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This paper deals with the optimal position control in joint-space coordinate of robot manipulators. An optimal position algorithm based on Pontryagin maximum principle is proposed. Our main contribution is to proof that the closed-loop system composed by full nonlinear robot dynamics and optimal position control is globally asymptotically stable in agreement with Lyapunov's direct method and LaSalle's invariance principle. Besides the theoretical results, time-real experimental result is presented to illustrate the performance of proposed optimal algorithm on a pendula-robot.