This chapter presents the design and implementation of combined position and force control of a piezoelectrically actuated compliant gripper. The challenge of achieving a smooth transition between the position and force switching control is addressed by means of an incremental control scheme. Precision control under the influence of hysteretic nonlinearity is guaranteed by a digital sliding-mode control (DSMC) algorithm. The scheme is implemented with an FPGA platform. Experimental investigations are undertaken to verify the effectiveness of the gripper system by executing grasp-hold-release operations of a micro copper wire.