUNCT
ap-2055	74	18	differences	difference	NOUN
ap-2055	74	19	between	between	ADP
ap-2055	74	20	the	the	DET
ap-2055	74	21	dimensions	dimension	NOUN
ap-2055	74	22	of	of	ADP
ap-2055	74	23	joint	joint	ADJ
ap-2055	74	24	structures	structure	NOUN
ap-2055	74	25	and	and	CCONJ
ap-2055	74	26	the	the	DET
ap-2055	74	27	dimensions	dimension	NOUN
ap-2055	74	28	used	use	VERB
ap-2055	74	29	in	in	ADP
ap-2055	74	30	the	the	DET
ap-2055	74	31	control	control	NOUN
ap-2055	74	32	system	system	NOUN
ap-2055	74	33	model	model	NOUN
ap-2055	74	34	,	,	PUNCT
ap-2055	74	35	mechanical	mechanical	ADJ
ap-2055	74	36	failures	failure	NOUN
ap-2055	74	37	such	such	ADJ
ap-2055	74	38	as	as	ADP
ap-2055	74	39	backlash	backlash	NOUN
ap-2055	74	40	,	,	PUNCT
ap-2055	74	41	hysteresis	hysteresis	NOUN
ap-2055	74	42	,	,	PUNCT
ap-2055	74	43	friction	friction	NOUN
ap-2055	74	44	and	and	CCONJ
ap-2055	74	45	temperature	temperature	NOUN
ap-2055	74	46	.	.	PUNCT
ap-2055	75	1	the	the	DET
ap-2055	75	2	method	method	NOUN
ap-2055	75	3	for	for	ADP
ap-2055	75	4	recording	record	VERB
ap-2055	75	5	data	datum	NOUN
ap-2055	75	6	on	on	ADP
ap-2055	75	7	the	the	DET
ap-2055	75	8	specified	specify	VERB
ap-2055	75	9	position	position	NOUN
ap-2055	75	10	is	be	AUX
ap-2055	75	11	associated	associate	VERB
ap-2055	75	12	with	with	ADP
ap-2055	75	13	options	option	NOUN
ap-2055	75	14	for	for	ADP
ap-2055	75	15	controlling	control	VERB
ap-2055	75	16	the	the	DET
ap-2055	75	17	robot	robot	NOUN
ap-2055	75	18	,	,	PUNCT
ap-2055	75	19	and	and	CCONJ
ap-2055	75	20	significantly	significantly	ADV
ap-2055	75	21	affects	affect	VERB
ap-2055	75	22	the	the	DET
ap-2055	75	23	parameters	parameter	NOUN
ap-2055	75	24	of	of	ADP
ap-2055	75	25	accuracy	accuracy	NOUN
ap-2055	75	26	.	.	PUNCT
ap-2055	76	1	for	for	ADP
ap-2055	76	2	this	this	DET
ap-2055	76	3	reason	reason	NOUN
ap-2055	76	4	,	,	PUNCT
ap-2055	76	5	the	the	DET
ap-2055	76	6	chosen	choose	VERB
ap-2055	76	7	method	method	NOUN
ap-2055	76	8	must	must	AUX
ap-2055	76	9	be	be	AUX
ap-2055	76	10	clearly	clearly	ADV
ap-2055	76	11	stated	state	VERB
ap-2055	76	12	in	in	ADP
ap-2055	76	13	the	the	DET
ap-2055	76	14	protocol	protocol	NOUN
ap-2055	76	15	on	on	ADP
ap-2055	76	16	the	the	DET
ap-2055	76	17	implementation	implementation	NOUN
ap-2055	76	18	of	of	ADP
ap-2055	76	19	the	the	DET
ap-2055	76	20	test	test	NOUN
ap-2055	76	21	.	.	PUNCT
ap-2055	77	1	if	if	SCONJ
ap-2055	77	2	the	the	DET
ap-2055	77	3	desired	desire	VERB
ap-2055	77	4	position	position	NOUN
ap-2055	77	5	is	be	AUX
ap-2055	77	6	programmed	program	VERB
ap-2055	77	7	with	with	ADP
ap-2055	77	8	explicit	explicit	ADJ
ap-2055	77	9	programming	programming	NOUN
ap-2055	77	10	,	,	PUNCT
ap-2055	77	11	the	the	DET
ap-2055	77	12	relationship	relationship	NOUN
ap-2055	77	13	(	(	PUNCT
ap-2055	77	14	distance	distance	NOUN
ap-2055	77	15	and	and	CCONJ
ap-2055	77	16	orientation	orientation	NOUN
ap-2055	77	17	)	)	PUNCT
ap-2055	77	18	between	between	ADP
ap-2055	77	19	the	the	DET
ap-2055	77	20	different	different	ADJ
ap-2055	77	21	specified	specified	ADJ
ap-2055	77	22	positions	position	NOUN
ap-2055	77	23	is	be	AUX
ap-2055	77	24	known	know	VERB
ap-2055	77	25	or	or	CCONJ
ap-2055	77	26	can	can	AUX
ap-2055	77	27	be	be	AUX
ap-2055	77	28	determined	determine	VERB
ap-2055	77	29	,	,	PUNCT
ap-2055	77	30	and	and	CCONJ
ap-2055	77	31	is	be	AUX
ap-2055	77	32	required	require	VERB
ap-2055	77	33	for	for	ADP
ap-2055	77	34	specifying	specify	VERB
ap-2055	77	35	and	and	CCONJ
ap-2055	77	36	measuring	measure	VERB
ap-2055	77	37	the	the	DET
ap-2055	77	38	distance	distance	NOUN
ap-2055	77	39	parameters	parameter	NOUN
ap-2055	77	40	.	.	PUNCT
ap-2055	78	1	4	4	X
ap-2055	78	2	.	.	X
ap-2055	78	3	positioning	positioning	NOUN
ap-2055	78	4	accuracy	accuracy	NOUN
ap-2055	78	5	and	and	CCONJ
ap-2055	78	6	position	position	NOUN
ap-2055	78	7	repeatability	repeatability	NOUN
ap-2055	78	8	4.1	4.1	NUM
ap-2055	78	9	.	.	PUNCT
ap-2055	79	1	unidirectional	unidirectional	ADJ
ap-2055	79	2	positioning	positioning	NOUN
ap-2055	79	3	accuracy	accuracy	NOUN
ap-2055	79	4	unidirectional	unidirectional	ADJ
ap-2055	79	5	positioning	positioning	NOUN
ap-2055	79	6	accuracy	accuracy	NOUN
ap-2055	79	7	(	(	PUNCT
ap-2055	79	8	ap	ap	PROPN
ap-2055	79	9	)	)	PUNCT
ap-2055	79	10	expresses	express	VERB
ap-2055	79	11	the	the	DET
ap-2055	79	12	deviation	deviation	NOUN
ap-2055	79	13	between	between	ADP
ap-2055	79	14	the	the	DET
ap-2055	79	15	desired	desire	VERB
ap-2055	79	16	position	position	NOUN
ap-2055	79	17	and	and	CCONJ
ap-2055	79	18	the	the	DET
ap-2055	79	19	diameter	diameter	NOUN
ap-2055	79	20	of	of	ADP
ap-2055	79	21	the	the	DET
ap-2055	79	22	reached	reach	VERB
ap-2055	79	23	positions	position	NOUN
ap-2055	79	24	when	when	SCONJ
ap-2055	79	25	moving	move	VERB
ap-2055	79	26	to	to	ADP
ap-2055	79	27	the	the	DET
ap-2055	79	28	desired	desire	VERB
ap-2055	79	29	position	position	NOUN
ap-2055	79	30	in	in	ADP
ap-2055	79	31	the	the	DET
ap-2055	79	32	same	same	ADJ
ap-2055	79	33	direction	direction	NOUN
ap-2055	79	34	.	.	PUNCT
ap-2055	80	1	unidirectional	unidirectional	ADJ
ap-2055	80	2	positioning	positioning	NOUN
ap-2055	80	3	accuracy	accuracy	NOUN
ap-2055	80	4	.	.	PUNCT
ap-2055	81	1	we	we	PRON
ap-2055	81	2	distinguish	distinguish	VERB
ap-2055	81	3	:	:	PUNCT
ap-2055	81	4	unidirectional	unidirectional	ADJ
ap-2055	81	5	positioning	positioning	NOUN
ap-2055	81	6	accuracy	accuracy	NOUN
ap-2055	81	7	—	—	PUNCT
ap-2055	81	8	the	the	DET
ap-2055	81	9	difference	difference	NOUN
ap-2055	81	10	between	between	ADP
ap-2055	81	11	the	the	DET
ap-2055	81	12	desired	desire	VERB
ap-2055	81	13	location	location	NOUN
ap-2055	81	14	and	and	CCONJ
ap-2055	81	15	the	the	DET
ap-2055	81	16	barycenter	barycenter	NOUN
ap-2055	81	17	of	of	ADP
ap-2055	81	18	the	the	DET
ap-2055	81	19	set	set	NOUN
ap-2055	81	20	of	of	ADP
ap-2055	81	21	reached	reach	VERB
ap-2055	81	22	points	point	NOUN
ap-2055	81	23	(	(	PUNCT
ap-2055	81	24	see	see	VERB
ap-2055	81	25	figure	figure	NOUN
ap-2055	81	26	5	5	NUM
ap-2055	81	27	)	)	PUNCT
ap-2055	81	28	;	;	PUNCT
ap-2055	81	29	unidirectional	unidirectional	ADJ
ap-2055	81	30	orientation	orientation	NOUN
ap-2055	81	31	accuracy	accuracy	NOUN
ap-2055	81	32	—	—	PUNCT
ap-2055	81	33	the	the	DET
ap-2055	81	34	difference	difference	NOUN
ap-2055	81	35	between	between	ADP
ap-2055	81	36	the	the	DET
ap-2055	81	37	programmed	program	VERB
ap-2055	81	38	orientation	orientation	NOUN
ap-2055	81	39	and	and	CCONJ
ap-2055	81	40	the	the	DET
ap-2055	81	41	mean	mean	ADJ
ap-2055	81	42	value	value	NOUN
ap-2055	81	43	of	of	ADP
ap-2055	81	44	the	the	DET
ap-2055	81	45	achieved	achieve	VERB
ap-2055	81	46	angular	angular	ADJ
ap-2055	81	47	orientation	orientation	NOUN
ap-2055	81	48	(	(	PUNCT
ap-2055	81	49	see	see	VERB
ap-2055	81	50	figure	figure	NOUN
ap-2055	81	51	6	6	NUM
ap-2055	81	52	)	)	PUNCT
ap-2055	81	53	.	.	PUNCT
ap-2055	82	1	figure	figure	VERB
ap-2055	82	2	6	6	NUM
ap-2055	82	3	.	.	PUNCT
ap-2055	83	1	unidirectional	unidirectional	ADJ
ap-2055	83	2	orientation	orientation	NOUN
ap-2055	83	3	accuracy	accuracy	NOUN
ap-2055	83	4	.	.	PUNCT
ap-2055	84	1	unidirectional	unidirectional	ADJ
ap-2055	84	2	positioning	positioning	NOUN
ap-2055	84	3	accuracy	accuracy	NOUN
ap-2055	84	4	is	be	AUX
ap-2055	84	5	calculated	calculate	VERB
ap-2055	84	6	as	as	SCONJ
ap-2055	84	7	follows	follow	VERB
ap-2055	84	8	:	:	PUNCT
ap-2055	84	9	app	app	PROPN
ap-2055	84	10	=	=	SYM
ap-2055	84	11	√	√	PROPN
ap-2055	84	12	(	(	PUNCT
ap-2055	84	13	x̄	x̄	NOUN
ap-2055	84	14	−	−	PROPN
ap-2055	84	15	xc)2	xc)2	PROPN
ap-2055	85	1	+	+	CCONJ
ap-2055	85	2	(	(	PUNCT
ap-2055	85	3	ȳ	ȳ	PROPN
ap-2055	85	4	−	−	PROPN
ap-2055	85	5	yc)2	yc)2	PROPN
ap-2055	85	6	+	+	CCONJ
ap-2055	85	7	(	(	PUNCT
ap-2055	85	8	z̄	z̄	INTJ
ap-2055	85	9	−	−	ADP
ap-2055	85	10	zc)2	zc)2	NOUN
ap-2055	85	11	,	,	PUNCT
ap-2055	85	12	,	,	PUNCT
ap-2055	85	13	apx	apx	PROPN
ap-2055	85	14	=	=	SYM
ap-2055	85	15	x̄	x̄	PROPN
ap-2055	85	16	−	−	PROPN
ap-2055	86	1	xc	xc	PROPN
ap-2055	86	2	,	,	PUNCT
ap-2055	86	3	x̄	x̄	PUNCT
ap-2055	86	4	=	=	PUNCT
ap-2055	87	1	1	1	NUM
ap-2055	87	2	n	n	NUM
ap-2055	87	3	n∑	n∑	PROPN
ap-2055	87	4	j=1	j=1	PROPN
ap-2055	87	5	xj	xj	PROPN
ap-2055	87	6	,	,	PUNCT
ap-2055	87	7	apy	apy	NOUN
ap-2055	87	8	=	=	SYM
ap-2055	87	9	ȳ	ȳ	PROPN
ap-2055	87	10	−	−	PROPN
ap-2055	87	11	yc	yc	INTJ
ap-2055	87	12	,	,	PUNCT
ap-2055	87	13	ȳ	ȳ	NOUN
ap-2055	87	14	=	=	SYM
ap-2055	87	15	1	1	NUM
ap-2055	87	16	n	n	NOUN
ap-2055	87	17	n∑	n∑	PROPN
ap-2055	87	18	j=1	j=1	PROPN
ap-2055	87	19	yj	yj	PROPN
ap-2055	87	20	,	,	PUNCT
ap-2055	87	21	apz	apz	PROPN
ap-2055	87	22	=	=	SYM
ap-2055	87	23	z̄	z̄	PROPN
ap-2055	87	24	−	−	PROPN
ap-2055	87	25	zc	zc	PROPN
ap-2055	87	26	,	,	PUNCT
ap-2055	87	27	z̄	z̄	NOUN
ap-2055	87	28	=	=	SYM
ap-2055	87	29	1	1	NUM
ap-2055	87	30	n	n	NUM
ap-2055	87	31	n∑	n∑	PROPN
ap-2055	87	32	j=1	j=1	PROPN
ap-2055	87	33	zj	zj	PROPN
ap-2055	87	34	,	,	PUNCT
ap-2055	87	35	where	where	SCONJ
ap-2055	87	36	x̄	x̄	PROPN
ap-2055	87	37	,	,	PUNCT
ap-2055	87	38	ȳ	ȳ	PROPN
ap-2055	87	39	,	,	PUNCT
ap-2055	87	40	z̄	z̄	X
ap-2055	87	41	are	be	AUX
ap-2055	87	42	the	the	DET
ap-2055	87	43	barycentric	barycentric	ADJ
ap-2055	87	44	coordinates	coordinate	NOUN
ap-2055	87	45	of	of	ADP
ap-2055	87	46	a	a	DET
ap-2055	87	47	set	set	NOUN
ap-2055	87	48	of	of	ADP
ap-2055	87	49	points	point	NOUN
ap-2055	87	50	obtained	obtain	VERB
ap-2055	87	51	by	by	ADP
ap-2055	87	52	repeating	repeat	VERB
ap-2055	87	53	the	the	DET
ap-2055	87	54	same	same	ADJ
ap-2055	87	55	location	location	NOUN
ap-2055	87	56	n	n	CCONJ
ap-2055	87	57	-	-	PUNCT
ap-2055	87	58	times	time	NOUN
ap-2055	87	59	,	,	PUNCT
ap-2055	87	60	xc	xc	PROPN
ap-2055	87	61	,	,	PUNCT
ap-2055	87	62	yc	yc	PROPN
ap-2055	87	63	,	,	PUNCT
ap-2055	87	64	zc	zc	X
ap-2055	87	65	are	be	AUX
ap-2055	87	66	the	the	DET
ap-2055	87	67	coordinates	coordinate	NOUN
ap-2055	87	68	of	of	ADP
ap-2055	87	69	the	the	DET
ap-2055	87	70	programmed	program	VERB
ap-2055	87	71	(	(	PUNCT
ap-2055	87	72	specified	specified	ADJ
ap-2055	87	73	)	)	PUNCT
ap-2055	87	74	position	position	NOUN
ap-2055	87	75	,	,	PUNCT
ap-2055	87	76	and	and	CCONJ
ap-2055	87	77	xj	xj	PROPN
ap-2055	87	78	,	,	PUNCT
ap-2055	87	79	yj	yj	PROPN
ap-2055	87	80	,	,	PUNCT
ap-2055	87	81	zj	zj	PROPN
ap-2055	87	82	are	be	AUX
ap-2055	87	83	the	the	DET
ap-2055	87	84	coordinates	coordinate	NOUN
ap-2055	87	85	of	of	ADP
ap-2055	87	86	the	the	DET
ap-2055	87	87	reached	reach	VERB
ap-2055	87	88	position	position	NOUN
ap-2055	87	89	.	.	PUNCT
ap-2055	88	1	unidirectional	unidirectional	ADJ
ap-2055	88	2	orientation	orientation	NOUN
ap-2055	88	3	accuracy	accuracy	NOUN
ap-2055	88	4	is	be	AUX
ap-2055	88	5	calculated	calculate	VERB
ap-2055	88	6	as	as	SCONJ
ap-2055	88	7	follows	follow	VERB
ap-2055	88	8	:	:	PUNCT
ap-2055	88	9	,	,	PUNCT
ap-2055	88	10	apa	apa	PROPN
ap-2055	88	11	=	=	PROPN
ap-2055	88	12	ā	ā	PROPN
ap-2055	88	13	−	−	PROPN
ap-2055	88	14	ac	ac	PROPN
ap-2055	88	15	,	,	PUNCT
ap-2055	88	16	ā	ā	NOUN
ap-2055	88	17	=	=	SYM
ap-2055	88	18	1	1	NUM
ap-2055	88	19	n	n	NOUN
ap-2055	88	20	n∑	n∑	PROPN
ap-2055	88	21	j=1	j=1	PROPN
ap-2055	88	22	aj	aj	PROPN
ap-2055	88	23	,	,	PUNCT
ap-2055	88	24	apb	apb	PROPN
ap-2055	88	25	=	=	PUNCT
ap-2055	88	26	b̄	b̄	PROPN
ap-2055	88	27	−	−	PROPN
ap-2055	88	28	bc	bc	PROPN
ap-2055	88	29	,	,	PUNCT
ap-2055	88	30	b̄	b̄	VERB
ap-2055	88	31	=	=	SYM
ap-2055	88	32	1	1	NUM
ap-2055	88	33	n	n	NOUN
ap-2055	88	34	n∑	n∑	NOUN
ap-2055	88	35	j=1	j=1	NOUN
ap-2055	88	36	bj	bj	VERB
ap-2055	88	37	,	,	PUNCT
ap-2055	88	38	apc	apc	PROPN
ap-2055	89	1	=	=	PUNCT
ap-2055	89	2	c̄	c̄	PROPN
ap-2055	90	1	−	−	PROPN
ap-2055	90	2	cc	cc	NOUN
ap-2055	90	3	,	,	PUNCT
ap-2055	90	4	c̄	c̄	PROPN
ap-2055	90	5	=	=	SYM
ap-2055	90	6	1	1	NUM
ap-2055	90	7	n	n	NOUN
ap-2055	90	8	n∑	n∑	NOUN
ap-2055	90	9	j=1	j=1	PROPN
ap-2055	90	10	cj	cj	NOUN
ap-2055	90	11	,	,	PUNCT
ap-2055	90	12	where	where	SCONJ
ap-2055	90	13	ac	ac	PROPN
ap-2055	90	14	,	,	PUNCT
ap-2055	90	15	bc	bc	PROPN
ap-2055	90	16	,	,	PUNCT
ap-2055	90	17	cc	cc	PROPN
ap-2055	90	18	are	be	AUX
ap-2055	90	19	the	the	DET
ap-2055	90	20	angles	angle	NOUN
ap-2055	90	21	of	of	ADP
ap-2055	90	22	the	the	DET
ap-2055	90	23	programmers	programmer	NOUN
ap-2055	90	24	(	(	PUNCT
ap-2055	90	25	specified	specified	ADJ
ap-2055	90	26	)	)	PUNCT
ap-2055	90	27	position	position	NOUN
ap-2055	90	28	and	and	CCONJ
ap-2055	90	29	aj	aj	PROPN
ap-2055	90	30	,	,	PUNCT
ap-2055	90	31	bj	bj	VERB
ap-2055	90	32	,	,	PUNCT
ap-2055	90	33	cj	cj	NOUN
ap-2055	90	34	are	be	AUX
ap-2055	90	35	the	the	DET
ap-2055	90	36	angles	angle	NOUN
ap-2055	90	37	of	of	ADP
ap-2055	90	38	the	the	DET
ap-2055	90	39	reached	reach	VERB
ap-2055	90	40	position	position	NOUN
ap-2055	90	41	4.2	4.2	NUM
ap-2055	90	42	.	.	PUNCT
ap-2055	91	1	measurement	measurement	NOUN
ap-2055	91	2	procedure	procedure	NOUN
ap-2055	91	3	for	for	ADP
ap-2055	91	4	unidirectional	unidirectional	ADJ
ap-2055	91	5	positioning	positioning	NOUN
ap-2055	91	6	accuracy	accuracy	NOUN
ap-2055	91	7	tricept	tricept	NOUN
ap-2055	91	8	gradually	gradually	ADV
ap-2055	91	9	moves	move	VERB
ap-2055	91	10	with	with	ADP
ap-2055	91	11	its	its	PRON
ap-2055	91	12	mechanical	mechanical	ADJ
ap-2055	91	13	connection	connection	NOUN
ap-2055	91	14	(	(	PUNCT
ap-2055	91	15	interface	interface	NOUN
ap-2055	91	16	)	)	PUNCT
ap-2055	91	17	from	from	ADP
ap-2055	91	18	point	point	NOUN
ap-2055	91	19	p1	p1	NOUN
ap-2055	91	20	to	to	ADP
ap-2055	91	21	the	the	DET
ap-2055	91	22	following	follow	VERB
ap-2055	91	23	positions	position	NOUN
ap-2055	91	24	:	:	PUNCT
ap-2055	91	25	p5	p5	ADJ
ap-2055	91	26	,	,	PUNCT
ap-2055	91	27	p4	p4	ADJ
ap-2055	91	28	,	,	PUNCT
ap-2055	91	29	p3	p3	PROPN
ap-2055	91	30	,	,	PUNCT
ap-2055	91	31	p2	p2	NOUN
ap-2055	91	32	;	;	PUNCT
ap-2055	91	33	then	then	ADV
ap-2055	91	34	gradually	gradually	ADV
ap-2055	91	35	back	back	ADV
ap-2055	91	36	to	to	ADP
ap-2055	91	37	p1	p1	PROPN
ap-2055	91	38	.	.	PUNCT
ap-2055	92	1	each	each	DET
ap-2055	92	2	position	position	NOUN
ap-2055	92	3	has	have	VERB
ap-2055	92	4	to	to	PART
ap-2055	92	5	be	be	AUX
ap-2055	92	6	achieved	achieve	VERB
ap-2055	92	7	with	with	ADP
ap-2055	92	8	a	a	DET
ap-2055	92	9	unidirectional	unidirectional	ADJ
ap-2055	92	10	approach	approach	NOUN
ap-2055	92	11	,	,	PUNCT
ap-2055	92	12	that	that	PRON
ap-2055	92	13	is	be	AUX
ap-2055	92	14	from	from	ADP
ap-2055	92	15	the	the	DET
ap-2055	92	16	same	same	ADJ
ap-2055	92	17	direction	direction	NOUN
ap-2055	92	18	.	.	PUNCT
ap-2055	93	1	the	the	DET
ap-2055	93	2	individual	individual	ADJ
ap-2055	93	3	measurements	measurement	NOUN
ap-2055	93	4	are	be	AUX
ap-2055	93	5	performed	perform	VERB
ap-2055	93	6	only	only	ADV
ap-2055	93	7	when	when	SCONJ
ap-2055	93	8	61	61	NUM
ap-2055	93	9	i.	i.	NOUN
ap-2055	93	10	onderová	onderová	NOUN
ap-2055	93	11	,	,	PUNCT
ap-2055	93	12	ľ	ľ	NUM
ap-2055	93	13	.	.	PUNCT
ap-2055	94	1	kolláth	kolláth	ADV
ap-2055	94	2	,	,	PUNCT
ap-2055	94	3	l.	l.	PROPN
ap-2055	94	4	ploskuňáková	ploskuňáková	PROPN
ap-2055	94	5	acta	acta	PROPN
ap-2055	94	6	polytechnica	polytechnica	PROPN
ap-2055	94	7	tricept	tricept	PROPN
ap-2055	94	8	is	be	AUX
ap-2055	94	9	in	in	ADP
ap-2055	94	10	that	that	DET
ap-2055	94	11	position	position	NOUN
ap-2055	94	12	in	in	ADP
ap-2055	94	13	a	a	DET
ap-2055	94	14	steady	steady	ADJ
ap-2055	94	15	state	state	NOUN
ap-2055	94	16	.	.	PUNCT
ap-2055	95	1	with	with	ADP
ap-2055	95	2	the	the	DET
ap-2055	95	3	coordinates	coordinate	NOUN
ap-2055	95	4	of	of	ADP
ap-2055	95	5	the	the	DET
ap-2055	95	6	programmed	program	VERB
ap-2055	95	7	positions	position	NOUN
ap-2055	95	8	,	,	PUNCT
ap-2055	95	9	the	the	DET
ap-2055	95	10	mean	mean	ADJ
ap-2055	95	11	values	value	NOUN
ap-2055	95	12	of	of	ADP
ap-2055	95	13	the	the	DET
ap-2055	95	14	reached	reach	VERB
ap-2055	95	15	position	position	NOUN
ap-2055	95	16	coordinates	coordinate	NOUN
ap-2055	95	17	and	and	CCONJ
ap-2055	95	18	the	the	DET
ap-2055	95	19	mean	mean	ADJ
ap-2055	95	20	value	value	NOUN
ap-2055	95	21	of	of	ADP
ap-2055	95	22	the	the	DET
ap-2055	95	23	angle	angle	NOUN
ap-2055	95	24	orientations	orientation	NOUN
ap-2055	95	25	at	at	ADP
ap-2055	95	26	n	n	NOUN
ap-2055	95	27	-	-	PUNCT
ap-2055	95	28	repetitions	repetition	NOUN
ap-2055	95	29	of	of	ADP
ap-2055	95	30	the	the	DET
ap-2055	95	31	same	same	ADJ
ap-2055	95	32	position	position	NOUN
ap-2055	95	33	,	,	PUNCT
ap-2055	95	34	we	we	PRON
ap-2055	95	35	can	can	AUX
ap-2055	95	36	calculate	calculate	VERB
ap-2055	95	37	the	the	DET
ap-2055	95	38	unidirectional	unidirectional	ADJ
ap-2055	95	39	orientation	orientation	NOUN
ap-2055	95	40	and	and	CCONJ
ap-2055	95	41	the	the	DET
ap-2055	95	42	positioning	positioning	NOUN
ap-2055	95	43	accuracy	accuracy	NOUN
ap-2055	95	44	for	for	ADP
ap-2055	95	45	each	each	DET
ap-2055	95	46	position	position	NOUN
ap-2055	95	47	using	use	VERB
ap-2055	95	48	simple	simple	ADJ
ap-2055	95	49	formulas	formula	NOUN
ap-2055	95	50	.	.	PUNCT
ap-2055	96	1	4.3	4.3	NUM
ap-2055	96	2	.	.	PUNCT
ap-2055	96	3	unidirectional	unidirectional	ADJ
ap-2055	96	4	positioning	positioning	NOUN
ap-2055	96	5	repeatability	repeatability	NOUN
ap-2055	96	6	unidirectional	unidirectional	ADJ
ap-2055	96	7	positioning	positioning	NOUN
ap-2055	96	8	repeatability	repeatability	NOUN
ap-2055	96	9	(	(	PUNCT
ap-2055	96	10	rp	rp	NOUN
ap-2055	96	11	)	)	PUNCT
ap-2055	96	12	expresses	express	VERB
ap-2055	96	13	the	the	DET
ap-2055	96	14	level	level	NOUN
ap-2055	96	15	of	of	ADP
ap-2055	96	16	correlation	correlation	NOUN
ap-2055	96	17	between	between	ADP
ap-2055	96	18	the	the	DET
ap-2055	96	19	positions	position	NOUN
ap-2055	96	20	and	and	CCONJ
ap-2055	96	21	orientations	orientation	NOUN
ap-2055	96	22	of	of	ADP
ap-2055	96	23	the	the	DET
ap-2055	96	24	reached	reach	VERB
ap-2055	96	25	positions	position	NOUN
ap-2055	96	26	after	after	ADP
ap-2055	96	27	nrepetitions	nrepetition	NOUN
ap-2055	96	28	of	of	ADP
ap-2055	96	29	the	the	DET
ap-2055	96	30	movement	movement	NOUN
ap-2055	96	31	to	to	ADP
ap-2055	96	32	the	the	DET
ap-2055	96	33	same	same	ADJ
ap-2055	96	34	desired	desire	VERB
ap-2055	96	35	position	position	NOUN
ap-2055	96	36	in	in	ADP
ap-2055	96	37	the	the	DET
ap-2055	96	38	same	same	ADJ
ap-2055	96	39	direction	direction	NOUN
ap-2055	96	40	.	.	PUNCT
ap-2055	97	1	for	for	ADP
ap-2055	97	2	a	a	DET
ap-2055	97	3	given	give	VERB
ap-2055	97	4	position	position	NOUN
ap-2055	97	5	the	the	DET
ap-2055	97	6	repeatability	repeatability	NOUN
ap-2055	97	7	is	be	AUX
ap-2055	97	8	expressed	express	VERB
ap-2055	97	9	by	by	ADP
ap-2055	97	10	:	:	PUNCT
ap-2055	97	11	the	the	DET
ap-2055	97	12	radius	radius	NOUN
ap-2055	97	13	of	of	ADP
ap-2055	97	14	the	the	DET
ap-2055	97	15	sphere	sphere	NOUN
ap-2055	97	16	rpl	rpl	PROPN
ap-2055	97	17	,	,	PUNCT
ap-2055	97	18	the	the	DET
ap-2055	97	19	center	center	NOUN
ap-2055	97	20	of	of	ADP
ap-2055	97	21	which	which	PRON
ap-2055	97	22	is	be	AUX
ap-2055	97	23	the	the	DET
ap-2055	97	24	barycenter	barycenter	NOUN
ap-2055	97	25	(	(	PUNCT
ap-2055	97	26	see	see	VERB
ap-2055	97	27	figure	figure	NOUN
ap-2055	97	28	5	5	NUM
ap-2055	97	29	)	)	PUNCT
ap-2055	97	30	;	;	PUNCT
ap-2055	97	31	the	the	DET
ap-2055	97	32	dispersion	dispersion	NOUN
ap-2055	97	33	of	of	ADP
ap-2055	97	34	angles	angle	NOUN
ap-2055	97	35	±3sa	±3sa	ADJ
ap-2055	97	36	,	,	PUNCT
ap-2055	97	37	±3sb	±3sb	ADV
ap-2055	97	38	,	,	PUNCT
ap-2055	97	39	±3sc	±3sc	NOUN
ap-2055	97	40	around	around	ADP
ap-2055	97	41	the	the	DET
ap-2055	97	42	mean	mean	ADJ
ap-2055	97	43	values	value	NOUN
ap-2055	97	44	ā	ā	NOUN
ap-2055	97	45	,	,	PUNCT
ap-2055	97	46	b̄	b̄	PROPN
ap-2055	97	47	,	,	PUNCT
ap-2055	97	48	c̄	c̄	PROPN
ap-2055	97	49	;	;	PUNCT
ap-2055	97	50	where	where	SCONJ
ap-2055	97	51	sa	sa	PROPN
ap-2055	97	52	,	,	PUNCT
ap-2055	97	53	sb	sb	PROPN
ap-2055	97	54	and	and	CCONJ
ap-2055	97	55	sc	sc	PROPN
ap-2055	97	56	are	be	AUX
ap-2055	97	57	standard	standard	ADJ
ap-2055	97	58	deviations	deviation	NOUN
ap-2055	97	59	(	(	PUNCT
ap-2055	97	60	see	see	VERB
ap-2055	97	61	figure	figure	NOUN
ap-2055	97	62	6	6	NUM
ap-2055	97	63	)	)	PUNCT
ap-2055	97	64	.	.	PUNCT
ap-2055	98	1	unidirectional	unidirectional	ADJ
ap-2055	98	2	position	position	NOUN
ap-2055	98	3	repeatability	repeatability	NOUN
ap-2055	98	4	is	be	AUX
ap-2055	98	5	calculated	calculate	VERB
ap-2055	98	6	as	as	SCONJ
ap-2055	98	7	follows	follow	VERB
ap-2055	98	8	:	:	PUNCT
ap-2055	98	9	rp	rp	NOUN
ap-2055	98	10	=	=	PUNCT
ap-2055	98	11	l̄	l̄	PROPN
ap-2055	99	1	+	+	CCONJ
ap-2055	99	2	3sl	3sl	NOUN
ap-2055	99	3	,	,	PUNCT
ap-2055	99	4	where	where	SCONJ
ap-2055	99	5	l̄	l̄	NOUN
ap-2055	99	6	=	=	SYM
ap-2055	99	7	1	1	NUM
ap-2055	99	8	n	n	NUM
ap-2055	99	9	n∑	n∑	NOUN
ap-2055	99	10	j=1	j=1	NOUN
ap-2055	100	1	lj	lj	INTJ
ap-2055	100	2	,	,	PUNCT
ap-2055	100	3	lj	lj	PRON
ap-2055	100	4	=	=	PUNCT
ap-2055	100	5	√	√	PROPN
ap-2055	100	6	(	(	PUNCT
ap-2055	100	7	xj	xj	PROPN
ap-2055	100	8	−	−	PROPN
ap-2055	100	9	x̄)2	x̄)2	PROPN
ap-2055	101	1	+	+	CCONJ
ap-2055	101	2	(	(	PUNCT
ap-2055	101	3	yj	yj	PROPN
ap-2055	101	4	−	−	PROPN
ap-2055	101	5	ȳ)2	ȳ)2	PROPN
ap-2055	101	6	+	+	CCONJ
ap-2055	101	7	(	(	PUNCT
ap-2055	101	8	zj	zj	PROPN
ap-2055	101	9	−	−	PROPN
ap-2055	101	10	z̄)2	z̄)2	PROPN
ap-2055	101	11	,	,	PUNCT
ap-2055	101	12	sl	sl	NOUN
ap-2055	101	13	=	=	SYM
ap-2055	101	14	√∑n	√∑n	ADP
ap-2055	101	15	j=1(lj	j=1(lj	ADP
ap-2055	101	16	−	−	PROPN
ap-2055	101	17	l̄)2	l̄)2	NOUN
ap-2055	101	18	n	n	CCONJ
ap-2055	101	19	−	−	PROPN
ap-2055	101	20	1	1	NUM
ap-2055	101	21	.	.	PUNCT
ap-2055	102	1	unidirectional	unidirectional	ADJ
ap-2055	102	2	repeatability	repeatability	NOUN
ap-2055	102	3	orientation	orientation	NOUN
ap-2055	102	4	is	be	AUX
ap-2055	102	5	calculated	calculate	VERB
ap-2055	102	6	as	as	SCONJ
ap-2055	102	7	follows	follow	VERB
ap-2055	102	8	:	:	PUNCT
ap-2055	102	9	rpa	rpa	PROPN
ap-2055	102	10	=	=	SYM
ap-2055	102	11	±3sa	±3sa	PROPN
ap-2055	102	12	=	=	SYM
ap-2055	102	13	±3	±3	ADJ
ap-2055	102	14	√∑n	√∑n	VERB
ap-2055	102	15	j=1(aj	j=1(aj	NUM
ap-2055	102	16	−	−	NOUN
ap-2055	102	17	ā)2	ā)2	NOUN
ap-2055	102	18	n	n	CCONJ
ap-2055	102	19	−	−	PROPN
ap-2055	102	20	1	1	NUM
ap-2055	102	21	,	,	PUNCT
ap-2055	102	22	rpb	rpb	NOUN
ap-2055	102	23	=	=	SYM
ap-2055	102	24	±3sb	±3sb	NOUN
ap-2055	102	25	=	=	SYM
ap-2055	102	26	±3	±3	ADJ
ap-2055	102	27	√∑n	√∑n	ADP
ap-2055	102	28	j=1(aj	j=1(aj	NUM
ap-2055	102	29	−	−	NOUN
ap-2055	102	30	ā)2	ā)2	NOUN
ap-2055	102	31	n	n	CCONJ
ap-2055	102	32	−	−	PROPN
ap-2055	102	33	1	1	NUM
ap-2055	102	34	,	,	PUNCT
ap-2055	102	35	rpc	rpc	NOUN
ap-2055	102	36	=	=	SYM
ap-2055	102	37	±3sc	±3sc	NOUN
ap-2055	102	38	=	=	SYM
ap-2055	102	39	±3	±3	X
ap-2055	102	40	√∑n	√∑n	ADP
ap-2055	102	41	j=1(aj	j=1(aj	NUM
ap-2055	102	42	−	−	NOUN
ap-2055	102	43	ā)2	ā)2	NOUN
ap-2055	102	44	n	n	CCONJ
ap-2055	102	45	−	−	PROPN
ap-2055	102	46	1	1	NUM
ap-2055	102	47	4.4	4.4	NUM
ap-2055	102	48	.	.	PUNCT
ap-2055	103	1	measurement	measurement	NOUN
ap-2055	103	2	procedure	procedure	NOUN
ap-2055	103	3	for	for	ADP
ap-2055	103	4	unidirectional	unidirectional	ADJ
ap-2055	103	5	positioning	positioning	NOUN
ap-2055	103	6	repeatability	repeatability	NOUN
ap-2055	103	7	the	the	DET
ap-2055	103	8	robot	robot	NOUN
ap-2055	103	9	gradually	gradually	ADV
ap-2055	103	10	moves	move	VERB
ap-2055	103	11	with	with	ADP
ap-2055	103	12	its	its	PRON
ap-2055	103	13	mechanical	mechanical	ADJ
ap-2055	103	14	connection	connection	NOUN
ap-2055	103	15	according	accord	VERB
ap-2055	103	16	to	to	ADP
ap-2055	103	17	the	the	DET
ap-2055	103	18	selected	select	VERB
ap-2055	103	19	cycle	cycle	NOUN
ap-2055	103	20	the	the	DET
ap-2055	103	21	same	same	ADJ
ap-2055	103	22	way	way	NOUN
ap-2055	103	23	as	as	ADP
ap-2055	103	24	when	when	SCONJ
ap-2055	103	25	the	the	DET
ap-2055	103	26	unidirectional	unidirectional	ADJ
ap-2055	103	27	accuracy	accuracy	NOUN
ap-2055	103	28	was	be	AUX
ap-2055	103	29	measured	measure	VERB
ap-2055	103	30	,	,	PUNCT
ap-2055	103	31	except	except	SCONJ
ap-2055	103	32	that	that	SCONJ
ap-2055	103	33	when	when	SCONJ
ap-2055	103	34	measuring	measure	VERB
ap-2055	103	35	the	the	DET
ap-2055	103	36	unidirectional	unidirectional	ADJ
ap-2055	103	37	position	position	NOUN
ap-2055	103	38	repeatability	repeatability	NOUN
ap-2055	103	39	rp	rp	NOUN
ap-2055	103	40	and	and	CCONJ
ap-2055	103	41	angle	angle	NOUN
ap-2055	103	42	errors	error	NOUN
ap-2055	103	43	rpa	rpa	PROPN
ap-2055	103	44	,	,	PUNCT
ap-2055	103	45	rpb	rpb	PROPN
ap-2055	103	46	,	,	PUNCT
ap-2055	103	47	rpc	rpc	NOUN
ap-2055	103	48	are	be	AUX
ap-2055	103	49	calculated	calculate	VERB
ap-2055	103	50	for	for	ADP
ap-2055	103	51	each	each	DET
ap-2055	103	52	position	position	NOUN
ap-2055	103	53	of	of	ADP
ap-2055	103	54	the	the	DET
ap-2055	103	55	sphere	sphere	NOUN
ap-2055	103	56	radius	radius	NOUN
ap-2055	103	57	.	.	PUNCT
ap-2055	104	1	5	5	X
ap-2055	104	2	.	.	X
ap-2055	104	3	conclusions	conclusion	NOUN
ap-2055	104	4	the	the	DET
ap-2055	104	5	tricept	tricept	ADJ
ap-2055	104	6	experiments	experiment	NOUN
ap-2055	104	7	will	will	AUX
ap-2055	104	8	take	take	VERB
ap-2055	104	9	place	place	NOUN
ap-2055	104	10	when	when	SCONJ
ap-2055	104	11	the	the	DET
ap-2055	104	12	wiring	wiring	NOUN
ap-2055	104	13	has	have	AUX
ap-2055	104	14	been	be	AUX
ap-2055	104	15	completed	complete	VERB
ap-2055	104	16	.	.	PUNCT
ap-2055	105	1	the	the	DET
ap-2055	105	2	preparations	preparation	NOUN
ap-2055	105	3	are	be	AUX
ap-2055	105	4	currently	currently	ADV
ap-2055	105	5	being	be	AUX
ap-2055	105	6	finalized	finalize	VERB
ap-2055	105	7	.	.	PUNCT
ap-2055	106	1	the	the	DET
ap-2055	106	2	experimental	experimental	ADJ
ap-2055	106	3	results	result	NOUN
ap-2055	106	4	will	will	AUX
ap-2055	106	5	form	form	VERB
ap-2055	106	6	the	the	DET
ap-2055	106	7	basis	basis	NOUN
ap-2055	106	8	for	for	ADP
ap-2055	106	9	optimizing	optimize	VERB
ap-2055	106	10	the	the	DET
ap-2055	106	11	design	design	NOUN
ap-2055	106	12	of	of	ADP
ap-2055	106	13	tricept	tricept	NOUN
ap-2055	106	14	,	,	PUNCT
ap-2055	106	15	and	and	CCONJ
ap-2055	106	16	also	also	ADV
ap-2055	106	17	for	for	ADP
ap-2055	106	18	adjusting	adjust	VERB
ap-2055	106	19	the	the	DET
ap-2055	106	20	control	control	NOUN
ap-2055	106	21	system	system	NOUN
ap-2055	106	22	.	.	PUNCT
ap-2055	107	1	acknowledgements	acknowledgement	VERB
ap-2055	107	2	the	the	DET
ap-2055	107	3	research	research	NOUN
ap-2055	107	4	work	work	NOUN
ap-2055	107	5	presented	present	VERB
ap-2055	107	6	in	in	ADP
ap-2055	107	7	this	this	DET
ap-2055	107	8	paper	paper	NOUN
ap-2055	107	9	was	be	AUX
ap-2055	107	10	performed	perform	VERB
ap-2055	107	11	with	with	ADP
ap-2055	107	12	financial	financial	ADJ
ap-2055	107	13	support	support	NOUN
ap-2055	107	14	from	from	ADP
ap-2055	107	15	vega	vega	PROPN
ap-2055	107	16	grant	grant	PROPN
ap-2055	107	17	1/0584/12	1/0584/12	NUM
ap-2055	107	18	.	.	PUNCT
ap-2055	108	1	references	reference	NOUN
ap-2055	108	2	[	[	X
ap-2055	108	3	1	1	X
ap-2055	108	4	]	]	PUNCT
ap-2055	108	5	ploskuňáková	ploskuňáková	NOUN
ap-2055	108	6	,	,	PUNCT
ap-2055	108	7	l.	l.	PROPN
ap-2055	108	8	,	,	PUNCT
ap-2055	108	9	biath	biath	NOUN
ap-2055	108	10	,	,	PUNCT
ap-2055	108	11	p.	p.	NOUN
ap-2055	108	12	:	:	PUNCT
ap-2055	109	1	konštrukcia	konštrukcia	PROPN
ap-2055	109	2	pohyblivých	pohyblivých	PROPN
ap-2055	109	3	častí	častí	PROPN
ap-2055	109	4	triceptu	triceptu	NOUN
ap-2055	109	5	,	,	PUNCT
ap-2055	109	6	5th	5th	ADJ
ap-2055	109	7	annual	annual	ADJ
ap-2055	109	8	international	international	ADJ
ap-2055	109	9	travelling	travel	VERB
ap-2055	109	10	conference	conference	NOUN
ap-2055	109	11	,	,	PUNCT
ap-2055	109	12	in	in	ADP
ap-2055	109	13	.	.	PUNCT
ap-2055	109	14	:	:	PUNCT
ap-2055	110	1	proceedings	proceeding	NOUN
ap-2055	110	2	of	of	ADP
ap-2055	110	3	erin	erin	PROPN
ap-2055	110	4	conference	conference	PROPN
ap-2055	110	5	2011	2011	NUM
ap-2055	110	6	,	,	PUNCT
ap-2055	110	7	tatranská	tatranská	PROPN
ap-2055	110	8	koltina	koltina	PROPN
ap-2055	110	9	,	,	PUNCT
ap-2055	110	10	slovakia	slovakia	PROPN
ap-2055	110	11	,	,	PUNCT
ap-2055	110	12	13th–16th	13th–16th	NUM
ap-2055	110	13	april	april	PROPN
ap-2055	110	14	2011	2011	NUM
ap-2055	110	15	.	.	PUNCT
ap-2055	111	1	prešov	prešov	NOUN
ap-2055	111	2	:	:	PUNCT
ap-2055	111	3	apeiron	apeiron	PROPN
ap-2055	111	4	eu	eu	PROPN
ap-2055	111	5	,	,	PUNCT
ap-2055	111	6	2011	2011	NUM
ap-2055	111	7	,	,	PUNCT
ap-2055	111	8	pp	pp	ADV
ap-2055	111	9	.	.	PUNCT
ap-2055	112	1	447–450	447–450	NUM
ap-2055	112	2	62	62	NUM
ap-2055	112	3	acta	acta	PROPN
ap-2055	112	4	polytechnica	polytechnica	PROPN
ap-2055	112	5	54(1):59–62	54(1):59–62	NUM
ap-2055	112	6	,	,	PUNCT
ap-2055	112	7	2014	2014	NUM
ap-2055	112	8	1	1	NUM
ap-2055	112	9	introduction	introduction	NOUN
ap-2055	112	10	2	2	NUM
ap-2055	112	11	tricept	tricept	NOUN
ap-2055	112	12	3	3	NUM
ap-2055	112	13	the	the	DET
ap-2055	112	14	basic	basic	ADJ
ap-2055	112	15	concepts	concept	NOUN
ap-2055	112	16	4	4	NUM
ap-2055	112	17	positioning	positioning	NOUN
ap-2055	112	18	accuracy	accuracy	NOUN
ap-2055	112	19	and	and	CCONJ
ap-2055	112	20	position	position	NOUN
ap-2055	112	21	repeatability	repeatability	NOUN
ap-2055	112	22	4.1	4.1	NUM
ap-2055	112	23	unidirectional	unidirectional	ADJ
ap-2055	112	24	positioning	positioning	NOUN
ap-2055	112	25	accuracy	accuracy	NOUN
ap-2055	112	26	4.2	4.2	NUM
ap-2055	112	27	measurement	measurement	NOUN
ap-2055	112	28	procedure	procedure	NOUN
ap-2055	112	29	for	for	ADP
ap-2055	112	30	unidirectional	unidirectional	ADJ
ap-2055	112	31	positioning	positioning	NOUN
ap-2055	112	32	accuracy	accuracy	NOUN
ap-2055	112	33	4.3	4.3	NUM
ap-2055	112	34	unidirectional	unidirectional	ADJ
ap-2055	112	35	positioning	positioning	NOUN
ap-2055	112	36	repeatability	repeatability	NOUN
ap-2055	112	37	4.4	4.4	NUM
ap-2055	112	38	measurement	measurement	NOUN
ap-2055	112	39	procedure	procedure	NOUN
ap-2055	112	40	for	for	ADP
ap-2055	112	41	unidirectional	unidirectional	ADJ
ap-2055	112	42	positioning	positioning	NOUN
ap-2055	112	43	repeatability	repeatability	NOUN
ap-2055	112	44	5	5	NUM
ap-2055	112	45	conclusions	conclusion	NOUN
ap-2055	112	46	acknowledgements	acknowledgement	NOUN
ap-2055	112	47	references	reference	NOUN