Report - Asif Šabanovićand Kouhei Ohnishi Motion Control Systems … · 2011-05-09 · 12 1 x W F x Fdx F()x,x&= p& 2 2 1 2 1 2 1 T = x&mx&= vmv = mv p = mx&= mv px Fx dt dT = &&= & ( )()

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