[1] Xi An Jiao Tong Univ, State Key Lab Mfg Syst Engn, Xian 710049, Peoples R China
[2] Xi An Jiao Tong Univ, Sch Mech Engn, Xian 710054, Peoples R China
[3] Max Planck Inst Intelligent Syst, Phys Intelligence Dept, D-70569 Stuttgart, Germany
[4] Natl Innovat Inst Addit Mfg, 997 Shanglinyuan 8th Rd, Xian 710300, Peoples R China