This article addresses the adaptive-based robust output feedback tracking control for robot manipulators with friction and alternating unknown loads. A switched nonlinear system is first established to model the friction and parameter variations, caused by the load change. Under arbitrary load changings, an adaptive tracking control strategy is proposed to ensure link position tracking, in the presence of uncertainties and external disturbances. Then, for bounded external disturbances, a novel robust adaptive output tracking control strategy is developed, which guarantees all the closed-loop signals are bounded and tracking error is driven to zero. Unlike some previous studies, the proposed algorithms do not require velocity measurements, and the unknown switched parameters and disturbances are neither required to be periodic nor to have known bounds. A simulation study is also given to demonstrate the analytically proved properties of the proposed schemes.
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