Aiming at the problem of force/position hybrid control caused by environmental constraints at the end of multi-manipulator system,a force/position hybrid control method for constrained multi-manipulator based on adaptive reduced order sliding mode algorithm was proposed.The dynamic model of constrained multi-manipulator system was established by using multiple coordinate systems,and the position control,constraint control and internal force control were introduced into the same controller.The adaptive sliding mode algorithm was combined with the order reduction method to compensate the unknown disturbance in the dynamic model.Based on Lyapunov method,the stability of the system was proved.The simulation results show that this method not only improves the control accuracy of the controller and the response speed of the system,but also ensures that the binding error and internal force error are stable in a very small range.