1. Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Research Center of Biologic Manipulator and Intelligent Measurement and Control, Institute of Precision Manufacturing, Wuhan University of Science and Technology, Wuhan 430081, P. R. China
2. Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, Wuhan University of Science and Technology, Wuhan 430081, P. R. China
3. Research Center of Biologic Manipulator and Intelligent Measurement and Control, Wuhan University of Science and Technology, Wuhan 430081, P. R. China
4. Institute of Precision Manufacturing, Wuhan University of Science and Technology, Wuhan 430081, P. R. China