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ARAS Robotics Research: Parallel and Cable Robotics Surgical Robotics

Hamid D. Taghirad
Advanced Robotics and Automated Systems (ARAS) K. N. Toosi University of Technology
Tehran Iran

September 19, 2017 at  11:00 AM
McConnell Engineering Room 437


ARAS Research group established in 1997 and is proud of its 20+ years of brilliant contributions to the advancement of academic education and research in the field of robotics. We are currently conducting research in four different themes. Parallel and Cable Robotics, Surgical Robotics, Autonomous Robotics, and Dynamical Systems analysis and Control. In this talk the recent research outcomes of the first two research themes are presented.

Research work on parallel and cable robotics includes optimal design and implementation of a Delta robot, a fully constrained planar cable robot, and a 3DOF suspended cable robot. The issues on deployable cable robotics, and their robust control schemes are presented in the first part of this presentation.

Surgical robotics is the other research themes being discussed in this presentation. A patented spherical parallel robot is developed for robotic eye surgeries. Furthermore, A haptic system for eye surgery training is developed in this research group, by which cataract and vitrectomy surgeries are being the subject of training through this haptic system. The robust and adaptive control schemes being developed for this application will be elaborated in this presentation.


Hamid D. Taghirad has received his B.Sc. degree in mechanical engineering from Sharif University of Technology, Tehran, Iran, in 1989, his M.Sc. in mechanical engineering in 1993, and his Ph.D. in electrical engineering in 1997, both from McGill University, Montreal, Canada.

He is currently Professor and the dean of the Faculty of Electrical Engineering, and the Director of the Advanced Robotics and Automated System (ARAS) at K.N. Toosi University of Technology, Tehran, Iran. He is a senior member of IEEE, the chairman of IEEE control system chapter in Iran section, member of the board of Industrial Control Center of Excellence (ICCE), at K.N. Toosi University of Technology, editor in chief of Mechatronics Magazine, and Editorial board of International Journal of Robotics: Theory and Application, and International Journal of Advanced Robotic Systems. His research interest is robust and nonlinear control applied to robotic systems.

His publications include five books including Parallel Robots: Mechanics and Control, and more than 200 papers in international Journals and conference proceedings.