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In order to do the complex contact task, the robot manipulator must have the force control ability. In this paper, we propose a new method to control the compliant motion of robot manipulator: the position/force control with self-adjusting select-matrix. This method not only uses force information in feedback loop, but also uses it in the select matrix, to let controller automatic switch between the force control mode and position control mode. Thus, this method has the advantage of accurate hybrid control results, as well as the advantage of impedance control for not using the explicit switch between the force control mode and position control mode. Experimental results verify the theory and confirm the effectiveness of the method.