It has been about two decades since the first globally convergent adaptive tracking controller was derived for robots with dynamic uncertainties. However, not until recently has the problem of concurrent adaptation to both the kinematic and dynamic uncertainties found its solution. This adaptive controller belongs to passivity-based control. Though passivity-based controllers have many attractive properties, in general, they are not able to guarantee the uniform performance of the robot over the entire workspace. Even in the ideal case of perfect knowledge of the manipulator parameters, the closed-loop system remains nonlinear and coupled. Thus the closed-loop tracking performance is difficult to quantify, while the inverse dynamics controllers can overcome these deficiencies. Therefore, in this work, we will develop a new adaptive Jacobian tracking controller based on the inverse manipulator dynamics. Using the Lyapunov approach, we have proved that the end-effector motion tracking errors converge asymptotically to zero. Simulation results are presented to show the performance of the proposed controller. (C) 2009 Elsevier Ltd. All rights reserved.