This　paper　presents　a　friction-aware　robotic　peg-in-hole　assembly　method　through　real-time　wrench　measurement.　The　objective　is　to　develop　a　novel　peg-in-hole　strategy　for　industrial　assembling,　including　autonomous　adjustment　of　position　and　orientation,　to　enhance　assembly　precision　in　uncertain　situations.　To　this　end,　first,　the　peg–hole　angular　deviation,　including　rotation　direction　and　angle,　is　determined.　To　achieve　this,　an　alignment　surface　parallel　to　the　peg–hole　mating　interface　is　defined,　and　the　geometric　and　friction-aware　force/torque　(F/T)　relationship　between　the　hole　and　alignment　surface　is　derived.　Second,　a　robust　position　searching　strategy　is　developed　to　align　the　peg　with　the　hole,　and　the　convergence　of　target　positions　is　ensured　through　mathematical　derivation.　Third,　we　further　investigate　the　pose　fine-tuning　and　insertion　strategies　to　compensate　for　residual　pose　estimation　errors　and　ensure　the　success　of　peg-in-hole　assembly,　respectively.　Finally,　we　validate　the　effectiveness　of　the　proposed　method　through　a　real-world　peg-in-hole　assembly　scenario　on　an　industrial　robot.　Experiment　results　demonstrate　the　critical　role　of　friction　in　determining　estimation　accuracy　of　the　peg–hole　misalignment　angle,　and　show　the　superior　estimation　accuracy　and　robustness　of　the　proposed　method　in　peg-in-hole　assembling.　©　2025　Elsevier　Ltd