Generally, for the position control of industrial robots, the semi-closed-loop control which only utilizes information of the motor angle is adopted, since it contributes to the stability of the controlsystem and does not require a high-resolution encoder. In this method, however, precise positioning cannot be attained because of uncertainty and flexibility of the driving system. Since the cost of a high-resolution encoder has become less prohibitive, direct measurement of joint angle is now possible. In this paper, in order to realize high performance, precision, speed, and robust stability, we propose a control method which utilizes both information of motor and joint angles. The controller is derived from the loop shaping procedure which is based on the H∞ control theory. Moreover, we introduce 2DOF control to improve tracking performance of the joint angle. Experimental results show that the proposed controller is useful to achieve the desired performance.