Abstract: This paper is the continuation of the earlier one¹.At first,several problems on mathematical modelingare discussed in order to realize the hybrid force/position control algorithm.The contents and results of theexperiments,which are tested with the KDIRRC controller on the PUMA robot arm with the rules of hybridforce/position control and several specified typical force control,are introduced.Finally,analysis and discus-sion are given about the experiment results and further development of force control techniques.