Force/position regulation of robotic manipulators with unmeasurable velocities and uncertain gravity forces is studied in this paper. We assume an elastically compliant environment with known stiffness constant. Wang and McClamroch recently established local asymptotic stability of a simple PD regulator with compensation of the gravity and contact forces at their desired values. In this paper we extend this result, proving that, if we replace the velocity measurement by its ’dirty’ derivative, we can establish semiglobal asymptotic stability.