This paper presents a method for hybrid force/position control for rigid robot manipulators. Through establishing precise kinematic and dynamic models, the motion characteristics of robot arm can be obtained. The problems of inverse dynamic can be solved by combination of gradient descent method and fixed angle method. By establishing model of hybrid force/position and slave coordinate system, the terminal track of the manipulator can be planned according to the force and position restriction. Aimed to environment condition restriction for the control algorithm, the algorithm of redundant DOF model setting has been proposed to make the manipulator end move on the random curved surface. By simulation analysis and experiment verified, the algorithm we proposed can perform better in path planning of the manipulator terminal.