This paper describes the generation of closed chain (CC) dynamics for robotic manipulators based on models of the open chain (OC) kinetics and environmental dynamics. The motivation for this exercise is to control the manipulator motion as well as the interaction forces at the end-effector. A fixed gain controller (the Trajectory-Following Proportional/Integral/Derivative—or TFPID— controller), is synthesized from the CC dynamics, and this performs adequately. However, the prime objective is to describe an alternative route via the adaptive Minimal Control Synthesis (MCS) algorithm (Stoten 1990, Stoten and Hodgson 1991). This control strategy requires no complicated OC, CC or environmental models in its formulation. It is shown in implementation studies that MCS produces excellent force and motion trajectory tracking, which is far superior to that resulting from the TFPID controller.