Two Motors on the same mechanism: risks and mitigations

[Rangel]

We used a similar type of set up in 2013 for our climbing robot. Because it was such a compact design, our climbing hooks couldnt be mechanically synchronized. We ended up using encoders on both sets of hooks to have one controlled with pid for position while the other side tries to follow the master side. Overall it worked out fine as long as they started in the same place. Whatever you decide to do, I recommend against a potentiometer. That way if you are using any belts or chains, you dont have to worry about slippage or skipping and having to re adjust the sensor or code.