Aiming　at　the　problems　of　the　robot　motion　along　slot　was　constrained　by　the　combination　of　multi-directional　positions　and　forces,　a　force　and　position　hybrid　guidance　strategy　was　proposed,　and　an　ADRC　was　designed　based　on　the　impedance　model　to　optimize　the　force　control　loop　of　the　strategy.　Then,　the　ADRC　was　improved　based　on　the　double　fuzzy　structure,　and　a　switching　variable　universe　fuzzy　ADRC　was　obtained,　so　as　to　enhance　the　adaptability　of　the　industrial　robots　to　the　unknown　environment　in　the　hybrid　control　of　force　and　position.　Finally,　the　performance　of　the　proposed　algorithm　was　simulated,　and　the　experiments　were　carried　out　by　taking　the　parallel　slot　assembly　of　mobile　phone　RFC　radio　frequency)　line　as　an　example.　Simulation　and　experimental　results　show　that　compared　with　the　general　control　method,　the　proposed　control　strategy　has　better　force　and　position　hybrid　control　performance,　and　may　be　better　applied　to　the　along　slot　motion　of　industrial　robots.　©　2023　China　Mechanical　Engineering　Magazine　Office.　All　rights　reserved.