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Thus far, most research in adaptive control of robotic manipulators has assumed that models of regressor matrix and kinematics are known exactly. To overcome these drawbacks, we propose in this paper a task-space adaptive law for setpoint control of robots with uncertainties in gravity regressor matrix and kinematics. In addition, we investigate the stability problem when an estimated task-space velocity is used in the feedback loop. Sufficient conditions for choosing the feedback gains, gravity regressor, and Jacobian matrix are presented to guarantee the stability.