Prescribed Safety Performance Control for Multi-Fingered Hand-Arm System

In this paper, we first construct the overall kinematic and dynamic model of the hand-arm robotic system. Based on this, we propose a predefined safety-performance control (PSPC) scheme that does not rely on an accurate system model. Specifically, the safety set in the output space is first mapped to the tracking error space. Then, by designing safety-performance functions, we ensure that the system avoids hazardous regions formed by obstacles, effectively decoupling output constraints from performance requirements, particularly in cases where the two may conflict. Furthermore, all closed-loop signals are ensured to be semi-globally ultimately uniformly bounded. Finally, the effectiveness of the proposed method is verified through numerical simulations.