Queen's University Robotics Lab

The Robotics Laboratory operates under the direction of Professor Leila Notash. The objective and current research interest is the investigation and development of high performance manipulators allowing effective and failure safe implementation of the devices. Practical and effective analysis and solution methods for the performance improvement of novel robotic systems are being developed.
Research The main focus of the Robotics Lab is on the design and kinematics of parallel manipulators. Due to the higher stiffness and accuracy of parallel devices, they have numerous applications such as flight simulators, position devices and machining tools. With the increased application of parallel manipulators, the need for optimum, robust, low mass, and low cost manipulators with relatively large workspace increases. Parallel manipulators, particularly cable-actuated parallel manipulators, through appropriate design and control, could be excellent candidates to fulfill these requirements. Areas being researched include the parallel manipulator compliance, fault tolerance, distribution of joints and actuators, modularity, calibration, mechanism design, architectures, redundancy, control, and applications in the space industry. Additionally, an on-line library of the existing parallel devices is being developed. Click here for more research information.

Facilities FANUC F-200i Parallel Robot Wire-Actuated Parallel Robot ADEPT Serial Robot Tracking System Pentium PC's


Current Members The Robotics Lab currently has four graduate students: Ms. Maryam Agahi Mr. Andrew Horne Mr. Amir Moradi Mr. Vahid Nazari


Alumni Dr. Chuwang Cheng, PDF Dr. Mahir Hassan, Ph.D. Dr. Sureyya Sahin, Ph.D. Mr. Pin-I Ho, M.Sc. Ms. Li Huang, M.Sc. Mr. William Hung, M.Sc. Mr. Chandan Joardar, M.Sc. Mr. Amin Kamalzadeh, M.Sc. Mr. Craig Kossowski, M.Sc. Mr. Jason Lemay, M.Sc. Mr. Derek McColl, M.Sc. Mr. Geoff Mroz, M.Sc. Mr. Joel Montgomery, M.Sc. Mr. Vikas Suri, M.Sc. Mr. Weidong Tang, M.Sc. Mr. Saeed Varziri, M.Sc. Ms. Jingqiu Zhang, M.Sc. Ms. Amy Zou, M.Sc.		Summer Students Mr. Derek McColl (NSERC Summer Student, 2007) Ms. Vicky Lee (NSERC Summer Student, 2006) Mr. Matthieu Doudement (from ESIGELEC Mont Saint Aignan, 2003) Mr. Frederic Renkens (from ETH Lausanne, 2002) Ms. Susanne Thüringer (from TU Graz, 2002) Mr. Geoff Mroz (2001) Mr. Michael Bucher (from ETH Zurich, 2001) Ms. Joanna Jackson (NSERC Summer Student, 2000) Mr. Jason Lemay (August 1999)





Funding The financial support for the projects of Robotics Lab has been provided by Natural Sciences and Engineering Research Council of Canada (NSERC) Schlumberger Foundation Materials and Manufacturing Ontario (MMO) MD Robotics Ltd. DIPIX Technologies Inc. PRECARN Incorporated Queen's University

Robotics Laboratory