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In the paper an approach for motion control of a wide class of robotic systems is presented. In this approach, the advantages of the sliding mode control (SMC) like robustness and simplicity of the control law are used. At the same time, the main disadvantage of the SMC - chattering - is avoided or at least reduced. It is shown that this approach is applicable to a wide class of robots. For this class of robots, the stability of the closed loop system is proven. The performance of the presented approach is demonstrated in a real experiment with a two arm 2×7 DoF humanoid manipulator.