1. Department of Automatic Control and Robotics, Białystok University of Technology, 15-351 Białystok, Poland
2. Department of Product and Systems Design Engineering, University of the Aegean, 81100 Mitilini, Greece
3. Department of Mechanical Engineering, University of the Peloponnese, 26334 Patras, Greece
4. Department of Robotics and Mechatronics, Białystok University of Technology, 15-351 Białystok, Poland