**Acknowledgements**

The authors would like to thank to Slovak Grant Agency VEGA 1/0389/18 "Research on kinematically redundant mechanisms" and to KEGA 018TUKE-4/ 2018 "Implementation of new technologies and education methods in area of controlling systems for improvement of educational level and practical experiences of graduate students of Mechatronics study program" and also to KEGA 030TUKE-4/ 2020 "Transfer of knowledge from the field of industrial automation and robotics to the education process in the teaching program mechatronics."

*Automation and Control*
