Nope Brian has twice on his solo tours 94 and 98 and a few times as a guest, Both Brian and John played at the Princes trust concert in 87 I think. But Queen as a group nope.
Queen wanted toplay the Albert HAll in 1982 , but they had to cancel it because the Rig was way to heavy and people were affraid that the roof might colapse!! Source Greg Brooks QUeen Live book
Queen never played the Royal Albert Hall but Smile did. I took this piece from Queenfans.com.
By hook or by crook," continued May, "we got this gig at the Royal Albert Hall, which was at the bottom of the bill. We actually got our first review, which was in "The Times', and said something like, 'the loudest group in the western world has unplugged and left the stage'. But it didn't say who it was."
The gig May described was a benefit concert for the National Council for the Unmarried Mother and Her Child on 27th February, 1969 - back in the days when bearing illegitimate children wasn't yet considered a crime against the state. Smile weren't quite bottom of the bill - they played ahead of Free, then only recently formed - but if there was any truth in the "Times' report, it was that the band was certainly loud. link
Sorry Chaka, I had'nt realised you'd already posted that.