Raimo K. Kankaanranta, Heikki N. Koivo. Dynamics and simulation of compliant motion of a manipulator. IEEE Transactions on Robotics, 4(2):163-173, 1988. [doi]
@article{KankaanrantaK88,
title = {Dynamics and simulation of compliant motion of a manipulator},
author = {Raimo K. Kankaanranta and Heikki N. Koivo},
year = {1988},
doi = {10.1109/56.2080},
url = {http://dx.doi.org/10.1109/56.2080},
researchr = {https://researchr.org/publication/KankaanrantaK88},
cites = {0},
citedby = {0},
journal = {IEEE Transactions on Robotics},
volume = {4},
number = {2},
pages = {163-173},
}