1. Ph.D. Student of Postgraduate Program in Mechanical Engineering, Federal University of Minas Gerais, Belo Horizonte, Minas Gerais 31270-901, Brazil
2. CEFET-MG, Minas Gerais, Brazil
3. Ph.D., Professor, Department of Mechanical Engineering, Simulation and Welding Robotics Laboratory, Federal University of Minas Gerais, Belo Horizonte, Minas Gerais 31270-901, Brazil