In this paper, a new position domain synchronization control (PDSC) law is proposed for contour control of multi-DOF nonlinear robotic manipulators with the main goal of improving contour tracking performance. The robotic manipulator is treated as a master-slave motion system, where the position of the master motion is used as an independent reference via equidistant sampling, and the slave motions are described as functions of the master motion. To build this relationship, the dynamics of the original system is transformed from time domain to position domain. The new control introduces synchronization and coupled errors in the control law to further coordinate the master and slave motions. Stability analysis is performed based on the Lyapunov method for the proposed PDSC, and simulations are conducted to verify the effectiveness of the developed control system.

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