Mutual Synchronization of Nonidentical Open Kinematic Chains

In this contribution we present the mutual synchronizationof an ensemble of robots with strictly differentarchitecture. The main idea is to achieve synchronizationin an group of robots composed by rotational-rotationaland rotational-prismatic architecture. The synchronization isachieved into the workspace, this is, the end position ofeach robot is equal to the rest of the robots. It impliesthat the resulting workspace is composed by the intersectionof the corresponding workspace. The mutual synchronizationis achieved by means of a PID controller and numericalsimulations are provided to illustrate the results.