The three forms that you have mentioned can be described as past, present and future. The past, have had to, is literally that- it describes an obligation that existed in the past, was fulfilled in the past and no longer exists:
I have had to learn other arts, such as the reading of palms
At some time in the past, an obligation existed to "learn other arts". Also in the past, the speaker did actually "learn other arts", and has completed it. The obligation no longer exists.
In English, we rarely use the present simple tense to describe what's happening now: we use it to describe something that's always true:
Water boils at 100 celsius
If you get a parking ticket, you have to pay a fine
Or a habit - for have to, this would be an ongoing requirement
I have to spend two hours commuting every day
Or to talk about something that's planned or scheduled in the future:
I have to go to Sweden tomorrow
With have to, you can also use it to talk about a current commitment that must be honoured at some unspecified time in the future:
I have to do my homework before I can go out
And to explain the terms and conditions of something, for example the rules of a game:
If you land on a blue square, you have to miss a go.
The future tense is only used for things that will take place in the future:
If I take this job, I will have to spend two hours commuting every day.
Looking at your sentences: 1. (future) we are talking about something that will take place at some unspecified time in the future. 2. (present) is explaining terms and conditions. 3. (future) is talking about something that will happen in the future. 4. (present) could be talking about a general rule. 5. (present) could be a current obligation that must he honoured in the future. 6. (future) is something that must be done at some unspecified time in the future.