In force control, a basic distinction can be made between applications with pronounced contact and applications with potential contact. We speak of pronounced contact when the contact of the machine with the environment or the workpiece is a central component of the task and is explicitly controlled. This includes, above all, tasks of mechanical deformation and surface machining. In tasks with potential contact, the process function variable is the positioning of the machine or its parts. Larger contact forces between machine and environment occur due to dynamic environment or inaccurate environment model. In this case, the machine should yield to the environment and avoid large contact forces.