id	sid	tid	token	lemma	pos
ap-568	1	1	ap04_3web.vp	ap04_3web.vp	VERB
ap-568	1	2	1	1	NUM
ap-568	1	3	introduction	introduction	NOUN
ap-568	1	4	this	this	DET
ap-568	1	5	paper	paper	NOUN
ap-568	1	6	describes	describe	VERB
ap-568	1	7	the	the	DET
ap-568	1	8	conceptual	conceptual	ADJ
ap-568	1	9	design	design	NOUN
ap-568	1	10	process	process	NOUN
ap-568	1	11	of	of	ADP
ap-568	1	12	octaslide	octaslide	NOUN
ap-568	1	13	redundant	redundant	ADJ
ap-568	1	14	parallel	parallel	ADJ
ap-568	1	15	kinematics	kinematic	NOUN
ap-568	1	16	for	for	ADP
ap-568	1	17	a	a	DET
ap-568	1	18	machine	machine	NOUN
ap-568	1	19	tool	tool	NOUN
ap-568	1	20	.	.	PUNCT
ap-568	2	1	redundantly	redundantly	ADV
ap-568	2	2	actuated	actuate	VERB
ap-568	2	3	parallel	parallel	ADJ
ap-568	2	4	kinematics	kinematic	NOUN
ap-568	2	5	is	be	AUX
ap-568	2	6	a	a	DET
ap-568	2	7	recently	recently	ADV
ap-568	2	8	developed	develop	VERB
ap-568	2	9	new	new	ADJ
ap-568	2	10	concept	concept	NOUN
ap-568	2	11	for	for	ADP
ap-568	2	12	machine	machine	NOUN
ap-568	2	13	tools	tool	NOUN
ap-568	2	14	.	.	PUNCT
ap-568	3	1	it	it	PRON
ap-568	3	2	enables	enable	VERB
ap-568	3	3	all	all	DET
ap-568	3	4	mechanical	mechanical	ADJ
ap-568	3	5	properties	property	NOUN
ap-568	3	6	of	of	ADP
ap-568	3	7	machine	machine	NOUN
ap-568	3	8	tools	tool	NOUN
ap-568	3	9	to	to	PART
ap-568	3	10	be	be	AUX
ap-568	3	11	improved	improve	VERB
ap-568	3	12	several	several	ADJ
ap-568	3	13	times	time	NOUN
ap-568	3	14	simultaneously	simultaneously	ADV
ap-568	3	15	.	.	PUNCT
ap-568	4	1	this	this	PRON
ap-568	4	2	is	be	AUX
ap-568	4	3	particularly	particularly	ADV
ap-568	4	4	demonstrated	demonstrate	VERB
ap-568	4	5	on	on	ADP
ap-568	4	6	the	the	DET
ap-568	4	7	design	design	NOUN
ap-568	4	8	of	of	ADP
ap-568	4	9	the	the	DET
ap-568	4	10	octaslide	octaslide	NOUN
ap-568	4	11	.	.	PUNCT
ap-568	5	1	this	this	PRON
ap-568	5	2	is	be	AUX
ap-568	5	3	a	a	DET
ap-568	5	4	concept	concept	NOUN
ap-568	5	5	of	of	ADP
ap-568	5	6	five	five	NUM
ap-568	5	7	-	-	PUNCT
ap-568	5	8	axis	axis	NOUN
ap-568	5	9	machine	machine	NOUN
ap-568	5	10	tool	tool	NOUN
ap-568	5	11	center	center	NOUN
ap-568	5	12	.	.	PUNCT
ap-568	6	1	the	the	DET
ap-568	6	2	paper	paper	NOUN
ap-568	6	3	describes	describe	VERB
ap-568	6	4	the	the	DET
ap-568	6	5	critical	critical	ADJ
ap-568	6	6	initial	initial	ADJ
ap-568	6	7	design	design	NOUN
ap-568	6	8	phases	phase	NOUN
ap-568	6	9	and	and	CCONJ
ap-568	6	10	the	the	DET
ap-568	6	11	accessible	accessible	ADJ
ap-568	6	12	mechanical	mechanical	ADJ
ap-568	6	13	properties	property	NOUN
ap-568	6	14	.	.	PUNCT
ap-568	7	1	the	the	DET
ap-568	7	2	design	design	NOUN
ap-568	7	3	process	process	NOUN
ap-568	7	4	follows	follow	VERB
ap-568	7	5	the	the	DET
ap-568	7	6	newly	newly	ADV
ap-568	7	7	developed	develop	VERB
ap-568	7	8	design	design	NOUN
ap-568	7	9	methodology	methodology	NOUN
ap-568	7	10	for	for	ADP
ap-568	7	11	parallel	parallel	ADJ
ap-568	7	12	kinematics	kinematic	NOUN
ap-568	7	13	machines	machine	NOUN
ap-568	7	14	.	.	PUNCT
ap-568	8	1	2	2	NUM
ap-568	8	2	concept	concept	NOUN
ap-568	8	3	of	of	ADP
ap-568	8	4	redundant	redundant	ADJ
ap-568	8	5	actuation	actuation	NOUN
ap-568	8	6	for	for	ADP
ap-568	8	7	parallel	parallel	ADJ
ap-568	8	8	kinematics	kinematic	NOUN
ap-568	8	9	parallel	parallel	ADJ
ap-568	8	10	kinematics	kinematic	NOUN
ap-568	8	11	means	mean	VERB
ap-568	8	12	kinematic	kinematic	ADJ
ap-568	8	13	refers	refer	NOUN
ap-568	8	14	to	to	ADP
ap-568	8	15	where	where	SCONJ
ap-568	8	16	a	a	DET
ap-568	8	17	body	body	NOUN
ap-568	8	18	carrying	carry	VERB
ap-568	8	19	a	a	DET
ap-568	8	20	tool	tool	NOUN
ap-568	8	21	(	(	PUNCT
ap-568	8	22	called	call	VERB
ap-568	8	23	a	a	DET
ap-568	8	24	platform	platform	NOUN
ap-568	8	25	)	)	PUNCT
ap-568	8	26	is	be	AUX
ap-568	8	27	supported	support	VERB
ap-568	8	28	by	by	ADP
ap-568	8	29	several	several	ADJ
ap-568	8	30	independent	independent	ADJ
ap-568	8	31	links	link	NOUN
ap-568	8	32	(	(	PUNCT
ap-568	8	33	legs	leg	NOUN
ap-568	8	34	)	)	PUNCT
ap-568	8	35	from	from	ADP
ap-568	8	36	the	the	DET
ap-568	8	37	frame	frame	NOUN
ap-568	8	38	.	.	PUNCT
ap-568	9	1	parallel	parallel	ADJ
ap-568	9	2	kinematics	kinematic	NOUN
ap-568	9	3	has	have	VERB
ap-568	9	4	the	the	DET
ap-568	9	5	advantage	advantage	NOUN
ap-568	9	6	that	that	SCONJ
ap-568	9	7	in	in	ADP
ap-568	9	8	principle	principle	NOUN
ap-568	9	9	all	all	DET
ap-568	9	10	drives	drive	NOUN
ap-568	9	11	can	can	AUX
ap-568	9	12	be	be	AUX
ap-568	9	13	on	on	ADP
ap-568	9	14	the	the	DET
ap-568	9	15	frame	frame	NOUN
ap-568	9	16	(	(	PUNCT
ap-568	9	17	decreased	decrease	VERB
ap-568	9	18	moving	move	VERB
ap-568	9	19	masses	masse	NOUN
ap-568	9	20	)	)	PUNCT
ap-568	9	21	and	and	CCONJ
ap-568	9	22	that	that	SCONJ
ap-568	9	23	its	its	PRON
ap-568	9	24	structure	structure	NOUN
ap-568	9	25	is	be	AUX
ap-568	9	26	a	a	DET
ap-568	9	27	truss	truss	NOUN
ap-568	9	28	(	(	PUNCT
ap-568	9	29	increased	increase	VERB
ap-568	9	30	stiffness	stiffness	NOUN
ap-568	9	31	)	)	PUNCT
ap-568	9	32	.	.	PUNCT
ap-568	10	1	however	however	ADV
ap-568	10	2	,	,	PUNCT
ap-568	10	3	it	it	PRON
ap-568	10	4	also	also	ADV
ap-568	10	5	has	have	VERB
ap-568	10	6	severe	severe	ADJ
ap-568	10	7	disadvantages	disadvantage	NOUN
ap-568	10	8	,	,	PUNCT
ap-568	10	9	mainly	mainly	ADV
ap-568	10	10	the	the	DET
ap-568	10	11	occurrence	occurrence	NOUN
ap-568	10	12	of	of	ADP
ap-568	10	13	singular	singular	ADJ
ap-568	10	14	positions	position	NOUN
ap-568	10	15	in	in	ADP
ap-568	10	16	the	the	DET
ap-568	10	17	workspace	workspace	NOUN
ap-568	10	18	and	and	CCONJ
ap-568	10	19	a	a	DET
ap-568	10	20	generally	generally	ADV
ap-568	10	21	smaller	small	ADJ
ap-568	10	22	workspace	workspace	NOUN
ap-568	10	23	due	due	ADJ
ap-568	10	24	to	to	PART
ap-568	10	25	link	link	VERB
ap-568	10	26	collisions	collision	NOUN
ap-568	10	27	.	.	PUNCT
ap-568	11	1	these	these	DET
ap-568	11	2	problems	problem	NOUN
ap-568	11	3	of	of	ADP
ap-568	11	4	parallel	parallel	ADJ
ap-568	11	5	kinematics	kinematic	NOUN
ap-568	11	6	can	can	AUX
ap-568	11	7	be	be	AUX
ap-568	11	8	removed	remove	VERB
ap-568	11	9	by	by	ADP
ap-568	11	10	the	the	DET
ap-568	11	11	principle	principle	NOUN
ap-568	11	12	of	of	ADP
ap-568	11	13	redundant	redundant	ADJ
ap-568	11	14	actuation	actuation	NOUN
ap-568	11	15	[	[	X
ap-568	11	16	1	1	NUM
ap-568	11	17	]	]	PUNCT
ap-568	11	18	.	.	PUNCT
ap-568	12	1	if	if	SCONJ
ap-568	12	2	the	the	DET
ap-568	12	3	platform	platform	NOUN
ap-568	12	4	of	of	ADP
ap-568	12	5	parallel	parallel	ADJ
ap-568	12	6	kinematics	kinematic	NOUN
ap-568	12	7	is	be	AUX
ap-568	12	8	supported	support	VERB
ap-568	12	9	on	on	ADP
ap-568	12	10	a	a	DET
ap-568	12	11	redundant	redundant	ADJ
ap-568	12	12	number	number	NOUN
ap-568	12	13	of	of	ADP
ap-568	12	14	legs	leg	NOUN
ap-568	12	15	(	(	PUNCT
ap-568	12	16	links	link	NOUN
ap-568	12	17	)	)	PUNCT
ap-568	12	18	,	,	PUNCT
ap-568	12	19	i.e.	i.e.	X
ap-568	12	20	on	on	ADP
ap-568	12	21	more	more	ADJ
ap-568	12	22	than	than	ADP
ap-568	12	23	the	the	DET
ap-568	12	24	needed	need	VERB
ap-568	12	25	number	number	NOUN
ap-568	12	26	of	of	ADP
ap-568	12	27	dofs	dof	NOUN
ap-568	12	28	–	–	PUNCT
ap-568	12	29	in	in	ADP
ap-568	12	30	plane	plane	NOUN
ap-568	12	31	,	,	PUNCT
ap-568	12	32	on	on	ADP
ap-568	12	33	more	more	ADJ
ap-568	12	34	than	than	ADP
ap-568	12	35	3	3	NUM
ap-568	12	36	legs	leg	NOUN
ap-568	12	37	,	,	PUNCT
ap-568	12	38	and	and	CCONJ
ap-568	12	39	in	in	ADP
ap-568	12	40	space	space	NOUN
ap-568	12	41	,	,	PUNCT
ap-568	12	42	on	on	ADP
ap-568	12	43	more	more	ADJ
ap-568	12	44	than	than	ADP
ap-568	12	45	6	6	NUM
ap-568	12	46	legs	leg	NOUN
ap-568	12	47	,	,	PUNCT
ap-568	12	48	then	then	ADV
ap-568	12	49	the	the	DET
ap-568	12	50	following	following	ADJ
ap-568	12	51	simplified	simplified	ADJ
ap-568	12	52	consideration	consideration	NOUN
ap-568	12	53	can	can	AUX
ap-568	12	54	be	be	AUX
ap-568	12	55	applied	apply	VERB
ap-568	12	56	.	.	PUNCT
ap-568	13	1	if	if	SCONJ
ap-568	13	2	a	a	DET
ap-568	13	3	certain	certain	ADJ
ap-568	13	4	combination	combination	NOUN
ap-568	13	5	of	of	ADP
ap-568	13	6	6	6	NUM
ap-568	13	7	legs	leg	NOUN
ap-568	13	8	from	from	ADP
ap-568	13	9	the	the	DET
ap-568	13	10	redundant	redundant	ADJ
ap-568	13	11	number	number	NOUN
ap-568	13	12	of	of	ADP
ap-568	13	13	legs	leg	NOUN
ap-568	13	14	in	in	ADP
ap-568	13	15	the	the	DET
ap-568	13	16	given	give	VERB
ap-568	13	17	position	position	NOUN
ap-568	13	18	of	of	ADP
ap-568	13	19	the	the	DET
ap-568	13	20	kinematics	kinematic	NOUN
ap-568	13	21	leads	lead	VERB
ap-568	13	22	to	to	ADP
ap-568	13	23	a	a	DET
ap-568	13	24	singular	singular	ADJ
ap-568	13	25	position	position	NOUN
ap-568	13	26	,	,	PUNCT
ap-568	13	27	then	then	ADV
ap-568	13	28	the	the	DET
ap-568	13	29	other	other	ADJ
ap-568	13	30	combination	combination	NOUN
ap-568	13	31	of	of	ADP
ap-568	13	32	another	another	DET
ap-568	13	33	6	6	NUM
ap-568	13	34	legs	leg	NOUN
ap-568	13	35	in	in	ADP
ap-568	13	36	the	the	DET
ap-568	13	37	same	same	ADJ
ap-568	13	38	position	position	NOUN
ap-568	13	39	will	will	AUX
ap-568	13	40	be	be	AUX
ap-568	13	41	in	in	ADP
ap-568	13	42	a	a	DET
ap-568	13	43	non	non	ADJ
ap-568	13	44	-	-	ADJ
ap-568	13	45	singular	singular	ADJ
ap-568	13	46	position	position	NOUN
ap-568	13	47	(	(	PUNCT
ap-568	13	48	fig	fig	NOUN
ap-568	13	49	.	.	PUNCT
ap-568	13	50	1	1	NUM
ap-568	13	51	)	)	PUNCT
ap-568	13	52	.	.	PUNCT
ap-568	14	1	certainly	certainly	ADV
ap-568	14	2	switching	switch	VERB
ap-568	14	3	between	between	ADP
ap-568	14	4	different	different	ADJ
ap-568	14	5	selected	select	VERB
ap-568	14	6	combinations	combination	NOUN
ap-568	14	7	of	of	ADP
ap-568	14	8	legs	leg	NOUN
ap-568	14	9	is	be	AUX
ap-568	14	10	just	just	ADV
ap-568	14	11	an	an	DET
ap-568	14	12	ideal	ideal	ADJ
ap-568	14	13	consideration	consideration	NOUN
ap-568	14	14	.	.	PUNCT
ap-568	15	1	the	the	DET
ap-568	15	2	kinematics	kinematic	NOUN
ap-568	15	3	must	must	AUX
ap-568	15	4	use	use	VERB
ap-568	15	5	all	all	DET
ap-568	15	6	redundant	redundant	ADJ
ap-568	15	7	legs	leg	NOUN
ap-568	15	8	simultaneously	simultaneously	ADV
ap-568	15	9	and	and	CCONJ
ap-568	15	10	the	the	DET
ap-568	15	11	control	control	NOUN
ap-568	15	12	must	must	AUX
ap-568	15	13	be	be	AUX
ap-568	15	14	correspondingly	correspondingly	ADV
ap-568	15	15	smooth	smooth	ADJ
ap-568	15	16	.	.	PUNCT
ap-568	16	1	the	the	DET
ap-568	16	2	actuators	actuator	NOUN
ap-568	16	3	of	of	ADP
ap-568	16	4	parallel	parallel	ADJ
ap-568	16	5	structures	structure	NOUN
ap-568	16	6	can	can	AUX
ap-568	16	7	be	be	AUX
ap-568	16	8	realized	realize	VERB
ap-568	16	9	by	by	ADP
ap-568	16	10	different	different	ADJ
ap-568	16	11	principles	principle	NOUN
ap-568	16	12	(	(	PUNCT
ap-568	16	13	fig	fig	NOUN
ap-568	16	14	.	.	PUNCT
ap-568	17	1	2	2	NUM
ap-568	17	2	)	)	PUNCT
ap-568	17	3	,	,	PUNCT
ap-568	17	4	not	not	PART
ap-568	17	5	only	only	ADV
ap-568	17	6	by	by	ADP
ap-568	17	7	telescopic	telescopic	ADJ
ap-568	17	8	links	link	NOUN
ap-568	17	9	.	.	PUNCT
ap-568	18	1	24	24	NUM
ap-568	18	2	©	©	PROPN
ap-568	18	3	czech	czech	PROPN
ap-568	18	4	technical	technical	PROPN
ap-568	18	5	university	university	PROPN
ap-568	18	6	publishing	publishing	NOUN
ap-568	18	7	house	house	NOUN
ap-568	18	8	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-568	18	9	acta	acta	PROPN
ap-568	18	10	polytechnica	polytechnica	PROPN
ap-568	18	11	vol	vol	NOUN
ap-568	18	12	.	.	PROPN
ap-568	19	1	44	44	NUM
ap-568	19	2	no	no	NOUN
ap-568	19	3	.	.	PUNCT
ap-568	20	1	3/2004	3/2004	NUM
ap-568	20	2	design	design	NOUN
ap-568	20	3	and	and	CCONJ
ap-568	20	4	properties	property	NOUN
ap-568	20	5	of	of	ADP
ap-568	20	6	octaslide	octaslide	NOUN
ap-568	20	7	redundant	redundant	ADJ
ap-568	20	8	parallel	parallel	ADJ
ap-568	20	9	kinematics	kinematic	NOUN
ap-568	20	10	v.	v.	ADP
ap-568	20	11	bauma	bauma	PROPN
ap-568	20	12	,	,	PUNCT
ap-568	20	13	m.	m.	NOUN
ap-568	20	14	valášek	valášek	PROPN
ap-568	20	15	,	,	PUNCT
ap-568	20	16	z.	z.	PROPN
ap-568	20	17	šika	šika	NOUN
ap-568	21	1	this	this	DET
ap-568	21	2	paper	paper	NOUN
ap-568	21	3	describes	describe	VERB
ap-568	21	4	the	the	DET
ap-568	21	5	conceptual	conceptual	ADJ
ap-568	21	6	design	design	NOUN
ap-568	21	7	process	process	NOUN
ap-568	21	8	of	of	ADP
ap-568	21	9	octaslide	octaslide	NOUN
ap-568	21	10	redundant	redundant	ADJ
ap-568	21	11	parallel	parallel	ADJ
ap-568	21	12	kinematics	kinematic	NOUN
ap-568	21	13	for	for	ADP
ap-568	21	14	a	a	DET
ap-568	21	15	machine	machine	NOUN
ap-568	21	16	tool	tool	NOUN
ap-568	21	17	.	.	PUNCT
ap-568	22	1	redundantly	redundantly	ADV
ap-568	22	2	actuated	actuate	VERB
ap-568	22	3	parallel	parallel	ADJ
ap-568	22	4	kinematics	kinematic	NOUN
ap-568	22	5	is	be	AUX
ap-568	22	6	a	a	DET
ap-568	22	7	recently	recently	ADV
ap-568	22	8	developed	develop	VERB
ap-568	22	9	new	new	ADJ
ap-568	22	10	concept	concept	NOUN
ap-568	22	11	for	for	ADP
ap-568	22	12	machine	machine	NOUN
ap-568	22	13	tools	tool	NOUN
ap-568	22	14	.	.	PUNCT
ap-568	23	1	it	it	PRON
ap-568	23	2	enables	enable	VERB
ap-568	23	3	all	all	DET
ap-568	23	4	mechanical	mechanical	ADJ
ap-568	23	5	properties	property	NOUN
ap-568	23	6	of	of	ADP
ap-568	23	7	machine	machine	NOUN
ap-568	23	8	tools	tool	NOUN
ap-568	23	9	to	to	PART
ap-568	23	10	be	be	AUX
ap-568	23	11	improved	improve	VERB
ap-568	23	12	several	several	ADJ
ap-568	23	13	times	time	NOUN
ap-568	23	14	simultaneously	simultaneously	ADV
ap-568	23	15	.	.	PUNCT
ap-568	24	1	this	this	PRON
ap-568	24	2	is	be	AUX
ap-568	24	3	particularly	particularly	ADV
ap-568	24	4	demonstrated	demonstrate	VERB
ap-568	24	5	on	on	ADP
ap-568	24	6	the	the	DET
ap-568	24	7	design	design	NOUN
ap-568	24	8	of	of	ADP
ap-568	24	9	the	the	DET
ap-568	24	10	octaslide	octaslide	NOUN
ap-568	24	11	.	.	PUNCT
ap-568	25	1	this	this	PRON
ap-568	25	2	is	be	AUX
ap-568	25	3	a	a	DET
ap-568	25	4	concept	concept	NOUN
ap-568	25	5	of	of	ADP
ap-568	25	6	a	a	DET
ap-568	25	7	five	five	NUM
ap-568	25	8	-	-	PUNCT
ap-568	25	9	axis	axis	NOUN
ap-568	25	10	machine	machine	NOUN
ap-568	25	11	tool	tool	NOUN
ap-568	25	12	centre	centre	NOUN
ap-568	25	13	.	.	PUNCT
ap-568	26	1	the	the	DET
ap-568	26	2	paper	paper	NOUN
ap-568	26	3	describes	describe	VERB
ap-568	26	4	the	the	DET
ap-568	26	5	critical	critical	ADJ
ap-568	26	6	initial	initial	ADJ
ap-568	26	7	design	design	NOUN
ap-568	26	8	phases	phase	NOUN
ap-568	26	9	and	and	CCONJ
ap-568	26	10	the	the	DET
ap-568	26	11	accessible	accessible	ADJ
ap-568	26	12	mechanical	mechanical	ADJ
ap-568	26	13	properties	property	NOUN
ap-568	26	14	.	.	PUNCT
ap-568	27	1	the	the	DET
ap-568	27	2	design	design	NOUN
ap-568	27	3	process	process	NOUN
ap-568	27	4	has	have	AUX
ap-568	27	5	follow	follow	VERB
ap-568	27	6	the	the	DET
ap-568	27	7	newly	newly	ADV
ap-568	27	8	developed	develop	VERB
ap-568	27	9	design	design	NOUN
ap-568	27	10	methodology	methodology	NOUN
ap-568	27	11	for	for	ADP
ap-568	27	12	parallel	parallel	ADJ
ap-568	27	13	kinematics	kinematic	NOUN
ap-568	27	14	machines	machine	NOUN
ap-568	27	15	.	.	PUNCT
ap-568	28	1	keywords	keyword	NOUN
ap-568	28	2	:	:	PUNCT
ap-568	28	3	parallel	parallel	ADJ
ap-568	28	4	kinematics	kinematic	NOUN
ap-568	28	5	,	,	PUNCT
ap-568	28	6	redundant	redundant	ADJ
ap-568	28	7	actuation	actuation	NOUN
ap-568	28	8	,	,	PUNCT
ap-568	28	9	five	five	NUM
ap-568	28	10	axes	axis	NOUN
ap-568	28	11	,	,	PUNCT
ap-568	28	12	machine	machine	NOUN
ap-568	28	13	tool	tool	NOUN
ap-568	28	14	,	,	PUNCT
ap-568	28	15	dexterity	dexterity	NOUN
ap-568	28	16	,	,	PUNCT
ap-568	28	17	stiffness	stiffness	NOUN
ap-568	28	18	.	.	PUNCT
ap-568	29	1	fig	fig	NOUN
ap-568	29	2	.	.	PUNCT
ap-568	30	1	1	1	NUM
ap-568	30	2	:	:	PUNCT
ap-568	30	3	the	the	DET
ap-568	30	4	concept	concept	NOUN
ap-568	30	5	of	of	ADP
ap-568	30	6	redundant	redundant	ADJ
ap-568	30	7	actuation	actuation	NOUN
ap-568	30	8	of	of	ADP
ap-568	30	9	parallel	parallel	ADJ
ap-568	30	10	kinematics	kinematic	NOUN
ap-568	30	11	fig	fig	NOUN
ap-568	30	12	.	.	PUNCT
ap-568	31	1	2	2	NUM
ap-568	31	2	:	:	PUNCT
ap-568	31	3	the	the	DET
ap-568	31	4	different	different	ADJ
ap-568	31	5	constructions	construction	NOUN
ap-568	31	6	of	of	ADP
ap-568	31	7	link	link	NOUN
ap-568	31	8	actuators	actuator	NOUN
ap-568	31	9	(	(	PUNCT
ap-568	31	10	telescopic	telescopic	NOUN
ap-568	31	11	,	,	PUNCT
ap-568	31	12	sliding	sliding	ADJ
ap-568	31	13	,	,	PUNCT
ap-568	31	14	rotational	rotational	ADJ
ap-568	31	15	)	)	PUNCT
ap-568	31	16	using	use	VERB
ap-568	31	17	telescopic	telescopic	ADJ
ap-568	31	18	links	link	NOUN
ap-568	31	19	,	,	PUNCT
ap-568	31	20	the	the	DET
ap-568	31	21	octapod	octapod	NOUN
ap-568	31	22	has	have	AUX
ap-568	31	23	been	be	AUX
ap-568	31	24	proposed	propose	VERB
ap-568	31	25	as	as	ADP
ap-568	31	26	a	a	DET
ap-568	31	27	redundant	redundant	ADJ
ap-568	31	28	variant	variant	NOUN
ap-568	31	29	of	of	ADP
ap-568	31	30	the	the	DET
ap-568	31	31	traditional	traditional	ADJ
ap-568	31	32	hexapod	hexapod	NOUN
ap-568	31	33	.	.	PUNCT
ap-568	32	1	this	this	DET
ap-568	32	2	paper	paper	NOUN
ap-568	32	3	deals	deal	NOUN
ap-568	32	4	with	with	ADP
ap-568	32	5	the	the	DET
ap-568	32	6	conceptual	conceptual	ADJ
ap-568	32	7	design	design	NOUN
ap-568	32	8	of	of	ADP
ap-568	32	9	redundant	redundant	ADJ
ap-568	32	10	parallel	parallel	ADJ
ap-568	32	11	kinematics	kinematic	NOUN
ap-568	32	12	with	with	ADP
ap-568	32	13	sliding	slide	VERB
ap-568	32	14	links	link	NOUN
ap-568	32	15	.	.	PUNCT
ap-568	33	1	3	3	NUM
ap-568	33	2	design	design	NOUN
ap-568	33	3	methodology	methodology	NOUN
ap-568	33	4	for	for	ADP
ap-568	33	5	parallel	parallel	ADJ
ap-568	33	6	kinematics	kinematic	NOUN
ap-568	33	7	the	the	DET
ap-568	33	8	design	design	NOUN
ap-568	33	9	of	of	ADP
ap-568	33	10	parallel	parallel	ADJ
ap-568	33	11	kinematics	kinematic	NOUN
ap-568	33	12	is	be	AUX
ap-568	33	13	a	a	DET
ap-568	33	14	difficult	difficult	ADJ
ap-568	33	15	problem	problem	NOUN
ap-568	33	16	.	.	PUNCT
ap-568	34	1	the	the	DET
ap-568	34	2	fundamental	fundamental	ADJ
ap-568	34	3	problem	problem	NOUN
ap-568	34	4	is	be	AUX
ap-568	34	5	that	that	SCONJ
ap-568	34	6	almost	almost	ADV
ap-568	34	7	all	all	PRON
ap-568	34	8	design	design	NOUN
ap-568	34	9	parameters	parameter	NOUN
ap-568	34	10	are	be	AUX
ap-568	34	11	mutually	mutually	ADV
ap-568	34	12	dependent	dependent	ADJ
ap-568	34	13	.	.	PUNCT
ap-568	35	1	this	this	PRON
ap-568	35	2	leads	lead	VERB
ap-568	35	3	to	to	ADP
ap-568	35	4	significantly	significantly	ADV
ap-568	35	5	increased	increase	VERB
ap-568	35	6	computational	computational	ADJ
ap-568	35	7	complexity	complexity	NOUN
ap-568	35	8	.	.	PUNCT
ap-568	36	1	a	a	DET
ap-568	36	2	special	special	ADJ
ap-568	36	3	design	design	NOUN
ap-568	36	4	methodology	methodology	NOUN
ap-568	36	5	has	have	AUX
ap-568	36	6	therefore	therefore	ADV
ap-568	36	7	been	be	AUX
ap-568	36	8	developed	develop	VERB
ap-568	36	9	for	for	ADP
ap-568	36	10	parallel	parallel	ADJ
ap-568	36	11	kinematics	kinematic	NOUN
ap-568	37	1	[	[	X
ap-568	37	2	2	2	NUM
ap-568	37	3	]	]	PUNCT
ap-568	37	4	.	.	PUNCT
ap-568	38	1	this	this	DET
ap-568	38	2	methodology	methodology	NOUN
ap-568	38	3	has	have	AUX
ap-568	38	4	succeeded	succeed	VERB
ap-568	38	5	in	in	ADP
ap-568	38	6	decreasing	decrease	VERB
ap-568	38	7	the	the	DET
ap-568	38	8	computational	computational	ADJ
ap-568	38	9	complexity	complexity	NOUN
ap-568	38	10	of	of	ADP
ap-568	38	11	the	the	DET
ap-568	38	12	design	design	NOUN
ap-568	38	13	by	by	ADP
ap-568	38	14	decomposing	decompose	VERB
ap-568	38	15	the	the	DET
ap-568	38	16	design	design	NOUN
ap-568	38	17	process	process	NOUN
ap-568	38	18	into	into	ADP
ap-568	38	19	several	several	ADJ
ap-568	38	20	hierarchical	hierarchical	ADJ
ap-568	38	21	levels	level	NOUN
ap-568	38	22	and	and	CCONJ
ap-568	38	23	by	by	ADP
ap-568	38	24	using	use	VERB
ap-568	38	25	of	of	ADP
ap-568	38	26	computational	computational	ADJ
ap-568	38	27	tools	tool	NOUN
ap-568	38	28	capable	capable	ADJ
ap-568	38	29	of	of	ADP
ap-568	38	30	computing	compute	VERB
ap-568	38	31	the	the	DET
ap-568	38	32	mechanical	mechanical	ADJ
ap-568	38	33	properties	property	NOUN
ap-568	38	34	globally	globally	ADV
ap-568	38	35	(	(	PUNCT
ap-568	38	36	for	for	ADP
ap-568	38	37	the	the	DET
ap-568	38	38	whole	whole	ADJ
ap-568	38	39	workspace	workspace	NOUN
ap-568	38	40	,	,	PUNCT
ap-568	38	41	rather	rather	ADV
ap-568	38	42	than	than	ADP
ap-568	38	43	for	for	ADP
ap-568	38	44	one	one	NUM
ap-568	38	45	position	position	NOUN
ap-568	38	46	in	in	ADP
ap-568	38	47	it	it	PRON
ap-568	38	48	)	)	PUNCT
ap-568	38	49	.	.	PUNCT
ap-568	39	1	4	4	NUM
ap-568	39	2	octaslide	octaslide	NOUN
ap-568	39	3	concept	concept	NOUN
ap-568	39	4	the	the	DET
ap-568	39	5	octaslide	octaslide	NOUN
ap-568	39	6	is	be	AUX
ap-568	39	7	a	a	DET
ap-568	39	8	redundant	redundant	ADJ
ap-568	39	9	version	version	NOUN
ap-568	39	10	of	of	ADP
ap-568	39	11	the	the	DET
ap-568	39	12	hexaslide	hexaslide	NOUN
ap-568	39	13	.	.	PUNCT
ap-568	40	1	it	it	PRON
ap-568	40	2	is	be	AUX
ap-568	40	3	a	a	DET
ap-568	40	4	parallel	parallel	ADJ
ap-568	40	5	kinematics	kinematic	NOUN
ap-568	40	6	the	the	DET
ap-568	40	7	links	link	NOUN
ap-568	40	8	of	of	ADP
ap-568	40	9	which	which	PRON
ap-568	40	10	have	have	VERB
ap-568	40	11	sliding	slide	VERB
ap-568	40	12	actuators	actuator	NOUN
ap-568	40	13	.	.	PUNCT
ap-568	41	1	the	the	DET
ap-568	41	2	principal	principal	ADJ
ap-568	41	3	concept	concept	NOUN
ap-568	41	4	of	of	ADP
ap-568	41	5	such	such	DET
ap-568	41	6	a	a	DET
ap-568	41	7	structure	structure	NOUN
ap-568	41	8	is	be	AUX
ap-568	41	9	shown	show	VERB
ap-568	41	10	in	in	ADP
ap-568	41	11	fig	fig	NOUN
ap-568	41	12	.	.	PUNCT
ap-568	42	1	3	3	X
ap-568	42	2	.	.	PUNCT
ap-568	42	3	the	the	DET
ap-568	42	4	platform	platform	NOUN
ap-568	42	5	is	be	AUX
ap-568	42	6	suspended	suspend	VERB
ap-568	42	7	on	on	ADP
ap-568	42	8	8	8	NUM
ap-568	42	9	links	link	NOUN
ap-568	42	10	with	with	ADP
ap-568	42	11	actuators	actuator	NOUN
ap-568	42	12	,	,	PUNCT
ap-568	42	13	unlike	unlike	ADP
ap-568	42	14	the	the	DET
ap-568	42	15	hexaslide	hexaslide	NOUN
ap-568	42	16	or	or	CCONJ
ap-568	42	17	pentaslide	pentaslide	NOUN
ap-568	42	18	,	,	PUNCT
ap-568	42	19	which	which	PRON
ap-568	42	20	are	be	AUX
ap-568	42	21	suspended	suspend	VERB
ap-568	42	22	on	on	ADP
ap-568	42	23	only	only	ADV
ap-568	42	24	6	6	NUM
ap-568	42	25	or	or	CCONJ
ap-568	42	26	5	5	NUM
ap-568	42	27	links	link	NOUN
ap-568	42	28	.	.	PUNCT
ap-568	43	1	5	5	NUM
ap-568	43	2	workspace	workspace	NOUN
ap-568	43	3	and	and	CCONJ
ap-568	43	4	dexterity	dexterity	NOUN
ap-568	43	5	optimization	optimization	NOUN
ap-568	43	6	the	the	DET
ap-568	43	7	goal	goal	NOUN
ap-568	43	8	is	be	AUX
ap-568	43	9	to	to	PART
ap-568	43	10	design	design	VERB
ap-568	43	11	the	the	DET
ap-568	43	12	octaslide	octaslide	NOUN
ap-568	43	13	as	as	ADP
ap-568	43	14	a	a	DET
ap-568	43	15	machine	machine	NOUN
ap-568	43	16	tool	tool	NOUN
ap-568	43	17	for	for	ADP
ap-568	43	18	a	a	DET
ap-568	43	19	cylindrical	cylindrical	ADJ
ap-568	43	20	workspace	workspace	NOUN
ap-568	43	21	with	with	ADP
ap-568	43	22	a	a	DET
ap-568	43	23	diameter	diameter	NOUN
ap-568	43	24	of	of	ADP
ap-568	43	25	1200	1200	NUM
ap-568	43	26	mm	mm	NOUN
ap-568	43	27	(	(	PUNCT
ap-568	43	28	length	length	NOUN
ap-568	43	29	is	be	AUX
ap-568	43	30	almost	almost	ADV
ap-568	43	31	unlimited	unlimited	ADJ
ap-568	43	32	)	)	PUNCT
ap-568	43	33	.	.	PUNCT
ap-568	44	1	the	the	DET
ap-568	44	2	platform	platform	NOUN
ap-568	44	3	is	be	AUX
ap-568	44	4	again	again	ADV
ap-568	44	5	a	a	DET
ap-568	44	6	cylinder	cylinder	NOUN
ap-568	44	7	with	with	ADP
ap-568	44	8	diameter	diameter	NOUN
ap-568	44	9	400	400	NUM
ap-568	44	10	mm	mm	NOUN
ap-568	44	11	and	and	CCONJ
ap-568	44	12	a	a	DET
ap-568	44	13	length	length	NOUN
ap-568	44	14	of	of	ADP
ap-568	44	15	700	700	NUM
ap-568	44	16	mm	mm	NOUN
ap-568	44	17	for	for	ADP
ap-568	44	18	axial	axial	ADJ
ap-568	44	19	suspension	suspension	NOUN
ap-568	44	20	of	of	ADP
ap-568	44	21	the	the	DET
ap-568	44	22	spindle	spindle	NOUN
ap-568	44	23	.	.	PUNCT
ap-568	45	1	the	the	DET
ap-568	45	2	goal	goal	NOUN
ap-568	45	3	is	be	AUX
ap-568	45	4	to	to	PART
ap-568	45	5	maximize	maximize	VERB
ap-568	45	6	the	the	DET
ap-568	45	7	orientation	orientation	NOUN
ap-568	45	8	angles	angle	VERB
ap-568	45	9	for	for	ADP
ap-568	45	10	five	five	NUM
ap-568	45	11	-	-	PUNCT
ap-568	45	12	axis	axis	NOUN
ap-568	45	13	machining	machining	NOUN
ap-568	45	14	.	.	PUNCT
ap-568	46	1	the	the	DET
ap-568	46	2	investigation	investigation	NOUN
ap-568	46	3	and	and	CCONJ
ap-568	46	4	optimization	optimization	NOUN
ap-568	46	5	were	be	AUX
ap-568	46	6	provided	provide	VERB
ap-568	46	7	on	on	ADP
ap-568	46	8	three	three	NUM
ap-568	46	9	testing	testing	NOUN
ap-568	46	10	trajectories	trajectory	NOUN
ap-568	46	11	(	(	PUNCT
ap-568	46	12	fig	fig	NOUN
ap-568	46	13	.	.	PUNCT
ap-568	46	14	4	4	NUM
ap-568	46	15	)	)	PUNCT
ap-568	46	16	.	.	PUNCT
ap-568	47	1	the	the	DET
ap-568	47	2	first	first	ADJ
ap-568	47	3	is	be	AUX
ap-568	47	4	a	a	DET
ap-568	47	5	planar	planar	ADJ
ap-568	47	6	circular	circular	ADJ
ap-568	47	7	trajectory	trajectory	NOUN
ap-568	47	8	with	with	ADP
ap-568	47	9	chords	chord	NOUN
ap-568	47	10	of	of	ADP
ap-568	47	11	radius	radius	NOUN
ap-568	47	12	540	540	NUM
ap-568	47	13	mm	mm	NOUN
ap-568	47	14	in	in	ADP
ap-568	47	15	plane	plane	NOUN
ap-568	47	16	x	x	PROPN
ap-568	47	17	-	-	PROPN
ap-568	47	18	z	z	PROPN
ap-568	47	19	,	,	PUNCT
ap-568	47	20	the	the	DET
ap-568	47	21	second	second	NOUN
ap-568	47	22	is	be	AUX
ap-568	47	23	a	a	DET
ap-568	47	24	conical	conical	ADJ
ap-568	47	25	trajectory	trajectory	NOUN
ap-568	47	26	from	from	ADP
ap-568	47	27	the	the	DET
ap-568	47	28	origin	origin	NOUN
ap-568	47	29	with	with	ADP
ap-568	47	30	variant	variant	ADJ
ap-568	47	31	deflection	deflection	NOUN
ap-568	47	32	angle	angle	NOUN
ap-568	47	33	�	�	PROPN
ap-568	47	34	,	,	PUNCT
ap-568	47	35	and	and	CCONJ
ap-568	47	36	the	the	DET
ap-568	47	37	third	third	NOUN
ap-568	47	38	is	be	AUX
ap-568	47	39	a	a	DET
ap-568	47	40	conical	conical	ADJ
ap-568	47	41	trajectory	trajectory	NOUN
ap-568	47	42	on	on	ADP
ap-568	47	43	a	a	DET
ap-568	47	44	circular	circular	ADJ
ap-568	47	45	path	path	NOUN
ap-568	47	46	in	in	ADP
ap-568	47	47	plane	plane	NOUN
ap-568	47	48	x	x	NOUN
ap-568	47	49	-	-	PROPN
ap-568	47	50	z	z	NOUN
ap-568	47	51	of	of	ADP
ap-568	47	52	radius	radius	NOUN
ap-568	47	53	540	540	NUM
ap-568	47	54	mm	mm	NOUN
ap-568	47	55	with	with	ADP
ap-568	47	56	variant	variant	ADJ
ap-568	47	57	deflection	deflection	NOUN
ap-568	47	58	.	.	PUNCT
ap-568	48	1	first	first	ADV
ap-568	48	2	,	,	PUNCT
ap-568	48	3	the	the	DET
ap-568	48	4	hexaslide	hexaslide	NOUN
ap-568	48	5	was	be	AUX
ap-568	48	6	optimized	optimize	VERB
ap-568	48	7	.	.	PUNCT
ap-568	49	1	two	two	NUM
ap-568	49	2	structures	structure	NOUN
ap-568	49	3	were	be	AUX
ap-568	49	4	investigated	investigate	VERB
ap-568	49	5	.	.	PUNCT
ap-568	50	1	the	the	DET
ap-568	50	2	first	first	ADJ
ap-568	50	3	kinematic	kinematic	ADJ
ap-568	50	4	structure	structure	NOUN
ap-568	50	5	is	be	AUX
ap-568	50	6	symmetric	symmetric	ADJ
ap-568	50	7	(	(	PUNCT
ap-568	50	8	fig	fig	NOUN
ap-568	50	9	.	.	PUNCT
ap-568	50	10	5	5	NUM
ap-568	50	11	)	)	PUNCT
ap-568	50	12	.	.	PUNCT
ap-568	51	1	the	the	DET
ap-568	51	2	second	second	ADJ
ap-568	51	3	structure	structure	NOUN
ap-568	51	4	is	be	AUX
ap-568	51	5	asymmetric	asymmetric	ADJ
ap-568	51	6	,	,	PUNCT
ap-568	51	7	with	with	ADP
ap-568	51	8	links	link	NOUN
ap-568	51	9	of	of	ADP
ap-568	51	10	different	different	ADJ
ap-568	51	11	lengths	length	NOUN
ap-568	51	12	(	(	PUNCT
ap-568	51	13	fig	fig	NOUN
ap-568	51	14	.	.	PUNCT
ap-568	51	15	6	6	NUM
ap-568	51	16	)	)	PUNCT
ap-568	51	17	.	.	PUNCT
ap-568	52	1	the	the	DET
ap-568	52	2	influence	influence	NOUN
ap-568	52	3	of	of	ADP
ap-568	52	4	structure	structure	NOUN
ap-568	52	5	asymmetry	asymmetry	NOUN
ap-568	52	6	on	on	ADP
ap-568	52	7	the	the	DET
ap-568	52	8	important	important	ADJ
ap-568	52	9	kinematic	kinematic	ADJ
ap-568	52	10	property	property	NOUN
ap-568	52	11	of	of	ADP
ap-568	52	12	dexterity	dexterity	NOUN
ap-568	52	13	(	(	PUNCT
ap-568	52	14	characterizing	characterize	VERB
ap-568	52	15	the	the	DET
ap-568	52	16	distance	distance	NOUN
ap-568	52	17	from	from	ADP
ap-568	52	18	the	the	DET
ap-568	52	19	singular	singular	PROPN
ap-568	52	20	position	position	NOUN
ap-568	52	21	)	)	PUNCT
ap-568	52	22	is	be	AUX
ap-568	52	23	very	very	ADV
ap-568	52	24	strong	strong	ADJ
ap-568	52	25	.	.	PUNCT
ap-568	53	1	a	a	DET
ap-568	53	2	comparison	comparison	NOUN
ap-568	53	3	of	of	ADP
ap-568	53	4	the	the	DET
ap-568	53	5	dexterity	dexterity	NOUN
ap-568	53	6	behaviour	behaviour	NOUN
ap-568	53	7	of	of	ADP
ap-568	53	8	the	the	DET
ap-568	53	9	two	two	NUM
ap-568	53	10	hexaslide	hexaslide	ADJ
ap-568	53	11	structures	structure	NOUN
ap-568	53	12	on	on	ADP
ap-568	53	13	three	three	NUM
ap-568	53	14	testing	testing	NOUN
ap-568	53	15	trajectories	trajectory	NOUN
ap-568	53	16	is	be	AUX
ap-568	53	17	shown	show	VERB
ap-568	53	18	in	in	ADP
ap-568	53	19	fig	fig	NOUN
ap-568	53	20	.	.	PUNCT
ap-568	54	1	9	9	NUM
ap-568	54	2	(	(	PUNCT
ap-568	54	3	left	leave	VERB
ap-568	54	4	)	)	PUNCT
ap-568	54	5	.	.	PUNCT
ap-568	55	1	the	the	DET
ap-568	55	2	same	same	ADJ
ap-568	55	3	investigation	investigation	NOUN
ap-568	55	4	was	be	AUX
ap-568	55	5	done	do	VERB
ap-568	55	6	for	for	ADP
ap-568	55	7	the	the	DET
ap-568	55	8	octaslide	octaslide	NOUN
ap-568	55	9	.	.	PUNCT
ap-568	56	1	two	two	NUM
ap-568	56	2	structures	structure	NOUN
ap-568	56	3	were	be	AUX
ap-568	56	4	designed	design	VERB
ap-568	56	5	and	and	CCONJ
ap-568	56	6	optimized	optimize	VERB
ap-568	56	7	–	–	PUNCT
ap-568	56	8	symmetric	symmetric	ADJ
ap-568	56	9	and	and	CCONJ
ap-568	56	10	©	©	PROPN
ap-568	56	11	czech	czech	PROPN
ap-568	56	12	technical	technical	PROPN
ap-568	56	13	university	university	PROPN
ap-568	56	14	publishing	publishing	NOUN
ap-568	56	15	house	house	NOUN
ap-568	56	16	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-568	56	17	25	25	NUM
ap-568	56	18	acta	acta	PROPN
ap-568	56	19	polytechnica	polytechnica	PROPN
ap-568	56	20	vol	vol	NOUN
ap-568	56	21	.	.	PROPN
ap-568	57	1	44	44	NUM
ap-568	57	2	no	no	NOUN
ap-568	57	3	.	.	PUNCT
ap-568	58	1	3/2004	3/2004	NUM
ap-568	58	2	fig	fig	NOUN
ap-568	58	3	.	.	PUNCT
ap-568	59	1	3	3	NUM
ap-568	59	2	:	:	PUNCT
ap-568	59	3	kinematic	kinematic	ADJ
ap-568	59	4	concept	concept	NOUN
ap-568	59	5	of	of	ADP
ap-568	59	6	the	the	DET
ap-568	59	7	octaslide	octaslide	PROPN
ap-568	59	8	�	�	PROPN
ap-568	59	9	x	x	SYM
ap-568	59	10	z	z	VERB
ap-568	59	11	y	y	PROPN
ap-568	59	12	�	�	PROPN
ap-568	59	13	x	x	PUNCT
ap-568	59	14	z	z	VERB
ap-568	59	15	y	y	PROPN
ap-568	59	16	fig	fig	NOUN
ap-568	59	17	.	.	PUNCT
ap-568	60	1	4	4	NUM
ap-568	60	2	:	:	SYM
ap-568	60	3	three	three	NUM
ap-568	60	4	testing	testing	NOUN
ap-568	60	5	trajectories	trajectorie	VERB
ap-568	60	6	26	26	NUM
ap-568	60	7	©	©	PROPN
ap-568	60	8	czech	czech	PROPN
ap-568	60	9	technical	technical	PROPN
ap-568	60	10	university	university	PROPN
ap-568	60	11	publishing	publishing	NOUN
ap-568	60	12	house	house	NOUN
ap-568	60	13	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-568	60	14	acta	acta	PROPN
ap-568	60	15	polytechnica	polytechnica	PROPN
ap-568	60	16	vol	vol	NOUN
ap-568	60	17	.	.	PROPN
ap-568	61	1	44	44	NUM
ap-568	61	2	no	no	NOUN
ap-568	61	3	.	.	PUNCT
ap-568	62	1	3/2004	3/2004	NUM
ap-568	62	2	-1	-1	PUNCT
ap-568	62	3	-0.5	-0.5	X
ap-568	62	4	0	0	NUM
ap-568	62	5	0.5	0.5	NUM
ap-568	62	6	1	1	NUM
ap-568	62	7	-1	-1	SYM
ap-568	62	8	-0.5	-0.5	X
ap-568	62	9	0	0	NUM
ap-568	63	1	0.5	0.5	NUM
ap-568	63	2	1	1	NUM
ap-568	63	3	1	1	NUM
ap-568	63	4	6	6	NUM
ap-568	63	5	2	2	NUM
ap-568	63	6	x	x	SYM
ap-568	63	7	5	5	NUM
ap-568	63	8	3	3	NUM
ap-568	63	9	4	4	NUM
ap-568	63	10	z	z	NOUN
ap-568	63	11	y	y	NOUN
ap-568	63	12	-1	-1	NOUN
ap-568	63	13	0	0	NUM
ap-568	63	14	1	1	NUM
ap-568	63	15	-1.5	-1.5	NUM
ap-568	63	16	-1	-1	PUNCT
ap-568	63	17	-0.5	-0.5	X
ap-568	63	18	0	0	NUM
ap-568	63	19	0.5	0.5	NUM
ap-568	63	20	6	6	NUM
ap-568	63	21	1	1	NUM
ap-568	63	22	x	x	SYM
ap-568	63	23	4	4	NUM
ap-568	63	24	3y	3y	NUM
ap-568	63	25	5	5	NUM
ap-568	63	26	2	2	NUM
ap-568	63	27	-1.5	-1.5	NUM
ap-568	63	28	-	-	PUNCT
ap-568	63	29	1	1	NUM
ap-568	63	30	-	-	PUNCT
ap-568	63	31	0.500.5	0.500.5	NUM
ap-568	63	32	-1	-1	SYM
ap-568	63	33	-0.5	-0.5	X
ap-568	63	34	0	0	NUM
ap-568	63	35	0.5	0.5	NUM
ap-568	63	36	1	1	NUM
ap-568	63	37	5	5	NUM
ap-568	63	38	1	1	NUM
ap-568	63	39	2	2	NUM
ap-568	63	40	4	4	NUM
ap-568	63	41	z	z	NOUN
ap-568	63	42	3	3	NUM
ap-568	63	43	6	6	NUM
ap-568	63	44	-1	-1	SYM
ap-568	63	45	0	0	NUM
ap-568	63	46	1	1	NUM
ap-568	63	47	-2	-2	NOUN
ap-568	63	48	0	0	NUM
ap-568	63	49	2	2	NUM
ap-568	63	50	-1	-1	SYM
ap-568	63	51	0	0	NUM
ap-568	63	52	1	1	NUM
ap-568	63	53	x	x	SYM
ap-568	63	54	6	6	NUM
ap-568	63	55	2	2	NUM
ap-568	63	56	5	5	NUM
ap-568	63	57	3	3	NUM
ap-568	63	58	y	y	PROPN
ap-568	63	59	z	z	NOUN
ap-568	63	60	1	1	NUM
ap-568	63	61	4	4	NUM
ap-568	63	62	fig	fig	NOUN
ap-568	63	63	.	.	PUNCT
ap-568	64	1	6	6	NUM
ap-568	64	2	:	:	PUNCT
ap-568	64	3	hexaslide	hexaslide	ADV
ap-568	64	4	with	with	ADP
ap-568	64	5	an	an	DET
ap-568	64	6	asymmetric	asymmetric	ADJ
ap-568	64	7	structure	structure	NOUN
ap-568	64	8	(	(	PUNCT
ap-568	64	9	different	different	ADJ
ap-568	64	10	lengths	length	NOUN
ap-568	64	11	of	of	ADP
ap-568	64	12	links	link	NOUN
ap-568	64	13	)	)	PUNCT
ap-568	64	14	-1	-1	PUNCT
ap-568	65	1	-0.5	-0.5	X
ap-568	65	2	0	0	NUM
ap-568	65	3	0.5	0.5	NUM
ap-568	65	4	1	1	NUM
ap-568	65	5	-1	-1	SYM
ap-568	65	6	-0.5	-0.5	X
ap-568	65	7	0	0	NUM
ap-568	65	8	0.5	0.5	NUM
ap-568	65	9	1	1	NUM
ap-568	65	10	1	1	NUM
ap-568	65	11	6	6	NUM
ap-568	65	12	5	5	NUM
ap-568	65	13	2	2	NUM
ap-568	65	14	x	x	SYM
ap-568	65	15	4	4	NUM
ap-568	65	16	3	3	NUM
ap-568	65	17	z	z	NOUN
ap-568	65	18	-1	-1	NOUN
ap-568	65	19	0	0	NUM
ap-568	65	20	1	1	NUM
ap-568	65	21	-1	-1	SYM
ap-568	65	22	.5	.5	NUM
ap-568	66	1	-1	-1	INTJ
ap-568	66	2	-0	-0	INTJ
ap-568	67	1	.5	.5	NUM
ap-568	67	2	0	0	NUM
ap-568	67	3	0.5	0.5	NUM
ap-568	67	4	6	6	NUM
ap-568	67	5	1	1	NUM
ap-568	67	6	2	2	NUM
ap-568	67	7	x	x	SYM
ap-568	67	8	4	4	NUM
ap-568	67	9	3	3	NUM
ap-568	67	10	y	y	PROPN
ap-568	67	11	5	5	NUM
ap-568	67	12	-1	-1	SYM
ap-568	67	13	.5	.5	NUM
ap-568	67	14	-	-	SYM
ap-568	67	15	1	1	NUM
ap-568	67	16	-	-	SYM
ap-568	67	17	0	0	NUM
ap-568	67	18	.500.5	.500.5	NUM
ap-568	67	19	-1	-1	INTJ
ap-568	67	20	-0	-0	INTJ
ap-568	67	21	.5	.5	NUM
ap-568	67	22	0	0	NUM
ap-568	67	23	0.5	0.5	NUM
ap-568	67	24	1	1	NUM
ap-568	67	25	5	5	NUM
ap-568	67	26	1	1	NUM
ap-568	67	27	y	y	SYM
ap-568	67	28	2	2	NUM
ap-568	67	29	4	4	NUM
ap-568	67	30	z	z	NOUN
ap-568	67	31	3	3	NUM
ap-568	67	32	6	6	NUM
ap-568	67	33	-1	-1	SYM
ap-568	67	34	0	0	NUM
ap-568	67	35	1	1	NUM
ap-568	67	36	-2	-2	NOUN
ap-568	67	37	0	0	NUM
ap-568	67	38	2	2	NUM
ap-568	67	39	-1	-1	SYM
ap-568	67	40	0	0	NUM
ap-568	67	41	1	1	NUM
ap-568	67	42	x	x	SYM
ap-568	67	43	6	6	NUM
ap-568	67	44	5	5	NUM
ap-568	67	45	3	3	NUM
ap-568	67	46	y	y	PROPN
ap-568	67	47	z	z	NOUN
ap-568	67	48	4	4	NUM
ap-568	67	49	2	2	NUM
ap-568	67	50	1	1	NUM
ap-568	67	51	fig	fig	NOUN
ap-568	67	52	.	.	PUNCT
ap-568	68	1	5	5	NUM
ap-568	68	2	:	:	PUNCT
ap-568	68	3	hexaslide	hexaslide	ADV
ap-568	68	4	with	with	ADP
ap-568	68	5	a	a	DET
ap-568	68	6	symmetric	symmetric	ADJ
ap-568	68	7	structure	structure	NOUN
ap-568	68	8	©	©	PROPN
ap-568	68	9	czech	czech	PROPN
ap-568	68	10	technical	technical	PROPN
ap-568	68	11	university	university	PROPN
ap-568	68	12	publishing	publishing	NOUN
ap-568	68	13	house	house	NOUN
ap-568	68	14	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-568	68	15	27	27	NUM
ap-568	68	16	acta	acta	PROPN
ap-568	68	17	polytechnica	polytechnica	PROPN
ap-568	68	18	vol	vol	NOUN
ap-568	68	19	.	.	PROPN
ap-568	69	1	44	44	NUM
ap-568	69	2	no	no	NOUN
ap-568	69	3	.	.	PUNCT
ap-568	70	1	3/2004	3/2004	NUM
ap-568	70	2	-1	-1	PUNCT
ap-568	70	3	-0.5	-0.5	X
ap-568	70	4	0	0	NUM
ap-568	70	5	0.5	0.5	NUM
ap-568	70	6	1	1	NUM
ap-568	70	7	-1	-1	SYM
ap-568	70	8	-0.5	-0.5	X
ap-568	70	9	0	0	NUM
ap-568	70	10	0.5	0.5	NUM
ap-568	70	11	1	1	NUM
ap-568	70	12	1	1	NUM
ap-568	70	13	8	8	NUM
ap-568	70	14	2	2	NUM
ap-568	70	15	7	7	NUM
ap-568	70	16	x	x	SYM
ap-568	70	17	6	6	NUM
ap-568	70	18	34	34	NUM
ap-568	70	19	5	5	NUM
ap-568	70	20	z	z	NOUN
ap-568	70	21	-1	-1	NOUN
ap-568	70	22	0	0	NUM
ap-568	71	1	1	1	NUM
ap-568	71	2	-1.5	-1.5	NUM
ap-568	71	3	-1	-1	PUNCT
ap-568	72	1	-0.5	-0.5	X
ap-568	72	2	0	0	NUM
ap-568	72	3	0.5	0.5	NUM
ap-568	72	4	8	8	NUM
ap-568	72	5	1	1	NUM
ap-568	72	6	2	2	NUM
ap-568	72	7	7	7	NUM
ap-568	72	8	x	x	SYM
ap-568	72	9	6	6	NUM
ap-568	72	10	4	4	NUM
ap-568	72	11	5	5	NUM
ap-568	72	12	y	y	SYM
ap-568	72	13	3	3	NUM
ap-568	72	14	z	z	NOUN
ap-568	72	15	-1.5	-1.5	VERB
ap-568	72	16	-	-	PUNCT
ap-568	72	17	1	1	NUM
ap-568	72	18	-	-	PUNCT
ap-568	72	19	0.500.5	0.500.5	NUM
ap-568	72	20	-1	-1	SYM
ap-568	72	21	-0.5	-0.5	X
ap-568	72	22	0	0	NUM
ap-568	72	23	0.5	0.5	NUM
ap-568	72	24	1	1	NUM
ap-568	72	25	1	1	NUM
ap-568	72	26	5	5	NUM
ap-568	72	27	3	3	NUM
ap-568	72	28	y	y	NOUN
ap-568	72	29	8	8	NUM
ap-568	72	30	4	4	NUM
ap-568	72	31	2	2	NUM
ap-568	72	32	76	76	NUM
ap-568	72	33	-1	-1	SYM
ap-568	72	34	0	0	NUM
ap-568	72	35	1	1	NUM
ap-568	72	36	-2	-2	NOUN
ap-568	72	37	0	0	NUM
ap-568	72	38	2	2	NUM
ap-568	72	39	-1	-1	SYM
ap-568	72	40	0	0	NUM
ap-568	72	41	1	1	NUM
ap-568	72	42	1	1	NUM
ap-568	72	43	x	x	SYM
ap-568	72	44	8	8	NUM
ap-568	72	45	2	2	NUM
ap-568	72	46	4	4	NUM
ap-568	72	47	y	y	PROPN
ap-568	72	48	z	z	PROPN
ap-568	72	49	5	5	NUM
ap-568	72	50	6	6	NUM
ap-568	72	51	7	7	NUM
ap-568	72	52	3	3	NUM
ap-568	72	53	fig	fig	NOUN
ap-568	72	54	.	.	PUNCT
ap-568	73	1	8	8	NUM
ap-568	73	2	:	:	PUNCT
ap-568	73	3	octaslide	octaslide	NOUN
ap-568	73	4	with	with	ADP
ap-568	73	5	an	an	DET
ap-568	73	6	asymmetric	asymmetric	ADJ
ap-568	73	7	structure	structure	NOUN
ap-568	73	8	(	(	PUNCT
ap-568	73	9	different	different	ADJ
ap-568	73	10	lengths	length	NOUN
ap-568	73	11	of	of	ADP
ap-568	73	12	links	link	NOUN
ap-568	73	13	)	)	PUNCT
ap-568	73	14	-1	-1	PUNCT
ap-568	74	1	-0.5	-0.5	X
ap-568	74	2	0	0	NUM
ap-568	74	3	0.5	0.5	NUM
ap-568	74	4	1	1	NUM
ap-568	74	5	-1	-1	SYM
ap-568	74	6	-0.5	-0.5	X
ap-568	74	7	0	0	NUM
ap-568	74	8	0.5	0.5	NUM
ap-568	74	9	1	1	NUM
ap-568	74	10	8	8	NUM
ap-568	74	11	1	1	NUM
ap-568	74	12	7	7	NUM
ap-568	74	13	2	2	NUM
ap-568	74	14	x	x	SYM
ap-568	74	15	6	6	NUM
ap-568	74	16	3	3	NUM
ap-568	74	17	4	4	NUM
ap-568	74	18	5	5	NUM
ap-568	74	19	z	z	NOUN
ap-568	74	20	-1	-1	NOUN
ap-568	74	21	0	0	NUM
ap-568	74	22	1	1	NUM
ap-568	74	23	-1.5	-1.5	NUM
ap-568	74	24	-1	-1	PUNCT
ap-568	75	1	-0.5	-0.5	X
ap-568	75	2	0	0	NUM
ap-568	75	3	0.5	0.5	NUM
ap-568	75	4	8	8	NUM
ap-568	75	5	1	1	NUM
ap-568	75	6	7	7	NUM
ap-568	75	7	2	2	NUM
ap-568	75	8	x	x	SYM
ap-568	75	9	64	64	NUM
ap-568	75	10	5	5	NUM
ap-568	75	11	y	y	PROPN
ap-568	75	12	3	3	NUM
ap-568	75	13	-1.5	-1.5	NUM
ap-568	75	14	-	-	PUNCT
ap-568	75	15	1	1	NUM
ap-568	75	16	-	-	PUNCT
ap-568	75	17	0.500.5	0.500.5	NUM
ap-568	75	18	-1	-1	SYM
ap-568	75	19	-0.5	-0.5	X
ap-568	75	20	0	0	NUM
ap-568	75	21	0.5	0.5	NUM
ap-568	75	22	1	1	NUM
ap-568	75	23	7	7	NUM
ap-568	75	24	3	3	NUM
ap-568	75	25	y	y	PROPN
ap-568	75	26	2	2	NUM
ap-568	75	27	z	z	NOUN
ap-568	75	28	4	4	NUM
ap-568	75	29	8	8	NUM
ap-568	75	30	6	6	NUM
ap-568	75	31	1	1	NUM
ap-568	75	32	5	5	NUM
ap-568	75	33	-1	-1	SYM
ap-568	75	34	0	0	NUM
ap-568	75	35	1	1	NUM
ap-568	75	36	-2	-2	NOUN
ap-568	75	37	0	0	NUM
ap-568	75	38	2	2	NUM
ap-568	75	39	-1	-1	SYM
ap-568	75	40	0	0	NUM
ap-568	76	1	1	1	NUM
ap-568	76	2	1	1	NUM
ap-568	76	3	x	x	SYM
ap-568	76	4	2	2	NUM
ap-568	76	5	y	y	PROPN
ap-568	76	6	z	z	PROPN
ap-568	76	7	6	6	NUM
ap-568	76	8	7	7	NUM
ap-568	76	9	5	5	NUM
ap-568	76	10	4	4	NUM
ap-568	76	11	8	8	NUM
ap-568	76	12	3	3	NUM
ap-568	76	13	fig	fig	NOUN
ap-568	76	14	.	.	PUNCT
ap-568	77	1	7	7	NUM
ap-568	77	2	:	:	PUNCT
ap-568	77	3	octaslide	octaslide	NOUN
ap-568	77	4	with	with	ADP
ap-568	77	5	a	a	DET
ap-568	77	6	symmetric	symmetric	ADJ
ap-568	77	7	structure	structure	NOUN
ap-568	77	8	asymmetric	asymmetric	NOUN
ap-568	77	9	(	(	PUNCT
ap-568	77	10	figs	fig	NOUN
ap-568	77	11	.	.	PUNCT
ap-568	77	12	7	7	NUM
ap-568	77	13	and	and	CCONJ
ap-568	77	14	8)	8)	NUM
ap-568	77	15	.	.	PUNCT
ap-568	78	1	the	the	DET
ap-568	78	2	influence	influence	NOUN
ap-568	78	3	of	of	ADP
ap-568	78	4	these	these	DET
ap-568	78	5	structures	structure	NOUN
ap-568	78	6	on	on	ADP
ap-568	78	7	dexterity	dexterity	NOUN
ap-568	78	8	on	on	ADP
ap-568	78	9	the	the	DET
ap-568	78	10	testing	testing	NOUN
ap-568	78	11	trajectories	trajectory	NOUN
ap-568	78	12	is	be	AUX
ap-568	78	13	again	again	ADV
ap-568	78	14	very	very	ADV
ap-568	78	15	strong	strong	ADJ
ap-568	78	16	.	.	PUNCT
ap-568	79	1	a	a	DET
ap-568	79	2	comparison	comparison	NOUN
ap-568	79	3	of	of	ADP
ap-568	79	4	the	the	DET
ap-568	79	5	dexterity	dexterity	NOUN
ap-568	79	6	behaviour	behaviour	NOUN
ap-568	79	7	of	of	ADP
ap-568	79	8	the	the	DET
ap-568	79	9	two	two	NUM
ap-568	79	10	octaslide	octaslide	NOUN
ap-568	79	11	structures	structure	NOUN
ap-568	79	12	on	on	ADP
ap-568	79	13	three	three	NUM
ap-568	79	14	testing	testing	NOUN
ap-568	79	15	trajectories	trajectory	NOUN
ap-568	79	16	is	be	AUX
ap-568	79	17	shown	show	VERB
ap-568	79	18	in	in	ADP
ap-568	79	19	fig	fig	NOUN
ap-568	79	20	.	.	PUNCT
ap-568	80	1	9	9	NUM
ap-568	80	2	(	(	PUNCT
ap-568	80	3	right	right	NOUN
ap-568	80	4	)	)	PUNCT
ap-568	80	5	.	.	PUNCT
ap-568	81	1	a	a	DET
ap-568	81	2	comparison	comparison	NOUN
ap-568	81	3	of	of	ADP
ap-568	81	4	the	the	DET
ap-568	81	5	dexterity	dexterity	NOUN
ap-568	81	6	on	on	ADP
ap-568	81	7	testing	testing	NOUN
ap-568	81	8	trajectories	trajectory	NOUN
ap-568	81	9	of	of	ADP
ap-568	81	10	the	the	DET
ap-568	81	11	optimized	optimize	VERB
ap-568	81	12	hexaslide	hexaslide	NOUN
ap-568	81	13	and	and	CCONJ
ap-568	81	14	octaslide	octaslide	NOUN
ap-568	81	15	is	be	AUX
ap-568	81	16	shown	show	VERB
ap-568	81	17	in	in	ADP
ap-568	81	18	fig	fig	NOUN
ap-568	81	19	.	.	PUNCT
ap-568	82	1	10	10	NUM
ap-568	82	2	a	a	DET
ap-568	82	3	,	,	PUNCT
ap-568	82	4	b	b	NOUN
ap-568	82	5	,	,	PUNCT
ap-568	82	6	c.	c.	NOUN
ap-568	82	7	the	the	DET
ap-568	82	8	behaviour	behaviour	NOUN
ap-568	82	9	of	of	ADP
ap-568	82	10	the	the	DET
ap-568	82	11	octaslide	octaslide	NOUN
ap-568	82	12	is	be	AUX
ap-568	82	13	significantly	significantly	ADV
ap-568	82	14	better	well	ADJ
ap-568	82	15	as	as	SCONJ
ap-568	82	16	the	the	DET
ap-568	82	17	dexterity	dexterity	NOUN
ap-568	82	18	minimum	minimum	NOUN
ap-568	82	19	is	be	AUX
ap-568	82	20	increased	increase	VERB
ap-568	82	21	and	and	CCONJ
ap-568	82	22	its	its	PRON
ap-568	82	23	variation	variation	NOUN
ap-568	82	24	is	be	AUX
ap-568	82	25	decreased	decrease	VERB
ap-568	82	26	.	.	PUNCT
ap-568	83	1	the	the	DET
ap-568	83	2	principle	principle	NOUN
ap-568	83	3	of	of	ADP
ap-568	83	4	asymmetry	asymmetry	NOUN
ap-568	83	5	was	be	AUX
ap-568	83	6	further	far	ADV
ap-568	83	7	investigated	investigate	VERB
ap-568	83	8	and	and	CCONJ
ap-568	83	9	the	the	DET
ap-568	83	10	structure	structure	NOUN
ap-568	83	11	of	of	ADP
ap-568	83	12	the	the	DET
ap-568	83	13	octaslide	octaslide	NOUN
ap-568	83	14	was	be	AUX
ap-568	83	15	optimized	optimize	VERB
ap-568	83	16	(	(	PUNCT
ap-568	83	17	fig	fig	NOUN
ap-568	83	18	.	.	PUNCT
ap-568	84	1	11	11	NUM
ap-568	84	2	)	)	PUNCT
ap-568	84	3	by	by	ADP
ap-568	84	4	varying	vary	VERB
ap-568	84	5	the	the	DET
ap-568	84	6	link	link	NOUN
ap-568	84	7	lengths	length	NOUN
ap-568	84	8	and	and	CCONJ
ap-568	84	9	their	their	PRON
ap-568	84	10	positioning	positioning	NOUN
ap-568	84	11	on	on	ADP
ap-568	84	12	the	the	DET
ap-568	84	13	frame	frame	NOUN
ap-568	84	14	.	.	PUNCT
ap-568	85	1	the	the	DET
ap-568	85	2	dexterity	dexterity	NOUN
ap-568	85	3	was	be	AUX
ap-568	85	4	further	far	ADV
ap-568	85	5	significantly	significantly	ADV
ap-568	85	6	improved	improve	VERB
ap-568	85	7	above	above	ADP
ap-568	85	8	the	the	DET
ap-568	85	9	previous	previous	ADJ
ap-568	85	10	levels	level	NOUN
ap-568	85	11	(	(	PUNCT
ap-568	85	12	fig	fig	NOUN
ap-568	85	13	.	.	PUNCT
ap-568	85	14	10c	10c	NOUN
ap-568	85	15	)	)	PUNCT
ap-568	85	16	comparing	compare	VERB
ap-568	85	17	the	the	DET
ap-568	85	18	optimized	optimize	VERB
ap-568	85	19	hexaslide	hexaslide	NOUN
ap-568	85	20	and	and	CCONJ
ap-568	85	21	the	the	DET
ap-568	85	22	two	two	NUM
ap-568	85	23	octaslides	octaslide	NOUN
ap-568	85	24	.	.	PUNCT
ap-568	86	1	the	the	DET
ap-568	86	2	octaslide	octaslide	NOUN
ap-568	86	3	from	from	ADP
ap-568	86	4	fig	fig	NOUN
ap-568	86	5	.	.	PUNCT
ap-568	87	1	11	11	NUM
ap-568	87	2	has	have	VERB
ap-568	87	3	better	well	ADJ
ap-568	87	4	dexterity	dexterity	NOUN
ap-568	87	5	in	in	ADP
ap-568	87	6	almost	almost	ADV
ap-568	87	7	the	the	DET
ap-568	87	8	whole	whole	ADJ
ap-568	87	9	workspace	workspace	NOUN
ap-568	87	10	.	.	PUNCT
ap-568	88	1	simultaneously	simultaneously	ADV
ap-568	88	2	with	with	ADP
ap-568	88	3	the	the	DET
ap-568	88	4	dexterity	dexterity	NOUN
ap-568	88	5	,	,	PUNCT
ap-568	88	6	the	the	DET
ap-568	88	7	declination	declination	NOUN
ap-568	88	8	angles	angle	VERB
ap-568	88	9	characterizing	characterize	VERB
ap-568	88	10	the	the	DET
ap-568	88	11	orientation	orientation	NOUN
ap-568	88	12	capabilities	capability	NOUN
ap-568	88	13	were	be	AUX
ap-568	88	14	also	also	ADV
ap-568	88	15	investi28	investi28	NOUN
ap-568	88	16	©	©	PROPN
ap-568	88	17	czech	czech	PROPN
ap-568	88	18	technical	technical	PROPN
ap-568	88	19	university	university	PROPN
ap-568	88	20	publishing	publishing	NOUN
ap-568	88	21	house	house	NOUN
ap-568	88	22	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-568	88	23	acta	acta	PROPN
ap-568	88	24	polytechnica	polytechnica	PROPN
ap-568	88	25	vol	vol	NOUN
ap-568	88	26	.	.	PROPN
ap-568	89	1	44	44	NUM
ap-568	89	2	no	no	NOUN
ap-568	89	3	.	.	PUNCT
ap-568	90	1	3/2004	3/2004	NUM
ap-568	90	2	fig	fig	NOUN
ap-568	90	3	.	.	PUNCT
ap-568	91	1	9	9	NUM
ap-568	91	2	:	:	PUNCT
ap-568	91	3	dexterity	dexterity	NOUN
ap-568	91	4	on	on	ADP
ap-568	91	5	three	three	NUM
ap-568	91	6	testing	testing	NOUN
ap-568	91	7	trajectories	trajectory	NOUN
ap-568	91	8	for	for	ADP
ap-568	91	9	the	the	DET
ap-568	91	10	hexaslide	hexaslide	NOUN
ap-568	91	11	(	(	PUNCT
ap-568	91	12	left	left	ADJ
ap-568	91	13	)	)	PUNCT
ap-568	91	14	and	and	CCONJ
ap-568	91	15	the	the	DET
ap-568	91	16	octaslide	octaslide	NOUN
ap-568	91	17	(	(	PUNCT
ap-568	91	18	right	right	ADJ
ap-568	91	19	)	)	PUNCT
ap-568	91	20	©	©	PROPN
ap-568	91	21	czech	czech	PROPN
ap-568	91	22	technical	technical	PROPN
ap-568	91	23	university	university	PROPN
ap-568	91	24	publishing	publishing	NOUN
ap-568	91	25	house	house	NOUN
ap-568	91	26	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-568	91	27	29	29	NUM
ap-568	91	28	acta	acta	PROPN
ap-568	91	29	polytechnica	polytechnica	PROPN
ap-568	91	30	vol	vol	NOUN
ap-568	91	31	.	.	PROPN
ap-568	91	32	44	44	NUM
ap-568	92	1	no	no	NOUN
ap-568	92	2	.	.	PUNCT
ap-568	93	1	3/2004	3/2004	NUM
ap-568	93	2	a	a	PRON
ap-568	93	3	)	)	PUNCT
ap-568	93	4	b	b	NOUN
ap-568	93	5	)	)	PUNCT
ap-568	93	6	c	c	NOUN
ap-568	93	7	)	)	PUNCT
ap-568	93	8	d	d	NOUN
ap-568	93	9	)	)	PUNCT
ap-568	93	10	fig	fig	NOUN
ap-568	93	11	.	.	PUNCT
ap-568	94	1	10	10	NUM
ap-568	94	2	:	:	PUNCT
ap-568	94	3	dexterity	dexterity	NOUN
ap-568	94	4	comparison	comparison	NOUN
ap-568	94	5	on	on	ADP
ap-568	94	6	three	three	NUM
ap-568	94	7	testing	testing	NOUN
ap-568	94	8	trajectories	trajectory	NOUN
ap-568	94	9	of	of	ADP
ap-568	94	10	optimized	optimize	VERB
ap-568	94	11	hexaslide	hexaslide	ADV
ap-568	94	12	and	and	CCONJ
ap-568	94	13	octaslide	octaslide	ADP
ap-568	94	14	fig	fig	NOUN
ap-568	94	15	.	.	PUNCT
ap-568	95	1	11	11	NUM
ap-568	95	2	:	:	PUNCT
ap-568	95	3	further	far	ADV
ap-568	95	4	optimized	optimize	VERB
ap-568	95	5	octaslide	octaslide	NOUN
ap-568	95	6	with	with	ADP
ap-568	95	7	increased	increase	VERB
ap-568	95	8	asymmetry	asymmetry	NOUN
ap-568	95	9	of	of	ADP
ap-568	95	10	links	link	NOUN
ap-568	95	11	30	30	NUM
ap-568	95	12	©	©	PROPN
ap-568	95	13	czech	czech	PROPN
ap-568	95	14	technical	technical	PROPN
ap-568	95	15	university	university	PROPN
ap-568	95	16	publishing	publishing	NOUN
ap-568	95	17	house	house	NOUN
ap-568	95	18	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-568	95	19	acta	acta	PROPN
ap-568	95	20	polytechnica	polytechnica	PROPN
ap-568	95	21	vol	vol	NOUN
ap-568	95	22	.	.	PROPN
ap-568	96	1	44	44	NUM
ap-568	96	2	no	no	NOUN
ap-568	96	3	.	.	PUNCT
ap-568	97	1	3/2004	3/2004	NUM
ap-568	97	2	fig	fig	NOUN
ap-568	97	3	.	.	PUNCT
ap-568	98	1	12	12	NUM
ap-568	98	2	:	:	PUNCT
ap-568	98	3	octaslide	octaslide	NOUN
ap-568	98	4	with	with	ADP
ap-568	98	5	a	a	DET
ap-568	98	6	conical	conical	ADJ
ap-568	98	7	platform	platform	NOUN
ap-568	98	8	fig	fig	NOUN
ap-568	98	9	.	.	PUNCT
ap-568	99	1	13	13	NUM
ap-568	99	2	:	:	PUNCT
ap-568	99	3	stiffness	stiffness	NOUN
ap-568	99	4	in	in	ADP
ap-568	99	5	the	the	DET
ap-568	99	6	workspace	workspace	NOUN
ap-568	99	7	for	for	ADP
ap-568	99	8	the	the	DET
ap-568	99	9	hexaslide	hexaslide	NOUN
ap-568	99	10	(	(	PUNCT
ap-568	99	11	left	left	ADJ
ap-568	99	12	)	)	PUNCT
ap-568	99	13	and	and	CCONJ
ap-568	99	14	the	the	DET
ap-568	99	15	octaslide	octaslide	NOUN
ap-568	99	16	(	(	PUNCT
ap-568	99	17	right	right	ADJ
ap-568	99	18	)	)	PUNCT
ap-568	99	19	in	in	ADP
ap-568	99	20	directions	direction	NOUN
ap-568	99	21	x	x	SYM
ap-568	99	22	,	,	PUNCT
ap-568	99	23	y	y	PROPN
ap-568	99	24	,	,	PUNCT
ap-568	99	25	z	z	NOUN
ap-568	99	26	gated	gate	VERB
ap-568	99	27	and	and	CCONJ
ap-568	99	28	optimized	optimize	VERB
ap-568	99	29	.	.	PUNCT
ap-568	100	1	the	the	DET
ap-568	100	2	declination	declination	NOUN
ap-568	100	3	of	of	ADP
ap-568	100	4	the	the	DET
ap-568	100	5	hexaslide	hexaslide	NOUN
ap-568	100	6	for	for	ADP
ap-568	100	7	trajectory	trajectory	NOUN
ap-568	100	8	2	2	NUM
ap-568	100	9	is	be	AUX
ap-568	100	10	14o	14o	NOUN
ap-568	100	11	,	,	PUNCT
ap-568	100	12	and	and	CCONJ
ap-568	100	13	for	for	ADP
ap-568	100	14	trajectory	trajectory	NOUN
ap-568	100	15	3	3	NUM
ap-568	100	16	it	it	PRON
ap-568	100	17	is	be	AUX
ap-568	100	18	13o	13o	NUM
ap-568	100	19	.	.	PUNCT
ap-568	101	1	the	the	DET
ap-568	101	2	declination	declination	NOUN
ap-568	101	3	of	of	ADP
ap-568	101	4	the	the	DET
ap-568	101	5	octaslide	octaslide	NOUN
ap-568	101	6	for	for	ADP
ap-568	101	7	trajectory	trajectory	NOUN
ap-568	101	8	2	2	NUM
ap-568	101	9	is	be	AUX
ap-568	101	10	16o	16o	NOUN
ap-568	101	11	,	,	PUNCT
ap-568	101	12	and	and	CCONJ
ap-568	101	13	for	for	ADP
ap-568	101	14	trajectory	trajectory	NOUN
ap-568	101	15	3	3	NUM
ap-568	101	16	it	it	PRON
ap-568	101	17	is	be	AUX
ap-568	101	18	12o	12o	NUM
ap-568	101	19	.	.	PUNCT
ap-568	102	1	this	this	PRON
ap-568	102	2	means	mean	VERB
ap-568	102	3	that	that	SCONJ
ap-568	102	4	the	the	DET
ap-568	102	5	two	two	NUM
ap-568	102	6	structures	structure	NOUN
ap-568	102	7	are	be	AUX
ap-568	102	8	comparable	comparable	ADJ
ap-568	102	9	in	in	ADP
ap-568	102	10	terms	term	NOUN
ap-568	102	11	of	of	ADP
ap-568	102	12	their	their	PRON
ap-568	102	13	orientation	orientation	NOUN
ap-568	102	14	capabilities	capability	NOUN
ap-568	102	15	.	.	PUNCT
ap-568	103	1	then	then	ADV
ap-568	103	2	the	the	DET
ap-568	103	3	structure	structure	NOUN
ap-568	103	4	of	of	ADP
ap-568	103	5	the	the	DET
ap-568	103	6	octaslide	octaslide	NOUN
ap-568	103	7	was	be	AUX
ap-568	103	8	further	far	ADV
ap-568	103	9	optimized	optimize	VERB
ap-568	103	10	.	.	PUNCT
ap-568	104	1	the	the	DET
ap-568	104	2	platform	platform	NOUN
ap-568	104	3	was	be	AUX
ap-568	104	4	conical	conical	ADJ
ap-568	104	5	instead	instead	ADV
ap-568	104	6	of	of	ADP
ap-568	104	7	cylindrical	cylindrical	ADJ
ap-568	104	8	(	(	PUNCT
ap-568	104	9	fig	fig	NOUN
ap-568	104	10	.	.	PUNCT
ap-568	104	11	12	12	NUM
ap-568	104	12	)	)	PUNCT
ap-568	104	13	.	.	PUNCT
ap-568	105	1	this	this	DET
ap-568	105	2	modification	modification	NOUN
ap-568	105	3	enables	enable	VERB
ap-568	105	4	the	the	DET
ap-568	105	5	declination	declination	NOUN
ap-568	105	6	angle	angle	NOUN
ap-568	105	7	to	to	PART
ap-568	105	8	be	be	AUX
ap-568	105	9	extended	extend	VERB
ap-568	105	10	to	to	ADP
ap-568	105	11	33o	33o	NUM
ap-568	105	12	.	.	PROPN
ap-568	105	13	6	6	NUM
ap-568	105	14	octaslide	octaslide	NOUN
ap-568	105	15	stiffness	stiffness	NOUN
ap-568	105	16	the	the	DET
ap-568	105	17	stiffness	stiffness	NOUN
ap-568	105	18	in	in	ADP
ap-568	105	19	the	the	DET
ap-568	105	20	whole	whole	ADJ
ap-568	105	21	workspace	workspace	NOUN
ap-568	105	22	was	be	AUX
ap-568	105	23	compared	compare	VERB
ap-568	105	24	for	for	ADP
ap-568	105	25	the	the	DET
ap-568	105	26	two	two	NUM
ap-568	105	27	optimized	optimize	VERB
ap-568	105	28	variants	variant	NOUN
ap-568	105	29	of	of	ADP
ap-568	105	30	the	the	DET
ap-568	105	31	hexaslide	hexaslide	NOUN
ap-568	105	32	and	and	CCONJ
ap-568	105	33	the	the	DET
ap-568	105	34	octaslide	octaslide	NOUN
ap-568	105	35	.	.	PUNCT
ap-568	106	1	they	they	PRON
ap-568	106	2	are	be	AUX
ap-568	106	3	shown	show	VERB
ap-568	106	4	in	in	ADP
ap-568	106	5	fig	fig	NOUN
ap-568	106	6	.	.	PUNCT
ap-568	107	1	13	13	NUM
ap-568	107	2	.	.	PUNCT
ap-568	108	1	the	the	DET
ap-568	108	2	comparison	comparison	NOUN
ap-568	108	3	of	of	ADP
ap-568	108	4	maximum	maximum	ADJ
ap-568	108	5	,	,	PUNCT
ap-568	108	6	minimum	minimum	ADJ
ap-568	108	7	and	and	CCONJ
ap-568	108	8	average	average	ADJ
ap-568	108	9	values	value	NOUN
ap-568	108	10	demonstrates	demonstrate	VERB
ap-568	108	11	the	the	DET
ap-568	108	12	significant	significant	ADJ
ap-568	108	13	superiority	superiority	NOUN
ap-568	108	14	of	of	ADP
ap-568	108	15	the	the	DET
ap-568	108	16	octaslide	octaslide	NOUN
ap-568	108	17	.	.	PUNCT
ap-568	109	1	the	the	DET
ap-568	109	2	increase	increase	NOUN
ap-568	109	3	in	in	ADP
ap-568	109	4	the	the	DET
ap-568	109	5	maximum	maximum	ADJ
ap-568	109	6	values	value	NOUN
ap-568	109	7	is	be	AUX
ap-568	109	8	65–74	65–74	NUM
ap-568	109	9	%	%	NOUN
ap-568	109	10	,	,	PUNCT
ap-568	109	11	and	and	CCONJ
ap-568	109	12	the	the	DET
ap-568	109	13	increase	increase	NOUN
ap-568	109	14	in	in	ADP
ap-568	109	15	the	the	DET
ap-568	109	16	average	average	ADJ
ap-568	109	17	values	value	NOUN
ap-568	109	18	is	be	AUX
ap-568	109	19	43–54	43–54	NUM
ap-568	109	20	%	%	NOUN
ap-568	109	21	.	.	PUNCT
ap-568	110	1	7	7	NUM
ap-568	110	2	conclusions	conclusion	NOUN
ap-568	110	3	the	the	DET
ap-568	110	4	concept	concept	NOUN
ap-568	110	5	of	of	ADP
ap-568	110	6	redundant	redundant	ADJ
ap-568	110	7	actuation	actuation	NOUN
ap-568	110	8	enables	enable	VERB
ap-568	110	9	the	the	DET
ap-568	110	10	design	design	NOUN
ap-568	110	11	of	of	ADP
ap-568	110	12	new	new	ADJ
ap-568	110	13	parallel	parallel	ADJ
ap-568	110	14	kinematics	kinematic	NOUN
ap-568	110	15	with	with	ADP
ap-568	110	16	significantly	significantly	ADV
ap-568	110	17	improved	improve	VERB
ap-568	110	18	mechanical	mechanical	ADJ
ap-568	110	19	properties	property	NOUN
ap-568	110	20	.	.	PUNCT
ap-568	111	1	this	this	PRON
ap-568	111	2	has	have	AUX
ap-568	111	3	again	again	ADV
ap-568	111	4	been	be	AUX
ap-568	111	5	confirmed	confirm	VERB
ap-568	111	6	by	by	ADP
ap-568	111	7	the	the	DET
ap-568	111	8	design	design	NOUN
ap-568	111	9	of	of	ADP
ap-568	111	10	the	the	DET
ap-568	111	11	octaslide	octaslide	NOUN
ap-568	111	12	.	.	PUNCT
ap-568	112	1	8	8	NUM
ap-568	112	2	acknowledgment	acknowledgment	NOUN
ap-568	112	3	the	the	DET
ap-568	112	4	authors	author	NOUN
ap-568	112	5	appreciate	appreciate	VERB
ap-568	112	6	the	the	DET
ap-568	112	7	support	support	NOUN
ap-568	112	8	of	of	ADP
ap-568	112	9	msmt	msmt	NOUN
ap-568	112	10	project	project	NOUN
ap-568	112	11	j04/98:212200008	j04/98:212200008	NOUN
ap-568	112	12	.	.	PUNCT
ap-568	113	1	references	reference	NOUN
ap-568	113	2	[	[	X
ap-568	113	3	1	1	X
ap-568	113	4	]	]	PUNCT
ap-568	113	5	valášek	valášek	VERB
ap-568	113	6	m.	m.	NOUN
ap-568	113	7	et	et	PROPN
ap-568	113	8	al	al	PROPN
ap-568	113	9	:	:	PUNCT
ap-568	113	10	“	"	PUNCT
ap-568	113	11	new	new	ADJ
ap-568	113	12	concept	concept	NOUN
ap-568	113	13	of	of	ADP
ap-568	113	14	redundant	redundant	ADJ
ap-568	113	15	parallel	parallel	ADJ
ap-568	113	16	robot	robot	NOUN
ap-568	113	17	”	"	PUNCT
ap-568	113	18	.	.	PUNCT
ap-568	114	1	in	in	ADP
ap-568	114	2	:	:	PUNCT
ap-568	114	3	proc	proc	NOUN
ap-568	114	4	.	.	PROPN
ap-568	115	1	of	of	ADP
ap-568	115	2	mechatronics	mechatronic	NOUN
ap-568	115	3	and	and	CCONJ
ap-568	115	4	robotics	robotic	NOUN
ap-568	115	5	97	97	NUM
ap-568	115	6	,	,	PUNCT
ap-568	115	7	vut	vut	PROPN
ap-568	115	8	brno	brno	NOUN
ap-568	115	9	,	,	PUNCT
ap-568	115	10	brno	brno	NOUN
ap-568	115	11	1997	1997	NUM
ap-568	115	12	,	,	PUNCT
ap-568	116	1	p.	p.	NOUN
ap-568	116	2	269–274	269–274	NUM
ap-568	116	3	.	.	PUNCT
ap-568	117	1	[	[	X
ap-568	117	2	2	2	X
ap-568	117	3	]	]	PUNCT
ap-568	117	4	valášek	valášek	VERB
ap-568	117	5	m.	m.	NOUN
ap-568	117	6	,	,	PUNCT
ap-568	117	7	šika	šika	NOUN
ap-568	117	8	z.	z.	PROPN
ap-568	117	9	,	,	PUNCT
ap-568	117	10	bauma	bauma	PROPN
ap-568	117	11	v.	v.	PROPN
ap-568	117	12	,	,	PUNCT
ap-568	117	13	vampola	vampola	PROPN
ap-568	117	14	t.	t.	PROPN
ap-568	117	15	:	:	PUNCT
ap-568	117	16	design	design	NOUN
ap-568	117	17	methodology	methodology	NOUN
ap-568	117	18	for	for	ADP
ap-568	117	19	redundant	redundant	ADJ
ap-568	117	20	parallel	parallel	ADJ
ap-568	117	21	robots	robot	NOUN
ap-568	117	22	,	,	PUNCT
ap-568	117	23	in	in	ADP
ap-568	117	24	proc	proc	NOUN
ap-568	117	25	.	.	PUNCT
ap-568	118	1	of	of	ADP
ap-568	118	2	aed	aed	PROPN
ap-568	118	3	2001	2001	NUM
ap-568	118	4	,	,	PUNCT
ap-568	118	5	2nd	2nd	ADJ
ap-568	118	6	int	int	NOUN
ap-568	118	7	.	.	PUNCT
ap-568	119	1	conf	conf	PROPN
ap-568	119	2	.	.	PUNCT
ap-568	120	1	on	on	ADP
ap-568	120	2	advanced	advanced	ADJ
ap-568	120	3	engineering	engineering	NOUN
ap-568	120	4	design	design	NOUN
ap-568	120	5	,	,	PUNCT
ap-568	120	6	glasgow	glasgow	PROPN
ap-568	120	7	,	,	PUNCT
ap-568	120	8	2001	2001	NUM
ap-568	120	9	,	,	PUNCT
ap-568	120	10	p.	p.	NOUN
ap-568	120	11	243–248	243–248	NUM
ap-568	120	12	.	.	PUNCT
ap-568	121	1	ing	ing	ADJ
ap-568	121	2	.	.	PUNCT
ap-568	122	1	václav	václav	PROPN
ap-568	122	2	bauma	bauma	PROPN
ap-568	122	3	,	,	PUNCT
ap-568	122	4	csc	csc	PROPN
ap-568	122	5	.	.	PROPN
ap-568	122	6	phone	phone	NOUN
ap-568	122	7	:	:	PUNCT
ap-568	122	8	+420	+420	PROPN
ap-568	122	9	224	224	NUM
ap-568	122	10	357	357	NUM
ap-568	122	11	373	373	NUM
ap-568	122	12	e	e	NOUN
ap-568	122	13	-	-	NOUN
ap-568	122	14	mail	mail	NOUN
ap-568	122	15	:	:	PUNCT
ap-568	122	16	vaclav.bauma@fs.cvut.cz	vaclav.bauma@fs.cvut.cz	NOUN
ap-568	122	17	prof	prof	PROPN
ap-568	122	18	.	.	PUNCT
ap-568	123	1	ing	ing	PROPN
ap-568	123	2	.	.	PUNCT
ap-568	124	1	michael	michael	PROPN
ap-568	124	2	valášek	valášek	PROPN
ap-568	124	3	,	,	PUNCT
ap-568	124	4	drsc	drsc	PROPN
ap-568	124	5	.	.	PUNCT
ap-568	125	1	phone	phone	NOUN
ap-568	125	2	:	:	PUNCT
ap-568	125	3	+420	+420	PROPN
ap-568	125	4	224	224	NUM
ap-568	125	5	357	357	NUM
ap-568	125	6	361	361	NUM
ap-568	125	7	fax	fax	NOUN
ap-568	125	8	:	:	PUNCT
ap-568	125	9	+420	+420	PROPN
ap-568	125	10	224	224	NUM
ap-568	125	11	916	916	NUM
ap-568	125	12	709	709	NUM
ap-568	125	13	e	e	NOUN
ap-568	125	14	-	-	NOUN
ap-568	125	15	mail	mail	NOUN
ap-568	125	16	:	:	PUNCT
ap-568	125	17	michael.valasek@fs.cvut.cz	michael.valasek@fs.cvut.cz	NOUN
ap-568	125	18	ing	ing	PROPN
ap-568	125	19	.	.	PUNCT
ap-568	126	1	zbyněk	zbyněk	PROPN
ap-568	126	2	šika	šika	X
ap-568	126	3	,	,	PUNCT
ap-568	126	4	ph.d	ph.d	PROPN
ap-568	126	5	.	.	PUNCT
ap-568	126	6	phone	phone	NOUN
ap-568	126	7	:	:	PUNCT
ap-568	126	8	+420	+420	PROPN
ap-568	126	9	224	224	NUM
ap-568	126	10	357	357	NUM
ap-568	126	11	452	452	NUM
ap-568	126	12	e	e	NOUN
ap-568	126	13	-	-	NOUN
ap-568	126	14	mail	mail	NOUN
ap-568	126	15	:	:	PUNCT
ap-568	126	16	zbynek.sika@fs.cvut.cz	zbynek.sika@fs.cvut.cz	PROPN
ap-568	126	17	department	department	PROPN
ap-568	126	18	of	of	ADP
ap-568	126	19	mechanics	mechanic	NOUN
ap-568	126	20	czech	czech	PROPN
ap-568	126	21	technical	technical	PROPN
ap-568	126	22	university	university	PROPN
ap-568	126	23	in	in	ADP
ap-568	126	24	prague	prague	PROPN
ap-568	126	25	faculty	faculty	NOUN
ap-568	126	26	of	of	ADP
ap-568	126	27	mechanical	mechanical	ADJ
ap-568	126	28	engineering	engineering	PROPN
ap-568	126	29	karlovo	karlovo	PROPN
ap-568	126	30	nám	nám	PROPN
ap-568	126	31	.	.	PUNCT
ap-568	127	1	13	13	NUM
ap-568	127	2	121	121	NUM
ap-568	127	3	35	35	NUM
ap-568	127	4	praha	praha	NOUN
ap-568	127	5	2	2	NUM
ap-568	127	6	,	,	PUNCT
ap-568	127	7	czech	czech	PROPN
ap-568	127	8	republic	republic	NOUN
ap-568	127	9	©	©	PROPN
ap-568	127	10	czech	czech	PROPN
ap-568	127	11	technical	technical	PROPN
ap-568	127	12	university	university	PROPN
ap-568	127	13	publishing	publishing	NOUN
ap-568	127	14	house	house	NOUN
ap-568	127	15	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-568	127	16	31	31	NUM
ap-568	127	17	acta	acta	PROPN
ap-568	127	18	polytechnica	polytechnica	PROPN
ap-568	127	19	vol	vol	NOUN
ap-568	127	20	.	.	PROPN
ap-568	128	1	44	44	NUM
ap-568	128	2	no	no	NOUN
ap-568	128	3	.	.	PUNCT
ap-568	129	1	3/2004	3/2004	NUM