... on. The pass from ( 15. 9) to ( 15. 10) was made by using ( 15. 4) withx = qd.Notice that the control law ( 15. 10) does not depend on the dynamic pa-rameters θ but on the so-called adaptive parametersˆθ ... “Comparative experi-ments with a new adaptive controller for robot arms”, IEEE Transactionson Robotics and Automation, Vol. 9, No. 1, February.• Berghuis H., 1993, “Model-based robot control: ... pp. 85 98.Property 14.1 on the linearity of the robots dynamic model in the dynamicparameters has been reported in• Khosla P., Kanade T., 19 85, “Parameter identification of robot dynam-ics”,...