摘要：In this study,a simple position synchronization control algorithm based on an integral sliding mode is developed for dualarm robotic manipulator systems.A first-order sliding surface is designed using cross-coupling error in order to ensure position synchronization of dual-arm *** design objective of the proposed controller is to ensure stability as well as to synchronize the movement of both arms while maintaining the trajectory as *** integral sliding mode eliminates the reaching phase and guarantees robustness throughout the whole operating ***,a low pass filter is used to smoothen the discontinuous element and minimize unwanted *** stability theory is utilized to prove the asymptotic stability of the controlled *** studies are performed to validate the proposed controller′s ***,to investigate the possibility of realizing the proposed dynamic control method in practical applications,experiments are conducted on a 14DoF coordinated links(COOL)dual-arm robotic manipulator *** evidence indicates adequate efficiency in trajectory tracking and guarantees robustness in the presence of parametric uncertainty and external disturbance.