This work presents the extension of the results published recently. The control task is set and solved in its general form, with the number of contact force components smaller than the number of degrees of freedom of a robotic mechanism. The control methodology presented in the paper offers the possibility for synthesizing control laws, which ensure local asymptotic stability of desired robot behaviour. Simultaneous stabilization of both desired robot motion and the desired interaction force with an in advance specified transient response is achieved for cases in which the environment dynamics is described by second-order nonlinear differential equations.