To reduce the contour error of the end of manipulator during trajectory tracking,a synchronous predictive control strategy for manipulator was proposed.In this strategy,the operation space contour error was mapped to the joint space,thus the synchronous behavior of each joint of the manipulator was defined,so the end contour error was effectively reduced and the motion coordination of each joint of the manipulator was improved.To solve the problem that the conventional predictive controller cant guarantee the stability of the system,a dual-mode synchronization predictive control method was proposed,by which the stability of the controller was guaranteed by switching to the local control rate in the prediction time domain.The experimental results show that using the designed controller,the contour error can be effectively reduced and the joint output torque is more stable.