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In this paper, we designed the mathematical models for InSb and GaAs devices which are hall sensors with different characteristics and confirmed the efficacy of the two models through simulation in MATLAB. Assuming the limitations on the computational capability of the microprocessor which will be used to compensate the nonlinearity due to temperature for the two sensors in the real system, the linear regression for temperature compensation is divided into several sections and performed in first order polynomial. The error rate between the curve fitted by the linear regression and the data received from the hall sensor was calculated. The performance evaluation was carried out and it was confirmed that the error rate was within 1%.

A new manipulation strategy has been proposed to grasp various objects stably using a dual-arm robotic system in the ROS environment. The grasping pose of the dual-arm has been determined depending upon the shape of the objects which is identified by the pan/tilt camera. For the stable grasping of the object, an operability index of the dual-arm robot (OPIND) has been defined by using the current values applied to the motors for the given grasping pose. When analyzing the motion of a manipulator, the manipulability index of both arms has been derived from the Jacobian to represent the relationship between the joint velocity vector and the workspace velocity vector, which has an elliptical range representing easiness to work with. Through the experiments, the OPIND applied state and the non — applied state of the dual-arm robotic system have been compared to each to other.

In this paper, a combination of kinematic controller and dynamic controller is proposed to solve the problem of leader-follower formation control for multiple wheeled mobile robots(WMR). Lidar sensor which is equipped on the leader robot is utilized to search and measure the relative distance and angle between the leader robot and each follower robot. With the relative information, a kinematic controller is designed to generate the command velocity and then the generated command velocity is taken as the reference input to the designed dynamic controller which is based on sliding mode control(SMC) strategy. Lyapunov stability theory verifies that with the designed controller all the error signals can converge to 0. Finally, a real experiment with one leader and three followers is carried out to demonstrate the effectiveness of the proposed control system.