A surgical system for positioning a prosthetic component on an anatomy of a patient, comprising: the prosthetic component; a robotic arm; a surgical tool such as an end effector configured to be mounted to an end of the robotic arm and having an operating member configured to engage the prosthetic component; an impactor head configured to be connected to and to impart force to the operating member; the robotic arm comprising: a force system configured to provide at least some force to the surgical tool; and a controller programmed to: compare a target pose of the prosthetic component and an actual pose of the prosthetic component engaged by the surgical tool; and generate control signals that cause the force system to allow movement of the surgical tool within a range of movement and provide haptic feedback to constrain a user's ability to manually move the surgical tool beyond the range of movement, wherein the haptic feedback resists movement of the surgical tool by the user that would cause substantial deviation between the actual pose of the prosthetic component and the target pose of the prosthetic component; wherein the controller is programmed to generate control signals that cause the force system to maintain the haptic feedback as the user strikes the impactor head to implant the prosthetic component on the anatomy. the prosthetic component; a robotic arm; a surgical tool such as an end effector configured to be mounted to an end of the robotic arm and having an operating member configured to engage the prosthetic component; an impactor head configured to be connected to and to impart force to the operating member; the robotic arm comprising: a force system configured to provide at least some force to the surgical tool; and a controller programmed to: compare a target pose of the prosthetic component and an actual pose of the prosthetic component engaged by the surgical tool; and generate control signals that cause the force system to allow movement of the surgical tool within a range of movement and provide haptic feedback to constrain a user's ability to manually move the surgical tool beyond the range of movement, wherein the haptic feedback resists movement of the surgical tool by the user that would cause substantial deviation between the actual pose of the prosthetic component and the target pose of the prosthetic component; a force system configured to provide at least some force to the surgical tool; and a controller programmed to: compare a target pose of the prosthetic component and an actual pose of the prosthetic component engaged by the surgical tool; and generate control signals that cause the force system to allow movement of the surgical tool within a range of movement and provide haptic feedback to constrain a user's ability to manually move the surgical tool beyond the range of movement, wherein the haptic feedback resists movement of the surgical tool by the user that would cause substantial deviation between the actual pose of the prosthetic component and the target pose of the prosthetic component; compare a target pose of the prosthetic component and an actual pose of the prosthetic component engaged by the surgical tool; and generate control signals that cause the force system to allow movement of the surgical tool within a range of movement and provide haptic feedback to constrain a user's ability to manually move the surgical tool beyond the range of movement, wherein the haptic feedback resists movement of the surgical tool by the user that would cause substantial deviation between the actual pose of the prosthetic component and the target pose of the prosthetic component; wherein the controller is programmed to generate control signals that cause the force system to maintain the haptic feedback as the user strikes the impactor head to implant the prosthetic component on the anatomy.