A new intelligent synchronization tool is developed on multi robot manipulators to handle an object in the desired trajectory. The intelligent synchronization tool is based on the ANFIS structure, which tries to compensate synchronization error between robot manipulators. To overcome lumped uncertainty of the robot manipulator a neural network based prediction mode and modified sliding mode control are used. The examples as illustrated can guarantee the robustness, accuracy and decentralized feature for multi robot manipulator system.