1. Department of Mathematics and Theory, Peng Cheng Laboratory, Shenzhen 518055, China
2. Department of Mechanical Engineering, National University of Singapore, Singapore 117575, Singapore
3. VIBOT/ImViA, IUT, Université Bourgogne Franche-Comté, 9 avenue Alain Savary, BP 47870, 21078 Dijon Cedex, France
4. School of Mechano-Electronic Engineering, Xidian University, Xi’an 710071, China