When ball screw transmission system contacts with different environment stiffness, the dynamic characteristics of the contact force are different. In addition, when the end effectors move from free space to constraint space stable force tracking process, there occur impact, vibration and even instability due to external disturbance. Acceleration sensor based feedback control method was proposed for contacting force control. By using this method, the damping can be enhanced and the oscillations can be damped out. And the narrow bandwidth weakness of speed feedback was overcome. The experimental setup was built up and the experimental researches were conducted. The experimental results prove the effectiveness of the presented method.