A methodology for accounting for distributed workpiece compliance which simplifies the task-planning process is presented. The authors examine hybrid position/force control and its limitations, and they extend it to account for the natural compliance of parts. They introduce the concept of buffer zones as a geometric representation of the effects of part compliance. Using buffer zones and simple geometric reasoning they plan assembly tasks involving compliant parts with bounded geometric uncertainties. A systematic method is presented for using workpiece compliance by which it is possible to determine when the part compliance is sufficient and only simple position control is required, and when force sensing is needed. The traditional formulation of configuration space is extended to include the regions where part deformation occurs. The task of assembling a flexible two-dimensional box is planned with the use of buffer zones.>