Professor
Room 320 McLaughlin Hall
Phone: (613) 533-6778
FAX: (613) 533-6489
Email: notash@me.queensu.ca
Areas of Research
- Manipulator Kinematics
- Fault Tolerant Operation
- Mechatronics and Robotics
Current research interest is the investigation and development of serial, parallel and wire-actuated manipulator designs; kinematic,stiffness and force solutions; and calibration methodologies allowing effective and failure safe implementation of the devices; and mechatronics (robotics). Specifically, studying the failure safe operation of parallel manipulators; consideration of potential use of redundancy in the design of parallel manipulators; development of techniques and solutions for the sensor and actuator fault detection and for the fault tolerant design and operation of parallel manipulators; and investigation of device geometric uncertainties and its calibration. Some of the developed solutions have been implemented and tested on the 6 degree-of-freedom (DOF) parallel hand controller of RSI Research Ltd., and on the 4 DOF wire-actuated parallel manipulator of the Robotics Laboratory.
