[1] Harbin Inst Technol, Natl Key Lab Precis Hot Proc Met, Harbin 150001, Heilongjiang, Peoples R China
[2] Henan Univ Technol, Sch Mech & Elect Engn, Zhengzhou 450001, Peoples R China
[3] Harbin Inst Technol, Inst Robot, State Key Lab Robot & Syst, Harbin 150080, Heilongjiang, Peoples R China