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Most research so far on robot trajectory control has assumed that the kinematics of the robot is known exactly. However, when a robot picks up tools of uncertain lengths, orientations, or gripping points, the overall kinematics becomes uncertain and changes according to different tasks. Recently, we derived a new adaptive Jacobian tracking controller for robots with uncertain kinematics and dynamics. This note extends the results to include redundant robots and adaptation to actuator parameters. Experimental results are presented to illustrate the performance of the proposed controller.