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This paper reports comparative experiments with a provably correct model-based adaptive robot control algorithm for simultaneous position and force trajectory tracking of a robot arm whose gripper is in point contact with a smooth surface. The experiments show the new adaptive modelbased offers performance superior to that of its non-modelbased counterpart over a wide variety of operating conditions.doi:10.1109/robot.1995.526020 dblp:conf/icra/WhitcombANO95 fatcat:2xdx6lbfpbbhhikrh7ifmopvxu