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

Table 1

RMSE values of proposed methods and other methods.

RMSE	Proposed case 1	Proposed case 2	Controller (41)	Controller (42)
RMSE of	0.0345	0.0346	0.0765	0.0517
RMSE of	0.0126	0.0127	0.0258	0.0256