Task space synchronized control for multiple robotic manipulators

This paper presents the new synchronization error and cross-coupling error based on algebraic graph theory. By using these novel definitions, a task space synchronized control design procedure is proposed for multiple robotic manipulator systems (MRMS). The rigorous mathematical proof and sufficient simulation experiments are used to lay a foundation and to test the effectiveness of the new design philosophy. It should be mentioned that this paper is an initial step to design task space synchronized control by using the proposed definitions and procedure. Other synchronized control algorithms can be developed by using these principles to address various design conditions for different Lagrangian systems.