Abstract: For the influence of joint friction in robotic system, a dual-observer adaptive backstepping control scheme based on terminal sliding mode observer and friction state observer was proposed in this paper. Firstly, in order to avoid the influence of noise caused by velocity measurement, a terminal sliding mode observer was designed to estimate the velocity of the robot. Then, considering that friction could not be obtained directly, a continuous LuGre friction model was used to design the friction state observer and the adaptive law of friction parameters to get an estimation of the friction. Finally, a backstepping controller was designed based on the estimation value of the friction, so that the robot can effectively track the desired position trajectory under the influence of joint friction. The stability of the closed-loop system and the convergence of position error for the robot were proved with Lyapunov function. The effectiveness of the proposed control scheme was verified with MATLAB simulations. The results showed that the proposed control method can effectively suppress the influence of friction on the position tracking of the robot and improve the position tracking accuracy of the system.