Synchronized coordinated control of two manipulators with coupled error

To solve the problem of coordinated control for two manipulators with uncertain parameters, the coupled error containing position error and synchronization error is introduced into synchronized control; a new synchronized control strategy with adaptive correct system parameters is proposed; and Lyapunov stability theory is used to prove the global stability of system. The coordination experiment of two 2-DOF manipulators is executed, and the results show the position error of each manipulator and synchronization error of two manipulators convergence to zero simultaneously, which achieves the goal of one manipulator tracking its desired trajectory while ensuring the synchronized motion of two manipulators. The validity and effectiveness of the presented scheme is confirmed by the experiment.