This paper implements and evaluates the discrete time model reference adaptive control (MRAC) algorithm of robot control proposed by Horowitz and Tomizuka to a PUMA 560 industrial robot. Its original controller was overridden and the individual joint axes are controlled by a separate computer. This study shows the adaptive controller can maintain fast, consistent response regardless of the arm configuration. The problems encountered during implementation such as dynamic and static friction, torque saturation and speed limitation are also discussed.