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The manipulator dynamics are assumed in classical form \\(+\\) a friction term, i.e.  \\[ Q(q)\\ddot q+ C(q,\\dot q)\\dot q+ G(q)+ B_0\\dot q= u.\\tag{\\(*\\)} \\]  The following control algorithm has been proposed  \\[ u= -K_d\\text{sat}(S_r)- Y_c\\overline\\Theta\\text{ sat}(Y^T_c S_r)+ Y_c\\Theta_0,\\tag{\\(\\#\\)} \\]  where sat denotes a saturation function, \\(S_r= \\dot q-\\dot q_r\\), \\(\\dot q_r= \\dot q_d-\\alpha(t)\\Delta q+ S_d- K_i\\sigma\\), \\(\\dot\\sigma= \\text{sgn }S_q\\), \\(S_q= S-S_d\\), \\(S=\\Delta\\dot q+ \\alpha(t)\\Delta q\\), \\(S_d= S_0\\exp(-kt)\\), \\(\\Delta q= q- q_d\\), \\(q_d(t)\\) -- a desirable joint trajectory, \\(\\alpha(t)\\) -- a time base generator responsible for the finite-time error convergence, \\(Y_c\\) -- the regressor of \\((*)\\) computed for the continuous part of \\(\\ddot q_r\\), \\(\\Theta\\) -- the vector of unknown parameters of \\((*)\\), \\(\\Theta_0\\) -- an initial estimate of \\(\\Theta\\), and \\(\\overline\\Theta\\) -- a diagonal matrix with upper estimates of parameter errors on its diagonal. The main result of the paper states that for suitably chosen gains \\(K_d\\), \\(K_i\\) the tracking error \\(\\Delta q\\) in the closed loop system \\((*)\\) and \\((\\#)\\) is finite-time convergent. Computer simulations illustrate the 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