1. Joldasbekov Institute of Mechanics and Engineering, Kurmagazy Str. 29, Almaty 050010, Kazakhstan
2. Faculty of Mechanical Mathematics, Al Farabi Kazakh National University, Al-Farabi Avenue 71, Almaty 050040, Kazakhstan
3. Department of Robotics and Mechatronics, AGH University of Krakow, Mickiewicza 30, 30-059 Krakow, Poland