GKD-l RRC controller is a new type of real-time robot controller designed for the research of the robot force-feedback compliance control. This paper firstly introduces the main performances and features of GKD-1 RRC controller，and then describes severa/forcel position mixed control experiments and its control strategies and results. These experiments are fulfilled on PUMA562 manipulator with GKD-1 RRC. In these experiments，the control period is shorten to 4.88ms; average force control static error is smaller than 100g; position control accuracy is not lower than that of PUMA562. These results prove that GKD-1 RRC controller has high performances.