[1] Daegu Gyeongbuk Inst Sci & Technol, Dept Robot Engn, Daegu 42988, South Korea
[2] Chonnam Natl Univ, Sch Mech Engn, Gwangju 61186, South Korea
[3] Univ Texas Dallas, Erik Jonsson Sch Engn & Comp Sci, RL 10,800 W Campbell Rd, Dallas, TX 75080 USA
[4] Jeju Natl Univ, Dept Mechatron Engn, Jeju 63243, South Korea