said feedforward and feedback controllers having adaptive contact force control means operating in accordance with the following force control law: ##EQU26## wherein Pr is a desired force reference signal, d is an auxiliary force signal, KI , {TAIL ~ Kp} and Kv are adaptive gains, {HEAD ~ E} is a force tracking error, Z is a velocity and Fz is an applied force 
said feedforward and feedback controllers having adaptive contact force control means operating in accordance with the following force control law : # # EQU26 # # wherein Pr is a desired force reference signal , d is an auxiliary force signal , KI , { TAIL ~ Kp } and Kv are adaptive gains , { HEAD ~ E } is a force tracking error , Z is a velocity and Fz is an applied force
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