Install the R package.

install.packages("udpipe")

Get your language model and start annotating.

library(udpipe)
udmodel_dutch <- udpipe_download_model(language = "dutch")
udmodel_dutch <- udpipe_load_model(file = udmodel_dutch$file_model)
x <- udpipe_annotate(udmodel_dutch, 
                     x = "Ik ging op reis en ik nam mee: mijn laptop, mijn zonnebril en goed humeur.")
x <- as.data.frame(x)

The annotation returns paragraphs, sentences, tokens, morphology elements like the lemma, the universal part of speech tag and the treebank-specific parts of speech tag, morphosyntactic features and returns as well the dependency relationship. More information at http://universaldependencies.org/guidelines.html

str(x)