Descripción: “...When the required precision is so high that the machine vision is no longer useful, it is necessary to control the force, distinctively in the operations where the gap is narrow such as gear matching, machine tooling or special automation. Thinking about that objective, a peg-hole model was developed in Matlab based on both, the geometric deformation of the sensor, and another passive element for calculating the reaction forces, which are present in the mating process.Once the peg-hole model is implemented, it is possible to develop a force control for the reference position of the robot’s final point. ...”