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In this paper, we propose a new method, which is based on an iterative-learning-control (ILC) algorithm, for the contour tracking of an object of unknown shape performed by an industrial robot manipulator. In particular, we consider (both implicit and explicit) hybrid force/velocity control whose performance is improved by repeating the task. Here, a time-based reference signal is not present, and therefore, a new approach has been developed, which is different from the typical applications of ILC. Experimental results show the effectiveness of the technique.