1. 1 Institute of Mechanical Engineering and Transport, Lviv Polytechnical National University, Department of Robotics and Integrated Mechanical Engineering Technologies , Bandery 12 , Lviv , Ukraine
2. 2 Institute of Mechanical Engineering and Transport, Lviv Polytechnical National University, Department of Robotics and Integrated Mechanical Engineering Technologies , Bandery 12 , Lviv , Ukraine
3. 3 Institute of Mechanical Engineering and Transport, Lviv Polytechnical National University, Department of Robotics and Integrated Mechanical Engineering Technologies , Bandery 12 , Lviv , Ukraine