[1] Wuhan Univ Technol, Sch Mech & Elect Engn, Wuhan 430070, Peoples R China
[2] Hubei Prov Engn Res Ctr Robot & Intelligent Mfg, Wuhan, Peoples R China
[3] Hubei Univ Technol, Sch Mech Engn, Wuhan, Peoples R China
[4] Wuhan Univ Technol, Sch Automat, Wuhan, Peoples R China
[5] KTH Royal Inst Technol, Dept Prod Engn, Stockholm, Sweden