[1] Allweiler AG, Radolfzell am Bodensee, Germany
[2] Univ Technol, Inst Automat Control & Robot, Warsaw, Poland
[3] Hsch Tech, Inst Lab Technol, Rapperswil, Switzerland
[4] Hsch Ravensburg Weingarten, Mechatron Engn Lab, Ravensburg Weingarten, Germany
[5] Hsch Ravensburg Weingarten, Dept Mech Engn, Ravensburg Weingarten, Germany
[6] Hsch Ravensburg Weingarten, Comp Aided Design Lab, Ravensburg Weingarten, Germany