A Precisely Predefined-Time Convergent Barrier RNN for Collaborative Position and Orientation Control of Dual-Arm Robots Under Unknown Bounded Noise. - Boyu Zheng; Chunquan Li 001; Di Li 001; Shiqi Shan; Zhijun Zhang 003; Junzhi Yu 001; Peter Xiaoping Liu (IEEE Trans. Cybern., 2026)