  In this paper, we investigate the adaptive control problem for robot
manipulators with both the uncertain kinematics and dynamics. We propose two
adaptive control schemes to realize the objective of task-space trajectory
tracking irrespective of the uncertain kinematics and dynamics. The proposed
controllers have the desirable separation property, and we also show that the
first adaptive controller with appropriate modifications can yield improved
performance, without the expense of conservative gain choice. The performance
of the proposed controllers is shown by numerical simulations.
