TASK PLANNING AND CONTROL OF FORCE-CONSTRAINED ROBOT SYSTEMS ARE INVESTIGATED. THE DEVELOPED ALGORITHMS FOR THE COORDINATED OPTIMAL MOTION PLANNING AND FORCE DISTRIBUTION OF FORCE-CONSTRAINED COOPERATING ROBOTS TAKE VARIOUS TASK SPECIFIC REQUIREMENTS INTO CONSIDERATION AND ARE ADAPTABLE TO ANY KINEMATIC AND ANY ASSIGNMENT IN THE PRODUCTION CELL. THE DEVELOPED HYBRID CONTROL SCHEME IS CHARACTERIZED BY ITS VALIDITY IN VARIOUS CLASSES OF TASKS AND ITS HIERARCHICAL STRUCTURE. THE VALIDITY OF THE CONCEPTS AND ALGORITHMS FOR THE TASK PLANNING AND CONTROL WAS SUCCESSFULLY PROVEN BY SIMULATION ON TYPICAL COOPERATING ROBOT SYSTEMS WITH TWO SIX-JOINTED INDUSTRIAL ROBOTS USING EXEMPLARY TASKS.