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Under suitable assumptions, the dynamics of the robot is expressed by a redundant system of \\(n+m\\) differential/algebraic equations. When the acceleration vector is not available, it is explicitly shown how to track a force pattern by applying the sliding mode control approach with chattering elimination. Assuming the acceleration vector to be not available, the case \\(n-m=1\\) (\\(m\\) is the number of holonomic constraints) is studied and a second order sliding mode control algorithm is proposed. 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