id	sid	tid	token	lemma	pos
00000001s1r	1	1	in	in	ADP
00000001s1r	1	2	this	this	DET
00000001s1r	1	3	investigation	investigation	NOUN
00000001s1r	1	4	a	a	DET
00000001s1r	1	5	robotic	robotic	ADJ
00000001s1r	1	6	system	system	NOUN
00000001s1r	1	7	's	's	PART
00000001s1r	1	8	dynamic	dynamic	ADJ
00000001s1r	1	9	performance	performance	NOUN
00000001s1r	1	10	is	be	AUX
00000001s1r	1	11	optimized	optimize	VERB
00000001s1r	1	12	for	for	ADP
00000001s1r	1	13	high	high	ADJ
00000001s1r	1	14	reliability	reliability	NOUN
00000001s1r	1	15	under	under	ADP
00000001s1r	1	16	uncertainty	uncertainty	NOUN
00000001s1r	1	17	.	.	PUNCT
00000001s1r	2	1	the	the	DET
00000001s1r	2	2	dynamic	dynamic	ADJ
00000001s1r	2	3	capability	capability	NOUN
00000001s1r	2	4	equations	equation	NOUN
00000001s1r	2	5	(	(	PUNCT
00000001s1r	2	6	dce	dce	PROPN
00000001s1r	2	7	)	)	PUNCT
00000001s1r	2	8	allow	allow	VERB
00000001s1r	2	9	designers	designer	NOUN
00000001s1r	2	10	to	to	PART
00000001s1r	2	11	predict	predict	VERB
00000001s1r	2	12	the	the	DET
00000001s1r	2	13	dynamic	dynamic	ADJ
00000001s1r	2	14	performance	performance	NOUN
00000001s1r	2	15	of	of	ADP
00000001s1r	2	16	a	a	DET
00000001s1r	2	17	robotic	robotic	ADJ
00000001s1r	2	18	system	system	NOUN
00000001s1r	2	19	for	for	ADP
00000001s1r	2	20	a	a	DET
00000001s1r	2	21	particular	particular	ADJ
00000001s1r	2	22	configuration	configuration	NOUN
00000001s1r	2	23	and	and	CCONJ
00000001s1r	2	24	reference	reference	NOUN
00000001s1r	2	25	point	point	NOUN
00000001s1r	2	26	on	on	ADP
00000001s1r	2	27	the	the	DET
00000001s1r	2	28	end	end	NOUN
00000001s1r	2	29	-	-	PUNCT
00000001s1r	2	30	effector	effector	NOUN
00000001s1r	2	31	(	(	PUNCT
00000001s1r	2	32	i.e.	i.e.	X
00000001s1r	2	33	,point	,point	PUNCT
00000001s1r	2	34	design	design	NOUN
00000001s1r	2	35	)	)	PUNCT
00000001s1r	2	36	.	.	PUNCT
00000001s1r	3	1	here	here	ADV
00000001s1r	3	2	the	the	DET
00000001s1r	3	3	dce	dce	NOUN
00000001s1r	3	4	are	be	AUX
00000001s1r	3	5	used	use	VERB
00000001s1r	3	6	in	in	ADP
00000001s1r	3	7	conjunction	conjunction	NOUN
00000001s1r	3	8	with	with	ADP
00000001s1r	3	9	a	a	DET
00000001s1r	3	10	reliability	reliability	NOUN
00000001s1r	3	11	-	-	PUNCT
00000001s1r	3	12	based	base	VERB
00000001s1r	3	13	design	design	NOUN
00000001s1r	3	14	optimization	optimization	NOUN
00000001s1r	3	15	(	(	PUNCT
00000001s1r	3	16	rbdo	rbdo	NOUN
00000001s1r	3	17	)	)	PUNCT
00000001s1r	3	18	strategy	strategy	NOUN
00000001s1r	3	19	in	in	ADP
00000001s1r	3	20	order	order	NOUN
00000001s1r	3	21	to	to	PART
00000001s1r	3	22	obtain	obtain	VERB
00000001s1r	3	23	designs	design	NOUN
00000001s1r	3	24	with	with	ADP
00000001s1r	3	25	robust	robust	ADJ
00000001s1r	3	26	dynamic	dynamic	ADJ
00000001s1r	3	27	performance	performance	NOUN
00000001s1r	3	28	with	with	ADP
00000001s1r	3	29	respect	respect	NOUN
00000001s1r	3	30	to	to	ADP
00000001s1r	3	31	the	the	DET
00000001s1r	3	32	end	end	NOUN
00000001s1r	3	33	-	-	PUNCT
00000001s1r	3	34	effector	effector	NOUN
00000001s1r	3	35	reference	reference	NOUN
00000001s1r	3	36	point	point	NOUN
00000001s1r	3	37	and	and	CCONJ
00000001s1r	3	38	additionally	additionally	ADV
00000001s1r	3	39	with	with	ADP
00000001s1r	3	40	respect	respect	NOUN
00000001s1r	3	41	to	to	ADP
00000001s1r	3	42	changing	change	VERB
00000001s1r	3	43	configurations	configuration	NOUN
00000001s1r	3	44	with	with	ADP
00000001s1r	3	45	a	a	DET
00000001s1r	3	46	fixed	fix	VERB
00000001s1r	3	47	operational	operational	ADJ
00000001s1r	3	48	point	point	NOUN
00000001s1r	3	49	.	.	PUNCT
00000001s1r	4	1	the	the	DET
00000001s1r	4	2	workspace	workspace	NOUN
00000001s1r	4	3	is	be	AUX
00000001s1r	4	4	characterized	characterize	VERB
00000001s1r	4	5	to	to	PART
00000001s1r	4	6	determine	determine	VERB
00000001s1r	4	7	the	the	DET
00000001s1r	4	8	actuator	actuator	NOUN
00000001s1r	4	9	inputs	input	NOUN
00000001s1r	4	10	required	require	VERB
00000001s1r	4	11	to	to	PART
00000001s1r	4	12	achieve	achieve	VERB
00000001s1r	4	13	a	a	DET
00000001s1r	4	14	desired	desire	VERB
00000001s1r	4	15	level	level	NOUN
00000001s1r	4	16	of	of	ADP
00000001s1r	4	17	performance	performance	NOUN
00000001s1r	4	18	over	over	ADP
00000001s1r	4	19	a	a	DET
00000001s1r	4	20	chosen	choose	VERB
00000001s1r	4	21	percentage	percentage	NOUN
00000001s1r	4	22	of	of	ADP
00000001s1r	4	23	configurations	configuration	NOUN
00000001s1r	4	24	.	.	PUNCT
00000001s1r	5	1	in	in	ADP
00000001s1r	5	2	this	this	DET
00000001s1r	5	3	work	work	NOUN
00000001s1r	5	4	a	a	DET
00000001s1r	5	5	unilevel	unilevel	ADJ
00000001s1r	5	6	performance	performance	NOUN
00000001s1r	5	7	measure	measure	NOUN
00000001s1r	5	8	approach	approach	NOUN
00000001s1r	5	9	(	(	PUNCT
00000001s1r	5	10	pma	pma	PROPN
00000001s1r	5	11	)	)	PUNCT
00000001s1r	5	12	is	be	AUX
00000001s1r	5	13	used	use	VERB
00000001s1r	5	14	to	to	PART
00000001s1r	5	15	perform	perform	VERB
00000001s1r	5	16	rbdo	rbdo	NOUN
00000001s1r	5	17	.	.	PUNCT
00000001s1r	6	1	this	this	PRON
00000001s1r	6	2	is	be	AUX
00000001s1r	6	3	important	important	ADJ
00000001s1r	6	4	for	for	ADP
00000001s1r	6	5	the	the	DET
00000001s1r	6	6	reliable	reliable	ADJ
00000001s1r	6	7	design	design	NOUN
00000001s1r	6	8	of	of	ADP
00000001s1r	6	9	robotic	robotic	ADJ
00000001s1r	6	10	systems	system	NOUN
00000001s1r	6	11	in	in	ADP
00000001s1r	6	12	which	which	PRON
00000001s1r	6	13	a	a	DET
00000001s1r	6	14	solution	solution	NOUN
00000001s1r	6	15	to	to	ADP
00000001s1r	6	16	the	the	DET
00000001s1r	6	17	dce	dce	NOUN
00000001s1r	6	18	is	be	AUX
00000001s1r	6	19	required	require	VERB
00000001s1r	6	20	for	for	ADP
00000001s1r	6	21	each	each	DET
00000001s1r	6	22	constraint	constraint	NOUN
00000001s1r	6	23	call	call	NOUN
00000001s1r	6	24	.	.	PUNCT
00000001s1r	7	1	the	the	DET
00000001s1r	7	2	method	method	NOUN
00000001s1r	7	3	is	be	AUX
00000001s1r	7	4	illustrated	illustrate	VERB
00000001s1r	7	5	on	on	ADP
00000001s1r	7	6	a	a	DET
00000001s1r	7	7	robot	robot	NOUN
00000001s1r	7	8	design	design	NOUN
00000001s1r	7	9	problem	problem	NOUN
00000001s1r	7	10	.	.	PUNCT