Inverse Jacobian Adaptive Tracking Control of Robot Manipulators with Kinematic, Dynamic, and Actuator Uncertainties

<div>Comparisons of end-effector position tracking performance. (a) Comparisons of tracking performance. (b) Comparisons of tracking errors. (c) Comparisons of control torques.</div>

Complexity

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Figure 2

Figure 2: Inverse Jacobian Adaptive Tracking Control of Robot Manipulators with Kinematic, Dynamic, and Actuator Uncertainties 