Mutual Synchronization of Nonidentical Open Kinematic Chains

In this contribution we present the mutual synchronization of an ensemble of robots with strictly different architecture. The main idea is to achieve synchronization in a group of robots composed by rotational-rotational and rotational-prismatic architecture. The synchronization is achieved into the workspace, this is, and the end position of each robot is equal to the rest of the robots. It implies that the resulting workspace is composed by the intersection of the corresponding workspace. The mutual synchronization is achieved by means of a PID controller and numerical simulations are provided to illustrate the results.