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Most of robot applications require robots to interact with environment, objects or even with human, which need to integrate vision and force information. Generally, there are five types of vision-force control: pure position control, pure force control, traded control, shared control and hybrid control. The important questions here are: How to define the most appropriate control mode for every part of different tasks and when the control system should switch from one control mode to the other. In this work an automatic decision system is suggested to define the most appropriate control mode for successive tasks and to choose the optimal structure of vision/force control without human intervention. This research will focus on the operations of library automation as real application for the proposed control system such as shelving, storage and sorting of inaccurately placed objects.