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Cartesian stiffness matrix of manipulators with passive joi..:

, In: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems,
Pashkevich, A. ; Klimchik, A. ; Caro, S.. - p. 4034-4041 , 2011
Link: https://doi.org/10.1109/IROS.2011.6094419