1. Department of Mechanical Engineering , University of Applied Science & Technology of IDEM , Tabriz, P.O. Box: 51335 – 4688, Iran
2. Automation and Robotics Lab , Department of Mechatronics Engineering , Kocaeli University , Kabaoğlu, Baki Komsuoğlu Bulvarı No:515, Umuttepe, 41001 İzmit/Kocaeli , Turkey
3. Department of Mechanical Engineering , Technical and Vocational University of Tabriz , 28QW+JRF Vila Shahr, Tabriz, East Azerbaijan Province, Iran