Force control is the control of the force with which a machine or the manipulator of a robot acts on an object or its environment. By controlling the contact force, damage to the machine as well as to the objects to be processed and injuries when handling people can be prevented. In manufacturing tasks, it can compensate for errors and reduce wear by maintaining a uniform contact force. Force control achieves more consistent results than position control, which is also used in machine control. Force control can be used as an alternative to the usual motion control, but is usually used in a complementary way, in the form of hybrid control concepts. The acting force for control is usually measured via force transducers or estimated via the motor current.