  One of the most challenging issues in adaptive control of robot manipulators
with kinematic uncertainties is requirement of the inverse of Jacobian matrix
in regressor form. This requirement is inevitable in the case of the control of
parallel robots, whose dynamic equations are written directly in the task
space. In this paper, an adaptive controller is designed for parallel robots
based on representation of Jacobian matrix in regressor form, such that
asymptotic trajectory tracking is ensured. The main idea is separation of
determinant and adjugate of Jacobian matrix and then organize new regressor
forms. Simulation and experimental results on a 2--DOF R\underline{P}R and
3--DOF redundant cable driven robot, verify promising performance of the
proposed methods.
