Abstract: This paper presents the experiment research for unchamfered peg in hole assembly task based on the principle of ARCC, introduces the structure of the experiment system, the close loop stiffness of the ARCC system and the element setting of the decoupling force feedback matrix. The automatic searching hole and the peg into hole experiment results in Movemaster-EX and PUMA-562 robots are also given in this paper. The experiment results show that the ARCC control scheme of peg in hole assembly task has the feature of simplicity, reliability and easy practice, as well as a nice application future.