In this paper, a control method for a coordinated transfer manipulator of dangerous goods based on the constrained following theory is established. For a class of mechanical systems in non-ideal environments, an adaptive robust control strategy is implemented to handle nonlinearity and uncertainty in the model, and these works are based on the UK (Udwadia–Kalaba) theory control scheme of nominal systems, it can be proved that both the UB and UUB are guaranteed simultaneously. The control scheme proposed in this paper can handle both holonomic and non-holonomic constraints, and thus has very flexible application scenarios. In this paper, a coordinated transfer manipulator of dangerous goods is taken as an example, this kind of mechanical system generally has complex environmental uncertainties and system nonlinearity, such uncertainty is changeable and bounded, but its boundary is usually uncertain, finally the effectiveness of the adaptive robust control strategy is proved by using the method of co-simulation of multibody dynamics and control systems.