In　this　paper,　a　new　framework　of　nonlinear　single-master-multiple-slave　(SMMS)　manipulator　system　is　proposed　for　the　cooperative　tasks　with　interconnection　time　delays.　This　networked　system　allows　a　master　manipulator　to　remotely　control　a　manipulator　that　serves　as　the　leader　of　a　group　of　followers.　The　graph-based　non-singular　terminal　sliding-mode　(G-NTSM)　method　is　used　to　design　controllers　for　the　bilateral　teleoperative　subsystem　and　leader-following　cooperative　subsystem.　Tracking　synchronization　with　time　delays　can　be　achieved　while　the　leader　is　with　time-varying　velocity　and　only　globally　reachable　in　a　directed　graph.　Simulation　results　of　a　team　of　two　degree-of-freedom　(DOF)　manipulators　show　that　the　designed　controllers　can　ensure　the　bounded　tracking　errors,　and　the　resultant　overall　multi-manipulator　system　is　stable.　©　2017　IEEE.