Subject to the friction and other uncertain factors, the multi-manipulator force & position hybrid controlling method is still a challenging issue. To investigate this problem, this paper proposes a hybrid control method based on fuzzy adaptive robust sliding mode algorithm. Firstly, the multi-manipulator system model is constructed with consideration of both multi-manipulator and the object dynamics equations. Secondly, the fuzzy algorithm is combined with the adaptive sliding mode algorithm to compensate for uncertain factors and unknown nonlinear terms, so as to improve the system reliability. Simulation results showed that, both controlling accuracy and responding time of the system can be improved by the proposed method.