Precise collaborative control of multi-manipulators has become a research difficulty in the current field of robotics. In order to achieve precise control of dual-arm, this paper establishes a dynamic model of dual-arm and uses time delay estimation to simplify it. Under the premise of ensuring the stability of the control system, an adaptive fuzzy sliding mode controller is introduced, which realizes the correction and compensation of the estimation error. Then, a coordinated impedance controller for dual-arm robots based on time delay estimation and adaptive fuzzy sliding mode control is designed to realize the trajectory tracking of the end-effector and contact force control of dual manipulators. Finally, this control system is simulated and applied to two 6-DOF manipulators to pick up and carry the same target object. The comparison experiment in comparison with other controllers verifies that this controller has faster response speed and higher control accuracy with less jitter.