Abstract—This paper presents a scheme hybrid force/position control for robots manipulators nonlinear of n-DOF based on the principle of orthogonal decomposition spaces by holonomic constraints, which ensures stability of the closed-loop system because adaptive control exchange force and position between the manipulators to be applicable in free motion and in constrained motion. The reaction force in the manipulator that occurs through contact of the robot end effector to the unyielding surface is obtained via Lagrange multiplier. This controller provides tracking path simultaneous and independent of force and position of robot arm whose end effector is in point contact with a rigid surface. The stability of schema is proved using Lyapunov methods. The proposed scheme is tested on a simulation and experimentation platform where the study is shown to apply the proposed control law consisting of a manipulator five degrees of freedom with open architecture and a force sensor, performing a task tracking position while profiling force is induced. The control provides true convergence errors force and position the system making. The scheme shows similarity between theoretical, simulation and experimental results, demonstrating the effectiveness of the proposed scheme.