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The dynamics of the manipulator and the environment are assumed in the following form  \\[ \\begin{cases} H(q)\\ddot q+ h(q,\\dot q)= u+ J^T(q)F\\\\ M(q)\\ddot q+ L(q,\\dot q)= -S^T(q)F\\end{cases}\\tag{\\(*\\)} \\]  where \\(q\\in\\mathbb{R}^n\\) is a vector of generalized coordinates of the manipulator/environment, \\(F\\in\\mathbb{R}^m\\), \\(m<n\\), denotes a force exerted by the environment to the end-effector, the matrix \\(J(q)\\) of size \\(m\\times n\\) stands for the analytic Jacobian, \\(u\\in\\mathbb{R}^n\\) is a control. It is assumed that the environment generalized coordinates are a part of the manipulator coordinates. The first equation in \\((*)\\) refers to the manipulator dynamics, while the second one describes the dynamics of the environment. A tracking algorithm should achieve a position tracking \\((q(t)\\to q_d(t))\\) and a force tracking \\((F(t)\\to F_d(t))\\) with a prescribed transient response. Three tracking algorithms have been proposed that provide tracking with a desirable transient of the force (\\(m\\) components) and (\\(n-m\\)) position components \\(q^1(t)\\). It has been proved that the error \\(q^2(t)- q^2_d(t)\\) in the remaining \\(m\\) position components is exponentially 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