**4. Validation of the Proposed Solution**

The proposed solution was experimentally validated in two phases. In the first phase, the algorithms were implemented as scripts in the MATLAB software environment. To evaluate the efficiency of the algorithms, monitoring of the percentage proportion deviation *Di,j* (Equation (2)) was used. The aim of the solution was to reach a *Di,j* value as close as possible to zero. The synchronization state was indicated by a value close to zero within the specified tolerance. In contrast, a value exceeding the limit can be considered as a desynchronization indicator.

In the second phase, the designed algorithms were implemented in the native language of real robotic manipulators in a specific multi-robotic cell.
