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