"A Saturating-Proportional Saturating-Derivative type global continuous control scheme with desired gravity compensation for the finite-time or (local) exponential stabilization of robotic systems with constrained inputs, avoiding velocity variables in the feedback, is presented. The proposed output-feedback controller proves to need a closed-loop analysis with considerably higher degree of complexity, and entail more involved consequent requirements, than in the on-line compensation case. Other analytical limitations are further overcome through the developed algorithm. Simulation tests corroborate the efficiency of the proposed approach."