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One technique adds compensation control terms to the control law signal. The other uses a linear in variable property of the Jacobian matrix. Global asymptotic convergence of the end-effector motion tracking errors is shown via Lyapunov analysis. Simulation results are presented to show the effectiveness of the proposed control scheme.<\/jats:p>","DOI":"10.1017\/s0263574713001203","type":"journal-article","created":{"date-parts":[[2014,1,21]],"date-time":"2014-01-21T08:22:01Z","timestamp":1390292521000},"page":"1153-1169","source":"Crossref","is-referenced-by-count":4,"title":["Adaptive control of rigid-link electrically driven robots with parametric uncertainties in kinematics and dynamics and without acceleration 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