The focus of this research is to propose a method known as position-based contact force synchronous control for cooperative manipulation of an object using a dual-arm manipulator. By defining relative positional and force errors between both manipulators and the object, these errors can be utilized in conjunction with a general impedance controller to enhance contact force accuracy during operation. This unique approach guarantees coordination between both arms while minimizing internal forces exerted on the object compared to conventional impedance control techniques.