@article{Klimchik2012_Joints_Computational_Aspects,
    author = {Klimchik, A. and Pashkevich, A. and Caro, S. and Chablat, D.},
    journal = {IEEE Transactions on Robotics},
    number = {4},
    pages = {955-958},
    title = {Stiffness matrix of manipulators with passive joints: Computational aspects},
    volume = {28},
    year = {2012}
}

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