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So was Robert then which invalidates Stannis claim and makes him equally wrong.
Robert may or may not have been morally right but he was legally wrong if you go that way.
Robert wasn't fighting to take the throne tho. The end result of him winning was him getting the throne -someone had to.
Robert and Jaime both state that all Ned had to do was sit on the iron throne in order to take it at that point, but he obviously walked away from that.
So I'm not sure Robert is a true ursurper in the sense that he rose up with the intention of becoming the new King. He just wanted the love of his life back -who had been kidnapped by the Prince at the time.
At least, from watching the show and reading the 1st couple of books that's how I've interpreted it.