Principal advantage of robotic systems is the ability to perform tasks of dexterous manipulation with objects with sufficient removal of the person from the operating area. Particularly relevant are issues of robotics operations when working with explosive objects that pose a threat to human life and health. The simplest manipulation tasks include object grasping, which is the initial stage of most operations. Grasp of object is a problem of its immobilization inside the robot's gripper. Solving this problem makes it possible to hold object in the presence of external perturbations. An algorithm for selection of deformable object grasp is considered, taking into account the minimization of contact forces. Distinctive features of the algorithm - taking into consideration the change in the shape of the object's surface and the displacement of its center of mass, caused by deformation of the object during grasping and execution of the manipulation task, and verification of the object desired position reachability at the grasp planning stage. The algorithm for grasp planning includes: an algorithm for generating grasp hypotheses; algorithm for planning the trajectories of gripper's links for object grasping; algorithm for determining the intersections of object's and gripper's links'polygonal model; algorithm for calculating the forces of contact interaction between object and gripper's links; algorithm for determining the center of mass of the object, deformed during grasping; algorithm for estimating the stability of grasp; algorithm for verifying the reachability of the object desired position; algorithm for planning the gripper's joints movement for moving object during manipulation task; algorithm for determining the grasp method.