1. Institute of Science and Technology of Sorocaba, São Paulo State University (UNESP), Av. Três de Março 511, Sorocaba 18087-180, SP, Brazil
2. Centre of Innovation, Research and Teaching in Mechatronics, Federal University of Sao Joao del-Rei (UFSJ), Rod.: MG 443, KM 7, Ouro Branco 36494-899, MG, Brazil