IN THIS PAPER WE PROPOSE A CONTROL SCHEME BASED ON THE VELOCITY ESTIMATION USING ONLY POSITION MEASUREMENT, TRHOUG A STATE RECONTRUCTOR OF FIRST ORDER. THE ESTIMATED SPEED IS INTRODUCE IN THE IMPLICITIT CONTROL LAW, FOR STABILIZING A TWO DEGREE OF FREEDOM CLOSE- KINEMATIC CHAIN MECHANISM. IT IS SHOWN THROUGH SIMULATION, THAT PRACTICALLY THERE IS NOT ANY DIFFERENCE BETWEEN THE IMPLICIT CONTROL LAW APPLIED DIRECTLY (WITH DATA OF POSITION AND VELOCITY KNOW ) AND THE SAME LAW APPLIED KNOWING ONLY THE POSITION (AND ESTIMATING THE VELOCITY). IT IS ALSO SHOWN THAT THE SYSTEM IS ASYNPTOTICALLY STABLE. THE STABILITY PROOF IS BASED ON THE 2ND LYAPUNOV METHOD.IN THIS PAPER WE PROPOSE A CONTROL SCHEME BASED ON THE VELOCITY ESTIMATION USING ONLY POSITION MEASUREMENT, TRHOUG A STATE RECONTRUCTOR OF FIRST ORDER. THE ESTIMATED SPEED IS INTRODUCE IN THE IMPLICITIT CONTROL LAW, FOR STABILIZING A TWO DEGREE OF FREEDOM CLOSE- KINEMATIC CHAIN MECHANISM. IT IS SHOWN THROUGH SIMULATION, THAT PRACTICALLY THERE IS NOT ANY DIFFERENCE BETWEEN THE IMPLICIT CONTROL LAW APPLIED DIRECTLY (WITH DATA OF POSITION AND VELOCITY KNOW ) AND THE SAME LAW APPLIED KNOWING ONLY THE POSITION (AND ESTIMATING THE VELOCITY). IT IS ALSO SHOWN THAT THE SYSTEM IS ASYNPTOTICALLY STABLE. THE STABILITY PROOF IS BASED ON THE 2ND LYAPUNOV METHOD.