Virtual decomposition control is applied to control a KUKA361 six-joint industrial robot performing hybrid tasks with a rigid unilateral constraint. In order to accommodate motion and force control, the required velocity is re-designed by introducing filtered contact forces in full control dimensions, which makes the controlled robot behave as hybrid control for known contact geometry and behave as impedance control for unknown contact geometry. The real-time experiments demonstrate bouncing-free smooth rigid contact control and asymptotic force tracking results.