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The problem of adaptive coordinated control of multiple robot arms transporting an object is addressed. A stable adaptive control scheme for both trajectory tracking and internal force control is presented. Detailed analyses on tracking properties of the object position and velocity and the internal forces exerted on the object are given. It is shown that this control scheme achieves satisfactory tracking performance without using the measurement of contact forces and their derivatives. It can be shown that this scheme can be realized by decentralized implementation to reduce the computational burden. Moreover, some efficient adaptive control strategies can be incorporated to reduce the computational complexity.< >