Prescribed performance adaptive control of dual-arm robots with guaranteed motion precision

This paper studies prescribed performance adaptive control for dual-arm robots grasping an object. Firstly, to guarantee the system performance strictly and relax the restrictions on the initial condition, error conversion is used to integrate the tuning function and performance function into the controller design. Secondly, employing barrier function and backstepping method, the controller for dual-arm robots under unknown dynamics is completed. Then, Lyapunov stability theory is implemented to prove that all the signals of the closed-loop system are uniformly ultimately bounded with the proposed controller; meanwhile, the trajectory error and force converge to an expected smaller value. Finally, two three-link planar robots handling a common object are taken as an example for simulation verification, which verifies the effectiveness and superiority.