and management (estig), polytechnic institute of Bragança (ipB), Bragança, portugal; b CeFt, Faculdade de engenharia da universidade do porto (Feup), porto, portugal; c algoritmi r & d Centre, university of minho, Braga, portugal; d inesC teC-Centre for robotics in industry and intelligent systems, porto, portugal; e metriCs, mechanical engineering department, university of minho, guimarães, portugal