摘要：An.improved hybrid position.force con.roller design.of a flexible robot man.pulator is presen.ed usin. a slidin. observer. The friction.between.the en. effector an. the en.iron.en. is con.idered an. compen.ated. For systematic reason. the con.roller is design.d takin. in.o con.ideration.the rigid lin. subsystems an. the flexible join.s. The proposed con.rol system satisfies the stability of the two subsystems an. copes with the un.ertain.y of robot dyn.mics. A slidin. observer is design.d to estimate the time derivative of the torque applied as in.ut to the rigid part of the robot. For the stability of the observer, it is assumed that the un.ertain.y of the observed system is boun.ed. A MRAC algorithm is used for the estimation.of the friction.forces at the con.act poin. between.the en. effector an. the en.iron.en.. Fin.lly simulation.an. experimen.al results are given. to demon.trate the effectiven.ss of the proposed con.roller.