Title:O(n) Algorithm for Elastic Link/Joint Robots with End-Effector ContactAuthor(s):Hubert Gattringer, Andreas Müller, Florian Pucher, Alexander ReiterBooktitle:IUTAM Symposium on Intelligent Multibody Systems – Dynamics, Control, SimulationPublisher:Springer International PublishingEditor(s):E. Zahariev, J. CuadradoPage Reference:page 115-132, 18 page(s)Publishing:2019