In this paper, a control strategy of position and force is proposed based on a switching algorithm. The main focus is the control of position and force in the same direction. The switching algorithm based on a fuzzy algorithm determines the weighting value of force control. First, the force control is dominant. If the position gets closer to the desire position, the weighting value of force control is closer to zero. The proposed algorithm is shown to be satisfactory to position and force control and the weighting factor is quite successful by simulation examples.