Ilian Bonev, ing., Ph.D.
B.Eng. (TU-Sofia, Bulgarie), M.Sc. (GIST, Corée du Sud), Ph.D. (Université Laval, Québec, Canada)
Professeur titulaire, Chaire de recherche du Canada en robotique de précision
Département de génie de la production automatisée
Ilian Bonev
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Articles dans des revues scientifiques (avec comités de lecture)
Filion, A., Joubair, A., Tahan, A.S., et Bonev, I.A. "Robot calibration using laser tracker and portable photogrammetry system", Robotics and Computer-Integrated Manufacturing, Vol. 49, pages 77–87, février 2018. 
Joubair, A., Zhao, L.-F., Bigras, P., et Bonev, I.A., "Use of a force-torque sensor for self-calibration of a 6-DOF medical robot", Sensors, Vol. 16, No. 6, 798, 2016. 
Slamani, M., Joubair, A. et Bonev, I.A., "A comparative evaluation of three industrial robots using three reference measuring techniques", Industrial Robot, Vol. 42, No. 6, pages 572–585, 2015. .
Zhao, L., Joubair, A., Bigras, P., et Bonev, I.A., "Metrological evaluation of a novel medical robot and its kinematic calibration", International Journal of Advanced Robotic Systems, Vol. 12, article No. 126, 2015. 
Joubair, A., et Bonev, I.A., "Non-kinematic calibration of a six-axis serial robot using planar constraints", Precision EngineeringVol. 40, pages 325–333, 2015. 
Joubair, A., Zhao, L., Bigras, P., et Bonev, I.A., "Absolute accuracy analysis and improvement of a hybrid 6-DOF medical robot", Industrial Robot, Vol. 42, No. 1, pages 44–53, 2015. 
Joubair, A., et Bonev, I.A., "Kinematic calibration of a six-axis serial robot using distance and sphere constraints", International Journal of Advanced Manufacturing Technology, Vol. 77, No. 1-4, pages 515–523, 2015. 
Bourbonais, F., Bigras, P., et Bonev, I.A., “Minimum-time trajectory planning and control of a reconfigurable pick-and-place parallel robot", IEEE/ASME Transactions on Mechatronics, Vol. 20, No. 2, pages 740–749, 2015. 
Zhao, L., Kar Wah Yen, A., Coulombe, J., Bigras, P., et Bonev, I.A., "Kinematic analyses of a new medical robot for 3D vascular ultrasound examination", Transactions of the Canadian Society for Mechanical Engineering, Vol. 38, No. 2, pages 227–239, 2014. 
Nubiola, A., et Bonev, I.A., “Absolute robot calibration with a single telescoping ballbar", Precision Engineering, Vol. 38, No. 3, pages 472–480, 2014. 
Nubiola, A., et Bonev, I.A., "Geometric approach to solving the inverse displacement problem of calibrated decoupled 6R serial robots", Transactions of the Canadian Society for Mechanical Engineering, Vol. 38, No. 1, pages 31–44, 2014. 
Nubiola, A., Slamani, M., Joubair, A. et Bonev, I.A., “Comparison of two calibration methods for a small industrial robot based on an optical CMM and a laser tracker", Robotica, Vol. 32, No. 3, pages 447–466, 2014.
Joubair, A., Nubiola, A., et Bonev, I.A., "Calibration efficiency analysis based on five observability indices and two calibration models for a six-axis industrial robot", SAE International Journal of Aerospace, Vol. 6, No. 1, pages 161–168, 2013. 
Joubair, A., et Bonev, I.A., “Comparison of the efficiency of five observability indices for robot calibration", Mechanism and Machine Theory, Vol. 70, pages 254–265, 2013. 
Zaghbani, I., Songmene, V., et Bonev, I.A., "An experimental study on the vibration response of a robotic machining system", Proceedings of the IMechE, Part B: Journal of Engineering Manufacture, Vol. 227, No. 6, pages 866–880, 2013. 
Nubiola, A., Slamani, M., et Bonev, I.A., “A new method for measuring a large set of poses with a single telescoping ballbar", Precision Engineering, Vol. 37, No. 2, pages 451–460, 2013. 
Slamani, M., et Bonev, I.A., "Characterization and experimental evaluation of gear transmission errors in an industrial robot", Industrial Robot, Vol. 40, No. 5, pages 441–449, 2013.
Joubair, A., Slamani, M., et Bonev, I.A., "Kinematic calibration of a five-bar planar parallel robot using all working modes", Robotics and Computer-Integrated Manufacturing, Vol. 29, No. 4, pages 1525, 2013.
Nubiola, A., et Bonev, I.A., "Absolute calibration of an ABB IRB 1600 robot using a laser tracker", Robotics and Computer-Integrated Manufacturing, Vol. 29, No. 1, pages 236–245, 2013. 
Slamani, M., Nubiola, A., et Bonev, I.A., "Modeling and assessment of the backlash error of an industrial robot", Robotica, Vol. 30, No. 7, pages 1167–1175, 2012. 
Joubair, A., Slamani, M., et Bonev, I.A., "A novel XY-Theta precision table and a geometric procedure for its kinematic calibration", Robotics and Computer-Integrated Manufacturing, Vol. 28, No. 1, pages 57–65, 2012. 
Joubair, A., Slamani, M., et Bonev, I.A., "Kinematic calibration of a 3-DOF planar parallel robot", Industrial Robot, Vol. 39, No. 4, pages 392–400, 2012. 
Slamani, M., Nubiola, A., et Bonev, I.A., "Assessment of the positioning performance of an industrial robot", Industrial Robot, Vol. 39, No. 1, pages 57–68, 2012. 
Slamani, M., Nubiola, A., et Bonev, I.A., "Effect of servo systems on the contouring errors in industrial robots", Transactions of the Canadian Society for Mechanical Engineering, Vol. 36, No. 1, pages 83–96, 2012. 
Bedoustani, Y.B., Bigras, P., Taghirad, H.D., et Bonev, I.A., "Lagrangian dynamics of cable-driven parallel manipulators: A variable mass formulation", Transactions of the Canadian Society for Mechanical Engineering, Vol. 35, No. 4, pages 529–542, 2011. 
Liu, X.-J., Wang, L.-P., Xie, F., et 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, Vol. 132, No. 2, 2010. 
Rakotomanga, N., et Bonev, I.A., "A 3-RPR parallel mechanism with singularities that are self-motions", Journal of Mechanisms and Robotics, Vol. 2, No. 3, 2010. 
Briot, S., et Bonev, I.A., "Pantopteron-4: A new 3T1R decoupled parallel manipulator for pick-and-place applications", Mechanism and Machine Theory, Vol. 45, No. 5, pages 707–721, 2010. 
Briot, S., et Bonev, I.A., "Accuracy analysis of 3T1R fully-parallel robots", Mechanism and Machine Theory, Vol. 45, No. 5, pages 695–706, 2010. 
Blaise, J., Bonev, I.A., Monsarrat, B., Briot, S., Lambert, J.M., et Perron, C., "Kinematic characterisation of hexapods for industry", Industrial Robot, Vol. 37, No. 1, pages 79–88, 2010. 
Briot, S., et Bonev, I.A., "Pantopteron: A new fully decoupled 3DOF 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., et 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, pages 43–52, 2009. 
Briot, S., Arakelian, V., Bonev, I.A., Chablat, D., et Wenger, P., "Self motions of general 3-RPR planar parallel robots", The International Journal of Robotics Research, Vol. 27, No. 7, pages 855–866, 2008. 
Liu, X.-J., et 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. 
Liu, X., Wu, C., Wang, J., et Bonev, I., "Attitude description method of [PP]S type parallel robotic mechanisms", Chinese Journal of Mechanical Engineering, Vol. 44, No. 10, pages 19–23, 2008.
Briot, S., et Bonev, I.A., "Accuracy analysis of 3-DOF planar parallel robots", Mechanism and Machine Theory, Vol. 43, No. 4, pages 445–458, 2008. 
Yu, A., Bonev, I.A., et 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, pages 364–375, 2008. 
Briot, S., et Bonev, I.A., "Are parallel robots more accurate than serial robots", Transactions of the Canadian Society for Mechanical Engineering, Vol. 31, No. 4, pages 445–455, 2007. 
Lessard, S., Bigras, P., et Bonev, I.A., "A new medical parallel robot and its static balancing optimization", Journal of Medical Devices, Vol. 1, No. 4, pages 272–278, 2007. 
Bonev, I.A., et Gosselin, C.M., "Analytical determination of the workspace of symmetrical spherical parallel mechanisms", IEEE Transactions on Robotics, Vol. 22, No. 5, pages 1011–1017, 2006. 
Bonev, I.A., Zlatanov, D., et Gosselin, C.M., "Singularity analysis of 3-DOF planar parallel mechanisms via screw theory", Journal of Mechanical Design, Vol. 125, No. 3, pages 573–581, 2003. 
Bonev, I.A., Ryu, J., Kim, S.-G., et 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, pages 148–156, 2001. 
Bonev, I.A., et Ryu, J., "A geometrical method for computing the constant-orientation workspace of 6-PRRS parallel manipulators", Mechanism and Machine Theory, Vol. 36, No. 1, pages 1–13, 2001. 
Bonev, I.A., et Ryu, J., "A new approach to orientation workspace analysis of 6-DOF parallel manipulators", Mechanism and Machine Theory, Vol. 36, No. 1, pages 15–28, 2001. 
Bonev, I.A., et 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, pages 423–436, 2000. 

Articles dans des comptes-rendus de conférences internationales
Gharaaty, S., Shu, T., Xie, W., Joubair, A., et Bonev, I.A., "Accuracy enhancement of industrial robots by on-line pose correction", The 3rd International Conference on Robotics and Vision, Wuham, Chine, 16-19 juin 2017.
Shu, T., Gharaaty, S., Xie, W., Joubair, A., et Bonev, I.A., "Dynamic path tracking of industrial robots with high accuracy by visual servoing", The 12th IEEE Conference on Industrial Electronics and Applications, Siem Reap, Cambodge, 18-20 juin 2017.
Joubair, A., Tahan, S.-A., et Bonev, I.A., "Performances of observability indices for industrial robot calibration", 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems, Daejeon, Corée du Sud, 9-14 octobre, 2016.
Kamali, K., Joubair, A., Bonev, I.A., et Bigras, P., "Non-kinematic calibration of an industrial robot under multidirectional external loads", 2016 IEEE International Conference on Robotics and Automation, Stockholm, Suède, 16–21 mai, 2016.
Gaudreault, M., Joubair, A., et Bonev, I.A., "Local calibration of an industrial serial robot using a new low-cost 3D measuring device", 2016 IEEE International Conference on Robotics and Automation, Stockholm, Suède, 16 – 21 mai, 2016.
Seward, N., and Bonev, I.A., "A new 6-DOF parallel robot with simple kinematic model", 2014 IEEE International Conference on Robotics and Automation, Hong Kong, Chine, 31 mai – 5 juin, 2014.
Coulombe, J., et Bonev, I.A., "A new rotary hexapod for micropositioning" ,2013 IEEE International Conference on Robotics and Automation, Karlsruhe, Allemagne, 6–10 mai, 2013.
Rakotomanga, N., et Bonev, I.A., "Completely eliminating the singularities of a 3-DOF planar parallel robot with only one degree of actuator redundancy", ASME 2010 International Design Engineering Technical Conferences, Montréal, QC, Canada, 15–18 août 2010.
Campos, L., Bourbonnais, F., Bonev, I.A., et Bigras, P., "Development of a five-bar parallel robot with large workspace", ASME 2010 International Design Engineering Technical Conferences, Montréal, QC, Canada, 15–18 août 2010. 
Briot, S., et Bonev, I.A., "Self motions of the Pantopteron", ASME 2009 International Design Engineering Technical Conferences, San Diego, CA, États-Unis, 30 août  – 2 septembre 2009.
Briot, S., et Bonev, I.A., "Singularity analysis of zero-torsion parallel mechanisms", 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, Nice, France, 22–26 septembre 2008. 
Bonev, I.A., Briot, S., Wenger, P., et 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, Montpellier, France, 21–22 septembre 2008.
Briot, S., et Bonev, I.A., "A pair of measures of rotational error for axisymmetric robot end-effectors", 11th International Symposium on Advances in Robot Kinematics, Batz-sur-Mer, France, 22–26 juin 2008. 
Bonev, I.A., "Direct kinematics of zero-torsion parallel mechanisms", 2008 IEEE International Conference on Robotics and Automation, Pasadena, CA, États-Unis, 19–23 mai 2008. 
Figielski, A., Bonev, I.A., Bigras, P., "Towards development of a 2-DOF planar parallel robot with optimal workspace use", 2007 IEEE International Conference on Systems, Man, and Cybernetics, Montréal, QC, Canada, 7–10 octobre 2007. 
Lessard, S., Bigras, P., Bonev, I.A., Briot, S., et Arakelyan, V., "Optimum static balancing of the parallel robot for medical 3D-ultrasound imaging", The 12th World Congress in Mechanism and Machine Science, Besançon, France, 17–21 juin, 2007.
Bonev, I.A., Yu, A., et Zsombor-Murray, P., "XY-Theta positioning table with parallel kinematics and unlimited theta rotation", 2006 IEEE International Symposium on Industrial Electronics, Montréal, QC, Canada, 9–13 juillet 2006. 
Yu, A., Bonev, I.A., et Zsombor-Murray, P., "New XY-Theta positioning table with partially decoupled parallel kinematics", 2006 IEEE International Symposium on Industrial Electronics, Montréal, QC, Canada, 9–13 juillet 2006. 
Lessard, S., Bonev, I.A., Bigras, P., Durand, L.-G., Soulez, G., Cloutier, G., et De Guise, J.A., "Parallel robot for medical 3D-ultrasound imaging", 2006 IEEE International Symposium on Industrial Electronics, Montréal, QC, Canada, 9–13 juillet 2006. 
Chablat, D., Wenger, P., et Bonev, I.A., "Self motions of a special 3-RPR planar parallel robot", 10th International Symposium on Advances in Robot Kinematics, Ljubljana, Slovenie, pages 221–228, 25–29 juin 2006. 
Bonev, I.A., Chablat, D., et Wenger, P., "Working and assembly modes of the Agile Eye", 2006 IEEE International Conference on Robotics and Automation, Orlando, FL, États-Unis, pages 2317–2322, 15–19 mai 2006. 
Zsombor-Murray, P., Bonev, I.A., et El Fashny, S., "Displacement", 1st European Conference on Mechanism Science, Obergurgl, Autriche, 21–26 mai 2006.
Bonev, I.A., et Gosselin, C.M., "Singularity loci of spherical parallel mechanisms", 2005 IEEE International Conference on Robotics and Automation, Barcelone, Espagne, pages 2968–2973, 18–22 avril 2005. 
Gosselin, C.M., Kong, X., Foucault, S., et Bonev, I.A., "A fully decoupled 3-DOF translational parallel mechanism", 2004 Parallel Kinematic Machines International Conference, pages 595–610, Chemnitz, Allemagne, 20–21 avril 2004.
Bonev, I.A., et Gosselin, C.M., "Geometric algorithms for the computation of the constant-orientation workspace and singularity surfaces of a special 6-RUS parallel manipulator", 2002 ASME Design Engineering Technical Conferences, Montréal, QC, Canada, 29 septembre – 2 octobre 2002. 
Zlatanov, D., Bonev, I.A., et Gosselin, C.M., "Constraint singularities as C-Space singularities", 8th International Symposium on Advances in Robot Kinematics, Caldes de Malavella, Espagne, 24–28 juin 2002.  +
Zlatanov, D., Bonev, I.A., et Gosselin, C.M., "Constraint singularities of parallel mechanisms", 2002 IEEE International Conference on Robotics and Automation, Washington, D.C., États-Unis, 11–15 mai 2002. 
Bonev, I.A., Zlatanov, D., et Gosselin, C.M., "Advantages of the modified Euler angles in the design and control of PKMs", 2002 Parallel Kinematic Machines International Conference, pages 171–188, Chemnitz, Allemagne, April 23–25, 2002.
Bonev, I.A., et Gosselin, C.M., "Singularity loci of planar parallel manipulators with revolute joints", 2nd Workshop on Computational Kinematics, pages 291–299, Séoul, Corée du Sud, 20–22 mai 2001.  +
Bonev, I.A., et Gosselin, C.M., "A geometric algorithm for the computation of the constant-orientation workspace of 6-RUS parallel manipulators", 2000 ASME Design Engineering Technical Conferences, Baltimore, MD, États-Unis, 10–13 septembre 2000. 
Bonev, I.A., Ryu, J., Lee, S.-K., et Kim, N.-J., "A simple new closed-form solution of the direct kinematics of parallel manipulators using three extra sensors", 1999 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, pages 526–530, Atlanta, GA, États-Unis, 19–22 septembre 1999. 
Bonev, I.A., et Ryu, J., "Workspace analysis of 6-PRRS parallel manipulators based on the vertex space concept", 1999 ASME Design Engineering Technical Conferences, Las Vegas, NV, États-Unis, 12–15 septembre 1999. 
Bonev, I.A., et Ryu, J., "Orientation workspace analysis of 6-DOF parallel manipulators", 1999 ASME Design Engineering Technical Conferences, Las Vegas, NV, États-Unis, 12–15 septembre 1999. 

Thèses
Bonev, I.A., "Geometric Analysis of Parallel Mechanisms", thèse de doctorat, Université Laval, Québec, QC, Canada, novembre 2002. 
Bonev, I.A., "Analysis and Design of 6-DOF 6-PRRS Parallel Manipulators", mémoire de maîtrise, Gwangju Institute of Science and Technology, Gwangju, Corée du Sud, décembre 1998.

Brevets
Lessard, S., Bonev, I.A., et Bigras, P., "Parallel manipulator", brevet américain No. 7 673 537, déposé le 2 juin 2008, délivré le 9 mars 2010. 
Bonev, I.A., "Planar parallel mechanism and method", brevet américain No. 7 707 907, déposé le 17 novembre 2006, délivré le 4 mai 2010. 
Ryu, J., Lee, S.K., Bonev, I.A., Kim, N.J., et Moon, S.H., "Parallel robot control method and equipment", brevet coréen  No. 0332296, déposé le 5 juillet 1999, délivré le 29 mars 2002. 

Autres
Bonev, I.A., "Should we take journal impact factors seriously?", ParalleMIC, August 2009. 
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 (invité).  + video of the presentation
Bonev, I.A., "The true origins of parallel robots", ParalleMIC, janvier 2003. 
Bonev, I.A., "What is going on with parallel robots", Robotics Online, août 2002.
Bonev, I.A., "Delta Robot — The story of success", ParalleMIC, mai 2001. 


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