Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Adaptive Control of Robot Manipulators With Uncertain Kinematics and
  Dynamics   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.

31
The categories of this paper are: ao-sci
33
The categories of this paper are: plasm-ph
7
The categories of this paper are: hep-th
11
The categories of this paper are: hep-lat
14
The categories of this paper are: math-ph
0
The categories of this paper are: hep-ph
22
The categories of this paper are: chao-dyn
28
The categories of this paper are: alg-geom
18
The categories of this paper are: econ
30
The categories of this paper are: q-alg
12
The categories of this paper are: nucl-th
19
The categories of this paper are: eess
24
The categories of this paper are: dg-ga
10
The categories of this paper are: q-bio
20
The categories of this paper are: acc-phys
8
The categories of this paper are: hep-ex