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We design a regulation-triggered adaptive controller for robot manipulators to efficiently estimate unknown parameters and to achieve asymptotic stability in the presence of coupled uncertainties. Robot manipulators are widely used in telemanipulation systems where they are subject to model and environmental uncertainties. Using conventional control algorithms on such systems can cause not only poor control performance, but also expensive computational costs and catastrophic instabilities. Therefore, system uncertainties need to be estimated through designing a computationally efficient adaptive control law. We focus on robot manipulators as an example of a highly nonlinear system. As a case study, a 2-DOF manipulator subject to four parametric uncertainties is investigated. First, the dynamic equations of the manipulator are derived, and the corresponding regressor matrix is constructed for the unknown parameters. For a general nonlinear system, a theorem is presented to guarantee the asymptotic stability of the system and the convergence of parameters’ estimations. Finally, simulation results are discussed for a two-link manipulator, and the performance of the proposed scheme is thoroughly evaluated.