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Convergence speed for system identification and estimation is a popular topic for determining the kinematics and dynamic identification/estimation of the parameters of robot manipulators. In this paper, adaptive fuzzy inverse dynamic system estimation is used to improve robust modeling, especially for a serial links robot manipulator. The Lyapunov technique is used to analyze the convergence rate of the tracking error and increase the accuracy response of the parameter estimation. Performancedoi:10.5815/ijisa.2019.05.04 fatcat:nlwzcsseqbholna5os3d7nhrwy