[1] Univ Coll Dublin, Sch Mech & Mat Engn, Lab Adv Mfg Simulat & Robot LAMS, Dublin D04V1W8, Ireland
[2] KTH Royal Inst Technol, Dept Prod Engn, S-10044 Stockholm, Sweden
[3] Univ Patras, Dept Mech Engn & Aeronaut, Lab Mfg Syst & Automat LMS, Rion 26504, Greece