nonlinear beam joints master slave

Hello,

After having implemented the corotational formulation for 3D beams (after Crisfield  90), I am now trying to insert joints between some elements of a structure. I found the article by Jelenic and Crisfield [Comput. Methods Appl. Mech. Engrg. 135 (1996) pp. 211-228] to be a good starting point concerning the "master-slave" approach (my problem is static). However, I don't manage to implement the solution process : I think I have not fully understood the approach yet.