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.　©　2019,　Editorial　Department,　Journal　of　South　China　University　of　Technology.　All　right　reserved.