In mechanical manufacturing tasks, unevenness of the workpiece often leads to problems with motion control. As can be seen in the adjacent figure, surface unevenness causes the tool to penetrate too far into the surface during position control (red) P 1 ′ or lose contact with the workpiece during position control (red) P 2 ′ . This results, for example, in an alternating force effect on the workpiece and tool during grinding and polishing. Force control (green) is useful here, as it ensures uniform material removal through constant contact with the workpiece.