Stiffness matrix of manipulators with passive joints: computational aspects

Klimchik A., Pashkevich A., Caro S., and Chablat D.

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)

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