The very definition of a servo is that the force or pressure etc exerted should not result in the accepted following error to be exceeded, so you need to calculate the force and allow for it in the servo design.
IOW, the servo should always be in control.
If deciding on a brake, the servo action would have to be removed when the brake is on, any disturbance of the servo position is kept track of and ideally the servo adopt the new or changed position when the brake is removed, if this is not done the controller will attempt to correct the error and a servo 'jump' occurs.
Al.
CNC, Mechatronics Integration and Custom Machine Design
“Logic will get you from A to B. Imagination will take you everywhere.”
Albert E.