A peg-in-hole task the way real assembly is: defined by forces and tolerances, not positions. Position control aims blind and jams on any misalignment; force control feels the chamfer and slides in.
Misalign
6.0 mm
Contact force
0 N
Depth
0%
Result
—
Clearance ±2 mm · chamfer capture ±11 mm — drag the misalignment past 2 mm and compare the two controllers.