Controlled Synchronization for Master–slave Manipulators Based on Observed Ender Trajectory

This paper proposes two control strategies for the motion synchronization of the master–slave manipulators based on their ender trajectories. First, the basic equations used by the two control methods for motion synchronization are presented. Such procedures are proved to be stable for negative definite gain matrices, according to the Lyapunov theory. Then, the controlled items of the slave manipulator are determined for the ender trajectory synchronization by the coordinate transformations between the joint variables and the ender trajectory in the form of pseudo-Jacobian matrix. Finally, the two control methods for synchronization are validated by the numerical simulation for a master–slave system consisting of two planar three-degree-of-freedom (3-DOF) manipulators.