1. School of Intelligent Manufacturing and Control Engineering, Shanghai Polytechnic University, Shanghai 201209, China
2. School of Materials Science and Engineering, Jiangsu University of Science and Technology, Zhenjiang 212003, China
3. China National Machinery Institute Group, Ningbo Intelligent Machine Tool Research Institute Co., Ltd., Ningbo 315700, China
4. Fujian Special Equipment Inspection and Research Institute, National Quality Supervision and Inspection Center of Special Robot Product (Fujian), Quanzhou 362000, China
5. Zhengzhou Research Institute of Mechanical Engineering, Zhengzhou 450001, China