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The industrial robot motion can be divided into two different motion types of free motion and force- constrained motion. Not only the position of the force-constrained motion is controlled accurately, but also the contact force is controlled accurately. The paper studies the control system of end force of mechanical arm. High-precision electric sliding table is adopted as the actuator of the control system, and the flexible unit is added at the end of the electric sliding table, so that the drawback of system flexibility deficiency is overcome. The second order parameter of the system is determined based on the Lyapunov stability theory, and the stable adaptive design method proposed by Narendra is used to build the mathematical model of electric sliding table. The paper studies the design and algorithm of the soft system of the mechanical arm end. The influence of outside noise on the system is eliminated, the basic control strategy problem of force control is solved, and the response characteristics of the system is optimized when the system is controlled by force.