I
nte
rna
t
io
na
l J
o
urna
l o
f
Ro
bo
t
ics a
nd
Aut
o
m
a
t
io
n (
I
J
R
A)
Vo
l.
7
,
No
.
4
,
Dec
em
b
er
201
8
,
p
p
.
2
2
1
~
2
3
1
I
SS
N:
2089
-
4856
,
DOI
: 1
0
.
1
1
5
9
1
/
i
j
r
a
.
v
7
i
4
.
pp
2
2
1
-
2
3
1
221
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[
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Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
I
J
R
A
,
Vo
l.
7
,
No
.
4
,
Dec
em
b
er
201
8
:
2
2
1
–
2
3
1
222
v
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I
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I
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R
A
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N:
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9
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Evaluation Warning : The document was created with Spire.PDF for Python.