1. Laboratory for Advanced Manufacturing Simulation and Robotics (LAMS), School of Mechanical and Materials Engineering, University College Dublin, D04 V1W8 Dublin, Ireland
2. Department of Production Engineering, KTH Royal Institute of Technology, 10044 Stockholm, Sweden
3. Laboratory for Manufacturing Systems and Automation (LMS), Department of Mechanical Engineering and Aeronautics, University of Patras, 26504 Rio Patras, Greece