1. School of Mechatronic Engineering, China University of Mining and Technology, Xuzhou 221116, P. R. China
2. Jiangsu Key Laboratory of Mine Mechanical and Electrical Equipment, China University of Mining and Technology, Xuzhou 221116, P. R. China
3. Institute of Mechanical Engineering, Baoji University of Arts and Sciences, Baoji 721016, P. R. China
4. Key Laboratory of Manufacturing and Assessment Technology for Industrial Robot and Its Major Component, Baoji 721016, P. R. China