id	sid	tid	token	lemma	pos
ap-680	1	1	ap05_2.vp	ap05_2.vp	VERB
ap-680	1	2	1	1	NUM
ap-680	1	3	introduction	introduction	NOUN
ap-680	1	4	there	there	PRON
ap-680	1	5	are	be	VERB
ap-680	1	6	two	two	NUM
ap-680	1	7	main	main	ADJ
ap-680	1	8	approaches	approach	NOUN
ap-680	1	9	when	when	SCONJ
ap-680	1	10	animating	animate	VERB
ap-680	1	11	articulated	articulated	ADJ
ap-680	1	12	structures	structure	NOUN
ap-680	1	13	,	,	PUNCT
ap-680	1	14	e.g.	e.g.	ADV
ap-680	1	15	,	,	PUNCT
ap-680	1	16	human	human	ADJ
ap-680	1	17	bodies	body	NOUN
ap-680	1	18	.	.	PUNCT
ap-680	2	1	the	the	DET
ap-680	2	2	first	first	ADJ
ap-680	2	3	approach	approach	NOUN
ap-680	2	4	,	,	PUNCT
ap-680	2	5	called	call	VERB
ap-680	2	6	forward	forward	ADV
ap-680	2	7	kinematics	kinematic	NOUN
ap-680	2	8	,	,	PUNCT
ap-680	2	9	derives	derive	VERB
ap-680	2	10	the	the	DET
ap-680	2	11	movement	movement	NOUN
ap-680	2	12	of	of	ADP
ap-680	2	13	the	the	DET
ap-680	2	14	structure	structure	NOUN
ap-680	2	15	from	from	ADP
ap-680	2	16	the	the	DET
ap-680	2	17	movement	movement	NOUN
ap-680	2	18	of	of	ADP
ap-680	2	19	all	all	DET
ap-680	2	20	its	its	PRON
ap-680	2	21	parts	part	NOUN
ap-680	2	22	.	.	PUNCT
ap-680	3	1	the	the	DET
ap-680	3	2	second	second	ADJ
ap-680	3	3	technique	technique	NOUN
ap-680	3	4	,	,	PUNCT
ap-680	3	5	inverse	inverse	NOUN
ap-680	3	6	kinematics	kinematic	NOUN
ap-680	3	7	,	,	PUNCT
ap-680	3	8	works	work	VERB
ap-680	3	9	in	in	ADP
ap-680	3	10	the	the	DET
ap-680	3	11	opposite	opposite	ADJ
ap-680	3	12	way	way	NOUN
ap-680	3	13	.	.	PUNCT
ap-680	4	1	the	the	DET
ap-680	4	2	movement	movement	NOUN
ap-680	4	3	of	of	ADP
ap-680	4	4	each	each	DET
ap-680	4	5	part	part	NOUN
ap-680	4	6	is	be	AUX
ap-680	4	7	determined	determine	VERB
ap-680	4	8	by	by	ADP
ap-680	4	9	the	the	DET
ap-680	4	10	movement	movement	NOUN
ap-680	4	11	of	of	ADP
ap-680	4	12	the	the	DET
ap-680	4	13	complete	complete	ADJ
ap-680	4	14	structure	structure	NOUN
ap-680	4	15	.	.	PUNCT
ap-680	5	1	solving	solve	VERB
ap-680	5	2	forward	forward	ADJ
ap-680	5	3	kinematics	kinematic	NOUN
ap-680	5	4	is	be	AUX
ap-680	5	5	a	a	DET
ap-680	5	6	straightforward	straightforward	ADJ
ap-680	5	7	transformation	transformation	NOUN
ap-680	5	8	between	between	ADP
ap-680	5	9	status	status	NOUN
ap-680	5	10	vector	vector	NOUN
ap-680	5	11	q	q	NOUN
ap-680	5	12	–	–	PUNCT
ap-680	5	13	angles	angle	NOUN
ap-680	5	14	between	between	ADP
ap-680	5	15	adjacent	adjacent	ADJ
ap-680	5	16	segments	segment	NOUN
ap-680	5	17	,	,	PUNCT
ap-680	5	18	and	and	CCONJ
ap-680	5	19	position	position	NOUN
ap-680	5	20	vector	vector	NOUN
ap-680	5	21	x	x	NOUN
ap-680	5	22	–	–	PUNCT
ap-680	5	23	position	position	NOUN
ap-680	5	24	of	of	ADP
ap-680	5	25	the	the	DET
ap-680	5	26	end	end	NOUN
ap-680	5	27	point	point	NOUN
ap-680	5	28	of	of	ADP
ap-680	5	29	the	the	DET
ap-680	5	30	structure	structure	NOUN
ap-680	5	31	also	also	ADV
ap-680	5	32	called	call	VERB
ap-680	5	33	the	the	DET
ap-680	5	34	end	end	NOUN
ap-680	5	35	-	-	PUNCT
ap-680	5	36	effector	effector	NOUN
ap-680	5	37	or	or	CCONJ
ap-680	5	38	ee	ee	NOUN
ap-680	5	39	.	.	PUNCT
ap-680	6	1	it	it	PRON
ap-680	6	2	can	can	AUX
ap-680	6	3	be	be	AUX
ap-680	6	4	easily	easily	ADV
ap-680	6	5	written	write	VERB
ap-680	6	6	as	as	ADP
ap-680	6	7	x	x	PROPN
ap-680	6	8	f	f	PROPN
ap-680	6	9	q	q	PROPN
ap-680	6	10	�	�	PROPN
ap-680	6	11	(	(	PUNCT
ap-680	6	12	)	)	PUNCT
ap-680	6	13	,	,	PUNCT
ap-680	6	14	(	(	PUNCT
ap-680	6	15	1	1	X
ap-680	6	16	)	)	PUNCT
ap-680	6	17	while	while	SCONJ
ap-680	6	18	the	the	DET
ap-680	6	19	inverse	inverse	NOUN
ap-680	6	20	transformation	transformation	NOUN
ap-680	6	21	is	be	AUX
ap-680	6	22	required	require	VERB
ap-680	6	23	for	for	ADP
ap-680	6	24	solving	solve	VERB
ap-680	6	25	the	the	DET
ap-680	6	26	inverse	inverse	NOUN
ap-680	6	27	kinematics	kinematic	NOUN
ap-680	6	28	problem	problem	NOUN
ap-680	6	29	.	.	PUNCT
ap-680	7	1	it	it	PRON
ap-680	7	2	can	can	AUX
ap-680	7	3	be	be	AUX
ap-680	7	4	represented	represent	VERB
ap-680	7	5	by	by	ADP
ap-680	7	6	q	q	PROPN
ap-680	7	7	f	f	PROPN
ap-680	7	8	x	x	X
ap-680	7	9	�	�	PROPN
ap-680	7	10	�	�	PROPN
ap-680	7	11	1	1	NUM
ap-680	7	12	(	(	PUNCT
ap-680	7	13	)	)	PUNCT
ap-680	7	14	.	.	PUNCT
ap-680	8	1	(	(	PUNCT
ap-680	8	2	2	2	X
ap-680	8	3	)	)	PUNCT
ap-680	8	4	the	the	DET
ap-680	8	5	articulated	articulated	ADJ
ap-680	8	6	structure	structure	NOUN
ap-680	8	7	is	be	AUX
ap-680	8	8	usually	usually	ADV
ap-680	8	9	redundant	redundant	ADJ
ap-680	8	10	,	,	PUNCT
ap-680	8	11	i.e.	i.e.	X
ap-680	8	12	n	n	CCONJ
ap-680	8	13	>	>	X
ap-680	8	14	m.	m.	NOUN
ap-680	8	15	thus	thus	ADV
ap-680	8	16	the	the	DET
ap-680	8	17	solutions	solution	NOUN
ap-680	8	18	to	to	ADP
ap-680	8	19	(	(	PUNCT
ap-680	8	20	2	2	X
ap-680	8	21	)	)	PUNCT
ap-680	8	22	are	be	AUX
ap-680	8	23	non	non	ADJ
ap-680	8	24	-	-	ADJ
ap-680	8	25	unique	unique	ADJ
ap-680	8	26	(	(	PUNCT
ap-680	8	27	except	except	SCONJ
ap-680	8	28	degenerated	degenerated	ADJ
ap-680	8	29	cases	case	NOUN
ap-680	8	30	where	where	SCONJ
ap-680	8	31	no	no	DET
ap-680	8	32	solution	solution	NOUN
ap-680	8	33	exists	exist	VERB
ap-680	8	34	at	at	ADV
ap-680	8	35	all	all	ADV
ap-680	8	36	)	)	PUNCT
ap-680	8	37	and	and	CCONJ
ap-680	8	38	even	even	ADV
ap-680	8	39	for	for	ADP
ap-680	8	40	n	n	PRON
ap-680	8	41	�	�	PROPN
ap-680	8	42	m	m	PROPN
ap-680	8	43	several	several	ADJ
ap-680	8	44	solutions	solution	NOUN
ap-680	8	45	can	can	AUX
ap-680	8	46	exist	exist	VERB
ap-680	8	47	.	.	PUNCT
ap-680	9	1	so	so	ADV
ap-680	9	2	the	the	DET
ap-680	9	3	inverse	inverse	NOUN
ap-680	9	4	kinematics	kinematic	NOUN
ap-680	9	5	algorithms	algorithm	NOUN
ap-680	9	6	have	have	VERB
ap-680	9	7	to	to	PART
ap-680	9	8	select	select	VERB
ap-680	9	9	a	a	DET
ap-680	9	10	particular	particular	ADJ
ap-680	9	11	solution	solution	NOUN
ap-680	9	12	of	of	ADP
ap-680	9	13	(	(	PUNCT
ap-680	9	14	2	2	NUM
ap-680	9	15	)	)	PUNCT
ap-680	9	16	in	in	ADP
ap-680	9	17	the	the	DET
ap-680	9	18	face	face	NOUN
ap-680	9	19	of	of	ADP
ap-680	9	20	multiple	multiple	ADJ
ap-680	9	21	solutions	solution	NOUN
ap-680	9	22	.	.	PUNCT
ap-680	10	1	heuristic	heuristic	ADJ
ap-680	10	2	techniques	technique	NOUN
ap-680	10	3	have	have	AUX
ap-680	10	4	been	be	AUX
ap-680	10	5	proposed	propose	VERB
ap-680	10	6	,	,	PUNCT
ap-680	10	7	e.g.	e.g.	ADV
ap-680	10	8	,	,	PUNCT
ap-680	10	9	freezing	freeze	VERB
ap-680	10	10	dofs	dof	NOUN
ap-680	10	11	to	to	PART
ap-680	10	12	eliminate	eliminate	VERB
ap-680	10	13	redundancy	redundancy	NOUN
ap-680	10	14	.	.	PUNCT
ap-680	11	1	however	however	ADV
ap-680	11	2	,	,	PUNCT
ap-680	11	3	the	the	DET
ap-680	11	4	redundant	redundant	ADJ
ap-680	11	5	dofs	dof	NOUN
ap-680	11	6	are	be	AUX
ap-680	11	7	not	not	PART
ap-680	11	8	necessarily	necessarily	ADV
ap-680	11	9	disadvantageous	disadvantageous	ADJ
ap-680	11	10	,	,	PUNCT
ap-680	11	11	as	as	SCONJ
ap-680	11	12	they	they	PRON
ap-680	11	13	can	can	AUX
ap-680	11	14	be	be	AUX
ap-680	11	15	used	use	VERB
ap-680	11	16	to	to	PART
ap-680	11	17	optimize	optimize	VERB
ap-680	11	18	additional	additional	ADJ
ap-680	11	19	constraints	constraint	NOUN
ap-680	11	20	.	.	PUNCT
ap-680	12	1	hence	hence	ADV
ap-680	12	2	it	it	PRON
ap-680	12	3	is	be	AUX
ap-680	12	4	useful	useful	ADJ
ap-680	12	5	to	to	PART
ap-680	12	6	impose	impose	VERB
ap-680	12	7	some	some	DET
ap-680	12	8	optimization	optimization	NOUN
ap-680	12	9	criterion	criterion	NOUN
ap-680	12	10	g(q	g(q	NOUN
ap-680	12	11	)	)	PUNCT
ap-680	12	12	,	,	PUNCT
ap-680	12	13	usually	usually	ADV
ap-680	12	14	represented	represent	VERB
ap-680	12	15	by	by	ADP
ap-680	12	16	a	a	DET
ap-680	12	17	function	function	NOUN
ap-680	12	18	with	with	ADP
ap-680	12	19	a	a	DET
ap-680	12	20	unique	unique	ADJ
ap-680	12	21	global	global	ADJ
ap-680	12	22	optimum	optimum	NOUN
ap-680	12	23	.	.	PUNCT
ap-680	13	1	there	there	PRON
ap-680	13	2	are	be	VERB
ap-680	13	3	two	two	NUM
ap-680	13	4	generic	generic	ADJ
ap-680	13	5	approaches	approach	NOUN
ap-680	13	6	to	to	ADP
ap-680	13	7	solving	solve	VERB
ap-680	13	8	the	the	DET
ap-680	13	9	inverse	inverse	NOUN
ap-680	13	10	kinematics	kinematic	NOUN
ap-680	13	11	problem	problem	NOUN
ap-680	13	12	with	with	ADP
ap-680	13	13	optimization	optimization	NOUN
ap-680	13	14	criteria	criterion	NOUN
ap-680	13	15	.	.	PUNCT
ap-680	14	1	global	global	ADJ
ap-680	14	2	methods	method	NOUN
ap-680	14	3	find	find	VERB
ap-680	14	4	an	an	DET
ap-680	14	5	optimal	optimal	ADJ
ap-680	14	6	path	path	NOUN
ap-680	14	7	of	of	ADP
ap-680	14	8	q	q	NOUN
ap-680	14	9	with	with	ADP
ap-680	14	10	respect	respect	NOUN
ap-680	14	11	to	to	ADP
ap-680	14	12	the	the	DET
ap-680	14	13	entire	entire	ADJ
ap-680	14	14	trajectory	trajectory	NOUN
ap-680	14	15	,	,	PUNCT
ap-680	14	16	usually	usually	ADV
ap-680	14	17	in	in	ADP
ap-680	14	18	computationally	computationally	ADV
ap-680	14	19	expensive	expensive	ADJ
ap-680	14	20	off	off	ADP
ap-680	14	21	-	-	PUNCT
ap-680	14	22	line	line	NOUN
ap-680	14	23	calculations	calculation	NOUN
ap-680	14	24	.	.	PUNCT
ap-680	15	1	in	in	ADP
ap-680	15	2	contrast	contrast	NOUN
ap-680	15	3	,	,	PUNCT
ap-680	15	4	local	local	ADJ
ap-680	15	5	methods	method	NOUN
ap-680	15	6	,	,	PUNCT
ap-680	15	7	which	which	PRON
ap-680	15	8	are	be	AUX
ap-680	15	9	applicable	applicable	ADJ
ap-680	15	10	in	in	ADP
ap-680	15	11	real	real	ADJ
ap-680	15	12	-	-	PUNCT
ap-680	15	13	time	time	NOUN
ap-680	15	14	,	,	PUNCT
ap-680	15	15	compute	compute	VERB
ap-680	15	16	only	only	ADV
ap-680	15	17	an	an	DET
ap-680	15	18	optimal	optimal	ADJ
ap-680	15	19	change	change	NOUN
ap-680	15	20	of	of	ADP
ap-680	15	21	status	status	NOUN
ap-680	15	22	vector	vector	PROPN
ap-680	15	23	q	q	PROPN
ap-680	15	24	,	,	PUNCT
ap-680	15	25	dq	dq	ADP
ap-680	15	26	according	accord	VERB
ap-680	15	27	the	the	DET
ap-680	15	28	small	small	ADJ
ap-680	15	29	displacement	displacement	NOUN
ap-680	15	30	dx	dx	PROPN
ap-680	15	31	and	and	CCONJ
ap-680	15	32	then	then	ADV
ap-680	15	33	integrate	integrate	VERB
ap-680	15	34	dq	dq	PART
ap-680	15	35	to	to	PART
ap-680	15	36	generate	generate	VERB
ap-680	15	37	a	a	DET
ap-680	15	38	complete	complete	ADJ
ap-680	15	39	joint	joint	ADJ
ap-680	15	40	space	space	NOUN
ap-680	15	41	path	path	NOUN
ap-680	15	42	.	.	PUNCT
ap-680	16	1	resolved	resolve	VERB
ap-680	16	2	motion	motion	NOUN
ap-680	16	3	rate	rate	NOUN
ap-680	16	4	control	control	NOUN
ap-680	17	1	[	[	X
ap-680	17	2	12	12	NUM
ap-680	17	3	]	]	PUNCT
ap-680	17	4	is	be	AUX
ap-680	17	5	one	one	NUM
ap-680	17	6	such	such	ADJ
ap-680	17	7	local	local	ADJ
ap-680	17	8	method	method	NOUN
ap-680	17	9	.	.	PUNCT
ap-680	18	1	it	it	PRON
ap-680	18	2	uses	use	VERB
ap-680	18	3	the	the	DET
ap-680	18	4	jacobian	jacobian	ADJ
ap-680	18	5	matrix	matrix	NOUN
ap-680	18	6	j	j	PROPN
ap-680	18	7	f	f	PROPN
ap-680	18	8	(	(	PUNCT
ap-680	18	9	)	)	PUNCT
ap-680	18	10	(	(	PUNCT
ap-680	18	11	)	)	PUNCT
ap-680	18	12	q	q	X
ap-680	18	13	q	q	X
ap-680	18	14	q	q	PROPN
ap-680	18	15	�	�	PROPN
ap-680	18	16	�	�	PROPN
ap-680	18	17	�	�	PROPN
ap-680	18	18	from	from	ADP
ap-680	18	19	forward	forward	ADJ
ap-680	18	20	kinematics	kinematic	NOUN
ap-680	18	21	to	to	PART
ap-680	18	22	relate	relate	VERB
ap-680	18	23	the	the	DET
ap-680	18	24	change	change	NOUN
ap-680	18	25	of	of	ADP
ap-680	18	26	status	status	NOUN
ap-680	18	27	vector	vector	NOUN
ap-680	18	28	to	to	ADP
ap-680	18	29	a	a	DET
ap-680	18	30	change	change	NOUN
ap-680	18	31	of	of	ADP
ap-680	18	32	the	the	DET
ap-680	18	33	end	end	NOUN
ap-680	18	34	-	-	PUNCT
ap-680	18	35	effector	effector	NOUN
ap-680	18	36	.	.	PUNCT
ap-680	19	1	d	d	PROPN
ap-680	19	2	dx	dx	PROPN
ap-680	19	3	j	j	PROPN
ap-680	19	4	�	�	PROPN
ap-680	19	5	�	�	PROPN
ap-680	19	6	(	(	PUNCT
ap-680	19	7	)	)	PUNCT
ap-680	19	8	q	q	NOUN
ap-680	19	9	q	q	X
ap-680	19	10	(	(	PUNCT
ap-680	19	11	3	3	NUM
ap-680	19	12	)	)	PUNCT
ap-680	19	13	this	this	DET
ap-680	19	14	equation	equation	NOUN
ap-680	19	15	can	can	AUX
ap-680	19	16	be	be	AUX
ap-680	19	17	solved	solve	VERB
ap-680	19	18	for	for	ADP
ap-680	19	19	desired	desire	VERB
ap-680	19	20	dx	dx	PROPN
ap-680	19	21	and	and	CCONJ
ap-680	19	22	unknown	unknown	ADJ
ap-680	19	23	dq	dq	NOUN
ap-680	19	24	by	by	ADP
ap-680	19	25	taking	take	VERB
ap-680	19	26	the	the	DET
ap-680	19	27	inverse	inverse	NOUN
ap-680	19	28	of	of	ADP
ap-680	19	29	j(q	j(q	NOUN
ap-680	19	30	)	)	PUNCT
ap-680	19	31	if	if	SCONJ
ap-680	19	32	it	it	PRON
ap-680	19	33	is	be	AUX
ap-680	19	34	square	square	ADJ
ap-680	19	35	(	(	PUNCT
ap-680	19	36	m	m	PROPN
ap-680	19	37	�	�	PROPN
ap-680	19	38	n	n	CCONJ
ap-680	19	39	)	)	PUNCT
ap-680	19	40	and	and	CCONJ
ap-680	19	41	non	non	ADJ
ap-680	19	42	-	-	ADJ
ap-680	19	43	singular	singular	ADJ
ap-680	19	44	.	.	PUNCT
ap-680	20	1	for	for	ADP
ap-680	20	2	redundant	redundant	ADJ
ap-680	20	3	structures	structure	NOUN
ap-680	20	4	(	(	PUNCT
ap-680	20	5	n	n	CCONJ
ap-680	20	6	>	>	X
ap-680	20	7	m	m	PROPN
ap-680	20	8	)	)	PUNCT
ap-680	20	9	the	the	DET
ap-680	20	10	solving	solving	NOUN
ap-680	20	11	of	of	ADP
ap-680	20	12	(	(	PUNCT
ap-680	20	13	3	3	X
ap-680	20	14	)	)	PUNCT
ap-680	20	15	is	be	AUX
ap-680	20	16	described	describe	VERB
ap-680	20	17	in	in	ADP
ap-680	20	18	the	the	DET
ap-680	20	19	following	follow	VERB
ap-680	20	20	sections	section	NOUN
ap-680	20	21	.	.	PUNCT
ap-680	21	1	there	there	PRON
ap-680	21	2	are	be	VERB
ap-680	21	3	also	also	ADV
ap-680	21	4	analytical	analytical	ADJ
ap-680	21	5	methods	method	NOUN
ap-680	21	6	,	,	PUNCT
ap-680	21	7	optimization	optimization	NOUN
ap-680	21	8	-	-	PUNCT
ap-680	21	9	based	base	VERB
ap-680	21	10	methods	method	NOUN
ap-680	21	11	,	,	PUNCT
ap-680	21	12	and	and	CCONJ
ap-680	21	13	others	other	NOUN
ap-680	22	1	[	[	X
ap-680	22	2	1	1	NUM
ap-680	22	3	,	,	PUNCT
ap-680	22	4	7	7	NUM
ap-680	22	5	]	]	PUNCT
ap-680	22	6	.	.	PUNCT
ap-680	23	1	1.1	1.1	NUM
ap-680	23	2	jacobian	jacobian	ADJ
ap-680	23	3	inversion	inversion	NOUN
ap-680	23	4	method	method	NOUN
ap-680	23	5	this	this	DET
ap-680	23	6	method	method	NOUN
ap-680	23	7	comes	come	VERB
ap-680	23	8	simply	simply	ADV
ap-680	23	9	from	from	ADP
ap-680	23	10	(	(	PUNCT
ap-680	23	11	3	3	NUM
ap-680	23	12	)	)	PUNCT
ap-680	23	13	by	by	ADP
ap-680	23	14	inverting	invert	VERB
ap-680	23	15	the	the	DET
ap-680	23	16	jacobian	jacobian	ADJ
ap-680	23	17	j(q	j(q	NOUN
ap-680	23	18	)	)	PUNCT
ap-680	23	19	.	.	PUNCT
ap-680	24	1	although	although	SCONJ
ap-680	24	2	the	the	DET
ap-680	24	3	standard	standard	ADJ
ap-680	24	4	inversion	inversion	NOUN
ap-680	24	5	can	can	AUX
ap-680	24	6	not	not	PART
ap-680	24	7	be	be	AUX
ap-680	24	8	applied	apply	VERB
ap-680	24	9	due	due	ADP
ap-680	24	10	to	to	ADP
ap-680	24	11	the	the	DET
ap-680	24	12	jacobian	jacobian	PROPN
ap-680	24	13	’s	’s	PART
ap-680	24	14	non	non	NOUN
ap-680	24	15	-	-	NOUN
ap-680	24	16	squareness	squareness	NOUN
ap-680	24	17	in	in	ADP
ap-680	24	18	the	the	DET
ap-680	24	19	general	general	ADJ
ap-680	24	20	case	case	NOUN
ap-680	24	21	,	,	PUNCT
ap-680	24	22	moore	moore	PROPN
ap-680	24	23	-	-	PUNCT
ap-680	24	24	penrose	penrose	NOUN
ap-680	24	25	pseudo	pseudo	NOUN
ap-680	24	26	-	-	NOUN
ap-680	24	27	inversion	inversion	NOUN
ap-680	24	28	a	a	DET
ap-680	24	29	a	a	DET
ap-680	24	30	a	a	DET
ap-680	24	31	a	a	DET
ap-680	24	32	�	�	PROPN
ap-680	24	33	�	�	PROPN
ap-680	24	34	�	�	PROPN
ap-680	24	35	�	�	PROPN
ap-680	24	36	�	�	PROPN
ap-680	24	37	t	t	PROPN
ap-680	24	38	t	t	PROPN
ap-680	24	39	(	(	PUNCT
ap-680	24	40	)	)	PUNCT
ap-680	24	41	1	1	NUM
ap-680	24	42	has	have	VERB
ap-680	24	43	to	to	PART
ap-680	24	44	be	be	AUX
ap-680	24	45	utilized	utilize	VERB
ap-680	24	46	.	.	PUNCT
ap-680	25	1	equation	equation	NOUN
ap-680	25	2	(	(	PUNCT
ap-680	25	3	3	3	X
ap-680	25	4	)	)	PUNCT
ap-680	25	5	results	result	NOUN
ap-680	25	6	in	in	ADP
ap-680	25	7	d	d	PROPN
ap-680	25	8	dq	dq	PROPN
ap-680	25	9	q	q	PROPN
ap-680	25	10	�	�	PROPN
ap-680	25	11	�	�	PROPN
ap-680	25	12	j	j	PROPN
ap-680	25	13	x+	x+	X
ap-680	25	14	(	(	PUNCT
ap-680	25	15	)	)	PUNCT
ap-680	25	16	.	.	PUNCT
ap-680	26	1	(	(	PUNCT
ap-680	26	2	4	4	X
ap-680	26	3	)	)	PUNCT
ap-680	26	4	pseudo	pseudo	NOUN
ap-680	26	5	-	-	NOUN
ap-680	26	6	inversion	inversion	NOUN
ap-680	26	7	can	can	AUX
ap-680	26	8	also	also	ADV
ap-680	26	9	be	be	AUX
ap-680	26	10	robustly	robustly	ADV
ap-680	26	11	found	find	VERB
ap-680	26	12	by	by	ADP
ap-680	26	13	singular	singular	ADJ
ap-680	26	14	value	value	NOUN
ap-680	26	15	decomposition	decomposition	NOUN
ap-680	26	16	[	[	X
ap-680	26	17	5	5	NUM
ap-680	26	18	]	]	PUNCT
ap-680	26	19	.	.	PUNCT
ap-680	27	1	an	an	DET
ap-680	27	2	advantage	advantage	NOUN
ap-680	27	3	of	of	ADP
ap-680	27	4	using	use	VERB
ap-680	27	5	pseudo	pseudo	NOUN
ap-680	27	6	-	-	ADJ
ap-680	27	7	inverse	inverse	NOUN
ap-680	27	8	is	be	AUX
ap-680	27	9	the	the	DET
ap-680	27	10	minimum	minimum	ADJ
ap-680	27	11	norm	norm	NOUN
ap-680	27	12	solution	solution	NOUN
ap-680	27	13	for	for	ADP
ap-680	27	14	dq	dq	NOUN
ap-680	27	15	[	[	X
ap-680	27	16	12	12	NUM
ap-680	27	17	]	]	PUNCT
ap-680	27	18	.	.	PUNCT
ap-680	28	1	liegeois	liegeois	PROPN
ap-680	28	2	[	[	X
ap-680	28	3	8	8	NUM
ap-680	28	4	]	]	PUNCT
ap-680	28	5	suggested	suggest	VERB
ap-680	28	6	a	a	DET
ap-680	28	7	more	more	ADV
ap-680	28	8	general	general	ADJ
ap-680	28	9	form	form	NOUN
ap-680	28	10	of	of	ADP
ap-680	28	11	optimization	optimization	NOUN
ap-680	28	12	with	with	ADP
ap-680	28	13	pseudo	pseudo	NOUN
ap-680	28	14	-	-	NOUN
ap-680	28	15	inverse	inverse	NOUN
ap-680	28	16	by	by	ADP
ap-680	28	17	minimizing	minimize	VERB
ap-680	28	18	objective	objective	ADJ
ap-680	28	19	function	function	NOUN
ap-680	28	20	g(q	g(q	NOUN
ap-680	28	21	):	):	PUNCT
ap-680	28	22	�	�	PROPN
ap-680	28	23	�	�	PROPN
ap-680	28	24	d	d	NOUN
ap-680	28	25	dq	dq	ADP
ap-680	28	26	q	q	NOUN
ap-680	28	27	q	q	X
ap-680	28	28	q	q	X
ap-680	28	29	q	q	X
ap-680	28	30	q	q	ADJ
ap-680	28	31	�	�	PROPN
ap-680	28	32	�	�	PROPN
ap-680	28	33	�	�	PROPN
ap-680	28	34	�	�	PROPN
ap-680	28	35	�	�	PROPN
ap-680	28	36	j	j	PROPN
ap-680	28	37	x	x	VERB
ap-680	29	1	i	i	PRON
ap-680	29	2	j	j	PROPN
ap-680	30	1	j+	j+	NUM
ap-680	30	2	+	+	CCONJ
ap-680	30	3	g	g	PROPN
ap-680	30	4	(	(	PUNCT
ap-680	30	5	)	)	PUNCT
ap-680	30	6	(	(	PUNCT
ap-680	30	7	)	)	PUNCT
ap-680	30	8	(	(	PUNCT
ap-680	30	9	)	)	PUNCT
ap-680	30	10	(	(	PUNCT
ap-680	30	11	)	)	PUNCT
ap-680	30	12	�	�	PROPN
ap-680	30	13	�	�	PROPN
ap-680	30	14	�	�	PROPN
ap-680	30	15	,	,	PUNCT
ap-680	30	16	(	(	PUNCT
ap-680	30	17	5	5	X
ap-680	30	18	)	)	PUNCT
ap-680	30	19	where	where	SCONJ
ap-680	30	20	i	i	PRON
ap-680	30	21	is	be	AUX
ap-680	30	22	identity	identity	NOUN
ap-680	30	23	matrix	matrix	NOUN
ap-680	30	24	and	and	CCONJ
ap-680	30	25	�	�	PROPN
ap-680	30	26	is	be	AUX
ap-680	30	27	positive	positive	ADJ
ap-680	30	28	gain	gain	NOUN
ap-680	30	29	constant	constant	ADJ
ap-680	30	30	.	.	PUNCT
ap-680	31	1	although	although	SCONJ
ap-680	31	2	this	this	DET
ap-680	31	3	formulation	formulation	NOUN
ap-680	31	4	requires	require	VERB
ap-680	31	5	only	only	ADV
ap-680	31	6	that	that	SCONJ
ap-680	31	7	the	the	DET
ap-680	31	8	gradient	gradient	NOUN
ap-680	31	9	of	of	ADP
ap-680	31	10	g(q	g(q	NOUN
ap-680	31	11	)	)	PUNCT
ap-680	31	12	be	be	AUX
ap-680	31	13	calculated	calculate	VERB
ap-680	31	14	,	,	PUNCT
ap-680	31	15	the	the	DET
ap-680	31	16	gain	gain	NOUN
ap-680	31	17	�	�	PROPN
ap-680	31	18	is	be	AUX
ap-680	31	19	difficult	difficult	ADJ
ap-680	31	20	to	to	PART
ap-680	31	21	obtain	obtain	VERB
ap-680	31	22	.	.	PUNCT
ap-680	32	1	as	as	ADP
ap-680	32	2	a	a	DET
ap-680	32	3	general	general	ADJ
ap-680	32	4	problem	problem	NOUN
ap-680	32	5	,	,	PUNCT
ap-680	32	6	pseudo	pseudo	NOUN
ap-680	32	7	-	-	ADJ
ap-680	32	8	inverse	inverse	ADJ
ap-680	32	9	methods	method	NOUN
ap-680	32	10	are	be	AUX
ap-680	32	11	numerically	numerically	ADV
ap-680	32	12	unstable	unstable	ADJ
ap-680	32	13	when	when	SCONJ
ap-680	32	14	the	the	DET
ap-680	32	15	system	system	NOUN
ap-680	32	16	reaches	reach	VERB
ap-680	32	17	kinematic	kinematic	ADJ
ap-680	32	18	singularity	singularity	NOUN
ap-680	32	19	[	[	X
ap-680	32	20	2	2	NUM
ap-680	32	21	]	]	PUNCT
ap-680	32	22	–	–	PUNCT
ap-680	32	23	the	the	DET
ap-680	32	24	jacobian	jacobian	PROPN
ap-680	32	25	is	be	AUX
ap-680	32	26	singular	singular	ADJ
ap-680	32	27	.	.	PUNCT
ap-680	33	1	furthermore	furthermore	ADV
ap-680	33	2	,	,	PUNCT
ap-680	33	3	there	there	PRON
ap-680	33	4	is	be	VERB
ap-680	33	5	still	still	ADV
ap-680	33	6	no	no	DET
ap-680	33	7	control	control	NOUN
ap-680	33	8	of	of	ADP
ap-680	33	9	inner	inner	ADJ
ap-680	33	10	parts	part	NOUN
ap-680	33	11	of	of	ADP
ap-680	33	12	the	the	DET
ap-680	33	13	structure	structure	NOUN
ap-680	33	14	.	.	PUNCT
ap-680	34	1	1.2	1.2	NUM
ap-680	34	2	extended	extend	VERB
ap-680	34	3	jacobian	jacobian	ADJ
ap-680	34	4	method	method	NOUN
ap-680	34	5	the	the	DET
ap-680	34	6	extended	extended	ADJ
ap-680	34	7	jacobian	jacobian	ADJ
ap-680	34	8	method	method	NOUN
ap-680	34	9	was	be	AUX
ap-680	34	10	originally	originally	ADV
ap-680	34	11	developed	develop	VERB
ap-680	34	12	by	by	ADP
ap-680	34	13	baillieul	baillieul	VERB
ap-680	34	14	[	[	X
ap-680	34	15	2	2	NUM
ap-680	34	16	,	,	PUNCT
ap-680	34	17	3].there	3].there	NUM
ap-680	34	18	are	be	AUX
ap-680	34	19	r	r	NOUN
ap-680	34	20	�	�	PROPN
ap-680	34	21	n	n	CCONJ
ap-680	34	22	�	�	PROPN
ap-680	34	23	m	m	PROPN
ap-680	34	24	rows	row	NOUN
ap-680	34	25	added	add	VERB
ap-680	34	26	to	to	ADP
ap-680	34	27	the	the	DET
ap-680	34	28	jacobian	jacobian	NOUN
ap-680	34	29	with	with	ADP
ap-680	34	30	goal	goal	NOUN
ap-680	34	31	to	to	ADP
ap-680	34	32	zero	zero	NUM
ap-680	34	33	the	the	DET
ap-680	34	34	gradient	gradient	NOUN
ap-680	34	35	of	of	ADP
ap-680	34	36	g(q	g(q	NOUN
ap-680	34	37	)	)	PUNCT
ap-680	34	38	in	in	ADP
ap-680	34	39	the	the	DET
ap-680	34	40	null	null	ADJ
ap-680	34	41	space	space	NOUN
ap-680	34	42	of	of	ADP
ap-680	34	43	the	the	DET
ap-680	34	44	jacobian	jacobian	PROPN
ap-680	34	45	.	.	PUNCT
ap-680	35	1	let	let	VERB
ap-680	35	2	�	�	PROPN
ap-680	35	3	i	i	PRON
ap-680	35	4	�	�	PROPN
ap-680	35	5	i	i	PRON
ap-680	35	6	�	�	PROPN
ap-680	35	7	1	1	NUM
ap-680	35	8	,	,	PUNCT
ap-680	35	9	…	…	PUNCT
ap-680	35	10	,	,	PUNCT
ap-680	35	11	r	r	NOUN
ap-680	35	12	be	be	VERB
ap-680	35	13	the	the	DET
ap-680	35	14	orthonormal	orthonormal	ADJ
ap-680	35	15	set	set	NOUN
ap-680	35	16	of	of	ADP
ap-680	35	17	vectors	vector	NOUN
ap-680	35	18	that	that	PRON
ap-680	35	19	span	span	VERB
ap-680	35	20	the	the	DET
ap-680	35	21	null	null	ADJ
ap-680	35	22	space	space	NOUN
ap-680	35	23	of	of	ADP
ap-680	35	24	j(q	j(q	NOUN
ap-680	35	25	)	)	PUNCT
ap-680	35	26	,	,	PUNCT
ap-680	35	27	and	and	CCONJ
ap-680	35	28	g(q	g(q	NOUN
ap-680	35	29	)	)	PUNCT
ap-680	35	30	is	be	AUX
ap-680	35	31	the	the	DET
ap-680	35	32	desired	desire	VERB
ap-680	35	33	optimization	optimization	NOUN
ap-680	35	34	criterion	criterion	NOUN
ap-680	35	35	that	that	PRON
ap-680	35	36	should	should	AUX
ap-680	35	37	be	be	AUX
ap-680	35	38	minimized	minimize	VERB
ap-680	35	39	.	.	PUNCT
ap-680	36	1	equation	equation	NOUN
ap-680	36	2	(	(	PUNCT
ap-680	36	3	3	3	NUM
ap-680	36	4	)	)	PUNCT
ap-680	36	5	with	with	ADP
ap-680	36	6	the	the	DET
ap-680	36	7	extended	extended	ADJ
ap-680	36	8	jacobian	jacobian	PROPN
ap-680	36	9	follows	follow	VERB
ap-680	36	10	.	.	PUNCT
ap-680	37	1	©	©	PROPN
ap-680	37	2	czech	czech	PROPN
ap-680	37	3	technical	technical	PROPN
ap-680	37	4	university	university	PROPN
ap-680	37	5	publishing	publishing	NOUN
ap-680	37	6	house	house	NOUN
ap-680	37	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-680	37	8	21	21	NUM
ap-680	37	9	czech	czech	PROPN
ap-680	37	10	technical	technical	PROPN
ap-680	37	11	university	university	PROPN
ap-680	37	12	in	in	ADP
ap-680	37	13	prague	prague	PROPN
ap-680	37	14	acta	acta	PROPN
ap-680	37	15	polytechnica	polytechnica	PROPN
ap-680	37	16	vol	vol	NOUN
ap-680	37	17	.	.	PROPN
ap-680	38	1	45	45	NUM
ap-680	38	2	no	no	NOUN
ap-680	38	3	.	.	PUNCT
ap-680	39	1	2/2005	2/2005	NUM
ap-680	39	2	solving	solve	VERB
ap-680	39	3	inverse	inverse	NOUN
ap-680	39	4	kinematics	kinematic	NOUN
ap-680	39	5	–	–	PUNCT
ap-680	39	6	a	a	DET
ap-680	39	7	new	new	ADJ
ap-680	39	8	approach	approach	NOUN
ap-680	39	9	to	to	ADP
ap-680	39	10	the	the	DET
ap-680	39	11	extended	extended	ADJ
ap-680	39	12	jacobian	jacobian	ADJ
ap-680	39	13	technique	technique	NOUN
ap-680	39	14	m.	m.	NOUN
ap-680	39	15	šoch	šoch	PROPN
ap-680	39	16	,	,	PUNCT
ap-680	39	17	r.	r.	PROPN
ap-680	39	18	lórencz	lórencz	PROPN
ap-680	39	19	this	this	DET
ap-680	39	20	paper	paper	NOUN
ap-680	39	21	presents	present	VERB
ap-680	39	22	a	a	DET
ap-680	39	23	brief	brief	ADJ
ap-680	39	24	summary	summary	NOUN
ap-680	39	25	of	of	ADP
ap-680	39	26	current	current	ADJ
ap-680	39	27	numerical	numerical	ADJ
ap-680	39	28	algorithms	algorithm	NOUN
ap-680	39	29	for	for	ADP
ap-680	39	30	solving	solve	VERB
ap-680	39	31	the	the	DET
ap-680	39	32	inverse	inverse	NOUN
ap-680	39	33	kinematics	kinematic	NOUN
ap-680	39	34	problem	problem	NOUN
ap-680	39	35	.	.	PUNCT
ap-680	40	1	then	then	ADV
ap-680	40	2	a	a	DET
ap-680	40	3	new	new	ADJ
ap-680	40	4	approach	approach	NOUN
ap-680	40	5	based	base	VERB
ap-680	40	6	on	on	ADP
ap-680	40	7	the	the	DET
ap-680	40	8	extended	extended	ADJ
ap-680	40	9	jacobian	jacobian	ADJ
ap-680	40	10	technique	technique	NOUN
ap-680	40	11	is	be	AUX
ap-680	40	12	compared	compare	VERB
ap-680	40	13	with	with	ADP
ap-680	40	14	the	the	DET
ap-680	40	15	current	current	ADJ
ap-680	40	16	jacobian	jacobian	ADJ
ap-680	40	17	inversion	inversion	NOUN
ap-680	40	18	method	method	NOUN
ap-680	40	19	.	.	PUNCT
ap-680	41	1	the	the	DET
ap-680	41	2	presented	present	VERB
ap-680	41	3	method	method	NOUN
ap-680	41	4	is	be	AUX
ap-680	41	5	intended	intend	VERB
ap-680	41	6	for	for	ADP
ap-680	41	7	use	use	NOUN
ap-680	41	8	in	in	ADP
ap-680	41	9	the	the	DET
ap-680	41	10	field	field	NOUN
ap-680	41	11	of	of	ADP
ap-680	41	12	computer	computer	NOUN
ap-680	41	13	graphics	graphic	NOUN
ap-680	41	14	for	for	ADP
ap-680	41	15	animation	animation	NOUN
ap-680	41	16	of	of	ADP
ap-680	41	17	articulated	articulated	ADJ
ap-680	41	18	structures	structure	NOUN
ap-680	41	19	.	.	PUNCT
ap-680	42	1	keywords	keyword	NOUN
ap-680	42	2	:	:	PUNCT
ap-680	42	3	inverse	inverse	NOUN
ap-680	42	4	kinematics	kinematic	NOUN
ap-680	42	5	,	,	PUNCT
ap-680	42	6	jacobian	jacobian	ADJ
ap-680	42	7	inversion	inversion	NOUN
ap-680	42	8	,	,	PUNCT
ap-680	42	9	extended	extend	VERB
ap-680	42	10	jacobian	jacobian	ADJ
ap-680	42	11	technique	technique	NOUN
ap-680	42	12	.	.	PUNCT
ap-680	43	1	dx	dx	PROPN
ap-680	44	1	j	j	PROPN
ap-680	44	2	q	q	X
ap-680	44	3	q	q	X
ap-680	44	4	q	q	NOUN
ap-680	44	5	0	0	NUM
ap-680	44	6	0	0	NUM
ap-680	44	7	�	�	PROPN
ap-680	44	8	�	�	PROPN
ap-680	44	9	�	�	PROPN
ap-680	44	10	�	�	PROPN
ap-680	44	11	�	�	PROPN
ap-680	44	12	�	�	PROPN
ap-680	44	13	�	�	PROPN
ap-680	44	14	�	�	PROPN
ap-680	44	15	�	�	PROPN
ap-680	44	16	�	�	PROPN
ap-680	44	17	�	�	PROPN
ap-680	44	18	(	(	PUNCT
ap-680	44	19	)	)	PUNCT
ap-680	44	20	(	(	PUNCT
ap-680	44	21	(	(	PUNCT
ap-680	44	22	)	)	PUNCT
ap-680	44	23	�	�	PROPN
ap-680	44	24	�	�	PROPN
ap-680	44	25	�	�	PROPN
ap-680	44	26	i	i	PRON
ap-680	44	27	i	i	PRON
ap-680	44	28	g	g	PROPN
ap-680	44	29	�	�	PROPN
ap-680	44	30	�	�	PROPN
ap-680	44	31	1	1	NUM
ap-680	44	32	,	,	PUNCT
ap-680	44	33	,	,	PUNCT
ap-680	44	34	�	�	PROPN
ap-680	44	35	r	r	NOUN
ap-680	44	36	dq	dq	PROPN
ap-680	44	37	.	.	PUNCT
ap-680	45	1	(	(	PUNCT
ap-680	45	2	6	6	NUM
ap-680	45	3	)	)	PUNCT
ap-680	45	4	hence	hence	ADV
ap-680	45	5	the	the	DET
ap-680	45	6	solution	solution	NOUN
ap-680	45	7	requires	require	VERB
ap-680	45	8	only	only	ADV
ap-680	45	9	standard	standard	ADJ
ap-680	45	10	inversion	inversion	NOUN
ap-680	45	11	instead	instead	ADV
ap-680	45	12	of	of	ADP
ap-680	45	13	pseudo	pseudo	NOUN
ap-680	45	14	-	-	NOUN
ap-680	45	15	inversion	inversion	NOUN
ap-680	45	16	.	.	PUNCT
ap-680	46	1	the	the	DET
ap-680	46	2	optimization	optimization	NOUN
ap-680	46	3	criterion	criterion	NOUN
ap-680	46	4	g(q	g(q	NOUN
ap-680	46	5	)	)	PUNCT
ap-680	46	6	represents	represent	VERB
ap-680	46	7	a	a	DET
ap-680	46	8	set	set	NOUN
ap-680	46	9	of	of	ADP
ap-680	46	10	constraints	constraint	NOUN
ap-680	46	11	even	even	ADV
ap-680	46	12	though	though	SCONJ
ap-680	46	13	its	its	PRON
ap-680	46	14	meaning	meaning	NOUN
ap-680	46	15	is	be	AUX
ap-680	46	16	again	again	ADV
ap-680	46	17	more	more	ADV
ap-680	46	18	useful	useful	ADJ
ap-680	46	19	for	for	ADP
ap-680	46	20	robotics	robotic	NOUN
ap-680	46	21	–	–	PUNCT
ap-680	46	22	it	it	PRON
ap-680	46	23	takes	take	VERB
ap-680	46	24	into	into	ADP
ap-680	46	25	account	account	NOUN
ap-680	46	26	some	some	DET
ap-680	46	27	objective	objective	ADJ
ap-680	46	28	-	-	PUNCT
ap-680	46	29	function	function	NOUN
ap-680	46	30	(	(	PUNCT
ap-680	46	31	e.g.	e.g.	ADV
ap-680	46	32	,	,	PUNCT
ap-680	46	33	manipulability	manipulability	PROPN
ap-680	46	34	)	)	PUNCT
ap-680	46	35	,	,	PUNCT
ap-680	46	36	which	which	PRON
ap-680	46	37	applies	apply	VERB
ap-680	46	38	on	on	ADP
ap-680	46	39	the	the	DET
ap-680	46	40	whole	whole	ADJ
ap-680	46	41	structure	structure	NOUN
ap-680	46	42	instead	instead	ADV
ap-680	46	43	of	of	ADP
ap-680	46	44	physically	physically	ADV
ap-680	46	45	-	-	PUNCT
ap-680	46	46	based	base	VERB
ap-680	46	47	constraints	constraint	NOUN
ap-680	46	48	for	for	ADP
ap-680	46	49	each	each	DET
ap-680	46	50	joint	joint	NOUN
ap-680	46	51	.	.	PUNCT
ap-680	47	1	this	this	DET
ap-680	47	2	method	method	NOUN
ap-680	47	3	was	be	AUX
ap-680	47	4	further	far	ADV
ap-680	47	5	extended	extend	VERB
ap-680	47	6	in	in	ADP
ap-680	47	7	[	[	X
ap-680	47	8	6	6	NUM
ap-680	47	9	]	]	PUNCT
ap-680	47	10	from	from	ADP
ap-680	47	11	the	the	DET
ap-680	47	12	numerical	numerical	ADJ
ap-680	47	13	point	point	NOUN
ap-680	47	14	of	of	ADP
ap-680	47	15	view	view	NOUN
ap-680	47	16	.	.	PUNCT
ap-680	48	1	1.3	1.3	NUM
ap-680	48	2	jacobian	jacobian	ADJ
ap-680	48	3	transposition	transposition	NOUN
ap-680	48	4	method	method	NOUN
ap-680	48	5	this	this	DET
ap-680	48	6	method	method	NOUN
ap-680	48	7	comes	come	VERB
ap-680	48	8	from	from	ADP
ap-680	48	9	the	the	DET
ap-680	48	10	jacobian	jacobian	ADJ
ap-680	48	11	inversion	inversion	NOUN
ap-680	48	12	method	method	NOUN
ap-680	48	13	(	(	PUNCT
ap-680	48	14	section	section	NOUN
ap-680	48	15	1.1).the	1.1).the	DET
ap-680	48	16	reason	reason	NOUN
ap-680	48	17	for	for	ADP
ap-680	48	18	his	his	PRON
ap-680	48	19	is	be	AUX
ap-680	48	20	the	the	DET
ap-680	48	21	substitution	substitution	NOUN
ap-680	48	22	of	of	ADP
ap-680	48	23	computationally	computationally	ADV
ap-680	48	24	difficult	difficult	ADJ
ap-680	48	25	inversion	inversion	NOUN
ap-680	48	26	by	by	ADP
ap-680	48	27	simple	simple	ADJ
ap-680	48	28	transposition	transposition	NOUN
ap-680	48	29	.	.	PUNCT
ap-680	49	1	this	this	DET
ap-680	49	2	simplification	simplification	NOUN
ap-680	49	3	is	be	AUX
ap-680	49	4	based	base	VERB
ap-680	49	5	on	on	ADP
ap-680	49	6	the	the	DET
ap-680	49	7	virtual	virtual	ADJ
ap-680	49	8	work	work	NOUN
ap-680	49	9	principle	principle	NOUN
ap-680	49	10	[	[	X
ap-680	49	11	9	9	NUM
ap-680	49	12	]	]	PUNCT
ap-680	49	13	,	,	PUNCT
ap-680	49	14	and	and	CCONJ
ap-680	49	15	it	it	PRON
ap-680	49	16	results	result	VERB
ap-680	49	17	in	in	ADP
ap-680	49	18	:	:	PUNCT
ap-680	50	1	d	d	X
ap-680	50	2	dq	dq	NUM
ap-680	50	3	j	j	PROPN
ap-680	50	4	q	q	NOUN
ap-680	50	5	x	x	X
ap-680	50	6	�	�	PROPN
ap-680	50	7	�	�	PROPN
ap-680	50	8	t	t	PROPN
ap-680	50	9	(	(	PUNCT
ap-680	50	10	)	)	PUNCT
ap-680	50	11	.	.	PUNCT
ap-680	51	1	(	(	PUNCT
ap-680	51	2	7	7	X
ap-680	51	3	)	)	PUNCT
ap-680	51	4	this	this	DET
ap-680	51	5	method	method	NOUN
ap-680	51	6	suffers	suffer	VERB
ap-680	51	7	in	in	ADP
ap-680	51	8	almost	almost	ADV
ap-680	51	9	the	the	DET
ap-680	51	10	same	same	ADJ
ap-680	51	11	way	way	NOUN
ap-680	51	12	as	as	ADP
ap-680	51	13	the	the	DET
ap-680	51	14	jacobian	jacobian	ADJ
ap-680	51	15	inversion	inversion	NOUN
ap-680	51	16	method	method	NOUN
ap-680	51	17	(	(	PUNCT
ap-680	51	18	section	section	NOUN
ap-680	51	19	1.1	1.1	NUM
ap-680	51	20	)	)	PUNCT
ap-680	51	21	.	.	PUNCT
ap-680	52	1	there	there	PRON
ap-680	52	2	is	be	VERB
ap-680	52	3	still	still	ADV
ap-680	52	4	no	no	DET
ap-680	52	5	control	control	NOUN
ap-680	52	6	of	of	ADP
ap-680	52	7	the	the	DET
ap-680	52	8	internal	internal	ADJ
ap-680	52	9	parts	part	NOUN
ap-680	52	10	of	of	ADP
ap-680	52	11	the	the	DET
ap-680	52	12	structure	structure	NOUN
ap-680	52	13	,	,	PUNCT
ap-680	52	14	while	while	SCONJ
ap-680	52	15	the	the	DET
ap-680	52	16	stability	stability	NOUN
ap-680	52	17	of	of	ADP
ap-680	52	18	the	the	DET
ap-680	52	19	solution	solution	NOUN
ap-680	52	20	is	be	AUX
ap-680	52	21	much	much	ADV
ap-680	52	22	better	well	ADJ
ap-680	52	23	.	.	PUNCT
ap-680	53	1	1.4	1.4	NUM
ap-680	53	2	constrained	constrain	VERB
ap-680	53	3	inverse	inverse	NOUN
ap-680	53	4	kinematics	kinematic	NOUN
ap-680	53	5	problems	problem	VERB
ap-680	53	6	the	the	DET
ap-680	53	7	most	most	ADV
ap-680	53	8	common	common	ADJ
ap-680	53	9	constraint	constraint	NOUN
ap-680	53	10	on	on	ADP
ap-680	53	11	inverse	inverse	NOUN
ap-680	53	12	kinematics	kinematic	NOUN
ap-680	53	13	systems	system	NOUN
ap-680	53	14	is	be	AUX
ap-680	53	15	the	the	DET
ap-680	53	16	joint	joint	ADJ
ap-680	53	17	limits	limit	NOUN
ap-680	53	18	.	.	PUNCT
ap-680	54	1	joint	joint	ADJ
ap-680	54	2	constraints	constraint	NOUN
ap-680	54	3	are	be	AUX
ap-680	54	4	usually	usually	ADV
ap-680	54	5	represented	represent	VERB
ap-680	54	6	by	by	ADP
ap-680	54	7	inequality	inequality	NOUN
ap-680	54	8	constraints	constraint	NOUN
ap-680	54	9	.	.	PUNCT
ap-680	55	1	several	several	ADJ
ap-680	55	2	different	different	ADJ
ap-680	55	3	methods	method	NOUN
ap-680	55	4	can	can	AUX
ap-680	55	5	be	be	AUX
ap-680	55	6	used	use	VERB
ap-680	55	7	to	to	PART
ap-680	55	8	make	make	VERB
ap-680	55	9	sure	sure	ADJ
ap-680	55	10	a	a	DET
ap-680	55	11	solution	solution	NOUN
ap-680	55	12	satisfies	satisfy	VERB
ap-680	55	13	them	they	PRON
ap-680	55	14	.	.	PUNCT
ap-680	56	1	1.4.1	1.4.1	NUM
ap-680	56	2	the	the	DET
ap-680	56	3	lagrange	lagrange	PROPN
ap-680	56	4	approach	approach	NOUN
ap-680	56	5	the	the	DET
ap-680	56	6	lagrange	lagrange	PROPN
ap-680	56	7	approach	approach	NOUN
ap-680	56	8	with	with	ADP
ap-680	56	9	lagrange	lagrange	NOUN
ap-680	56	10	multipliers	multiplier	NOUN
ap-680	56	11	will	will	AUX
ap-680	56	12	find	find	VERB
ap-680	56	13	all	all	PRON
ap-680	56	14	minima	minima	ADJ
ap-680	56	15	for	for	ADP
ap-680	56	16	the	the	DET
ap-680	56	17	objective	objective	ADJ
ap-680	56	18	function	function	NOUN
ap-680	56	19	,	,	PUNCT
ap-680	56	20	subject	subject	ADJ
ap-680	56	21	to	to	ADP
ap-680	56	22	equality	equality	NOUN
ap-680	56	23	constraints	constraint	NOUN
ap-680	56	24	,	,	PUNCT
ap-680	56	25	as	as	SCONJ
ap-680	56	26	stated	state	VERB
ap-680	56	27	in	in	ADP
ap-680	56	28	[	[	X
ap-680	56	29	7	7	NUM
ap-680	56	30	]	]	PUNCT
ap-680	56	31	.	.	PUNCT
ap-680	57	1	those	those	PRON
ap-680	57	2	minima	minima	NOUN
ap-680	57	3	that	that	PRON
ap-680	57	4	do	do	AUX
ap-680	57	5	not	not	PART
ap-680	57	6	satisfy	satisfy	VERB
ap-680	57	7	the	the	DET
ap-680	57	8	joint	joint	ADJ
ap-680	57	9	limit	limit	NOUN
ap-680	57	10	inequalities	inequality	NOUN
ap-680	57	11	can	can	AUX
ap-680	57	12	be	be	AUX
ap-680	57	13	discarded	discard	VERB
ap-680	57	14	immediately	immediately	ADV
ap-680	57	15	.	.	PUNCT
ap-680	58	1	any	any	DET
ap-680	58	2	new	new	ADJ
ap-680	58	3	minima	minima	NOUN
ap-680	58	4	that	that	PRON
ap-680	58	5	arise	arise	VERB
ap-680	58	6	from	from	ADP
ap-680	58	7	the	the	DET
ap-680	58	8	inequalities	inequality	NOUN
ap-680	58	9	must	must	AUX
ap-680	58	10	lie	lie	VERB
ap-680	58	11	on	on	ADP
ap-680	58	12	the	the	DET
ap-680	58	13	boundary	boundary	NOUN
ap-680	58	14	of	of	ADP
ap-680	58	15	the	the	DET
ap-680	58	16	region	region	NOUN
ap-680	58	17	defined	define	VERB
ap-680	58	18	by	by	ADP
ap-680	58	19	those	those	DET
ap-680	58	20	limits	limit	NOUN
ap-680	58	21	.	.	PUNCT
ap-680	59	1	that	that	PRON
ap-680	59	2	is	be	AUX
ap-680	59	3	when	when	SCONJ
ap-680	59	4	one	one	NUM
ap-680	59	5	or	or	CCONJ
ap-680	59	6	more	more	ADJ
ap-680	59	7	of	of	ADP
ap-680	59	8	the	the	DET
ap-680	59	9	joint	joint	ADJ
ap-680	59	10	variables	variable	NOUN
ap-680	59	11	take	take	VERB
ap-680	59	12	extreme	extreme	ADJ
ap-680	59	13	values	value	NOUN
ap-680	59	14	[	[	X
ap-680	59	15	7	7	NUM
ap-680	59	16	]	]	PUNCT
ap-680	59	17	.	.	PUNCT
ap-680	60	1	therefore	therefore	ADV
ap-680	60	2	by	by	ADP
ap-680	60	3	setting	set	VERB
ap-680	60	4	one	one	NUM
ap-680	60	5	qi	qi	NOUN
ap-680	60	6	to	to	ADP
ap-680	60	7	its	its	PRON
ap-680	60	8	lower	lower	ADV
ap-680	60	9	bound	bind	VERB
ap-680	60	10	or	or	CCONJ
ap-680	60	11	upper	upper	ADJ
ap-680	60	12	bound	bind	VERB
ap-680	60	13	each	each	DET
ap-680	60	14	time	time	NOUN
ap-680	60	15	,	,	PUNCT
ap-680	60	16	these	these	DET
ap-680	60	17	minima	minima	NOUN
ap-680	60	18	can	can	AUX
ap-680	60	19	be	be	AUX
ap-680	60	20	found	find	VERB
ap-680	60	21	by	by	ADP
ap-680	60	22	solving	solve	VERB
ap-680	60	23	2n	2n	NUM
ap-680	60	24	smaller	small	ADJ
ap-680	60	25	problems	problem	NOUN
ap-680	60	26	,	,	PUNCT
ap-680	60	27	each	each	PRON
ap-680	60	28	involving	involve	VERB
ap-680	60	29	one	one	NUM
ap-680	60	30	less	less	ADV
ap-680	60	31	variable	variable	ADJ
ap-680	60	32	qi	qi	NOUN
ap-680	60	33	than	than	ADP
ap-680	60	34	the	the	DET
ap-680	60	35	original	original	NOUN
ap-680	60	36	.	.	PUNCT
ap-680	61	1	1.4.2	1.4.2	NUM
ap-680	61	2	introducing	introduce	VERB
ap-680	61	3	new	new	ADJ
ap-680	61	4	variables	variable	NOUN
ap-680	61	5	the	the	DET
ap-680	61	6	new	new	ADJ
ap-680	61	7	variables	variable	NOUN
ap-680	61	8	can	can	AUX
ap-680	61	9	be	be	AUX
ap-680	61	10	introduced	introduce	VERB
ap-680	61	11	to	to	PART
ap-680	61	12	transform	transform	VERB
ap-680	61	13	each	each	DET
ap-680	61	14	inequality	inequality	NOUN
ap-680	61	15	into	into	ADP
ap-680	61	16	an	an	DET
ap-680	61	17	equality	equality	NOUN
ap-680	61	18	constraint	constraint	NOUN
ap-680	61	19	[	[	X
ap-680	61	20	7	7	NUM
ap-680	61	21	]	]	PUNCT
ap-680	61	22	,	,	PUNCT
ap-680	61	23	assuming	assume	VERB
ap-680	61	24	the	the	DET
ap-680	61	25	i	i	PROPN
ap-680	61	26	-	-	PUNCT
ap-680	61	27	th	th	X
ap-680	61	28	joint	joint	ADJ
ap-680	61	29	angle	angle	NOUN
ap-680	61	30	qi	qi	PROPN
ap-680	61	31	has	have	VERB
ap-680	61	32	upper	upper	ADJ
ap-680	61	33	limit	limit	NOUN
ap-680	61	34	ui	ui	NOUN
ap-680	61	35	and	and	CCONJ
ap-680	61	36	lower	low	ADJ
ap-680	61	37	limit	limit	VERB
ap-680	61	38	li	li	PROPN
ap-680	61	39	.	.	PUNCT
ap-680	62	1	the	the	DET
ap-680	62	2	2n	2n	ADJ
ap-680	62	3	new	new	ADJ
ap-680	62	4	variables	variable	NOUN
ap-680	62	5	are	be	AUX
ap-680	62	6	added	add	VERB
ap-680	62	7	yil	yil	PROPN
ap-680	62	8	and	and	CCONJ
ap-680	62	9	yiu	yiu	NOUN
ap-680	62	10	for	for	ADP
ap-680	62	11	the	the	DET
ap-680	62	12	i	i	PROPN
ap-680	62	13	-	-	PUNCT
ap-680	62	14	th	th	VERB
ap-680	62	15	joint	joint	NOUN
ap-680	62	16	to	to	PART
ap-680	62	17	transform	transform	VERB
ap-680	62	18	each	each	DET
ap-680	62	19	inequality	inequality	NOUN
ap-680	62	20	into	into	ADP
ap-680	62	21	an	an	DET
ap-680	62	22	equality	equality	NOUN
ap-680	62	23	constraint	constraint	NOUN
ap-680	62	24	.	.	PUNCT
ap-680	63	1	now	now	ADV
ap-680	63	2	the	the	DET
ap-680	63	3	lagrange	lagrange	PROPN
ap-680	63	4	approach	approach	NOUN
ap-680	63	5	(	(	PUNCT
ap-680	63	6	section	section	NOUN
ap-680	63	7	1.4.1	1.4.1	NUM
ap-680	63	8	)	)	PUNCT
ap-680	63	9	can	can	AUX
ap-680	63	10	be	be	AUX
ap-680	63	11	used	use	VERB
ap-680	63	12	to	to	PART
ap-680	63	13	solve	solve	VERB
ap-680	63	14	the	the	DET
ap-680	63	15	original	original	ADJ
ap-680	63	16	problem	problem	NOUN
ap-680	63	17	plus	plus	CCONJ
ap-680	63	18	2n	2n	NUM
ap-680	63	19	new	new	ADJ
ap-680	63	20	variables	variable	NOUN
ap-680	63	21	and	and	CCONJ
ap-680	63	22	2n	2n	NUM
ap-680	63	23	new	new	ADJ
ap-680	63	24	equality	equality	NOUN
ap-680	63	25	constraints	constraint	NOUN
ap-680	63	26	.	.	PUNCT
ap-680	64	1	1.4.3	1.4.3	NUM
ap-680	64	2	penalty	penalty	NOUN
ap-680	64	3	function	function	NOUN
ap-680	64	4	methods	method	NOUN
ap-680	64	5	another	another	DET
ap-680	64	6	method	method	NOUN
ap-680	64	7	adds	add	VERB
ap-680	64	8	penalty	penalty	NOUN
ap-680	64	9	functions	function	NOUN
ap-680	64	10	to	to	ADP
ap-680	64	11	the	the	DET
ap-680	64	12	objective	objective	ADJ
ap-680	64	13	function	function	NOUN
ap-680	64	14	.	.	PUNCT
ap-680	65	1	the	the	DET
ap-680	65	2	algorithm	algorithm	NOUN
ap-680	65	3	looks	look	VERB
ap-680	65	4	for	for	ADP
ap-680	65	5	the	the	DET
ap-680	65	6	minimum	minimum	ADJ
ap-680	65	7	value	value	NOUN
ap-680	65	8	of	of	ADP
ap-680	65	9	the	the	DET
ap-680	65	10	objective	objective	ADJ
ap-680	65	11	function	function	NOUN
ap-680	65	12	so	so	SCONJ
ap-680	65	13	the	the	DET
ap-680	65	14	penalty	penalty	NOUN
ap-680	65	15	causes	cause	VERB
ap-680	65	16	the	the	DET
ap-680	65	17	value	value	NOUN
ap-680	65	18	of	of	ADP
ap-680	65	19	the	the	DET
ap-680	65	20	objective	objective	ADJ
ap-680	65	21	function	function	NOUN
ap-680	65	22	to	to	PART
ap-680	65	23	increase	increase	VERB
ap-680	65	24	as	as	SCONJ
ap-680	65	25	the	the	DET
ap-680	65	26	joints	joint	NOUN
ap-680	65	27	approach	approach	VERB
ap-680	65	28	their	their	PRON
ap-680	65	29	limits	limit	NOUN
ap-680	65	30	.	.	PUNCT
ap-680	66	1	the	the	DET
ap-680	66	2	desired	desire	VERB
ap-680	66	3	result	result	NOUN
ap-680	66	4	is	be	AUX
ap-680	66	5	that	that	SCONJ
ap-680	66	6	the	the	DET
ap-680	66	7	objective	objective	ADJ
ap-680	66	8	function	function	NOUN
ap-680	66	9	itself	itself	PRON
ap-680	66	10	effectively	effectively	ADV
ap-680	66	11	prohibits	prohibit	VERB
ap-680	66	12	joint	joint	ADJ
ap-680	66	13	limit	limit	NOUN
ap-680	66	14	violations	violation	NOUN
ap-680	66	15	[	[	X
ap-680	66	16	1	1	NUM
ap-680	66	17	]	]	PUNCT
ap-680	66	18	.	.	PUNCT
ap-680	67	1	unfortunately	unfortunately	ADV
ap-680	67	2	,	,	PUNCT
ap-680	67	3	penalty	penalty	NOUN
ap-680	67	4	function	function	NOUN
ap-680	67	5	methods	method	NOUN
ap-680	67	6	are	be	AUX
ap-680	67	7	not	not	PART
ap-680	67	8	numerically	numerically	ADV
ap-680	67	9	stable	stable	ADJ
ap-680	67	10	.	.	PUNCT
ap-680	68	1	2	2	NUM
ap-680	68	2	a	a	DET
ap-680	68	3	new	new	ADJ
ap-680	68	4	approach	approach	NOUN
ap-680	68	5	to	to	ADP
ap-680	68	6	the	the	DET
ap-680	68	7	extended	extended	ADJ
ap-680	68	8	jacobian	jacobian	ADJ
ap-680	68	9	technique	technique	NOUN
ap-680	68	10	we	we	PRON
ap-680	68	11	have	have	AUX
ap-680	68	12	focused	focus	VERB
ap-680	68	13	on	on	ADP
ap-680	68	14	the	the	DET
ap-680	68	15	jacobian	jacobian	ADJ
ap-680	68	16	inversion	inversion	NOUN
ap-680	68	17	method	method	NOUN
ap-680	68	18	due	due	ADP
ap-680	68	19	to	to	ADP
ap-680	68	20	its	its	PRON
ap-680	68	21	mathematical	mathematical	ADJ
ap-680	68	22	simplicity	simplicity	NOUN
ap-680	68	23	and	and	CCONJ
ap-680	68	24	purity	purity	NOUN
ap-680	68	25	,	,	PUNCT
ap-680	68	26	as	as	SCONJ
ap-680	68	27	presented	present	VERB
ap-680	68	28	in	in	ADP
ap-680	68	29	[	[	X
ap-680	68	30	11	11	NUM
ap-680	68	31	]	]	PUNCT
ap-680	68	32	.	.	PUNCT
ap-680	69	1	we	we	PRON
ap-680	69	2	have	have	AUX
ap-680	69	3	also	also	ADV
ap-680	69	4	appreciated	appreciate	VERB
ap-680	69	5	the	the	DET
ap-680	69	6	extended	extended	ADJ
ap-680	69	7	jacobian	jacobian	ADJ
ap-680	69	8	technique	technique	NOUN
ap-680	69	9	suggested	suggest	VERB
ap-680	69	10	by	by	ADP
ap-680	69	11	baillieul	baillieul	NOUN
ap-680	69	12	in	in	ADP
ap-680	69	13	[	[	X
ap-680	69	14	2	2	NUM
ap-680	69	15	,	,	PUNCT
ap-680	69	16	3	3	NUM
ap-680	69	17	]	]	PUNCT
ap-680	69	18	.	.	PUNCT
ap-680	70	1	extension	extension	NOUN
ap-680	70	2	of	of	ADP
ap-680	70	3	the	the	DET
ap-680	70	4	jacobian	jacobian	ADJ
ap-680	70	5	,	,	PUNCT
ap-680	70	6	to	to	PART
ap-680	70	7	be	be	AUX
ap-680	70	8	an	an	DET
ap-680	70	9	every	every	DET
ap-680	70	10	-	-	PUNCT
ap-680	70	11	time	time	NOUN
ap-680	70	12	matrix	matrix	NOUN
ap-680	70	13	with	with	ADP
ap-680	70	14	rank	rank	NOUN
ap-680	70	15	at	at	ADP
ap-680	70	16	least	least	ADJ
ap-680	70	17	n	n	CCONJ
ap-680	70	18	,	,	PUNCT
ap-680	70	19	is	be	AUX
ap-680	70	20	the	the	DET
ap-680	70	21	only	only	ADJ
ap-680	70	22	way	way	NOUN
ap-680	70	23	to	to	PART
ap-680	70	24	avoid	avoid	VERB
ap-680	70	25	using	use	VERB
ap-680	70	26	pseudo	pseudo	NOUN
ap-680	70	27	-	-	NOUN
ap-680	70	28	inverse	inverse	NOUN
ap-680	70	29	and	and	CCONJ
ap-680	70	30	to	to	PART
ap-680	70	31	exploit	exploit	VERB
ap-680	70	32	standard	standard	ADJ
ap-680	70	33	gaussian	gaussian	ADJ
ap-680	70	34	inverse	inverse	NOUN
ap-680	70	35	.	.	PUNCT
ap-680	71	1	it	it	PRON
ap-680	71	2	is	be	AUX
ap-680	71	3	also	also	ADV
ap-680	71	4	possible	possible	ADJ
ap-680	71	5	to	to	PART
ap-680	71	6	employ	employ	VERB
ap-680	71	7	constraints	constraint	NOUN
ap-680	71	8	on	on	ADP
ap-680	71	9	the	the	DET
ap-680	71	10	structure	structure	NOUN
ap-680	71	11	and	and	CCONJ
ap-680	71	12	even	even	ADV
ap-680	71	13	on	on	ADP
ap-680	71	14	each	each	DET
ap-680	71	15	joint	joint	NOUN
ap-680	71	16	.	.	PUNCT
ap-680	72	1	however	however	ADV
ap-680	72	2	,	,	PUNCT
ap-680	72	3	the	the	DET
ap-680	72	4	constraints	constraint	NOUN
ap-680	72	5	have	have	VERB
ap-680	72	6	to	to	PART
ap-680	72	7	deal	deal	VERB
ap-680	72	8	with	with	ADP
ap-680	72	9	particular	particular	ADJ
ap-680	72	10	joints	joint	NOUN
ap-680	72	11	,	,	PUNCT
ap-680	72	12	which	which	PRON
ap-680	72	13	is	be	AUX
ap-680	72	14	more	more	ADV
ap-680	72	15	interesting	interesting	ADJ
ap-680	72	16	in	in	ADP
ap-680	72	17	the	the	DET
ap-680	72	18	targeted	target	VERB
ap-680	72	19	field	field	NOUN
ap-680	72	20	of	of	ADP
ap-680	72	21	computer	computer	NOUN
ap-680	72	22	animation	animation	NOUN
ap-680	72	23	.	.	PUNCT
ap-680	73	1	it	it	PRON
ap-680	73	2	is	be	AUX
ap-680	73	3	inappropriate	inappropriate	ADJ
ap-680	73	4	to	to	PART
ap-680	73	5	incorporate	incorporate	VERB
ap-680	73	6	some	some	DET
ap-680	73	7	objective	objective	ADJ
ap-680	73	8	-	-	PUNCT
ap-680	73	9	function	function	NOUN
ap-680	73	10	which	which	PRON
ap-680	73	11	is	be	AUX
ap-680	73	12	being	be	AUX
ap-680	73	13	optimized	optimize	VERB
ap-680	73	14	as	as	SCONJ
ap-680	73	15	was	be	AUX
ap-680	73	16	suggested	suggest	VERB
ap-680	73	17	in	in	ADP
ap-680	73	18	[	[	X
ap-680	73	19	2	2	NUM
ap-680	73	20	]	]	PUNCT
ap-680	73	21	,	,	PUNCT
ap-680	73	22	which	which	PRON
ap-680	73	23	is	be	AUX
ap-680	73	24	more	more	ADV
ap-680	73	25	useful	useful	ADJ
ap-680	73	26	in	in	ADP
ap-680	73	27	robotics	robotic	NOUN
ap-680	73	28	for	for	ADP
ap-680	73	29	which	which	PRON
ap-680	73	30	this	this	DET
ap-680	73	31	method	method	NOUN
ap-680	73	32	was	be	AUX
ap-680	73	33	originally	originally	ADV
ap-680	73	34	developed	develop	VERB
ap-680	73	35	.	.	PUNCT
ap-680	74	1	the	the	DET
ap-680	74	2	other	other	ADJ
ap-680	74	3	motivation	motivation	NOUN
ap-680	74	4	for	for	ADP
ap-680	74	5	herein	herein	NOUN
ap-680	74	6	presented	present	VERB
ap-680	74	7	method	method	NOUN
ap-680	74	8	is	be	AUX
ap-680	74	9	the	the	DET
ap-680	74	10	absence	absence	NOUN
ap-680	74	11	of	of	ADP
ap-680	74	12	similarly	similarly	ADV
ap-680	74	13	-	-	PUNCT
ap-680	74	14	based	base	VERB
ap-680	74	15	approaches	approach	NOUN
ap-680	74	16	in	in	ADP
ap-680	74	17	computer	computer	NOUN
ap-680	74	18	animation	animation	NOUN
ap-680	74	19	.	.	PUNCT
ap-680	75	1	this	this	PRON
ap-680	75	2	is	be	AUX
ap-680	75	3	probably	probably	ADV
ap-680	75	4	caused	cause	VERB
ap-680	75	5	by	by	ADP
ap-680	75	6	the	the	DET
ap-680	75	7	high	high	ADJ
ap-680	75	8	computational	computational	ADJ
ap-680	75	9	complexity	complexity	NOUN
ap-680	75	10	for	for	ADP
ap-680	75	11	real	real	ADJ
ap-680	75	12	-	-	PUNCT
ap-680	75	13	time	time	NOUN
ap-680	75	14	applications	application	NOUN
ap-680	75	15	.	.	PUNCT
ap-680	76	1	thus	thus	ADV
ap-680	76	2	performance	performance	NOUN
ap-680	76	3	optimization	optimization	NOUN
ap-680	76	4	of	of	ADP
ap-680	76	5	presented	present	VERB
ap-680	76	6	approach	approach	NOUN
ap-680	76	7	is	be	AUX
ap-680	76	8	a	a	DET
ap-680	76	9	future	future	ADJ
ap-680	76	10	goal	goal	NOUN
ap-680	76	11	.	.	PUNCT
ap-680	77	1	2.1	2.1	NUM
ap-680	77	2	notation	notation	NOUN
ap-680	77	3	and	and	CCONJ
ap-680	77	4	numbering	number	VERB
ap-680	77	5	this	this	DET
ap-680	77	6	section	section	NOUN
ap-680	77	7	will	will	AUX
ap-680	77	8	provide	provide	VERB
ap-680	77	9	an	an	DET
ap-680	77	10	explanation	explanation	NOUN
ap-680	77	11	of	of	ADP
ap-680	77	12	the	the	DET
ap-680	77	13	indexing	indexing	NOUN
ap-680	77	14	of	of	ADP
ap-680	77	15	the	the	DET
ap-680	77	16	segments	segment	NOUN
ap-680	77	17	and	and	CCONJ
ap-680	77	18	joints	joint	NOUN
ap-680	77	19	,	,	PUNCT
ap-680	77	20	for	for	ADP
ap-680	77	21	better	well	ADJ
ap-680	77	22	orientation	orientation	NOUN
ap-680	77	23	in	in	ADP
ap-680	77	24	the	the	DET
ap-680	77	25	further	further	ADJ
ap-680	77	26	text	text	NOUN
ap-680	77	27	.	.	PUNCT
ap-680	78	1	the	the	DET
ap-680	78	2	articulated	articulated	ADJ
ap-680	78	3	structure	structure	NOUN
ap-680	78	4	consists	consist	VERB
ap-680	78	5	of	of	ADP
ap-680	78	6	n	n	PRON
ap-680	78	7	segments	segment	NOUN
ap-680	78	8	l0	l0	PROPN
ap-680	78	9	,	,	PUNCT
ap-680	78	10	…	…	PUNCT
ap-680	78	11	,	,	PUNCT
ap-680	78	12	ln	ln	X
ap-680	78	13	�	�	PROPN
ap-680	78	14	1	1	NUM
ap-680	78	15	and	and	CCONJ
ap-680	78	16	n	n	PROPN
ap-680	78	17	joints	joint	NOUN
ap-680	78	18	0	0	NUM
ap-680	78	19	,	,	PUNCT
ap-680	78	20	…	…	PUNCT
ap-680	78	21	,	,	PUNCT
ap-680	78	22	n	n	X
ap-680	78	23	�	�	PROPN
ap-680	78	24	1	1	NUM
ap-680	78	25	.	.	PUNCT
ap-680	79	1	the	the	DET
ap-680	79	2	end	end	NOUN
ap-680	79	3	-	-	PUNCT
ap-680	79	4	effector	effector	NOUN
ap-680	79	5	is	be	AUX
ap-680	79	6	seen	see	VERB
ap-680	79	7	as	as	ADP
ap-680	79	8	the	the	DET
ap-680	79	9	n	n	NUM
ap-680	79	10	�	�	PROPN
ap-680	79	11	1	1	NUM
ap-680	79	12	-	-	PUNCT
ap-680	79	13	th	th	X
ap-680	79	14	joint	joint	NOUN
ap-680	79	15	,	,	PUNCT
ap-680	79	16	designated	designate	VERB
ap-680	79	17	by	by	ADP
ap-680	79	18	symbol	symbol	NOUN
ap-680	79	19	n.	n.	PROPN
ap-680	79	20	the	the	DET
ap-680	79	21	angles	angle	NOUN
ap-680	79	22	between	between	ADP
ap-680	79	23	the	the	DET
ap-680	79	24	adjacent	adjacent	ADJ
ap-680	79	25	segments	segment	NOUN
ap-680	79	26	are	be	AUX
ap-680	79	27	represented	represent	VERB
ap-680	79	28	by	by	ADP
ap-680	79	29	status	status	NOUN
ap-680	79	30	vector	vector	PROPN
ap-680	79	31	q	q	NOUN
ap-680	79	32	with	with	ADP
ap-680	79	33	q0	q0	PROPN
ap-680	79	34	,	,	PUNCT
ap-680	79	35	…	…	PUNCT
ap-680	79	36	,	,	PUNCT
ap-680	79	37	qn	qn	PROPN
ap-680	79	38	�	�	PROPN
ap-680	79	39	1	1	NUM
ap-680	79	40	items	item	NOUN
ap-680	79	41	.	.	PUNCT
ap-680	80	1	we	we	PRON
ap-680	80	2	assume	assume	VERB
ap-680	80	3	the	the	DET
ap-680	80	4	structure	structure	NOUN
ap-680	80	5	in	in	ADP
ap-680	80	6	fig	fig	NOUN
ap-680	80	7	.	.	PUNCT
ap-680	81	1	1	1	NUM
ap-680	81	2	with	with	ADP
ap-680	81	3	4	4	NUM
ap-680	81	4	segments	segment	NOUN
ap-680	81	5	l0	l0	PROPN
ap-680	81	6	,	,	PUNCT
ap-680	81	7	l1	l1	PROPN
ap-680	81	8	,	,	PUNCT
ap-680	81	9	l2	l2	NOUN
ap-680	81	10	,	,	PUNCT
ap-680	81	11	l3	l3	NOUN
ap-680	81	12	,	,	PUNCT
ap-680	81	13	4	4	NUM
ap-680	81	14	joints	joint	NOUN
ap-680	81	15	0	0	NUM
ap-680	81	16	,	,	PUNCT
ap-680	81	17	1	1	NUM
ap-680	81	18	,	,	PUNCT
ap-680	81	19	2	2	NUM
ap-680	81	20	,	,	PUNCT
ap-680	81	21	3	3	NUM
ap-680	81	22	and	and	CCONJ
ap-680	81	23	the	the	DET
ap-680	81	24	end	end	NOUN
ap-680	81	25	-	-	PUNCT
ap-680	81	26	effector	effector	NOUN
ap-680	81	27	labeled	label	VERB
ap-680	81	28	with	with	ADP
ap-680	81	29	number	number	NOUN
ap-680	81	30	4	4	NUM
ap-680	81	31	.	.	PUNCT
ap-680	81	32	status	status	NOUN
ap-680	81	33	vector	vector	PROPN
ap-680	81	34	q	q	PROPN
ap-680	81	35	contains	contain	VERB
ap-680	81	36	4	4	NUM
ap-680	81	37	elements	element	NOUN
ap-680	81	38	q0	q0	PROPN
ap-680	81	39	,	,	PUNCT
ap-680	81	40	q1	q1	PROPN
ap-680	81	41	,	,	PUNCT
ap-680	81	42	q2	q2	NOUN
ap-680	81	43	,	,	PUNCT
ap-680	81	44	q3	q3	PROPN
ap-680	81	45	.	.	PUNCT
ap-680	82	1	2.2	2.2	NUM
ap-680	82	2	treating	treat	VERB
ap-680	82	3	an	an	DET
ap-680	82	4	articulated	articulated	ADJ
ap-680	82	5	structure	structure	NOUN
ap-680	82	6	it	it	PRON
ap-680	82	7	is	be	AUX
ap-680	82	8	necessary	necessary	ADJ
ap-680	82	9	to	to	PART
ap-680	82	10	extend	extend	VERB
ap-680	82	11	the	the	DET
ap-680	82	12	jacobian	jacobian	ADJ
ap-680	82	13	,	,	PUNCT
ap-680	82	14	as	as	SCONJ
ap-680	82	15	was	be	AUX
ap-680	82	16	stated	state	VERB
ap-680	82	17	above	above	ADV
ap-680	82	18	,	,	PUNCT
ap-680	82	19	in	in	ADP
ap-680	82	20	order	order	NOUN
ap-680	82	21	to	to	PART
ap-680	82	22	avoid	avoid	VERB
ap-680	82	23	problems	problem	NOUN
ap-680	82	24	coming	come	VERB
ap-680	82	25	from	from	ADP
ap-680	82	26	usage	usage	NOUN
ap-680	82	27	of	of	ADP
ap-680	82	28	pseudo	pseudo	NOUN
ap-680	82	29	-	-	NOUN
ap-680	82	30	inverse	inverse	ADJ
ap-680	82	31	.	.	PUNCT
ap-680	83	1	it	it	PRON
ap-680	83	2	seems	seem	VERB
ap-680	83	3	natural	natural	ADJ
ap-680	83	4	to	to	PART
ap-680	83	5	control	control	VERB
ap-680	83	6	every	every	DET
ap-680	83	7	joint	joint	NOUN
ap-680	83	8	of	of	ADP
ap-680	83	9	an	an	DET
ap-680	83	10	articulated	articulated	ADJ
ap-680	83	11	structure	structure	NOUN
ap-680	83	12	by	by	ADP
ap-680	83	13	some	some	DET
ap-680	83	14	physical	physical	ADJ
ap-680	83	15	characteristic	characteristic	NOUN
ap-680	83	16	–	–	PUNCT
ap-680	83	17	for	for	ADP
ap-680	83	18	instance	instance	NOUN
ap-680	83	19	by	by	ADP
ap-680	83	20	its	its	PRON
ap-680	83	21	22	22	NUM
ap-680	83	22	©	©	PROPN
ap-680	83	23	czech	czech	PROPN
ap-680	83	24	technical	technical	PROPN
ap-680	83	25	university	university	PROPN
ap-680	83	26	publishing	publishing	NOUN
ap-680	83	27	house	house	NOUN
ap-680	83	28	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-680	83	29	acta	acta	PROPN
ap-680	83	30	polytechnica	polytechnica	PROPN
ap-680	83	31	vol	vol	NOUN
ap-680	83	32	.	.	PROPN
ap-680	84	1	45	45	NUM
ap-680	84	2	no	no	NOUN
ap-680	84	3	.	.	PUNCT
ap-680	85	1	2/2005	2/2005	NUM
ap-680	85	2	czech	czech	PROPN
ap-680	85	3	technical	technical	PROPN
ap-680	85	4	university	university	PROPN
ap-680	85	5	in	in	ADP
ap-680	85	6	prague	prague	PROPN
ap-680	85	7	q0	q0	PROPN
ap-680	85	8	q1	q1	PROPN
ap-680	85	9	q2	q2	PROPN
ap-680	85	10	q3	q3	PROPN
ap-680	85	11	ee	ee	PROPN
ap-680	85	12	l2	l2	PROPN
ap-680	85	13	l3	l3	PROPN
ap-680	85	14	l1	l1	PROPN
ap-680	85	15	l0	l0	PROPN
ap-680	86	1	x	x	PUNCT
ap-680	86	2	y	y	PROPN
ap-680	86	3	fig	fig	NOUN
ap-680	86	4	.	.	PUNCT
ap-680	87	1	1	1	NUM
ap-680	87	2	:	:	PUNCT
ap-680	87	3	articulated	articulated	ADJ
ap-680	87	4	structure	structure	NOUN
ap-680	87	5	with	with	ADP
ap-680	87	6	notation	notation	NOUN
ap-680	87	7	and	and	CCONJ
ap-680	87	8	numbering	number	VERB
ap-680	87	9	joint	joint	ADJ
ap-680	87	10	-	-	PUNCT
ap-680	87	11	stiffness	stiffness	NOUN
ap-680	87	12	–	–	PUNCT
ap-680	87	13	rather	rather	ADV
ap-680	87	14	than	than	ADP
ap-680	87	15	by	by	ADP
ap-680	87	16	setting	set	VERB
ap-680	87	17	its	its	PRON
ap-680	87	18	angle	angle	NOUN
ap-680	87	19	value	value	NOUN
ap-680	87	20	.	.	PUNCT
ap-680	88	1	thus	thus	ADV
ap-680	88	2	we	we	PRON
ap-680	88	3	decided	decide	VERB
ap-680	88	4	to	to	PART
ap-680	88	5	treat	treat	VERB
ap-680	88	6	articulated	articulated	ADJ
ap-680	88	7	structures	structure	NOUN
ap-680	88	8	by	by	ADP
ap-680	88	9	pairs	pair	NOUN
ap-680	88	10	instead	instead	ADV
ap-680	88	11	of	of	ADP
ap-680	88	12	manipulating	manipulate	VERB
ap-680	88	13	them	they	PRON
ap-680	88	14	in	in	ADP
ap-680	88	15	their	their	PRON
ap-680	88	16	entirety	entirety	NOUN
ap-680	88	17	.	.	PUNCT
ap-680	89	1	we	we	PRON
ap-680	89	2	assumed	assume	VERB
ap-680	89	3	that	that	SCONJ
ap-680	89	4	a	a	DET
ap-680	89	5	complete	complete	ADJ
ap-680	89	6	articulated	articulated	ADJ
ap-680	89	7	structure	structure	NOUN
ap-680	89	8	consists	consist	VERB
ap-680	89	9	of	of	ADP
ap-680	89	10	basic	basic	ADJ
ap-680	89	11	elements	element	NOUN
ap-680	89	12	–	–	PUNCT
ap-680	89	13	two	two	NUM
ap-680	89	14	segments	segment	NOUN
ap-680	89	15	connected	connect	VERB
ap-680	89	16	by	by	ADP
ap-680	89	17	a	a	DET
ap-680	89	18	joint	joint	NOUN
ap-680	89	19	,	,	PUNCT
ap-680	89	20	as	as	SCONJ
ap-680	89	21	is	be	AUX
ap-680	89	22	shown	show	VERB
ap-680	89	23	in	in	ADP
ap-680	89	24	fig	fig	NOUN
ap-680	89	25	.	.	PUNCT
ap-680	90	1	2	2	X
ap-680	90	2	.	.	X
ap-680	90	3	using	use	VERB
ap-680	90	4	many	many	ADJ
ap-680	90	5	of	of	ADP
ap-680	90	6	these	these	DET
ap-680	90	7	basic	basic	ADJ
ap-680	90	8	elements	element	NOUN
ap-680	90	9	,	,	PUNCT
ap-680	90	10	it	it	PRON
ap-680	90	11	is	be	AUX
ap-680	90	12	easy	easy	ADJ
ap-680	90	13	to	to	PART
ap-680	90	14	create	create	VERB
ap-680	90	15	an	an	DET
ap-680	90	16	articulated	articulated	ADJ
ap-680	90	17	structure	structure	NOUN
ap-680	90	18	with	with	ADP
ap-680	90	19	n>2	n>2	ADJ
ap-680	90	20	segments	segment	NOUN
ap-680	90	21	.	.	PUNCT
ap-680	91	1	at	at	ADP
ap-680	91	2	each	each	DET
ap-680	91	3	basic	basic	ADJ
ap-680	91	4	element	element	NOUN
ap-680	91	5	its	its	PRON
ap-680	91	6	behavior	behavior	NOUN
ap-680	91	7	can	can	AUX
ap-680	91	8	be	be	AUX
ap-680	91	9	controlled	control	VERB
ap-680	91	10	.	.	PUNCT
ap-680	92	1	the	the	DET
ap-680	92	2	basic	basic	ADJ
ap-680	92	3	element	element	NOUN
ap-680	92	4	is	be	AUX
ap-680	92	5	described	describe	VERB
ap-680	92	6	by	by	ADP
ap-680	92	7	two	two	NUM
ap-680	92	8	quantities	quantity	NOUN
ap-680	92	9	–	–	PUNCT
ap-680	92	10	either	either	CCONJ
ap-680	92	11	[	[	X
ap-680	92	12	x	x	X
ap-680	92	13	,	,	PUNCT
ap-680	92	14	y	y	PROPN
ap-680	92	15	]	]	X
ap-680	92	16	in	in	ADP
ap-680	92	17	cartesian	cartesian	ADJ
ap-680	92	18	coordinates	coordinate	NOUN
ap-680	92	19	or	or	CCONJ
ap-680	92	20	[	[	X
ap-680	92	21	l	l	NOUN
ap-680	92	22	,	,	PUNCT
ap-680	92	23	�	�	PROPN
ap-680	92	24	]	]	PUNCT
ap-680	92	25	in	in	ADP
ap-680	92	26	angle	angle	NOUN
ap-680	92	27	coordinates	coordinate	NOUN
ap-680	92	28	.	.	PUNCT
ap-680	93	1	the	the	DET
ap-680	93	2	basic	basic	ADJ
ap-680	93	3	elements	element	NOUN
ap-680	93	4	constituting	constitute	VERB
ap-680	93	5	a	a	DET
ap-680	93	6	complex	complex	ADJ
ap-680	93	7	structure	structure	NOUN
ap-680	93	8	are	be	AUX
ap-680	93	9	not	not	PART
ap-680	93	10	connected	connect	VERB
ap-680	93	11	at	at	ADP
ap-680	93	12	the	the	DET
ap-680	93	13	end	end	NOUN
ap-680	93	14	-	-	PUNCT
ap-680	93	15	points	point	NOUN
ap-680	93	16	,	,	PUNCT
ap-680	93	17	but	but	CCONJ
ap-680	93	18	the	the	DET
ap-680	93	19	next	next	ADJ
ap-680	93	20	basic	basic	ADJ
ap-680	93	21	element	element	NOUN
ap-680	93	22	is	be	AUX
ap-680	93	23	connected	connect	VERB
ap-680	93	24	into	into	ADP
ap-680	93	25	medial	medial	ADJ
ap-680	93	26	joint	joint	NOUN
ap-680	93	27	of	of	ADP
ap-680	93	28	its	its	PRON
ap-680	93	29	predecessor	predecessor	NOUN
ap-680	93	30	,	,	PUNCT
ap-680	93	31	so	so	SCONJ
ap-680	93	32	they	they	PRON
ap-680	93	33	share	share	VERB
ap-680	93	34	one	one	NUM
ap-680	93	35	segment	segment	NOUN
ap-680	93	36	of	of	ADP
ap-680	93	37	the	the	DET
ap-680	93	38	final	final	ADJ
ap-680	93	39	complex	complex	ADJ
ap-680	93	40	structure	structure	NOUN
ap-680	93	41	.	.	PUNCT
ap-680	94	1	each	each	DET
ap-680	94	2	basic	basic	ADJ
ap-680	94	3	element	element	NOUN
ap-680	94	4	is	be	AUX
ap-680	94	5	labeled	label	VERB
ap-680	94	6	by	by	ADP
ap-680	94	7	a	a	DET
ap-680	94	8	pair	pair	NOUN
ap-680	94	9	of	of	ADP
ap-680	94	10	joint	joint	ADJ
ap-680	94	11	numbers	number	NOUN
ap-680	94	12	within	within	ADP
ap-680	94	13	the	the	DET
ap-680	94	14	structure	structure	NOUN
ap-680	94	15	–	–	PUNCT
ap-680	94	16	i	i	PRON
ap-680	94	17	:	:	PUNCT
ap-680	94	18	i	i	PRON
ap-680	94	19	�	�	VERB
ap-680	94	20	2	2	NUM
ap-680	94	21	where	where	SCONJ
ap-680	94	22	i	i	PRON
ap-680	94	23	is	be	AUX
ap-680	94	24	the	the	DET
ap-680	94	25	joint	joint	NOUN
ap-680	94	26	where	where	SCONJ
ap-680	94	27	the	the	DET
ap-680	94	28	first	first	ADJ
ap-680	94	29	segment	segment	NOUN
ap-680	94	30	starts	start	VERB
ap-680	94	31	and	and	CCONJ
ap-680	94	32	i	i	PRON
ap-680	94	33	�	�	NOUN
ap-680	94	34	2	2	NUM
ap-680	94	35	is	be	AUX
ap-680	94	36	the	the	DET
ap-680	94	37	joint	joint	NOUN
ap-680	94	38	where	where	SCONJ
ap-680	94	39	the	the	DET
ap-680	94	40	second	second	ADJ
ap-680	94	41	(	(	PUNCT
ap-680	94	42	and	and	CCONJ
ap-680	94	43	last	last	ADJ
ap-680	94	44	)	)	PUNCT
ap-680	94	45	segment	segment	NOUN
ap-680	94	46	finishes	finish	NOUN
ap-680	94	47	.	.	PUNCT
ap-680	95	1	each	each	DET
ap-680	95	2	basic	basic	ADJ
ap-680	95	3	element	element	NOUN
ap-680	95	4	lies	lie	VERB
ap-680	95	5	in	in	ADP
ap-680	95	6	its	its	PRON
ap-680	95	7	local	local	ADJ
ap-680	95	8	coordinate	coordinate	NOUN
ap-680	95	9	system	system	NOUN
ap-680	95	10	,	,	PUNCT
ap-680	95	11	i.e.	i.e.	X
ap-680	95	12	,	,	PUNCT
ap-680	95	13	the	the	DET
ap-680	95	14	coordinates	coordinate	NOUN
ap-680	95	15	[	[	X
ap-680	95	16	xi	xi	X
ap-680	95	17	,	,	PUNCT
ap-680	95	18	i	i	PRON
ap-680	95	19	�	�	PROPN
ap-680	95	20	1	1	NUM
ap-680	95	21	,	,	PUNCT
ap-680	95	22	yi	yi	PROPN
ap-680	95	23	,	,	PUNCT
ap-680	95	24	i	i	PRON
ap-680	95	25	�	�	PROPN
ap-680	95	26	1	1	NUM
ap-680	95	27	]	]	PUNCT
ap-680	95	28	or	or	CCONJ
ap-680	95	29	[	[	X
ap-680	95	30	li	li	X
ap-680	95	31	,	,	PUNCT
ap-680	95	32	i	i	PRON
ap-680	95	33	�	�	PROPN
ap-680	95	34	1	1	NUM
ap-680	95	35	,	,	PUNCT
ap-680	95	36	�	�	PROPN
ap-680	95	37	i	i	PRON
ap-680	95	38	,	,	PUNCT
ap-680	95	39	i	i	PRON
ap-680	95	40	�	�	PROPN
ap-680	95	41	1	1	NUM
ap-680	95	42	]	]	PUNCT
ap-680	95	43	are	be	AUX
ap-680	95	44	relative	relative	ADJ
ap-680	95	45	.	.	PUNCT
ap-680	96	1	the	the	DET
ap-680	96	2	cartesian	cartesian	ADJ
ap-680	96	3	coordinates	coordinate	NOUN
ap-680	96	4	of	of	ADP
ap-680	96	5	the	the	DET
ap-680	96	6	basic	basic	ADJ
ap-680	96	7	element	element	NOUN
ap-680	96	8	i	i	PRON
ap-680	96	9	:	:	PUNCT
ap-680	96	10	i	i	PROPN
ap-680	96	11	�	�	NOUN
ap-680	96	12	2	2	NUM
ap-680	96	13	are	be	AUX
ap-680	96	14	computed	compute	VERB
ap-680	96	15	by	by	ADP
ap-680	96	16	x	x	X
ap-680	96	17	l	l	NOUN
ap-680	96	18	q	q	X
ap-680	96	19	y	y	NOUN
ap-680	96	20	l	l	NOUN
ap-680	96	21	qi	qi	PROPN
ap-680	97	1	i	i	PRON
ap-680	97	2	j	j	PROPN
ap-680	98	1	j	j	INTJ
ap-680	99	1	ij	ij	INTJ
ap-680	99	2	i	i	PRON
ap-680	100	1	i	i	PRON
ap-680	100	2	i	i	PRON
ap-680	101	1	i	i	PRON
ap-680	101	2	j	j	VERB
ap-680	102	1	j	j	INTJ
ap-680	103	1	ij	ij	INTJ
ap-680	103	2	i	i	PRON
ap-680	104	1	i	i	PRON
ap-680	104	2	,	,	PUNCT
ap-680	104	3	,	,	PUNCT
ap-680	104	4	cos	cos	PROPN
ap-680	104	5	,	,	PUNCT
ap-680	104	6	sin	sin	NOUN
ap-680	104	7	,	,	PUNCT
ap-680	104	8	�	�	PROPN
ap-680	104	9	�	�	PROPN
ap-680	104	10	�	�	PROPN
ap-680	104	11	�	�	PROPN
ap-680	104	12	�	�	PROPN
ap-680	104	13	�	�	PROPN
ap-680	104	14	�	�	PROPN
ap-680	104	15	�	�	PROPN
ap-680	104	16	�	�	PROPN
ap-680	104	17	�	�	PROPN
ap-680	104	18	1	1	NUM
ap-680	104	19	1	1	NUM
ap-680	104	20	1	1	NUM
ap-680	104	21	1	1	NUM
ap-680	104	22	(	(	PUNCT
ap-680	104	23	8)	8)	NUM
ap-680	104	24	where	where	SCONJ
ap-680	104	25	q	q	PROPN
ap-680	105	1	qj	qj	INTJ
ap-680	106	1	i	i	PRON
ap-680	106	2	k	k	PROPN
ap-680	107	1	k	k	PROPN
ap-680	107	2	i	i	PRON
ap-680	107	3	j	j	PROPN
ap-680	107	4	�	�	PROPN
ap-680	107	5	�	�	PROPN
ap-680	107	6	�	�	PROPN
ap-680	107	7	.	.	PUNCT
ap-680	108	1	its	its	PRON
ap-680	108	2	origin	origin	NOUN
ap-680	108	3	is	be	AUX
ap-680	108	4	at	at	ADP
ap-680	108	5	the	the	DET
ap-680	108	6	beginning	beginning	NOUN
ap-680	108	7	of	of	ADP
ap-680	108	8	the	the	DET
ap-680	108	9	corresponding	corresponding	ADJ
ap-680	108	10	basic	basic	ADJ
ap-680	108	11	element	element	NOUN
ap-680	108	12	and	and	CCONJ
ap-680	108	13	is	be	AUX
ap-680	108	14	rotated	rotate	VERB
ap-680	108	15	by	by	ADP
ap-680	108	16	an	an	DET
ap-680	108	17	angle	angle	NOUN
ap-680	108	18	equal	equal	ADJ
ap-680	108	19	to	to	ADP
ap-680	108	20	the	the	DET
ap-680	108	21	sum	sum	NOUN
ap-680	108	22	of	of	ADP
ap-680	108	23	the	the	DET
ap-680	108	24	previous	previous	ADJ
ap-680	108	25	angles	angle	NOUN
ap-680	108	26	from	from	ADP
ap-680	108	27	the	the	DET
ap-680	108	28	status	status	NOUN
ap-680	108	29	vector	vector	NOUN
ap-680	108	30	.	.	PUNCT
ap-680	109	1	for	for	ADP
ap-680	109	2	example	example	NOUN
ap-680	109	3	,	,	PUNCT
ap-680	109	4	in	in	ADP
ap-680	109	5	fig	fig	NOUN
ap-680	109	6	.	.	PUNCT
ap-680	110	1	3	3	NUM
ap-680	110	2	,	,	PUNCT
ap-680	110	3	where	where	SCONJ
ap-680	110	4	three	three	NUM
ap-680	110	5	basic	basic	ADJ
ap-680	110	6	elements	element	NOUN
ap-680	110	7	0:2	0:2	NUM
ap-680	110	8	,	,	PUNCT
ap-680	110	9	1:3	1:3	NUM
ap-680	110	10	and	and	CCONJ
ap-680	110	11	2:4	2:4	NUM
ap-680	110	12	form	form	VERB
ap-680	110	13	the	the	DET
ap-680	110	14	complete	complete	ADJ
ap-680	110	15	structure	structure	NOUN
ap-680	110	16	,	,	PUNCT
ap-680	110	17	we	we	PRON
ap-680	110	18	assume	assume	VERB
ap-680	110	19	a	a	DET
ap-680	110	20	basic	basic	ADJ
ap-680	110	21	element	element	NOUN
ap-680	110	22	2:4	2:4	NUM
ap-680	110	23	described	describe	VERB
ap-680	110	24	by	by	ADP
ap-680	110	25	[	[	X
ap-680	110	26	l23	l23	NOUN
ap-680	110	27	,	,	PUNCT
ap-680	110	28	�	�	PROPN
ap-680	110	29	23	23	NUM
ap-680	110	30	]	]	PUNCT
ap-680	110	31	,	,	PUNCT
ap-680	110	32	its	its	PRON
ap-680	110	33	coordinate	coordinate	NOUN
ap-680	110	34	system	system	NOUN
ap-680	110	35	origin	origin	NOUN
ap-680	110	36	lies	lie	VERB
ap-680	110	37	at	at	ADP
ap-680	110	38	the	the	DET
ap-680	110	39	end	end	NOUN
ap-680	110	40	of	of	ADP
ap-680	110	41	the	the	DET
ap-680	110	42	second	second	ADJ
ap-680	110	43	segment	segment	NOUN
ap-680	110	44	l1	l1	PROPN
ap-680	110	45	and	and	CCONJ
ap-680	110	46	is	be	AUX
ap-680	110	47	rotated	rotate	VERB
ap-680	110	48	by	by	ADP
ap-680	110	49	angle	angle	NOUN
ap-680	110	50	qi	qi	PROPN
ap-680	110	51	i	i	PROPN
ap-680	110	52	�	�	PROPN
ap-680	110	53	�	�	PROPN
ap-680	110	54	0	0	NUM
ap-680	110	55	1	1	NUM
ap-680	110	56	.	.	PUNCT
ap-680	111	1	2.3	2.3	NUM
ap-680	111	2	extending	extend	VERB
ap-680	111	3	jacobian	jacobian	NOUN
ap-680	111	4	according	accord	VERB
ap-680	111	5	to	to	ADP
ap-680	111	6	the	the	DET
ap-680	111	7	preceding	precede	VERB
ap-680	111	8	section	section	NOUN
ap-680	111	9	we	we	PRON
ap-680	111	10	can	can	AUX
ap-680	111	11	obtain	obtain	VERB
ap-680	111	12	the	the	DET
ap-680	111	13	jacobian	jacobian	NOUN
ap-680	111	14	with	with	ADP
ap-680	111	15	rank	rank	NOUN
ap-680	111	16	at	at	ADP
ap-680	111	17	most	most	ADV
ap-680	111	18	n	n	CCONJ
ap-680	111	19	�	�	PROPN
ap-680	111	20	1	1	NUM
ap-680	111	21	–	–	PUNCT
ap-680	111	22	the	the	DET
ap-680	111	23	number	number	NOUN
ap-680	111	24	of	of	ADP
ap-680	111	25	pairs	pair	NOUN
ap-680	111	26	in	in	ADP
ap-680	111	27	a	a	DET
ap-680	111	28	complex	complex	ADJ
ap-680	111	29	structure	structure	NOUN
ap-680	111	30	.	.	PUNCT
ap-680	112	1	this	this	PRON
ap-680	112	2	is	be	AUX
ap-680	112	3	not	not	PART
ap-680	112	4	enough	enough	ADJ
ap-680	112	5	to	to	PART
ap-680	112	6	avoid	avoid	VERB
ap-680	112	7	problems	problem	NOUN
ap-680	112	8	with	with	ADP
ap-680	112	9	the	the	DET
ap-680	112	10	jacobian	jacobian	PROPN
ap-680	112	11	’s	’s	PART
ap-680	112	12	singularity	singularity	NOUN
ap-680	112	13	.	.	PUNCT
ap-680	113	1	hence	hence	ADV
ap-680	113	2	these	these	DET
ap-680	113	3	rows	row	NOUN
ap-680	113	4	are	be	AUX
ap-680	113	5	added	add	VERB
ap-680	113	6	into	into	ADP
ap-680	113	7	the	the	DET
ap-680	113	8	standard	standard	ADJ
ap-680	113	9	jacobian	jacobian	PROPN
ap-680	113	10	used	use	VERB
ap-680	113	11	for	for	ADP
ap-680	113	12	solving	solve	VERB
ap-680	113	13	(	(	PUNCT
ap-680	113	14	3	3	NUM
ap-680	113	15	)	)	PUNCT
ap-680	113	16	–	–	PUNCT
ap-680	113	17	the	the	DET
ap-680	113	18	rows	row	NOUN
ap-680	113	19	in	in	ADP
ap-680	113	20	the	the	DET
ap-680	113	21	standard	standard	ADJ
ap-680	113	22	jacobian	jacobian	PROPN
ap-680	113	23	represent	represent	VERB
ap-680	113	24	the	the	DET
ap-680	113	25	main	main	ADJ
ap-680	113	26	link	link	NOUN
ap-680	113	27	0	0	NUM
ap-680	113	28	�	�	PROPN
ap-680	113	29	n	n	CCONJ
ap-680	113	30	(	(	PUNCT
ap-680	113	31	base	base	NOUN
ap-680	113	32	to	to	PART
ap-680	113	33	end	end	VERB
ap-680	113	34	-	-	PUNCT
ap-680	113	35	effector	effector	NOUN
ap-680	113	36	)	)	PUNCT
ap-680	113	37	.	.	PUNCT
ap-680	114	1	then	then	ADV
ap-680	114	2	the	the	DET
ap-680	114	3	jacobian	jacobian	ADJ
ap-680	114	4	looks	look	VERB
ap-680	114	5	as	as	SCONJ
ap-680	114	6	presented	present	VERB
ap-680	114	7	in	in	ADP
ap-680	114	8	equation	equation	NOUN
ap-680	114	9	(	(	PUNCT
ap-680	114	10	9	9	NUM
ap-680	114	11	)	)	PUNCT
ap-680	114	12	.	.	PUNCT
ap-680	115	1	using	use	VERB
ap-680	115	2	such	such	DET
ap-680	115	3	a	a	DET
ap-680	115	4	jacobian	jacobian	ADJ
ap-680	115	5	extension	extension	NOUN
ap-680	115	6	we	we	PRON
ap-680	115	7	can	can	AUX
ap-680	115	8	control	control	VERB
ap-680	115	9	the	the	DET
ap-680	115	10	end	end	NOUN
ap-680	115	11	-	-	PUNCT
ap-680	115	12	effector	effector	NOUN
ap-680	115	13	and	and	CCONJ
ap-680	115	14	also	also	ADV
ap-680	115	15	the	the	DET
ap-680	115	16	behavior	behavior	NOUN
ap-680	115	17	of	of	ADP
ap-680	115	18	the	the	DET
ap-680	115	19	inner	inner	ADJ
ap-680	115	20	joints	joint	NOUN
ap-680	115	21	.	.	PUNCT
ap-680	116	1	©	©	PROPN
ap-680	116	2	czech	czech	PROPN
ap-680	116	3	technical	technical	PROPN
ap-680	116	4	university	university	PROPN
ap-680	116	5	publishing	publishing	NOUN
ap-680	116	6	house	house	NOUN
ap-680	116	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-680	116	8	23	23	NUM
ap-680	116	9	czech	czech	PROPN
ap-680	116	10	technical	technical	PROPN
ap-680	116	11	university	university	PROPN
ap-680	116	12	in	in	ADP
ap-680	116	13	prague	prague	PROPN
ap-680	116	14	acta	acta	PROPN
ap-680	116	15	polytechnica	polytechnica	PROPN
ap-680	116	16	vol	vol	NOUN
ap-680	116	17	.	.	PROPN
ap-680	117	1	45	45	NUM
ap-680	117	2	no	no	NOUN
ap-680	117	3	.	.	PUNCT
ap-680	118	1	2/2005	2/2005	NUM
ap-680	118	2	q0	q0	VERB
ap-680	118	3	q	q	PROPN
ap-680	118	4	l	l	NOUN
ap-680	118	5	l	l	NOUN
ap-680	118	6	l	l	NOUN
ap-680	118	7	1	1	NUM
ap-680	118	8	1	1	NUM
ap-680	118	9	0	0	NUM
ap-680	118	10	�	�	PROPN
ap-680	118	11	x	x	SYM
ap-680	118	12	y	y	PROPN
ap-680	118	13	fig	fig	NOUN
ap-680	118	14	.	.	PUNCT
ap-680	119	1	2	2	NUM
ap-680	119	2	:	:	PUNCT
ap-680	119	3	a	a	DET
ap-680	119	4	basic	basic	ADJ
ap-680	119	5	element	element	NOUN
ap-680	119	6	as	as	ADP
ap-680	119	7	a	a	DET
ap-680	119	8	main	main	ADJ
ap-680	119	9	part	part	NOUN
ap-680	119	10	for	for	ADP
ap-680	119	11	creating	create	VERB
ap-680	119	12	complex	complex	ADJ
ap-680	119	13	articulated	articulated	ADJ
ap-680	119	14	structures	structure	NOUN
ap-680	119	15	q0	q0	PROPN
ap-680	119	16	q1	q1	PROPN
ap-680	119	17	q2	q2	PROPN
ap-680	119	18	q3	q3	PROPN
ap-680	119	19	ee	ee	PROPN
ap-680	119	20	l2	l2	PROPN
ap-680	119	21	l3	l3	PROPN
ap-680	119	22	l1	l1	PROPN
ap-680	119	23	l0	l0	PROPN
ap-680	119	24	l01	l01	PROPN
ap-680	119	25	�	�	PROPN
ap-680	119	26	01	01	NUM
ap-680	119	27	l12	l12	PROPN
ap-680	119	28	l23	l23	NOUN
ap-680	119	29	�	�	PROPN
ap-680	119	30	�	�	PROPN
ap-680	119	31	12	12	NUM
ap-680	119	32	23	23	NUM
ap-680	119	33	fig	fig	NOUN
ap-680	119	34	.	.	PUNCT
ap-680	120	1	3	3	NUM
ap-680	120	2	:	:	PUNCT
ap-680	120	3	a	a	DET
ap-680	120	4	complex	complex	ADJ
ap-680	120	5	joint	joint	ADJ
ap-680	120	6	structure	structure	NOUN
ap-680	120	7	consisting	consist	VERB
ap-680	120	8	of	of	ADP
ap-680	120	9	basic	basic	ADJ
ap-680	120	10	elements	element	NOUN
ap-680	120	11	j2	j2	NOUN
ap-680	120	12	0	0	SYM
ap-680	120	13	0	0	NUM
ap-680	121	1	1	1	NUM
ap-680	121	2	1	1	NUM
ap-680	121	3	0	0	NUM
ap-680	121	4	1	1	NUM
ap-680	121	5	1	1	NUM
ap-680	121	6	0	0	NUM
ap-680	121	7	1	1	NUM
ap-680	121	8	1	1	NUM
ap-680	121	9	2	2	NUM
ap-680	121	10	0	0	NUM
ap-680	121	11	0	0	NUM
ap-680	121	12	0	0	NUM
ap-680	121	13	n	n	CCONJ
ap-680	121	14	n	n	ADP
ap-680	121	15	l	l	NOUN
ap-680	121	16	q	q	X
ap-680	121	17	l	l	NOUN
ap-680	121	18	q	q	PUNCT
ap-680	121	19	l	l	NOUN
ap-680	121	20	q	q	PUNCT
ap-680	121	21	l	l	NOUN
ap-680	121	22	q	q	PROPN
ap-680	121	23	l	l	NOUN
ap-680	121	24	,	,	PUNCT
ap-680	121	25	(	(	PUNCT
ap-680	121	26	)	)	PUNCT
ap-680	121	27	sin	sin	NOUN
ap-680	121	28	sin	sin	NOUN
ap-680	121	29	sin	sin	NOUN
ap-680	121	30	sin	sin	VERB
ap-680	121	31	q	q	PROPN
ap-680	121	32	�	�	PROPN
ap-680	121	33	�	�	PROPN
ap-680	121	34	�	�	PROPN
ap-680	121	35	�	�	PROPN
ap-680	121	36	�	�	PROPN
ap-680	121	37	�	�	PROPN
ap-680	121	38	�	�	PROPN
ap-680	121	39	sin	sin	VERB
ap-680	121	40	sin	sin	NOUN
ap-680	121	41	sin	sin	NOUN
ap-680	121	42	cos	cos	ADP
ap-680	121	43	q	q	PROPN
ap-680	121	44	l	l	NOUN
ap-680	121	45	q	q	X
ap-680	121	46	l	l	NOUN
ap-680	121	47	q	q	PUNCT
ap-680	121	48	l	l	NOUN
ap-680	121	49	q	q	PUNCT
ap-680	121	50	l	l	NOUN
ap-680	121	51	n	n	CCONJ
ap-680	121	52	n	n	CCONJ
ap-680	121	53	n	n	ADV
ap-680	121	54	2	2	NUM
ap-680	121	55	1	1	NUM
ap-680	121	56	2	2	NUM
ap-680	121	57	2	2	NUM
ap-680	121	58	1	1	NUM
ap-680	121	59	1	1	NUM
ap-680	121	60	1	1	NUM
ap-680	121	61	2	2	NUM
ap-680	121	62	0	0	NUM
ap-680	121	63	0	0	NUM
ap-680	121	64	0	0	NUM
ap-680	121	65	0	0	NUM
ap-680	121	66	0	0	SYM
ap-680	121	67	0	0	NUM
ap-680	121	68	�	�	PROPN
ap-680	121	69	�	�	PROPN
ap-680	121	70	�	�	PROPN
ap-680	121	71	�	�	PROPN
ap-680	121	72	�	�	PROPN
ap-680	121	73	�	�	PROPN
ap-680	121	74	�	�	PROPN
ap-680	121	75	�	�	PROPN
ap-680	121	76	�	�	PROPN
ap-680	121	77	�	�	PROPN
ap-680	121	78	�	�	PROPN
ap-680	121	79	�	�	PROPN
ap-680	121	80	�	�	PROPN
ap-680	121	81	1	1	NUM
ap-680	121	82	1	1	NUM
ap-680	121	83	0	0	NUM
ap-680	121	84	1	1	NUM
ap-680	121	85	1	1	NUM
ap-680	121	86	0	0	NUM
ap-680	121	87	1	1	NUM
ap-680	121	88	1	1	NUM
ap-680	121	89	2	2	NUM
ap-680	121	90	2	2	NUM
ap-680	121	91	1	1	NUM
ap-680	121	92	2	2	NUM
ap-680	121	93	2	2	NUM
ap-680	121	94	1	1	NUM
ap-680	121	95	0	0	NUM
ap-680	121	96	0	0	NUM
ap-680	121	97	0	0	NUM
ap-680	121	98	0	0	PUNCT
ap-680	121	99	cos	cos	PROPN
ap-680	121	100	cos	cos	PROPN
ap-680	121	101	cos	cos	PROPN
ap-680	121	102	cos	cos	PROPN
ap-680	121	103	cos	cos	PROPN
ap-680	121	104	q	q	PROPN
ap-680	121	105	l	l	NOUN
ap-680	121	106	q	q	X
ap-680	121	107	l	l	NOUN
ap-680	121	108	q	q	PUNCT
ap-680	121	109	l	l	NOUN
ap-680	121	110	q	q	PUNCT
ap-680	121	111	l	l	NOUN
ap-680	121	112	q	q	X
ap-680	121	113	�	�	PROPN
ap-680	121	114	�	�	PROPN
ap-680	121	115	�	�	PROPN
ap-680	121	116	�	�	PROPN
ap-680	121	117	�	�	PROPN
ap-680	121	118	�	�	PROPN
ap-680	121	119	�	�	PROPN
ap-680	121	120	�	�	PROPN
ap-680	121	121	0	0	NUM
ap-680	121	122	0	0	NUM
ap-680	121	123	0	0	NUM
ap-680	121	124	1	1	NUM
ap-680	121	125	1	1	NUM
ap-680	121	126	2	2	NUM
ap-680	121	127	00	00	NUM
ap-680	121	128	1	1	NUM
ap-680	121	129	01	01	NUM
ap-680	121	130	1	1	NUM
ap-680	121	131	�	�	PROPN
ap-680	121	132	l	l	NOUN
ap-680	121	133	q	q	X
ap-680	121	134	l	l	NOUN
ap-680	121	135	q	q	PUNCT
ap-680	121	136	l	l	NOUN
ap-680	121	137	q	q	NOUN
ap-680	121	138	n	n	CCONJ
ap-680	121	139	n	n	CCONJ
ap-680	121	140	n	n	NOUN
ap-680	122	1	i	i	PRON
ap-680	122	2	i	i	PRON
ap-680	123	1	i	i	PRON
ap-680	123	2	n	n	VERB
ap-680	124	1	i	i	PRON
ap-680	125	1	i	i	PRON
ap-680	126	1	i	i	PRON
ap-680	126	2	n	n	VERB
ap-680	126	3	�	�	PROPN
ap-680	126	4	�	�	PROPN
ap-680	126	5	�	�	PROPN
ap-680	126	6	�	�	PROPN
ap-680	126	7	�	�	PROPN
ap-680	126	8	�	�	PROPN
ap-680	126	9	�	�	PROPN
ap-680	126	10	�	�	PROPN
ap-680	126	11	�	�	PROPN
ap-680	126	12	�	�	PROPN
ap-680	126	13	�	�	PROPN
ap-680	126	14	cos	cos	PROPN
ap-680	126	15	sin	sin	PROPN
ap-680	126	16	sin	sin	PROPN
ap-680	126	17	�	�	PROPN
ap-680	126	18	�	�	PROPN
ap-680	126	19	�	�	PROPN
ap-680	126	20	�	�	PROPN
ap-680	126	21	�	�	PROPN
ap-680	126	22	�	�	PROPN
ap-680	126	23	�	�	PROPN
ap-680	126	24	�	�	PROPN
ap-680	126	25	�	�	PROPN
ap-680	126	26	�	�	PROPN
ap-680	126	27	�	�	PROPN
ap-680	126	28	�	�	PROPN
ap-680	126	29	�	�	PROPN
ap-680	126	30	�	�	PROPN
ap-680	126	31	l	l	PROPN
ap-680	126	32	q	q	PROPN
ap-680	126	33	l	l	NOUN
ap-680	126	34	q	q	PUNCT
ap-680	126	35	l	l	NOUN
ap-680	126	36	q	q	PROPN
ap-680	126	37	l	l	NOUN
ap-680	126	38	n	n	CCONJ
ap-680	126	39	n	n	NOUN
ap-680	127	1	i	i	PRON
ap-680	127	2	i	i	PRON
ap-680	128	1	i	i	PRON
ap-680	128	2	n	n	VERB
ap-680	129	1	i	i	PRON
ap-680	129	2	i	i	PRON
ap-680	130	1	i	i	VERB
ap-680	130	2	n	n	VERB
ap-680	130	3	n	n	ADV
ap-680	130	4	1	1	NUM
ap-680	130	5	1	1	NUM
ap-680	130	6	0	0	NUM
ap-680	130	7	00	00	NUM
ap-680	130	8	1	1	NUM
ap-680	130	9	01	01	NUM
ap-680	130	10	1	1	NUM
ap-680	130	11	sin	sin	NOUN
ap-680	130	12	cos	cos	PROPN
ap-680	130	13	cos	cos	PROPN
ap-680	130	14	1	1	NUM
ap-680	130	15	1	1	NUM
ap-680	130	16	0	0	NUM
ap-680	130	17	cos	cos	ADP
ap-680	130	18	qn	qn	PROPN
ap-680	130	19	�	�	PROPN
ap-680	130	20	�	�	PROPN
ap-680	130	21	�	�	PROPN
ap-680	130	22	�	�	PROPN
ap-680	130	23	(	(	PUNCT
ap-680	130	24	9	9	NUM
ap-680	130	25	)	)	PUNCT
ap-680	130	26	the	the	DET
ap-680	130	27	i	i	PROPN
ap-680	130	28	-	-	PUNCT
ap-680	130	29	th	th	PROPN
ap-680	130	30	and	and	CCONJ
ap-680	130	31	(	(	PUNCT
ap-680	130	32	i	i	PROPN
ap-680	130	33	�	�	PROPN
ap-680	130	34	n	n	CCONJ
ap-680	130	35	�	�	PROPN
ap-680	130	36	1)-th	1)-th	NUM
ap-680	130	37	rows	row	NOUN
ap-680	130	38	of	of	ADP
ap-680	130	39	the	the	DET
ap-680	130	40	jacobian	jacobian	PROPN
ap-680	130	41	correspond	correspond	PROPN
ap-680	130	42	to	to	ADP
ap-680	130	43	the	the	DET
ap-680	130	44	i	i	PROPN
ap-680	130	45	-	-	PUNCT
ap-680	130	46	th	th	X
ap-680	130	47	basic	basic	ADJ
ap-680	130	48	element	element	NOUN
ap-680	130	49	of	of	ADP
ap-680	130	50	the	the	DET
ap-680	130	51	articulated	articulated	ADJ
ap-680	130	52	structure	structure	NOUN
ap-680	130	53	.	.	PUNCT
ap-680	131	1	for	for	ADP
ap-680	131	2	instance	instance	NOUN
ap-680	131	3	,	,	PUNCT
ap-680	131	4	the	the	DET
ap-680	131	5	0	0	NUM
ap-680	131	6	-	-	PUNCT
ap-680	131	7	th	th	X
ap-680	131	8	and	and	CCONJ
ap-680	131	9	(	(	PUNCT
ap-680	131	10	n	n	CCONJ
ap-680	131	11	�	�	PROPN
ap-680	131	12	1)-th	1)-th	NUM
ap-680	131	13	rows	row	NOUN
ap-680	131	14	correspond	correspond	VERB
ap-680	131	15	to	to	ADP
ap-680	131	16	the	the	DET
ap-680	131	17	basic	basic	ADJ
ap-680	131	18	element	element	NOUN
ap-680	131	19	designated	designate	VERB
ap-680	131	20	as	as	ADP
ap-680	131	21	l01	l01	NOUN
ap-680	131	22	in	in	ADP
ap-680	131	23	fig	fig	NOUN
ap-680	131	24	.	.	PUNCT
ap-680	132	1	3	3	X
ap-680	132	2	.	.	X
ap-680	132	3	the	the	DET
ap-680	132	4	last	last	ADJ
ap-680	132	5	two	two	NUM
ap-680	132	6	jacobian	jacobian	ADJ
ap-680	132	7	rows	row	NOUN
ap-680	132	8	describe	describe	VERB
ap-680	132	9	the	the	DET
ap-680	132	10	main	main	ADJ
ap-680	132	11	link	link	NOUN
ap-680	132	12	–	–	PUNCT
ap-680	132	13	from	from	ADP
ap-680	132	14	the	the	DET
ap-680	132	15	base	base	NOUN
ap-680	132	16	to	to	ADP
ap-680	132	17	the	the	DET
ap-680	132	18	end	end	NOUN
ap-680	132	19	-	-	PUNCT
ap-680	132	20	effector	effector	NOUN
ap-680	132	21	.	.	PUNCT
ap-680	133	1	2.3.1	2.3.1	NUM
ap-680	133	2	extending	extend	VERB
ap-680	133	3	dx	dx	PROPN
ap-680	133	4	consequently	consequently	ADV
ap-680	133	5	as	as	SCONJ
ap-680	133	6	the	the	DET
ap-680	133	7	jacobian	jacobian	PROPN
ap-680	133	8	is	be	AUX
ap-680	133	9	extended	extend	VERB
ap-680	133	10	,	,	PUNCT
ap-680	133	11	the	the	DET
ap-680	133	12	displacement	displacement	NOUN
ap-680	133	13	vector	vector	NOUN
ap-680	133	14	dx	dx	PROPN
ap-680	133	15	also	also	ADV
ap-680	133	16	has	have	VERB
ap-680	133	17	to	to	PART
ap-680	133	18	be	be	AUX
ap-680	133	19	extended	extend	VERB
ap-680	133	20	to	to	PART
ap-680	133	21	fit	fit	VERB
ap-680	133	22	the	the	DET
ap-680	133	23	jacobian	jacobian	PROPN
ap-680	133	24	’s	’s	PART
ap-680	133	25	row	row	NOUN
ap-680	133	26	dimension	dimension	NOUN
ap-680	133	27	–	–	PUNCT
ap-680	133	28	dim	dim	ADJ
ap-680	133	29	dx	dx	PROPN
ap-680	133	30	�	�	PROPN
ap-680	133	31	2n	2n	NUM
ap-680	133	32	.	.	PUNCT
ap-680	134	1	the	the	DET
ap-680	134	2	dx	dx	PROPN
ap-680	134	3	items	item	NOUN
ap-680	134	4	represent	represent	VERB
ap-680	134	5	the	the	DET
ap-680	134	6	change	change	NOUN
ap-680	134	7	of	of	ADP
ap-680	134	8	the	the	DET
ap-680	134	9	corresponding	corresponding	ADJ
ap-680	134	10	basic	basic	ADJ
ap-680	134	11	element	element	NOUN
ap-680	134	12	or	or	CCONJ
ap-680	134	13	main	main	ADJ
ap-680	134	14	link	link	NOUN
ap-680	134	15	0	0	NUM
ap-680	134	16	:	:	PUNCT
ap-680	134	17	n	n	X
ap-680	134	18	(	(	PUNCT
ap-680	134	19	the	the	DET
ap-680	134	20	last	last	ADJ
ap-680	134	21	two	two	NUM
ap-680	134	22	rows	row	NOUN
ap-680	134	23	)	)	PUNCT
ap-680	134	24	.	.	PUNCT
ap-680	135	1	to	to	PART
ap-680	135	2	set	set	VERB
ap-680	135	3	up	up	ADP
ap-680	135	4	the	the	DET
ap-680	135	5	change	change	NOUN
ap-680	135	6	of	of	ADP
ap-680	135	7	the	the	DET
ap-680	135	8	main	main	ADJ
ap-680	135	9	link	link	NOUN
ap-680	135	10	0	0	NUM
ap-680	135	11	:	:	PUNCT
ap-680	135	12	n	n	PRON
ap-680	135	13	is	be	AUX
ap-680	135	14	straightforward	straightforward	ADJ
ap-680	135	15	–	–	PUNCT
ap-680	135	16	it	it	PRON
ap-680	135	17	is	be	AUX
ap-680	135	18	the	the	DET
ap-680	135	19	only	only	ADJ
ap-680	135	20	input	input	NOUN
ap-680	135	21	of	of	ADP
ap-680	135	22	the	the	DET
ap-680	135	23	method	method	NOUN
ap-680	135	24	.	.	PUNCT
ap-680	136	1	all	all	DET
ap-680	136	2	the	the	DET
ap-680	136	3	remaining	remain	VERB
ap-680	136	4	items	item	NOUN
ap-680	136	5	representing	represent	VERB
ap-680	136	6	a	a	DET
ap-680	136	7	change	change	NOUN
ap-680	136	8	of	of	ADP
ap-680	136	9	the	the	DET
ap-680	136	10	particular	particular	ADJ
ap-680	136	11	basic	basic	ADJ
ap-680	136	12	elements	element	NOUN
ap-680	136	13	have	have	VERB
ap-680	136	14	to	to	PART
ap-680	136	15	be	be	AUX
ap-680	136	16	derived	derive	VERB
ap-680	136	17	from	from	ADP
ap-680	136	18	the	the	DET
ap-680	136	19	change	change	NOUN
ap-680	136	20	of	of	ADP
ap-680	136	21	the	the	DET
ap-680	136	22	main	main	ADJ
ap-680	136	23	link	link	NOUN
ap-680	136	24	taking	take	VERB
ap-680	136	25	into	into	ADP
ap-680	136	26	account	account	NOUN
ap-680	136	27	the	the	DET
ap-680	136	28	desired	desire	VERB
ap-680	136	29	physical	physical	ADJ
ap-680	136	30	constraints	constraint	NOUN
ap-680	136	31	imposed	impose	VERB
ap-680	136	32	on	on	ADP
ap-680	136	33	the	the	DET
ap-680	136	34	joints	joint	NOUN
ap-680	136	35	.	.	PUNCT
ap-680	137	1	as	as	SCONJ
ap-680	137	2	the	the	DET
ap-680	137	3	displacement	displacement	NOUN
ap-680	137	4	of	of	ADP
ap-680	137	5	the	the	DET
ap-680	137	6	main	main	ADJ
ap-680	137	7	link	link	NOUN
ap-680	137	8	is	be	AUX
ap-680	137	9	easy	easy	ADJ
ap-680	137	10	to	to	PART
ap-680	137	11	define	define	VERB
ap-680	137	12	and	and	CCONJ
ap-680	137	13	clear	clear	ADJ
ap-680	137	14	to	to	PART
ap-680	137	15	understand	understand	VERB
ap-680	137	16	,	,	PUNCT
ap-680	137	17	the	the	DET
ap-680	137	18	definition	definition	NOUN
ap-680	137	19	of	of	ADP
ap-680	137	20	the	the	DET
ap-680	137	21	displacements	displacement	NOUN
ap-680	137	22	of	of	ADP
ap-680	137	23	a	a	DET
ap-680	137	24	particular	particular	ADJ
ap-680	137	25	basic	basic	ADJ
ap-680	137	26	element	element	NOUN
ap-680	137	27	is	be	AUX
ap-680	137	28	difficult	difficult	ADJ
ap-680	137	29	to	to	PART
ap-680	137	30	describe	describe	VERB
ap-680	137	31	according	accord	VERB
ap-680	137	32	to	to	ADP
ap-680	137	33	the	the	DET
ap-680	137	34	required	require	VERB
ap-680	137	35	all	all	PRON
ap-680	137	36	-	-	PUNCT
ap-680	137	37	structure	structure	NOUN
ap-680	137	38	behavior	behavior	NOUN
ap-680	137	39	.	.	PUNCT
ap-680	138	1	future	future	ADJ
ap-680	138	2	work	work	NOUN
ap-680	138	3	and	and	CCONJ
ap-680	138	4	research	research	NOUN
ap-680	138	5	remains	remain	VERB
ap-680	138	6	to	to	PART
ap-680	138	7	be	be	AUX
ap-680	138	8	done	do	VERB
ap-680	138	9	on	on	ADP
ap-680	138	10	this	this	PRON
ap-680	138	11	.	.	PUNCT
ap-680	139	1	2.4	2.4	NUM
ap-680	139	2	solving	solve	VERB
ap-680	139	3	inverse	inverse	NOUN
ap-680	139	4	kinematics	kinematic	NOUN
ap-680	139	5	equation	equation	NOUN
ap-680	139	6	(	(	PUNCT
ap-680	139	7	3	3	X
ap-680	139	8	)	)	PUNCT
ap-680	139	9	can	can	AUX
ap-680	139	10	be	be	AUX
ap-680	139	11	comprehended	comprehend	VERB
ap-680	139	12	as	as	ADP
ap-680	139	13	a	a	DET
ap-680	139	14	linear	linear	ADJ
ap-680	139	15	system	system	NOUN
ap-680	139	16	a	a	DET
ap-680	139	17	x	x	SYM
ap-680	139	18	b	b	PROPN
ap-680	139	19	�	�	PROPN
ap-680	139	20	�	�	PROPN
ap-680	139	21	(	(	PUNCT
ap-680	139	22	10	10	NUM
ap-680	139	23	)	)	PUNCT
ap-680	139	24	and	and	CCONJ
ap-680	139	25	thus	thus	ADV
ap-680	139	26	can	can	AUX
ap-680	139	27	be	be	AUX
ap-680	139	28	solved	solve	VERB
ap-680	139	29	by	by	ADP
ap-680	139	30	any	any	DET
ap-680	139	31	appropriate	appropriate	ADJ
ap-680	139	32	method	method	NOUN
ap-680	139	33	[	[	X
ap-680	139	34	4	4	NUM
ap-680	139	35	]	]	PUNCT
ap-680	139	36	.	.	PUNCT
ap-680	140	1	vector	vector	NOUN
ap-680	140	2	x	x	PROPN
ap-680	140	3	is	be	AUX
ap-680	140	4	the	the	DET
ap-680	140	5	vector	vector	NOUN
ap-680	140	6	of	of	ADP
ap-680	140	7	unknown	unknown	ADJ
ap-680	140	8	variables	variable	NOUN
ap-680	140	9	.	.	PUNCT
ap-680	141	1	in	in	ADP
ap-680	141	2	the	the	DET
ap-680	141	3	case	case	NOUN
ap-680	141	4	of	of	ADP
ap-680	141	5	(	(	PUNCT
ap-680	141	6	3	3	NUM
ap-680	141	7	)	)	PUNCT
ap-680	141	8	,	,	PUNCT
ap-680	141	9	vector	vector	NOUN
ap-680	141	10	x	x	NOUN
ap-680	141	11	corresponds	correspond	VERB
ap-680	141	12	to	to	ADP
ap-680	141	13	vector	vector	PROPN
ap-680	141	14	dq	dq	PROPN
ap-680	141	15	,	,	PUNCT
ap-680	141	16	which	which	PRON
ap-680	141	17	is	be	AUX
ap-680	141	18	being	be	AUX
ap-680	141	19	solved	solve	VERB
ap-680	141	20	.	.	PUNCT
ap-680	142	1	next	next	ADV
ap-680	142	2	,	,	PUNCT
ap-680	142	3	vector	vector	NOUN
ap-680	142	4	b	b	PROPN
ap-680	142	5	represents	represent	VERB
ap-680	142	6	the	the	DET
ap-680	142	7	displacement	displacement	NOUN
ap-680	142	8	of	of	ADP
ap-680	142	9	end	end	NOUN
ap-680	142	10	-	-	PUNCT
ap-680	142	11	effector	effector	NOUN
ap-680	142	12	dx	dx	PROPN
ap-680	142	13	and	and	CCONJ
ap-680	142	14	matrix	matrix	VERB
ap-680	142	15	a	a	DET
ap-680	142	16	corresponds	correspond	NOUN
ap-680	142	17	to	to	ADP
ap-680	142	18	jacobian	jacobian	ADJ
ap-680	142	19	j(q	j(q	NOUN
ap-680	142	20	)	)	PUNCT
ap-680	142	21	.	.	PUNCT
ap-680	143	1	since	since	SCONJ
ap-680	143	2	the	the	DET
ap-680	143	3	jacobian	jacobian	PROPN
ap-680	143	4	is	be	AUX
ap-680	143	5	normally	normally	ADV
ap-680	143	6	a	a	DET
ap-680	143	7	matrix	matrix	NOUN
ap-680	143	8	with	with	ADP
ap-680	143	9	dimensions	dimension	NOUN
ap-680	143	10	(	(	PUNCT
ap-680	143	11	2n	2n	NUM
ap-680	143	12	,	,	PUNCT
ap-680	143	13	n	n	CCONJ
ap-680	143	14	)	)	PUNCT
ap-680	143	15	,	,	PUNCT
ap-680	143	16	it	it	PRON
ap-680	143	17	is	be	AUX
ap-680	143	18	necessary	necessary	ADJ
ap-680	143	19	to	to	PART
ap-680	143	20	employ	employ	VERB
ap-680	143	21	an	an	DET
ap-680	143	22	approximation	approximation	NOUN
ap-680	143	23	method	method	NOUN
ap-680	143	24	for	for	ADP
ap-680	143	25	solving	solve	VERB
ap-680	143	26	(	(	PUNCT
ap-680	143	27	3	3	NUM
ap-680	143	28	)	)	PUNCT
ap-680	143	29	.	.	PUNCT
ap-680	144	1	we	we	PRON
ap-680	144	2	decided	decide	VERB
ap-680	144	3	to	to	PART
ap-680	144	4	use	use	VERB
ap-680	144	5	the	the	DET
ap-680	144	6	ordinary	ordinary	ADJ
ap-680	144	7	least	least	ADJ
ap-680	144	8	square	square	ADJ
ap-680	144	9	(	(	PUNCT
ap-680	144	10	ols	ol	NOUN
ap-680	144	11	)	)	PUNCT
ap-680	144	12	method	method	NOUN
ap-680	144	13	based	base	VERB
ap-680	144	14	on	on	ADP
ap-680	144	15	normal	normal	ADJ
ap-680	144	16	matrices	matrix	NOUN
ap-680	144	17	[	[	X
ap-680	144	18	10	10	NUM
ap-680	144	19	]	]	PUNCT
ap-680	144	20	,	,	PUNCT
ap-680	144	21	as	as	SCONJ
ap-680	144	22	it	it	PRON
ap-680	144	23	minimizes	minimize	VERB
ap-680	144	24	the	the	DET
ap-680	144	25	norm	norm	NOUN
ap-680	144	26	of	of	ADP
ap-680	144	27	residual	residual	ADJ
ap-680	144	28	vector	vector	NOUN
ap-680	144	29	r	r	NOUN
ap-680	144	30	:	:	PUNCT
ap-680	144	31	r	r	VERB
ap-680	144	32	a	a	DET
ap-680	144	33	x	x	SYM
ap-680	144	34	b	b	PROPN
ap-680	144	35	�	�	PROPN
ap-680	144	36	�	�	PROPN
ap-680	144	37	�	�	PROPN
ap-680	144	38	.	.	PUNCT
ap-680	145	1	however	however	ADV
ap-680	145	2	,	,	PUNCT
ap-680	145	3	any	any	DET
ap-680	145	4	approximation	approximation	NOUN
ap-680	145	5	method	method	NOUN
ap-680	145	6	can	can	AUX
ap-680	145	7	be	be	AUX
ap-680	145	8	used	use	VERB
ap-680	145	9	[	[	PUNCT
ap-680	145	10	5	5	NUM
ap-680	145	11	]	]	PUNCT
ap-680	145	12	.	.	PUNCT
ap-680	146	1	ols	ol	NOUN
ap-680	146	2	produces	produce	VERB
ap-680	146	3	a	a	DET
ap-680	146	4	square	square	ADJ
ap-680	146	5	matrix	matrix	NOUN
ap-680	146	6	,	,	PUNCT
ap-680	146	7	which	which	PRON
ap-680	146	8	can	can	AUX
ap-680	146	9	be	be	AUX
ap-680	146	10	already	already	ADV
ap-680	146	11	solved	solve	VERB
ap-680	146	12	by	by	ADP
ap-680	146	13	the	the	DET
ap-680	146	14	lu	lu	PROPN
ap-680	146	15	decomposition	decomposition	NOUN
ap-680	147	1	[	[	X
ap-680	147	2	4	4	X
ap-680	147	3	]	]	PUNCT
ap-680	147	4	that	that	SCONJ
ap-680	147	5	we	we	PRON
ap-680	147	6	decided	decide	VERB
ap-680	147	7	to	to	PART
ap-680	147	8	use	use	VERB
ap-680	147	9	.	.	PUNCT
ap-680	148	1	3	3	NUM
ap-680	148	2	experiments	experiment	NOUN
ap-680	148	3	and	and	CCONJ
ap-680	148	4	evaluation	evaluation	NOUN
ap-680	148	5	of	of	ADP
ap-680	148	6	results	result	NOUN
ap-680	148	7	we	we	PRON
ap-680	148	8	performed	perform	VERB
ap-680	148	9	a	a	DET
ap-680	148	10	comparison	comparison	NOUN
ap-680	148	11	test	test	NOUN
ap-680	148	12	of	of	ADP
ap-680	148	13	herein	herein	NOUN
ap-680	148	14	presented	present	VERB
ap-680	148	15	extended	extend	VERB
ap-680	148	16	jacobian	jacobian	ADJ
ap-680	148	17	method	method	NOUN
ap-680	148	18	with	with	ADP
ap-680	148	19	a	a	DET
ap-680	148	20	method	method	NOUN
ap-680	148	21	based	base	VERB
ap-680	148	22	on	on	ADP
ap-680	148	23	using	use	VERB
ap-680	148	24	pseudo	pseudo	NOUN
ap-680	148	25	-	-	NOUN
ap-680	148	26	inverse	inverse	ADJ
ap-680	148	27	(	(	PUNCT
ap-680	148	28	section	section	NOUN
ap-680	148	29	1.1	1.1	NUM
ap-680	148	30	)	)	PUNCT
ap-680	148	31	as	as	SCONJ
ap-680	148	32	presented	present	VERB
ap-680	148	33	in	in	ADP
ap-680	148	34	[	[	X
ap-680	148	35	11	11	NUM
ap-680	148	36	]	]	PUNCT
ap-680	148	37	.	.	PUNCT
ap-680	149	1	we	we	PRON
ap-680	149	2	decided	decide	VERB
ap-680	149	3	to	to	PART
ap-680	149	4	make	make	VERB
ap-680	149	5	a	a	DET
ap-680	149	6	comparison	comparison	NOUN
ap-680	149	7	with	with	ADP
ap-680	149	8	the	the	DET
ap-680	149	9	jacobian	jacobian	ADJ
ap-680	149	10	inversion	inversion	NOUN
ap-680	149	11	method	method	NOUN
ap-680	149	12	as	as	SCONJ
ap-680	149	13	it	it	PRON
ap-680	149	14	is	be	AUX
ap-680	149	15	one	one	NUM
ap-680	149	16	of	of	ADP
ap-680	149	17	the	the	DET
ap-680	149	18	standard	standard	ADJ
ap-680	149	19	methods	method	NOUN
ap-680	149	20	,	,	PUNCT
ap-680	149	21	together	together	ADV
ap-680	149	22	with	with	ADP
ap-680	149	23	jacobian	jacobian	ADJ
ap-680	149	24	transposition	transposition	NOUN
ap-680	149	25	(	(	PUNCT
ap-680	149	26	section	section	NOUN
ap-680	149	27	1.3	1.3	NUM
ap-680	149	28	)	)	PUNCT
ap-680	149	29	and	and	CCONJ
ap-680	149	30	ccd	ccd	INTJ
ap-680	149	31	–	–	PUNCT
ap-680	149	32	cyclic	cyclic	ADJ
ap-680	149	33	coordinate	coordinate	NOUN
ap-680	149	34	descent	descent	NOUN
ap-680	149	35	,	,	PUNCT
ap-680	149	36	for	for	ADP
ap-680	149	37	solving	solve	VERB
ap-680	149	38	the	the	DET
ap-680	149	39	inverse	inverse	NOUN
ap-680	149	40	kinematics	kinematic	NOUN
ap-680	149	41	problem	problem	NOUN
ap-680	149	42	in	in	ADP
ap-680	149	43	the	the	DET
ap-680	149	44	field	field	NOUN
ap-680	149	45	of	of	ADP
ap-680	149	46	computer	computer	NOUN
ap-680	149	47	animation	animation	NOUN
ap-680	149	48	.	.	PUNCT
ap-680	150	1	our	our	PRON
ap-680	150	2	goal	goal	NOUN
ap-680	150	3	was	be	AUX
ap-680	150	4	to	to	PART
ap-680	150	5	acquire	acquire	VERB
ap-680	150	6	the	the	DET
ap-680	150	7	same	same	ADJ
ap-680	150	8	behavior	behavior	NOUN
ap-680	150	9	of	of	ADP
ap-680	150	10	both	both	DET
ap-680	150	11	methods	method	NOUN
ap-680	150	12	,	,	PUNCT
ap-680	150	13	but	but	CCONJ
ap-680	150	14	with	with	ADP
ap-680	150	15	good	good	ADJ
ap-680	150	16	recovery	recovery	NOUN
ap-680	150	17	from	from	ADP
ap-680	150	18	the	the	DET
ap-680	150	19	singular	singular	ADJ
ap-680	150	20	case	case	NOUN
ap-680	150	21	.	.	PUNCT
ap-680	151	1	the	the	DET
ap-680	151	2	testing	testing	NOUN
ap-680	151	3	structure	structure	NOUN
ap-680	151	4	consists	consist	VERB
ap-680	151	5	of	of	ADP
ap-680	151	6	6	6	NUM
ap-680	151	7	segments	segment	NOUN
ap-680	151	8	with	with	ADP
ap-680	151	9	lengths	length	NOUN
ap-680	151	10	l0	l0	PROPN
ap-680	151	11	�	�	PROPN
ap-680	151	12	90	90	NUM
ap-680	151	13	,	,	PUNCT
ap-680	151	14	l1	l1	PROPN
ap-680	151	15	�	�	PROPN
ap-680	151	16	60	60	NUM
ap-680	151	17	,	,	PUNCT
ap-680	151	18	l2	l2	NOUN
ap-680	151	19	�	�	PROPN
ap-680	151	20	90	90	NUM
ap-680	151	21	,	,	PUNCT
ap-680	151	22	l3	l3	PROPN
ap-680	151	23	�	�	PROPN
ap-680	151	24	150	150	NUM
ap-680	151	25	,	,	PUNCT
ap-680	151	26	l4	l4	PROPN
ap-680	151	27	�	�	PROPN
ap-680	151	28	150	150	NUM
ap-680	151	29	and	and	CCONJ
ap-680	151	30	l5	l5	PROPN
ap-680	151	31	�	�	PROPN
ap-680	151	32	90	90	NUM
ap-680	151	33	points	point	NOUN
ap-680	151	34	.	.	PUNCT
ap-680	152	1	the	the	DET
ap-680	152	2	starting	start	VERB
ap-680	152	3	configuration	configuration	NOUN
ap-680	152	4	was	be	AUX
ap-680	152	5	determined	determine	VERB
ap-680	152	6	by	by	ADP
ap-680	152	7	qi	qi	PROPN
ap-680	152	8	�	�	PROPN
ap-680	152	9	0	0	NUM
ap-680	152	10	.	.	PUNCT
ap-680	153	1	the	the	DET
ap-680	153	2	starting	starting	NOUN
ap-680	153	3	point	point	NOUN
ap-680	153	4	lies	lie	VERB
ap-680	153	5	at	at	ADP
ap-680	153	6	[	[	X
ap-680	153	7	�	�	X
ap-680	153	8	230	230	NUM
ap-680	153	9	,	,	PUNCT
ap-680	153	10	0	0	NUM
ap-680	153	11	]	]	PUNCT
ap-680	153	12	.	.	PUNCT
ap-680	154	1	the	the	DET
ap-680	154	2	desired	desire	VERB
ap-680	154	3	trajectory	trajectory	NOUN
ap-680	154	4	was	be	AUX
ap-680	154	5	formed	form	VERB
ap-680	154	6	by	by	ADP
ap-680	154	7	an	an	DET
ap-680	154	8	ellipse	ellipse	NOUN
ap-680	154	9	with	with	ADP
ap-680	154	10	a	a	DET
ap-680	154	11	�	�	PROPN
ap-680	154	12	400	400	NUM
ap-680	154	13	and	and	CCONJ
ap-680	154	14	b	b	PROPN
ap-680	154	15	�	�	PROPN
ap-680	154	16	50	50	NUM
ap-680	154	17	with	with	ADP
ap-680	154	18	the	the	DET
ap-680	154	19	mid	mid	NOUN
ap-680	154	20	-	-	NOUN
ap-680	154	21	point	point	NOUN
ap-680	154	22	at	at	ADP
ap-680	154	23	the	the	DET
ap-680	154	24	origin	origin	NOUN
ap-680	154	25	.	.	PUNCT
ap-680	155	1	therefore	therefore	ADV
ap-680	155	2	the	the	DET
ap-680	155	3	end	end	NOUN
ap-680	155	4	-	-	PUNCT
ap-680	155	5	effector	effector	NOUN
ap-680	155	6	touched	touch	VERB
ap-680	155	7	the	the	DET
ap-680	155	8	ellipse	ellipse	NOUN
ap-680	155	9	at	at	ADP
ap-680	155	10	the	the	DET
ap-680	155	11	point	point	NOUN
ap-680	155	12	[	[	X
ap-680	155	13	400	400	NUM
ap-680	155	14	,	,	PUNCT
ap-680	155	15	0	0	NUM
ap-680	155	16	]	]	PUNCT
ap-680	155	17	.	.	PUNCT
ap-680	156	1	first	first	ADV
ap-680	156	2	we	we	PRON
ap-680	156	3	tried	try	VERB
ap-680	156	4	to	to	PART
ap-680	156	5	minimize	minimize	VERB
ap-680	156	6	the	the	DET
ap-680	156	7	movement	movement	NOUN
ap-680	156	8	of	of	ADP
ap-680	156	9	the	the	DET
ap-680	156	10	inner	inner	ADJ
ap-680	156	11	parts	part	NOUN
ap-680	156	12	and	and	CCONJ
ap-680	156	13	make	make	VERB
ap-680	156	14	a	a	DET
ap-680	156	15	move	move	NOUN
ap-680	156	16	to	to	ADP
ap-680	156	17	the	the	DET
ap-680	156	18	end	end	NOUN
ap-680	156	19	-	-	PUNCT
ap-680	156	20	effector	effector	NOUN
ap-680	156	21	only	only	ADV
ap-680	156	22	.	.	PUNCT
ap-680	157	1	we	we	PRON
ap-680	157	2	accomplished	accomplish	VERB
ap-680	157	3	this	this	PRON
ap-680	157	4	by	by	ADP
ap-680	157	5	setting	set	VERB
ap-680	157	6	all	all	DET
ap-680	157	7	dxi	dxi	NOUN
ap-680	157	8	�	�	PROPN
ap-680	157	9	0	0	NUM
ap-680	157	10	except	except	SCONJ
ap-680	157	11	those	those	PRON
ap-680	157	12	which	which	PRON
ap-680	157	13	correspond	correspond	VERB
ap-680	157	14	to	to	ADP
ap-680	157	15	a	a	DET
ap-680	157	16	move	move	NOUN
ap-680	157	17	of	of	ADP
ap-680	157	18	the	the	DET
ap-680	157	19	end	end	NOUN
ap-680	157	20	-	-	PUNCT
ap-680	157	21	effector	effector	NOUN
ap-680	157	22	.	.	PUNCT
ap-680	158	1	this	this	PRON
ap-680	158	2	only	only	ADV
ap-680	158	3	partly	partly	ADV
ap-680	158	4	achieved	achieve	VERB
ap-680	158	5	the	the	DET
ap-680	158	6	desired	desire	VERB
ap-680	158	7	requirements	requirement	NOUN
ap-680	158	8	.	.	PUNCT
ap-680	159	1	the	the	DET
ap-680	159	2	structure	structure	NOUN
ap-680	159	3	recovered	recover	VERB
ap-680	159	4	well	well	ADV
ap-680	159	5	from	from	ADP
ap-680	159	6	the	the	DET
ap-680	159	7	singular	singular	ADJ
ap-680	159	8	case	case	NOUN
ap-680	159	9	–	–	PUNCT
ap-680	159	10	see	see	VERB
ap-680	159	11	fig	fig	NOUN
ap-680	159	12	.	.	PUNCT
ap-680	160	1	4	4	NUM
ap-680	160	2	,	,	PUNCT
ap-680	160	3	but	but	CCONJ
ap-680	160	4	its	its	PRON
ap-680	160	5	behavior	behavior	NOUN
ap-680	160	6	is	be	AUX
ap-680	160	7	different	different	ADJ
ap-680	160	8	from	from	ADP
ap-680	160	9	the	the	DET
ap-680	160	10	behavior	behavior	NOUN
ap-680	160	11	of	of	ADP
ap-680	160	12	the	the	DET
ap-680	160	13	method	method	NOUN
ap-680	160	14	based	base	VERB
ap-680	160	15	on	on	ADP
ap-680	160	16	pseudo	pseudo	NOUN
ap-680	160	17	-	-	NOUN
ap-680	160	18	inverse	inverse	ADJ
ap-680	160	19	.	.	PUNCT
ap-680	161	1	due	due	ADP
ap-680	161	2	to	to	ADP
ap-680	161	3	the	the	DET
ap-680	161	4	these	these	DET
ap-680	161	5	problems	problem	NOUN
ap-680	161	6	with	with	ADP
ap-680	161	7	behavior	behavior	NOUN
ap-680	161	8	,	,	PUNCT
ap-680	161	9	we	we	PRON
ap-680	161	10	tried	try	VERB
ap-680	161	11	to	to	PART
ap-680	161	12	minimize	minimize	VERB
ap-680	161	13	the	the	DET
ap-680	161	14	influence	influence	NOUN
ap-680	161	15	of	of	ADP
ap-680	161	16	the	the	DET
ap-680	161	17	added	add	VERB
ap-680	161	18	rows	row	NOUN
ap-680	161	19	by	by	ADP
ap-680	161	20	multiplying	multiply	VERB
ap-680	161	21	each	each	DET
ap-680	161	22	added	add	VERB
ap-680	161	23	row	row	NOUN
ap-680	161	24	by	by	ADP
ap-680	161	25	a	a	DET
ap-680	161	26	positive	positive	ADJ
ap-680	161	27	non	non	ADJ
ap-680	161	28	-	-	ADJ
ap-680	161	29	zero	zero	ADJ
ap-680	161	30	constant	constant	ADJ
ap-680	161	31	w>0	w>0	NOUN
ap-680	161	32	.	.	PUNCT
ap-680	162	1	we	we	PRON
ap-680	162	2	expected	expect	VERB
ap-680	162	3	a	a	DET
ap-680	162	4	minimizing	minimize	VERB
ap-680	162	5	effect	effect	NOUN
ap-680	162	6	of	of	ADP
ap-680	162	7	the	the	DET
ap-680	162	8	added	add	VERB
ap-680	162	9	rows	row	NOUN
ap-680	162	10	.	.	PUNCT
ap-680	163	1	we	we	PRON
ap-680	163	2	assumed	assume	VERB
ap-680	163	3	the	the	DET
ap-680	163	4	following	following	NOUN
ap-680	163	5	:	:	PUNCT
ap-680	163	6	when	when	SCONJ
ap-680	163	7	w	w	PROPN
ap-680	163	8	�	�	PROPN
ap-680	163	9	0	0	PUNCT
ap-680	163	10	then	then	ADV
ap-680	163	11	the	the	DET
ap-680	163	12	extended	extended	ADJ
ap-680	163	13	jacobian	jacobian	NOUN
ap-680	163	14	will	will	AUX
ap-680	163	15	become	become	VERB
ap-680	163	16	the	the	DET
ap-680	163	17	non	non	ADJ
ap-680	163	18	-	-	ADJ
ap-680	163	19	extended	extended	ADJ
ap-680	163	20	jacobian	jacobian	PROPN
ap-680	163	21	j	j	PROPN
ap-680	163	22	jext	jext	PROPN
ap-680	163	23	next	next	PROPN
ap-680	163	24	�	�	PROPN
ap-680	163	25	.	.	PUNCT
ap-680	164	1	however	however	ADV
ap-680	164	2	,	,	PUNCT
ap-680	164	3	this	this	PRON
ap-680	164	4	did	do	AUX
ap-680	164	5	not	not	PART
ap-680	164	6	achieve	achieve	VERB
ap-680	164	7	the	the	DET
ap-680	164	8	required	required	ADJ
ap-680	164	9	effect	effect	NOUN
ap-680	164	10	.	.	PUNCT
ap-680	165	1	with	with	ADP
ap-680	165	2	w	w	PROPN
ap-680	165	3	�	�	PROPN
ap-680	165	4	0	0	NUM
ap-680	165	5	the	the	DET
ap-680	165	6	behavior	behavior	NOUN
ap-680	165	7	remained	remain	VERB
ap-680	165	8	and	and	CCONJ
ap-680	165	9	the	the	DET
ap-680	165	10	ability	ability	NOUN
ap-680	165	11	to	to	PART
ap-680	165	12	recover	recover	VERB
ap-680	165	13	from	from	ADP
ap-680	165	14	the	the	DET
ap-680	165	15	singular	singular	ADJ
ap-680	165	16	cases	case	NOUN
ap-680	165	17	disappeared	disappear	VERB
ap-680	165	18	.	.	PUNCT
ap-680	166	1	the	the	DET
ap-680	166	2	behavior	behavior	NOUN
ap-680	166	3	of	of	ADP
ap-680	166	4	the	the	DET
ap-680	166	5	tested	test	VERB
ap-680	166	6	methods	method	NOUN
ap-680	166	7	is	be	AUX
ap-680	166	8	shown	show	VERB
ap-680	166	9	in	in	ADP
ap-680	166	10	the	the	DET
ap-680	166	11	figs	fig	NOUN
ap-680	166	12	.	.	PUNCT
ap-680	167	1	5	5	NUM
ap-680	167	2	and	and	CCONJ
ap-680	167	3	6	6	NUM
ap-680	167	4	–	–	PUNCT
ap-680	167	5	fig	fig	NOUN
ap-680	167	6	.	.	PUNCT
ap-680	167	7	5	5	NUM
ap-680	167	8	shows	show	VERB
ap-680	167	9	the	the	DET
ap-680	167	10	standard	standard	ADJ
ap-680	167	11	jacobian	jacobian	ADJ
ap-680	167	12	inversion	inversion	NOUN
ap-680	167	13	method	method	NOUN
ap-680	167	14	while	while	SCONJ
ap-680	167	15	fig	fig	NOUN
ap-680	167	16	.	.	PUNCT
ap-680	168	1	6	6	NUM
ap-680	168	2	displays	display	VERB
ap-680	168	3	the	the	DET
ap-680	168	4	herein	herein	NOUN
ap-680	168	5	presented	present	VERB
ap-680	168	6	jacobian	jacobian	ADJ
ap-680	168	7	extension	extension	NOUN
ap-680	168	8	method	method	NOUN
ap-680	168	9	.	.	PUNCT
ap-680	169	1	the	the	DET
ap-680	169	2	pictures	picture	NOUN
ap-680	169	3	show	show	VERB
ap-680	169	4	the	the	DET
ap-680	169	5	movement	movement	NOUN
ap-680	169	6	of	of	ADP
ap-680	169	7	the	the	DET
ap-680	169	8	structure	structure	NOUN
ap-680	169	9	during	during	ADP
ap-680	169	10	the	the	DET
ap-680	169	11	first	first	ADJ
ap-680	169	12	several	several	ADJ
ap-680	169	13	steps	step	NOUN
ap-680	169	14	.	.	PUNCT
ap-680	170	1	24	24	NUM
ap-680	170	2	©	©	PROPN
ap-680	170	3	czech	czech	PROPN
ap-680	170	4	technical	technical	PROPN
ap-680	170	5	university	university	PROPN
ap-680	170	6	publishing	publishing	NOUN
ap-680	170	7	house	house	NOUN
ap-680	170	8	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-680	170	9	acta	acta	PROPN
ap-680	170	10	polytechnica	polytechnica	PROPN
ap-680	170	11	vol	vol	NOUN
ap-680	170	12	.	.	PROPN
ap-680	171	1	45	45	NUM
ap-680	171	2	no	no	NOUN
ap-680	171	3	.	.	PUNCT
ap-680	172	1	2/2005	2/2005	NUM
ap-680	172	2	czech	czech	PROPN
ap-680	172	3	technical	technical	PROPN
ap-680	172	4	university	university	PROPN
ap-680	172	5	in	in	ADP
ap-680	172	6	prague	prague	PROPN
ap-680	172	7	0	0	NUM
ap-680	172	8	50	50	NUM
ap-680	172	9	100	100	NUM
ap-680	172	10	150	150	NUM
ap-680	172	11	200	200	NUM
ap-680	172	12	250	250	NUM
ap-680	172	13	extended	extended	ADJ
ap-680	172	14	jacobian	jacobian	ADJ
ap-680	172	15	pseudo	pseudo	NOUN
ap-680	172	16	-	-	ADJ
ap-680	172	17	inverse	inverse	ADJ
ap-680	172	18	step	step	NOUN
ap-680	172	19	d	d	NOUN
ap-680	172	20	is	be	AUX
ap-680	172	21	ta	ta	ADP
ap-680	172	22	n	n	PRON
ap-680	172	23	c	c	NOUN
ap-680	172	24	e	e	NOUN
ap-680	173	1	fr	fr	NOUN
ap-680	173	2	o	o	VERB
ap-680	173	3	m	m	VERB
ap-680	173	4	d	d	X
ap-680	173	5	e	e	X
ap-680	173	6	s	s	X
ap-680	173	7	ir	ir	X
ap-680	173	8	re	re	ADP
ap-680	173	9	d	d	NOUN
ap-680	173	10	p	p	X
ap-680	174	1	o	o	X
ap-680	174	2	s	s	VERB
ap-680	174	3	it	it	PRON
ap-680	174	4	io	io	ADP
ap-680	174	5	n	n	ADV
ap-680	174	6	in	in	ADP
ap-680	174	7	p	p	X
ap-680	174	8	o	o	NOUN
ap-680	174	9	in	in	ADP
ap-680	174	10	ts	ts	ADP
ap-680	174	11	0	0	NUM
ap-680	174	12	1	1	NUM
ap-680	174	13	2	2	NUM
ap-680	174	14	3	3	NUM
ap-680	174	15	4	4	NUM
ap-680	174	16	5	5	NUM
ap-680	174	17	6	6	NUM
ap-680	174	18	7	7	NUM
ap-680	174	19	fig	fig	NOUN
ap-680	174	20	.	.	PUNCT
ap-680	175	1	4	4	NUM
ap-680	175	2	:	:	PUNCT
ap-680	175	3	graph	graph	NOUN
ap-680	175	4	presenting	present	VERB
ap-680	175	5	the	the	DET
ap-680	175	6	distance	distance	NOUN
ap-680	175	7	of	of	ADP
ap-680	175	8	the	the	DET
ap-680	175	9	end	end	NOUN
ap-680	175	10	-	-	PUNCT
ap-680	175	11	effector	effector	NOUN
ap-680	175	12	from	from	ADP
ap-680	175	13	the	the	DET
ap-680	175	14	desired	desire	VERB
ap-680	175	15	position	position	NOUN
ap-680	175	16	the	the	DET
ap-680	175	17	jacobian	jacobian	ADJ
ap-680	175	18	inversion	inversion	NOUN
ap-680	175	19	method	method	NOUN
ap-680	175	20	made	make	VERB
ap-680	175	21	a	a	DET
ap-680	175	22	“	"	PUNCT
ap-680	175	23	big	big	ADJ
ap-680	175	24	jump	jump	NOUN
ap-680	175	25	”	"	PUNCT
ap-680	175	26	when	when	SCONJ
ap-680	175	27	moving	move	VERB
ap-680	175	28	from	from	ADP
ap-680	175	29	the	the	DET
ap-680	175	30	starting	starting	NOUN
ap-680	175	31	configuration	configuration	NOUN
ap-680	175	32	.	.	PUNCT
ap-680	176	1	this	this	PRON
ap-680	176	2	was	be	AUX
ap-680	176	3	caused	cause	VERB
ap-680	176	4	by	by	ADP
ap-680	176	5	a	a	DET
ap-680	176	6	kinematic	kinematic	ADJ
ap-680	176	7	singularity	singularity	NOUN
ap-680	176	8	and	and	CCONJ
ap-680	176	9	consequent	consequent	ADJ
ap-680	176	10	numerical	numerical	ADJ
ap-680	176	11	instability	instability	NOUN
ap-680	176	12	of	of	ADP
ap-680	176	13	the	the	DET
ap-680	176	14	system	system	NOUN
ap-680	176	15	.	.	PUNCT
ap-680	177	1	this	this	PRON
ap-680	177	2	did	do	AUX
ap-680	177	3	not	not	PART
ap-680	177	4	happen	happen	VERB
ap-680	177	5	with	with	ADP
ap-680	177	6	the	the	DET
ap-680	177	7	extended	extended	ADJ
ap-680	177	8	jacobian	jacobian	ADJ
ap-680	177	9	method	method	NOUN
ap-680	177	10	due	due	ADP
ap-680	177	11	to	to	ADP
ap-680	177	12	the	the	DET
ap-680	177	13	fact	fact	NOUN
ap-680	177	14	its	its	PRON
ap-680	177	15	jacobian	jacobian	NOUN
ap-680	177	16	can	can	AUX
ap-680	177	17	not	not	PART
ap-680	177	18	be	be	AUX
ap-680	177	19	singular	singular	ADJ
ap-680	177	20	in	in	ADP
ap-680	177	21	any	any	DET
ap-680	177	22	case	case	NOUN
ap-680	177	23	,	,	PUNCT
ap-680	177	24	i.e.	i.e.	X
ap-680	177	25	,	,	PUNCT
ap-680	177	26	its	its	PRON
ap-680	177	27	rank	rank	NOUN
ap-680	177	28	is	be	AUX
ap-680	177	29	always	always	ADV
ap-680	177	30	guaranteed	guarantee	VERB
ap-680	177	31	to	to	PART
ap-680	177	32	be	be	AUX
ap-680	177	33	n.	n.	NOUN
ap-680	177	34	4	4	NUM
ap-680	177	35	conclusions	conclusion	NOUN
ap-680	177	36	we	we	PRON
ap-680	177	37	have	have	AUX
ap-680	177	38	presented	present	VERB
ap-680	177	39	a	a	DET
ap-680	177	40	brief	brief	ADJ
ap-680	177	41	overview	overview	NOUN
ap-680	177	42	of	of	ADP
ap-680	177	43	methods	method	NOUN
ap-680	177	44	for	for	ADP
ap-680	177	45	solving	solve	VERB
ap-680	177	46	the	the	DET
ap-680	177	47	inverse	inverse	NOUN
ap-680	177	48	kinematics	kinematic	NOUN
ap-680	177	49	,	,	PUNCT
ap-680	177	50	together	together	ADV
ap-680	177	51	with	with	ADP
ap-680	177	52	a	a	DET
ap-680	177	53	new	new	ADJ
ap-680	177	54	option	option	NOUN
ap-680	177	55	for	for	ADP
ap-680	177	56	solving	solve	VERB
ap-680	177	57	an	an	DET
ap-680	177	58	identical	identical	ADJ
ap-680	177	59	problem	problem	NOUN
ap-680	177	60	actually	actually	ADV
ap-680	177	61	in	in	ADP
ap-680	177	62	plane	plane	NOUN
ap-680	177	63	mainly	mainly	ADV
ap-680	177	64	for	for	ADP
ap-680	177	65	the	the	DET
ap-680	177	66	purposes	purpose	NOUN
ap-680	177	67	of	of	ADP
ap-680	177	68	computer	computer	NOUN
ap-680	177	69	graphics	graphic	NOUN
ap-680	177	70	–	–	PUNCT
ap-680	177	71	for	for	ADP
ap-680	177	72	animating	animate	VERB
ap-680	177	73	articulated	articulated	ADJ
ap-680	177	74	structures	structure	NOUN
ap-680	177	75	.	.	PUNCT
ap-680	178	1	the	the	DET
ap-680	178	2	articulated	articulated	ADJ
ap-680	178	3	structure	structure	NOUN
ap-680	178	4	is	be	AUX
ap-680	178	5	treated	treat	VERB
ap-680	178	6	by	by	ADP
ap-680	178	7	pairs	pair	NOUN
ap-680	178	8	to	to	PART
ap-680	178	9	allow	allow	VERB
ap-680	178	10	us	we	PRON
ap-680	178	11	to	to	PART
ap-680	178	12	control	control	VERB
ap-680	178	13	the	the	DET
ap-680	178	14	inner	inner	ADJ
ap-680	178	15	joints	joint	NOUN
ap-680	178	16	based	base	VERB
ap-680	178	17	on	on	ADP
ap-680	178	18	physical	physical	ADJ
ap-680	178	19	characteristics	characteristic	NOUN
ap-680	178	20	.	.	PUNCT
ap-680	179	1	the	the	DET
ap-680	179	2	method	method	NOUN
ap-680	179	3	is	be	AUX
ap-680	179	4	based	base	VERB
ap-680	179	5	on	on	ADP
ap-680	179	6	an	an	DET
ap-680	179	7	extension	extension	NOUN
ap-680	179	8	of	of	ADP
ap-680	179	9	the	the	DET
ap-680	179	10	jacobian	jacobian	ADJ
ap-680	179	11	.	.	PUNCT
ap-680	180	1	2(n	2(n	NUM
ap-680	180	2	�	�	NOUN
ap-680	180	3	1	1	NUM
ap-680	180	4	)	)	PUNCT
ap-680	180	5	rows	row	NOUN
ap-680	180	6	are	be	AUX
ap-680	180	7	added	add	VERB
ap-680	180	8	into	into	ADP
ap-680	180	9	the	the	DET
ap-680	180	10	jacobian	jacobian	PROPN
ap-680	180	11	corresponding	corresponding	PROPN
ap-680	180	12	n	n	CCONJ
ap-680	180	13	�	�	NOUN
ap-680	180	14	1	1	NUM
ap-680	180	15	pairs	pair	NOUN
ap-680	180	16	–	–	PUNCT
ap-680	180	17	basic	basic	ADJ
ap-680	180	18	elements	element	NOUN
ap-680	180	19	.	.	PUNCT
ap-680	181	1	the	the	DET
ap-680	181	2	system	system	NOUN
ap-680	181	3	is	be	AUX
ap-680	181	4	over	over	ADV
ap-680	181	5	-	-	PUNCT
ap-680	181	6	determined	determine	VERB
ap-680	181	7	(	(	PUNCT
ap-680	181	8	the	the	DET
ap-680	181	9	jacobian	jacobian	PROPN
ap-680	181	10	is	be	AUX
ap-680	181	11	full	full	ADJ
ap-680	181	12	-	-	PUNCT
ap-680	181	13	rank	rank	NOUN
ap-680	181	14	)	)	PUNCT
ap-680	181	15	,	,	PUNCT
ap-680	181	16	so	so	SCONJ
ap-680	181	17	singular	singular	ADJ
ap-680	181	18	cases	case	NOUN
ap-680	181	19	coming	come	VERB
ap-680	181	20	from	from	ADP
ap-680	181	21	usage	usage	NOUN
ap-680	181	22	of	of	ADP
ap-680	181	23	pseudo	pseudo	NOUN
ap-680	181	24	-	-	ADJ
ap-680	181	25	inverse	inverse	NOUN
ap-680	181	26	are	be	AUX
ap-680	181	27	avoided	avoid	VERB
ap-680	181	28	.	.	PUNCT
ap-680	182	1	hence	hence	ADV
ap-680	182	2	the	the	DET
ap-680	182	3	method	method	NOUN
ap-680	182	4	is	be	AUX
ap-680	182	5	stable	stable	ADJ
ap-680	182	6	.	.	PUNCT
ap-680	183	1	several	several	ADJ
ap-680	183	2	tests	test	NOUN
ap-680	183	3	were	be	AUX
ap-680	183	4	performed	perform	VERB
ap-680	183	5	to	to	PART
ap-680	183	6	compare	compare	VERB
ap-680	183	7	presented	present	VERB
ap-680	183	8	method	method	NOUN
ap-680	183	9	with	with	ADP
ap-680	183	10	the	the	DET
ap-680	183	11	method	method	NOUN
ap-680	183	12	based	base	VERB
ap-680	183	13	on	on	ADP
ap-680	183	14	pseudo	pseudo	NOUN
ap-680	183	15	-	-	NOUN
ap-680	183	16	inverse	inverse	NOUN
ap-680	183	17	only	only	ADV
ap-680	183	18	.	.	PUNCT
ap-680	184	1	the	the	DET
ap-680	184	2	same	same	ADJ
ap-680	184	3	behavior	behavior	NOUN
ap-680	184	4	was	be	AUX
ap-680	184	5	required	require	VERB
ap-680	184	6	for	for	ADP
ap-680	184	7	both	both	DET
ap-680	184	8	methods	method	NOUN
ap-680	184	9	.	.	PUNCT
ap-680	185	1	next	next	ADV
ap-680	185	2	,	,	PUNCT
ap-680	185	3	the	the	DET
ap-680	185	4	ability	ability	NOUN
ap-680	185	5	to	to	PART
ap-680	185	6	recover	recover	VERB
ap-680	185	7	from	from	ADP
ap-680	185	8	singular	singular	ADJ
ap-680	185	9	cases	case	NOUN
ap-680	185	10	was	be	AUX
ap-680	185	11	also	also	ADV
ap-680	185	12	required	require	VERB
ap-680	185	13	.	.	PUNCT
ap-680	186	1	in	in	ADP
ap-680	186	2	recovering	recover	VERB
ap-680	186	3	from	from	ADP
ap-680	186	4	singular	singular	ADJ
ap-680	186	5	cases	case	NOUN
ap-680	186	6	,	,	PUNCT
ap-680	186	7	the	the	DET
ap-680	186	8	extended	extended	ADJ
ap-680	186	9	jacobian	jacobian	ADJ
ap-680	186	10	method	method	NOUN
ap-680	186	11	passed	pass	VERB
ap-680	186	12	successfully	successfully	ADV
ap-680	186	13	,	,	PUNCT
ap-680	186	14	but	but	CCONJ
ap-680	186	15	the	the	DET
ap-680	186	16	same	same	ADJ
ap-680	186	17	behavior	behavior	NOUN
ap-680	186	18	for	for	ADP
ap-680	186	19	both	both	DET
ap-680	186	20	methods	method	NOUN
ap-680	186	21	was	be	AUX
ap-680	186	22	not	not	PART
ap-680	186	23	achieved	achieve	VERB
ap-680	186	24	.	.	PUNCT
ap-680	187	1	4.1	4.1	NUM
ap-680	187	2	future	future	ADJ
ap-680	187	3	work	work	VERB
ap-680	187	4	the	the	DET
ap-680	187	5	usability	usability	NOUN
ap-680	187	6	of	of	ADP
ap-680	187	7	herein	herein	NOUN
ap-680	187	8	presented	present	VERB
ap-680	187	9	method	method	NOUN
ap-680	187	10	in	in	ADP
ap-680	187	11	3d	3d	NUM
ap-680	187	12	space	space	NOUN
ap-680	187	13	and	and	CCONJ
ap-680	187	14	exact	exact	ADJ
ap-680	187	15	control	control	NOUN
ap-680	187	16	of	of	ADP
ap-680	187	17	the	the	DET
ap-680	187	18	inner	inner	ADJ
ap-680	187	19	joints	joint	NOUN
ap-680	187	20	have	have	AUX
ap-680	187	21	not	not	PART
ap-680	187	22	been	be	AUX
ap-680	187	23	evaluated	evaluate	VERB
ap-680	187	24	yet	yet	ADV
ap-680	187	25	.	.	PUNCT
ap-680	188	1	for	for	ADP
ap-680	188	2	the	the	DET
ap-680	188	3	first	first	ADJ
ap-680	188	4	issue	issue	NOUN
ap-680	188	5	–	–	PUNCT
ap-680	188	6	exact	exact	ADJ
ap-680	188	7	structure	structure	NOUN
ap-680	188	8	control	control	NOUN
ap-680	188	9	–	–	PUNCT
ap-680	188	10	the	the	DET
ap-680	188	11	inverse	inverse	NOUN
ap-680	188	12	transformation	transformation	NOUN
ap-680	188	13	f	f	PROPN
ap-680	188	14	�	�	PROPN
ap-680	188	15	1	1	NUM
ap-680	188	16	of	of	ADP
ap-680	188	17	(	(	PUNCT
ap-680	188	18	2	2	NUM
ap-680	188	19	)	)	PUNCT
ap-680	188	20	has	have	VERB
ap-680	188	21	to	to	PART
ap-680	188	22	be	be	AUX
ap-680	188	23	found	find	VERB
ap-680	188	24	,	,	PUNCT
ap-680	188	25	either	either	CCONJ
ap-680	188	26	analytically	analytically	ADV
ap-680	188	27	or	or	CCONJ
ap-680	188	28	numerically	numerically	ADV
ap-680	188	29	.	.	PUNCT
ap-680	189	1	then	then	ADV
ap-680	189	2	,	,	PUNCT
ap-680	189	3	a	a	DET
ap-680	189	4	sensitivity	sensitivity	NOUN
ap-680	189	5	analysis	analysis	NOUN
ap-680	189	6	can	can	AUX
ap-680	189	7	be	be	AUX
ap-680	189	8	performed	perform	VERB
ap-680	189	9	to	to	PART
ap-680	189	10	realize	realize	VERB
ap-680	189	11	the	the	DET
ap-680	189	12	dependencies	dependency	NOUN
ap-680	189	13	in	in	ADP
ap-680	189	14	the	the	DET
ap-680	189	15	system	system	NOUN
ap-680	189	16	and	and	CCONJ
ap-680	189	17	hence	hence	ADV
ap-680	189	18	discover	discover	VERB
ap-680	189	19	the	the	DET
ap-680	189	20	key	key	NOUN
ap-680	189	21	to	to	PART
ap-680	189	22	exact	exact	ADJ
ap-680	189	23	control	control	NOUN
ap-680	189	24	.	.	PUNCT
ap-680	190	1	the	the	DET
ap-680	190	2	next	next	ADJ
ap-680	190	3	remaining	remaining	ADJ
ap-680	190	4	problem	problem	NOUN
ap-680	190	5	–	–	PUNCT
ap-680	190	6	usage	usage	NOUN
ap-680	190	7	in	in	ADP
ap-680	190	8	3d	3d	NUM
ap-680	190	9	space	space	NOUN
ap-680	190	10	–	–	PUNCT
ap-680	190	11	seems	seem	VERB
ap-680	190	12	not	not	PART
ap-680	190	13	to	to	PART
ap-680	190	14	be	be	AUX
ap-680	190	15	so	so	ADV
ap-680	190	16	difficult	difficult	ADJ
ap-680	190	17	now	now	ADV
ap-680	190	18	.	.	PUNCT
ap-680	191	1	this	this	PRON
ap-680	191	2	is	be	AUX
ap-680	191	3	mainly	mainly	ADV
ap-680	191	4	due	due	ADJ
ap-680	191	5	to	to	ADP
ap-680	191	6	the	the	DET
ap-680	191	7	fact	fact	NOUN
ap-680	191	8	that	that	SCONJ
ap-680	191	9	the	the	DET
ap-680	191	10	rotating	rotate	VERB
ap-680	191	11	joints	joint	NOUN
ap-680	191	12	usually	usually	ADV
ap-680	191	13	operate	operate	VERB
ap-680	191	14	in	in	ADP
ap-680	191	15	a	a	DET
ap-680	191	16	single	single	ADJ
ap-680	191	17	plane	plane	NOUN
ap-680	191	18	.	.	PUNCT
ap-680	192	1	however	however	ADV
ap-680	192	2	,	,	PUNCT
ap-680	192	3	this	this	DET
ap-680	192	4	problem	problem	NOUN
ap-680	192	5	becomes	become	VERB
ap-680	192	6	difficult	difficult	ADJ
ap-680	192	7	if	if	SCONJ
ap-680	192	8	the	the	DET
ap-680	192	9	joints	joint	NOUN
ap-680	192	10	are	be	AUX
ap-680	192	11	capable	capable	ADJ
ap-680	192	12	of	of	ADP
ap-680	192	13	unlimited	unlimited	ADJ
ap-680	192	14	rotation	rotation	NOUN
ap-680	192	15	instead	instead	ADV
ap-680	192	16	of	of	ADP
ap-680	192	17	rotation	rotation	NOUN
ap-680	192	18	in	in	ADP
ap-680	192	19	a	a	DET
ap-680	192	20	specified	specified	ADJ
ap-680	192	21	plane	plane	NOUN
ap-680	192	22	.	.	PUNCT
ap-680	193	1	the	the	DET
ap-680	193	2	usability	usability	NOUN
ap-680	193	3	of	of	ADP
ap-680	193	4	the	the	DET
ap-680	193	5	proposed	propose	VERB
ap-680	193	6	technique	technique	NOUN
ap-680	193	7	is	be	AUX
ap-680	193	8	clear	clear	ADJ
ap-680	193	9	,	,	PUNCT
ap-680	193	10	for	for	ADP
ap-680	193	11	enabling	enable	VERB
ap-680	193	12	animation	animation	NOUN
ap-680	193	13	of	of	ADP
ap-680	193	14	articulated	articulated	ADJ
ap-680	193	15	structures	structure	NOUN
ap-680	193	16	with	with	ADP
ap-680	193	17	user	user	NOUN
ap-680	193	18	-	-	PUNCT
ap-680	193	19	defined	define	VERB
ap-680	193	20	(	(	PUNCT
ap-680	193	21	expressed	express	VERB
ap-680	193	22	as	as	ADP
ap-680	193	23	functions	function	NOUN
ap-680	193	24	)	)	PUNCT
ap-680	193	25	constraints	constraint	NOUN
ap-680	193	26	imposed	impose	VERB
ap-680	193	27	on	on	ADP
ap-680	193	28	the	the	DET
ap-680	193	29	joints	joint	NOUN
ap-680	193	30	.	.	PUNCT
ap-680	194	1	after	after	SCONJ
ap-680	194	2	the	the	DET
ap-680	194	3	tasks	task	NOUN
ap-680	194	4	mentioned	mention	VERB
ap-680	194	5	above	above	ADV
ap-680	194	6	have	have	AUX
ap-680	194	7	been	be	AUX
ap-680	194	8	dealt	deal	VERB
ap-680	194	9	with	with	ADP
ap-680	194	10	,	,	PUNCT
ap-680	194	11	the	the	DET
ap-680	194	12	focus	focus	NOUN
ap-680	194	13	will	will	AUX
ap-680	194	14	turn	turn	VERB
ap-680	194	15	to	to	ADP
ap-680	194	16	the	the	DET
ap-680	194	17	performance	performance	NOUN
ap-680	194	18	and	and	CCONJ
ap-680	194	19	speed	speed	NOUN
ap-680	194	20	of	of	ADP
ap-680	194	21	the	the	DET
ap-680	194	22	proposed	propose	VERB
ap-680	194	23	solution	solution	NOUN
ap-680	194	24	,	,	PUNCT
ap-680	194	25	as	as	SCONJ
ap-680	194	26	speed	speed	NOUN
ap-680	194	27	is	be	AUX
ap-680	194	28	dominant	dominant	ADJ
ap-680	194	29	requirement	requirement	NOUN
ap-680	194	30	for	for	ADP
ap-680	194	31	real	real	ADJ
ap-680	194	32	time	time	NOUN
ap-680	194	33	computer	computer	NOUN
ap-680	194	34	animations	animation	NOUN
ap-680	194	35	.	.	PUNCT
ap-680	195	1	also	also	ADV
ap-680	195	2	for	for	ADP
ap-680	195	3	this	this	DET
ap-680	195	4	reason	reason	NOUN
ap-680	195	5	,	,	PUNCT
ap-680	195	6	the	the	DET
ap-680	195	7	basic	basic	ADJ
ap-680	195	8	methods	method	NOUN
ap-680	195	9	for	for	ADP
ap-680	195	10	solving	solve	VERB
ap-680	195	11	the	the	DET
ap-680	195	12	inverse	inverse	NOUN
ap-680	195	13	kinematics	kinematic	NOUN
ap-680	195	14	problem	problem	NOUN
ap-680	195	15	,	,	PUNCT
ap-680	195	16	such	such	ADJ
ap-680	195	17	as	as	ADP
ap-680	195	18	jacobian	jacobian	ADJ
ap-680	195	19	inversion	inversion	NOUN
ap-680	195	20	,	,	PUNCT
ap-680	195	21	jacobian	jacobian	ADJ
ap-680	195	22	transposition	transposition	NOUN
ap-680	195	23	,	,	PUNCT
ap-680	195	24	and	and	CCONJ
ap-680	195	25	ccd	ccd	NOUN
ap-680	195	26	are	be	AUX
ap-680	195	27	only	only	ADV
ap-680	195	28	used	use	VERB
ap-680	195	29	in	in	ADP
ap-680	195	30	computer	computer	NOUN
ap-680	195	31	animation	animation	NOUN
ap-680	195	32	due	due	ADP
ap-680	195	33	to	to	ADP
ap-680	195	34	their	their	PRON
ap-680	195	35	relatively	relatively	ADV
ap-680	195	36	low	low	ADJ
ap-680	195	37	computational	computational	ADJ
ap-680	195	38	complexity	complexity	NOUN
ap-680	195	39	.	.	PUNCT
ap-680	196	1	to	to	PART
ap-680	196	2	achieve	achieve	VERB
ap-680	196	3	the	the	DET
ap-680	196	4	goal	goal	NOUN
ap-680	196	5	of	of	ADP
ap-680	196	6	speed	speed	NOUN
ap-680	196	7	we	we	PRON
ap-680	196	8	are	be	AUX
ap-680	196	9	planning	plan	VERB
ap-680	196	10	to	to	PART
ap-680	196	11	employ	employ	VERB
ap-680	196	12	non	non	ADJ
ap-680	196	13	-	-	ADJ
ap-680	196	14	standard	standard	ADJ
ap-680	196	15	arithmetic	arithmetic	ADJ
ap-680	196	16	,	,	PUNCT
ap-680	196	17	probably	probably	ADV
ap-680	196	18	residual	residual	ADJ
ap-680	196	19	arithmetic	arithmetic	ADJ
ap-680	196	20	,	,	PUNCT
ap-680	196	21	together	together	ADV
ap-680	196	22	with	with	ADP
ap-680	196	23	“	"	PUNCT
ap-680	196	24	special	special	ADJ
ap-680	196	25	hard	hard	ADJ
ap-680	196	26	-	-	PUNCT
ap-680	196	27	wear	wear	NOUN
ap-680	196	28	”	"	PUNCT
ap-680	196	29	which	which	PRON
ap-680	196	30	is	be	AUX
ap-680	196	31	available	available	ADJ
ap-680	196	32	on	on	ADP
ap-680	196	33	today	today	NOUN
ap-680	196	34	’s	’s	PART
ap-680	196	35	�	�	NOUN
ap-680	196	36	-processors	-processor	NOUN
ap-680	196	37	,	,	PUNCT
ap-680	196	38	for	for	ADP
ap-680	196	39	instance	instance	NOUN
ap-680	196	40	mmx	mmx	PROPN
ap-680	196	41	,	,	PUNCT
ap-680	196	42	sse	sse	NOUN
ap-680	196	43	,	,	PUNCT
ap-680	196	44	3dnow	3dnow	NUM
ap-680	196	45	,	,	PUNCT
ap-680	196	46	etc	etc	X
ap-680	196	47	.	.	X
ap-680	197	1	©	©	PROPN
ap-680	197	2	czech	czech	PROPN
ap-680	197	3	technical	technical	PROPN
ap-680	197	4	university	university	PROPN
ap-680	197	5	publishing	publishing	NOUN
ap-680	197	6	house	house	NOUN
ap-680	197	7	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-680	197	8	25	25	NUM
ap-680	197	9	czech	czech	PROPN
ap-680	197	10	technical	technical	PROPN
ap-680	197	11	university	university	PROPN
ap-680	197	12	in	in	ADP
ap-680	197	13	prague	prague	PROPN
ap-680	197	14	acta	acta	PROPN
ap-680	197	15	polytechnica	polytechnica	PROPN
ap-680	197	16	vol	vol	NOUN
ap-680	197	17	.	.	PROPN
ap-680	198	1	45	45	NUM
ap-680	198	2	no	no	NOUN
ap-680	198	3	.	.	PUNCT
ap-680	199	1	2/2005	2/2005	NUM
ap-680	199	2	start	start	VERB
ap-680	199	3	position	position	NOUN
ap-680	199	4	2	2	NUM
ap-680	199	5	.	.	NOUN
ap-680	199	6	step	step	NOUN
ap-680	199	7	3	3	NUM
ap-680	199	8	.	.	PUNCT
ap-680	199	9	step	step	NOUN
ap-680	199	10	4	4	NUM
ap-680	199	11	.	.	PUNCT
ap-680	199	12	step	step	NOUN
ap-680	199	13	5	5	NUM
ap-680	199	14	.	.	PUNCT
ap-680	199	15	step	step	NOUN
ap-680	199	16	10	10	NUM
ap-680	199	17	.	.	PUNCT
ap-680	200	1	step	step	NOUN
ap-680	200	2	fig	fig	NOUN
ap-680	200	3	.	.	PUNCT
ap-680	201	1	5	5	NUM
ap-680	201	2	:	:	PUNCT
ap-680	201	3	behavior	behavior	NOUN
ap-680	201	4	of	of	ADP
ap-680	201	5	the	the	DET
ap-680	201	6	jacobian	jacobian	ADJ
ap-680	201	7	inversion	inversion	NOUN
ap-680	201	8	method	method	NOUN
ap-680	201	9	during	during	ADP
ap-680	201	10	the	the	DET
ap-680	201	11	test	test	NOUN
ap-680	201	12	start	start	NOUN
ap-680	201	13	position	position	NOUN
ap-680	201	14	2	2	NUM
ap-680	201	15	.	.	NOUN
ap-680	201	16	step	step	NOUN
ap-680	201	17	10	10	NUM
ap-680	201	18	.	.	PUNCT
ap-680	202	1	step	step	NOUN
ap-680	202	2	fig	fig	NOUN
ap-680	202	3	.	.	PUNCT
ap-680	203	1	6	6	NUM
ap-680	203	2	:	:	PUNCT
ap-680	203	3	behavior	behavior	NOUN
ap-680	203	4	of	of	ADP
ap-680	203	5	herein	herein	NOUN
ap-680	203	6	presented	present	VERB
ap-680	203	7	jacobian	jacobian	ADJ
ap-680	203	8	extension	extension	NOUN
ap-680	203	9	method	method	NOUN
ap-680	203	10	during	during	ADP
ap-680	203	11	the	the	DET
ap-680	203	12	test	test	NOUN
ap-680	203	13	references	reference	NOUN
ap-680	203	14	[	[	X
ap-680	203	15	1	1	NUM
ap-680	203	16	]	]	PUNCT
ap-680	203	17	badler	badler	NOUN
ap-680	203	18	,	,	PUNCT
ap-680	203	19	n.	n.	PROPN
ap-680	203	20	i.	i.	PROPN
ap-680	203	21	,	,	PUNCT
ap-680	203	22	phillips	phillips	PROPN
ap-680	203	23	,	,	PUNCT
ap-680	203	24	c.	c.	PROPN
ap-680	203	25	b.	b.	PROPN
ap-680	203	26	,	,	PUNCT
ap-680	203	27	webber	webber	PROPN
ap-680	203	28	,	,	PUNCT
ap-680	203	29	b.	b.	PROPN
ap-680	203	30	l.	l.	PROPN
ap-680	203	31	:	:	PUNCT
ap-680	203	32	simulating	simulate	VERB
ap-680	203	33	humans	human	NOUN
ap-680	203	34	:	:	PUNCT
ap-680	203	35	computer	computer	NOUN
ap-680	203	36	graphics	graphic	NOUN
ap-680	203	37	animation	animation	NOUN
ap-680	203	38	and	and	CCONJ
ap-680	203	39	control	control	NOUN
ap-680	203	40	.	.	PUNCT
ap-680	204	1	oxford	oxford	PROPN
ap-680	204	2	university	university	PROPN
ap-680	204	3	press	press	NOUN
ap-680	204	4	,	,	PUNCT
ap-680	204	5	1993	1993	NUM
ap-680	204	6	.	.	PUNCT
ap-680	205	1	[	[	X
ap-680	205	2	2	2	NUM
ap-680	205	3	]	]	PUNCT
ap-680	205	4	baillieul	baillieul	PROPN
ap-680	205	5	,	,	PUNCT
ap-680	205	6	j.	j.	PROPN
ap-680	205	7	:	:	PUNCT
ap-680	205	8	“	"	PUNCT
ap-680	205	9	kinematic	kinematic	ADJ
ap-680	205	10	programming	programming	NOUN
ap-680	205	11	alternatives	alternative	NOUN
ap-680	205	12	for	for	ADP
ap-680	205	13	redundant	redundant	ADJ
ap-680	205	14	manipulators	manipulator	NOUN
ap-680	205	15	.	.	PUNCT
ap-680	205	16	”	"	PUNCT
ap-680	206	1	in	in	ADP
ap-680	206	2	ieee	ieee	PROPN
ap-680	206	3	international	international	ADJ
ap-680	206	4	conference	conference	NOUN
ap-680	206	5	on	on	ADP
ap-680	206	6	robotics	robotic	NOUN
ap-680	206	7	and	and	CCONJ
ap-680	206	8	automation	automation	NOUN
ap-680	206	9	,	,	PUNCT
ap-680	206	10	1985	1985	NUM
ap-680	206	11	,	,	PUNCT
ap-680	206	12	p.	p.	NOUN
ap-680	206	13	722–728	722–728	NUM
ap-680	206	14	.	.	PUNCT
ap-680	207	1	[	[	X
ap-680	207	2	3	3	NUM
ap-680	207	3	]	]	PUNCT
ap-680	207	4	baillieul	baillieul	PROPN
ap-680	207	5	,	,	PUNCT
ap-680	207	6	j.	j.	PROPN
ap-680	207	7	:	:	PUNCT
ap-680	207	8	“	"	PUNCT
ap-680	207	9	avoiding	avoid	VERB
ap-680	207	10	obstacles	obstacle	NOUN
ap-680	207	11	and	and	CCONJ
ap-680	207	12	resolving	resolve	VERB
ap-680	207	13	kinematic	kinematic	ADJ
ap-680	207	14	redundancy	redundancy	NOUN
ap-680	207	15	.	.	PUNCT
ap-680	207	16	”	"	PUNCT
ap-680	208	1	in	in	ADP
ap-680	208	2	ieee	ieee	PROPN
ap-680	208	3	international	international	ADJ
ap-680	208	4	conference	conference	NOUN
ap-680	208	5	on	on	ADP
ap-680	208	6	robotics	robotic	NOUN
ap-680	208	7	and	and	CCONJ
ap-680	208	8	automation	automation	NOUN
ap-680	208	9	,	,	PUNCT
ap-680	208	10	1986	1986	NUM
ap-680	208	11	,	,	PUNCT
ap-680	208	12	p.	p.	NOUN
ap-680	208	13	1698–1704	1698–1704	NUM
ap-680	208	14	.	.	PUNCT
ap-680	209	1	[	[	X
ap-680	209	2	4	4	NUM
ap-680	209	3	]	]	X
ap-680	209	4	friedberg	friedberg	PROPN
ap-680	209	5	,	,	PUNCT
ap-680	209	6	s.	s.	PROPN
ap-680	209	7	h.	h.	PROPN
ap-680	209	8	,	,	PUNCT
ap-680	209	9	insel	insel	PROPN
ap-680	209	10	,	,	PUNCT
ap-680	209	11	a.	a.	PROPN
ap-680	209	12	j.	j.	PROPN
ap-680	209	13	,	,	PUNCT
ap-680	209	14	spence	spence	PROPN
ap-680	209	15	,	,	PUNCT
ap-680	209	16	l.	l.	PROPN
ap-680	209	17	e.	e.	PROPN
ap-680	209	18	:	:	PUNCT
ap-680	209	19	linear	linear	PROPN
ap-680	209	20	algebra	algebra	NOUN
ap-680	209	21	3rd	3rd	PROPN
ap-680	209	22	ed	ed	NOUN
ap-680	209	23	.	.	PUNCT
ap-680	210	1	upper	upper	ADJ
ap-680	210	2	saddle	saddle	PROPN
ap-680	210	3	river	river	NOUN
ap-680	210	4	:	:	PUNCT
ap-680	210	5	prentice	prentice	NOUN
ap-680	210	6	-	-	PUNCT
ap-680	210	7	hall	hall	NOUN
ap-680	210	8	,	,	PUNCT
ap-680	210	9	1997	1997	NUM
ap-680	210	10	.	.	PUNCT
ap-680	211	1	isbn	isbn	ADJ
ap-680	211	2	0	0	NUM
ap-680	211	3	-	-	SYM
ap-680	211	4	13	13	NUM
ap-680	211	5	-	-	PUNCT
ap-680	211	6	233859	233859	NUM
ap-680	211	7	-	-	SYM
ap-680	211	8	9	9	NUM
ap-680	211	9	.	.	PUNCT
ap-680	212	1	[	[	X
ap-680	212	2	5	5	NUM
ap-680	212	3	]	]	X
ap-680	212	4	golub	golub	PROPN
ap-680	212	5	,	,	PUNCT
ap-680	212	6	g.	g.	PROPN
ap-680	212	7	h.	h.	PROPN
ap-680	212	8	,	,	PUNCT
ap-680	212	9	van	van	PROPN
ap-680	212	10	loan	loan	PROPN
ap-680	212	11	,	,	PUNCT
ap-680	212	12	c.	c.	PROPN
ap-680	212	13	f.	f.	PROPN
ap-680	212	14	:	:	PUNCT
ap-680	212	15	matrix	matrix	NOUN
ap-680	212	16	computations	computation	NOUN
ap-680	212	17	3rd	3rd	PROPN
ap-680	212	18	ed	ed	NOUN
ap-680	212	19	.	.	PUNCT
ap-680	213	1	baltimore	baltimore	PROPN
ap-680	213	2	:	:	PUNCT
ap-680	213	3	the	the	DET
ap-680	213	4	johns	johns	PROPN
ap-680	213	5	hopkins	hopkins	PROPN
ap-680	213	6	university	university	PROPN
ap-680	213	7	press	press	NOUN
ap-680	213	8	,	,	PUNCT
ap-680	213	9	1996	1996	NUM
ap-680	213	10	.	.	PUNCT
ap-680	214	1	isbn	isbn	ADJ
ap-680	214	2	0	0	NUM
ap-680	214	3	-	-	PUNCT
ap-680	214	4	8018	8018	NUM
ap-680	214	5	-	-	SYM
ap-680	214	6	5414	5414	NUM
ap-680	214	7	-	-	SYM
ap-680	214	8	8	8	NUM
ap-680	214	9	.	.	PUNCT
ap-680	215	1	[	[	X
ap-680	215	2	6	6	NUM
ap-680	215	3	]	]	X
ap-680	215	4	klein	klein	PROPN
ap-680	215	5	,	,	PUNCT
ap-680	215	6	c.	c.	PROPN
ap-680	215	7	a.	a.	PROPN
ap-680	215	8	,	,	PUNCT
ap-680	215	9	chu	chu	PROPN
ap-680	215	10	-	-	PUNCT
ap-680	215	11	jenq	jenq	PROPN
ap-680	215	12	,	,	PUNCT
ap-680	215	13	c.	c.	PROPN
ap-680	215	14	,	,	PUNCT
ap-680	215	15	ahmed	ahmed	PROPN
ap-680	215	16	,	,	PUNCT
ap-680	215	17	s.	s.	PROPN
ap-680	215	18	:	:	PUNCT
ap-680	215	19	“	"	PUNCT
ap-680	215	20	a	a	DET
ap-680	215	21	new	new	ADJ
ap-680	215	22	formulation	formulation	NOUN
ap-680	215	23	of	of	ADP
ap-680	215	24	the	the	DET
ap-680	215	25	extended	extended	ADJ
ap-680	215	26	jacobian	jacobian	ADJ
ap-680	215	27	method	method	NOUN
ap-680	215	28	and	and	CCONJ
ap-680	215	29	its	its	PRON
ap-680	215	30	use	use	NOUN
ap-680	215	31	in	in	ADP
ap-680	215	32	mapping	map	VERB
ap-680	215	33	algorithmic	algorithmic	ADJ
ap-680	215	34	singularities	singularity	NOUN
ap-680	215	35	for	for	ADP
ap-680	215	36	kinematically	kinematically	ADV
ap-680	215	37	redundant	redundant	ADJ
ap-680	215	38	manipulators	manipulator	NOUN
ap-680	215	39	.	.	PUNCT
ap-680	215	40	”	"	PUNCT
ap-680	215	41	ieee	ieee	NOUN
ap-680	215	42	transactions	transaction	NOUN
ap-680	215	43	on	on	ADP
ap-680	215	44	robotics	robotic	NOUN
ap-680	215	45	and	and	CCONJ
ap-680	215	46	automation	automation	NOUN
ap-680	215	47	,	,	PUNCT
ap-680	215	48	vol	vol	NOUN
ap-680	215	49	.	.	PROPN
ap-680	215	50	11	11	NUM
ap-680	215	51	(	(	PUNCT
ap-680	215	52	february	february	PROPN
ap-680	215	53	1995	1995	NUM
ap-680	215	54	)	)	PUNCT
ap-680	215	55	,	,	PUNCT
ap-680	215	56	no	no	INTJ
ap-680	215	57	.	.	NOUN
ap-680	215	58	1	1	NUM
ap-680	215	59	,	,	PUNCT
ap-680	215	60	p.	p.	NOUN
ap-680	215	61	50–55	50–55	NUM
ap-680	215	62	.	.	PUNCT
ap-680	216	1	[	[	X
ap-680	216	2	7	7	NUM
ap-680	216	3	]	]	X
ap-680	216	4	korein	korein	PROPN
ap-680	216	5	,	,	PUNCT
ap-680	216	6	j.	j.	PROPN
ap-680	216	7	u.	u.	PROPN
ap-680	216	8	,	,	PUNCT
ap-680	216	9	badler	badler	NOUN
ap-680	216	10	,	,	PUNCT
ap-680	216	11	n.	n.	PROPN
ap-680	216	12	i.	i.	PROPN
ap-680	216	13	:	:	PUNCT
ap-680	216	14	“	"	PUNCT
ap-680	216	15	techniques	technique	NOUN
ap-680	216	16	for	for	ADP
ap-680	216	17	generating	generate	VERB
ap-680	216	18	the	the	DET
ap-680	216	19	goal	goal	NOUN
ap-680	216	20	-	-	PUNCT
ap-680	216	21	directed	direct	VERB
ap-680	216	22	motion	motion	NOUN
ap-680	216	23	of	of	ADP
ap-680	216	24	articulated	articulated	ADJ
ap-680	216	25	structures	structure	NOUN
ap-680	216	26	.	.	PUNCT
ap-680	216	27	”	"	PUNCT
ap-680	216	28	ieee	ieee	NOUN
ap-680	216	29	transactions	transaction	NOUN
ap-680	216	30	on	on	ADP
ap-680	216	31	computer	computer	NOUN
ap-680	216	32	graphics	graphic	NOUN
ap-680	216	33	and	and	CCONJ
ap-680	216	34	applications	application	NOUN
ap-680	216	35	,	,	PUNCT
ap-680	216	36	november	november	PROPN
ap-680	216	37	1982	1982	NUM
ap-680	216	38	,	,	PUNCT
ap-680	216	39	p.	p.	NOUN
ap-680	216	40	71–81	71–81	NUM
ap-680	216	41	.	.	PUNCT
ap-680	217	1	[	[	X
ap-680	217	2	8	8	NUM
ap-680	217	3	]	]	PUNCT
ap-680	217	4	liegeosis	liegeosis	NOUN
ap-680	217	5	,	,	PUNCT
ap-680	217	6	a.	a.	NOUN
ap-680	217	7	:	:	PUNCT
ap-680	217	8	“	"	PUNCT
ap-680	217	9	automatic	automatic	ADJ
ap-680	217	10	supervisory	supervisory	ADJ
ap-680	217	11	control	control	NOUN
ap-680	217	12	of	of	ADP
ap-680	217	13	the	the	DET
ap-680	217	14	configuration	configuration	NOUN
ap-680	217	15	and	and	CCONJ
ap-680	217	16	behavior	behavior	NOUN
ap-680	217	17	of	of	ADP
ap-680	217	18	multibody	multibody	ADJ
ap-680	217	19	mechanisms	mechanism	NOUN
ap-680	217	20	.	.	PUNCT
ap-680	217	21	”	"	PUNCT
ap-680	217	22	ieee	ieee	NOUN
ap-680	217	23	transactions	transaction	NOUN
ap-680	217	24	on	on	ADP
ap-680	217	25	systems	system	NOUN
ap-680	217	26	,	,	PUNCT
ap-680	217	27	man	man	NOUN
ap-680	217	28	,	,	PUNCT
ap-680	217	29	and	and	CCONJ
ap-680	217	30	cybernetics	cybernetic	NOUN
ap-680	217	31	,	,	PUNCT
ap-680	217	32	vol	vol	NOUN
ap-680	217	33	.	.	PROPN
ap-680	217	34	7	7	NUM
ap-680	217	35	(	(	PUNCT
ap-680	217	36	1977	1977	NUM
ap-680	217	37	)	)	PUNCT
ap-680	217	38	,	,	PUNCT
ap-680	217	39	no	no	INTJ
ap-680	217	40	.	.	NOUN
ap-680	217	41	12	12	NUM
ap-680	217	42	,	,	PUNCT
ap-680	217	43	p.	p.	NOUN
ap-680	217	44	868–871	868–871	NUM
ap-680	217	45	.	.	PUNCT
ap-680	218	1	[	[	X
ap-680	218	2	9	9	NUM
ap-680	218	3	]	]	X
ap-680	218	4	paul	paul	PROPN
ap-680	218	5	,	,	PUNCT
ap-680	218	6	r.	r.	PROPN
ap-680	218	7	p.	p.	PROPN
ap-680	218	8	:	:	PUNCT
ap-680	218	9	robot	robot	NOUN
ap-680	218	10	manipulators	manipulator	NOUN
ap-680	218	11	:	:	PUNCT
ap-680	218	12	mathematics	mathematic	NOUN
ap-680	218	13	,	,	PUNCT
ap-680	218	14	programming	programming	NOUN
ap-680	218	15	and	and	CCONJ
ap-680	218	16	control	control	NOUN
ap-680	218	17	.	.	PUNCT
ap-680	219	1	cambridge	cambridge	PROPN
ap-680	219	2	,	,	PUNCT
ap-680	219	3	mass	mass	PROPN
ap-680	219	4	.	.	PUNCT
ap-680	219	5	:	:	PUNCT
ap-680	220	1	mit	mit	VERB
ap-680	220	2	press	press	NOUN
ap-680	220	3	,	,	PUNCT
ap-680	220	4	1981	1981	NUM
ap-680	220	5	.	.	PUNCT
ap-680	221	1	[	[	X
ap-680	221	2	10	10	NUM
ap-680	221	3	]	]	X
ap-680	221	4	van	van	PROPN
ap-680	221	5	huffel	huffel	PROPN
ap-680	221	6	,	,	PUNCT
ap-680	221	7	s.	s.	PROPN
ap-680	221	8	,	,	PUNCT
ap-680	221	9	vandewalle	vandewalle	PROPN
ap-680	221	10	,	,	PUNCT
ap-680	221	11	j.	j.	PROPN
ap-680	221	12	:	:	PUNCT
ap-680	221	13	the	the	DET
ap-680	221	14	total	total	ADJ
ap-680	221	15	least	least	ADJ
ap-680	221	16	-	-	PUNCT
ap-680	221	17	squares	square	NOUN
ap-680	221	18	problem	problem	NOUN
ap-680	221	19	.	.	PUNCT
ap-680	222	1	philadelphia	philadelphia	PROPN
ap-680	222	2	:	:	PUNCT
ap-680	222	3	siam	siam	PROPN
ap-680	222	4	,	,	PUNCT
ap-680	222	5	1991	1991	NUM
ap-680	222	6	.	.	PUNCT
ap-680	223	1	isbn	isbn	ADJ
ap-680	223	2	0	0	NUM
ap-680	223	3	-	-	PUNCT
ap-680	223	4	89871	89871	NUM
ap-680	223	5	-	-	PUNCT
ap-680	223	6	275	275	NUM
ap-680	223	7	-	-	PUNCT
ap-680	223	8	0	0	NUM
ap-680	223	9	.	.	PUNCT
ap-680	224	1	[	[	X
ap-680	224	2	11	11	NUM
ap-680	224	3	]	]	X
ap-680	224	4	šoch	šoch	NOUN
ap-680	224	5	,	,	PUNCT
ap-680	224	6	m.	m.	NOUN
ap-680	224	7	,	,	PUNCT
ap-680	224	8	lórencz	lórencz	PROPN
ap-680	224	9	,	,	PUNCT
ap-680	224	10	r.	r.	PROPN
ap-680	224	11	:	:	PUNCT
ap-680	224	12	“	"	PUNCT
ap-680	224	13	solving	solve	VERB
ap-680	224	14	inverse	inverse	NOUN
ap-680	224	15	kinematics	kinematic	NOUN
ap-680	224	16	–	–	PUNCT
ap-680	224	17	jacobian	jacobian	ADJ
ap-680	224	18	inversion	inversion	NOUN
ap-680	224	19	method	method	NOUN
ap-680	224	20	in	in	ADP
ap-680	224	21	a	a	DET
ap-680	224	22	plane	plane	NOUN
ap-680	224	23	.	.	PUNCT
ap-680	224	24	”	"	PUNCT
ap-680	225	1	in	in	ADP
ap-680	225	2	11th	11th	ADJ
ap-680	225	3	international	international	ADJ
ap-680	225	4	workshop	workshop	NOUN
ap-680	225	5	on	on	ADP
ap-680	225	6	systems	system	NOUN
ap-680	225	7	,	,	PUNCT
ap-680	225	8	signals	signal	NOUN
ap-680	225	9	,	,	PUNCT
ap-680	225	10	image	image	NOUN
ap-680	225	11	processing	processing	NOUN
ap-680	225	12	and	and	CCONJ
ap-680	225	13	ambient	ambient	ADJ
ap-680	225	14	multimedia	multimedia	NOUN
ap-680	225	15	.	.	PUNCT
ap-680	226	1	poznaň	poznaň	ADJ
ap-680	226	2	:	:	PUNCT
ap-680	226	3	ptetis	ptetis	PROPN
ap-680	226	4	,	,	PUNCT
ap-680	226	5	2004	2004	NUM
ap-680	226	6	,	,	PUNCT
ap-680	226	7	p.	p.	NOUN
ap-680	226	8	95–97	95–97	NUM
ap-680	226	9	.	.	PUNCT
ap-680	227	1	isbn	isbn	ADJ
ap-680	227	2	83	83	NUM
ap-680	227	3	-	-	SYM
ap-680	227	4	906074	906074	NUM
ap-680	227	5	-	-	PUNCT
ap-680	227	6	8	8	NUM
ap-680	227	7	-	-	SYM
ap-680	227	8	4	4	NUM
ap-680	227	9	.	.	PUNCT
ap-680	228	1	[	[	X
ap-680	228	2	12	12	NUM
ap-680	228	3	]	]	X
ap-680	228	4	whitney	whitney	PROPN
ap-680	228	5	,	,	PUNCT
ap-680	228	6	d.	d.	PROPN
ap-680	228	7	e.	e.	PROPN
ap-680	228	8	:	:	PUNCT
ap-680	228	9	“	"	PUNCT
ap-680	228	10	resolved	resolve	VERB
ap-680	228	11	motion	motion	NOUN
ap-680	228	12	rate	rate	NOUN
ap-680	228	13	control	control	NOUN
ap-680	228	14	of	of	ADP
ap-680	228	15	manipulators	manipulator	NOUN
ap-680	228	16	and	and	CCONJ
ap-680	228	17	human	human	ADJ
ap-680	228	18	prosthesis	prosthesis	NOUN
ap-680	228	19	.	.	PUNCT
ap-680	228	20	”	"	PUNCT
ap-680	229	1	ieee	ieee	NOUN
ap-680	229	2	transactions	transaction	NOUN
ap-680	229	3	on	on	ADP
ap-680	229	4	man	man	NOUN
ap-680	229	5	-	-	PUNCT
ap-680	229	6	machine	machine	NOUN
ap-680	229	7	systems	system	NOUN
ap-680	229	8	,	,	PUNCT
ap-680	229	9	mms-10	mms-10	PROPN
ap-680	229	10	,	,	PUNCT
ap-680	229	11	june	june	PROPN
ap-680	229	12	1969	1969	NUM
ap-680	229	13	,	,	PUNCT
ap-680	229	14	no	no	INTJ
ap-680	229	15	.	.	NOUN
ap-680	229	16	2	2	NUM
ap-680	229	17	,	,	PUNCT
ap-680	229	18	p.	p.	NOUN
ap-680	229	19	47–53	47–53	NUM
ap-680	229	20	.	.	PUNCT
ap-680	230	1	ing	ing	ADJ
ap-680	230	2	.	.	PUNCT
ap-680	231	1	martin	martin	PROPN
ap-680	231	2	šoch	šoch	PROPN
ap-680	231	3	e	e	PROPN
ap-680	231	4	-	-	NOUN
ap-680	231	5	mail	mail	NOUN
ap-680	231	6	:	:	PUNCT
ap-680	231	7	sochm@fel.cvut.cz	sochm@fel.cvut.cz	PROPN
ap-680	231	8	doc	doc	PROPN
ap-680	231	9	.	.	PROPN
ap-680	232	1	ing	ing	PROPN
ap-680	232	2	.	.	PROPN
ap-680	233	1	róbert	róbert	PROPN
ap-680	233	2	lórencz	lórencz	PROPN
ap-680	233	3	,	,	PUNCT
ap-680	233	4	csc	csc	PROPN
ap-680	233	5	.	.	PROPN
ap-680	234	1	e	e	X
ap-680	234	2	-	-	NOUN
ap-680	234	3	mail	mail	NOUN
ap-680	234	4	:	:	PUNCT
ap-680	234	5	lorencz@fel.cvut.cz	lorencz@fel.cvut.cz	NOUN
ap-680	234	6	department	department	PROPN
ap-680	234	7	of	of	ADP
ap-680	234	8	computer	computer	NOUN
ap-680	234	9	science	science	NOUN
ap-680	234	10	and	and	CCONJ
ap-680	234	11	engineering	engineering	NOUN
ap-680	234	12	czech	czech	PROPN
ap-680	234	13	technical	technical	PROPN
ap-680	234	14	university	university	PROPN
ap-680	234	15	in	in	ADP
ap-680	234	16	prague	prague	PROPN
ap-680	234	17	faculty	faculty	NOUN
ap-680	234	18	of	of	ADP
ap-680	234	19	electrical	electrical	ADJ
ap-680	234	20	engineering	engineering	NOUN
ap-680	234	21	karlovo	karlovo	PROPN
ap-680	234	22	nám	nám	PROPN
ap-680	234	23	.	.	PUNCT
ap-680	235	1	13	13	NUM
ap-680	235	2	121	121	NUM
ap-680	235	3	35	35	NUM
ap-680	235	4	praha	praha	NOUN
ap-680	235	5	2	2	NUM
ap-680	235	6	,	,	PUNCT
ap-680	235	7	czech	czech	PROPN
ap-680	235	8	republic	republic	NOUN
ap-680	235	9	26	26	NUM
ap-680	235	10	©	©	PROPN
ap-680	235	11	czech	czech	PROPN
ap-680	235	12	technical	technical	PROPN
ap-680	235	13	university	university	PROPN
ap-680	235	14	publishing	publishing	NOUN
ap-680	235	15	house	house	NOUN
ap-680	235	16	http://ctn.cvut.cz/ap/	http://ctn.cvut.cz/ap/	PROPN
ap-680	235	17	acta	acta	PROPN
ap-680	235	18	polytechnica	polytechnica	PROPN
ap-680	235	19	vol	vol	NOUN
ap-680	235	20	.	.	PROPN
ap-680	236	1	45	45	NUM
ap-680	236	2	no	no	NOUN
ap-680	236	3	.	.	PUNCT
ap-680	237	1	2/2005	2/2005	NUM
ap-680	237	2	czech	czech	PROPN
ap-680	237	3	technical	technical	PROPN
ap-680	237	4	university	university	PROPN
ap-680	237	5	in	in	ADP
ap-680	237	6	prague	prague	NOUN