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( ,    (    ' (   ??    , ' 0.0 0.05 0.1 0.15 0.2 Time [s] Contact force [N] 0 5 10 15 20 25 30 35 40 Time delay : no control Time delay : 90[ms] Time delay : 60[ms] Time delay : 30[ms] 0.25 @   ) J     ,   ' (  1 3 5 7 0 1 2 3 4 5 6 7 Time [s] Velocity of target [cm/s] 0 Chaser Time delay : no control Time delay : 90[ms] Time delay : 60[ms] Time delay : 30[ms] @   ) 3(     ,   ' (     +           '  ,  '  (   '   (  -       ,  (2  .   (  '      '   (    ' (  ,   ( '      ( , ' (       -     '          ' (           '    / '     '  -    ,                 ! "#   $ %&'    & #   (! )  * #  %+*  , - .$ /  *  / #       *  /#011 ** 211&345 ??111 2 6$  78! $  79  8 $ !    "(     *  $ ) 0 20 40 60 80 100 120 0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5 5.5 Time delay [ms] Velocity of target (afeter contact) [cm/s] @   >) N(   ,  ' (   (  0 20 40 60 80 100 120 0 20 40 60 80 100 120 140 160 180 Time delay [ms] Equivalent mass [kg] @   ?) 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