Which spatial direction is restricted and which is unrestricted can, for example, be specified statically. Force and position control is then explicitly specified for each spatial direction; the matrix Σ is then static. Another possibility is to switch the matrix Σ dynamically on the basis of force measurement. In this way, it is possible to switch from position control to force control for individual spatial directions when contact or collision is established. In the case of contact tasks, all spatial directions would be motion-controlled in the case of free movement, and after contact is established, the contact direction would be switched to force control by selecting the appropriate matrix Σ.