id	sid	tid	token	lemma	pos
r494vh56928	1	1	prior	prior	ADJ
r494vh56928	1	2	development	development	NOUN
r494vh56928	1	3	of	of	ADP
r494vh56928	1	4	t1	t1	PROPN
r494vh56928	1	5	motion	motion	NOUN
r494vh56928	1	6	theory	theory	NOUN
r494vh56928	1	7	has	have	AUX
r494vh56928	1	8	used	use	VERB
r494vh56928	1	9	a	a	DET
r494vh56928	1	10	second	second	ADJ
r494vh56928	1	11	-	-	PUNCT
r494vh56928	1	12	order	order	NOUN
r494vh56928	1	13	parameterization	parameterization	NOUN
r494vh56928	1	14	which	which	PRON
r494vh56928	1	15	maximally	maximally	ADV
r494vh56928	1	16	simplifies	simplify	VERB
r494vh56928	1	17	the	the	DET
r494vh56928	1	18	theory	theory	NOUN
r494vh56928	1	19	and	and	CCONJ
r494vh56928	1	20	allows	allow	VERB
r494vh56928	1	21	for	for	ADP
r494vh56928	1	22	a	a	DET
r494vh56928	1	23	description	description	NOUN
r494vh56928	1	24	of	of	ADP
r494vh56928	1	25	the	the	DET
r494vh56928	1	26	kinematic	kinematic	ADJ
r494vh56928	1	27	geometry	geometry	NOUN
r494vh56928	1	28	.	.	PUNCT
r494vh56928	2	1	in	in	ADP
r494vh56928	2	2	the	the	DET
r494vh56928	2	3	t1	t1	PROPN
r494vh56928	2	4	motion	motion	NOUN
r494vh56928	2	5	theory	theory	NOUN
r494vh56928	2	6	presented	present	VERB
r494vh56928	2	7	here	here	ADV
r494vh56928	2	8	,	,	PUNCT
r494vh56928	2	9	this	this	DET
r494vh56928	2	10	parameterization	parameterization	NOUN
r494vh56928	2	11	is	be	AUX
r494vh56928	2	12	generalized	generalize	VERB
r494vh56928	2	13	and	and	CCONJ
r494vh56928	2	14	not	not	PART
r494vh56928	2	15	limited	limit	VERB
r494vh56928	2	16	to	to	ADP
r494vh56928	2	17	the	the	DET
r494vh56928	2	18	second	second	ADJ
r494vh56928	2	19	-	-	PUNCT
r494vh56928	2	20	order	order	NOUN
r494vh56928	2	21	.	.	PUNCT
r494vh56928	3	1	the	the	DET
r494vh56928	3	2	results	result	NOUN
r494vh56928	3	3	of	of	ADP
r494vh56928	3	4	this	this	DET
r494vh56928	3	5	generalized	generalize	VERB
r494vh56928	3	6	parameterization	parameterization	NOUN
r494vh56928	3	7	are	be	AUX
r494vh56928	3	8	more	more	ADV
r494vh56928	3	9	algebraically	algebraically	ADV
r494vh56928	3	10	complex	complex	ADJ
r494vh56928	3	11	;	;	PUNCT
r494vh56928	3	12	however	however	ADV
r494vh56928	3	13	,	,	PUNCT
r494vh56928	3	14	a	a	DET
r494vh56928	3	15	purely	purely	ADV
r494vh56928	3	16	algebraic	algebraic	ADJ
r494vh56928	3	17	application	application	NOUN
r494vh56928	3	18	of	of	ADP
r494vh56928	3	19	the	the	DET
r494vh56928	3	20	theory	theory	NOUN
r494vh56928	3	21	to	to	ADP
r494vh56928	3	22	the	the	DET
r494vh56928	3	23	motion	motion	NOUN
r494vh56928	3	24	synthesis	synthesis	NOUN
r494vh56928	3	25	problem	problem	NOUN
r494vh56928	3	26	is	be	AUX
r494vh56928	3	27	made	make	VERB
r494vh56928	3	28	possible	possible	ADJ
r494vh56928	3	29	without	without	ADP
r494vh56928	3	30	an	an	DET
r494vh56928	3	31	a	a	DET
r494vh56928	3	32	-	-	PUNCT
r494vh56928	3	33	priori	priori	ADJ
r494vh56928	3	34	recognition	recognition	NOUN
r494vh56928	3	35	of	of	ADP
r494vh56928	3	36	the	the	DET
r494vh56928	3	37	kinematic	kinematic	ADJ
r494vh56928	3	38	geometry	geometry	NOUN
r494vh56928	3	39	.	.	PUNCT
r494vh56928	4	1	examples	example	NOUN
r494vh56928	4	2	of	of	ADP
r494vh56928	4	3	the	the	DET
r494vh56928	4	4	synthesis	synthesis	NOUN
r494vh56928	4	5	of	of	ADP
r494vh56928	4	6	a	a	DET
r494vh56928	4	7	four	four	NUM
r494vh56928	4	8	-	-	PUNCT
r494vh56928	4	9	bar	bar	NOUN
r494vh56928	4	10	mechanism	mechanism	NOUN
r494vh56928	4	11	for	for	ADP
r494vh56928	4	12	rigid	rigid	ADJ
r494vh56928	4	13	-	-	PUNCT
r494vh56928	4	14	body	body	NOUN
r494vh56928	4	15	guidance	guidance	NOUN
r494vh56928	4	16	and	and	CCONJ
r494vh56928	4	17	a	a	DET
r494vh56928	4	18	four	four	NUM
r494vh56928	4	19	-	-	PUNCT
r494vh56928	4	20	bar	bar	NOUN
r494vh56928	4	21	mechanism	mechanism	NOUN
r494vh56928	4	22	for	for	ADP
r494vh56928	4	23	function	function	NOUN
r494vh56928	4	24	generation	generation	NOUN
r494vh56928	4	25	,	,	PUNCT
r494vh56928	4	26	are	be	AUX
r494vh56928	4	27	presented	present	VERB
r494vh56928	4	28	.	.	PUNCT