In this paper, we mainly solve the adaptive control problem of robot manipulators with uncertain kinematics, dynamics, and\nactuators parameters, which has been a long-standing, yet unsolved problem in the robotics field, because of the technical\ndifficulties in handling highly coupled effect between control torque and the mentioned uncertainties. To overcome the difficulties,\nwe propose a new Lyapunov-based adaptive control methodology, which effectively fuses the inverse Jacobian technique and the\nactuator adaptation law, with which the chattering in tracking errors caused by actuator parameter perturbation is well suppressed.\nIt is demonstrated that the asymptotic convergence of all closed-loop signals is guaranteed.Moreover, the effectiveness of\nour control scheme is illustrated through simulation studies.
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