为保证机械臂在与人互动过程中的安全性，实现无超调的快速响应，文中对传统 PID 控制进行改进，引入预设性能控制，提出了一种机械臂快速无超调拟人运动控制算 法． 该算法以 PID 控制为基础，利用预设性能控制令控制误差的收敛速度及超调量满足预 先设定的条件，同时把控制误差收敛到一个预先指定的比较小的区域内，从而实现对系统 稳态及动态性能( 包括超调量和收敛速度等) 的控制． 空间三关节机械臂的仿真分析表 明，所提出的预设性能PID 控制与传统 PID 控制相比，具有响应快、无超调等优点，比较适 合机械臂的拟人运动控制． 文中最后通过四自由度 Dobot 机械臂的样机实验分析验证了 所提算法的有效性． 

In order to ensure safety in the process of interaction between people and the manipulator and acquire the fast response without overshoot， the traditional PID control was improved by introducing the prescribed performance control，and a fast humanoid motion control algorithm without overshoot for the manipulator was proposed． Based on PID control， the algorithm utilizes the prescribed performance control to make the convergence speed and overshoot of control errors satisfy the preset conditions，and make the control error converge to a preset relatively small area， so as to control the steady and dynamic performance of the system ( including overshoot and convergence speed， etc. ) ． The analysis results of modeling and simulation of spatial three joints manipulator show that the proposed prescribed performance PID control has the advantage of fast response and no overshoot comparing with the traditional PID control． Thus，the control algorithm suits to anthropomorphic manipulator motion control． Finally，the validity of the algorithm was verified by the prototype experiment of Dobot robot with 4 degrees of freedom．