  To reduce the contour error of the end-effector of a robotic manipulator
during trajectory tracking, a dual-mode synchronization predictive control is
proposed. Firstly, the dynamic model of n-DoF robotic manipulator is
discretized by using the Taylor expansion method, and the mapping relationship
between the joint error in the joint space and the contour error in task space
is constructed. Secondly, the synchronization error and the tracking error in
the joint space are defined, and the coupling error of joints is derived
through the coupling coefficient . Thirdly, a dual-mode synchronization
predictive control is proposed, and the stability of the proposed control
system is guaranteed using constraint set conditions. Finally, numerical
simulation and experimental results are shown to prove the effectiveness of the
proposed control strategy.
