Control of multiple robots has attracted researchers' interest for many years. Problems arise when uncertainty or coordinated motions are involved. It is then critically important to be able to exert precise control over a system whose behavioral equations are not known precisely. In this paper, we investigate the issues related to controlling and planning of coordinated robots. We present a general strategy and a control algorithm for coordinated motions involving multiple robots. The position targets for the individual robot end effectors are calculated using appropriate transformations which take into account the coordinating constraints. A heuristic procedure and a fast computation model are used when the system is quasi-static. A generalized control algorithm is developed using this strategy, and manipulation can be achieved by specifying a number of external quantities, which describe the nature of the tasks to be performed, as the inputs to the control algorithm. A hierarchical control mechanism is developed in achieving this coordination.