Ecole des Mines de Nantes, 4 rue Alfred-Kastler, Nantes 44307, France
Institut de Recherches en Communications et en Cybernetique de Nantes, 1 rue de la Noe, 44321 Nantes, France
(Submmited to "IEEE Transactions on Robotics", 2011)
III. Passive joints in a serial chains
IV. Passive joints in a parallel manipulator
Appendix A : Properties of the stiffness matrix Kc
Appendix B: Recursive computation of the stiffness matrix Kc