Manuscript received June 14, 2019; revised November 18, 2019; accepted January 28, 2020. Date of publication February 13, 2020; date of current version August 11, 2020. This work was supported in part by the National Natural Science Foundation of China under Grant 61971071 and Grant 61701047, in part by the National Key Research and Development Program of China under Grant 2018YFB1308200, in part by the Hunan Key Laboratory of Intelligent Robot Technology in Electronic Manufacturing under Grant IRT2018009, in part by the Hunan Key Project of Research and Development Plan under Grant 2018GK2022, and in part by the Changsha Science and Technology Project under Grant kq1907087. The Associate Editor coordinating the review process was Shutao Li. (Corresponding authors: Hui Zhang; Li Liu.) Hui Zhang is with the School of Robotics, Hunan University, Changsha 410082, China, and also with the College of Electrical and Information Engineering, Changsha University of Science and Technology, Changsha 410012, China (e-mail: zhanghuihby@126.com).
