id	sid	tid	token	lemma	pos
ap-6099	1	1	acta	acta	PROPN
ap-6099	1	2	polytechnica	polytechnica	PROPN
ap-6099	1	3	doi:10.14311	doi:10.14311	PROPN
ap-6099	1	4	/	/	SYM
ap-6099	1	5	ap.2020.60.0151	ap.2020.60.0151	PROPN
ap-6099	1	6	acta	acta	PROPN
ap-6099	1	7	polytechnica	polytechnica	PROPN
ap-6099	1	8	60(2):151–157	60(2):151–157	PROPN
ap-6099	1	9	,	,	PUNCT
ap-6099	1	10	2020	2020	NUM
ap-6099	1	11	©	©	PROPN
ap-6099	1	12	czech	czech	PROPN
ap-6099	1	13	technical	technical	PROPN
ap-6099	1	14	university	university	PROPN
ap-6099	1	15	in	in	ADP
ap-6099	1	16	prague	prague	PROPN
ap-6099	1	17	,	,	PUNCT
ap-6099	1	18	2020	2020	NUM
ap-6099	1	19	available	available	ADJ
ap-6099	1	20	online	online	ADV
ap-6099	1	21	at	at	ADP
ap-6099	1	22	https://ojs.cvut.cz/ojs/index.php/ap	https://ojs.cvut.cz/ojs/index.php/ap	PROPN
ap-6099	1	23	the	the	DET
ap-6099	1	24	use	use	NOUN
ap-6099	1	25	of	of	ADP
ap-6099	1	26	the	the	DET
ap-6099	1	27	two	two	NUM
ap-6099	1	28	-	-	PUNCT
ap-6099	1	29	handed	handed	ADJ
ap-6099	1	30	collaborative	collaborative	ADJ
ap-6099	1	31	robot	robot	NOUN
ap-6099	1	32	in	in	ADP
ap-6099	1	33	non	non	ADJ
ap-6099	1	34	-	-	ADJ
ap-6099	1	35	collaborative	collaborative	ADJ
ap-6099	1	36	application	application	NOUN
ap-6099	1	37	michal	michal	PROPN
ap-6099	1	38	vocetka∗	vocetka∗	PROPN
ap-6099	1	39	,	,	PUNCT
ap-6099	1	40	jiří	jiří	NOUN
ap-6099	1	41	suder	suder	NOUN
ap-6099	1	42	,	,	PUNCT
ap-6099	1	43	daniel	daniel	PROPN
ap-6099	1	44	huczala	huczala	PROPN
ap-6099	1	45	vsb	vsb	PROPN
ap-6099	1	46	–	–	PUNCT
ap-6099	1	47	technical	technical	ADJ
ap-6099	1	48	university	university	PROPN
ap-6099	1	49	of	of	ADP
ap-6099	1	50	ostrava	ostrava	PROPN
ap-6099	1	51	,	,	PUNCT
ap-6099	1	52	faculty	faculty	NOUN
ap-6099	1	53	of	of	ADP
ap-6099	1	54	mechanical	mechanical	ADJ
ap-6099	1	55	engineering	engineering	NOUN
ap-6099	1	56	,	,	PUNCT
ap-6099	1	57	department	department	NOUN
ap-6099	1	58	of	of	ADP
ap-6099	1	59	robotics	robotic	NOUN
ap-6099	1	60	,	,	PUNCT
ap-6099	1	61	17	17	NUM
ap-6099	1	62	.	.	PUNCT
ap-6099	2	1	listopadu	listopadu	ADJ
ap-6099	2	2	2172/15	2172/15	NUM
ap-6099	2	3	,	,	PUNCT
ap-6099	2	4	708	708	NUM
ap-6099	2	5	00	00	NUM
ap-6099	2	6	ostrava	ostrava	PROPN
ap-6099	2	7	–	–	PUNCT
ap-6099	2	8	poruba	poruba	PROPN
ap-6099	2	9	,	,	PUNCT
ap-6099	2	10	czech	czech	PROPN
ap-6099	2	11	republic	republic	NOUN
ap-6099	2	12	∗	∗	NOUN
ap-6099	2	13	corresponding	correspond	VERB
ap-6099	2	14	author	author	NOUN
ap-6099	2	15	:	:	PUNCT
ap-6099	2	16	michal.vocetka@vsb.cz	michal.vocetka@vsb.cz	ADJ
ap-6099	2	17	abstract	abstract	ADJ
ap-6099	2	18	.	.	PUNCT
ap-6099	3	1	the	the	DET
ap-6099	3	2	article	article	NOUN
ap-6099	3	3	deals	deal	VERB
ap-6099	3	4	with	with	ADP
ap-6099	3	5	possibilities	possibility	NOUN
ap-6099	3	6	of	of	ADP
ap-6099	3	7	using	use	VERB
ap-6099	3	8	of	of	ADP
ap-6099	3	9	a	a	DET
ap-6099	3	10	two	two	NUM
ap-6099	3	11	-	-	PUNCT
ap-6099	3	12	handed	handed	ADJ
ap-6099	3	13	collaborative	collaborative	ADJ
ap-6099	3	14	robot	robot	NOUN
ap-6099	3	15	in	in	ADP
ap-6099	3	16	automated	automate	VERB
ap-6099	3	17	production	production	NOUN
ap-6099	3	18	.	.	PUNCT
ap-6099	4	1	the	the	DET
ap-6099	4	2	introductory	introductory	ADJ
ap-6099	4	3	part	part	NOUN
ap-6099	4	4	of	of	ADP
ap-6099	4	5	this	this	DET
ap-6099	4	6	paper	paper	NOUN
ap-6099	4	7	is	be	AUX
ap-6099	4	8	about	about	ADP
ap-6099	4	9	robot	robot	NOUN
ap-6099	4	10	manufacturers	manufacturer	NOUN
ap-6099	4	11	’	'	PUNCT
ap-6099	4	12	proposed	propose	VERB
ap-6099	4	13	ways	way	NOUN
ap-6099	4	14	of	of	ADP
ap-6099	4	15	use	use	NOUN
ap-6099	4	16	of	of	ADP
ap-6099	4	17	collaborative	collaborative	ADJ
ap-6099	4	18	robots	robot	NOUN
ap-6099	4	19	and	and	CCONJ
ap-6099	4	20	a	a	DET
ap-6099	4	21	consideration	consideration	NOUN
ap-6099	4	22	of	of	ADP
ap-6099	4	23	correctness	correctness	NOUN
ap-6099	4	24	of	of	ADP
ap-6099	4	25	this	this	DET
ap-6099	4	26	stance	stance	NOUN
ap-6099	4	27	.	.	PUNCT
ap-6099	5	1	in	in	ADP
ap-6099	5	2	this	this	DET
ap-6099	5	3	matter	matter	NOUN
ap-6099	5	4	,	,	PUNCT
ap-6099	5	5	an	an	DET
ap-6099	5	6	alternative	alternative	ADJ
ap-6099	5	7	point	point	NOUN
ap-6099	5	8	of	of	ADP
ap-6099	5	9	view	view	NOUN
ap-6099	5	10	is	be	AUX
ap-6099	5	11	proposed	propose	VERB
ap-6099	5	12	and	and	CCONJ
ap-6099	5	13	tested	test	VERB
ap-6099	5	14	,	,	PUNCT
ap-6099	5	15	where	where	SCONJ
ap-6099	5	16	a	a	DET
ap-6099	5	17	collaborative	collaborative	ADJ
ap-6099	5	18	robot	robot	NOUN
ap-6099	5	19	does	do	AUX
ap-6099	5	20	not	not	PART
ap-6099	5	21	cooperate	cooperate	VERB
ap-6099	5	22	with	with	ADP
ap-6099	5	23	a	a	DET
ap-6099	5	24	worker	worker	NOUN
ap-6099	5	25	but	but	CCONJ
ap-6099	5	26	replaces	replace	VERB
ap-6099	5	27	him	he	PRON
ap-6099	5	28	/	/	SYM
ap-6099	5	29	her	she	PRON
ap-6099	5	30	completely	completely	ADV
ap-6099	5	31	.	.	PUNCT
ap-6099	6	1	the	the	DET
ap-6099	6	2	main	main	ADJ
ap-6099	6	3	part	part	NOUN
ap-6099	6	4	of	of	ADP
ap-6099	6	5	the	the	DET
ap-6099	6	6	study	study	NOUN
ap-6099	6	7	focuses	focus	VERB
ap-6099	6	8	on	on	ADP
ap-6099	6	9	a	a	DET
ap-6099	6	10	specific	specific	ADJ
ap-6099	6	11	installation	installation	NOUN
ap-6099	6	12	of	of	ADP
ap-6099	6	13	the	the	DET
ap-6099	6	14	yumi	yumi	PROPN
ap-6099	6	15	collaborative	collaborative	PROPN
ap-6099	6	16	robot	robot	NOUN
ap-6099	6	17	into	into	ADP
ap-6099	6	18	an	an	DET
ap-6099	6	19	already	already	ADV
ap-6099	6	20	existing	exist	VERB
ap-6099	6	21	production	production	NOUN
ap-6099	6	22	line	line	NOUN
ap-6099	6	23	of	of	ADP
ap-6099	6	24	a	a	DET
ap-6099	6	25	leading	lead	VERB
ap-6099	6	26	czech	czech	ADJ
ap-6099	6	27	supplier	supplier	NOUN
ap-6099	6	28	in	in	ADP
ap-6099	6	29	the	the	DET
ap-6099	6	30	automotive	automotive	ADJ
ap-6099	6	31	industry	industry	NOUN
ap-6099	6	32	.	.	PUNCT
ap-6099	7	1	this	this	DET
ap-6099	7	2	real	real	ADJ
ap-6099	7	3	application	application	NOUN
ap-6099	7	4	is	be	AUX
ap-6099	7	5	verified	verify	VERB
ap-6099	7	6	in	in	ADP
ap-6099	7	7	simulations	simulation	NOUN
ap-6099	7	8	with	with	ADP
ap-6099	7	9	an	an	DET
ap-6099	7	10	alternative	alternative	ADJ
ap-6099	7	11	solution	solution	NOUN
ap-6099	7	12	consisting	consist	VERB
ap-6099	7	13	of	of	ADP
ap-6099	7	14	two	two	NUM
ap-6099	7	15	traditional	traditional	ADJ
ap-6099	7	16	industrial	industrial	ADJ
ap-6099	7	17	robots	robot	NOUN
ap-6099	7	18	abb	abb	PROPN
ap-6099	7	19	irb	irb	VERB
ap-6099	7	20	120	120	NUM
ap-6099	7	21	instead	instead	ADV
ap-6099	7	22	.	.	PUNCT
ap-6099	8	1	these	these	DET
ap-6099	8	2	data	datum	NOUN
ap-6099	8	3	are	be	AUX
ap-6099	8	4	evaluated	evaluate	VERB
ap-6099	8	5	and	and	CCONJ
ap-6099	8	6	the	the	DET
ap-6099	8	7	advantages	advantage	NOUN
ap-6099	8	8	of	of	ADP
ap-6099	8	9	deploying	deploy	VERB
ap-6099	8	10	the	the	DET
ap-6099	8	11	collaborative	collaborative	ADJ
ap-6099	8	12	robot	robot	NOUN
ap-6099	8	13	and	and	CCONJ
ap-6099	8	14	the	the	DET
ap-6099	8	15	industrial	industrial	ADJ
ap-6099	8	16	robots	robot	NOUN
ap-6099	8	17	in	in	ADP
ap-6099	8	18	the	the	DET
ap-6099	8	19	specific	specific	ADJ
ap-6099	8	20	assembly	assembly	NOUN
ap-6099	8	21	application	application	NOUN
ap-6099	8	22	are	be	AUX
ap-6099	8	23	compared	compare	VERB
ap-6099	8	24	.	.	PUNCT
ap-6099	9	1	economic	economic	ADJ
ap-6099	9	2	return	return	NOUN
ap-6099	9	3	and	and	CCONJ
ap-6099	9	4	productivity	productivity	NOUN
ap-6099	9	5	in	in	ADP
ap-6099	9	6	high	high	ADJ
ap-6099	9	7	production	production	NOUN
ap-6099	9	8	cycle	cycle	NOUN
ap-6099	9	9	applications	application	NOUN
ap-6099	9	10	are	be	AUX
ap-6099	9	11	considered	consider	VERB
ap-6099	9	12	.	.	PUNCT
ap-6099	10	1	the	the	DET
ap-6099	10	2	article	article	NOUN
ap-6099	10	3	then	then	ADV
ap-6099	10	4	describes	describe	VERB
ap-6099	10	5	the	the	DET
ap-6099	10	6	difficulties	difficulty	NOUN
ap-6099	10	7	caused	cause	VERB
ap-6099	10	8	by	by	ADP
ap-6099	10	9	the	the	DET
ap-6099	10	10	low	low	ADJ
ap-6099	10	11	load	load	NOUN
ap-6099	10	12	capacity	capacity	NOUN
ap-6099	10	13	of	of	ADP
ap-6099	10	14	the	the	DET
ap-6099	10	15	yumi	yumi	PROPN
ap-6099	10	16	collaborative	collaborative	PROPN
ap-6099	10	17	robot	robot	NOUN
ap-6099	10	18	and	and	CCONJ
ap-6099	10	19	an	an	DET
ap-6099	10	20	alternative	alternative	ADJ
ap-6099	10	21	approach	approach	NOUN
ap-6099	10	22	using	use	VERB
ap-6099	10	23	the	the	DET
ap-6099	10	24	fem	fem	NOUN
ap-6099	10	25	methodology	methodology	NOUN
ap-6099	10	26	and	and	CCONJ
ap-6099	10	27	topology	topology	NOUN
ap-6099	10	28	optimization	optimization	NOUN
ap-6099	10	29	in	in	ADP
ap-6099	10	30	the	the	DET
ap-6099	10	31	robot	robot	NOUN
ap-6099	10	32	grip	grip	NOUN
ap-6099	10	33	jaws	jaws	PROPN
ap-6099	10	34	design	design	NOUN
ap-6099	10	35	.	.	PUNCT
ap-6099	11	1	keywords	keyword	NOUN
ap-6099	11	2	:	:	PUNCT
ap-6099	11	3	collaborative	collaborative	ADJ
ap-6099	11	4	robot	robot	NOUN
ap-6099	11	5	,	,	PUNCT
ap-6099	11	6	yumi	yumi	PROPN
ap-6099	11	7	,	,	PUNCT
ap-6099	11	8	industrial	industrial	ADJ
ap-6099	11	9	robot	robot	NOUN
ap-6099	11	10	,	,	PUNCT
ap-6099	11	11	industrial	industrial	ADJ
ap-6099	11	12	automation	automation	NOUN
ap-6099	11	13	,	,	PUNCT
ap-6099	11	14	semi	semi	ADJ
ap-6099	11	15	-	-	NOUN
ap-6099	11	16	collaborativ	collaborativ	NOUN
ap-6099	11	17	.	.	PUNCT
ap-6099	12	1	1	1	X
ap-6099	12	2	.	.	X
ap-6099	12	3	introduction	introduction	NOUN
ap-6099	12	4	in	in	ADP
ap-6099	12	5	2008	2008	NUM
ap-6099	12	6	,	,	PUNCT
ap-6099	12	7	a	a	DET
ap-6099	12	8	danish	danish	ADJ
ap-6099	12	9	company	company	NOUN
ap-6099	12	10	universal	universal	ADJ
ap-6099	12	11	robots	robot	NOUN
ap-6099	12	12	had	have	AUX
ap-6099	12	13	launched	launch	VERB
ap-6099	12	14	the	the	DET
ap-6099	12	15	first	first	ADJ
ap-6099	12	16	collaborative	collaborative	ADJ
ap-6099	12	17	robot	robot	NOUN
ap-6099	12	18	(	(	PUNCT
ap-6099	12	19	cobot	cobot	NOUN
ap-6099	12	20	)	)	PUNCT
ap-6099	12	21	that	that	PRON
ap-6099	12	22	has	have	VERB
ap-6099	12	23	a	a	DET
ap-6099	12	24	worldwide	worldwide	ADJ
ap-6099	12	25	sales	sale	NOUN
ap-6099	12	26	success	success	NOUN
ap-6099	12	27	and	and	CCONJ
ap-6099	12	28	changed	change	VERB
ap-6099	12	29	the	the	DET
ap-6099	12	30	established	establish	VERB
ap-6099	12	31	rules	rule	NOUN
ap-6099	12	32	of	of	ADP
ap-6099	12	33	the	the	DET
ap-6099	12	34	market	market	NOUN
ap-6099	12	35	[	[	X
ap-6099	12	36	1	1	NUM
ap-6099	12	37	]	]	PUNCT
ap-6099	12	38	.	.	PUNCT
ap-6099	13	1	the	the	DET
ap-6099	13	2	small	small	ADJ
ap-6099	13	3	ur3	ur3	PROPN
ap-6099	13	4	[	[	X
ap-6099	13	5	2	2	NUM
ap-6099	13	6	]	]	PUNCT
ap-6099	13	7	is	be	AUX
ap-6099	13	8	simple	simple	ADJ
ap-6099	13	9	to	to	PART
ap-6099	13	10	operate	operate	VERB
ap-6099	13	11	and	and	CCONJ
ap-6099	13	12	thanks	thank	NOUN
ap-6099	13	13	to	to	ADP
ap-6099	13	14	its	its	PRON
ap-6099	13	15	favourable	favourable	ADJ
ap-6099	13	16	price	price	NOUN
ap-6099	13	17	and	and	CCONJ
ap-6099	13	18	collaborative	collaborative	ADJ
ap-6099	13	19	principle	principle	NOUN
ap-6099	13	20	,	,	PUNCT
ap-6099	13	21	it	it	PRON
ap-6099	13	22	is	be	AUX
ap-6099	13	23	also	also	ADV
ap-6099	13	24	available	available	ADJ
ap-6099	13	25	to	to	ADP
ap-6099	13	26	customers	customer	NOUN
ap-6099	13	27	who	who	PRON
ap-6099	13	28	would	would	AUX
ap-6099	13	29	not	not	PART
ap-6099	13	30	otherwise	otherwise	ADV
ap-6099	13	31	consider	consider	VERB
ap-6099	13	32	traditional	traditional	ADJ
ap-6099	13	33	industrial	industrial	ADJ
ap-6099	13	34	robotics	robotic	NOUN
ap-6099	13	35	.	.	PUNCT
ap-6099	14	1	most	most	ADJ
ap-6099	14	2	of	of	ADP
ap-6099	14	3	the	the	DET
ap-6099	14	4	world	world	NOUN
ap-6099	14	5	leading	lead	VERB
ap-6099	14	6	robot	robot	NOUN
ap-6099	14	7	manufacturers	manufacturer	NOUN
ap-6099	14	8	have	have	AUX
ap-6099	14	9	sensed	sense	VERB
ap-6099	14	10	the	the	DET
ap-6099	14	11	potential	potential	NOUN
ap-6099	14	12	of	of	ADP
ap-6099	14	13	this	this	DET
ap-6099	14	14	idea	idea	NOUN
ap-6099	14	15	and	and	CCONJ
ap-6099	14	16	come	come	VERB
ap-6099	14	17	up	up	ADP
ap-6099	14	18	with	with	ADP
ap-6099	14	19	their	their	PRON
ap-6099	14	20	own	own	ADJ
ap-6099	14	21	designs	design	NOUN
ap-6099	14	22	and	and	CCONJ
ap-6099	14	23	solutions	solution	NOUN
ap-6099	14	24	.	.	PUNCT
ap-6099	15	1	the	the	DET
ap-6099	15	2	ur	ur	PROPN
ap-6099	15	3	concept	concept	NOUN
ap-6099	15	4	is	be	AUX
ap-6099	15	5	a	a	DET
ap-6099	15	6	concept	concept	NOUN
ap-6099	15	7	of	of	ADP
ap-6099	15	8	the	the	DET
ap-6099	15	9	traditional	traditional	ADJ
ap-6099	15	10	,	,	PUNCT
ap-6099	15	11	sixaxis	sixaxis	PROPN
ap-6099	15	12	kinematic	kinematic	ADJ
ap-6099	15	13	structure	structure	NOUN
ap-6099	15	14	,	,	PUNCT
ap-6099	15	15	but	but	CCONJ
ap-6099	15	16	with	with	ADP
ap-6099	15	17	less	less	ADV
ap-6099	15	18	robust	robust	ADJ
ap-6099	15	19	tubular	tubular	ADJ
ap-6099	15	20	construction	construction	NOUN
ap-6099	15	21	.	.	PUNCT
ap-6099	16	1	the	the	DET
ap-6099	16	2	robots	robot	NOUN
ap-6099	16	3	have	have	VERB
ap-6099	16	4	an	an	DET
ap-6099	16	5	excellent	excellent	ADJ
ap-6099	16	6	load	load	NOUN
ap-6099	16	7	-	-	PUNCT
ap-6099	16	8	toweight	toweight	NOUN
ap-6099	16	9	ratio	ratio	NOUN
ap-6099	16	10	,	,	PUNCT
ap-6099	16	11	in	in	ADP
ap-6099	16	12	the	the	DET
ap-6099	16	13	case	case	NOUN
ap-6099	16	14	of	of	ADP
ap-6099	16	15	the	the	DET
ap-6099	16	16	ur3	ur3	PROPN
ap-6099	16	17	,	,	PUNCT
ap-6099	16	18	it	it	PRON
ap-6099	16	19	is	be	AUX
ap-6099	16	20	3:11	3:11	NUM
ap-6099	16	21	kg	kg	NOUN
ap-6099	16	22	.	.	PUNCT
ap-6099	17	1	it	it	PRON
ap-6099	17	2	is	be	AUX
ap-6099	17	3	very	very	ADV
ap-6099	17	4	easy	easy	ADJ
ap-6099	17	5	to	to	PART
ap-6099	17	6	control	control	VERB
ap-6099	17	7	and	and	CCONJ
ap-6099	17	8	install	install	VERB
ap-6099	17	9	the	the	DET
ap-6099	17	10	cobot	cobot	NOUN
ap-6099	17	11	,	,	PUNCT
ap-6099	17	12	after	after	ADP
ap-6099	17	13	putting	put	VERB
ap-6099	17	14	it	it	PRON
ap-6099	17	15	out	out	ADP
ap-6099	17	16	of	of	ADP
ap-6099	17	17	the	the	DET
ap-6099	17	18	box	box	NOUN
ap-6099	17	19	,	,	PUNCT
ap-6099	17	20	it	it	PRON
ap-6099	17	21	is	be	AUX
ap-6099	17	22	possible	possible	ADJ
ap-6099	17	23	to	to	PART
ap-6099	17	24	put	put	VERB
ap-6099	17	25	it	it	PRON
ap-6099	17	26	in	in	ADP
ap-6099	17	27	service	service	NOUN
ap-6099	17	28	within	within	ADP
ap-6099	17	29	an	an	DET
ap-6099	17	30	hour	hour	NOUN
ap-6099	17	31	.	.	PUNCT
ap-6099	18	1	these	these	DET
ap-6099	18	2	cobots	cobot	NOUN
ap-6099	18	3	are	be	AUX
ap-6099	18	4	very	very	ADV
ap-6099	18	5	convenient	convenient	ADJ
ap-6099	18	6	for	for	ADP
ap-6099	18	7	simple	simple	ADJ
ap-6099	18	8	applications	application	NOUN
ap-6099	18	9	.	.	PUNCT
ap-6099	19	1	taiwan	taiwan	PROPN
ap-6099	19	2	enterprise	enterprise	NOUN
ap-6099	19	3	techman	techman	NOUN
ap-6099	19	4	produces	produce	VERB
ap-6099	19	5	conceptually	conceptually	ADV
ap-6099	19	6	the	the	DET
ap-6099	19	7	same	same	ADJ
ap-6099	19	8	robots	robot	NOUN
ap-6099	19	9	but	but	CCONJ
ap-6099	19	10	improved	improve	VERB
ap-6099	19	11	by	by	ADP
ap-6099	19	12	adding	add	VERB
ap-6099	19	13	a	a	DET
ap-6099	19	14	camera	camera	NOUN
ap-6099	19	15	system	system	NOUN
ap-6099	19	16	installed	instal	VERB
ap-6099	19	17	on	on	ADP
ap-6099	19	18	its	its	PRON
ap-6099	19	19	fifth	fifth	ADJ
ap-6099	19	20	axis	axis	NOUN
ap-6099	19	21	[	[	X
ap-6099	19	22	3	3	NUM
ap-6099	19	23	]	]	PUNCT
ap-6099	19	24	.	.	PUNCT
ap-6099	20	1	the	the	DET
ap-6099	20	2	system	system	NOUN
ap-6099	20	3	can	can	AUX
ap-6099	20	4	then	then	ADV
ap-6099	20	5	,	,	PUNCT
ap-6099	20	6	to	to	ADP
ap-6099	20	7	some	some	DET
ap-6099	20	8	extent	extent	NOUN
ap-6099	20	9	,	,	PUNCT
ap-6099	20	10	evaluate	evaluate	VERB
ap-6099	20	11	the	the	DET
ap-6099	20	12	work	work	NOUN
ap-6099	20	13	environment	environment	NOUN
ap-6099	20	14	by	by	ADP
ap-6099	20	15	itself	itself	PRON
ap-6099	20	16	.	.	PUNCT
ap-6099	21	1	fanuc	fanuc	PROPN
ap-6099	21	2	has	have	AUX
ap-6099	21	3	created	create	VERB
ap-6099	21	4	the	the	DET
ap-6099	21	5	strongest	strong	ADJ
ap-6099	21	6	cobot	cobot	NOUN
ap-6099	21	7	so	so	ADV
ap-6099	21	8	far	far	ADV
ap-6099	21	9	.	.	PUNCT
ap-6099	22	1	their	their	PRON
ap-6099	22	2	cr-35ia	cr-35ia	PROPN
ap-6099	22	3	has	have	VERB
ap-6099	22	4	a	a	DET
ap-6099	22	5	load	load	NOUN
ap-6099	22	6	capacity	capacity	NOUN
ap-6099	22	7	of	of	ADP
ap-6099	22	8	35	35	NUM
ap-6099	22	9	kg	kg	NOUN
ap-6099	23	1	[	[	X
ap-6099	23	2	4	4	NUM
ap-6099	23	3	]	]	PUNCT
ap-6099	23	4	.	.	PUNCT
ap-6099	24	1	according	accord	VERB
ap-6099	24	2	to	to	ADP
ap-6099	24	3	many	many	ADJ
ap-6099	24	4	,	,	PUNCT
ap-6099	24	5	such	such	DET
ap-6099	24	6	a	a	DET
ap-6099	24	7	weight	weight	NOUN
ap-6099	24	8	defies	defy	VERB
ap-6099	24	9	collaboration	collaboration	NOUN
ap-6099	24	10	,	,	PUNCT
ap-6099	24	11	because	because	SCONJ
ap-6099	24	12	dropping	drop	VERB
ap-6099	24	13	an	an	DET
ap-6099	24	14	object	object	NOUN
ap-6099	24	15	of	of	ADP
ap-6099	24	16	this	this	DET
ap-6099	24	17	weight	weight	NOUN
ap-6099	24	18	could	could	AUX
ap-6099	24	19	easily	easily	ADV
ap-6099	24	20	cause	cause	VERB
ap-6099	24	21	pain	pain	NOUN
ap-6099	24	22	and	and	CCONJ
ap-6099	24	23	injury	injury	NOUN
ap-6099	24	24	,	,	PUNCT
ap-6099	24	25	which	which	DET
ap-6099	24	26	collaborativity	collaborativity	NOUN
ap-6099	24	27	does	do	AUX
ap-6099	24	28	not	not	PART
ap-6099	24	29	allow	allow	VERB
ap-6099	24	30	.	.	PUNCT
ap-6099	25	1	however	however	ADV
ap-6099	25	2	,	,	PUNCT
ap-6099	25	3	fanuc	fanuc	PROPN
ap-6099	25	4	offers	offer	VERB
ap-6099	25	5	this	this	DET
ap-6099	25	6	system	system	NOUN
ap-6099	25	7	to	to	ADP
ap-6099	25	8	applications	application	NOUN
ap-6099	25	9	where	where	SCONJ
ap-6099	25	10	it	it	PRON
ap-6099	25	11	works	work	VERB
ap-6099	25	12	as	as	ADP
ap-6099	25	13	a	a	DET
ap-6099	25	14	hand	hand	NOUN
ap-6099	25	15	-	-	PUNCT
ap-6099	25	16	guided	guide	VERB
ap-6099	25	17	manipulator	manipulator	NOUN
ap-6099	25	18	,	,	PUNCT
ap-6099	25	19	the	the	DET
ap-6099	25	20	operator	operator	NOUN
ap-6099	25	21	holds	hold	VERB
ap-6099	25	22	a	a	DET
ap-6099	25	23	control	control	NOUN
ap-6099	25	24	located	locate	VERB
ap-6099	25	25	on	on	ADP
ap-6099	25	26	the	the	DET
ap-6099	25	27	upper	upper	ADJ
ap-6099	25	28	arm	arm	NOUN
ap-6099	25	29	and	and	CCONJ
ap-6099	25	30	guides	guide	VERB
ap-6099	25	31	the	the	DET
ap-6099	25	32	manipulator	manipulator	NOUN
ap-6099	25	33	where	where	SCONJ
ap-6099	25	34	needed	need	VERB
ap-6099	25	35	.	.	PUNCT
ap-6099	26	1	abb	abb	PROPN
ap-6099	26	2	has	have	AUX
ap-6099	26	3	come	come	VERB
ap-6099	26	4	up	up	ADP
ap-6099	26	5	with	with	ADP
ap-6099	26	6	a	a	DET
ap-6099	26	7	completely	completely	ADV
ap-6099	26	8	new	new	ADJ
ap-6099	26	9	concept	concept	NOUN
ap-6099	26	10	.	.	PUNCT
ap-6099	27	1	the	the	DET
ap-6099	27	2	cobot	cobot	PROPN
ap-6099	27	3	yumi	yumi	PROPN
ap-6099	27	4	is	be	AUX
ap-6099	27	5	supposed	suppose	VERB
ap-6099	27	6	to	to	PART
ap-6099	27	7	work	work	VERB
ap-6099	27	8	with	with	ADP
ap-6099	27	9	person	person	NOUN
ap-6099	27	10	directly	directly	ADV
ap-6099	27	11	by	by	ADP
ap-6099	27	12	being	be	AUX
ap-6099	27	13	seated	seat	VERB
ap-6099	27	14	at	at	ADP
ap-6099	27	15	one	one	NUM
ap-6099	27	16	desk	desk	NOUN
ap-6099	27	17	in	in	ADP
ap-6099	27	18	front	front	NOUN
ap-6099	27	19	of	of	ADP
ap-6099	27	20	the	the	DET
ap-6099	27	21	operator	operator	NOUN
ap-6099	27	22	and	and	CCONJ
ap-6099	27	23	work	work	NOUN
ap-6099	27	24	simultaneously	simultaneously	ADV
ap-6099	27	25	,	,	PUNCT
ap-6099	27	26	in	in	ADP
ap-6099	27	27	the	the	DET
ap-6099	27	28	same	same	ADJ
ap-6099	27	29	work	work	NOUN
ap-6099	27	30	space	space	NOUN
ap-6099	27	31	and	and	CCONJ
ap-6099	27	32	on	on	ADP
ap-6099	27	33	the	the	DET
ap-6099	27	34	same	same	ADJ
ap-6099	27	35	task	task	NOUN
ap-6099	27	36	.	.	PUNCT
ap-6099	28	1	the	the	DET
ap-6099	28	2	cobot	cobot	NOUN
ap-6099	28	3	is	be	AUX
ap-6099	28	4	equipped	equip	VERB
ap-6099	28	5	with	with	ADP
ap-6099	28	6	two	two	NUM
ap-6099	28	7	seven	seven	NUM
ap-6099	28	8	-	-	PUNCT
ap-6099	28	9	axis	axis	NOUN
ap-6099	28	10	arms	arm	NOUN
ap-6099	28	11	(	(	PUNCT
ap-6099	28	12	most	most	ADJ
ap-6099	28	13	robots	robot	NOUN
ap-6099	28	14	and	and	CCONJ
ap-6099	28	15	cobots	cobot	NOUN
ap-6099	28	16	have	have	VERB
ap-6099	28	17	a	a	DET
ap-6099	28	18	six	six	NUM
ap-6099	28	19	-	-	PUNCT
ap-6099	28	20	axis	axis	NOUN
ap-6099	28	21	arm	arm	NOUN
ap-6099	28	22	)	)	PUNCT
ap-6099	28	23	.	.	PUNCT
ap-6099	29	1	these	these	DET
ap-6099	29	2	arms	arm	NOUN
ap-6099	29	3	are	be	AUX
ap-6099	29	4	set	set	VERB
ap-6099	29	5	up	up	ADP
ap-6099	29	6	in	in	ADP
ap-6099	29	7	a	a	DET
ap-6099	29	8	common	common	ADJ
ap-6099	29	9	body	body	NOUN
ap-6099	29	10	with	with	ADP
ap-6099	29	11	a	a	DET
ap-6099	29	12	built	build	VERB
ap-6099	29	13	-	-	PUNCT
ap-6099	29	14	in	in	ADP
ap-6099	29	15	controller	controller	NOUN
ap-6099	29	16	.	.	PUNCT
ap-6099	30	1	a	a	DET
ap-6099	30	2	collaborative	collaborative	ADJ
ap-6099	30	3	tool	tool	NOUN
ap-6099	30	4	,	,	PUNCT
ap-6099	30	5	the	the	DET
ap-6099	30	6	smartgripper	smartgripper	NOUN
ap-6099	30	7	,	,	PUNCT
ap-6099	30	8	is	be	AUX
ap-6099	30	9	included	include	VERB
ap-6099	30	10	with	with	ADP
ap-6099	30	11	the	the	DET
ap-6099	30	12	yumi	yumi	PROPN
ap-6099	30	13	cobot	cobot	PROPN
ap-6099	30	14	.	.	PUNCT
ap-6099	31	1	the	the	DET
ap-6099	31	2	basic	basic	ADJ
ap-6099	31	3	configuration	configuration	NOUN
ap-6099	31	4	includes	include	VERB
ap-6099	31	5	an	an	DET
ap-6099	31	6	electric	electric	ADJ
ap-6099	31	7	gripper	gripper	NOUN
ap-6099	31	8	with	with	ADP
ap-6099	31	9	a	a	DET
ap-6099	31	10	clamping	clamp	VERB
ap-6099	31	11	force	force	NOUN
ap-6099	31	12	of	of	ADP
ap-6099	31	13	up	up	ADP
ap-6099	31	14	to	to	ADP
ap-6099	31	15	20n	20n	NOUN
ap-6099	31	16	,	,	PUNCT
ap-6099	31	17	the	the	DET
ap-6099	31	18	gripper	gripper	NOUN
ap-6099	31	19	can	can	AUX
ap-6099	31	20	be	be	AUX
ap-6099	31	21	fitted	fit	VERB
ap-6099	31	22	with	with	ADP
ap-6099	31	23	one	one	NUM
ap-6099	31	24	or	or	CCONJ
ap-6099	31	25	two	two	NUM
ap-6099	31	26	suction	suction	NOUN
ap-6099	31	27	cups	cup	NOUN
ap-6099	31	28	and	and	CCONJ
ap-6099	31	29	possibly	possibly	ADV
ap-6099	31	30	a	a	DET
ap-6099	31	31	camera	camera	NOUN
ap-6099	31	32	.	.	PUNCT
ap-6099	32	1	[	[	X
ap-6099	32	2	5	5	X
ap-6099	32	3	]	]	PUNCT
ap-6099	32	4	this	this	DET
ap-6099	32	5	cognex	cognex	PROPN
ap-6099	32	6	ae3	ae3	PROPN
ap-6099	32	7	industrial	industrial	ADJ
ap-6099	32	8	camera	camera	NOUN
ap-6099	32	9	has	have	VERB
ap-6099	32	10	a	a	DET
ap-6099	32	11	resolution	resolution	NOUN
ap-6099	32	12	of	of	ADP
ap-6099	32	13	1.3mpx	1.3mpx	NUM
ap-6099	32	14	and	and	CCONJ
ap-6099	32	15	an	an	DET
ap-6099	32	16	integrated	integrate	VERB
ap-6099	32	17	led	lead	VERB
ap-6099	32	18	for	for	ADP
ap-6099	32	19	illumination	illumination	NOUN
ap-6099	32	20	.	.	PUNCT
ap-6099	33	1	the	the	DET
ap-6099	33	2	standard	standard	ADJ
ap-6099	33	3	robot	robot	NOUN
ap-6099	33	4	control	control	NOUN
ap-6099	33	5	system	system	NOUN
ap-6099	33	6	is	be	AUX
ap-6099	33	7	upgraded	upgrade	VERB
ap-6099	33	8	with	with	ADP
ap-6099	33	9	the	the	DET
ap-6099	33	10	integrated	integrate	VERB
ap-6099	33	11	vision	vision	NOUN
ap-6099	33	12	module	module	NOUN
ap-6099	33	13	to	to	PART
ap-6099	33	14	control	control	VERB
ap-6099	33	15	it	it	PRON
ap-6099	33	16	.	.	PUNCT
ap-6099	34	1	also	also	ADV
ap-6099	34	2	,	,	PUNCT
ap-6099	34	3	it	it	PRON
ap-6099	34	4	is	be	AUX
ap-6099	34	5	possible	possible	ADJ
ap-6099	34	6	to	to	PART
ap-6099	34	7	control	control	VERB
ap-6099	34	8	the	the	DET
ap-6099	34	9	smart	smart	ADJ
ap-6099	34	10	gripper	gripper	NOUN
ap-6099	34	11	camera	camera	NOUN
ap-6099	34	12	through	through	ADP
ap-6099	34	13	an	an	DET
ap-6099	34	14	insight	insight	NOUN
ap-6099	34	15	software	software	NOUN
ap-6099	34	16	,	,	PUNCT
ap-6099	34	17	provided	provide	VERB
ap-6099	34	18	by	by	ADP
ap-6099	34	19	cognex	cognex	ADJ
ap-6099	34	20	[	[	X
ap-6099	34	21	6	6	NUM
ap-6099	34	22	]	]	PUNCT
ap-6099	34	23	.	.	PUNCT
ap-6099	35	1	this	this	DET
ap-6099	35	2	solution	solution	NOUN
ap-6099	35	3	is	be	AUX
ap-6099	35	4	designed	design	VERB
ap-6099	35	5	for	for	ADP
ap-6099	35	6	industrial	industrial	ADJ
ap-6099	35	7	–	–	PUNCT
ap-6099	35	8	use	use	NOUN
ap-6099	35	9	,	,	PUNCT
ap-6099	35	10	but	but	CCONJ
ap-6099	35	11	camera	camera	NOUN
ap-6099	35	12	guidance	guidance	NOUN
ap-6099	35	13	is	be	AUX
ap-6099	35	14	time	time	NOUN
ap-6099	35	15	consuming	consume	VERB
ap-6099	35	16	.	.	PUNCT
ap-6099	36	1	the	the	DET
ap-6099	36	2	principle	principle	NOUN
ap-6099	36	3	of	of	ADP
ap-6099	36	4	cooperativity	cooperativity	NOUN
ap-6099	36	5	has	have	AUX
ap-6099	36	6	also	also	ADV
ap-6099	36	7	caught	catch	VERB
ap-6099	36	8	attention	attention	NOUN
ap-6099	36	9	of	of	ADP
ap-6099	36	10	people	people	NOUN
ap-6099	36	11	outside	outside	ADP
ap-6099	36	12	of	of	ADP
ap-6099	36	13	the	the	DET
ap-6099	36	14	industrial	industrial	ADJ
ap-6099	36	15	automation	automation	NOUN
ap-6099	36	16	,	,	PUNCT
ap-6099	36	17	this	this	DET
ap-6099	36	18	type	type	NOUN
ap-6099	36	19	of	of	ADP
ap-6099	36	20	automation	automation	NOUN
ap-6099	36	21	is	be	AUX
ap-6099	36	22	now	now	ADV
ap-6099	36	23	widely	widely	ADV
ap-6099	36	24	supported	support	VERB
ap-6099	36	25	by	by	ADP
ap-6099	36	26	various	various	ADJ
ap-6099	36	27	government	government	NOUN
ap-6099	36	28	grants	grant	NOUN
ap-6099	36	29	,	,	PUNCT
ap-6099	36	30	large	large	ADJ
ap-6099	36	31	enterprises	enterprise	NOUN
ap-6099	36	32	have	have	AUX
ap-6099	36	33	ordered	order	VERB
ap-6099	36	34	deploying	deploy	VERB
ap-6099	36	35	cobots	cobot	NOUN
ap-6099	36	36	in	in	ADP
ap-6099	36	37	applications	application	NOUN
ap-6099	36	38	for	for	ADP
ap-6099	36	39	which	which	PRON
ap-6099	36	40	it	it	PRON
ap-6099	36	41	often	often	ADV
ap-6099	36	42	does	do	AUX
ap-6099	36	43	not	not	PART
ap-6099	36	44	seem	seem	VERB
ap-6099	36	45	to	to	PART
ap-6099	36	46	fit	fit	VERB
ap-6099	36	47	.	.	PUNCT
ap-6099	37	1	the	the	DET
ap-6099	37	2	reason	reason	NOUN
ap-6099	37	3	is	be	AUX
ap-6099	37	4	the	the	DET
ap-6099	37	5	fear	fear	NOUN
ap-6099	37	6	and	and	CCONJ
ap-6099	37	7	apprehension	apprehension	NOUN
ap-6099	37	8	that	that	SCONJ
ap-6099	37	9	industrial	industrial	ADJ
ap-6099	37	10	automation	automation	NOUN
ap-6099	37	11	,	,	PUNCT
ap-6099	37	12	and	and	CCONJ
ap-6099	37	13	especially	especially	ADV
ap-6099	37	14	robotization	robotization	NOUN
ap-6099	37	15	,	,	PUNCT
ap-6099	37	16	will	will	AUX
ap-6099	37	17	exclude	exclude	VERB
ap-6099	37	18	people	people	NOUN
ap-6099	37	19	from	from	ADP
ap-6099	37	20	pro151	pro151	PROPN
ap-6099	37	21	https://doi.org/10.14311/ap.2020.60.0151	https://doi.org/10.14311/ap.2020.60.0151	PRON
ap-6099	37	22	https://ojs.cvut.cz/ojs/index.php/ap	https://ojs.cvut.cz/ojs/index.php/ap	NUM
ap-6099	37	23	m.	m.	NOUN
ap-6099	37	24	vocetka	vocetka	PROPN
ap-6099	37	25	,	,	PUNCT
ap-6099	37	26	j.	j.	PROPN
ap-6099	37	27	suder	suder	PROPN
ap-6099	37	28	,	,	PUNCT
ap-6099	37	29	d.	d.	PROPN
ap-6099	37	30	huczala	huczala	PROPN
ap-6099	37	31	acta	acta	PROPN
ap-6099	37	32	polytechnica	polytechnica	PROPN
ap-6099	37	33	figure	figure	NOUN
ap-6099	37	34	1	1	NUM
ap-6099	37	35	.	.	PUNCT
ap-6099	37	36	ur3	ur3	PROPN
ap-6099	37	37	,	,	PUNCT
ap-6099	37	38	cr-35ia	cr-35ia	PROPN
ap-6099	37	39	and	and	CCONJ
ap-6099	37	40	yumi	yumi	PROPN
ap-6099	37	41	cobots	cobot	NOUN
ap-6099	37	42	.	.	PUNCT
ap-6099	38	1	duction	duction	NOUN
ap-6099	38	2	processes	process	NOUN
ap-6099	38	3	and	and	CCONJ
ap-6099	38	4	increase	increase	VERB
ap-6099	38	5	unemployment	unemployment	NOUN
ap-6099	38	6	,	,	PUNCT
ap-6099	38	7	and	and	CCONJ
ap-6099	38	8	so	so	ADV
ap-6099	38	9	the	the	DET
ap-6099	38	10	cobotics	cobotic	NOUN
ap-6099	38	11	is	be	AUX
ap-6099	38	12	perceived	perceive	VERB
ap-6099	38	13	as	as	ADP
ap-6099	38	14	a	a	DET
ap-6099	38	15	compromise	compromise	NOUN
ap-6099	38	16	.	.	PUNCT
ap-6099	39	1	collaborative	collaborative	ADJ
ap-6099	39	2	robotics	robotic	NOUN
ap-6099	39	3	has	have	VERB
ap-6099	39	4	many	many	ADJ
ap-6099	39	5	advantages	advantage	NOUN
ap-6099	39	6	,	,	PUNCT
ap-6099	39	7	but	but	CCONJ
ap-6099	39	8	it	it	PRON
ap-6099	39	9	has	have	VERB
ap-6099	39	10	some	some	DET
ap-6099	39	11	limitations	limitation	NOUN
ap-6099	39	12	too	too	ADV
ap-6099	39	13	making	make	VERB
ap-6099	39	14	it	it	PRON
ap-6099	39	15	in	in	ADP
ap-6099	39	16	most	most	ADJ
ap-6099	39	17	manufacturing	manufacturing	NOUN
ap-6099	39	18	processes	process	NOUN
ap-6099	39	19	so	so	ADV
ap-6099	39	20	disadvantageous	disadvantageous	ADJ
ap-6099	39	21	that	that	SCONJ
ap-6099	39	22	it	it	PRON
ap-6099	39	23	can	can	AUX
ap-6099	39	24	not	not	PART
ap-6099	39	25	stand	stand	VERB
ap-6099	39	26	in	in	ADP
ap-6099	39	27	comparison	comparison	NOUN
ap-6099	39	28	with	with	ADP
ap-6099	39	29	traditional	traditional	ADJ
ap-6099	39	30	industrial	industrial	ADJ
ap-6099	39	31	robotics	robotic	NOUN
ap-6099	39	32	.	.	PUNCT
ap-6099	40	1	these	these	DET
ap-6099	40	2	limitations	limitation	NOUN
ap-6099	40	3	result	result	VERB
ap-6099	40	4	from	from	ADP
ap-6099	40	5	the	the	DET
ap-6099	40	6	safety	safety	NOUN
ap-6099	40	7	functions	function	NOUN
ap-6099	40	8	and	and	CCONJ
ap-6099	40	9	operation	operation	NOUN
ap-6099	40	10	of	of	ADP
ap-6099	40	11	these	these	DET
ap-6099	40	12	manipulators	manipulator	NOUN
ap-6099	40	13	,	,	PUNCT
ap-6099	40	14	which	which	PRON
ap-6099	40	15	do	do	AUX
ap-6099	40	16	not	not	PART
ap-6099	40	17	have	have	VERB
ap-6099	40	18	to	to	PART
ap-6099	40	19	be	be	AUX
ap-6099	40	20	installed	instal	VERB
ap-6099	40	21	behind	behind	ADP
ap-6099	40	22	the	the	DET
ap-6099	40	23	protective	protective	ADJ
ap-6099	40	24	fence	fence	NOUN
ap-6099	40	25	,	,	PUNCT
ap-6099	40	26	optical	optical	ADJ
ap-6099	40	27	barriers	barrier	NOUN
ap-6099	40	28	,	,	PUNCT
ap-6099	40	29	zone	zone	NOUN
ap-6099	40	30	scanners	scanner	NOUN
ap-6099	40	31	and	and	CCONJ
ap-6099	40	32	are	be	AUX
ap-6099	40	33	generally	generally	ADV
ap-6099	40	34	considered	consider	VERB
ap-6099	40	35	to	to	PART
ap-6099	40	36	be	be	AUX
ap-6099	40	37	safe	safe	ADJ
ap-6099	40	38	(	(	PUNCT
ap-6099	40	39	which	which	PRON
ap-6099	40	40	applies	apply	VERB
ap-6099	40	41	only	only	ADV
ap-6099	40	42	to	to	ADP
ap-6099	40	43	the	the	DET
ap-6099	40	44	manipulator	manipulator	NOUN
ap-6099	40	45	,	,	PUNCT
ap-6099	40	46	not	not	PART
ap-6099	40	47	to	to	ADP
ap-6099	40	48	its	its	PRON
ap-6099	40	49	tool	tool	NOUN
ap-6099	40	50	and	and	CCONJ
ap-6099	40	51	surrounding	surround	VERB
ap-6099	40	52	technology	technology	NOUN
ap-6099	40	53	)	)	PUNCT
ap-6099	40	54	.	.	PUNCT
ap-6099	41	1	the	the	DET
ap-6099	41	2	disadvantage	disadvantage	NOUN
ap-6099	41	3	is	be	AUX
ap-6099	41	4	that	that	SCONJ
ap-6099	41	5	the	the	DET
ap-6099	41	6	robots	robot	NOUN
ap-6099	41	7	have	have	VERB
ap-6099	41	8	a	a	DET
ap-6099	41	9	small	small	ADJ
ap-6099	41	10	load	load	NOUN
ap-6099	41	11	capacity	capacity	NOUN
ap-6099	41	12	,	,	PUNCT
ap-6099	41	13	and	and	CCONJ
ap-6099	41	14	,	,	PUNCT
ap-6099	41	15	above	above	ADP
ap-6099	41	16	all	all	PRON
ap-6099	41	17	,	,	PUNCT
ap-6099	41	18	are	be	AUX
ap-6099	41	19	slow	slow	ADJ
ap-6099	41	20	.	.	PUNCT
ap-6099	42	1	it	it	PRON
ap-6099	42	2	is	be	AUX
ap-6099	42	3	not	not	PART
ap-6099	42	4	physically	physically	ADV
ap-6099	42	5	possible	possible	ADJ
ap-6099	42	6	to	to	PART
ap-6099	42	7	create	create	VERB
ap-6099	42	8	a	a	DET
ap-6099	42	9	fast	fast	ADJ
ap-6099	42	10	robot	robot	NOUN
ap-6099	42	11	with	with	ADP
ap-6099	42	12	a	a	DET
ap-6099	42	13	kilogram	kilogram	PROPN
ap-6099	42	14	load	load	NOUN
ap-6099	42	15	capacity	capacity	NOUN
ap-6099	42	16	that	that	PRON
ap-6099	42	17	will	will	AUX
ap-6099	42	18	be	be	AUX
ap-6099	42	19	safe	safe	ADJ
ap-6099	42	20	at	at	ADP
ap-6099	42	21	the	the	DET
ap-6099	42	22	same	same	ADJ
ap-6099	42	23	time	time	NOUN
ap-6099	42	24	.	.	PUNCT
ap-6099	43	1	in	in	ADP
ap-6099	43	2	case	case	NOUN
ap-6099	43	3	of	of	ADP
ap-6099	43	4	a	a	DET
ap-6099	43	5	collision	collision	NOUN
ap-6099	43	6	with	with	ADP
ap-6099	43	7	a	a	DET
ap-6099	43	8	human	human	NOUN
ap-6099	43	9	,	,	PUNCT
ap-6099	43	10	more	more	ADJ
ap-6099	43	11	energy	energy	NOUN
ap-6099	43	12	than	than	SCONJ
ap-6099	43	13	would	would	AUX
ap-6099	43	14	be	be	AUX
ap-6099	43	15	acceptable	acceptable	ADJ
ap-6099	43	16	could	could	AUX
ap-6099	43	17	be	be	AUX
ap-6099	43	18	transmitted	transmit	VERB
ap-6099	43	19	.	.	PUNCT
ap-6099	44	1	moreover	moreover	ADV
ap-6099	44	2	,	,	PUNCT
ap-6099	44	3	according	accord	VERB
ap-6099	44	4	to	to	ADP
ap-6099	44	5	the	the	DET
ap-6099	44	6	european	european	ADJ
ap-6099	44	7	legislation	legislation	NOUN
ap-6099	44	8	,	,	PUNCT
ap-6099	44	9	any	any	DET
ap-6099	44	10	contact	contact	NOUN
ap-6099	44	11	with	with	ADP
ap-6099	44	12	human	human	ADJ
ap-6099	44	13	head	head	NOUN
ap-6099	44	14	and	and	CCONJ
ap-6099	44	15	neck	neck	NOUN
ap-6099	44	16	at	at	ADP
ap-6099	44	17	any	any	DET
ap-6099	44	18	speed	speed	NOUN
ap-6099	44	19	is	be	AUX
ap-6099	44	20	completely	completely	ADV
ap-6099	44	21	unacceptable	unacceptable	ADJ
ap-6099	44	22	[	[	X
ap-6099	44	23	7	7	NUM
ap-6099	44	24	,	,	PUNCT
ap-6099	44	25	8	8	NUM
ap-6099	44	26	]	]	PUNCT
ap-6099	44	27	.	.	PUNCT
ap-6099	45	1	therefore	therefore	ADV
ap-6099	45	2	,	,	PUNCT
ap-6099	45	3	the	the	DET
ap-6099	45	4	question	question	NOUN
ap-6099	45	5	how	how	SCONJ
ap-6099	45	6	to	to	PART
ap-6099	45	7	use	use	VERB
ap-6099	45	8	cobots	cobot	NOUN
ap-6099	45	9	in	in	ADP
ap-6099	45	10	practice	practice	NOUN
ap-6099	45	11	arises	arise	VERB
ap-6099	45	12	[	[	X
ap-6099	45	13	9–13	9–13	NOUN
ap-6099	45	14	]	]	PUNCT
ap-6099	45	15	.	.	PUNCT
ap-6099	46	1	2	2	X
ap-6099	46	2	.	.	X
ap-6099	46	3	a	a	DET
ap-6099	46	4	specific	specific	ADJ
ap-6099	46	5	yumi	yumi	NOUN
ap-6099	46	6	application	application	NOUN
ap-6099	46	7	in	in	ADP
ap-6099	46	8	the	the	DET
ap-6099	46	9	specific	specific	ADJ
ap-6099	46	10	case	case	NOUN
ap-6099	46	11	described	describe	VERB
ap-6099	46	12	below	below	ADV
ap-6099	46	13	,	,	PUNCT
ap-6099	46	14	the	the	DET
ap-6099	46	15	choice	choice	NOUN
ap-6099	46	16	of	of	ADP
ap-6099	46	17	yumi	yumi	PROPN
ap-6099	46	18	cobot	cobot	PROPN
ap-6099	46	19	is	be	AUX
ap-6099	46	20	more	more	ADV
ap-6099	46	21	appropriate	appropriate	ADJ
ap-6099	46	22	in	in	ADP
ap-6099	46	23	all	all	DET
ap-6099	46	24	aspects	aspect	NOUN
ap-6099	46	25	than	than	ADP
ap-6099	46	26	the	the	DET
ap-6099	46	27	other	other	ADJ
ap-6099	46	28	considered	consider	VERB
ap-6099	46	29	options	option	NOUN
ap-6099	46	30	with	with	ADP
ap-6099	46	31	traditional	traditional	ADJ
ap-6099	46	32	industrial	industrial	ADJ
ap-6099	46	33	robots	robot	NOUN
ap-6099	46	34	.	.	PUNCT
ap-6099	47	1	the	the	DET
ap-6099	47	2	task	task	NOUN
ap-6099	47	3	is	be	AUX
ap-6099	47	4	to	to	PART
ap-6099	47	5	install	install	VERB
ap-6099	47	6	a	a	DET
ap-6099	47	7	motor	motor	NOUN
ap-6099	47	8	,	,	PUNCT
ap-6099	47	9	a	a	DET
ap-6099	47	10	centrifugal	centrifugal	ADJ
ap-6099	47	11	clutch	clutch	NOUN
ap-6099	47	12	,	,	PUNCT
ap-6099	47	13	an	an	DET
ap-6099	47	14	upper	upper	ADJ
ap-6099	47	15	and	and	CCONJ
ap-6099	47	16	a	a	DET
ap-6099	47	17	lower	low	ADJ
ap-6099	47	18	housing	housing	NOUN
ap-6099	47	19	.	.	PUNCT
ap-6099	48	1	the	the	DET
ap-6099	48	2	process	process	NOUN
ap-6099	48	3	is	be	AUX
ap-6099	48	4	now	now	ADV
ap-6099	48	5	carried	carry	VERB
ap-6099	48	6	out	out	ADP
ap-6099	48	7	by	by	ADP
ap-6099	48	8	a	a	DET
ap-6099	48	9	human	human	NOUN
ap-6099	48	10	and	and	CCONJ
ap-6099	48	11	proceeds	proceed	NOUN
ap-6099	48	12	as	as	SCONJ
ap-6099	48	13	follows	follow	VERB
ap-6099	48	14	:	:	PUNCT
ap-6099	48	15	the	the	DET
ap-6099	48	16	operator	operator	NOUN
ap-6099	48	17	puts	put	VERB
ap-6099	48	18	both	both	DET
ap-6099	48	19	plastic	plastic	ADJ
ap-6099	48	20	housings	housing	NOUN
ap-6099	48	21	into	into	ADP
ap-6099	48	22	the	the	DET
ap-6099	48	23	press	press	NOUN
ap-6099	48	24	;	;	PUNCT
ap-6099	48	25	the	the	DET
ap-6099	48	26	motor	motor	NOUN
ap-6099	48	27	and	and	CCONJ
ap-6099	48	28	the	the	DET
ap-6099	48	29	centrifugal	centrifugal	ADJ
ap-6099	48	30	clutch	clutch	NOUN
ap-6099	48	31	are	be	AUX
ap-6099	48	32	inserted	insert	VERB
ap-6099	48	33	into	into	ADP
ap-6099	48	34	the	the	DET
ap-6099	48	35	press	press	NOUN
ap-6099	48	36	as	as	ADV
ap-6099	48	37	well	well	ADV
ap-6099	48	38	.	.	PUNCT
ap-6099	49	1	the	the	DET
ap-6099	49	2	automatic	automatic	ADJ
ap-6099	49	3	press	press	NOUN
ap-6099	49	4	gradually	gradually	ADV
ap-6099	49	5	compresses	compress	VERB
ap-6099	49	6	all	all	DET
ap-6099	49	7	parts	part	NOUN
ap-6099	49	8	.	.	PUNCT
ap-6099	50	1	the	the	DET
ap-6099	50	2	finished	finished	ADJ
ap-6099	50	3	part	part	NOUN
ap-6099	50	4	is	be	AUX
ap-6099	50	5	taken	take	VERB
ap-6099	50	6	out	out	ADP
ap-6099	50	7	from	from	ADP
ap-6099	50	8	the	the	DET
ap-6099	50	9	press	press	NOUN
ap-6099	50	10	by	by	ADP
ap-6099	50	11	the	the	DET
ap-6099	50	12	operator	operator	NOUN
ap-6099	50	13	and	and	CCONJ
ap-6099	50	14	placed	place	VERB
ap-6099	50	15	in	in	ADP
ap-6099	50	16	a	a	DET
ap-6099	50	17	technological	technological	ADJ
ap-6099	50	18	palette	palette	NOUN
ap-6099	50	19	.	.	PUNCT
ap-6099	51	1	due	due	ADP
ap-6099	51	2	to	to	ADP
ap-6099	51	3	the	the	DET
ap-6099	51	4	lack	lack	NOUN
ap-6099	51	5	of	of	ADP
ap-6099	51	6	workers	worker	NOUN
ap-6099	51	7	,	,	PUNCT
ap-6099	51	8	however	however	ADV
ap-6099	51	9	,	,	PUNCT
ap-6099	51	10	there	there	PRON
ap-6099	51	11	is	be	VERB
ap-6099	51	12	a	a	DET
ap-6099	51	13	risk	risk	NOUN
ap-6099	51	14	of	of	ADP
ap-6099	51	15	production	production	NOUN
ap-6099	51	16	interruption	interruption	NOUN
ap-6099	51	17	and	and	CCONJ
ap-6099	51	18	the	the	DET
ap-6099	51	19	manufacturer	manufacturer	NOUN
ap-6099	51	20	is	be	AUX
ap-6099	51	21	therefore	therefore	ADV
ap-6099	51	22	trying	try	VERB
ap-6099	51	23	to	to	PART
ap-6099	51	24	fully	fully	ADV
ap-6099	51	25	automate	automate	VERB
ap-6099	51	26	these	these	DET
ap-6099	51	27	simpler	simple	ADJ
ap-6099	51	28	processes	process	NOUN
ap-6099	51	29	.	.	PUNCT
ap-6099	52	1	however	however	ADV
ap-6099	52	2	,	,	PUNCT
ap-6099	52	3	the	the	DET
ap-6099	52	4	production	production	NOUN
ap-6099	52	5	must	must	AUX
ap-6099	52	6	not	not	PART
ap-6099	52	7	be	be	AUX
ap-6099	52	8	disturbed	disturb	VERB
ap-6099	52	9	,	,	PUNCT
ap-6099	52	10	so	so	CCONJ
ap-6099	52	11	the	the	DET
ap-6099	52	12	installation	installation	NOUN
ap-6099	52	13	of	of	ADP
ap-6099	52	14	any	any	DET
ap-6099	52	15	new	new	ADJ
ap-6099	52	16	equipment	equipment	NOUN
ap-6099	52	17	must	must	AUX
ap-6099	52	18	take	take	VERB
ap-6099	52	19	place	place	NOUN
ap-6099	52	20	very	very	ADV
ap-6099	52	21	quickly	quickly	ADV
ap-6099	52	22	,	,	PUNCT
ap-6099	52	23	and	and	CCONJ
ap-6099	52	24	,	,	PUNCT
ap-6099	52	25	if	if	SCONJ
ap-6099	52	26	necessary	necessary	ADJ
ap-6099	52	27	(	(	PUNCT
ap-6099	52	28	in	in	ADP
ap-6099	52	29	the	the	DET
ap-6099	52	30	case	case	NOUN
ap-6099	52	31	of	of	ADP
ap-6099	52	32	a	a	DET
ap-6099	52	33	robot	robot	NOUN
ap-6099	52	34	malfunction	malfunction	NOUN
ap-6099	52	35	)	)	PUNCT
ap-6099	52	36	,	,	PUNCT
ap-6099	52	37	it	it	PRON
ap-6099	52	38	must	must	AUX
ap-6099	52	39	be	be	AUX
ap-6099	52	40	possible	possible	ADJ
ap-6099	52	41	to	to	PART
ap-6099	52	42	disconnect	disconnect	VERB
ap-6099	52	43	the	the	DET
ap-6099	52	44	robot	robot	NOUN
ap-6099	52	45	immediately	immediately	ADV
ap-6099	52	46	and	and	CCONJ
ap-6099	52	47	to	to	PART
ap-6099	52	48	carry	carry	VERB
ap-6099	52	49	out	out	ADP
ap-6099	52	50	the	the	DET
ap-6099	52	51	production	production	NOUN
ap-6099	52	52	by	by	ADP
ap-6099	52	53	a	a	DET
ap-6099	52	54	human	human	ADJ
ap-6099	52	55	operator	operator	NOUN
ap-6099	52	56	.	.	PUNCT
ap-6099	53	1	it	it	PRON
ap-6099	53	2	is	be	AUX
ap-6099	53	3	also	also	ADV
ap-6099	53	4	not	not	PART
ap-6099	53	5	possible	possible	ADJ
ap-6099	53	6	to	to	PART
ap-6099	53	7	fence	fence	VERB
ap-6099	53	8	the	the	DET
ap-6099	53	9	workplace	workplace	NOUN
ap-6099	53	10	because	because	SCONJ
ap-6099	53	11	of	of	ADP
ap-6099	53	12	a	a	DET
ap-6099	53	13	lack	lack	NOUN
ap-6099	53	14	of	of	ADP
ap-6099	53	15	space	space	NOUN
ap-6099	53	16	.	.	PUNCT
ap-6099	54	1	the	the	DET
ap-6099	54	2	last	last	ADJ
ap-6099	54	3	limiting	limiting	NOUN
ap-6099	54	4	parameter	parameter	NOUN
ap-6099	54	5	is	be	AUX
ap-6099	54	6	the	the	DET
ap-6099	54	7	production	production	NOUN
ap-6099	54	8	cycle	cycle	NOUN
ap-6099	54	9	,	,	PUNCT
ap-6099	54	10	which	which	PRON
ap-6099	54	11	is	be	AUX
ap-6099	54	12	set	set	VERB
ap-6099	54	13	at	at	ADP
ap-6099	54	14	12	12	NUM
ap-6099	54	15	s.	s.	NOUN
ap-6099	54	16	these	these	DET
ap-6099	54	17	requirements	requirement	NOUN
ap-6099	54	18	directly	directly	ADV
ap-6099	54	19	figure	figure	VERB
ap-6099	54	20	2	2	NUM
ap-6099	54	21	.	.	NOUN
ap-6099	54	22	bosch	bosch	PROPN
ap-6099	54	23	technological	technological	ADJ
ap-6099	54	24	pallet	pallet	NOUN
ap-6099	54	25	.	.	PUNCT
ap-6099	55	1	lead	lead	VERB
ap-6099	55	2	to	to	ADP
ap-6099	55	3	the	the	DET
ap-6099	55	4	use	use	NOUN
ap-6099	55	5	of	of	ADP
ap-6099	55	6	a	a	DET
ap-6099	55	7	robot	robot	NOUN
ap-6099	55	8	that	that	PRON
ap-6099	55	9	works	work	VERB
ap-6099	55	10	in	in	ADP
ap-6099	55	11	a	a	DET
ap-6099	55	12	similar	similar	ADJ
ap-6099	55	13	way	way	NOUN
ap-6099	55	14	to	to	ADP
ap-6099	55	15	a	a	DET
ap-6099	55	16	human	human	ADJ
ap-6099	55	17	being	being	NOUN
ap-6099	55	18	.	.	PUNCT
ap-6099	56	1	in	in	ADP
ap-6099	56	2	addition	addition	NOUN
ap-6099	56	3	,	,	PUNCT
ap-6099	56	4	the	the	DET
ap-6099	56	5	installation	installation	NOUN
ap-6099	56	6	of	of	ADP
ap-6099	56	7	the	the	DET
ap-6099	56	8	yumi	yumi	PROPN
ap-6099	56	9	cobot	cobot	PROPN
ap-6099	56	10	is	be	AUX
ap-6099	56	11	also	also	ADV
ap-6099	56	12	suitable	suitable	ADJ
ap-6099	56	13	because	because	SCONJ
ap-6099	56	14	of	of	ADP
ap-6099	56	15	the	the	DET
ap-6099	56	16	limited	limited	ADJ
ap-6099	56	17	working	working	NOUN
ap-6099	56	18	space	space	NOUN
ap-6099	56	19	on	on	ADP
ap-6099	56	20	the	the	DET
ap-6099	56	21	pallet	pallet	NOUN
ap-6099	56	22	and	and	CCONJ
ap-6099	56	23	the	the	DET
ap-6099	56	24	presses	press	NOUN
ap-6099	56	25	.	.	PUNCT
ap-6099	57	1	indeed	indeed	ADV
ap-6099	57	2	,	,	PUNCT
ap-6099	57	3	yumi	yumi	PROPN
ap-6099	57	4	has	have	VERB
ap-6099	57	5	seven	seven	NUM
ap-6099	57	6	-	-	PUNCT
ap-6099	57	7	axis	axis	NOUN
ap-6099	57	8	arms	arm	NOUN
ap-6099	57	9	that	that	PRON
ap-6099	57	10	are	be	AUX
ap-6099	57	11	much	much	ADV
ap-6099	57	12	smaller	small	ADJ
ap-6099	57	13	in	in	ADP
ap-6099	57	14	cross	cross	NOUN
ap-6099	57	15	-	-	NOUN
ap-6099	57	16	section	section	NOUN
ap-6099	57	17	than	than	ADP
ap-6099	57	18	the	the	DET
ap-6099	57	19	smallest	small	ADJ
ap-6099	57	20	industrial	industrial	ADJ
ap-6099	57	21	abb	abb	PROPN
ap-6099	57	22	robots	robot	NOUN
ap-6099	57	23	.	.	PUNCT
ap-6099	58	1	a	a	DET
ap-6099	58	2	pair	pair	NOUN
ap-6099	58	3	of	of	ADP
ap-6099	58	4	these	these	DET
ap-6099	58	5	industrial	industrial	ADJ
ap-6099	58	6	robots	robot	NOUN
ap-6099	58	7	would	would	AUX
ap-6099	58	8	not	not	PART
ap-6099	58	9	fit	fit	VERB
ap-6099	58	10	into	into	ADP
ap-6099	58	11	the	the	DET
ap-6099	58	12	target	target	NOUN
ap-6099	58	13	space	space	NOUN
ap-6099	58	14	at	at	ADP
ap-6099	58	15	the	the	DET
ap-6099	58	16	same	same	ADJ
ap-6099	58	17	time	time	NOUN
ap-6099	58	18	,	,	PUNCT
ap-6099	58	19	the	the	DET
ap-6099	58	20	robots	robot	NOUN
ap-6099	58	21	could	could	AUX
ap-6099	58	22	not	not	PART
ap-6099	58	23	work	work	VERB
ap-6099	58	24	simultaneously	simultaneously	ADV
ap-6099	58	25	,	,	PUNCT
ap-6099	58	26	which	which	PRON
ap-6099	58	27	results	result	VERB
ap-6099	58	28	in	in	ADP
ap-6099	58	29	a	a	DET
ap-6099	58	30	longer	long	ADJ
ap-6099	58	31	duty	duty	NOUN
ap-6099	58	32	cycle	cycle	NOUN
ap-6099	58	33	[	[	X
ap-6099	58	34	14	14	NUM
ap-6099	58	35	,	,	PUNCT
ap-6099	58	36	15	15	NUM
ap-6099	58	37	]	]	PUNCT
ap-6099	58	38	.	.	PUNCT
ap-6099	59	1	the	the	DET
ap-6099	59	2	fig	fig	NOUN
ap-6099	59	3	.	.	PUNCT
ap-6099	60	1	2	2	NUM
ap-6099	60	2	above	above	ADV
ap-6099	60	3	depicts	depict	VERB
ap-6099	60	4	the	the	DET
ap-6099	60	5	bosch	bosch	PROPN
ap-6099	60	6	technology	technology	PROPN
ap-6099	60	7	palette	palette	NOUN
ap-6099	60	8	,	,	PUNCT
ap-6099	60	9	the	the	DET
ap-6099	60	10	clutch	clutch	NOUN
ap-6099	60	11	is	be	AUX
ap-6099	60	12	in	in	ADP
ap-6099	60	13	the	the	DET
ap-6099	60	14	left	left	ADJ
ap-6099	60	15	corner	corner	NOUN
ap-6099	60	16	,	,	PUNCT
ap-6099	60	17	and	and	CCONJ
ap-6099	60	18	the	the	DET
ap-6099	60	19	completed	complete	VERB
ap-6099	60	20	motor	motor	NOUN
ap-6099	60	21	is	be	AUX
ap-6099	60	22	placed	place	VERB
ap-6099	60	23	in	in	ADP
ap-6099	60	24	the	the	DET
ap-6099	60	25	green	green	ADJ
ap-6099	60	26	socket	socket	NOUN
ap-6099	60	27	.	.	PUNCT
ap-6099	61	1	the	the	DET
ap-6099	61	2	proposed	propose	VERB
ap-6099	61	3	workstation	workstation	NOUN
ap-6099	61	4	consists	consist	VERB
ap-6099	61	5	of	of	ADP
ap-6099	61	6	a	a	DET
ap-6099	61	7	press	press	NOUN
ap-6099	61	8	that	that	PRON
ap-6099	61	9	is	be	AUX
ap-6099	61	10	placed	place	VERB
ap-6099	61	11	behind	behind	ADP
ap-6099	61	12	the	the	DET
ap-6099	61	13	pallet	pallet	ADJ
ap-6099	61	14	conveyor	conveyor	NOUN
ap-6099	61	15	,	,	PUNCT
ap-6099	61	16	a	a	DET
ap-6099	61	17	bowl	bowl	NOUN
ap-6099	61	18	feeder	feeder	NOUN
ap-6099	61	19	for	for	ADP
ap-6099	61	20	housing	housing	NOUN
ap-6099	61	21	supply	supply	NOUN
ap-6099	61	22	and	and	CCONJ
ap-6099	61	23	a	a	DET
ap-6099	61	24	robot	robot	NOUN
ap-6099	61	25	on	on	ADP
ap-6099	61	26	a	a	DET
ap-6099	61	27	docking	docking	NOUN
ap-6099	61	28	station	station	NOUN
ap-6099	61	29	.	.	PUNCT
ap-6099	62	1	the	the	DET
ap-6099	62	2	press	press	NOUN
ap-6099	62	3	had	have	VERB
ap-6099	62	4	to	to	PART
ap-6099	62	5	be	be	AUX
ap-6099	62	6	adapted	adapt	VERB
ap-6099	62	7	for	for	ADP
ap-6099	62	8	automation	automation	NOUN
ap-6099	62	9	purposes	purpose	NOUN
ap-6099	62	10	,	,	PUNCT
ap-6099	62	11	the	the	DET
ap-6099	62	12	pressing	pressing	NOUN
ap-6099	62	13	of	of	ADP
ap-6099	62	14	the	the	DET
ap-6099	62	15	housings	housing	NOUN
ap-6099	62	16	takes	take	VERB
ap-6099	62	17	place	place	NOUN
ap-6099	62	18	separately	separately	ADV
ap-6099	62	19	and	and	CCONJ
ap-6099	62	20	is	be	AUX
ap-6099	62	21	provided	provide	VERB
ap-6099	62	22	by	by	ADP
ap-6099	62	23	pneumatic	pneumatic	ADJ
ap-6099	62	24	cylinders	cylinder	NOUN
ap-6099	62	25	with	with	ADP
ap-6099	62	26	a	a	DET
ap-6099	62	27	diameter	diameter	NOUN
ap-6099	62	28	of	of	ADP
ap-6099	62	29	20	20	NUM
ap-6099	62	30	mm	mm	NOUN
ap-6099	62	31	.	.	PUNCT
ap-6099	63	1	the	the	DET
ap-6099	63	2	pneumatic	pneumatic	ADJ
ap-6099	63	3	manipulator	manipulator	NOUN
ap-6099	63	4	,	,	PUNCT
ap-6099	63	5	whose	whose	DET
ap-6099	63	6	individual	individual	ADJ
ap-6099	63	7	drives	drive	NOUN
ap-6099	63	8	only	only	ADV
ap-6099	63	9	move	move	VERB
ap-6099	63	10	between	between	ADP
ap-6099	63	11	the	the	DET
ap-6099	63	12	end	end	NOUN
ap-6099	63	13	positions	position	NOUN
ap-6099	63	14	,	,	PUNCT
ap-6099	63	15	solves	solve	VERB
ap-6099	63	16	the	the	DET
ap-6099	63	17	transfer	transfer	NOUN
ap-6099	63	18	of	of	ADP
ap-6099	63	19	housings	housing	NOUN
ap-6099	63	20	from	from	ADP
ap-6099	63	21	the	the	DET
ap-6099	63	22	draw	draw	VERB
ap-6099	63	23	-	-	PUNCT
ap-6099	63	24	off	off	ADP
ap-6099	63	25	plate	plate	NOUN
ap-6099	63	26	.	.	PUNCT
ap-6099	64	1	this	this	DET
ap-6099	64	2	solution	solution	NOUN
ap-6099	64	3	is	be	AUX
ap-6099	64	4	suitable	suitable	ADJ
ap-6099	64	5	with	with	ADP
ap-6099	64	6	respect	respect	NOUN
ap-6099	64	7	to	to	ADP
ap-6099	64	8	price	price	NOUN
ap-6099	64	9	and	and	CCONJ
ap-6099	64	10	adjusting	adjust	VERB
ap-6099	64	11	the	the	DET
ap-6099	64	12	machine	machine	NOUN
ap-6099	64	13	.	.	PUNCT
ap-6099	65	1	the	the	DET
ap-6099	65	2	pressing	press	VERB
ap-6099	65	3	plate	plate	NOUN
ap-6099	65	4	can	can	AUX
ap-6099	65	5	be	be	AUX
ap-6099	65	6	rotated	rotate	VERB
ap-6099	65	7	by	by	ADP
ap-6099	65	8	180	180	NUM
ap-6099	65	9	degrees	degree	NOUN
ap-6099	65	10	.	.	PUNCT
ap-6099	66	1	pressing	press	VERB
ap-6099	66	2	takes	take	VERB
ap-6099	66	3	place	place	NOUN
ap-6099	66	4	on	on	ADP
ap-6099	66	5	the	the	DET
ap-6099	66	6	front	front	ADJ
ap-6099	66	7	side	side	NOUN
ap-6099	66	8	while	while	SCONJ
ap-6099	66	9	the	the	DET
ap-6099	66	10	back	back	ADJ
ap-6099	66	11	side	side	NOUN
ap-6099	66	12	is	be	AUX
ap-6099	66	13	filled	fill	VERB
ap-6099	66	14	with	with	ADP
ap-6099	66	15	the	the	DET
ap-6099	66	16	new	new	ADJ
ap-6099	66	17	set	set	NOUN
ap-6099	66	18	of	of	ADP
ap-6099	66	19	housings	housing	NOUN
ap-6099	66	20	by	by	ADP
ap-6099	66	21	a	a	DET
ap-6099	66	22	pneumatic	pneumatic	ADJ
ap-6099	66	23	manipulator	manipulator	NOUN
ap-6099	66	24	.	.	PUNCT
ap-6099	67	1	the	the	DET
ap-6099	67	2	clutch	clutch	NOUN
ap-6099	67	3	is	be	AUX
ap-6099	67	4	pressed	press	VERB
ap-6099	67	5	on	on	ADP
ap-6099	67	6	the	the	DET
ap-6099	67	7	motor	motor	NOUN
ap-6099	67	8	by	by	ADP
ap-6099	67	9	a	a	DET
ap-6099	67	10	pneumatic	pneumatic	ADJ
ap-6099	67	11	cylinder	cylinder	NOUN
ap-6099	67	12	with	with	ADP
ap-6099	67	13	a	a	DET
ap-6099	67	14	diameter	diameter	NOUN
ap-6099	67	15	of	of	ADP
ap-6099	67	16	80	80	NUM
ap-6099	67	17	mm	mm	NOUN
ap-6099	67	18	,	,	PUNCT
ap-6099	67	19	the	the	DET
ap-6099	67	20	motor	motor	NOUN
ap-6099	67	21	is	be	AUX
ap-6099	67	22	locked	lock	VERB
ap-6099	67	23	by	by	ADP
ap-6099	67	24	an	an	DET
ap-6099	67	25	angular	angular	ADJ
ap-6099	67	26	gripper	gripper	NOUN
ap-6099	67	27	during	during	ADP
ap-6099	67	28	pressing	press	VERB
ap-6099	67	29	to	to	PART
ap-6099	67	30	avoid	avoid	VERB
ap-6099	67	31	misalignment	misalignment	NOUN
ap-6099	67	32	.	.	PUNCT
ap-6099	68	1	in	in	ADP
ap-6099	68	2	fig	fig	NOUN
ap-6099	68	3	.	.	PUNCT
ap-6099	69	1	3	3	NUM
ap-6099	69	2	,	,	PUNCT
ap-6099	69	3	the	the	DET
ap-6099	69	4	yumi	yumi	PROPN
ap-6099	69	5	robot	robot	NOUN
ap-6099	69	6	is	be	AUX
ap-6099	69	7	in	in	ADP
ap-6099	69	8	the	the	DET
ap-6099	69	9	foreground	foreground	NOUN
ap-6099	69	10	and	and	CCONJ
ap-6099	69	11	the	the	DET
ap-6099	69	12	manual	manual	ADJ
ap-6099	69	13	assembly	assembly	NOUN
ap-6099	69	14	press	press	NOUN
ap-6099	69	15	is	be	AUX
ap-6099	69	16	on	on	ADP
ap-6099	69	17	its	its	PRON
ap-6099	69	18	right	right	ADJ
ap-6099	69	19	side	side	NOUN
ap-6099	69	20	.	.	PUNCT
ap-6099	70	1	opposite	opposite	ADP
ap-6099	70	2	the	the	DET
ap-6099	70	3	robot	robot	NOUN
ap-6099	70	4	,	,	PUNCT
ap-6099	70	5	the	the	DET
ap-6099	70	6	automatic	automatic	ADJ
ap-6099	70	7	press	press	NOUN
ap-6099	70	8	is	be	AUX
ap-6099	70	9	mounted	mount	VERB
ap-6099	70	10	–	–	PUNCT
ap-6099	70	11	it	it	PRON
ap-6099	70	12	works	work	VERB
ap-6099	70	13	only	only	ADV
ap-6099	70	14	when	when	SCONJ
ap-6099	70	15	the	the	DET
ap-6099	70	16	robot	robot	NOUN
ap-6099	70	17	is	be	AUX
ap-6099	70	18	connected	connect	VERB
ap-6099	70	19	and	and	CCONJ
ap-6099	70	20	operational	operational	ADJ
ap-6099	70	21	.	.	PUNCT
ap-6099	71	1	the	the	DET
ap-6099	71	2	housings	housing	NOUN
ap-6099	71	3	are	be	AUX
ap-6099	71	4	delivered	deliver	VERB
ap-6099	71	5	by	by	ADP
ap-6099	71	6	the	the	DET
ap-6099	71	7	bowl	bowl	NOUN
ap-6099	71	8	feeder	feeder	NOUN
ap-6099	71	9	installed	instal	VERB
ap-6099	71	10	in	in	ADP
ap-6099	71	11	the	the	DET
ap-6099	71	12	background	background	NOUN
ap-6099	71	13	.	.	PUNCT
ap-6099	72	1	the	the	DET
ap-6099	72	2	robot	robot	NOUN
ap-6099	72	3	duty	duty	PROPN
ap-6099	72	4	cycle	cycle	NOUN
ap-6099	72	5	differs	differ	VERB
ap-6099	72	6	slightly	slightly	ADV
ap-6099	72	7	from	from	ADP
ap-6099	72	8	the	the	DET
ap-6099	72	9	manual	manual	ADJ
ap-6099	72	10	assembly	assembly	NOUN
ap-6099	72	11	.	.	PUNCT
ap-6099	73	1	left	leave	VERB
ap-6099	73	2	arm	arm	NOUN
ap-6099	73	3	realizes	realize	VERB
ap-6099	73	4	pressing	press	VERB
ap-6099	73	5	of	of	ADP
ap-6099	73	6	the	the	DET
ap-6099	73	7	housings	housing	NOUN
ap-6099	73	8	,	,	PUNCT
ap-6099	73	9	right	right	ADJ
ap-6099	73	10	arm	arm	NOUN
ap-6099	73	11	assembles	assemble	VERB
ap-6099	73	12	the	the	DET
ap-6099	73	13	clutch	clutch	NOUN
ap-6099	73	14	to	to	ADP
ap-6099	73	15	the	the	DET
ap-6099	73	16	motor	motor	NOUN
ap-6099	73	17	.	.	PUNCT
ap-6099	74	1	the	the	DET
ap-6099	74	2	whole	whole	ADJ
ap-6099	74	3	process	process	NOUN
ap-6099	74	4	is	be	AUX
ap-6099	74	5	tuned	tune	VERB
ap-6099	74	6	,	,	PUNCT
ap-6099	74	7	so	so	CCONJ
ap-6099	74	8	there	there	PRON
ap-6099	74	9	is	be	VERB
ap-6099	74	10	no	no	DET
ap-6099	74	11	delay	delay	NOUN
ap-6099	74	12	caused	cause	VERB
ap-6099	74	13	by	by	ADP
ap-6099	74	14	the	the	DET
ap-6099	74	15	arms	arm	NOUN
ap-6099	74	16	waiting	wait	VERB
ap-6099	74	17	for	for	ADP
ap-6099	74	18	each	each	DET
ap-6099	74	19	other	other	ADJ
ap-6099	74	20	.	.	PUNCT
ap-6099	75	1	deploying	deploying	NOUN
ap-6099	75	2	and	and	CCONJ
ap-6099	75	3	testing	testing	NOUN
ap-6099	75	4	of	of	ADP
ap-6099	75	5	a	a	DET
ap-6099	75	6	new	new	ADJ
ap-6099	75	7	technology	technology	NOUN
ap-6099	75	8	on	on	ADP
ap-6099	75	9	an	an	DET
ap-6099	75	10	already	already	ADV
ap-6099	75	11	functioning	function	VERB
ap-6099	75	12	production	production	NOUN
ap-6099	75	13	line	line	NOUN
ap-6099	75	14	that	that	PRON
ap-6099	75	15	can	can	AUX
ap-6099	75	16	not	not	PART
ap-6099	75	17	be	be	AUX
ap-6099	75	18	stopped	stop	VERB
ap-6099	75	19	for	for	ADP
ap-6099	75	20	a	a	DET
ap-6099	75	21	longer	long	ADJ
ap-6099	75	22	time	time	NOUN
ap-6099	75	23	is	be	AUX
ap-6099	75	24	difficult	difficult	ADJ
ap-6099	75	25	.	.	PUNCT
ap-6099	76	1	for	for	ADP
ap-6099	76	2	this	this	DET
ap-6099	76	3	reason	reason	NOUN
ap-6099	76	4	,	,	PUNCT
ap-6099	76	5	152	152	NUM
ap-6099	76	6	vol	vol	NOUN
ap-6099	76	7	.	.	PUNCT
ap-6099	76	8	60	60	NUM
ap-6099	76	9	no	no	INTJ
ap-6099	76	10	.	.	PUNCT
ap-6099	77	1	2/2020	2/2020	NUM
ap-6099	77	2	the	the	DET
ap-6099	77	3	use	use	NOUN
ap-6099	77	4	of	of	ADP
ap-6099	77	5	the	the	DET
ap-6099	77	6	two	two	NUM
ap-6099	77	7	-	-	PUNCT
ap-6099	77	8	handed	handed	ADJ
ap-6099	77	9	collaborative	collaborative	ADJ
ap-6099	77	10	robot	robot	NOUN
ap-6099	77	11	.	.	PUNCT
ap-6099	77	12	.	.	PUNCT
ap-6099	78	1	.	.	PUNCT
ap-6099	79	1	figure	figure	VERB
ap-6099	79	2	3	3	NUM
ap-6099	79	3	.	.	PUNCT
ap-6099	79	4	assembly	assembly	NOUN
ap-6099	79	5	line	line	NOUN
ap-6099	79	6	workstation	workstation	NOUN
ap-6099	79	7	.	.	PUNCT
ap-6099	80	1	figure	figure	NOUN
ap-6099	80	2	4	4	NUM
ap-6099	80	3	.	.	PUNCT
ap-6099	80	4	automatic	automatic	ADJ
ap-6099	80	5	press	press	NOUN
ap-6099	80	6	detail	detail	NOUN
ap-6099	80	7	.	.	PUNCT
ap-6099	81	1	the	the	DET
ap-6099	81	2	robot	robot	NOUN
ap-6099	81	3	is	be	AUX
ap-6099	81	4	placed	place	VERB
ap-6099	81	5	on	on	ADP
ap-6099	81	6	a	a	DET
ap-6099	81	7	detachable	detachable	ADJ
ap-6099	81	8	docking	docking	NOUN
ap-6099	81	9	station	station	NOUN
ap-6099	81	10	.	.	PUNCT
ap-6099	82	1	if	if	SCONJ
ap-6099	82	2	this	this	DET
ap-6099	82	3	new	new	ADJ
ap-6099	82	4	technology	technology	NOUN
ap-6099	82	5	does	do	AUX
ap-6099	82	6	not	not	PART
ap-6099	82	7	work	work	VERB
ap-6099	82	8	properly	properly	ADV
ap-6099	82	9	,	,	PUNCT
ap-6099	82	10	then	then	ADV
ap-6099	82	11	it	it	PRON
ap-6099	82	12	can	can	AUX
ap-6099	82	13	be	be	AUX
ap-6099	82	14	easily	easily	ADV
ap-6099	82	15	disconnected	disconnect	VERB
ap-6099	82	16	,	,	PUNCT
ap-6099	82	17	and	and	CCONJ
ap-6099	82	18	another	another	DET
ap-6099	82	19	robot	robot	NOUN
ap-6099	82	20	or	or	CCONJ
ap-6099	82	21	line	line	NOUN
ap-6099	82	22	operator	operator	NOUN
ap-6099	82	23	could	could	AUX
ap-6099	82	24	continue	continue	VERB
ap-6099	82	25	the	the	DET
ap-6099	82	26	work	work	NOUN
ap-6099	82	27	manually	manually	ADV
ap-6099	82	28	instead	instead	ADV
ap-6099	82	29	.	.	PUNCT
ap-6099	83	1	the	the	DET
ap-6099	83	2	workplace	workplace	NOUN
ap-6099	83	3	remains	remain	VERB
ap-6099	83	4	unchanged	unchanged	ADJ
ap-6099	83	5	from	from	ADP
ap-6099	83	6	the	the	DET
ap-6099	83	7	worker	worker	NOUN
ap-6099	83	8	’s	’s	PART
ap-6099	83	9	point	point	NOUN
ap-6099	83	10	of	of	ADP
ap-6099	83	11	view	view	NOUN
ap-6099	83	12	,	,	PUNCT
ap-6099	83	13	but	but	CCONJ
ap-6099	83	14	the	the	DET
ap-6099	83	15	production	production	NOUN
ap-6099	83	16	process	process	NOUN
ap-6099	83	17	will	will	AUX
ap-6099	83	18	be	be	AUX
ap-6099	83	19	stabilized	stabilize	VERB
ap-6099	83	20	after	after	ADP
ap-6099	83	21	debugging	debugging	NOUN
ap-6099	83	22	,	,	PUNCT
ap-6099	83	23	as	as	SCONJ
ap-6099	83	24	the	the	DET
ap-6099	83	25	line	line	NOUN
ap-6099	83	26	performance	performance	NOUN
ap-6099	83	27	is	be	AUX
ap-6099	83	28	proportional	proportional	ADJ
ap-6099	83	29	to	to	ADP
ap-6099	83	30	the	the	DET
ap-6099	83	31	performance	performance	NOUN
ap-6099	83	32	of	of	ADP
ap-6099	83	33	the	the	DET
ap-6099	83	34	slowest	slow	ADJ
ap-6099	83	35	operator	operator	NOUN
ap-6099	83	36	,	,	PUNCT
ap-6099	83	37	and	and	CCONJ
ap-6099	83	38	many	many	ADJ
ap-6099	83	39	tasks	task	NOUN
ap-6099	83	40	are	be	AUX
ap-6099	83	41	performed	perform	VERB
ap-6099	83	42	at	at	ADP
ap-6099	83	43	this	this	DET
ap-6099	83	44	station	station	NOUN
ap-6099	83	45	in	in	ADP
ap-6099	83	46	a	a	DET
ap-6099	83	47	short	short	ADJ
ap-6099	83	48	time	time	NOUN
ap-6099	83	49	.	.	PUNCT
ap-6099	84	1	3	3	X
ap-6099	84	2	.	.	X
ap-6099	84	3	low	low	ADJ
ap-6099	84	4	load	load	NOUN
ap-6099	84	5	capacity	capacity	NOUN
ap-6099	84	6	problems	problem	NOUN
ap-6099	84	7	however	however	ADV
ap-6099	84	8	,	,	PUNCT
ap-6099	84	9	the	the	DET
ap-6099	84	10	load	load	NOUN
ap-6099	84	11	capacity	capacity	NOUN
ap-6099	84	12	of	of	ADP
ap-6099	84	13	the	the	DET
ap-6099	84	14	yumi	yumi	PROPN
ap-6099	84	15	robot	robot	NOUN
ap-6099	84	16	is	be	AUX
ap-6099	84	17	problematic	problematic	ADJ
ap-6099	84	18	.	.	PUNCT
ap-6099	85	1	it	it	PRON
ap-6099	85	2	is	be	AUX
ap-6099	85	3	set	set	VERB
ap-6099	85	4	by	by	ADP
ap-6099	85	5	the	the	DET
ap-6099	85	6	manufacturer	manufacturer	NOUN
ap-6099	85	7	at	at	ADP
ap-6099	85	8	a	a	DET
ap-6099	85	9	maximum	maximum	NOUN
ap-6099	85	10	of	of	ADP
ap-6099	85	11	500	500	NUM
ap-6099	85	12	g	g	NOUN
ap-6099	85	13	as	as	SCONJ
ap-6099	85	14	shown	show	VERB
ap-6099	85	15	in	in	ADP
ap-6099	85	16	fig	fig	NOUN
ap-6099	85	17	.	.	PUNCT
ap-6099	86	1	6	6	NUM
ap-6099	86	2	.	.	PUNCT
ap-6099	86	3	this	this	DET
ap-6099	86	4	weight	weight	NOUN
ap-6099	86	5	must	must	AUX
ap-6099	86	6	not	not	PART
ap-6099	86	7	exceed	exceed	VERB
ap-6099	86	8	the	the	DET
ap-6099	86	9	sum	sum	NOUN
ap-6099	86	10	of	of	ADP
ap-6099	86	11	the	the	DET
ap-6099	86	12	weight	weight	NOUN
ap-6099	86	13	of	of	ADP
ap-6099	86	14	the	the	DET
ap-6099	86	15	object	object	NOUN
ap-6099	86	16	of	of	ADP
ap-6099	86	17	manipulation	manipulation	NOUN
ap-6099	86	18	and	and	CCONJ
ap-6099	86	19	the	the	DET
ap-6099	86	20	end	end	NOUN
ap-6099	86	21	-	-	PUNCT
ap-6099	86	22	effector	effector	NOUN
ap-6099	86	23	.	.	PUNCT
ap-6099	87	1	with	with	ADP
ap-6099	87	2	these	these	DET
ap-6099	87	3	values	value	NOUN
ap-6099	87	4	,	,	PUNCT
ap-6099	87	5	the	the	DET
ap-6099	87	6	maximum	maximum	ADJ
ap-6099	87	7	permissible	permissible	ADJ
ap-6099	87	8	weight	weight	NOUN
ap-6099	87	9	of	of	ADP
ap-6099	87	10	a	a	DET
ap-6099	87	11	one	one	NUM
ap-6099	87	12	gripper	gripper	NOUN
ap-6099	87	13	jaw	jaw	NOUN
ap-6099	87	14	is	be	AUX
ap-6099	87	15	12	12	NUM
ap-6099	87	16	g	g	NOUN
ap-6099	87	17	when	when	SCONJ
ap-6099	87	18	the	the	DET
ap-6099	87	19	smart	smart	ADJ
ap-6099	87	20	gripper	gripper	NOUN
ap-6099	87	21	is	be	AUX
ap-6099	87	22	used	use	VERB
ap-6099	87	23	.	.	PUNCT
ap-6099	88	1	if	if	SCONJ
ap-6099	88	2	it	it	PRON
ap-6099	88	3	is	be	AUX
ap-6099	88	4	made	make	VERB
ap-6099	88	5	of	of	ADP
ap-6099	88	6	duralumin	duralumin	NOUN
ap-6099	88	7	and	and	CCONJ
ap-6099	88	8	the	the	DET
ap-6099	88	9	functional	functional	ADJ
ap-6099	88	10	surface	surface	NOUN
ap-6099	88	11	is	be	AUX
ap-6099	88	12	coated	coat	VERB
ap-6099	88	13	with	with	ADP
ap-6099	88	14	rubber	rubber	NOUN
ap-6099	88	15	,	,	PUNCT
ap-6099	88	16	this	this	DET
ap-6099	88	17	weight	weight	NOUN
ap-6099	88	18	can	can	AUX
ap-6099	88	19	be	be	AUX
ap-6099	88	20	achieved	achieve	VERB
ap-6099	88	21	,	,	PUNCT
ap-6099	88	22	but	but	CCONJ
ap-6099	88	23	the	the	DET
ap-6099	88	24	robot	robot	NOUN
ap-6099	88	25	will	will	AUX
ap-6099	88	26	work	work	VERB
ap-6099	88	27	on	on	ADP
ap-6099	88	28	its	its	PRON
ap-6099	88	29	limits	limit	NOUN
ap-6099	88	30	.	.	PUNCT
ap-6099	89	1	an	an	DET
ap-6099	89	2	alternative	alternative	NOUN
ap-6099	89	3	is	be	AUX
ap-6099	89	4	a	a	DET
ap-6099	89	5	design	design	NOUN
ap-6099	89	6	of	of	ADP
ap-6099	89	7	a	a	DET
ap-6099	89	8	custom	custom	NOUN
ap-6099	89	9	end	end	NOUN
ap-6099	89	10	-	-	PUNCT
ap-6099	89	11	effector	effector	NOUN
ap-6099	89	12	with	with	ADP
ap-6099	89	13	a	a	DET
ap-6099	89	14	pneumatic	pneumatic	ADJ
ap-6099	89	15	gripper	gripper	NOUN
ap-6099	89	16	,	,	PUNCT
ap-6099	89	17	which	which	PRON
ap-6099	89	18	figure	figure	VERB
ap-6099	89	19	5	5	NUM
ap-6099	89	20	.	.	PUNCT
ap-6099	89	21	abb	abb	PROPN
ap-6099	89	22	smart	smart	ADJ
ap-6099	89	23	gripper	gripper	NOUN
ap-6099	89	24	.	.	PUNCT
ap-6099	90	1	will	will	AUX
ap-6099	90	2	have	have	VERB
ap-6099	90	3	a	a	DET
ap-6099	90	4	quadruple	quadruple	NOUN
ap-6099	90	5	clamping	clamp	VERB
ap-6099	90	6	force	force	NOUN
ap-6099	90	7	,	,	PUNCT
ap-6099	90	8	which	which	PRON
ap-6099	90	9	is	be	AUX
ap-6099	90	10	very	very	ADV
ap-6099	90	11	desirable	desirable	ADJ
ap-6099	90	12	,	,	PUNCT
ap-6099	90	13	total	total	ADJ
ap-6099	90	14	price	price	NOUN
ap-6099	90	15	per	per	ADP
ap-6099	90	16	the	the	DET
ap-6099	90	17	tool	tool	NOUN
ap-6099	90	18	will	will	AUX
ap-6099	90	19	be	be	AUX
ap-6099	90	20	lower	low	ADJ
ap-6099	90	21	,	,	PUNCT
ap-6099	90	22	but	but	CCONJ
ap-6099	90	23	it	it	PRON
ap-6099	90	24	will	will	AUX
ap-6099	90	25	not	not	PART
ap-6099	90	26	meet	meet	VERB
ap-6099	90	27	the	the	DET
ap-6099	90	28	principles	principle	NOUN
ap-6099	90	29	of	of	ADP
ap-6099	90	30	cooperativity	cooperativity	NOUN
ap-6099	90	31	.	.	PUNCT
ap-6099	91	1	the	the	DET
ap-6099	91	2	design	design	NOUN
ap-6099	91	3	of	of	ADP
ap-6099	91	4	the	the	DET
ap-6099	91	5	jaw	jaw	NOUN
ap-6099	91	6	for	for	ADP
ap-6099	91	7	the	the	DET
ap-6099	91	8	collaborative	collaborative	ADJ
ap-6099	91	9	gripper	gripper	NOUN
ap-6099	91	10	was	be	AUX
ap-6099	91	11	created	create	VERB
ap-6099	91	12	based	base	VERB
ap-6099	91	13	on	on	ADP
ap-6099	91	14	the	the	DET
ap-6099	91	15	results	result	NOUN
ap-6099	91	16	of	of	ADP
ap-6099	91	17	the	the	DET
ap-6099	91	18	topology	topology	NOUN
ap-6099	91	19	optimization	optimization	NOUN
ap-6099	91	20	.	.	PUNCT
ap-6099	92	1	in	in	ADP
ap-6099	92	2	order	order	NOUN
ap-6099	92	3	to	to	PART
ap-6099	92	4	minimize	minimize	VERB
ap-6099	92	5	the	the	DET
ap-6099	92	6	weight	weight	NOUN
ap-6099	92	7	,	,	PUNCT
ap-6099	92	8	this	this	DET
ap-6099	92	9	method	method	NOUN
ap-6099	92	10	seems	seem	VERB
ap-6099	92	11	to	to	PART
ap-6099	92	12	be	be	AUX
ap-6099	92	13	the	the	DET
ap-6099	92	14	most	most	ADV
ap-6099	92	15	appropriate	appropriate	ADJ
ap-6099	92	16	.	.	PUNCT
ap-6099	93	1	the	the	DET
ap-6099	93	2	initial	initial	ADJ
ap-6099	93	3	testing	testing	NOUN
ap-6099	93	4	revealed	reveal	VERB
ap-6099	93	5	that	that	SCONJ
ap-6099	93	6	the	the	DET
ap-6099	93	7	jaw	jaw	PROPN
ap-6099	93	8	contact	contact	NOUN
ap-6099	93	9	surface	surface	NOUN
ap-6099	93	10	must	must	AUX
ap-6099	93	11	copy	copy	VERB
ap-6099	93	12	the	the	DET
ap-6099	93	13	radius	radius	NOUN
ap-6099	93	14	of	of	ADP
ap-6099	93	15	the	the	DET
ap-6099	93	16	motor	motor	NOUN
ap-6099	93	17	body	body	NOUN
ap-6099	93	18	on	on	ADP
ap-6099	93	19	the	the	DET
ap-6099	93	20	largest	large	ADJ
ap-6099	93	21	possible	possible	ADJ
ap-6099	93	22	area	area	NOUN
ap-6099	93	23	,	,	PUNCT
ap-6099	93	24	otherwise	otherwise	ADV
ap-6099	93	25	there	there	PRON
ap-6099	93	26	is	be	VERB
ap-6099	93	27	a	a	DET
ap-6099	93	28	risk	risk	NOUN
ap-6099	93	29	of	of	ADP
ap-6099	93	30	displacement	displacement	NOUN
ap-6099	93	31	or	or	CCONJ
ap-6099	93	32	rotation	rotation	NOUN
ap-6099	93	33	of	of	ADP
ap-6099	93	34	the	the	DET
ap-6099	93	35	motor	motor	NOUN
ap-6099	93	36	in	in	ADP
ap-6099	93	37	the	the	DET
ap-6099	93	38	jaws	jaw	NOUN
ap-6099	93	39	.	.	PUNCT
ap-6099	94	1	153	153	NUM
ap-6099	94	2	m.	m.	NOUN
ap-6099	94	3	vocetka	vocetka	PROPN
ap-6099	94	4	,	,	PUNCT
ap-6099	94	5	j.	j.	PROPN
ap-6099	94	6	suder	suder	PROPN
ap-6099	94	7	,	,	PUNCT
ap-6099	94	8	d.	d.	PROPN
ap-6099	94	9	huczala	huczala	PROPN
ap-6099	94	10	acta	acta	PROPN
ap-6099	94	11	polytechnica	polytechnica	PROPN
ap-6099	94	12	figure	figure	NOUN
ap-6099	94	13	6	6	NUM
ap-6099	94	14	.	.	PUNCT
ap-6099	95	1	yumi	yumi	PROPN
ap-6099	95	2	load	load	PROPN
ap-6099	95	3	diagram	diagram	PROPN
ap-6099	95	4	.	.	PUNCT
ap-6099	96	1	material	material	PROPN
ap-6099	96	2	mass	mass	NOUN
ap-6099	97	1	[	[	X
ap-6099	97	2	g	g	X
ap-6099	97	3	]	]	X
ap-6099	97	4	tension	tension	NOUN
ap-6099	97	5	[	[	X
ap-6099	97	6	mpa	mpa	X
ap-6099	97	7	]	]	X
ap-6099	97	8	pc	pc	NOUN
ap-6099	97	9	11.5	11.5	NUM
ap-6099	97	10	10	10	NUM
ap-6099	97	11	20al6061	20al6061	NUM
ap-6099	97	12	23.9	23.9	NUM
ap-6099	97	13	table	table	NOUN
ap-6099	97	14	1	1	NUM
ap-6099	97	15	.	.	PUNCT
ap-6099	97	16	comparison	comparison	NOUN
ap-6099	97	17	of	of	ADP
ap-6099	97	18	fem	fem	NOUN
ap-6099	97	19	analysis	analysis	NOUN
ap-6099	97	20	results	result	NOUN
ap-6099	97	21	.	.	PUNCT
ap-6099	98	1	in	in	ADP
ap-6099	98	2	addition	addition	NOUN
ap-6099	98	3	,	,	PUNCT
ap-6099	98	4	this	this	DET
ap-6099	98	5	surface	surface	NOUN
ap-6099	98	6	must	must	AUX
ap-6099	98	7	be	be	AUX
ap-6099	98	8	coated	coat	VERB
ap-6099	98	9	with	with	ADP
ap-6099	98	10	a	a	DET
ap-6099	98	11	soft	soft	ADJ
ap-6099	98	12	coating	coating	NOUN
ap-6099	98	13	to	to	PART
ap-6099	98	14	enhance	enhance	VERB
ap-6099	98	15	adhesion	adhesion	NOUN
ap-6099	98	16	.	.	PUNCT
ap-6099	99	1	the	the	DET
ap-6099	99	2	original	original	ADJ
ap-6099	99	3	design	design	NOUN
ap-6099	99	4	of	of	ADP
ap-6099	99	5	the	the	DET
ap-6099	99	6	jaw	jaw	NOUN
ap-6099	99	7	,	,	PUNCT
ap-6099	99	8	which	which	PRON
ap-6099	99	9	would	would	AUX
ap-6099	99	10	be	be	AUX
ap-6099	99	11	printed	print	VERB
ap-6099	99	12	on	on	ADP
ap-6099	99	13	a	a	DET
ap-6099	99	14	3d	3d	NUM
ap-6099	99	15	polycarbonate	polycarbonate	NOUN
ap-6099	99	16	printer	printer	NOUN
ap-6099	99	17	,	,	PUNCT
ap-6099	99	18	corresponds	correspond	VERB
ap-6099	99	19	to	to	ADP
ap-6099	99	20	a	a	DET
ap-6099	99	21	strength	strength	NOUN
ap-6099	99	22	and	and	CCONJ
ap-6099	99	23	weight	weight	NOUN
ap-6099	99	24	limits	limit	NOUN
ap-6099	99	25	,	,	PUNCT
ap-6099	99	26	but	but	CCONJ
ap-6099	99	27	the	the	DET
ap-6099	99	28	lifetime	lifetime	NOUN
ap-6099	99	29	of	of	ADP
ap-6099	99	30	such	such	DET
ap-6099	99	31	a	a	DET
ap-6099	99	32	jaw	jaw	NOUN
ap-6099	99	33	would	would	AUX
ap-6099	99	34	be	be	AUX
ap-6099	99	35	short	short	ADJ
ap-6099	99	36	,	,	PUNCT
ap-6099	99	37	the	the	DET
ap-6099	99	38	3d	3d	NOUN
ap-6099	99	39	printed	print	VERB
ap-6099	99	40	part	part	NOUN
ap-6099	99	41	would	would	AUX
ap-6099	99	42	not	not	PART
ap-6099	99	43	withstand	withstand	VERB
ap-6099	99	44	the	the	DET
ap-6099	99	45	cyclic	cyclic	ADJ
ap-6099	99	46	loading	loading	NOUN
ap-6099	99	47	.	.	PUNCT
ap-6099	100	1	however	however	ADV
ap-6099	100	2	,	,	PUNCT
ap-6099	100	3	in	in	ADP
ap-6099	100	4	the	the	DET
ap-6099	100	5	case	case	NOUN
ap-6099	100	6	of	of	ADP
ap-6099	100	7	the	the	DET
ap-6099	100	8	same	same	ADJ
ap-6099	100	9	design	design	NOUN
ap-6099	100	10	but	but	CCONJ
ap-6099	100	11	using	use	VERB
ap-6099	100	12	higher	high	ADJ
ap-6099	100	13	quality	quality	NOUN
ap-6099	100	14	aluminium	aluminium	NOUN
ap-6099	100	15	instead	instead	ADV
ap-6099	100	16	,	,	PUNCT
ap-6099	100	17	the	the	DET
ap-6099	100	18	weight	weight	NOUN
ap-6099	100	19	would	would	AUX
ap-6099	100	20	rise	rise	VERB
ap-6099	100	21	above	above	ADP
ap-6099	100	22	the	the	DET
ap-6099	100	23	acceptable	acceptable	ADJ
ap-6099	100	24	limit	limit	NOUN
ap-6099	100	25	,	,	PUNCT
ap-6099	100	26	as	as	SCONJ
ap-6099	100	27	it	it	PRON
ap-6099	100	28	is	be	AUX
ap-6099	100	29	shown	show	VERB
ap-6099	100	30	in	in	ADP
ap-6099	100	31	table	table	NOUN
ap-6099	100	32	1	1	NUM
ap-6099	100	33	.	.	PUNCT
ap-6099	101	1	the	the	DET
ap-6099	101	2	principle	principle	NOUN
ap-6099	101	3	of	of	ADP
ap-6099	101	4	topology	topology	NOUN
ap-6099	101	5	optimization	optimization	NOUN
ap-6099	101	6	is	be	AUX
ap-6099	101	7	to	to	PART
ap-6099	101	8	exclude	exclude	VERB
ap-6099	101	9	all	all	DET
ap-6099	101	10	the	the	DET
ap-6099	101	11	mass	mass	NOUN
ap-6099	101	12	,	,	PUNCT
ap-6099	101	13	which	which	PRON
ap-6099	101	14	does	do	AUX
ap-6099	101	15	not	not	PART
ap-6099	101	16	carry	carry	VERB
ap-6099	101	17	any	any	DET
ap-6099	101	18	load	load	NOUN
ap-6099	101	19	and	and	CCONJ
ap-6099	101	20	is	be	AUX
ap-6099	101	21	therefore	therefore	ADV
ap-6099	101	22	useless	useless	ADJ
ap-6099	101	23	,	,	PUNCT
ap-6099	101	24	from	from	ADP
ap-6099	101	25	the	the	DET
ap-6099	101	26	optimized	optimize	VERB
ap-6099	101	27	part	part	NOUN
ap-6099	101	28	.	.	PUNCT
ap-6099	102	1	the	the	DET
ap-6099	102	2	fem	fem	NOUN
ap-6099	102	3	analysis	analysis	NOUN
ap-6099	102	4	has	have	AUX
ap-6099	102	5	shown	show	VERB
ap-6099	102	6	that	that	SCONJ
ap-6099	102	7	this	this	DET
ap-6099	102	8	part	part	NOUN
ap-6099	102	9	has	have	VERB
ap-6099	102	10	a	a	DET
ap-6099	102	11	potential	potential	NOUN
ap-6099	102	12	to	to	PART
ap-6099	102	13	be	be	AUX
ap-6099	102	14	topologically	topologically	ADV
ap-6099	102	15	optimized	optimize	VERB
ap-6099	102	16	.	.	PUNCT
ap-6099	103	1	in	in	ADP
ap-6099	103	2	the	the	DET
ap-6099	103	3	case	case	NOUN
ap-6099	103	4	of	of	ADP
ap-6099	103	5	the	the	DET
ap-6099	103	6	aluminium	aluminium	NOUN
ap-6099	103	7	,	,	PUNCT
ap-6099	103	8	the	the	DET
ap-6099	103	9	optimization	optimization	NOUN
ap-6099	103	10	results	result	VERB
ap-6099	103	11	in	in	ADP
ap-6099	103	12	half	half	DET
ap-6099	103	13	the	the	DET
ap-6099	103	14	weight	weight	NOUN
ap-6099	103	15	,	,	PUNCT
ap-6099	103	16	at	at	ADP
ap-6099	103	17	roughly	roughly	ADV
ap-6099	103	18	doubling	double	VERB
ap-6099	103	19	the	the	DET
ap-6099	103	20	stress	stress	NOUN
ap-6099	103	21	values	value	NOUN
ap-6099	103	22	,	,	PUNCT
ap-6099	103	23	but	but	CCONJ
ap-6099	103	24	this	this	PRON
ap-6099	103	25	is	be	AUX
ap-6099	103	26	still	still	ADV
ap-6099	103	27	acceptable	acceptable	ADJ
ap-6099	103	28	.	.	PUNCT
ap-6099	104	1	thus	thus	ADV
ap-6099	104	2	,	,	PUNCT
ap-6099	104	3	the	the	DET
ap-6099	104	4	optimized	optimize	VERB
ap-6099	104	5	part	part	NOUN
ap-6099	104	6	will	will	AUX
ap-6099	104	7	be	be	AUX
ap-6099	104	8	modified	modify	VERB
ap-6099	104	9	to	to	PART
ap-6099	104	10	reduce	reduce	VERB
ap-6099	104	11	the	the	DET
ap-6099	104	12	production	production	NOUN
ap-6099	104	13	costs	cost	NOUN
ap-6099	104	14	.	.	PUNCT
ap-6099	105	1	however	however	ADV
ap-6099	105	2	,	,	PUNCT
ap-6099	105	3	it	it	PRON
ap-6099	105	4	can	can	AUX
ap-6099	105	5	be	be	AUX
ap-6099	105	6	considered	consider	VERB
ap-6099	105	7	as	as	ADV
ap-6099	105	8	sufficient	sufficient	ADJ
ap-6099	105	9	at	at	ADP
ap-6099	105	10	this	this	DET
ap-6099	105	11	phase	phase	NOUN
ap-6099	105	12	.	.	PUNCT
ap-6099	106	1	4	4	X
ap-6099	106	2	.	.	X
ap-6099	106	3	industrial	industrial	ADJ
ap-6099	106	4	robot	robot	NOUN
ap-6099	106	5	solution	solution	NOUN
ap-6099	106	6	the	the	DET
ap-6099	106	7	possible	possible	ADJ
ap-6099	106	8	solution	solution	NOUN
ap-6099	106	9	with	with	ADP
ap-6099	106	10	a	a	DET
ap-6099	106	11	pair	pair	NOUN
ap-6099	106	12	of	of	ADP
ap-6099	106	13	traditional	traditional	ADJ
ap-6099	106	14	six	six	NUM
ap-6099	106	15	-	-	PUNCT
ap-6099	106	16	axis	axis	NOUN
ap-6099	106	17	robots	robot	NOUN
ap-6099	106	18	is	be	AUX
ap-6099	106	19	also	also	ADV
ap-6099	106	20	functional	functional	ADJ
ap-6099	106	21	,	,	PUNCT
ap-6099	106	22	but	but	CCONJ
ap-6099	106	23	in	in	ADP
ap-6099	106	24	comparison	comparison	NOUN
ap-6099	106	25	with	with	ADP
ap-6099	106	26	the	the	DET
ap-6099	106	27	yumi	yumi	PROPN
ap-6099	106	28	cobot	cobot	PROPN
ap-6099	106	29	,	,	PUNCT
ap-6099	106	30	it	it	PRON
ap-6099	106	31	is	be	AUX
ap-6099	106	32	slower	slow	ADJ
ap-6099	106	33	by	by	ADP
ap-6099	106	34	two	two	NUM
ap-6099	106	35	seconds	second	NOUN
ap-6099	106	36	.	.	PUNCT
ap-6099	107	1	material	material	NOUN
ap-6099	107	2	mass	mass	NOUN
ap-6099	108	1	[	[	X
ap-6099	108	2	g	g	X
ap-6099	108	3	]	]	X
ap-6099	108	4	tension	tension	NOUN
ap-6099	108	5	[	[	X
ap-6099	108	6	mpa	mpa	X
ap-6099	108	7	]	]	X
ap-6099	108	8	pc	pc	NOUN
ap-6099	108	9	5.6	5.6	NUM
ap-6099	108	10	25	25	NUM
ap-6099	108	11	40al6061	40al6061	NUM
ap-6099	108	12	12	12	NUM
ap-6099	108	13	table	table	NOUN
ap-6099	108	14	2	2	NUM
ap-6099	108	15	.	.	PUNCT
ap-6099	108	16	comparison	comparison	NOUN
ap-6099	108	17	of	of	ADP
ap-6099	108	18	fem	fem	NOUN
ap-6099	108	19	analysis	analysis	NOUN
ap-6099	108	20	results	result	NOUN
ap-6099	108	21	of	of	ADP
ap-6099	108	22	topologically	topologically	ADV
ap-6099	108	23	analyzed	analyze	VERB
ap-6099	108	24	part	part	NOUN
ap-6099	108	25	.	.	PUNCT
ap-6099	109	1	parameter	parameter	PROPN
ap-6099	109	2	yumi	yumi	PROPN
ap-6099	109	3	2×	2×	PROPN
ap-6099	110	1	irb120	irb120	PROPN
ap-6099	110	2	investment	investment	NOUN
ap-6099	110	3	60	60	NUM
ap-6099	110	4	000	000	NUM
ap-6099	110	5	€	€	SYM
ap-6099	110	6	66	66	NUM
ap-6099	110	7	500	500	NUM
ap-6099	110	8	€	€	NUM
ap-6099	110	9	tact	tact	NOUN
ap-6099	110	10	10.5	10.5	NUM
ap-6099	110	11	s	s	NOUN
ap-6099	110	12	12.8	12.8	NUM
ap-6099	110	13	s	s	NOUN
ap-6099	110	14	modularity	modularity	NOUN
ap-6099	111	1	yes	yes	INTJ
ap-6099	111	2	no	no	DET
ap-6099	111	3	fenced	fenced	NOUN
ap-6099	112	1	no	no	INTJ
ap-6099	112	2	yes	yes	INTJ
ap-6099	112	3	power	power	NOUN
ap-6099	112	4	excess	excess	NOUN
ap-6099	113	1	no	no	DET
ap-6099	113	2	yes	yes	INTJ
ap-6099	113	3	table	table	NOUN
ap-6099	113	4	3	3	NUM
ap-6099	113	5	.	.	PUNCT
ap-6099	114	1	comparison	comparison	NOUN
ap-6099	114	2	of	of	ADP
ap-6099	114	3	fem	fem	NOUN
ap-6099	114	4	analysis	analysis	NOUN
ap-6099	114	5	results	result	NOUN
ap-6099	114	6	of	of	ADP
ap-6099	114	7	topologically	topologically	ADV
ap-6099	114	8	analyzed	analyze	VERB
ap-6099	114	9	part	part	NOUN
ap-6099	114	10	.	.	PUNCT
ap-6099	115	1	the	the	DET
ap-6099	115	2	industrial	industrial	ADJ
ap-6099	115	3	solution	solution	NOUN
ap-6099	115	4	simulation	simulation	NOUN
ap-6099	115	5	contemplates	contemplate	VERB
ap-6099	115	6	a	a	DET
ap-6099	115	7	pair	pair	NOUN
ap-6099	115	8	of	of	ADP
ap-6099	115	9	abb	abb	PROPN
ap-6099	115	10	irb120	irb120	PROPN
ap-6099	115	11	robots	robot	NOUN
ap-6099	115	12	.	.	PUNCT
ap-6099	116	1	these	these	DET
ap-6099	116	2	small	small	ADJ
ap-6099	116	3	six	six	NUM
ap-6099	116	4	–	–	PUNCT
ap-6099	116	5	axis	axis	ADJ
ap-6099	116	6	industrial	industrial	ADJ
ap-6099	116	7	robots	robot	NOUN
ap-6099	116	8	could	could	AUX
ap-6099	116	9	reach	reach	VERB
ap-6099	116	10	a	a	DET
ap-6099	116	11	speed	speed	NOUN
ap-6099	116	12	of	of	ADP
ap-6099	116	13	6.2	6.2	NUM
ap-6099	116	14	m/s	m/	NOUN
ap-6099	116	15	and	and	CCONJ
ap-6099	116	16	acceleration	acceleration	NOUN
ap-6099	116	17	of	of	ADP
ap-6099	116	18	28m	28m	PROPN
ap-6099	116	19	/	/	SYM
ap-6099	116	20	s2	s2	NOUN
ap-6099	116	21	with	with	ADP
ap-6099	116	22	a	a	DET
ap-6099	116	23	load	load	NOUN
ap-6099	116	24	capacity	capacity	NOUN
ap-6099	116	25	of	of	ADP
ap-6099	116	26	3	3	NUM
ap-6099	116	27	kg	kg	NOUN
ap-6099	116	28	.	.	PUNCT
ap-6099	117	1	[	[	X
ap-6099	117	2	16	16	NUM
ap-6099	117	3	]	]	X
ap-6099	117	4	robots	robot	NOUN
ap-6099	117	5	would	would	AUX
ap-6099	117	6	be	be	AUX
ap-6099	117	7	faster	fast	ADJ
ap-6099	117	8	,	,	PUNCT
ap-6099	117	9	if	if	SCONJ
ap-6099	117	10	they	they	PRON
ap-6099	117	11	were	be	AUX
ap-6099	117	12	hung	hang	VERB
ap-6099	117	13	,	,	PUNCT
ap-6099	117	14	but	but	CCONJ
ap-6099	117	15	this	this	DET
ap-6099	117	16	option	option	NOUN
ap-6099	117	17	is	be	AUX
ap-6099	117	18	not	not	PART
ap-6099	117	19	possible	possible	ADJ
ap-6099	117	20	.	.	PUNCT
ap-6099	118	1	even	even	ADV
ap-6099	118	2	though	though	SCONJ
ap-6099	118	3	the	the	DET
ap-6099	118	4	robot	robot	NOUN
ap-6099	118	5	is	be	AUX
ap-6099	118	6	generally	generally	ADV
ap-6099	118	7	much	much	ADV
ap-6099	118	8	faster	fast	ADV
ap-6099	118	9	,	,	PUNCT
ap-6099	118	10	it	it	PRON
ap-6099	118	11	does	do	AUX
ap-6099	118	12	not	not	PART
ap-6099	118	13	reach	reach	VERB
ap-6099	118	14	higher	high	ADJ
ap-6099	118	15	speeds	speed	NOUN
ap-6099	118	16	on	on	ADP
ap-6099	118	17	such	such	DET
ap-6099	118	18	a	a	DET
ap-6099	118	19	short	short	ADJ
ap-6099	118	20	trajectory	trajectory	NOUN
ap-6099	118	21	,	,	PUNCT
ap-6099	118	22	the	the	DET
ap-6099	118	23	mightiness	mightiness	NOUN
ap-6099	118	24	of	of	ADP
ap-6099	118	25	its	its	PRON
ap-6099	118	26	arms	arm	NOUN
ap-6099	118	27	causes	cause	VERB
ap-6099	118	28	additional	additional	ADJ
ap-6099	118	29	delays	delay	NOUN
ap-6099	118	30	when	when	SCONJ
ap-6099	118	31	one	one	NUM
ap-6099	118	32	robot	robot	NOUN
ap-6099	118	33	waits	wait	VERB
ap-6099	118	34	for	for	ADP
ap-6099	118	35	another	another	PRON
ap-6099	118	36	.	.	PUNCT
ap-6099	119	1	all	all	DET
ap-6099	119	2	the	the	DET
ap-6099	119	3	simulations	simulation	NOUN
ap-6099	119	4	were	be	AUX
ap-6099	119	5	performed	perform	VERB
ap-6099	119	6	in	in	ADP
ap-6099	119	7	abb	abb	PROPN
ap-6099	119	8	robotstudio	robotstudio	NOUN
ap-6099	119	9	software	software	NOUN
ap-6099	119	10	.	.	PUNCT
ap-6099	120	1	it	it	PRON
ap-6099	120	2	is	be	AUX
ap-6099	120	3	probably	probably	ADV
ap-6099	120	4	the	the	DET
ap-6099	120	5	most	most	ADV
ap-6099	120	6	accurate	accurate	ADJ
ap-6099	120	7	software	software	NOUN
ap-6099	120	8	to	to	PART
ap-6099	120	9	simulate	simulate	VERB
ap-6099	120	10	abb	abb	PROPN
ap-6099	120	11	robots	robot	NOUN
ap-6099	120	12	,	,	PUNCT
ap-6099	120	13	according	accord	VERB
ap-6099	120	14	to	to	ADP
ap-6099	120	15	a	a	DET
ap-6099	120	16	fact	fact	NOUN
ap-6099	120	17	that	that	SCONJ
ap-6099	120	18	a	a	DET
ap-6099	120	19	detailed	detailed	ADJ
ap-6099	120	20	robot	robot	NOUN
ap-6099	120	21	specification	specification	NOUN
ap-6099	120	22	and	and	CCONJ
ap-6099	120	23	performance	performance	NOUN
ap-6099	120	24	is	be	AUX
ap-6099	120	25	confidential	confidential	ADJ
ap-6099	120	26	,	,	PUNCT
ap-6099	120	27	considered	consider	VERB
ap-6099	120	28	as	as	ADP
ap-6099	120	29	a	a	DET
ap-6099	120	30	brand	brand	NOUN
ap-6099	120	31	’s	’s	PART
ap-6099	120	32	know	know	NOUN
ap-6099	120	33	-	-	PUNCT
ap-6099	120	34	how	how	NOUN
ap-6099	120	35	.	.	PUNCT
ap-6099	121	1	the	the	DET
ap-6099	121	2	last	last	ADJ
ap-6099	121	3	and	and	CCONJ
ap-6099	121	4	probably	probably	ADV
ap-6099	121	5	the	the	DET
ap-6099	121	6	most	most	ADV
ap-6099	121	7	serious	serious	ADJ
ap-6099	121	8	parameter	parameter	NOUN
ap-6099	121	9	is	be	AUX
ap-6099	121	10	the	the	DET
ap-6099	121	11	price	price	NOUN
ap-6099	121	12	,	,	PUNCT
ap-6099	121	13	where	where	SCONJ
ap-6099	121	14	the	the	DET
ap-6099	121	15	solution	solution	NOUN
ap-6099	121	16	will	will	AUX
ap-6099	121	17	be	be	AUX
ap-6099	121	18	more	more	ADV
ap-6099	121	19	expensive	expensive	ADJ
ap-6099	121	20	by	by	ADP
ap-6099	121	21	an	an	DET
ap-6099	121	22	estimated	estimate	VERB
ap-6099	121	23	€	€	SYM
ap-6099	121	24	6,500	6,500	NUM
ap-6099	121	25	.	.	PUNCT
ap-6099	122	1	based	base	VERB
ap-6099	122	2	on	on	ADP
ap-6099	122	3	these	these	DET
ap-6099	122	4	parameters	parameter	NOUN
ap-6099	122	5	,	,	PUNCT
ap-6099	122	6	the	the	DET
ap-6099	122	7	cobot	cobot	PROPN
ap-6099	122	8	yumi	yumi	PROPN
ap-6099	122	9	seems	seem	VERB
ap-6099	122	10	to	to	PART
ap-6099	122	11	be	be	AUX
ap-6099	122	12	more	more	ADV
ap-6099	122	13	appropriate	appropriate	ADJ
ap-6099	122	14	,	,	PUNCT
ap-6099	122	15	for	for	ADP
ap-6099	122	16	this	this	DET
ap-6099	122	17	specific	specific	ADJ
ap-6099	122	18	case	case	NOUN
ap-6099	122	19	.	.	PUNCT
ap-6099	123	1	5	5	X
ap-6099	123	2	.	.	X
ap-6099	123	3	results	result	VERB
ap-6099	123	4	the	the	DET
ap-6099	123	5	total	total	ADJ
ap-6099	123	6	cost	cost	NOUN
ap-6099	123	7	of	of	ADP
ap-6099	123	8	the	the	DET
ap-6099	123	9	automation	automation	NOUN
ap-6099	123	10	is	be	AUX
ap-6099	123	11	estimated	estimate	VERB
ap-6099	123	12	at	at	ADP
ap-6099	123	13	about	about	ADV
ap-6099	123	14	60,000€.	60,000€.	NUM
ap-6099	123	15	considering	consider	VERB
ap-6099	123	16	that	that	SCONJ
ap-6099	123	17	the	the	DET
ap-6099	123	18	line	line	NOUN
ap-6099	123	19	operates	operate	VERB
ap-6099	123	20	in	in	ADP
ap-6099	123	21	twoshift	twoshift	ADJ
ap-6099	123	22	operation	operation	NOUN
ap-6099	123	23	and	and	CCONJ
ap-6099	123	24	so	so	ADV
ap-6099	123	25	two	two	NUM
ap-6099	123	26	operators	operator	NOUN
ap-6099	123	27	will	will	AUX
ap-6099	123	28	be	be	AUX
ap-6099	123	29	spared	spare	VERB
ap-6099	123	30	,	,	PUNCT
ap-6099	123	31	the	the	DET
ap-6099	123	32	return	return	NOUN
ap-6099	123	33	is	be	AUX
ap-6099	123	34	estimated	estimate	VERB
ap-6099	123	35	to	to	PART
ap-6099	123	36	be	be	AUX
ap-6099	123	37	about	about	ADV
ap-6099	123	38	three	three	NUM
ap-6099	123	39	years	year	NOUN
ap-6099	123	40	.	.	PUNCT
ap-6099	124	1	the	the	DET
ap-6099	124	2	more	more	ADV
ap-6099	124	3	important	important	ADJ
ap-6099	124	4	fact	fact	NOUN
ap-6099	124	5	is	be	AUX
ap-6099	124	6	that	that	SCONJ
ap-6099	124	7	the	the	DET
ap-6099	124	8	production	production	NOUN
ap-6099	124	9	will	will	AUX
ap-6099	124	10	not	not	PART
ap-6099	124	11	be	be	AUX
ap-6099	124	12	hampered	hamper	VERB
ap-6099	124	13	by	by	ADP
ap-6099	124	14	a	a	DET
ap-6099	124	15	lack	lack	NOUN
ap-6099	124	16	of	of	ADP
ap-6099	124	17	personnel	personnel	NOUN
ap-6099	124	18	,	,	PUNCT
ap-6099	124	19	the	the	DET
ap-6099	124	20	robotized	robotize	VERB
ap-6099	124	21	station	station	NOUN
ap-6099	124	22	is	be	AUX
ap-6099	124	23	three	three	NUM
ap-6099	124	24	seconds	second	NOUN
ap-6099	124	25	faster	fast	ADV
ap-6099	124	26	than	than	ADP
ap-6099	124	27	a	a	DET
ap-6099	124	28	human	human	ADJ
ap-6099	124	29	operator	operator	NOUN
ap-6099	124	30	,	,	PUNCT
ap-6099	124	31	so	so	SCONJ
ap-6099	124	32	there	there	PRON
ap-6099	124	33	may	may	AUX
ap-6099	124	34	be	be	AUX
ap-6099	124	35	a	a	DET
ap-6099	124	36	small	small	ADJ
ap-6099	124	37	increase	increase	NOUN
ap-6099	124	38	in	in	ADP
ap-6099	124	39	production	production	NOUN
ap-6099	124	40	.	.	PUNCT
ap-6099	125	1	the	the	DET
ap-6099	125	2	comparison	comparison	NOUN
ap-6099	125	3	of	of	ADP
ap-6099	125	4	cobot	cobot	NOUN
ap-6099	125	5	and	and	CCONJ
ap-6099	125	6	industrial	industrial	ADJ
ap-6099	125	7	robots	robot	NOUN
ap-6099	125	8	has	have	AUX
ap-6099	125	9	shown	show	VERB
ap-6099	125	10	that	that	SCONJ
ap-6099	125	11	a	a	DET
ap-6099	125	12	cobot	cobot	NOUN
ap-6099	125	13	is	be	AUX
ap-6099	125	14	more	more	ADV
ap-6099	125	15	appropriate	appropriate	ADJ
ap-6099	125	16	in	in	ADP
ap-6099	125	17	this	this	DET
ap-6099	125	18	case	case	NOUN
ap-6099	125	19	.	.	PUNCT
ap-6099	126	1	the	the	DET
ap-6099	126	2	parameters	parameter	NOUN
ap-6099	126	3	are	be	AUX
ap-6099	126	4	compared	compare	VERB
ap-6099	126	5	in	in	ADP
ap-6099	126	6	table	table	NOUN
ap-6099	126	7	3	3	NUM
ap-6099	126	8	.	.	PUNCT
ap-6099	127	1	the	the	DET
ap-6099	127	2	key	key	ADJ
ap-6099	127	3	parameters	parameter	NOUN
ap-6099	127	4	in	in	ADP
ap-6099	127	5	the	the	DET
ap-6099	127	6	decision	decision	NOUN
ap-6099	127	7	making	make	VERB
ap-6099	127	8	are	be	AUX
ap-6099	127	9	the	the	DET
ap-6099	127	10	price	price	NOUN
ap-6099	127	11	and	and	CCONJ
ap-6099	127	12	modularity	modularity	NOUN
ap-6099	127	13	,	,	PUNCT
ap-6099	127	14	i.e.	i.e.	X
ap-6099	127	15	whether	whether	SCONJ
ap-6099	127	16	it	it	PRON
ap-6099	127	17	is	be	AUX
ap-6099	127	18	necessary	necessary	ADJ
ap-6099	127	19	to	to	PART
ap-6099	127	20	fence	fence	VERB
ap-6099	127	21	the	the	DET
ap-6099	127	22	station	station	NOUN
ap-6099	127	23	and	and	CCONJ
ap-6099	127	24	whether	whether	SCONJ
ap-6099	127	25	it	it	PRON
ap-6099	127	26	is	be	AUX
ap-6099	127	27	possible	possible	ADJ
ap-6099	127	28	to	to	PART
ap-6099	127	29	quickly	quickly	ADV
ap-6099	127	30	replace	replace	VERB
ap-6099	127	31	the	the	DET
ap-6099	127	32	cobot	cobot	NOUN
ap-6099	127	33	with	with	ADP
ap-6099	127	34	another	another	DET
ap-6099	127	35	cobot	cobot	NOUN
ap-6099	127	36	or	or	CCONJ
ap-6099	127	37	a	a	DET
ap-6099	127	38	human	human	NOUN
ap-6099	127	39	.	.	PUNCT
ap-6099	128	1	this	this	DET
ap-6099	128	2	comparison	comparison	NOUN
ap-6099	128	3	can	can	AUX
ap-6099	128	4	be	be	AUX
ap-6099	128	5	surprising	surprising	ADJ
ap-6099	128	6	,	,	PUNCT
ap-6099	128	7	but	but	CCONJ
ap-6099	128	8	it	it	PRON
ap-6099	128	9	is	be	AUX
ap-6099	128	10	valid	valid	ADJ
ap-6099	128	11	only	only	ADV
ap-6099	128	12	for	for	ADP
ap-6099	128	13	this	this	DET
ap-6099	128	14	specific	specific	ADJ
ap-6099	128	15	application	application	NOUN
ap-6099	128	16	.	.	PUNCT
ap-6099	129	1	in	in	ADP
ap-6099	129	2	other	other	ADJ
ap-6099	129	3	applications	application	NOUN
ap-6099	129	4	,	,	PUNCT
ap-6099	129	5	154	154	NUM
ap-6099	129	6	vol	vol	NOUN
ap-6099	129	7	.	.	PUNCT
ap-6099	130	1	60	60	NUM
ap-6099	130	2	no	no	INTJ
ap-6099	130	3	.	.	PUNCT
ap-6099	131	1	2/2020	2/2020	NUM
ap-6099	131	2	the	the	DET
ap-6099	131	3	use	use	NOUN
ap-6099	131	4	of	of	ADP
ap-6099	131	5	the	the	DET
ap-6099	131	6	two	two	NUM
ap-6099	131	7	-	-	PUNCT
ap-6099	131	8	handed	handed	ADJ
ap-6099	131	9	collaborative	collaborative	ADJ
ap-6099	131	10	robot	robot	NOUN
ap-6099	131	11	.	.	PUNCT
ap-6099	131	12	.	.	PUNCT
ap-6099	132	1	.	.	PUNCT
ap-6099	133	1	figure	figure	VERB
ap-6099	133	2	7	7	NUM
ap-6099	133	3	.	.	PUNCT
ap-6099	133	4	topology	topology	NOUN
ap-6099	133	5	optimization	optimization	NOUN
ap-6099	133	6	process	process	NOUN
ap-6099	133	7	.	.	PUNCT
ap-6099	134	1	figure	figure	NOUN
ap-6099	134	2	8	8	NUM
ap-6099	134	3	.	.	PUNCT
ap-6099	135	1	fem	fem	NOUN
ap-6099	135	2	analysis	analysis	NOUN
ap-6099	135	3	.	.	PUNCT
ap-6099	136	1	figure	figure	NOUN
ap-6099	136	2	9	9	NUM
ap-6099	136	3	.	.	PUNCT
ap-6099	137	1	a	a	DET
ap-6099	137	2	pair	pair	NOUN
ap-6099	137	3	of	of	ADP
ap-6099	137	4	irb120	irb120	NOUN
ap-6099	137	5	.	.	PUNCT
ap-6099	138	1	155	155	NUM
ap-6099	138	2	m.	m.	NOUN
ap-6099	138	3	vocetka	vocetka	PROPN
ap-6099	138	4	,	,	PUNCT
ap-6099	138	5	j.	j.	PROPN
ap-6099	138	6	suder	suder	PROPN
ap-6099	138	7	,	,	PUNCT
ap-6099	138	8	d.	d.	PROPN
ap-6099	138	9	huczala	huczala	PROPN
ap-6099	138	10	acta	acta	PROPN
ap-6099	138	11	polytechnica	polytechnica	PROPN
ap-6099	138	12	yumi	yumi	PROPN
ap-6099	138	13	would	would	AUX
ap-6099	138	14	probably	probably	ADV
ap-6099	138	15	not	not	PART
ap-6099	138	16	be	be	AUX
ap-6099	138	17	able	able	ADJ
ap-6099	138	18	to	to	PART
ap-6099	138	19	withstand	withstand	VERB
ap-6099	138	20	the	the	DET
ap-6099	138	21	comparison	comparison	NOUN
ap-6099	138	22	with	with	ADP
ap-6099	138	23	industrial	industrial	ADJ
ap-6099	138	24	robots	robot	NOUN
ap-6099	138	25	.	.	PUNCT
ap-6099	139	1	6	6	X
ap-6099	139	2	.	.	X
ap-6099	139	3	conclusion	conclusion	NOUN
ap-6099	139	4	it	it	PRON
ap-6099	139	5	is	be	AUX
ap-6099	139	6	known	know	VERB
ap-6099	139	7	that	that	SCONJ
ap-6099	139	8	cobots	cobot	NOUN
ap-6099	139	9	are	be	AUX
ap-6099	139	10	very	very	ADV
ap-6099	139	11	suitable	suitable	ADJ
ap-6099	139	12	for	for	ADP
ap-6099	139	13	applications	application	NOUN
ap-6099	139	14	with	with	ADP
ap-6099	139	15	a	a	DET
ap-6099	139	16	long	long	ADJ
ap-6099	139	17	production	production	NOUN
ap-6099	139	18	cycle	cycle	NOUN
ap-6099	139	19	.	.	PUNCT
ap-6099	140	1	in	in	ADP
ap-6099	140	2	industrial	industrial	ADJ
ap-6099	140	3	applications	application	NOUN
ap-6099	140	4	,	,	PUNCT
ap-6099	140	5	there	there	PRON
ap-6099	140	6	are	be	VERB
ap-6099	140	7	many	many	ADJ
ap-6099	140	8	cases	case	NOUN
ap-6099	140	9	where	where	SCONJ
ap-6099	140	10	the	the	DET
ap-6099	140	11	cobot	cobot	NOUN
ap-6099	140	12	is	be	AUX
ap-6099	140	13	installed	instal	VERB
ap-6099	140	14	in	in	ADP
ap-6099	140	15	a	a	DET
ap-6099	140	16	manner	manner	NOUN
ap-6099	140	17	of	of	ADP
ap-6099	140	18	the	the	DET
ap-6099	140	19	industrial	industrial	ADJ
ap-6099	140	20	robot	robot	NOUN
ap-6099	140	21	,	,	PUNCT
ap-6099	140	22	behind	behind	ADP
ap-6099	140	23	the	the	DET
ap-6099	140	24	fence	fence	NOUN
ap-6099	140	25	,	,	PUNCT
ap-6099	140	26	and	and	CCONJ
ap-6099	140	27	it	it	PRON
ap-6099	140	28	works	work	VERB
ap-6099	140	29	in	in	ADP
ap-6099	140	30	a	a	DET
ap-6099	140	31	non	non	ADJ
ap-6099	140	32	-	-	ADJ
ap-6099	140	33	collaborative	collaborative	ADJ
ap-6099	140	34	mode	mode	NOUN
ap-6099	140	35	.	.	PUNCT
ap-6099	141	1	this	this	DET
ap-6099	141	2	approach	approach	NOUN
ap-6099	141	3	may	may	AUX
ap-6099	141	4	be	be	AUX
ap-6099	141	5	advantageous	advantageous	ADJ
ap-6099	141	6	in	in	ADP
ap-6099	141	7	terms	term	NOUN
ap-6099	141	8	of	of	ADP
ap-6099	141	9	the	the	DET
ap-6099	141	10	cost	cost	NOUN
ap-6099	141	11	of	of	ADP
ap-6099	141	12	the	the	DET
ap-6099	141	13	manipulator	manipulator	NOUN
ap-6099	141	14	.	.	PUNCT
ap-6099	142	1	the	the	DET
ap-6099	142	2	cobots	cobot	NOUN
ap-6099	142	3	are	be	AUX
ap-6099	142	4	very	very	ADV
ap-6099	142	5	useful	useful	ADJ
ap-6099	142	6	tools	tool	NOUN
ap-6099	142	7	for	for	ADP
ap-6099	142	8	programming	programming	NOUN
ap-6099	142	9	and	and	CCONJ
ap-6099	142	10	robot	robot	NOUN
ap-6099	142	11	-	-	PUNCT
ap-6099	142	12	control	control	NOUN
ap-6099	142	13	education	education	NOUN
ap-6099	142	14	.	.	PUNCT
ap-6099	143	1	in	in	ADP
ap-6099	143	2	those	those	DET
ap-6099	143	3	applications	application	NOUN
ap-6099	143	4	,	,	PUNCT
ap-6099	143	5	there	there	PRON
ap-6099	143	6	is	be	VERB
ap-6099	143	7	no	no	DET
ap-6099	143	8	need	need	NOUN
ap-6099	143	9	for	for	ADP
ap-6099	143	10	high	high	ADJ
ap-6099	143	11	speeds	speed	NOUN
ap-6099	143	12	and	and	CCONJ
ap-6099	143	13	the	the	DET
ap-6099	143	14	cobot	cobot	NOUN
ap-6099	143	15	can	can	AUX
ap-6099	143	16	move	move	VERB
ap-6099	143	17	unloaded	unload	VERB
ap-6099	143	18	.	.	PUNCT
ap-6099	144	1	due	due	ADP
ap-6099	144	2	to	to	ADP
ap-6099	144	3	the	the	DET
ap-6099	144	4	safe	safe	ADJ
ap-6099	144	5	operation	operation	NOUN
ap-6099	144	6	of	of	ADP
ap-6099	144	7	the	the	DET
ap-6099	144	8	manipulator	manipulator	NOUN
ap-6099	144	9	itself	itself	PRON
ap-6099	144	10	,	,	PUNCT
ap-6099	144	11	which	which	PRON
ap-6099	144	12	does	do	AUX
ap-6099	144	13	not	not	PART
ap-6099	144	14	need	need	VERB
ap-6099	144	15	safety	safety	NOUN
ap-6099	144	16	peripherals	peripheral	NOUN
ap-6099	144	17	for	for	ADP
ap-6099	144	18	its	its	PRON
ap-6099	144	19	function	function	NOUN
ap-6099	144	20	,	,	PUNCT
ap-6099	144	21	this	this	PRON
ap-6099	144	22	is	be	AUX
ap-6099	144	23	a	a	DET
ap-6099	144	24	suitable	suitable	ADJ
ap-6099	144	25	solution	solution	NOUN
ap-6099	144	26	for	for	ADP
ap-6099	144	27	technical	technical	ADJ
ap-6099	144	28	schools	school	NOUN
ap-6099	144	29	and	and	CCONJ
ap-6099	144	30	universities	university	NOUN
ap-6099	144	31	or	or	CCONJ
ap-6099	144	32	training	training	NOUN
ap-6099	144	33	centres	centre	NOUN
ap-6099	144	34	that	that	PRON
ap-6099	144	35	offer	offer	VERB
ap-6099	144	36	this	this	DET
ap-6099	144	37	type	type	NOUN
ap-6099	144	38	of	of	ADP
ap-6099	144	39	education	education	NOUN
ap-6099	144	40	.	.	PUNCT
ap-6099	145	1	in	in	ADP
ap-6099	145	2	this	this	DET
ap-6099	145	3	specific	specific	ADJ
ap-6099	145	4	case	case	NOUN
ap-6099	145	5	,	,	PUNCT
ap-6099	145	6	surprisingly	surprisingly	ADV
ap-6099	145	7	,	,	PUNCT
ap-6099	145	8	a	a	DET
ap-6099	145	9	situation	situation	NOUN
ap-6099	145	10	where	where	SCONJ
ap-6099	145	11	cobot	cobot	NOUN
ap-6099	145	12	deployment	deployment	NOUN
ap-6099	145	13	is	be	AUX
ap-6099	145	14	more	more	ADV
ap-6099	145	15	useful	useful	ADJ
ap-6099	145	16	than	than	ADP
ap-6099	145	17	a	a	DET
ap-6099	145	18	robot	robot	NOUN
ap-6099	145	19	,	,	PUNCT
ap-6099	145	20	has	have	AUX
ap-6099	145	21	been	be	AUX
ap-6099	145	22	achieved	achieve	VERB
ap-6099	145	23	.	.	PUNCT
ap-6099	146	1	a	a	DET
ap-6099	146	2	standard	standard	ADJ
ap-6099	146	3	collaboration	collaboration	NOUN
ap-6099	146	4	would	would	AUX
ap-6099	146	5	not	not	PART
ap-6099	146	6	by	by	ADP
ap-6099	146	7	possible	possible	ADJ
ap-6099	146	8	,	,	PUNCT
ap-6099	146	9	due	due	ADP
ap-6099	146	10	to	to	ADP
ap-6099	146	11	the	the	DET
ap-6099	146	12	surrounding	surround	VERB
ap-6099	146	13	technology	technology	NOUN
ap-6099	146	14	,	,	PUNCT
ap-6099	146	15	such	such	ADJ
ap-6099	146	16	as	as	ADP
ap-6099	146	17	presses	press	NOUN
ap-6099	146	18	,	,	PUNCT
ap-6099	146	19	conveyor	conveyor	NOUN
ap-6099	146	20	etc	etc	X
ap-6099	146	21	.	.	X
ap-6099	147	1	a	a	DET
ap-6099	147	2	traditional	traditional	ADJ
ap-6099	147	3	industrial	industrial	ADJ
ap-6099	147	4	robot	robot	NOUN
ap-6099	147	5	solution	solution	NOUN
ap-6099	147	6	is	be	AUX
ap-6099	147	7	applicable	applicable	ADJ
ap-6099	147	8	,	,	PUNCT
ap-6099	147	9	but	but	CCONJ
ap-6099	147	10	requires	require	VERB
ap-6099	147	11	more	more	ADJ
ap-6099	147	12	floor	floor	NOUN
ap-6099	147	13	space	space	NOUN
ap-6099	147	14	and	and	CCONJ
ap-6099	147	15	needs	need	VERB
ap-6099	147	16	to	to	PART
ap-6099	147	17	be	be	AUX
ap-6099	147	18	fenced	fence	VERB
ap-6099	147	19	,	,	PUNCT
ap-6099	147	20	so	so	CCONJ
ap-6099	147	21	there	there	PRON
ap-6099	147	22	is	be	VERB
ap-6099	147	23	no	no	DET
ap-6099	147	24	room	room	NOUN
ap-6099	147	25	for	for	ADP
ap-6099	147	26	modularity	modularity	NOUN
ap-6099	147	27	.	.	PUNCT
ap-6099	148	1	the	the	DET
ap-6099	148	2	idea	idea	NOUN
ap-6099	148	3	of	of	ADP
ap-6099	148	4	using	use	VERB
ap-6099	148	5	a	a	DET
ap-6099	148	6	semi	semi	ADJ
ap-6099	148	7	-	-	ADJ
ap-6099	148	8	collaborative	collaborative	ADJ
ap-6099	148	9	installation	installation	NOUN
ap-6099	148	10	would	would	AUX
ap-6099	148	11	be	be	AUX
ap-6099	148	12	interesting	interesting	ADJ
ap-6099	148	13	.	.	PUNCT
ap-6099	149	1	the	the	DET
ap-6099	149	2	yumi	yumi	PROPN
ap-6099	149	3	robot	robot	PROPN
ap-6099	149	4	works	work	VERB
ap-6099	149	5	as	as	ADP
ap-6099	149	6	a	a	DET
ap-6099	149	7	standard	standard	ADJ
ap-6099	149	8	industrial	industrial	ADJ
ap-6099	149	9	manipulator	manipulator	NOUN
ap-6099	149	10	,	,	PUNCT
ap-6099	149	11	using	use	VERB
ap-6099	149	12	maximum	maximum	ADJ
ap-6099	149	13	speed	speed	NOUN
ap-6099	149	14	and	and	CCONJ
ap-6099	149	15	acceleration	acceleration	NOUN
ap-6099	149	16	,	,	PUNCT
ap-6099	149	17	however	however	ADV
ap-6099	149	18	,	,	PUNCT
ap-6099	149	19	its	its	PRON
ap-6099	149	20	body	body	NOUN
ap-6099	149	21	covers	cover	VERB
ap-6099	149	22	the	the	DET
ap-6099	149	23	workspace	workspace	NOUN
ap-6099	149	24	and	and	CCONJ
ap-6099	149	25	yumi	yumi	PROPN
ap-6099	149	26	parameters	parameter	NOUN
ap-6099	149	27	are	be	AUX
ap-6099	149	28	not	not	PART
ap-6099	149	29	that	that	ADV
ap-6099	149	30	dangerous	dangerous	ADJ
ap-6099	149	31	.	.	PUNCT
ap-6099	150	1	protection	protection	NOUN
ap-6099	150	2	in	in	ADP
ap-6099	150	3	a	a	DET
ap-6099	150	4	way	way	NOUN
ap-6099	150	5	of	of	ADP
ap-6099	150	6	light	light	ADJ
ap-6099	150	7	curtain	curtain	NOUN
ap-6099	150	8	,	,	PUNCT
ap-6099	150	9	whose	whose	DET
ap-6099	150	10	disruption	disruption	NOUN
ap-6099	150	11	will	will	AUX
ap-6099	150	12	result	result	VERB
ap-6099	150	13	in	in	ADP
ap-6099	150	14	a	a	DET
ap-6099	150	15	stop	stop	NOUN
ap-6099	150	16	of	of	ADP
ap-6099	150	17	all	all	DET
ap-6099	150	18	presses	press	NOUN
ap-6099	150	19	and	and	CCONJ
ap-6099	150	20	cobot	cobot	NOUN
ap-6099	150	21	as	as	ADV
ap-6099	150	22	well	well	ADV
ap-6099	150	23	,	,	PUNCT
ap-6099	150	24	is	be	AUX
ap-6099	150	25	acceptable	acceptable	ADJ
ap-6099	150	26	.	.	PUNCT
ap-6099	151	1	this	this	DET
ap-6099	151	2	safety	safety	NOUN
ap-6099	151	3	solution	solution	NOUN
ap-6099	151	4	,	,	PUNCT
ap-6099	151	5	together	together	ADV
ap-6099	151	6	with	with	ADP
ap-6099	151	7	small	small	ADJ
ap-6099	151	8	docking	docking	NOUN
ap-6099	151	9	station	station	NOUN
ap-6099	151	10	for	for	ADP
ap-6099	151	11	a	a	DET
ap-6099	151	12	small	small	ADJ
ap-6099	151	13	cobot	cobot	NOUN
ap-6099	151	14	saves	save	VERB
ap-6099	151	15	the	the	DET
ap-6099	151	16	floor	floor	NOUN
ap-6099	151	17	space	space	NOUN
ap-6099	151	18	,	,	PUNCT
ap-6099	151	19	workstation	workstation	NOUN
ap-6099	151	20	could	could	AUX
ap-6099	151	21	be	be	AUX
ap-6099	151	22	“	"	PUNCT
ap-6099	151	23	opened	open	VERB
ap-6099	151	24	”	"	PUNCT
ap-6099	151	25	and	and	CCONJ
ap-6099	151	26	so	so	ADV
ap-6099	151	27	robot	robot	NOUN
ap-6099	151	28	could	could	AUX
ap-6099	151	29	be	be	AUX
ap-6099	151	30	easily	easily	ADV
ap-6099	151	31	and	and	CCONJ
ap-6099	151	32	quickly	quickly	ADV
ap-6099	151	33	replaced	replace	VERB
ap-6099	151	34	,	,	PUNCT
ap-6099	151	35	even	even	ADV
ap-6099	151	36	by	by	ADP
ap-6099	151	37	a	a	DET
ap-6099	151	38	human	human	ADJ
ap-6099	151	39	worker	worker	NOUN
ap-6099	151	40	.	.	PUNCT
ap-6099	152	1	this	this	DET
ap-6099	152	2	idea	idea	NOUN
ap-6099	152	3	is	be	AUX
ap-6099	152	4	economical	economical	ADJ
ap-6099	152	5	especially	especially	ADV
ap-6099	152	6	in	in	ADP
ap-6099	152	7	case	case	NOUN
ap-6099	152	8	of	of	ADP
ap-6099	152	9	lowvolume	lowvolume	NOUN
ap-6099	152	10	production	production	NOUN
ap-6099	152	11	,	,	PUNCT
ap-6099	152	12	or	or	CCONJ
ap-6099	152	13	production	production	NOUN
ap-6099	152	14	of	of	ADP
ap-6099	152	15	several	several	ADJ
ap-6099	152	16	product	product	NOUN
ap-6099	152	17	variants	variant	NOUN
ap-6099	152	18	.	.	PUNCT
ap-6099	153	1	if	if	SCONJ
ap-6099	153	2	a	a	DET
ap-6099	153	3	variant	variant	NOUN
ap-6099	153	4	does	do	AUX
ap-6099	153	5	n’t	not	PART
ap-6099	153	6	need	need	VERB
ap-6099	153	7	,	,	PUNCT
ap-6099	153	8	for	for	ADP
ap-6099	153	9	example	example	NOUN
ap-6099	153	10	,	,	PUNCT
ap-6099	153	11	a	a	DET
ap-6099	153	12	technological	technological	ADJ
ap-6099	153	13	operation	operation	NOUN
ap-6099	153	14	provided	provide	VERB
ap-6099	153	15	by	by	ADP
ap-6099	153	16	the	the	DET
ap-6099	153	17	cobot	cobot	NOUN
ap-6099	153	18	,	,	PUNCT
ap-6099	153	19	that	that	DET
ap-6099	153	20	cobot	cobot	NOUN
ap-6099	153	21	could	could	AUX
ap-6099	153	22	be	be	AUX
ap-6099	153	23	used	use	VERB
ap-6099	153	24	on	on	ADP
ap-6099	153	25	another	another	DET
ap-6099	153	26	production	production	NOUN
ap-6099	153	27	line	line	NOUN
ap-6099	153	28	in	in	ADP
ap-6099	153	29	another	another	DET
ap-6099	153	30	manufacturing	manufacturing	NOUN
ap-6099	153	31	process	process	NOUN
ap-6099	153	32	,	,	PUNCT
ap-6099	153	33	as	as	SCONJ
ap-6099	153	34	is	be	AUX
ap-6099	153	35	needed	need	VERB
ap-6099	153	36	.	.	PUNCT
ap-6099	154	1	as	as	ADP
ap-6099	154	2	the	the	DET
ap-6099	154	3	next	next	ADJ
ap-6099	154	4	steps	step	NOUN
ap-6099	154	5	of	of	ADP
ap-6099	154	6	research	research	NOUN
ap-6099	154	7	,	,	PUNCT
ap-6099	154	8	we	we	PRON
ap-6099	154	9	would	would	AUX
ap-6099	154	10	like	like	VERB
ap-6099	154	11	to	to	PART
ap-6099	154	12	work	work	VERB
ap-6099	154	13	on	on	ADP
ap-6099	154	14	adaptive	adaptive	ADJ
ap-6099	154	15	jaws	jaw	NOUN
ap-6099	154	16	.	.	PUNCT
ap-6099	155	1	this	this	DET
ap-6099	155	2	kind	kind	NOUN
ap-6099	155	3	of	of	ADP
ap-6099	155	4	jaws	jaw	NOUN
ap-6099	155	5	is	be	AUX
ap-6099	155	6	already	already	ADV
ap-6099	155	7	available	available	ADJ
ap-6099	155	8	on	on	ADP
ap-6099	155	9	the	the	DET
ap-6099	155	10	market	market	NOUN
ap-6099	155	11	[	[	X
ap-6099	155	12	17	17	NUM
ap-6099	155	13	]	]	PUNCT
ap-6099	155	14	,	,	PUNCT
ap-6099	155	15	but	but	CCONJ
ap-6099	155	16	we	we	PRON
ap-6099	155	17	believe	believe	VERB
ap-6099	155	18	that	that	SCONJ
ap-6099	155	19	for	for	ADP
ap-6099	155	20	cylindrical	cylindrical	ADJ
ap-6099	155	21	object	object	NOUN
ap-6099	155	22	of	of	ADP
ap-6099	155	23	manipulation	manipulation	NOUN
ap-6099	155	24	,	,	PUNCT
ap-6099	155	25	a	a	DET
ap-6099	155	26	better	well	ADV
ap-6099	155	27	finray	finray	ADJ
ap-6099	155	28	jaw	jaw	NOUN
ap-6099	155	29	design	design	NOUN
ap-6099	155	30	could	could	AUX
ap-6099	155	31	be	be	AUX
ap-6099	155	32	invented	invent	VERB
ap-6099	155	33	.	.	PUNCT
ap-6099	156	1	acknowledgements	acknowledgement	NOUN
ap-6099	156	2	this	this	DET
ap-6099	156	3	work	work	NOUN
ap-6099	156	4	was	be	AUX
ap-6099	156	5	supported	support	VERB
ap-6099	156	6	by	by	ADP
ap-6099	156	7	the	the	DET
ap-6099	156	8	european	european	PROPN
ap-6099	156	9	regional	regional	PROPN
ap-6099	156	10	development	development	PROPN
ap-6099	156	11	fund	fund	NOUN
ap-6099	156	12	in	in	ADP
ap-6099	156	13	the	the	DET
ap-6099	156	14	research	research	NOUN
ap-6099	156	15	centre	centre	NOUN
ap-6099	156	16	of	of	ADP
ap-6099	156	17	advanced	advanced	ADJ
ap-6099	156	18	mechatronic	mechatronic	ADJ
ap-6099	156	19	systems	system	NOUN
ap-6099	156	20	project	project	NOUN
ap-6099	156	21	,	,	PUNCT
ap-6099	156	22	project	project	NOUN
ap-6099	156	23	number	number	NOUN
ap-6099	156	24	cz.02.1.01/0.0/0.0/16_019/0000867	cz.02.1.01/0.0/0.0/16_019/0000867	NUM
ap-6099	156	25	within	within	ADP
ap-6099	156	26	the	the	DET
ap-6099	156	27	operational	operational	ADJ
ap-6099	156	28	programme	programme	NOUN
ap-6099	156	29	research	research	NOUN
ap-6099	156	30	,	,	PUNCT
ap-6099	156	31	development	development	NOUN
ap-6099	156	32	and	and	CCONJ
ap-6099	156	33	education	education	NOUN
ap-6099	156	34	and	and	CCONJ
ap-6099	156	35	project	project	NOUN
ap-6099	156	36	vega	vega	PROPN
ap-6099	156	37	1/0355/18	1/0355/18	PROPN
ap-6099	156	38	the	the	DET
ap-6099	156	39	use	use	NOUN
ap-6099	156	40	of	of	ADP
ap-6099	156	41	experimental	experimental	ADJ
ap-6099	156	42	methods	method	NOUN
ap-6099	156	43	of	of	ADP
ap-6099	156	44	mechanics	mechanic	NOUN
ap-6099	156	45	for	for	ADP
ap-6099	156	46	refinement	refinement	NOUN
ap-6099	156	47	and	and	CCONJ
ap-6099	156	48	verification	verification	NOUN
ap-6099	156	49	of	of	ADP
ap-6099	156	50	numerical	numerical	ADJ
ap-6099	156	51	models	model	NOUN
ap-6099	156	52	of	of	ADP
ap-6099	156	53	mechanical	mechanical	ADJ
ap-6099	156	54	systems	system	NOUN
ap-6099	156	55	with	with	ADP
ap-6099	156	56	a	a	DET
ap-6099	156	57	focus	focus	NOUN
ap-6099	156	58	on	on	ADP
ap-6099	156	59	composite	composite	ADJ
ap-6099	156	60	materials	material	NOUN
ap-6099	156	61	.	.	PUNCT
ap-6099	157	1	this	this	DET
ap-6099	157	2	article	article	NOUN
ap-6099	157	3	has	have	AUX
ap-6099	157	4	been	be	AUX
ap-6099	157	5	also	also	ADV
ap-6099	157	6	elaborated	elaborate	VERB
ap-6099	157	7	under	under	ADP
ap-6099	157	8	support	support	NOUN
ap-6099	157	9	of	of	ADP
ap-6099	157	10	the	the	DET
ap-6099	157	11	specific	specific	ADJ
ap-6099	157	12	research	research	NOUN
ap-6099	157	13	project	project	NOUN
ap-6099	157	14	sp2019/69	sp2019/69	NOUN
ap-6099	157	15	and	and	CCONJ
ap-6099	157	16	financed	finance	VERB
ap-6099	157	17	by	by	ADP
ap-6099	157	18	the	the	DET
ap-6099	157	19	ministry	ministry	PROPN
ap-6099	157	20	of	of	ADP
ap-6099	157	21	education	education	PROPN
ap-6099	157	22	,	,	PUNCT
ap-6099	157	23	youth	youth	NOUN
ap-6099	157	24	and	and	CCONJ
ap-6099	157	25	sports	sport	NOUN
ap-6099	157	26	of	of	ADP
ap-6099	157	27	the	the	DET
ap-6099	157	28	czech	czech	PROPN
ap-6099	157	29	republic	republic	NOUN
ap-6099	157	30	.	.	PUNCT
ap-6099	158	1	references	reference	NOUN
ap-6099	158	2	[	[	X
ap-6099	158	3	1	1	NUM
ap-6099	158	4	]	]	X
ap-6099	158	5	universal	universal	ADJ
ap-6099	158	6	robots	robot	NOUN
ap-6099	158	7	.	.	PUNCT
ap-6099	159	1	https://en.wikipedia.org/wiki/universal_robots	https://en.wikipedia.org/wiki/universal_robot	NOUN
ap-6099	159	2	,	,	PUNCT
ap-6099	159	3	2019	2019	NUM
ap-6099	159	4	.	.	PUNCT
ap-6099	160	1	accessed	access	VERB
ap-6099	160	2	:	:	PUNCT
ap-6099	160	3	19	19	NUM
ap-6099	160	4	march	march	NOUN
ap-6099	160	5	2019	2019	NUM
ap-6099	160	6	.	.	PUNCT
ap-6099	161	1	[	[	X
ap-6099	161	2	2	2	NUM
ap-6099	161	3	]	]	X
ap-6099	161	4	universal	universal	ADJ
ap-6099	161	5	robots	robot	NOUN
ap-6099	161	6	.	.	PUNCT
ap-6099	162	1	https://www.universal-robots.com/cs/	https://www.universal-robots.com/cs/	PROPN
ap-6099	162	2	,	,	PUNCT
ap-6099	162	3	2019	2019	NUM
ap-6099	162	4	.	.	PUNCT
ap-6099	163	1	accessed	access	VERB
ap-6099	163	2	:	:	PUNCT
ap-6099	163	3	19	19	NUM
ap-6099	163	4	march	march	NOUN
ap-6099	163	5	2019	2019	NUM
ap-6099	163	6	.	.	PUNCT
ap-6099	164	1	[	[	X
ap-6099	164	2	3	3	NUM
ap-6099	164	3	]	]	PUNCT
ap-6099	164	4	techman	techman	NOUN
ap-6099	164	5	robots	robot	NOUN
ap-6099	164	6	.	.	PUNCT
ap-6099	165	1	http://tm-robot.com/tm5.php	http://tm-robot.com/tm5.php	VERB
ap-6099	165	2	,	,	PUNCT
ap-6099	165	3	2019	2019	NUM
ap-6099	165	4	.	.	PUNCT
ap-6099	166	1	accessed	access	VERB
ap-6099	166	2	:	:	PUNCT
ap-6099	166	3	19	19	NUM
ap-6099	166	4	march	march	NOUN
ap-6099	166	5	2019	2019	NUM
ap-6099	166	6	.	.	PUNCT
ap-6099	167	1	[	[	X
ap-6099	167	2	4	4	NUM
ap-6099	167	3	]	]	X
ap-6099	167	4	fanuc	fanuc	PROPN
ap-6099	167	5	.	.	PUNCT
ap-6099	167	6	https	https	PROPN
ap-6099	167	7	:	:	PUNCT
ap-6099	167	8	//www.fanuc.eu	//www.fanuc.eu	ADJ
ap-6099	167	9	/	/	SYM
ap-6099	167	10	cz	cz	NOUN
ap-6099	167	11	/	/	SYM
ap-6099	167	12	en	en	NOUN
ap-6099	167	13	/	/	SYM
ap-6099	167	14	robots	robot	NOUN
ap-6099	167	15	/	/	SYM
ap-6099	167	16	robot	robot	NOUN
ap-6099	167	17	-	-	PUNCT
ap-6099	167	18	filter	filter	NOUN
ap-6099	167	19	-	-	PUNCT
ap-6099	167	20	page/	page/	NUM
ap-6099	167	21	collaborative	collaborative	ADJ
ap-6099	167	22	-	-	PUNCT
ap-6099	167	23	robots	robot	NOUN
ap-6099	167	24	/	/	SYM
ap-6099	167	25	collaborative	collaborative	NOUN
ap-6099	167	26	-	-	PUNCT
ap-6099	167	27	cr35ia	cr35ia	NOUN
ap-6099	167	28	,	,	PUNCT
ap-6099	167	29	2019	2019	NUM
ap-6099	167	30	.	.	PUNCT
ap-6099	168	1	accessed	access	VERB
ap-6099	168	2	:	:	PUNCT
ap-6099	168	3	19	19	NUM
ap-6099	168	4	march	march	NOUN
ap-6099	168	5	2019	2019	NUM
ap-6099	168	6	.	.	PUNCT
ap-6099	169	1	[	[	X
ap-6099	169	2	5	5	NUM
ap-6099	169	3	]	]	X
ap-6099	169	4	abb	abb	PROPN
ap-6099	169	5	yumi	yumi	PROPN
ap-6099	169	6	irb14000	irb14000	PROPN
ap-6099	169	7	.	.	PUNCT
ap-6099	170	1	https://new.abb.com/products/robotics/cs/	https://new.abb.com/products/robotics/cs/	PROPN
ap-6099	170	2	prumyslove	prumyslove	PROPN
ap-6099	170	3	-	-	PUNCT
ap-6099	170	4	roboty	roboty	NOUN
ap-6099	170	5	/	/	SYM
ap-6099	170	6	yumi?utm_source	yumi?utm_source	NOUN
ap-6099	170	7	=	=	NOUN
ap-6099	170	8	google&utm	google&utm	NOUN
ap-6099	170	9	_	_	NOUN
ap-6099	170	10	campaign	campaign	NOUN
ap-6099	170	11	=	=	SYM
ap-6099	170	12	se_roboty_roboty&utm_medium	se_roboty_roboty&utm_medium	NOUN
ap-6099	170	13	=	=	NOUN
ap-6099	170	14	cpc&utm	cpc&utm	ADJ
ap-6099	170	15	_	_	NOUN
ap-6099	170	16	term	term	NOUN
ap-6099	170	17	=	=	SYM
ap-6099	170	18	roboty&utm_content	roboty&utm_content	NOUN
ap-6099	170	19	=	=	NOUN
ap-6099	170	20	robot	robot	NOUN
ap-6099	170	21	-	-	PUNCT
ap-6099	170	22	yumi&gclid=	yumi&gclid=	NOUN
ap-6099	170	23	eaiaiqobchmitqtrrj	eaiaiqobchmitqtrrj	NOUN
ap-6099	170	24	-	-	PUNCT
ap-6099	170	25	o4qivqzztch06bayreaayasaaegjvovd	o4qivqzztch06bayreaayasaaegjvovd	NOUN
ap-6099	170	26	_	_	NOUN
ap-6099	170	27	bwe	bwe	NOUN
ap-6099	170	28	,	,	PUNCT
ap-6099	170	29	2019	2019	NUM
ap-6099	170	30	.	.	PUNCT
ap-6099	171	1	accessed	access	VERB
ap-6099	171	2	:	:	PUNCT
ap-6099	171	3	19	19	NUM
ap-6099	171	4	march	march	NOUN
ap-6099	171	5	2019	2019	NUM
ap-6099	171	6	.	.	PUNCT
ap-6099	172	1	[	[	X
ap-6099	172	2	6	6	NUM
ap-6099	172	3	]	]	PUNCT
ap-6099	172	4	product	product	NOUN
ap-6099	172	5	manual	manual	NOUN
ap-6099	172	6	irb	irb	VERB
ap-6099	172	7	14000	14000	NUM
ap-6099	172	8	gripper	gripper	NOUN
ap-6099	172	9	:	:	PUNCT
ap-6099	172	10	document	document	NOUN
ap-6099	172	11	i	i	PROPN
ap-6099	172	12	d	d	PROPN
ap-6099	172	13	:	:	PUNCT
ap-6099	172	14	3hac054949	3hac054949	NUM
ap-6099	172	15	-	-	NUM
ap-6099	172	16	001	001	NUM
ap-6099	172	17	.	.	PUNCT
ap-6099	173	1	https://abb.sluzba.cz/pages/	https://abb.sluzba.cz/pages/	PROPN
ap-6099	173	2	public	public	ADJ
ap-6099	173	3	/	/	SYM
ap-6099	173	4	irc5userdocumentationrw6	irc5userdocumentationrw6	PROPN
ap-6099	173	5	/	/	SYM
ap-6099	173	6	en/3hac054949	en/3hac054949	NOUN
ap-6099	173	7	%	%	NOUN
ap-6099	173	8	20pm%20irb%2014000%20gripper	20pm%20irb%2014000%20gripper	NOUN
ap-6099	173	9	-	-	NOUN
ap-6099	173	10	en.pdf	en.pdf	NOUN
ap-6099	173	11	,	,	PUNCT
ap-6099	173	12	2018	2018	NUM
ap-6099	173	13	.	.	PUNCT
ap-6099	174	1	accessed	access	VERB
ap-6099	174	2	:	:	PUNCT
ap-6099	174	3	12	12	NUM
ap-6099	174	4	february	february	NOUN
ap-6099	174	5	2020	2020	NUM
ap-6099	174	6	.	.	PUNCT
ap-6099	175	1	[	[	X
ap-6099	175	2	7	7	NUM
ap-6099	175	3	]	]	SYM
ap-6099	175	4	iso	iso	NOUN
ap-6099	175	5	10218	10218	NUM
ap-6099	175	6	robots	robot	NOUN
ap-6099	175	7	for	for	ADP
ap-6099	175	8	industrial	industrial	ADJ
ap-6099	175	9	environments	environment	NOUN
ap-6099	175	10	—	—	PUNCT
ap-6099	175	11	safety	safety	NOUN
ap-6099	175	12	requirements	requirement	NOUN
ap-6099	175	13	—	—	PUNCT
ap-6099	175	14	part	part	NOUN
ap-6099	175	15	1	1	NUM
ap-6099	175	16	:	:	PUNCT
ap-6099	175	17	robot	robot	NOUN
ap-6099	175	18	.	.	PUNCT
ap-6099	176	1	standard	standard	PROPN
ap-6099	176	2	,	,	PUNCT
ap-6099	176	3	international	international	ADJ
ap-6099	176	4	organization	organization	NOUN
ap-6099	176	5	for	for	ADP
ap-6099	176	6	standardization	standardization	NOUN
ap-6099	176	7	,	,	PUNCT
ap-6099	176	8	geneva	geneva	PROPN
ap-6099	176	9	,	,	PUNCT
ap-6099	176	10	switzerland	switzerland	PROPN
ap-6099	176	11	,	,	PUNCT
ap-6099	176	12	2006	2006	NUM
ap-6099	176	13	.	.	PUNCT
ap-6099	177	1	this	this	DET
ap-6099	177	2	version	version	NOUN
ap-6099	177	3	is	be	AUX
ap-6099	177	4	no	no	ADV
ap-6099	177	5	longer	long	ADV
ap-6099	177	6	in	in	ADP
ap-6099	177	7	effect	effect	NOUN
ap-6099	177	8	.	.	PUNCT
ap-6099	178	1	[	[	X
ap-6099	178	2	8	8	NUM
ap-6099	178	3	]	]	X
ap-6099	178	4	iso	iso	NOUN
ap-6099	178	5	/	/	SYM
ap-6099	178	6	ts	ts	ADP
ap-6099	178	7	15066	15066	NUM
ap-6099	178	8	robots	robot	NOUN
ap-6099	178	9	and	and	CCONJ
ap-6099	178	10	robotic	robotic	ADJ
ap-6099	178	11	devices	device	NOUN
ap-6099	178	12	—	—	PUNCT
ap-6099	178	13	collaborative	collaborative	ADJ
ap-6099	178	14	robots	robot	NOUN
ap-6099	178	15	.	.	PUNCT
ap-6099	179	1	standard	standard	PROPN
ap-6099	179	2	,	,	PUNCT
ap-6099	179	3	international	international	ADJ
ap-6099	179	4	organization	organization	NOUN
ap-6099	179	5	for	for	ADP
ap-6099	179	6	standardization	standardization	NOUN
ap-6099	179	7	,	,	PUNCT
ap-6099	179	8	geneva	geneva	PROPN
ap-6099	179	9	,	,	PUNCT
ap-6099	179	10	switzerland	switzerland	PROPN
ap-6099	179	11	,	,	PUNCT
ap-6099	179	12	2016	2016	NUM
ap-6099	179	13	.	.	PUNCT
ap-6099	180	1	[	[	X
ap-6099	180	2	9	9	NUM
ap-6099	180	3	]	]	X
ap-6099	180	4	v.	v.	X
ap-6099	180	5	villani	villani	PROPN
ap-6099	180	6	,	,	PUNCT
ap-6099	180	7	f.	f.	PROPN
ap-6099	180	8	pini	pini	PROPN
ap-6099	180	9	,	,	PUNCT
ap-6099	180	10	f.	f.	PROPN
ap-6099	180	11	leali	leali	PROPN
ap-6099	180	12	,	,	PUNCT
ap-6099	180	13	c.	c.	PROPN
ap-6099	180	14	secchi	secchi	PROPN
ap-6099	180	15	.	.	PUNCT
ap-6099	180	16	survey	survey	NOUN
ap-6099	180	17	on	on	ADP
ap-6099	180	18	human	human	ADJ
ap-6099	180	19	–	–	PUNCT
ap-6099	180	20	robot	robot	NOUN
ap-6099	180	21	collaboration	collaboration	NOUN
ap-6099	180	22	in	in	ADP
ap-6099	180	23	industrial	industrial	ADJ
ap-6099	180	24	settings	setting	NOUN
ap-6099	180	25	:	:	PUNCT
ap-6099	180	26	safety	safety	NOUN
ap-6099	180	27	,	,	PUNCT
ap-6099	180	28	intuitive	intuitive	ADJ
ap-6099	180	29	interfaces	interface	NOUN
ap-6099	180	30	and	and	CCONJ
ap-6099	180	31	applications	application	NOUN
ap-6099	180	32	.	.	PUNCT
ap-6099	181	1	mechatronics	mechatronic	NOUN
ap-6099	181	2	55:248	55:248	NUM
ap-6099	181	3	–	–	PUNCT
ap-6099	181	4	266	266	NUM
ap-6099	181	5	,	,	PUNCT
ap-6099	181	6	2018	2018	NUM
ap-6099	181	7	.	.	PUNCT
ap-6099	182	1	doi:10.1016	doi:10.1016	PROPN
ap-6099	182	2	/	/	SYM
ap-6099	182	3	j.mechatronics.2018.02.009	j.mechatronics.2018.02.009	PROPN
ap-6099	182	4	.	.	PUNCT
ap-6099	183	1	[	[	X
ap-6099	183	2	10	10	NUM
ap-6099	183	3	]	]	X
ap-6099	183	4	v.	v.	PROPN
ap-6099	183	5	villani	villani	PROPN
ap-6099	183	6	,	,	PUNCT
ap-6099	183	7	f.	f.	PROPN
ap-6099	183	8	pini	pini	PROPN
ap-6099	183	9	,	,	PUNCT
ap-6099	183	10	f.	f.	PROPN
ap-6099	183	11	leali	leali	PROPN
ap-6099	183	12	,	,	PUNCT
ap-6099	183	13	et	et	PROPN
ap-6099	183	14	al	al	PROPN
ap-6099	183	15	.	.	PROPN
ap-6099	183	16	survey	survey	NOUN
ap-6099	183	17	on	on	ADP
ap-6099	183	18	human	human	ADJ
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ap-6099	212	6	dhas_en.pdf	dhas_en.pdf	NOUN
ap-6099	212	7	,	,	PUNCT
ap-6099	212	8	2017	2017	NUM
ap-6099	212	9	.	.	PUNCT
ap-6099	213	1	accessed	access	VERB
ap-6099	213	2	:	:	PUNCT
ap-6099	213	3	27	27	NUM
ap-6099	213	4	february	february	NOUN
ap-6099	213	5	2020	2020	NUM
ap-6099	213	6	.	.	PUNCT
ap-6099	214	1	157	157	NUM
ap-6099	214	2	http://dx.doi.org/10.1177/1729881417716010	http://dx.doi.org/10.1177/1729881417716010	NOUN
ap-6099	214	3	http://dx.doi.org/10.1109/tase.2015.2412256	http://dx.doi.org/10.1109/tase.2015.2412256	PROPN
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ap-6099	214	5	https://library.e.abb.com/public/7139d7f4f2cb4d0da9b7fac6541e91d1/3hac035960%20ps%20irb%20120-en.pdf	https://library.e.abb.com/public/7139d7f4f2cb4d0da9b7fac6541e91d1/3hac035960%20ps%20irb%20120-en.pdf	NOUN
ap-6099	214	6	https://library.e.abb.com/public/7139d7f4f2cb4d0da9b7fac6541e91d1/3hac035960%20ps%20irb%20120-en.pdf	https://library.e.abb.com/public/7139d7f4f2cb4d0da9b7fac6541e91d1/3hac035960%20ps%20irb%20120-en.pdf	NOUN
ap-6099	214	7	https://www.festo.com/cat/cs_cz/data/doc_engb/pdf/en/dhas_en.pdf	https://www.festo.com/cat/cs_cz/data/doc_engb/pdf/en/dhas_en.pdf	NOUN
ap-6099	214	8	https://www.festo.com/cat/cs_cz/data/doc_engb/pdf/en/dhas_en.pdf	https://www.festo.com/cat/cs_cz/data/doc_engb/pdf/en/dhas_en.pdf	NOUN
ap-6099	214	9	acta	acta	PROPN
ap-6099	214	10	polytechnica	polytechnica	PROPN
ap-6099	214	11	60(2):151–157	60(2):151–157	PROPN
ap-6099	214	12	,	,	PUNCT
ap-6099	214	13	2020	2020	NUM
ap-6099	214	14	1	1	NUM
ap-6099	214	15	introduction	introduction	NOUN
ap-6099	214	16	2	2	NUM
ap-6099	214	17	a	a	DET
ap-6099	214	18	specific	specific	ADJ
ap-6099	214	19	yumi	yumi	NOUN
ap-6099	214	20	application	application	NOUN
ap-6099	214	21	3	3	NUM
ap-6099	214	22	low	low	ADJ
ap-6099	214	23	load	load	NOUN
ap-6099	214	24	capacity	capacity	NOUN
ap-6099	214	25	problems	problem	NOUN
ap-6099	214	26	4	4	NUM
ap-6099	214	27	industrial	industrial	ADJ
ap-6099	214	28	robot	robot	NOUN
ap-6099	214	29	solution	solution	NOUN
ap-6099	214	30	5	5	NUM
ap-6099	214	31	results	result	VERB
ap-6099	214	32	6	6	NUM
ap-6099	214	33	conclusion	conclusion	NOUN
ap-6099	214	34	acknowledgements	acknowledgement	NOUN
ap-6099	214	35	references	reference	NOUN