This letter considers the paper entitled 'Tracking Control of Robotic Manipulators With Uncertain Kinematics and Dynamics' by B. Xiao, S. Yin, and O. Kaynak [IEEE Trans. Ind. Electron., vol. 63, no. 10, pp. 6439-6449, Oct. 2016], where the authors meant to provide an effective control for finite-time tracking of robot manipulators with both kinematic and dynamic uncertainties. This letter points out several flaws leading to the ineffectiveness of the main result in the paper. A correction is proposed.