Professor Ilian Bonev, Eng., conducts research mainly in the field of design and analysis of parallel robots (hexapods, Stewart platforms, etc.) and in the field of precision robotics (e.g., industrial robot calibration).

Canada Research Chair in Precision Robotics
Head of the Control and Robotics Laboratory (CoRo)
Founder of the Parallel Mechanisms Information Center (ParalleMIC)

Address: 1100 Notre-Dame Street West, Montreal, QC, Canada H3C 1K3
Phone: (514) 396-8403
E-mail: ilian.bonev@etsmtl.ca		  • Français •
   
 
Examples of work done
DexTAR       PreXYT
Recruitment
Constantly looking for motivated students with background in calibration and robotics.
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Education
Academic Positions
Professional Activities
Teaching Activities
Supervision of Students and Visiting Scholars
Funding
In the News
Publications 		Laboratory CoRo
 
EDUCATION Haut de page
 Degree  Institution  Specialization  Year
Ph.D., Mechanical Engineering Laval University, Canada Parallel robotics 2002
M.Sc., Mechatronics K-JIST, South Korea Parallel robotics 1999
B.Eng., Manufacturing Engineering TU-Sofia, Bulgaria Robotics 1996

ACADEMIC POSITIONS Haut de page
 Position  Employer  Period
Associate Professor ÉTS since July 2008
Assistant Professor ÉTS Sept. 2004 – June 2008
Postdoctoral Fellow Laval University Oct. 2002 – Aug. 2004

PROFESSIONAL ACTIVITIES

Haut de page
 Member of Scientific Committees  Periode
Managing editor of the Transactions of the Canadian Society for Mechanical Engineering since 2008
Associate editor of the IEEE Transactions on Robotics 2005 – 2009
Associate editor of the Transactions of the Canadian Society for Mechanical Engineering 2004 – 2008
Member of the scientific committee of the Second International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, France 2008
 Memberships
Member of Ordre des ingénieurs du Québec (OIQ)
Felow of the Canadian Society for Mechanical Engineering (CSME)
Senior member of the Institute of Electrical and Electronics Engineers (IEEE)
Member of the American Society of Mechanical Engineers (ASME)
Member of the Canadian Committee for the Theory of Machines and Mechanisms (CCToMM)

TEACHING ACTIVITIES Haut de page
 Courses  Institution  Years
GPA141 - Programmable Logic Controllers ÉTS 2005 – 2007
GPA546 - Industrial Robotics ÉTS 2005 – 2010

SUPERVISION OF STUDENTS AND VISITING SCHOLARS Haut de page
 Postdoctoral Fellows
Dr. Mohamed Slamani (1er janvier 2010 – ).
Dr. Sébastien Briot (October 24, 2007 – September 15, 2008).
 Ph.D. Students
Behrang Majedi (2010 – ), "Usinage robotisé", co-supervised with Prof. Victor Songmene.
Yousef Babazadeh Bedoustani (2010 – ), "Conception d'un robot à câble", co-supervised with Prof. Pascal Bigras.
Ahmed Joubair (2008 – ), "Conception de méthodes pour mesurer et augmenter la précision des robots industriels".
Novona Rakotomanga (2008 – ), "Conception de robots parallèles avec des singularités réduites".
Alexandre Figielski (2006 – 2007), "Utilisation optimale de l'espace de travail des robots parallèles", co-supervised with Prof. Pascal Bigras.
Simon Lessard (2005 – 2008), "Développement d'un robot pour la télé-échographie", co-supervised with Prof. Pascal Bigras.
 Master Students
Albert Nubiola (2009 – ), "Évaluation de la performance en précision de robots sériels".
Francis Bourbonnais (2009 – ), "Commande d'un robot parallèle ultra-rapide", co-supervised with Prof. Pascal Bigras.
Karim Kalafe (2009 – 2009), "Conception d'un système de manipulation de médicaments".
Lucas Campos (2008 – ), "Conception d'un robot parallèle ultra-rapide", co-supervised with Prof. Pascal Bigras.
Andy Kar Wah Yen (2007 – ), "Commande d'un robot médical pour la prise d'échographies 3D", co-supervised with Prof. Pascal Bigras.
Bilal Zeidan (2007 – 2008), "Mise en oeuvre optimale d'un système de métrologie".
Alexander Yu (2005 – 2008), "Design and analysis of a new planar parallel robot," student enrolled in McGill University, co-supervised with Prof. Paul Zsombor-Murray.
 Visiting Undergraduate Students
Joan Hereter, ETSEIB-UPC, Spain, "Étalonnage de robots industriels" (May 3 – August 31, 2010).
Albert Nubiola, ETSEIB-UPC, Spain, "Usinage robotisé" (May 1st – August 28, 2009). WMV
Sultana Ahamed, ENSIAME, France, "Développement d'un applet Java pour la simulation d'un robot parallèle 3‑RRR" (April 1st – September 31, 2006). > plus d'info <
Julien Blaise, ESSTIN, France, "Contribution à la conception d'un contrôleur d'hexapode" (March 4 – August 29, 2007). photo
 Visiting Scholars
Julien Hubert, Ph.D. student, INRIA, France (March 1st – April 30, 2009).
Prof. Xin-Jun Liu, Associate Professor, Tsinghua University, China (July 1st – August 31, 2006).
Sébastien Briot, Ph.D. student, INSA de Rennes, France (June 1st – August 31, 2006).
Dr. Damien Chablat, CNRS research associate, IRCCyN, France (July 12 – September 12, 2005).

FUNDING Haut de page
 Contracts
Bonev, I.A., Expertise in industrial robot calibration, Jabez Technologies, $8,400, 2010.
 Grants
Bigras, P., Bonev, I.A., Cloutier, G., Meunier, J., and Soulez, G., Développement et validation d'un contrôleur de robot d'échographie pour la caractérisation 3D de la maladie occlusive artérielle périphérique des membres inférieurs, Team research project program, FQRNT, $123,000, 2010–2013.
Bonev, I.A., Canada Research Chair (Tier 2), $500,000, 2009–2014.
Bonev, I.A., Portable metrology equipment, Leaders Opportunity Fund – Funding for infrastructure associated with a Canada Research Chair, FCI, $232,778, 2009.
Bonev, I.A., and Bigras, P., Infrastructure for Research and Development in Biomedical Robotics, Leaders opportunity fund, CFI, $341,970, 2007.
Bonev, I.A., Développement d'applets Java pour la simulation en robotique et en automatisation, PSIRE - Enseignement, ÉTS, $9000, 2006–2007.
Bonev, I.A., Singularity-oriented design and analysis of parallel robots, Individual discovery grant, NSERC, $95,000, 2006–2011.
Bonev, I.A., Utilisation optimale de l'espace de travail des robots parallèles, New researchers start-up program, FQRNT, $43,620 (operations) and $31,000 (equipement), 2005–2008.
Bonev, I.A., Analyse et conception de robots parallèles, start-up funding, ÉTS, $12,500, 2004–2005.

IN THE NEWS Haut de page
 Magazines
Forget, D., "Ilian et les robots", Découvrir, p. 63, Vol. 27, No. 5, 2006. PDF
 TV
Club Social, TV5 Canada, January 8, 2010. external link

PUBLICATIONS Haut de page
 Papers in Scientific Journals (peer reviewed)
Liu, X.-J., Wang, L.-P., Xie, F., and Bonev, I.A., "Design of a 3-axis articulated tool head with parallel kinematics achieving desired motion/force transmission characteristics", Journal of Manufacturing Science and Engineering, 2010.
Rakotomanga, N., and Bonev, I.A., "A 3-RPR Parallel Mechanism with Singularities that are Self-Motions", Journal of Mechanisms and Robotics, 2010.
Briot, S., and Bonev, I.A., "Pantopteron-4: a New 3T1R Decoupled Parallel Manipulator for Pick-and-Place Applications," Mechanism and Machine Theory, Vol. 45, No. 5, pp. 707–721, 2010
Briot, S., and Bonev, I.A., "Accuracy Analysis of 3T1R Fully-Parallel Robots," Mechanism and Machine Theory, Vol. 45, No. 5, pp. 695–706, 2010.
Blaise, J., Bonev, I.A., Monsarrat, B., Briot, S., Lambert, J.M., and Perron, C., "Kinematic Characterisation of Hexapods for Industry", Industrial Robot, Vol. 37, No. 1, pp. 79–88, 2010. PDF
Briot, S., and Bonev, I.A., "A New Fully Decoupled 3-DOF Translational Parallel Robot for Pick-and-Place Applications", Journal of Mechanisms and Robotics, Vol. 1, No. 2, 2009.
Briot, S., Bonev, I.A., Gosselin, C.M., and Arakelian, V., "Complete Shaking Force and Shaking Moment Balancing of Planar Parallel Manipulators with Prismatic Pairs," Journal of Multi-body Dynamics, Vol. 223, No. 1, pp. 43–52, 2009.
Briot, S., Arakelian, V., Bonev, I.A., Chablat, D., and Wenger, P., "Self Motions of General 3-RPR Planar Parallel Robots," The International Journal of Robotics Research, Vol. 27, No. 7, pp. 855–866, 2008. PDF
Liu, X.-J., and Bonev, I.A., "Orientation Capability, Error Analysis and Dimension Optimization of Two Articulated Tool Heads with Parallel Kinematics," Journal of Manufacturing Science and Engineering, Vol. 130, No. 1, 011015, 2008. PDF
Briot, S., and Bonev, I.A., "Accuracy Analysis of 3-DOF Planar Parallel Robots," Mechanism and Machine Theory, Vol. 43, No. 4, pp. 445–458, 2008. PDF
Yu, A., Bonev, I.A., and Zsombor-Murray, P., "Geometric Approach to the Accuracy Analysis of a Class of 3-DOF Planar Parallel Robots," Mechanism and Machine Theory, Vol. 43, No. 3, pp. 364–375, 2008. PDF
Briot, S., and Bonev, I.A., "Are Parallel Robots More Accurate Than Serial Robots," Transactions of the Canadian Society for Mechanical Engineering, Vol. 31, No. 4, pp. 445–455, 2007. PDF
Lessard, S., Bigras, P., and Bonev, I.A., "A New Medical Parallel Robot and its Static Balancing Optimization," Journal of Medical Devices, Vol. 1, No. 4, pp. 272–278, 2007. PDF
Bonev, I.A., and Gosselin, C.M., "Analytical Determination of the Workspace of Symmetrical Spherical Parallel Mechanisms," IEEE Transactions on Robotics, Vol. 22, No. 5, pp. 1011–1017, 2006. PDF
Bonev, I.A., Zlatanov, D., and Gosselin, C.M., "Singularity Analysis of 3-DOF Planar Parallel Mechanisms via Screw Theory," Journal of Mechanical Design, Vol. 125, No. 3, pp. 573–581, 2003. PDF
Bonev, I.A., Ryu, J., Kim, S.-G., and Lee, S.-K., "A Closed-Form Solution to the Direct Kinematics of Nearly General Parallel Manipulators with Optimally Located Three Linear Extra Sensors," IEEE Transactions on Robotics and Automation, Vol. 17, No. 2, pp. 148–156, 2001. PDF
Bonev, I.A., and Ryu, J., "A Geometrical Method for Computing the Constant-Orientation Workspace of 6-PRRS Parallel Manipulators," Mechanism and Machine Theory, Vol. 36, No. 1, pp. 1–13, 2001. PDF
Bonev, I.A., and Ryu, J., "A New Approach to Orientation Workspace Analysis of 6-DOF Parallel Manipulators," Mechanism and Machine Theory, Vol. 36, No. 1, pp. 15–28, 2001. PDF
Bonev, I.A., and Ryu, J., "A New Method for Solving the Direct Kinematics of General 6-6 Stewart Platforms Using Three Linear Extra Sensors," Mechanism and Machine Theory, Vol. 35, No. 3, pp. 423–436, 2000. PDF
 Papers in International Conference Proceedings (peer reviewed)
Rakotomanga, N., and Bonev, I.A., "Completely Eliminating the Singularities of a 3-DOF Planar Parallel Robot with Only One Degree of Actuator Redundancy", ASME International Design Engineering Technical Conferences (IDETC 2010), Montreal, QC, Canada, August 15–18, 2010.
Campos, L., Bourbonnais, F., Bonev, I.A., and Bigras, P., "Development of a Five-Bar Parallel Robot with Large Workspace", ASME International Design Engineering Technical Conferences (IDETC 2010), Montreal, QC, Canada, August 15–18, 2010.
Briot, S., and Bonev, I.A., "Self Motions of the Pantopteron," ASME International Design Engineering Technical Conferences (IDETC 2009), San Diego, CA, USA, August 30 – September, 2009.
Briot, S., and Bonev, I.A., "Singularity Analysis of Zero-Torsion Parallel Mechanisms," IEEE International Conference on Intelligent Robots and Systems (IROS 2008), Nice, France, September 22–26, 2008.
Bonev, I.A., Briot, S., Wenger, P., and Chablat, D., "Changing Assembly modes without Passing Parallel Singularities in Non-Cuspidal 3-RPR Planar parallel Robots," Second International Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators (ParallelWorkshop2008), Montpellier, France, September 21–22, 2008.
Briot, S., and Bonev, I.A., "A Pair of Measures of Rotational Error for Axisymmetric Robot End-effectors," 11th International Symposium on Advances in Robot Kinematics (ARK 2008), Batz-sur-Mer, France, June 22–26, 2008. PDF
Bonev, I.A., "Direct Kinematics of Zero-Torsion Parallel Mechanisms," IEEE International Conference on Robotics and Automation (ICRA 2008), Pasadena, CA, USA, May 19–23, 2008.
Figielski, A., Bonev, I.A., Bigras, P., "Towards Development of a 2-DOF Planar Parallel Robot with Optimal Workspace Use," IEEE International Conference on Systems, Man, and Cybernetics (SMC 2007), Montreal, QC, Canada, October 7–10, 2007.
Lessard, S., Bigras, P., Bonev, I.A., Briot, S., and Arakelyan, V., "Optimum Static Balancing of the Parallel Robot for Medical 3D-Ultrasound Imaging," The 12th World Congress in Mechanism and Machine Science (IFToMM 2007), Besançon, France, June 17–21, 2007.
Bonev, I.A., Yu, A., and Zsombor-Murray, P., "XY-Theta Positioning Table with Parallel Kinematics and Unlimited Theta Rotation," IEEE International Symposium on Industrial Electronics (ISIE 2006), Montreal, QC, Canada, July 9–13, 2006.
Yu, A., Bonev, I.A., and Zsombor-Murray, P., "New XY-Theta Positioning Table with Partially Decoupled Parallel Kinematics," IEEE International Symposium on Industrial Electronics (ISIE 2006), Montreal, QC, Canada, July 9–13, 2006.
Lessard, S., Bonev, I.A., Bigras, P., Durand, L.-G., Soulez, G., Cloutier, G., and De Guise, J.A., "Parallel Robot for Medical 3D-Ultrasound Imaging," IEEE International Symposium on Industrial Electronics (ISIE 2006), Montreal, QC, Canada, July 9–13, 2006.
Chablat, D., Wenger, P., and Bonev, I.A., "Self Motions of a Special 3-RPR Planar Parallel Robot," 10th International Symposium on Advances in Robot Kinematics (ARK 2006), Ljubljana, Slovenia, pp. 221–228, June 25–29, 2006. PDF
Bonev, I.A., Chablat, D., and Wenger, P., "Working and Assembly Modes of the Agile Eye," IEEE International Conference on Robotics and Automation (ICRA 2006), Orlando, FL, USA, pp. 2317–2322, May 15–19, 2006. PDF
Zsombor-Murray, P., Bonev, I.A., and El Fashny, S., "Displacement," 1st European Conference on Mechanism Science (EuCoMeS), Obergurgl, Austria, May 21–26, 2006.
Bonev, I.A., and Gosselin, C.M., "Singularity Loci of Spherical Parallel Mechanisms," IEEE International Conference on Robotics and Automation (ICRA 2005), Barcelone, Espagne, pp. 2968–2973, April 18–22, 2005. PDF
Gosselin, C.M., Kong, X., Foucault, S., and Bonev, I.A., "A Fully Decoupled 3-DOF Translational Parallel Mechanism," 2004 Parallel Kinematic Machines International Conference, pp. 595–610, Chemnitz, Germany, April 20–21, 2004.
Bonev, I.A., and Gosselin, C.M., "Geometric Algorithms for the Computation of the Constant-Orientation Workspace and Singularity Surfaces of a Special 6-RUS Parallel Manipulator," ASME Design Engineering Technical Conferences (DETC 2002), Montreal, QC, Canada, September 29 – October 2, 2002. PDF
Zlatanov, D., Bonev, I.A., and Gosselin, C.M., "Constraint Singularities as C-Space Singularities," 8th International Symposium on Advances in Robot Kinematics (ARK 2002), Caldes de Malavella, Spain, June 24–28, 2002. PDF  > plus d'info <
Zlatanov, D., Bonev, I.A., and Gosselin, C.M., "Constraint Singularities of Parallel Mechanisms," IEEE International Conference on Robotics and Automation (ICRA 2002), Washington, D.C., USA, May 11–15, 2002. PDF
Bonev, I.A., Zlatanov, D., and Gosselin, C.M., "Advantages of the Modified Euler Angles in the Design and Control of PKMs," 2002 Parallel Kinematic Machines International Conference, pp. 171–188, Chemnitz, Germany, April 23–25, 2002.
Bonev, I.A., and Gosselin, C.M., "Singularity Loci of Planar Parallel Manipulators with Revolute Joints," 2nd Workshop on Computational Kinematics, pp. 291–299, Seoul, South Korea, May 20–22, 2001. PDF  > plus d'info <
Bonev, I.A., and Gosselin, C.M., "A Geometric Algorithm for the Computation of the Constant-Orientation Workspace of 6-RUS Parallel Manipulators," ASME Design Engineering Technical Conferences (DETC 2000), Baltimore, MD, USA, September 10–13, 2000. PDF
Bonev, I.A., Ryu, J., Lee, S.-K., and Kim, N.-J., "A Simple New Closed-Form Solution of the Direct Kinematics of Parallel Manipulators Using Three Extra Sensors," IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 1999), pp. 526–530, Atlanta, GA, USA, September 19–22, 1999. PDF
Bonev, I.A., and Ryu, J., "Workspace Analysis of 6-PRRS Parallel Manipulators Based on the Vertex Space Concept," ASME Design Engineering Technical Conferences (DETC 1999), Las Vegas, NV, USA, September 12–15, 1999. PDF
Bonev, I.A., and Ryu, J., "Orientation Workspace Analysis of 6-DOF Parallel Manipulators," ASME Design Engineering Technical Conferences (DETC 1999), Las Vegas, NV, USA, September 12–15, 1999. PDF
 Theses
Bonev, I.A., "Geometric Analysis of Parallel Mechanisms," Ph.D. thesis, Laval University, Quebec, QC, Canada, November 2002. PDF
Bonev, I.A., "Analysis and Design of 6-DOF 6-PRRS Parallel Manipulators," Master's thesis, Kwangju Institute of Science and Technology, Kwangju, South Korea, December 1998.
 Patents
Lessard, S., Bonev, I.A., Bigras, P., "Parallel Manipulator," US patent No. 7,673,537, filed June 2, 2008, issued March 9, 2010. PDF
Bonev, I.A., "Planar Parallel Mechanism and Method," US patent No. 7,707,907, filed November 17, 2006, issued May 4, 2010. PDF + AVI + WMV + photo
Ryu, J., Lee, S.K., Bonev, I.A., Kim, N.J., and Moon, S.H., "Parallel Robot Control Method and Equipment," South Korean patent No. 0332296, filed July 5, 1999, issued March 29, 2002. PDF
 Others
Bonev, I.A., "Should We Take Journal Impact Factors Seriously?", ParalleMIC, August 2009. external link
Bonev, I.A., "Les robots parallèles : de la recherche vers les applications", Journées Nationales de la Recherche en Robotique, Obernai, France, October 9–12, 2007 (invited speaker). article + vidéo de la présentation
Bonev, I.A., "The True Origins of Parallel Robots," ParalleMIC, January 2003. external link
Bonev, I.A., "What is Going on With Parallel Robots," Robotics Online, August 2002. external link
Bonev, I.A., "Delta Robot — the Story of Success," ParalleMIC, May 2001. external link