These commands follow approach commands (forego retract commands). During their execution the mechanical contact between end effecter (or payload) and base points occurs. This commands use the force/torque sensor information. All contact operations are executed only in automatic regime.

1. Command Insert - inserting of end effecter into base point (or payload into Payload Mounting unit).

This command ensures the EE movement from the point of attachment beginning to the point of attachment beginning. The force/torque sensor information is transmitted to control system and IMMI.

2. Command Extract - extracting of end effecter from base point (or payload from Payload Mounting unit).

This command is inverse to command Insert. End effecter moves from the point of attachment beginning to the point of attachment beginning. The force/torque sensor information is transmitted to control system and to IMMI.

3. Command Grapple - grasping of base point on surface of ISS or payload by end effecter.

This command turns on grapple mechanism of end effecter to form the hard mechanical joint of EE and BP. The force/torque sensor information is transmitted to IMMI. This command follows command Insert.

4. Command Ungrapple - releasing of the end effecter from the hard mechanical joint with base point on surface of ISS or payload.

This command turns on grapple mechanism of end effecter to release the hard mechanical joint of EE and BP. The force/torque sensor information is transmitted to IMMI. This command foregoes command Extract.

5. Commant Yield - weakening.

This command forces robot to move in such a way, that contact forces and moments become equal to null. The force/torque sensor information is used. This command is final in the command sequence by grasping operation execution.