There are two types of force control system, force control with inverse Jacobian matrix and transpose Jacobian matrix. Both of the controllers, however, have a defect. The characteristic of the former controller is that it has singular point due to inverse Jacobian matrix. At this point, motion of a robot becomes unstable. On the other hand, with transpose Jacobian matrix, it is assumed that the motion of the robot is slow enough to be regarded as static state. In this paper, a novel force control method is proposed. This method does not have any singular points and is able to be applied to dynamic state. Furthermore, tracking accuracy of the proposed controller is better than the conventional methods.